Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.1589 (2d9a3f8a61*) started at 2026-01-21T14:51:55.842 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 11.4s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Updating `~/.julia/environments/v1.14/Project.toml` [c823fa1f] + DirectTrajOpt v0.8.0 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 v0.8.0 [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 v0.8.2 [be0214bd] + NonlinearSolveBase v2.9.2 [510215fc] + Observables v0.5.5 [bac558e1] + OrderedCollections v1.8.1 [bbf590c4] + OrdinaryDiffEqCore v3.2.0 [b1df2697] + OrdinaryDiffEqTsit5 v1.9.0 [69de0a69] + Parsers v2.8.3 [f517fe37] + Polyester v0.7.18 [1d0040c9] + PolyesterWeave v0.2.2 [d236fae5] + PreallocationTools v1.0.0 [aea7be01] + PrecompileTools v1.3.3 [21216c6a] + Preferences v1.5.1 [3cdcf5f2] + RecipesBase v1.3.4 [731186ca] + RecursiveArrayTools v3.44.0 [189a3867] + Reexport v1.2.2 [ae029012] + Requires v1.3.1 [7e49a35a] + RuntimeGeneratedFunctions v0.5.16 [94e857df] + SIMDTypes v0.1.0 [0bca4576] + SciMLBase v2.134.0 [19f34311] + SciMLJacobianOperators v0.1.12 [a6db7da4] + SciMLLogging v1.8.0 [c0aeaf25] + SciMLOperators v1.14.1 [431bcebd] + SciMLPublic v1.0.1 [53ae85a6] + SciMLStructures v1.10.0 [7e506255] + ScopedValues v1.5.0 [efcf1570] + Setfield v1.1.2 [276daf66] + SpecialFunctions v2.6.1 [aedffcd0] + Static v1.3.1 [0d7ed370] + StaticArrayInterface v1.8.0 [90137ffa] + StaticArrays v1.9.16 [1e83bf80] + StaticArraysCore v1.4.4 [10745b16] + Statistics v1.11.1 [7792a7ef] + StrideArraysCore v0.5.8 [856f2bd8] + StructTypes v1.11.0 [ec057cc2] + StructUtils v2.6.2 [2efcf032] + SymbolicIndexingInterface v0.3.46 [f8b46487] + TestItemRunner v1.1.4 [1c621080] + TestItems v1.0.0 [8290d209] + ThreadingUtilities v0.5.5 [a759f4b9] + TimerOutputs v0.5.29 [6dad8b7f] + TrajectoryIndexingUtils v0.1.0 [3bb67fe8] + TranscodingStreams v0.11.3 [781d530d] + TruncatedStacktraces v1.4.0 [ae81ac8f] + ASL_jll v0.1.3+0 [6e34b625] + Bzip2_jll v1.0.9+0 [e33a78d0] + Hwloc_jll v2.12.2+0 [9cc047cb] + Ipopt_jll v300.1400.1901+0 [94ce4f54] + Libiconv_jll v1.18.0+0 [d00139f3] + METIS_jll v5.1.3+0 [d7ed1dd3] + MUMPS_seq_jll v500.800.200+0 [656ef2d0] + OpenBLAS32_jll v0.3.29+0 [efe28fd5] + OpenSpecFun_jll v0.5.6+0 [319450e9] + SPRAL_jll v2025.9.18+0 ⌅ [02c8fc9c] + XML2_jll v2.13.9+0 [a65dc6b1] + Xorg_libpciaccess_jll v0.18.1+0 [0dad84c5] + ArgTools v1.1.2 [56f22d72] + Artifacts v1.11.0 [2a0f44e3] + Base64 v1.11.0 [ade2ca70] + Dates v1.11.0 [8ba89e20] + Distributed v1.11.0 [f43a241f] + Downloads v1.7.0 [7b1f6079] + FileWatching v1.11.0 [9fa8497b] + Future v1.11.0 [b77e0a4c] + InteractiveUtils v1.11.0 [ac6e5ff7] + JuliaSyntaxHighlighting v1.13.0 [b27032c2] + LibCURL v1.0.0 [76f85450] + LibGit2 v1.11.0 [8f399da3] + Libdl v1.11.0 [37e2e46d] + LinearAlgebra v1.13.0 [56ddb016] + Logging v1.11.0 [d6f4376e] + Markdown v1.11.0 [a63ad114] + Mmap v1.11.0 [ca575930] + NetworkOptions v1.3.0 [44cfe95a] + Pkg v1.14.0 [de0858da] + Printf v1.11.0 [9abbd945] + Profile v1.11.0 [9a3f8284] + Random v1.11.0 [ea8e919c] + SHA v1.0.0 [9e88b42a] + Serialization v1.11.0 [6462fe0b] + Sockets v1.11.0 [2f01184e] + SparseArrays v1.13.0 [f489334b] + StyledStrings v1.13.0 [fa267f1f] + TOML v1.0.3 [a4e569a6] + Tar v1.10.0 [8dfed614] + Test v1.11.0 [cf7118a7] + UUIDs v1.11.0 [4ec0a83e] + Unicode v1.11.0 [e66e0078] + CompilerSupportLibraries_jll v1.3.0+1 [deac9b47] + LibCURL_jll v8.18.0+0 [e37daf67] + LibGit2_jll v1.9.2+0 [29816b5a] + LibSSH2_jll v1.11.3+1 [14a3606d] + MozillaCACerts_jll v2025.12.2 [4536629a] + OpenBLAS_jll v0.3.29+0 [05823500] + OpenLibm_jll v0.8.7+0 [458c3c95] + OpenSSL_jll v3.5.4+0 [efcefdf7] + PCRE2_jll v10.47.0+0 [bea87d4a] + SuiteSparse_jll v7.10.1+0 [83775a58] + Zlib_jll v1.3.1+2 [3161d3a3] + Zstd_jll v1.5.7+1 [8e850b90] + libblastrampoline_jll v5.15.0+0 [8e850ede] + nghttp2_jll v1.68.0+1 [3f19e933] + p7zip_jll v17.7.0+0 Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. To see why use `status --outdated -m` Installation completed after 5.96s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling packages... 29463.3 ms ✓ DirectTrajOpt 1 dependency successfully precompiled in 34 seconds. 226 already precompiled. Precompilation completed after 52.98s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_gKgRS1/Project.toml` [c823fa1f] DirectTrajOpt v0.8.0 [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 v0.8.2 [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_gKgRS1/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 v0.8.0 [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 v0.8.2 [be0214bd] NonlinearSolveBase v2.9.2 [510215fc] Observables v0.5.5 [bac558e1] OrderedCollections v1.8.1 [bbf590c4] OrdinaryDiffEqCore v3.2.0 [b1df2697] OrdinaryDiffEqTsit5 v1.9.0 [69de0a69] Parsers v2.8.3 [f517fe37] Polyester v0.7.18 [1d0040c9] PolyesterWeave v0.2.2 [d236fae5] PreallocationTools v1.0.0 [aea7be01] PrecompileTools v1.3.3 [21216c6a] Preferences v1.5.1 [3cdcf5f2] RecipesBase v1.3.4 [731186ca] RecursiveArrayTools v3.44.0 [189a3867] Reexport v1.2.2 [ae029012] Requires v1.3.1 [7e49a35a] RuntimeGeneratedFunctions v0.5.16 [94e857df] SIMDTypes v0.1.0 [0bca4576] SciMLBase v2.134.0 [19f34311] SciMLJacobianOperators v0.1.12 [a6db7da4] SciMLLogging v1.8.0 [c0aeaf25] SciMLOperators v1.14.1 [431bcebd] SciMLPublic v1.0.1 [53ae85a6] SciMLStructures v1.10.0 [7e506255] ScopedValues v1.5.0 [efcf1570] Setfield v1.1.2 [276daf66] SpecialFunctions v2.6.1 [aedffcd0] Static v1.3.1 [0d7ed370] StaticArrayInterface v1.8.0 [90137ffa] StaticArrays v1.9.16 [1e83bf80] StaticArraysCore v1.4.4 [10745b16] Statistics v1.11.1 [7792a7ef] StrideArraysCore v0.5.8 [856f2bd8] StructTypes v1.11.0 [ec057cc2] StructUtils v2.6.2 [2efcf032] SymbolicIndexingInterface v0.3.46 [f8b46487] TestItemRunner v1.1.4 [1c621080] TestItems v1.0.0 [8290d209] ThreadingUtilities v0.5.5 [a759f4b9] TimerOutputs v0.5.29 [6dad8b7f] TrajectoryIndexingUtils v0.1.0 [3bb67fe8] TranscodingStreams v0.11.3 [781d530d] TruncatedStacktraces v1.4.0 [ae81ac8f] ASL_jll v0.1.3+0 [6e34b625] Bzip2_jll v1.0.9+0 [e33a78d0] Hwloc_jll v2.12.2+0 [9cc047cb] Ipopt_jll v300.1400.1901+0 [94ce4f54] Libiconv_jll v1.18.0+0 [d00139f3] METIS_jll v5.1.3+0 [d7ed1dd3] MUMPS_seq_jll v500.800.200+0 [656ef2d0] OpenBLAS32_jll v0.3.29+0 [efe28fd5] OpenSpecFun_jll v0.5.6+0 [319450e9] SPRAL_jll v2025.9.18+0 ⌅ [02c8fc9c] XML2_jll v2.13.9+0 [a65dc6b1] Xorg_libpciaccess_jll v0.18.1+0 [0dad84c5] ArgTools v1.1.2 [56f22d72] Artifacts v1.11.0 [2a0f44e3] Base64 v1.11.0 [ade2ca70] Dates v1.11.0 [8ba89e20] Distributed v1.11.0 [f43a241f] Downloads v1.7.0 [7b1f6079] FileWatching v1.11.0 [9fa8497b] Future v1.11.0 [b77e0a4c] InteractiveUtils v1.11.0 [ac6e5ff7] JuliaSyntaxHighlighting v1.13.0 [b27032c2] LibCURL v1.0.0 [76f85450] LibGit2 v1.11.0 [8f399da3] Libdl v1.11.0 [37e2e46d] LinearAlgebra v1.13.0 [56ddb016] Logging v1.11.0 [d6f4376e] Markdown v1.11.0 [a63ad114] Mmap v1.11.0 [ca575930] NetworkOptions v1.3.0 [44cfe95a] Pkg v1.14.0 [de0858da] Printf v1.11.0 [9abbd945] Profile v1.11.0 [9a3f8284] Random v1.11.0 [ea8e919c] SHA v1.0.0 [9e88b42a] Serialization v1.11.0 [6462fe0b] Sockets v1.11.0 [2f01184e] SparseArrays v1.13.0 [f489334b] StyledStrings v1.13.0 [fa267f1f] TOML v1.0.3 [a4e569a6] Tar v1.10.0 [8dfed614] Test v1.11.0 [cf7118a7] UUIDs v1.11.0 [4ec0a83e] Unicode v1.11.0 [e66e0078] CompilerSupportLibraries_jll v1.3.0+1 [deac9b47] LibCURL_jll v8.18.0+0 [e37daf67] LibGit2_jll v1.9.2+0 [29816b5a] LibSSH2_jll v1.11.3+1 [14a3606d] MozillaCACerts_jll v2025.12.2 [4536629a] OpenBLAS_jll v0.3.29+0 [05823500] OpenLibm_jll v0.8.7+0 [458c3c95] OpenSSL_jll v3.5.4+0 [efcefdf7] PCRE2_jll v10.47.0+0 [bea87d4a] SuiteSparse_jll v7.10.1+0 [83775a58] Zlib_jll v1.3.1+2 [3161d3a3] Zstd_jll v1.5.7+1 [8e850b90] libblastrampoline_jll v5.15.0+0 [8e850ede] nghttp2_jll v1.68.0+1 [3f19e933] p7zip_jll v17.7.0+0 Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. Testing Running tests... [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=120, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! 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 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...: 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 4.4536127e+00 2.24e+00 6.14e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5702340e+00 9.18e-02 3.00e+00 -0.9 2.00e+00 0.0 4.10e-01 9.59e-01f 1 2 2.3913812e+00 1.50e-02 1.09e+00 -1.3 3.69e-01 -0.5 9.81e-01 1.00e+00f 1 3 2.1875011e+00 1.73e-03 8.92e-02 -2.1 6.34e-02 -1.0 9.93e-01 1.00e+00h 1 4 2.0983469e+00 3.68e-04 1.36e-02 -3.5 2.82e-02 -1.4 1.00e+00 9.10e-01h 1 5 2.0909729e+00 1.27e-05 3.98e-03 -4.0 9.41e-03 -1.9 1.00e+00 1.00e+00h 1 6 2.0909409e+00 2.48e-08 8.96e-05 -4.0 2.18e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0909395e+00 3.54e-10 2.59e-05 -4.0 1.89e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909350e+00 7.63e-10 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909218e+00 6.86e-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 2.0908819e+00 6.18e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907624e+00 5.57e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0904048e+00 5.04e-06 2.26e-05 -4.0 3.64e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0893390e+00 4.60e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0862061e+00 4.32e-04 1.81e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796301e+00 2.53e-03 8.55e-02 -4.0 8.74e+01 -6.7 1.00e+00 7.61e-01h 1 16 2.0812194e+00 1.30e-04 1.73e-01 -4.0 7.27e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778144e+00 5.90e-03 2.49e-02 -4.0 1.14e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0782991e+00 2.04e-02 5.89e-02 -3.7 2.10e+02 -8.1 8.95e-01 1.00e+00h 1 19 2.0769924e+00 9.52e-03 3.81e-02 -3.8 3.42e+02 -8.6 1.00e+00 8.08e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0762562e+00 6.19e-03 2.77e-02 -3.8 5.08e+02 -9.1 1.00e+00 9.64e-01f 1 21 2.0757437e+00 1.24e-02 1.31e-02 -4.0 1.54e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756796e+00 7.43e-04 5.16e-04 -4.0 6.78e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 4.07e-06 9.98e-06 -4.0 2.35e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 7.19e-08 1.55e-06 -4.0 1.53e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.71e-09 1.57e-07 -4.0 5.44e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 8.34e-11 3.23e-09 -4.0 9.66e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122123662e+00 2.0756712122123662e+00 Dual infeasibility......: 3.2325099780336920e-09 3.2325099780336920e-09 Constraint violation....: 8.3366535896800542e-11 8.3366535896800542e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000014e-04 1.0000000000000014e-04 Overall NLP error.......: 3.2325099780336920e-09 3.2325099780336920e-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 = 59.447 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 1.2596901e+00 4.05e+00 5.54e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.0077007e+00 6.43e-01 2.89e+00 -0.9 2.45e+00 0.0 9.40e-01 8.45e-01h 1 2 2.5060927e+00 5.93e-01 5.32e+00 0.7 3.86e+00 0.4 6.94e-02 5.92e-02f 1 3 2.3853386e+00 5.00e-01 5.95e+00 0.1 6.15e+00 -0.1 3.30e-01 1.54e-01f 1 4 3.1345407e+00 2.89e-02 2.22e+01 -0.8 4.68e-01 -0.5 6.02e-01 1.00e+00f 1 5 2.8422118e+00 3.17e-02 1.56e+00 -1.0 3.58e-01 -1.0 9.99e-01 1.00e+00h 1 6 2.4068504e+00 5.25e-02 1.71e-01 -1.7 6.38e-01 -1.5 9.99e-01 1.00e+00f 1 7 2.1940209e+00 5.27e-03 7.34e-02 -2.1 2.38e-01 -2.0 8.40e-01 1.00e+00h 1 8 2.0982593e+00 5.39e-03 8.40e-02 -3.3 4.64e-01 -2.4 9.98e-01 8.83e-01h 1 9 2.0912631e+00 1.78e-04 2.09e-02 -4.0 1.07e-01 -2.9 1.00e+00 9.68e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908880e+00 2.63e-05 3.41e-04 -4.0 9.61e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908650e+00 1.04e-06 3.43e-04 -4.0 1.53e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908202e+00 9.01e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906859e+00 7.11e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902838e+00 6.44e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890867e+00 5.89e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855778e+00 5.56e-04 2.31e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796381e+00 2.28e-03 1.36e-01 -4.0 9.55e+01 -6.7 1.00e+00 6.28e-01h 1 18 2.0807274e+00 1.64e-04 1.81e-01 -4.0 6.57e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775358e+00 7.55e-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 2.0769254e+00 1.11e-03 5.24e-02 -4.0 1.77e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0760052e+00 1.14e-03 2.38e-02 -4.0 3.15e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0754517e+00 1.74e-03 3.15e-02 -4.0 4.78e+02 -9.1 1.00e+00 7.19e-01h 1 23 2.0757718e+00 2.25e-03 1.09e-02 -4.0 1.45e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753805e+00 1.35e-03 5.04e-04 -4.1 7.95e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756723e+00 4.03e-04 6.64e-06 -4.0 1.83e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756713e+00 6.31e-07 1.06e-06 -4.0 1.23e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756713e+00 2.64e-09 9.99e-08 -4.0 5.21e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756713e+00 5.33e-11 2.33e-09 -4.0 8.57e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712528136450e+00 2.0756712528136450e+00 Dual infeasibility......: 2.3322041550581651e-09 2.3322041550581651e-09 Constraint violation....: 5.3343440775677209e-11 5.3343440775677209e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000019e-04 1.0000000000000019e-04 Overall NLP error.......: 2.3322041550581651e-09 2.3322041550581651e-09 Number of objective function evaluations = 30 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 30 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 22.698 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: equality constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.5061571e+00 3.02e+00 3.66e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7259255e+00 1.18e-01 7.63e-01 -1.0 2.17e+00 -2.0 9.98e-01 1.00e+00h 1 2 2.3549922e+00 6.35e-02 2.64e-01 -1.6 1.14e+00 -2.5 9.47e-01 1.00e+00h 1 3 2.1416873e+00 4.03e-02 1.02e-01 -2.5 1.42e+00 -3.0 9.39e-01 1.00e+00h 1 4 2.0986363e+00 1.46e-03 8.63e-03 -3.0 2.52e-01 -3.4 9.78e-01 1.00e+00h 1 5 2.0908078e+00 1.64e-04 3.73e-04 -4.0 1.71e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0907260e+00 3.57e-06 2.06e-05 -4.0 5.00e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0905786e+00 8.39e-07 2.05e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0901379e+00 7.79e-06 3.44e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0888263e+00 7.14e-05 3.07e-04 -4.0 1.33e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0849923e+00 6.75e-04 2.81e-03 -4.0 3.89e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0796420e+00 2.07e-03 1.77e-01 -4.0 1.01e+02 -6.8 1.00e+00 5.30e-01h 1 12 2.0802625e+00 1.63e-04 1.73e-01 -4.0 6.47e+01 -7.2 1.00e+00 9.91e-01H 1 13 2.0773681e+00 8.57e-03 2.14e-02 -4.0 1.24e+02 -7.7 1.00e+00 9.84e-01h 1 14 2.0771803e+00 1.87e-03 7.49e-02 -4.0 2.11e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0761439e+00 5.03e-03 1.93e-02 -4.0 3.50e+02 -8.7 1.00e+00 8.37e-01h 1 16 2.0769400e+00 3.34e-02 2.76e-02 -3.7 3.05e+02 -9.2 1.00e+00 1.00e+00h 1 17 2.0765083e+00 7.49e-03 4.07e-03 -3.8 9.70e+01 -9.6 1.00e+00 1.00e+00h 1 18 2.0764869e+00 1.49e-04 7.92e-05 -3.8 2.32e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0756786e+00 1.98e-03 6.38e-06 -4.0 3.29e+01 -10.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0756712e+00 7.52e-06 1.44e-06 -4.0 2.22e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0756712e+00 3.90e-09 1.59e-07 -4.0 5.02e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0756712e+00 4.85e-11 1.80e-09 -4.0 6.80e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0756712121542056e+00 2.0756712121542056e+00 Dual infeasibility......: 1.7973610865970342e-09 1.7973610865970342e-09 Constraint violation....: 4.8524184670384329e-11 4.8524184670384329e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000014e-04 1.0000000000000014e-04 Overall NLP error.......: 1.7973610865970342e-09 1.7973610865970342e-09 Number of objective function evaluations = 24 Number of objective gradient evaluations = 23 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 23 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 22 Total seconds in IPOPT = 37.171 EXIT: Optimal Solution Found. [test_integrator] Starting... [test_integrator] constraint_dim=8, datavec_len=75, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! 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 6.1178640e+00 3.29e+00 1.12e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.8056091e+00 6.41e-02 8.00e-01 -1.0 2.04e+00 -2.0 9.48e-01 1.00e+00f 1 Hello, world! 2 2.3388346e+00 1.55e-01 3.44e-01 -1.5 1.93e+00 -2.5 9.60e-01 1.00e+00h 1 Hello, world! 3 2.1996135e+00 4.09e-02 9.92e-02 -2.1 1.33e+00 -3.0 9.60e-01 1.00e+00h 1 Hello, world! 4 2.1004154e+00 1.17e-02 4.39e-02 -3.0 9.67e-01 -3.4 9.89e-01 9.74e-01h 1 Hello, world! 5 2.0909882e+00 2.14e-04 1.22e-03 -4.0 1.43e-01 -3.9 9.95e-01 1.00e+00h 1 Hello, world! 6 2.0907837e+00 1.56e-05 1.55e-04 -4.0 4.14e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0907053e+00 3.46e-07 6.62e-04 -4.0 1.05e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0904846e+00 3.67e-06 6.71e-04 -4.0 3.28e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0907390e+00 7.81e-05 4.56e-03 -3.5 2.87e+01 -5.8 1.47e-01 1.10e-01h 2 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0888998e+00 3.24e-04 1.18e-02 -4.0 2.96e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0857511e+00 1.44e-03 2.71e-02 -4.0 7.45e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0828141e+00 3.40e-03 1.03e-01 -4.0 1.27e+02 -7.2 1.00e+00 8.28e-01h 1 Hello, world! 13 2.0829382e+00 3.29e-03 6.78e-02 -4.0 1.02e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0818932e+00 4.56e-04 1.74e-02 -4.0 1.19e+02 -8.2 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0818855e+00 9.34e-04 7.92e-03 -4.0 8.00e+01 -8.7 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0818446e+00 5.35e-05 6.83e-04 -4.0 3.28e+01 -9.2 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0818434e+00 7.37e-07 1.85e-05 -4.0 5.63e+00 -9.6 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0818434e+00 2.03e-09 7.87e-08 -4.0 3.54e-01 -10.1 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0818434e+00 7.62e-13 1.00e-09 -4.0 7.91e-03 -10.6 1.00e+00 1.00e+00h 1 Number of Iterations....: 19 (scaled) (unscaled) Objective...............: 2.0818434105334873e+00 2.0818434105334873e+00 Dual infeasibility......: 1.0000000028075658e-09 1.0000000028075658e-09 Constraint violation....: 7.6205708410270745e-13 7.6205708410270745e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 1.0000000028075658e-09 1.0000000028075658e-09 Number of objective function evaluations = 23 Number of objective gradient evaluations = 20 Number of equality constraint evaluations = 23 Number of inequality constraint evaluations = 23 Number of equality constraint Jacobian evaluations = 20 Number of inequality constraint Jacobian evaluations = 20 Number of Lagrangian Hessian evaluations = 19 Total seconds in IPOPT = 25.233 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 6.1178640e+00 3.29e+00 1.12e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.8056091e+00 6.41e-02 8.00e-01 -1.0 2.04e+00 -2.0 9.48e-01 1.00e+00f 1 Hello, world! 2 2.3388346e+00 1.55e-01 3.44e-01 -1.5 1.93e+00 -2.5 9.60e-01 1.00e+00h 1 Hello, world! 3 2.1996135e+00 4.09e-02 9.92e-02 -2.1 1.33e+00 -3.0 9.60e-01 1.00e+00h 1 Hello, world! 4 2.1004154e+00 1.17e-02 4.39e-02 -3.0 9.67e-01 -3.4 9.89e-01 9.74e-01h 1 Hello, world! 5 2.0909882e+00 2.14e-04 1.22e-03 -4.0 1.43e-01 -3.9 9.95e-01 1.00e+00h 1 Hello, world! 6 2.0907837e+00 1.56e-05 1.55e-04 -4.0 4.14e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0907053e+00 3.46e-07 6.62e-04 -4.0 1.05e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0904846e+00 3.67e-06 6.71e-04 -4.0 3.28e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0907390e+00 7.81e-05 4.56e-03 -3.5 2.87e+01 -5.8 1.47e-01 1.10e-01h 2 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0888998e+00 3.24e-04 1.18e-02 -4.0 2.96e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0857511e+00 1.44e-03 2.71e-02 -4.0 7.45e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0828141e+00 3.40e-03 1.03e-01 -4.0 1.27e+02 -7.2 1.00e+00 8.28e-01h 1 Hello, world! 13 2.0829382e+00 3.29e-03 6.78e-02 -4.0 1.02e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0818932e+00 4.56e-04 1.74e-02 -4.0 1.19e+02 -8.2 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0818855e+00 9.34e-04 7.92e-03 -4.0 8.00e+01 -8.7 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0818446e+00 5.35e-05 6.83e-04 -4.0 3.28e+01 -9.2 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0818434e+00 7.37e-07 1.85e-05 -4.0 5.63e+00 -9.6 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0818434e+00 2.03e-09 7.87e-08 -4.0 3.54e-01 -10.1 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0818434e+00 7.62e-13 1.00e-09 -4.0 7.91e-03 -10.6 1.00e+00 1.00e+00h 1 Number of Iterations....: 19 (scaled) (unscaled) Objective...............: 2.0818434105334873e+00 2.0818434105334873e+00 Dual infeasibility......: 1.0000000028075658e-09 1.0000000028075658e-09 Constraint violation....: 7.6205708410270745e-13 7.6205708410270745e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 1.0000000028075658e-09 1.0000000028075658e-09 Number of objective function evaluations = 23 Number of objective gradient evaluations = 20 Number of equality constraint evaluations = 23 Number of inequality constraint evaluations = 23 Number of equality constraint Jacobian evaluations = 20 Number of inequality constraint Jacobian evaluations = 20 Number of Lagrangian Hessian evaluations = 19 Total seconds in IPOPT = 0.570 EXIT: Optimal Solution Found. ┌ 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/pHWO3/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 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 10 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 1.6859825e-02 8.33e-17 9.99e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5110744e-02 6.95e-12 1.76e-02 -4.0 2.58e-02 -2.0 9.82e-01 1.00e+00f 1 2 7.6679001e-03 9.66e-13 9.10e-02 -3.0 1.04e-01 -1.6 1.00e+00 1.00e+00f 1 3 1.2412560e-03 2.11e-11 6.80e-02 -3.5 1.30e-01 -1.1 1.00e+00 8.97e-01f 1 4 2.3862465e-04 9.23e-12 1.99e-02 -3.1 4.97e-01 -1.6 1.00e+00 3.57e-01f 2 5 3.0549324e-04 4.57e-12 1.62e-02 -2.8 1.56e+00 -2.1 1.00e+00 5.00e-01f 2 6 3.0549324e-04 4.57e-12 9.00e-03 -3.0 2.36e+00 -2.6 4.58e-01 2.66e-15h 48 7 3.0549324e-04 4.57e-12 1.24e-02 -4.5 2.72e+00 -3.1 3.37e-01 5.44e-16h 50 8 5.6094919e-04 3.77e-12 4.75e-03 -4.5 1.89e+00 -3.5 4.49e-01 4.49e-01S 62 9 3.4149707e-04 3.18e-12 1.21e-02 -4.5 4.75e-01 -4.0 8.24e-01 2.85e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.5862291e-04 2.91e-12 1.83e-02 -4.5 4.96e-01 -4.5 1.00e+00 1.41e-01f 3 11 2.5646221e-04 2.91e-12 1.96e-02 -4.5 8.15e-01 -5.0 1.00e+00 4.51e-03f 8 12 2.4326423e-04 2.86e-12 1.94e-02 -4.5 7.52e-01 -5.4 1.00e+00 2.79e-02f 6 13 2.3707817e-04 2.83e-12 1.89e-02 -4.5 7.92e-01 -5.9 1.00e+00 1.32e-02f 7 14 2.3707817e-04 2.83e-12 1.85e-02 -4.0 7.39e-01 -3.7 1.00e+00 2.70e-14h 46 15 2.8575963e-04 2.71e-12 2.51e-02 -3.5 2.05e+00 -4.2 2.89e-01 1.39e-01f 3 16 2.8575963e-04 2.71e-12 2.99e-02 -3.5 1.16e+00 -1.9 1.00e+00 1.15e-14h 44 17 1.9420576e-04 2.35e-12 3.60e-02 -3.5 1.51e+00 -2.4 1.21e-01 1.21e-01S 59 18 1.5616372e-04 2.19e-12 1.45e-02 -3.6 1.03e+00 -2.9 1.00e+00 1.45e-01f 2 19 1.5616372e-04 2.19e-12 1.26e-02 -4.0 5.93e-01 -3.4 1.00e+00 7.11e-15h 48 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.5616372e-04 2.19e-12 1.18e-02 -3.5 5.23e-01 -3.8 1.00e+00 2.84e-14h 46 21 7.1211280e-05 1.46e-12 7.06e-03 -3.5 3.90e-01 -4.3 1.00e+00 1.00e+00S 60 22 7.1211280e-05 1.46e-12 9.87e-03 -4.0 1.62e-01 -4.8 1.00e+00 1.42e-14h 47 23 7.1211280e-05 1.46e-12 1.07e-02 -3.8 1.01e-01 -5.3 1.00e+00 1.42e-14h 47 24 1.8643593e-05 1.07e-14 6.26e-03 -3.8 1.02e-01 -5.7 1.00e+00 1.00e+00S 58 25 1.8643594e-05 1.07e-14 2.48e-03 -4.0 2.59e-01 -6.2 1.00e+00 2.33e-08h 26 26 1.8643601e-05 1.07e-14 2.27e-03 -3.9 1.35e-01 -6.7 1.00e+00 2.38e-07h 23 27 1.8643601e-05 1.07e-14 2.34e-03 -3.9 8.77e-02 -7.2 1.00e+00 2.98e-08h 26 28 1.8643599e-05 1.07e-14 2.46e-03 -3.9 4.15e-02 -7.7 1.00e+00 4.77e-07h 22 29 1.8643596e-05 1.07e-14 2.59e-03 -3.9 3.92e-02 -8.1 1.00e+00 1.19e-07h 24 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.8643588e-05 1.07e-14 2.71e-03 -3.9 7.39e-02 -8.6 1.00e+00 2.38e-07h 23 31 1.8643586e-05 1.07e-14 2.84e-03 -3.9 1.29e-01 -9.1 1.00e+00 2.98e-08h 26 32 1.8643578e-05 1.07e-14 2.98e-03 -3.9 1.85e-01 -9.6 1.00e+00 1.19e-07h 24 33 1.8643575e-05 1.07e-14 3.12e-03 -3.9 2.42e-01 -10.0 1.00e+00 2.98e-08h 26 34 1.8643574e-05 1.07e-14 3.27e-03 -3.9 3.01e-01 -10.5 1.00e+00 1.49e-08h 27 35 1.8643573e-05 1.07e-14 3.42e-03 -3.9 3.63e-01 -11.0 1.00e+00 3.73e-09h 29 36 1.8643573e-05 1.07e-14 3.59e-03 -3.9 4.29e-01 -11.5 1.00e+00 3.73e-09h 29 37 1.8643572e-05 1.07e-14 4.16e-03 -3.9 5.08e-01 -12.0 1.00e+00 1.86e-09h 30 38 1.8643571e-05 1.07e-14 5.01e-03 -3.9 6.36e-01 -12.4 1.00e+00 7.45e-09h 28 39 1.8643570e-05 1.07e-14 3.90e-03 -3.9 3.71e-01 -2.6 1.00e+00 7.45e-09h 28 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.8643570e-05 1.07e-14 4.46e-03 -3.9 5.49e-01 -3.1 1.00e+00 1.86e-09h 30 41 1.8643569e-05 1.07e-14 5.53e-03 -3.9 7.15e-01 -3.5 1.00e+00 1.86e-09h 30 42 1.8643569e-05 1.07e-14 5.12e-03 -3.9 7.24e-01 -3.1 1.00e+00 9.31e-10h 31 43 1.8643569e-05 1.07e-14 6.40e-03 -3.9 8.74e-01 -3.6 8.99e-01 1.86e-09h 30 44 1.1798683e-05 1.56e-13 6.15e-03 -3.9 3.62e+00 -3.2 3.56e-01 1.82e-02f 5 45 1.1798683e-05 1.56e-13 4.44e-03 -4.0 1.04e+00 -3.6 1.00e+00 1.36e-11h 34 46 1.1798683e-05 1.56e-13 5.80e-03 -3.8 5.41e-01 -4.1 1.00e+00 1.05e-10h 34 47 1.1798683e-05 1.56e-13 5.76e-03 -3.8 5.28e-01 -4.6 1.00e+00 3.73e-09h 29 48 1.1798683e-05 1.56e-13 6.41e-03 -3.8 6.44e-01 -5.1 1.00e+00 2.33e-10h 33 49 1.1798684e-05 1.56e-13 6.67e-03 -3.8 6.85e-01 -5.5 1.00e+00 1.86e-09h 30 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 1.1798684e-05 1.56e-13 6.95e-03 -3.8 7.33e-01 -6.0 1.00e+00 1.49e-08h 27 51 1.1798686e-05 1.56e-13 7.20e-03 -3.8 7.75e-01 -6.5 1.00e+00 5.96e-08h 25 52 1.1798687e-05 1.56e-13 7.45e-03 -3.8 8.17e-01 -7.0 1.00e+00 5.96e-08h 25 53 1.1798687e-05 1.56e-13 7.69e-03 -3.8 8.57e-01 -7.5 1.00e+00 3.73e-09h 29 54 1.1798688e-05 1.56e-13 7.92e-03 -3.8 8.95e-01 -7.9 1.00e+00 2.98e-08h 26 55 1.1798689e-05 1.56e-13 8.14e-03 -3.8 9.32e-01 -8.4 1.00e+00 5.96e-08h 25 56 1.1798689e-05 1.56e-13 8.35e-03 -3.8 9.66e-01 -8.9 1.00e+00 5.96e-08h 25 57 1.1798690e-05 1.56e-13 8.54e-03 -3.8 9.98e-01 -9.4 1.00e+00 2.98e-08h 26 58 1.1798690e-05 1.56e-13 8.72e-03 -3.8 1.03e+00 -9.8 1.00e+00 3.73e-09h 29 59 1.1798690e-05 1.56e-13 8.89e-03 -3.8 1.06e+00 -10.3 1.00e+00 5.96e-08h 25 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 1.1798690e-05 1.56e-13 9.05e-03 -3.8 1.08e+00 -10.8 1.00e+00 1.49e-08h 27 61 1.1798690e-05 1.56e-13 9.19e-03 -3.8 1.11e+00 -11.3 1.00e+00 2.98e-08h 26 62 1.1798690e-05 1.56e-13 9.33e-03 -3.8 1.13e+00 -11.8 1.00e+00 2.98e-08h 26 63 1.1798688e-05 1.56e-13 9.45e-03 -3.8 1.15e+00 -12.2 1.00e+00 1.19e-07h 24 64 1.1798688e-05 1.56e-13 9.57e-03 -3.8 1.17e+00 -12.7 1.00e+00 3.73e-09h 29 65 1.1798687e-05 1.56e-13 9.68e-03 -3.8 1.19e+00 -13.2 1.00e+00 1.19e-07h 24 66 1.1798685e-05 1.56e-13 9.79e-03 -3.8 1.20e+00 -13.7 1.00e+00 1.19e-07h 24 67 1.1798682e-05 1.56e-13 9.88e-03 -3.8 1.22e+00 -14.1 1.00e+00 1.19e-07h 24 68 1.1798682e-05 1.56e-13 9.97e-03 -3.8 1.23e+00 -14.6 1.00e+00 3.73e-09h 29 69 1.1798682e-05 1.56e-13 1.01e-02 -3.8 1.25e+00 -15.1 1.00e+00 4.66e-10h 32 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 1.1798682e-05 1.56e-13 1.01e-02 -3.8 1.26e+00 -15.6 1.00e+00 3.73e-09h 29 71 1.1798680e-05 1.56e-13 1.02e-02 -3.8 1.27e+00 -16.0 1.00e+00 5.96e-08h 25 72 1.1798679e-05 1.56e-13 1.03e-02 -3.8 1.28e+00 -16.5 1.00e+00 2.98e-08h 26 73 1.1798674e-05 1.56e-13 1.04e-02 -3.8 1.29e+00 -17.0 1.00e+00 1.19e-07h 24 74 1.1798670e-05 1.56e-13 1.04e-02 -3.8 1.30e+00 -17.5 1.00e+00 1.19e-07h 24 75 1.1798664e-05 1.56e-13 1.05e-02 -3.8 1.31e+00 -18.0 1.00e+00 1.19e-07h 24 76 1.1798664e-05 1.56e-13 1.05e-02 -3.8 1.32e+00 -18.4 1.00e+00 7.45e-09h 28 77 1.1798661e-05 1.56e-13 1.06e-02 -3.8 1.33e+00 -18.9 1.00e+00 5.96e-08h 25 78 1.1798660e-05 1.56e-13 1.06e-02 -3.8 1.34e+00 -19.4 1.00e+00 1.49e-08h 27 79 1.1798660e-05 1.56e-13 1.07e-02 -3.8 1.34e+00 -19.9 1.00e+00 7.45e-09h 28 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 1.1798657e-05 1.56e-13 1.07e-02 -3.8 1.35e+00 -20.0 1.00e+00 5.96e-08h 25 81 1.1798655e-05 1.56e-13 1.08e-02 -3.8 1.36e+00 -20.0 1.00e+00 2.98e-08h 26 82 1.1798653e-05 1.56e-13 1.08e-02 -3.8 1.36e+00 -20.0 1.00e+00 2.98e-08h 26 83 1.1798649e-05 1.56e-13 1.09e-02 -3.8 1.37e+00 -20.0 1.00e+00 5.96e-08h 25 84 1.1798645e-05 1.56e-13 1.09e-02 -3.8 1.38e+00 -20.0 1.00e+00 5.96e-08h 25 85 1.1798643e-05 1.56e-13 1.09e-02 -3.8 1.38e+00 -20.0 1.00e+00 2.98e-08h 26 86 1.1798642e-05 1.56e-13 1.10e-02 -3.8 1.39e+00 -20.0 1.00e+00 1.49e-08h 27 87 1.1798641e-05 1.56e-13 1.10e-02 -3.8 1.39e+00 -20.0 1.00e+00 7.45e-09h 28 88 1.1798641e-05 1.56e-13 1.10e-02 -3.8 1.40e+00 -20.0 1.00e+00 7.45e-09h 28 89 1.1798641e-05 1.56e-13 1.11e-02 -3.8 1.40e+00 -20.0 1.00e+00 3.64e-12h 39 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 1.1798641e-05 1.56e-13 1.11e-02 -3.8 1.41e+00 -20.0 1.00e+00 2.33e-10h 33 91 1.1798640e-05 1.56e-13 1.11e-02 -3.8 1.40e+00 -20.0 1.00e+00 7.45e-09h 28 92 1.1798640e-05 1.56e-13 1.13e-02 -3.8 1.44e+00 -20.0 1.00e+00 3.73e-09h 29 93 1.1798639e-05 1.56e-13 1.09e-02 -3.8 1.38e+00 -20.0 1.00e+00 7.45e-09h 28 94 1.1798639e-05 1.56e-13 1.17e-02 -3.8 1.52e+00 -20.0 1.00e+00 1.86e-09h 30 95 1.1798638e-05 1.56e-13 1.02e-02 -3.8 1.24e+00 -20.0 1.00e+00 7.45e-09h 28 96 1.1798637e-05 1.56e-13 1.45e-02 -3.8 2.01e+00 -20.0 1.00e+00 1.20e-08h 27 97 1.1798636e-05 1.56e-13 1.06e-02 -3.8 7.55e-01 -20.0 6.50e-01 7.45e-09h 28 98 1.1798636e-05 1.56e-13 1.63e-02 -3.8 2.34e+00 -20.0 1.00e+00 5.15e-09h 28 99 1.1798634e-05 1.56e-13 1.07e-02 -3.8 6.00e-01 -20.0 6.44e-01 1.49e-08h 27 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 1.1798633e-05 1.56e-13 1.62e-02 -3.8 2.31e+00 -20.0 1.00e+00 1.04e-08h 27 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.1798632985464423e-05 1.1798632985464423e-05 Dual infeasibility......: 1.6191288559538441e-02 1.6191288559538441e-02 Constraint violation....: 1.5595857938421887e-13 1.5595857938421887e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.6482316211202180e-03 1.6482316211202180e-03 Overall NLP error.......: 1.6191288559538441e-02 1.6191288559538441e-02 Number of objective function evaluations = 2733 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 2733 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 1 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 3.345 EXIT: Maximum Number of Iterations Exceeded. 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.............: 39 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 1.3057705e+00 4.44e-01 9.33e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 8.0789594e-01 2.70e-09 1.18e-01 -0.5 3.77e-01 -2.0 9.64e-01 1.00e+00f 1 2 2.7005059e-01 1.74e-09 1.37e-01 -1.4 8.22e-01 -1.6 9.40e-01 1.00e+00f 1 3 1.1571307e-01 2.47e-10 3.62e-02 -2.4 4.96e-01 -1.1 1.00e+00 1.00e+00f 1 4 3.2630611e-02 1.87e-11 3.11e-02 -3.3 7.27e-01 -1.6 1.00e+00 1.00e+00f 1 5 6.7161917e-03 1.67e-11 1.43e-02 -4.0 6.64e-01 -2.1 1.00e+00 1.00e+00f 1 6 1.2917759e-03 6.07e-12 4.65e-03 -4.0 4.26e-01 -2.6 1.00e+00 1.00e+00f 1 7 5.4781488e-04 1.59e-12 1.01e-03 -4.0 1.52e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.5585991e-04 9.04e-14 3.66e-04 -4.0 1.31e-01 -3.5 1.00e+00 1.00e+00f 1 9 4.4908653e-04 1.87e-14 8.95e-05 -4.0 2.51e-02 -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 4.5461937e-04 5.05e-15 1.05e-04 -4.0 1.69e-02 -4.5 1.00e+00 1.00e+00f 1 11 3.0103562e-04 7.76e-15 4.78e-04 -4.1 8.77e-02 -5.0 1.00e+00 1.00e+00f 1 12 4.5848623e-04 4.11e-15 3.91e-04 -4.0 2.15e-01 -5.4 1.00e+00 5.00e-01f 2 13 2.7229531e-04 2.44e-15 6.10e-04 -4.1 1.16e-01 -5.9 1.00e+00 1.00e+00f 1 14 4.6314161e-04 1.55e-15 4.98e-04 -4.0 2.70e-01 -6.4 1.00e+00 5.00e-01f 2 15 2.6274315e-04 1.33e-15 6.72e-04 -4.1 1.29e-01 -6.9 1.00e+00 1.00e+00f 1 16 4.6386653e-04 1.11e-15 5.36e-04 -4.0 2.91e-01 -7.4 1.00e+00 5.00e-01f 2 17 2.5969828e-04 9.99e-16 6.98e-04 -4.1 1.35e-01 -7.8 1.00e+00 1.00e+00f 1 18 4.6378752e-04 8.88e-16 5.51e-04 -4.0 3.00e-01 -8.3 1.00e+00 5.00e-01f 2 19 2.5872364e-04 9.71e-16 7.14e-04 -4.1 1.38e-01 -8.8 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 4.6340438e-04 6.66e-16 5.58e-04 -4.0 3.05e-01 -9.3 1.00e+00 5.00e-01f 2 21 2.5841856e-04 8.33e-16 7.26e-04 -4.1 1.40e-01 -9.7 1.00e+00 1.00e+00f 1 22 4.6294803e-04 7.77e-16 5.62e-04 -4.0 3.08e-01 -10.2 1.00e+00 5.00e-01f 2 23 2.5832507e-04 8.22e-16 7.36e-04 -4.1 1.42e-01 -10.7 1.00e+00 1.00e+00f 1 24 4.6248302e-04 5.55e-16 5.65e-04 -4.0 3.11e-01 -11.2 1.00e+00 5.00e-01f 2 25 2.5829789e-04 7.42e-16 7.46e-04 -4.1 1.44e-01 -11.6 1.00e+00 1.00e+00f 1 26 4.6203080e-04 4.44e-16 5.68e-04 -4.0 3.13e-01 -12.1 1.00e+00 5.00e-01f 2 27 2.5829092e-04 7.67e-16 7.55e-04 -4.1 1.46e-01 -12.6 1.00e+00 1.00e+00f 1 28 3.1055445e-05 8.38e-15 9.42e-04 -6.2 3.98e-01 -13.1 9.66e-01 1.00e+00f 1 29 1.7191511e-03 2.00e-15 7.97e-03 -4.0 2.08e+00 -13.6 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.4979790e-05 2.19e-14 3.02e-03 -4.1 1.06e+00 -14.0 1.00e+00 1.00e+00f 1 31 1.5645454e-03 2.78e-14 8.31e-03 -4.0 1.02e+00 -14.5 1.00e+00 1.00e+00f 1 32 1.0574863e-05 1.68e-14 2.40e-03 -4.2 1.13e+00 -15.0 1.00e+00 1.00e+00f 1 33 4.5933555e-04 1.55e-15 2.83e-03 -4.0 1.42e+00 -15.5 1.00e+00 5.00e-01f 2 34 2.2121709e-04 2.66e-15 2.52e-04 -4.2 3.80e-01 -15.9 1.00e+00 5.00e-01f 2 35 2.0387801e-05 4.27e-15 8.49e-04 -6.4 4.31e-01 -16.4 9.62e-01 1.00e+00f 1 36 8.2073878e-06 3.11e-15 1.04e-04 -6.4 1.09e-01 -16.9 1.00e+00 1.00e+00f 1 37 1.3344183e-03 1.11e-15 4.69e-03 -4.0 1.00e+01 -17.4 1.00e+00 1.19e-01f 4 38 1.1644761e-04 4.85e-14 3.35e-03 -4.0 7.37e-01 -17.8 1.00e+00 1.00e+00f 1 39 7.2291787e-04 2.95e-14 3.38e-03 -4.0 5.10e-01 -18.3 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 3.7971613e-04 5.33e-15 4.51e-04 -4.0 4.17e-01 -18.8 1.00e+00 5.00e-01f 2 41 3.5330724e-05 5.55e-15 1.39e-03 -6.0 5.26e-01 -19.3 9.52e-01 1.00e+00f 1 42 1.4555613e-05 4.94e-15 1.66e-04 -6.0 1.31e-01 -19.8 1.00e+00 1.00e+00f 1 43 3.9443704e-06 7.77e-16 1.06e-04 -6.0 1.51e-01 -20.0 1.00e+00 1.00e+00f 1 44 9.1424679e-04 5.27e-16 2.42e-03 -4.0 1.64e+01 -20.0 1.00e+00 7.29e-02f 4 45 1.8743438e-04 4.33e-14 2.61e-03 -4.0 5.14e-01 -20.0 1.00e+00 1.00e+00f 1 46 6.3107582e-04 1.78e-14 2.46e-03 -4.0 3.75e-01 -20.0 1.00e+00 1.00e+00f 1 47 3.8880668e-04 3.11e-15 4.06e-04 -4.0 3.32e-01 -20.0 1.00e+00 5.00e-01f 2 48 3.4831163e-05 5.66e-15 1.51e-03 -6.1 5.69e-01 -20.0 9.47e-01 1.00e+00f 1 49 1.4558106e-05 4.55e-15 1.74e-04 -6.1 1.37e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 3.8328205e-06 7.77e-16 1.14e-04 -6.1 1.64e-01 -20.0 1.00e+00 1.00e+00f 1 51 7.5173981e-04 5.69e-16 1.53e-03 -4.0 1.77e+01 -20.0 1.00e+00 6.77e-02f 4 52 2.2186698e-04 3.77e-14 2.21e-03 -4.1 4.21e-01 -20.0 1.00e+00 1.00e+00f 1 53 5.7050675e-04 1.22e-14 1.98e-03 -4.1 3.08e-01 -20.0 1.00e+00 1.00e+00f 1 54 3.8467412e-04 2.00e-15 3.74e-04 -4.1 2.85e-01 -20.0 1.00e+00 5.00e-01f 2 55 3.3769193e-05 5.44e-15 1.59e-03 -6.1 6.03e-01 -20.0 9.43e-01 1.00e+00f 1 56 1.4241270e-05 4.11e-15 1.78e-04 -6.1 1.42e-01 -20.0 1.00e+00 1.00e+00f 1 57 3.7007520e-06 6.66e-16 1.19e-04 -6.1 1.74e-01 -20.0 1.00e+00 1.00e+00f 1 58 6.3157924e-04 4.44e-16 7.20e-04 -4.0 1.91e+01 -20.0 1.00e+00 6.26e-02f 4 59 2.5535094e-04 3.35e-14 1.79e-03 -4.1 3.32e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 5.1573508e-04 8.22e-15 1.49e-03 -4.1 2.37e-01 -20.0 1.00e+00 1.00e+00f 1 61 3.8071118e-04 1.33e-15 3.29e-04 -4.1 2.32e-01 -20.0 1.00e+00 5.00e-01f 2 62 3.2680683e-05 5.11e-15 1.65e-03 -6.1 6.35e-01 -20.0 9.39e-01 1.00e+00f 1 63 1.3929188e-05 3.77e-15 1.81e-04 -6.1 1.46e-01 -20.0 1.00e+00 1.00e+00f 1 64 3.5895749e-06 6.66e-16 1.23e-04 -6.1 1.83e-01 -20.0 1.00e+00 1.00e+00f 1 65 5.4295431e-04 2.78e-16 7.80e-05 -4.0 2.04e+01 -20.0 1.00e+00 5.85e-02f 4 66 2.8461212e-04 3.04e-14 1.38e-03 -4.1 2.52e-01 -20.0 1.00e+00 1.00e+00f 1 67 4.6952131e-04 5.33e-15 1.05e-03 -4.1 1.71e-01 -20.0 1.00e+00 1.00e+00f 1 68 2.9749034e-04 3.77e-15 9.91e-04 -4.1 1.80e-01 -20.0 1.00e+00 1.00e+00f 1 69 4.6251791e-04 2.89e-15 9.12e-04 -4.1 1.49e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 3.0459702e-04 3.33e-15 8.97e-04 -4.1 1.62e-01 -20.0 1.00e+00 1.00e+00f 1 71 4.5553244e-04 2.89e-15 8.19e-04 -4.1 1.34e-01 -20.0 1.00e+00 1.00e+00f 1 72 2.3575168e-05 4.66e-15 1.82e-03 -6.1 7.70e-01 -20.0 9.25e-01 1.00e+00f 1 73 1.2298402e-05 3.89e-15 1.20e-04 -6.1 1.06e-01 -20.0 1.00e+00 1.00e+00f 1 74 3.0754653e-06 4.44e-16 1.15e-04 -6.1 1.83e-01 -20.0 1.00e+00 1.00e+00f 1 75 4.9575604e-04 3.50e-16 5.29e-04 -4.0 2.31e+01 -20.0 1.00e+00 5.17e-02f 4 76 3.0909502e-04 2.93e-14 1.07e-03 -4.1 1.92e-01 -20.0 1.00e+00 1.00e+00f 1 77 4.4375503e-04 3.77e-15 7.33e-04 -4.1 1.21e-01 -20.0 1.00e+00 1.00e+00f 1 78 2.4295518e-05 4.55e-15 1.89e-03 -6.1 7.90e-01 -20.0 9.22e-01 1.00e+00f 1 79 1.2437222e-05 3.66e-15 1.32e-04 -6.1 1.15e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 3.1163300e-06 4.44e-16 1.22e-04 -6.1 1.93e-01 -20.0 1.00e+00 1.00e+00f 1 81 3.9838373e-06 2.22e-16 2.08e-05 -6.1 3.61e-02 -20.0 1.00e+00 1.00e+00f 1 82 3.4330970e-06 5.55e-17 5.96e-06 -6.1 1.07e-02 -20.0 1.00e+00 1.00e+00h 1 83 2.6097525e-07 7.50e-17 5.27e-05 -9.0 2.35e-01 -20.0 9.77e-01 1.00e+00f 1 84 2.4724506e-03 3.26e-16 1.21e-02 -4.0 1.04e+02 -20.0 1.00e+00 2.33e-02f 3 85 8.3512365e-05 4.86e-14 7.12e-03 -3.9 1.55e+00 -20.0 1.00e+00 1.00e+00f 1 86 7.7281989e-04 2.93e-14 5.39e-03 -3.9 8.16e-01 -20.0 1.00e+00 1.00e+00f 1 87 4.3977285e-04 5.77e-15 7.71e-04 -3.9 5.36e-01 -20.0 1.00e+00 5.00e-01f 2 88 4.3453716e-05 4.33e-15 2.14e-03 -5.9 7.14e-01 -20.0 9.30e-01 1.00e+00f 1 89 1.7948379e-05 4.00e-15 2.62e-04 -5.9 1.86e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 5.1379373e-06 6.66e-16 1.66e-04 -5.9 2.09e-01 -20.0 1.00e+00 1.00e+00f 1 91 5.8461266e-06 3.33e-16 1.77e-05 -5.9 2.50e-02 -20.0 1.00e+00 1.00e+00h 1 92 5.3984730e-06 1.05e-16 2.78e-06 -5.9 3.99e-03 -20.0 1.00e+00 1.00e+00h 1 93 3.8843690e-07 6.25e-17 7.97e-05 -8.9 2.86e-01 -20.0 9.71e-01 1.00e+00f 1 94 1.5621760e-07 5.72e-17 8.37e-06 -8.9 6.34e-02 -20.0 1.00e+00 1.00e+00f 1 95 1.5901931e-03 7.63e-16 1.43e-03 -4.0 3.13e+02 -20.0 1.00e+00 7.77e-03f 3 96 4.7531147e-04 6.35e-14 5.66e-03 -3.8 7.31e-01 -20.0 1.00e+00 1.00e+00f 1 97 8.9063171e-04 1.91e-14 2.21e-03 -3.8 2.62e-01 -20.0 1.00e+00 1.00e+00f 1 98 5.6148133e-04 8.66e-15 2.31e-03 -3.8 3.01e-01 -20.0 1.00e+00 1.00e+00f 1 99 8.8018930e-04 3.11e-15 1.44e-03 -3.8 1.69e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 4.9820004e-05 8.55e-15 3.58e-03 -5.7 1.03e+00 -20.0 8.95e-01 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 4.9820004254294963e-05 4.9820004254294963e-05 Dual infeasibility......: 3.5761763598167462e-03 3.5761763598167462e-03 Constraint violation....: 8.5487172896137054e-15 8.5487172896137054e-15 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 4.8186538575856041e-05 4.8186538575856041e-05 Overall NLP error.......: 3.5761763598167462e-03 3.5761763598167462e-03 Number of objective function evaluations = 162 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 162 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 1 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 3.349 EXIT: Maximum Number of Iterations Exceeded. Difference in Hessian Difference in Jacobian [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=110, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! 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 3.4931921e+00 2.26e+00 2.30e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8513504e+00 1.44e-02 7.13e-01 -1.0 1.92e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3124165e+00 1.81e-02 6.69e-02 -1.8 2.52e-01 -1.6 9.85e-01 1.00e+00f 1 3 2.1339166e+00 9.58e-03 3.12e-01 -3.3 1.77e-01 -1.1 8.99e-01 1.00e+00h 1 4 2.0945317e+00 1.90e-03 1.88e-01 -3.8 1.94e-01 -1.6 9.99e-01 8.54e-01h 1 5 2.0907496e+00 3.43e-04 1.10e+00 -4.0 7.54e-01 -2.1 1.00e+00 6.58e-01h 1 6 2.0908438e+00 4.56e-05 2.61e-01 -4.0 3.17e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0910116e+00 1.14e-06 1.09e-03 -4.0 2.35e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0909999e+00 3.30e-07 2.06e-05 -4.0 7.05e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909791e+00 1.54e-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 2.0909171e+00 1.47e-07 2.05e-05 -4.0 6.31e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907345e+00 1.29e-06 4.97e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0902139e+00 1.09e-05 4.20e-04 -4.0 5.45e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888683e+00 8.21e-05 3.16e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861752e+00 4.40e-04 1.74e-02 -4.0 3.47e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830974e+00 9.20e-04 4.72e-02 -4.0 5.32e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828556e+00 9.34e-04 2.34e-02 -4.0 5.42e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823461e+00 3.94e-04 1.02e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820402e+00 9.51e-05 1.86e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.71e-04 8.70e-03 -4.0 9.94e+01 -8.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0819393e+00 3.70e-05 8.48e-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 4.46e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.85e-10 3.29e-08 -4.0 2.46e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.54e-13 1.23e-11 -4.0 4.61e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907191040e+00 2.0819382907191040e+00 Dual infeasibility......: 1.2268939661962130e-11 1.2268939661962130e-11 Constraint violation....: 2.5401902803423582e-13 2.5401902803423582e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000051e-04 1.0000000000000051e-04 Overall NLP error.......: 1.2268939661962130e-11 1.2268939661962130e-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 = 24.529 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 1.5756603e+00 1.99e+00 1.17e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7744878e+00 2.89e-02 6.32e-01 -1.0 1.99e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3395905e+00 2.72e-02 9.50e-02 -1.6 3.89e-01 -1.6 9.32e-01 1.00e+00h 1 3 2.1583950e+00 2.09e-03 2.41e-01 -2.8 9.63e-02 -1.1 9.59e-01 1.00e+00h 1 4 2.0961889e+00 8.53e-04 1.08e-01 -3.9 6.93e-02 -1.6 9.99e-01 8.94e-01h 1 5 2.0914520e+00 2.88e-04 9.33e-01 -4.0 8.01e-01 -2.1 1.00e+00 4.19e-01h 1 6 2.0909180e+00 7.03e-05 3.00e-01 -4.0 6.93e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0908500e+00 7.56e-07 1.43e-02 -4.0 2.55e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0908728e+00 4.74e-07 1.56e-05 -4.0 5.34e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908607e+00 1.12e-08 1.54e-05 -4.0 1.58e-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 2.0908261e+00 6.36e-08 4.72e-05 -4.0 4.58e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907246e+00 5.65e-07 1.39e-04 -4.0 1.32e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0903426e+00 5.23e-06 1.25e-03 -4.0 4.21e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0894861e+00 5.68e-05 7.12e-03 -4.0 1.32e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0888617e+00 5.83e-05 1.80e-01 -4.0 3.91e+01 -5.5 1.00e+00 1.31e-01h 1 15 2.0876750e+00 1.12e-04 1.29e-02 -4.0 1.50e+01 -6.0 1.00e+00 1.00e+00h 1 16 2.0856953e+00 2.27e-04 3.07e-02 -4.0 3.40e+01 -6.4 1.00e+00 7.69e-01h 1 17 2.0830375e+00 7.76e-04 4.70e-02 -4.0 5.14e+01 -6.9 1.00e+00 1.00e+00h 1 18 2.0832663e+00 1.84e-03 4.66e-02 -4.0 7.69e+01 -7.4 1.00e+00 1.00e+00h 1 19 2.0836668e+00 2.36e-03 1.33e-01 -4.0 3.13e+02 -7.9 2.25e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827637e+00 1.57e-03 2.34e-01 -4.0 1.01e+01 -5.6 7.98e-01 4.96e-01h 1 21 2.0826985e+00 1.60e-03 1.72e+00 -3.5 5.21e+01 -6.1 1.00e+00 7.75e-03h 2 22 2.0823906e+00 2.41e-04 1.73e-02 -4.0 1.85e+01 -6.6 1.00e+00 1.00e+00h 1 23 2.0820577e+00 2.16e-04 4.71e-03 -4.0 3.89e+01 -7.1 9.80e-01 1.00e+00h 1 24 2.0819473e+00 1.09e-03 1.19e+00 -4.0 1.54e+02 -6.7 1.00e+00 2.21e-01h 2 25 2.0819208e+00 4.46e-05 1.55e-03 -4.0 1.77e+00 -5.3 1.00e+00 1.00e+00h 1 26 2.0819683e+00 9.55e-05 5.59e-04 -4.0 9.06e-01 -4.9 1.00e+00 1.00e+00h 1 27 2.0819427e+00 2.74e-05 4.26e-03 -4.1 2.78e+00 -5.4 9.52e-01 1.00e+00h 1 28 2.0819259e+00 2.53e-05 2.92e+00 -4.1 3.51e+00 -3.1 1.00e+00 7.52e-02h 1 29 2.0817573e+00 1.83e-06 3.70e-04 -4.1 5.28e-02 -3.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0820068e+00 7.88e-07 3.94e-04 -4.0 2.73e-01 -4.1 1.00e+00 1.00e+00h 1 31 2.0818687e+00 3.03e-06 6.54e-05 -4.1 1.50e-01 -4.6 1.00e+00 1.00e+00h 1 32 2.0812875e+00 8.98e-05 3.81e-02 -6.2 9.69e-01 -5.1 8.45e-01 1.00e+00h 1 33 2.0812805e+00 3.74e-05 8.40e-02 -4.7 2.23e+00 -5.5 1.00e+00 4.77e-01h 1 34 2.0827009e+00 4.15e-04 1.59e-02 -4.0 3.55e+00 -6.0 1.00e+00 1.00e+00f 1 35 2.0823791e+00 3.48e-04 8.83e-01 -4.1 3.26e-01 -2.0 6.96e-01 1.62e-01h 1 36 2.0820387e+00 6.07e-07 1.32e-03 -4.1 4.02e-02 -2.4 1.00e+00 1.00e+00f 1 37 2.0821113e+00 4.50e-07 1.57e-04 -4.0 1.50e-01 -2.9 1.00e+00 1.00e+00h 1 38 2.0819920e+00 2.43e-10 3.94e-04 -4.0 2.29e-01 -3.4 1.00e+00 1.00e+00H 1 39 2.0820436e+00 7.68e-07 3.56e-04 -4.0 9.64e-02 -3.9 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818981e+00 5.29e-06 7.08e-05 -4.1 2.76e-01 -4.4 1.00e+00 1.00e+00h 1 41 2.0812593e+00 1.01e-04 5.00e-02 -6.1 1.01e+00 -4.8 8.56e-01 1.00e+00h 1 42 2.0813020e+00 9.63e-05 2.78e-02 -4.0 4.22e+01 -5.3 1.55e-02 2.39e-02h 1 43 2.0811117e+00 2.55e-05 8.66e-02 -5.0 4.74e+00 -5.8 8.90e-01 1.00e+00h 1 44 2.0811836e+00 2.21e-05 3.28e+00 -4.0 2.74e+00 -3.6 5.93e-01 1.26e-01h 1 45 2.0814785e+00 2.11e-05 1.30e+00 -4.0 9.18e-01 -4.0 1.00e+00 5.19e-02h 2 46 2.0816276e+00 3.35e-05 1.26e-03 -4.0 4.33e-01 -4.5 1.00e+00 1.00e+00h 1 47 2.0817773e+00 7.24e-05 2.35e-03 -4.0 1.08e+00 -5.0 1.00e+00 1.00e+00h 1 48 2.0818403e+00 6.68e-05 9.43e-03 -4.0 5.93e-01 -4.6 1.00e+00 1.00e+00h 1 49 2.0817639e+00 4.33e-05 2.53e-03 -4.0 7.56e-01 -5.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818149e+00 2.71e-05 6.54e-04 -4.0 1.13e+00 -5.5 1.00e+00 1.00e+00h 1 51 2.0810527e+00 4.38e-04 7.60e-03 -6.0 4.66e+00 -6.0 9.94e-01 1.00e+00h 1 52 2.0816376e+00 9.13e-05 8.64e-02 -4.0 1.81e-01 -3.8 1.00e+00 8.08e-01h 1 53 2.0814463e+00 1.27e-05 5.94e-04 -4.1 4.49e-01 -4.2 1.00e+00 1.00e+00h 1 54 2.0816383e+00 2.63e-05 7.62e-04 -4.0 9.17e-01 -4.7 1.00e+00 1.00e+00h 1 55 2.0816201e+00 8.98e-06 8.73e-04 -4.1 6.43e-01 -5.2 1.00e+00 1.00e+00h 1 56 2.0818260e+00 5.15e-05 1.80e-04 -4.0 2.30e+00 -5.7 1.00e+00 1.00e+00h 1 57 2.0817342e+00 2.43e-05 5.92e-04 -4.1 1.68e+00 -6.1 1.00e+00 1.00e+00h 1 58 2.0808825e+00 7.97e-04 5.44e-03 -6.1 1.09e+01 -6.6 9.93e-01 1.00e+00h 1 59 2.0809273e+00 2.00e-05 4.75e-04 -5.0 1.96e+00 -6.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0819144e+00 1.70e-03 3.20e-02 -4.0 1.55e+01 -6.7 7.02e-01 1.00e+00h 1 61 2.0815557e+00 3.80e-04 2.02e-03 -4.2 9.31e+00 -7.1 1.00e+00 1.00e+00h 1 62 2.0814730e+00 6.24e-05 8.41e-04 -4.2 2.11e+01 -7.6 1.00e+00 1.00e+00h 1 63 2.0814151e+00 3.68e-05 1.88e-03 -4.2 4.04e+01 -8.1 1.00e+00 1.00e+00h 1 64 2.0813878e+00 4.53e-05 1.72e-03 -4.2 4.61e+01 -8.6 1.00e+00 1.00e+00h 1 65 2.0813823e+00 1.11e-05 3.46e-04 -4.2 2.51e+01 -9.1 1.00e+00 1.00e+00h 1 66 2.0818423e+00 6.04e-04 1.04e-04 -4.0 1.53e+01 -9.5 1.00e+00 1.00e+00h 1 67 2.0815823e+00 2.20e-04 1.97e-05 -4.1 1.00e+01 -10.0 1.00e+00 1.00e+00h 1 68 2.0805906e+00 3.30e-03 1.40e-04 -6.1 4.00e+01 -10.5 9.78e-01 9.70e-01h 1 69 2.0818878e+00 6.53e-03 3.20e-04 -4.0 6.07e+01 -11.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0816139e+00 4.85e-04 1.05e-05 -4.1 2.06e+01 -11.4 1.00e+00 1.00e+00h 1 71 2.0805989e+00 3.47e-03 1.49e-04 -6.1 4.15e+01 -11.9 9.76e-01 9.65e-01h 1 72 2.0805508e+00 8.45e-05 2.28e-06 -6.1 1.69e+01 -12.4 1.00e+00 1.00e+00h 1 73 2.0819794e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -12.9 1.00e+00 1.00e+00f 1 74 2.0816850e+00 9.29e-04 4.91e-05 -4.1 4.57e+01 -13.3 1.00e+00 1.00e+00h 1 75 2.0816490e+00 4.78e-07 7.47e-07 -4.1 8.50e+00 -13.8 1.00e+00 1.00e+00h 1 76 2.0818389e+00 1.13e-04 4.87e-06 -4.0 7.02e+00 -14.3 1.00e+00 1.00e+00h 1 77 2.0815801e+00 2.08e-04 9.04e-06 -4.1 9.49e+00 -14.8 1.00e+00 1.00e+00h 1 78 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -15.3 9.78e-01 9.71e-01h 1 79 2.0805497e+00 6.51e-05 1.78e-06 -6.1 1.55e+01 -15.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -16.2 1.00e+00 1.00e+00f 1 81 2.0816901e+00 9.49e-04 5.23e-05 -4.1 4.72e+01 -16.7 1.00e+00 1.00e+00h 1 82 2.0816518e+00 5.68e-07 7.86e-07 -4.1 8.91e+00 -17.2 1.00e+00 1.00e+00h 1 83 2.0805907e+00 3.69e-03 1.61e-04 -6.1 4.17e+01 -17.6 9.77e-01 9.75e-01h 1 84 2.0805511e+00 6.76e-05 1.95e-06 -6.1 1.62e+01 -18.1 1.00e+00 1.00e+00h 1 85 2.0805469e+00 4.72e-08 2.03e-08 -6.1 2.96e+00 -18.6 1.00e+00 1.00e+00h 1 86 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.88e+01 -19.1 1.00e+00 1.00e+00f 1 87 2.0817176e+00 1.03e-03 6.82e-05 -4.1 5.46e+01 -19.6 1.00e+00 1.00e+00h 1 88 2.0816664e+00 1.23e-06 1.00e-06 -4.1 1.09e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0805915e+00 3.77e-03 1.67e-04 -6.1 4.21e+01 -20.0 9.76e-01 9.75e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 91 2.0805471e+00 5.00e-08 2.15e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 92 2.0805365e+00 9.59e-07 8.07e-07 -9.0 9.59e-01 -20.0 1.00e+00 9.97e-01h 1 93 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 94 2.0817324e+00 1.07e-03 7.73e-05 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 95 2.0816741e+00 1.68e-06 1.10e-06 -4.1 1.18e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 97 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 98 2.0805472e+00 5.16e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 9.80e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805365e+00 9.37e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 101 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 102 2.0817328e+00 1.07e-03 7.75e-05 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 103 2.0816743e+00 1.69e-06 1.10e-06 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 104 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 105 2.0805516e+00 7.08e-05 2.06e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 106 2.0805472e+00 5.17e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 107 2.0805365e+00 9.81e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 108 2.0805365e+00 9.39e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 109 2.0805365e+00 4.44e-16 3.37e-16 -9.0 1.11e-05 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 110 2.0805365e+00 6.66e-16 2.22e-16 -9.0 1.99e-12 -20.0 1.00e+00 1.00e+00h 1 111 2.0805365e+00 2.22e-16 2.41e-16 -9.0 8.86e-14 -20.0 1.00e+00 1.00e+00 0 112 2.0805365e+00 8.88e-16 2.03e-16 -9.0 6.79e-14 -20.0 1.00e+00 1.00e+00T 0 Number of Iterations....: 112 (scaled) (unscaled) Objective...............: 2.0805364715330508e+00 2.0805364715330508e+00 Dual infeasibility......: 2.0309745975833971e-16 2.0309745975833971e-16 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 9.0909103283437487e-09 9.0909103283437487e-09 Complementarity.........: 9.0909090969342984e-10 9.0909090969342984e-10 Overall NLP error.......: 9.9999090909091523e-05 9.9999090909091523e-05 Number of objective function evaluations = 122 Number of objective gradient evaluations = 113 Number of equality constraint evaluations = 122 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 113 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 113 Total seconds in IPOPT = 27.582 EXIT: Search Direction is becoming Too Small. initializing optimizer... applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 196 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 28 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.6310701e+00 8.97e-01 1.01e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.4084756e+00 2.42e-01 1.75e+00 -0.9 8.97e-01 0.0 1.00e+00 1.00e+00h 1 2 1.3850994e+00 2.04e-01 9.63e-01 -0.6 5.59e+00 - 4.90e-01 1.59e-01f 2 3 1.5158785e+00 5.30e-02 1.32e+00 -1.1 2.12e-01 -0.5 9.48e-01 1.00e+00h 1 4 1.2679330e+00 4.94e-02 6.94e-01 -1.7 7.69e+00 - 2.84e-01 1.35e-01f 1 5 1.4429109e+00 2.93e-02 1.25e+00 -2.0 2.78e-01 -1.0 9.16e-01 8.41e-01h 1 6 1.3711924e+00 4.52e-02 1.22e+00 -1.2 1.79e+00 -0.5 1.00e+00 1.41e-01h 1 7 1.2527941e+00 1.45e-02 6.28e-01 -2.1 3.11e+00 - 1.00e+00 7.26e-01h 1 8 1.1191250e+00 3.34e-03 2.80e-01 -3.4 1.55e+00 - 1.00e+00 7.70e-01h 1 9 1.0925590e+00 7.97e-05 1.33e-01 -4.0 2.24e+00 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0908260e+00 4.00e-06 9.01e-03 -4.0 6.66e-01 - 1.00e+00 9.49e-01h 1 11 1.0909005e+00 9.38e-10 3.35e-04 -4.0 1.48e-01 - 1.00e+00 1.00e+00h 1 12 1.0908997e+00 2.52e-15 2.53e-08 -4.0 1.28e-03 - 1.00e+00 1.00e+00h 1 13 1.0908997e+00 1.51e-26 9.88e-16 -4.0 1.02e-07 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 13 (scaled) (unscaled) Objective...............: 1.0908997263265459e+00 1.0908997263265459e+00 Dual infeasibility......: 9.8841291054641012e-16 9.8841291054641012e-16 Constraint violation....: 1.5120158464230544e-26 1.5120158464230544e-26 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000612e-04 1.0000000000000612e-04 Overall NLP error.......: 9.8841291054641012e-16 9.8841291054641012e-16 Number of objective function evaluations = 17 Number of objective gradient evaluations = 14 Number of equality constraint evaluations = 17 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 14 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 13 Total seconds in IPOPT = 24.143 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: duration constraint of 4.0 applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. 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 6.6194133e-01 3.25e+00 8.76e-02 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 6.1044667e-01 2.78e+00 3.94e+00 -4.0 1.24e+01 -2.0 1.11e-01 2.91e-01h 1 2 8.1084019e-01 2.17e+00 2.87e+00 -0.5 4.37e+00 -0.7 1.03e-01 2.23e-01f 1 3 1.0544502e+00 1.56e+00 3.83e+00 -0.3 6.64e+00 -1.1 5.19e-01 2.80e-01f 1 4 1.4978013e+00 1.19e+00 2.29e+00 -4.0 7.26e+00 -1.6 3.02e-01 5.66e-01h 1 5 1.4882278e+00 1.40e+00 2.29e+00 -4.0 6.88e+01 -2.1 3.80e-02 5.08e-02h 1 6 1.8772336e+00 8.10e-01 1.53e+00 -4.0 5.91e+00 -2.6 5.49e-01 1.00e+00h 1 7 1.5993091e+00 8.03e-02 4.17e-01 -2.4 2.94e+00 -3.1 7.28e-01 1.00e+00h 1 8 1.5445670e+00 3.98e-01 3.99e-01 -2.3 1.60e+01 -3.5 1.08e-01 1.32e-01h 1 9 1.3999577e+00 2.53e-01 2.48e-01 -2.9 2.20e+00 -4.0 3.85e-01 3.66e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.2534243e+00 5.23e-02 6.47e-03 -2.4 1.23e+00 -4.5 9.75e-01 1.00e+00h 1 11 1.1662896e+00 7.45e-01 1.23e-01 -4.0 4.94e+00 -5.0 6.84e-01 1.00e+00h 1 12 1.2034392e+00 1.90e+00 9.76e-02 -2.8 3.43e+01 -5.4 1.00e+00 1.00e+00h 1 13 1.1782488e+00 2.48e-01 1.12e-01 -2.9 5.50e+00 -5.9 1.00e+00 1.00e+00h 1 14 1.1667026e+00 1.20e-01 2.73e-02 -4.0 2.96e+01 -6.4 1.00e+00 1.00e+00h 1 15 1.1626843e+00 4.51e-01 3.90e-02 -4.0 4.67e+01 -6.9 1.00e+00 1.00e+00h 1 16 1.1627731e+00 2.43e-01 1.19e-02 -4.0 6.59e+01 -7.4 1.00e+00 1.00e+00h 1 17 1.1611844e+00 5.17e-01 4.02e-02 -4.0 1.03e+02 -7.8 1.00e+00 1.00e+00h 1 18 1.1611480e+00 3.53e-01 6.62e-03 -4.0 1.39e+02 -8.3 1.00e+00 1.00e+00h 1 19 1.1603847e+00 5.36e-01 3.96e-02 -4.0 1.99e+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 1.1606058e+00 2.37e-01 3.30e-03 -4.0 2.00e+02 -9.3 1.00e+00 1.00e+00h 1 21 1.1608437e+00 3.83e-03 1.92e-03 -4.0 4.63e+01 -9.7 1.00e+00 1.00e+00h 1 22 1.1608492e+00 1.36e-05 5.73e-06 -4.0 1.26e+00 -10.2 1.00e+00 1.00e+00h 1 23 1.1608491e+00 1.15e-08 2.22e-09 -4.0 4.43e-02 -10.7 1.00e+00 1.00e+00h 1 24 1.1608491e+00 3.43e-13 2.55e-14 -4.0 2.37e-04 -11.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 24 (scaled) (unscaled) Objective...............: 1.1608491307791609e+00 1.1608491307791609e+00 Dual infeasibility......: 2.5496748809472614e-14 2.5496748809472614e-14 Constraint violation....: 3.4283687000424834e-13 3.4283687000424834e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000585e-04 1.0000000000000585e-04 Overall NLP error.......: 3.4283687000424834e-13 3.4283687000424834e-13 Number of objective function evaluations = 25 Number of objective gradient evaluations = 25 Number of equality constraint evaluations = 25 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 25 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 24 Total seconds in IPOPT = 23.874 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 186 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 19 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.1881487e+00 9.08e-01 1.03e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5459361e+00 1.73e-01 1.82e+00 -0.9 9.08e-01 0.0 9.92e-01 1.00e+00h 1 2 1.6175230e+00 5.29e-02 5.58e-01 -0.7 3.90e-01 -0.5 1.00e+00 6.95e-01h 1 3 1.1978619e+00 2.74e-01 6.42e-01 -1.6 4.19e+00 - 8.75e-01 1.00e+00f 1 4 9.9526496e-01 7.70e-02 3.68e-01 -1.9 2.35e-01 -1.0 1.00e+00 7.28e-01h 1 5 1.1372185e+00 9.55e-03 2.99e-01 -2.5 2.68e+00 - 1.00e+00 9.28e-01h 1 6 1.0958178e+00 6.90e-04 2.13e-01 -3.4 5.22e+00 - 1.00e+00 9.63e-01h 1 7 1.0909758e+00 3.35e-06 2.10e-02 -4.0 1.42e+00 - 1.00e+00 1.00e+00h 1 8 1.0910384e+00 7.78e-10 1.08e-04 -4.0 9.53e-02 - 1.00e+00 1.00e+00h 1 9 1.0910386e+00 1.42e-15 2.22e-05 -4.0 1.29e-04 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0910386e+00 1.30e-26 8.54e-16 -4.0 4.54e-09 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 1.0910385779862031e+00 1.0910385779862031e+00 Dual infeasibility......: 8.5445973213582604e-16 8.5445973213582604e-16 Constraint violation....: 1.3030494885491181e-26 1.3030494885491181e-26 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000000e-04 1.0000000000000000e-04 Overall NLP error.......: 8.5445973213582604e-16 8.5445973213582604e-16 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 20.029 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 3.7221204e+00 4.01e+00 6.47e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7930611e+00 2.71e-01 3.45e+00 -0.8 3.53e+00 0.0 9.07e-01 9.34e-01f 1 2 2.7032990e+00 7.02e-02 1.14e+00 -1.0 4.55e-01 -0.5 9.66e-01 1.00e+00f 1 3 2.3652095e+00 6.49e-03 1.98e-01 -1.6 1.40e-01 -1.0 9.72e-01 1.00e+00h 1 4 2.1223011e+00 1.96e-03 3.15e-02 -2.7 1.03e-01 -1.4 9.94e-01 9.04e-01h 1 5 2.0912834e+00 1.05e-04 6.77e-03 -3.9 1.89e-02 -1.9 9.98e-01 1.00e+00h 1 6 2.0909273e+00 3.58e-07 3.66e-04 -4.0 3.86e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0909268e+00 2.92e-09 1.59e-05 -4.0 1.16e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909240e+00 4.21e-10 1.59e-05 -4.0 3.47e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909162e+00 3.70e-09 1.57e-05 -4.0 1.03e-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 2.0908937e+00 2.96e-08 3.15e-05 -4.0 2.99e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0908289e+00 2.22e-07 1.14e-04 -4.0 8.52e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0906303e+00 2.10e-06 3.19e-04 -4.0 2.50e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0905522e+00 3.31e-07 2.50e-04 -4.0 1.01e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0901868e+00 9.84e-10 1.39e-03 -4.0 3.55e+00 -5.3 1.00e+00 1.00e+00H 1 15 2.0896590e+00 4.12e-05 1.07e-02 -4.0 1.05e+01 -5.8 1.00e+00 1.00e+00f 1 16 2.0889196e+00 4.28e-05 8.77e-02 -4.0 1.71e+01 -5.4 1.00e+00 2.58e-01h 1 17 2.0880926e+00 4.24e-05 1.33e-02 -4.0 1.10e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0866696e+00 1.07e-04 3.48e-02 -4.0 2.76e+01 -6.3 1.00e+00 6.13e-01h 1 19 2.0838213e+00 8.30e-04 4.12e-02 -4.0 5.01e+01 -6.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827500e+00 2.90e-04 8.94e-03 -4.0 5.51e+01 -7.3 1.00e+00 6.09e-01h 1 21 2.0825231e+00 8.59e-04 2.73e-02 -4.0 1.33e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0904461e+00 1.12e-04 3.71e-01 -4.0 2.21e+02 -7.3 1.54e-01 1.00e+00H 1 23 2.0841198e+00 7.45e-03 3.10e+00 -4.1 5.25e+01 -5.1 4.11e-02 1.89e-01f 1 24 2.0833065e+00 7.78e-03 3.10e+00 -4.1 8.32e+02 -4.7 3.45e-06 4.86e-04f 1 25 2.0833848e+00 7.79e-03 3.11e+00 -4.1 2.01e+03 -5.1 5.75e-07 7.73e-05f 2 26 2.0833450e+00 7.54e-03 3.73e+00 -4.1 1.54e+00 -2.9 1.00e+00 3.21e-02h 1 27 2.0834644e+00 4.12e-06 3.50e-03 -4.1 3.33e-02 -3.4 1.00e+00 1.00e+00f 1 28 2.0836240e+00 2.77e-06 3.80e-05 -4.0 7.08e-02 -3.9 1.00e+00 1.00e+00h 1 29 2.0836072e+00 7.05e-08 9.91e-06 -4.0 2.11e-01 -4.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0835642e+00 1.41e-07 1.42e-05 -4.0 6.22e-01 -4.8 1.00e+00 1.00e+00h 1 31 2.0834438e+00 1.19e-06 1.16e-04 -4.0 1.77e+00 -5.3 1.00e+00 1.00e+00h 1 32 2.0831519e+00 8.27e-06 7.65e-04 -4.0 4.61e+00 -5.8 1.00e+00 1.00e+00h 1 33 2.0827170e+00 3.70e-05 2.99e-03 -4.0 9.76e+00 -6.2 1.00e+00 1.00e+00h 1 34 2.0824667e+00 5.02e-05 3.60e-03 -4.0 2.23e+01 -6.7 1.00e+00 1.00e+00h 1 35 2.0820762e+00 1.97e-04 3.39e-03 -4.0 5.15e+01 -7.2 9.02e-01 1.00e+00h 1 36 2.0819574e+00 2.19e-04 2.69e-02 -4.0 9.45e+02 -6.8 1.67e-02 2.07e-02h 3 37 2.0822691e+00 2.58e-04 2.27e+00 -4.0 1.90e+01 -5.4 1.00e+00 1.32e-01h 1 38 2.0819256e+00 1.96e-05 2.12e-03 -4.0 1.49e+00 -5.9 1.00e+00 1.00e+00h 1 39 2.0820461e+00 4.94e-05 8.75e-04 -4.0 4.08e+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 40 2.0818307e+00 1.30e-04 1.56e-03 -4.1 7.40e+00 -6.9 1.00e+00 1.00e+00h 1 41 2.0820067e+00 3.64e-04 1.04e-03 -4.0 1.59e+01 -7.3 1.00e+00 1.00e+00h 1 42 2.0816823e+00 8.26e-04 9.64e-04 -4.1 3.50e+01 -7.8 1.00e+00 1.00e+00h 1 43 2.0818675e+00 1.25e-03 3.34e-03 -4.0 5.28e+01 -8.3 1.00e+00 1.00e+00h 1 44 2.0815868e+00 9.90e-04 1.41e-03 -4.1 4.40e+01 -8.8 1.00e+00 1.00e+00h 1 45 2.0818446e+00 3.57e-04 1.74e-04 -4.0 1.53e+01 -9.3 1.00e+00 1.00e+00h 1 46 2.0815838e+00 2.31e-04 8.97e-06 -4.1 1.04e+01 -9.7 1.00e+00 1.00e+00h 1 47 2.0818445e+00 2.11e-04 1.47e-05 -4.0 9.62e+00 -10.2 1.00e+00 1.00e+00h 1 48 2.0815837e+00 2.15e-04 1.09e-05 -4.1 9.81e+00 -10.7 1.00e+00 1.00e+00h 1 49 2.0818446e+00 2.16e-04 1.00e-05 -4.0 9.85e+00 -11.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0815837e+00 2.16e-04 9.51e-06 -4.1 9.87e+00 -11.6 1.00e+00 1.00e+00h 1 51 2.0818446e+00 2.16e-04 9.56e-06 -4.0 9.87e+00 -12.1 1.00e+00 1.00e+00h 1 52 2.0815837e+00 2.16e-04 9.35e-06 -4.1 9.87e+00 -12.6 1.00e+00 1.00e+00h 1 53 2.0805951e+00 3.33e-03 1.59e-04 -6.1 4.09e+01 -13.1 9.77e-01 9.64e-01h 1 54 2.0818908e+00 6.61e-03 2.99e-04 -4.0 6.18e+01 -13.5 1.00e+00 1.00e+00f 1 55 2.0816145e+00 4.96e-04 1.06e-05 -4.1 2.08e+01 -14.0 1.00e+00 1.00e+00h 1 56 2.0806042e+00 3.49e-03 2.32e-04 -6.1 4.24e+01 -14.5 9.76e-01 9.58e-01h 1 57 2.0805507e+00 9.69e-05 2.24e-06 -6.1 1.71e+01 -15.0 1.00e+00 1.00e+00h 1 58 2.0819819e+00 1.02e-02 3.99e-04 -4.0 8.54e+01 -15.5 1.00e+00 1.00e+00f 1 59 2.0816805e+00 9.65e-04 4.96e-05 -4.1 4.57e+01 -15.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0816444e+00 4.73e-07 7.69e-07 -4.1 8.40e+00 -16.4 1.00e+00 1.00e+00h 1 61 2.0818441e+00 1.27e-04 5.47e-06 -4.0 7.55e+00 -16.9 1.00e+00 1.00e+00h 1 62 2.0815834e+00 2.14e-04 9.28e-06 -4.1 9.76e+00 -17.4 1.00e+00 1.00e+00h 1 63 2.0805950e+00 3.33e-03 1.58e-04 -6.1 4.09e+01 -17.8 9.77e-01 9.64e-01h 1 64 2.0805497e+00 7.61e-05 1.82e-06 -6.1 1.56e+01 -18.3 1.00e+00 1.00e+00h 1 65 2.0819883e+00 1.06e-02 4.03e-04 -4.0 8.64e+01 -18.8 1.00e+00 1.00e+00f 1 66 2.0816850e+00 9.86e-04 5.24e-05 -4.1 4.71e+01 -19.3 1.00e+00 1.00e+00h 1 67 2.0816467e+00 5.59e-07 8.13e-07 -4.1 8.79e+00 -19.7 1.00e+00 1.00e+00h 1 68 2.0805963e+00 3.67e-03 1.56e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.67e-01h 1 69 2.0805509e+00 8.01e-05 1.98e-06 -6.1 1.63e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0805468e+00 5.50e-08 2.37e-08 -6.1 2.91e+00 -20.0 1.00e+00 1.00e+00h 1 71 2.0820237e+00 1.21e-02 4.23e-04 -4.0 9.79e+01 -20.0 1.00e+00 1.00e+00f 1 72 2.0817108e+00 1.09e-03 6.84e-05 -4.1 5.44e+01 -20.0 1.00e+00 1.00e+00h 1 73 2.0816597e+00 1.20e-06 1.05e-06 -4.1 1.08e+01 -20.0 1.00e+00 1.00e+00h 1 74 2.0805973e+00 3.75e-03 1.59e-04 -6.1 4.29e+01 -20.0 9.76e-01 9.67e-01h 1 75 2.0805512e+00 8.26e-05 2.04e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 76 2.0805470e+00 5.83e-08 2.51e-08 -6.1 3.00e+00 -20.0 1.00e+00 1.00e+00h 1 77 2.0805365e+00 9.22e-07 7.87e-07 -9.0 9.36e-01 -20.0 1.00e+00 9.97e-01h 1 78 2.0820411e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 79 2.0817244e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0816662e+00 1.63e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 81 2.0805979e+00 3.78e-03 1.61e-04 -6.1 4.31e+01 -20.0 9.76e-01 9.67e-01h 1 82 2.0805514e+00 8.39e-05 2.07e-06 -6.1 1.67e+01 -20.0 1.00e+00 1.00e+00h 1 83 2.0805470e+00 6.01e-08 2.58e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 84 2.0805365e+00 9.41e-07 8.10e-07 -9.0 9.46e-01 -20.0 1.00e+00 9.97e-01h 1 85 2.0805365e+00 8.66e-11 2.16e-12 -9.0 2.61e-02 -20.0 1.00e+00 1.00e+00h 1 86 2.0820415e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 87 2.0817247e+00 1.13e-03 7.75e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 88 2.0816664e+00 1.64e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0805979e+00 3.78e-03 1.61e-04 -6.1 4.31e+01 -20.0 9.76e-01 9.67e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805514e+00 8.39e-05 2.07e-06 -6.1 1.67e+01 -20.0 1.00e+00 1.00e+00h 1 91 2.0805470e+00 6.01e-08 2.58e-08 -6.1 3.05e+00 -20.0 1.00e+00 1.00e+00h 1 92 2.0805365e+00 9.41e-07 8.10e-07 -9.0 9.47e-01 -20.0 1.00e+00 9.97e-01h 1 93 2.0805365e+00 8.67e-11 2.17e-12 -9.0 2.61e-02 -20.0 1.00e+00 1.00e+00h 1 94 2.0805365e+00 8.88e-16 9.09e-15 -9.0 9.99e-06 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 4.44e-16 9.09e-15 -9.0 1.62e-12 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 4.44e-16 9.09e-15 -9.0 8.80e-14 -20.0 1.00e+00 1.00e+00 0 97 2.0805365e+00 2.22e-16 9.09e-15 -9.0 4.31e-14 -20.0 1.00e+00 1.00e+00T 0 Number of Iterations....: 97 (scaled) (unscaled) Objective...............: 2.0805364595436484e+00 2.0805364595436484e+00 Dual infeasibility......: 9.0909090910998750e-15 9.0909090910998750e-15 Constraint violation....: 2.2204460492503131e-16 2.2204460492503131e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090978348416e-10 9.0909090978348416e-10 Overall NLP error.......: 9.9999090909091550e-05 9.9999090909091550e-05 Number of objective function evaluations = 106 Number of objective gradient evaluations = 98 Number of equality constraint evaluations = 106 Number of inequality constraint evaluations = 106 Number of equality constraint Jacobian evaluations = 98 Number of inequality constraint Jacobian evaluations = 98 Number of Lagrangian Hessian evaluations = 98 Total seconds in IPOPT = 25.986 EXIT: Search Direction is becoming Too Small. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 96 Number of nonzeros in Lagrangian Hessian.............: 1804 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.8145356e+01 2.66e+00 4.07e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5417583e+00 2.09e-01 1.61e+00 -1.2 2.10e+00 -2.0 7.07e-01 9.24e-01f 1 2 2.1897086e+00 2.49e-01 1.07e+00 -1.4 5.57e+00 -2.5 6.00e-01 7.92e-01h 1 3 2.2924647e+00 3.59e-02 6.46e-01 -1.5 3.06e+00 -3.0 6.48e-01 1.00e+00f 1 4 2.2399318e+00 2.32e-02 1.49e+00 -1.8 7.90e+00 -3.4 9.97e-01 3.35e-01h 2 5 2.1327117e+00 1.15e-01 6.02e-01 -2.4 7.48e+00 -3.9 9.97e-01 1.00e+00h 1 6 2.1404048e+00 1.46e-02 1.18e-01 -2.3 8.96e+00 -4.4 9.69e-01 1.00e+00h 1 7 2.1111848e+00 4.91e-02 3.41e-01 -3.6 1.31e+01 -4.9 1.00e+00 4.97e-01h 1 8 2.0915440e+00 1.30e-02 6.59e-02 -3.6 5.36e+00 -5.3 1.00e+00 9.83e-01h 1 9 2.0901481e+00 1.32e-03 9.05e-03 -4.0 1.10e+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 2.0885946e+00 4.70e-04 5.66e-03 -4.0 3.02e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0865265e+00 1.50e-03 4.26e-02 -4.0 6.48e+01 -6.8 1.00e+00 1.00e+00h 1 12 2.0857153e+00 9.06e-04 1.28e+00 -3.7 7.39e-01 -3.6 1.00e+00 4.22e-01h 1 13 2.0852664e+00 7.09e-04 6.93e-01 -4.0 1.00e-01 -4.1 1.00e+00 2.17e-01h 1 14 2.0852897e+00 5.82e-05 1.76e-03 -4.0 4.81e-01 -4.6 1.00e+00 1.00e+00h 1 15 2.0852164e+00 4.59e-06 1.98e-04 -4.0 1.26e+00 -5.1 1.00e+00 1.00e+00h 1 16 2.0849485e+00 6.03e-06 3.89e-04 -4.0 3.75e+00 -5.5 1.00e+00 1.00e+00h 1 17 2.0842677e+00 3.29e-05 1.76e-03 -4.0 1.01e+01 -6.0 1.00e+00 1.00e+00h 1 18 2.0831159e+00 7.97e-05 8.79e-03 -4.0 1.94e+01 -6.5 1.00e+00 1.00e+00h 1 19 2.0825672e+00 1.30e-04 8.10e-03 -4.0 2.50e+01 -7.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0824891e+00 5.02e-05 2.73e-03 -4.0 7.17e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0824405e+00 2.49e-04 4.21e-03 -4.0 3.88e+01 -7.0 1.00e+00 1.00e+00h 1 22 2.0887693e+00 3.18e-07 1.08e-01 -4.0 1.14e+02 -7.5 2.55e-01 1.00e+00H 1 23 2.0827897e+00 2.86e-05 2.91e+00 -4.0 8.75e-01 -1.7 6.78e-02 3.29e-01f 1 24 2.0832932e+00 1.45e-05 7.63e-01 -4.0 4.40e-01 -2.1 1.00e+00 7.48e-01H 1 25 2.0833955e+00 3.72e-06 7.61e-03 -4.0 2.43e-01 -2.6 1.00e+00 1.00e+00f 1 26 2.0828114e+00 3.17e-06 2.70e-03 -4.0 1.42e-01 -3.1 1.00e+00 1.00e+00h 1 27 2.0825217e+00 1.77e-06 8.47e-04 -4.0 7.47e-02 -3.6 1.00e+00 1.00e+00h 1 28 2.0824890e+00 1.90e-07 3.07e-05 -4.0 5.66e-02 -4.0 1.00e+00 1.00e+00h 1 29 2.0824797e+00 2.92e-08 3.07e-05 -4.0 1.68e-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 2.0824563e+00 2.41e-07 3.08e-05 -4.0 4.90e-01 -5.0 1.00e+00 1.00e+00h 1 31 2.0824028e+00 1.51e-06 8.52e-05 -4.0 1.40e+00 -5.5 1.00e+00 1.00e+00h 1 32 2.0823187e+00 5.40e-06 2.80e-04 -4.0 3.86e+00 -6.0 1.00e+00 1.00e+00h 1 33 2.0822096e+00 1.06e-05 4.88e-04 -4.0 1.10e+01 -6.4 1.00e+00 1.00e+00h 1 34 2.0820679e+00 2.55e-04 3.08e-02 -4.0 3.81e+01 -6.9 5.31e-01 1.00e+00h 1 35 2.0821540e+00 2.32e-04 4.06e-03 -4.0 4.25e+00 -5.6 1.00e+00 1.00e+00h 1 36 2.0845416e+00 3.23e-05 1.61e-01 -4.1 1.83e+01 -6.1 3.55e-01 1.00e+00H 1 37 2.0827488e+00 4.13e-09 9.28e-03 -4.1 1.17e-01 -1.1 1.00e+00 1.00e+00h 1 38 2.0824175e+00 1.39e-07 1.73e-03 -4.0 7.54e-02 -1.6 1.00e+00 1.00e+00h 1 39 2.0822803e+00 5.50e-09 9.60e-04 -4.0 9.74e-02 -2.1 1.00e+00 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0824057e+00 2.41e-07 1.25e-04 -4.0 3.81e-02 -2.5 1.00e+00 1.00e+00f 1 41 2.0822339e+00 2.60e-07 5.50e-05 -4.1 9.33e-03 -3.0 1.00e+00 1.00e+00h 1 42 2.0823810e+00 5.46e-07 5.09e-05 -4.0 2.30e-02 -3.5 1.00e+00 1.00e+00h 1 43 2.0822202e+00 1.85e-06 3.40e-05 -4.1 7.40e-02 -4.0 1.00e+00 1.00e+00h 1 44 2.0823643e+00 5.12e-06 8.48e-05 -4.0 2.09e-01 -4.5 1.00e+00 1.00e+00h 1 45 2.0821657e+00 1.65e-05 7.18e-05 -4.1 6.61e-01 -4.9 1.00e+00 1.00e+00h 1 46 2.0822014e+00 5.04e-05 3.90e-04 -4.0 2.20e+00 -5.4 1.00e+00 1.00e+00h 1 47 2.0842862e+00 2.01e-06 2.00e-01 -4.1 1.13e+01 -5.9 3.31e-01 1.00e+00H 1 48 2.0826621e+00 5.28e-07 1.07e-02 -4.1 8.20e-02 -0.9 1.00e+00 1.00e+00h 1 49 2.0822009e+00 9.30e-07 1.10e+00 -4.1 2.50e-01 -1.4 1.00e+00 2.47e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818295e+00 4.28e-07 2.26e-03 -4.0 8.32e-02 -1.9 1.00e+00 1.00e+00f 1 51 2.0817746e+00 2.48e-07 2.22e-04 -4.0 1.81e-02 -2.4 1.00e+00 1.00e+00h 1 52 2.0817950e+00 9.82e-08 3.30e-05 -4.0 1.49e-02 -2.9 1.00e+00 1.00e+00h 1 53 2.0817999e+00 2.00e-08 3.29e-05 -4.0 4.40e-02 -3.3 1.00e+00 1.00e+00h 1 54 2.0818121e+00 1.14e-07 3.29e-05 -4.0 1.25e-01 -3.8 1.00e+00 1.00e+00h 1 55 2.0817440e+00 2.26e-06 2.29e-04 -4.1 1.77e-01 -4.3 1.00e+00 1.00e+00h 1 56 2.0818959e+00 1.45e-05 3.84e-04 -4.0 8.00e-01 -4.8 1.00e+00 1.00e+00h 1 57 2.0818476e+00 1.08e-05 7.24e-04 -4.1 9.01e-01 -5.2 1.00e+00 1.00e+00h 1 58 2.0813032e+00 1.24e-04 5.20e-02 -6.1 3.60e+00 -5.7 8.73e-01 6.46e-01h 1 59 2.0821449e+00 6.21e-04 5.98e-03 -4.0 7.29e+00 -6.2 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0819365e+00 7.98e-05 1.27e-03 -4.1 9.04e+00 -6.7 1.00e+00 1.00e+00h 1 61 2.0824727e+00 7.19e-05 1.46e-02 -4.1 1.69e+01 -7.1 1.00e+00 1.00e+00h 1 62 2.0819110e+00 7.67e-05 2.08e-02 -4.1 2.71e+01 -7.6 2.57e-01 1.00e+00h 1 63 2.0818146e+00 2.77e-07 6.97e-04 -4.1 2.59e-02 -1.8 1.00e+00 1.00e+00h 1 64 2.0819207e+00 1.96e-07 2.56e-04 -4.0 4.87e-02 -2.3 1.00e+00 1.00e+00h 1 65 2.0817846e+00 1.34e-07 1.12e-04 -4.1 3.38e-02 -2.7 1.00e+00 1.00e+00h 1 66 2.0819099e+00 2.48e-07 7.93e-05 -4.0 1.41e-02 -3.2 1.00e+00 1.00e+00h 1 67 2.0817791e+00 7.57e-07 7.75e-05 -4.1 4.00e-02 -3.7 1.00e+00 1.00e+00h 1 68 2.0812166e+00 2.04e-05 8.24e-02 -6.1 2.14e-01 -4.2 7.71e-01 1.00e+00h 1 69 2.0819887e+00 5.65e-05 2.34e-03 -4.0 4.80e-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 70 2.0816699e+00 3.28e-05 5.93e-04 -4.1 7.57e-01 -5.1 1.00e+00 1.00e+00h 1 71 2.0810309e+00 2.55e-04 1.78e-02 -6.1 2.71e+00 -5.6 9.74e-01 1.00e+00h 1 72 2.0810478e+00 1.59e-04 2.61e-01 -4.8 6.73e-01 -4.3 1.00e+00 3.73e-01h 1 73 2.0813390e+00 1.14e-04 2.13e-01 -4.0 1.46e+00 -4.7 1.00e+00 3.31e-01f 1 74 2.0815302e+00 2.57e-05 9.51e-04 -4.1 6.39e-01 -5.2 1.00e+00 1.00e+00h 1 75 2.0816000e+00 3.73e-06 6.51e-04 -4.1 1.13e+00 -5.7 1.00e+00 1.00e+00h 1 76 2.0818595e+00 8.72e-05 7.80e-04 -4.0 2.99e+00 -6.2 1.00e+00 1.00e+00h 1 77 2.0817121e+00 4.59e-05 9.29e-04 -4.1 2.84e+00 -6.7 1.00e+00 1.00e+00h 1 78 2.0816870e+00 1.33e-05 1.57e-04 -4.1 7.14e+00 -7.1 1.00e+00 1.00e+00h 1 79 2.0807182e+00 2.80e-03 6.17e-04 -6.1 3.49e+01 -7.6 9.82e-01 9.48e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0818820e+00 4.57e-03 2.15e-03 -4.0 4.10e+01 -8.1 1.00e+00 1.00e+00f 1 81 2.0816194e+00 9.62e-04 1.10e-03 -4.1 3.94e+01 -8.6 1.00e+00 1.00e+00h 1 82 2.0816012e+00 1.50e-05 3.65e-04 -4.1 2.30e+01 -9.0 1.00e+00 1.00e+00h 1 83 2.0805932e+00 3.54e-03 1.41e-04 -6.1 4.23e+01 -9.5 9.77e-01 9.69e-01h 1 84 2.0818893e+00 6.39e-03 5.44e-04 -4.0 5.94e+01 -10.0 1.00e+00 1.00e+00f 1 85 2.0816130e+00 4.97e-04 3.61e-05 -4.1 2.08e+01 -10.5 1.00e+00 1.00e+00h 1 86 2.0806018e+00 3.47e-03 1.94e-04 -6.1 4.19e+01 -10.9 9.76e-01 9.61e-01h 1 87 2.0805508e+00 9.12e-05 3.03e-06 -6.1 1.71e+01 -11.4 1.00e+00 1.00e+00h 1 88 2.0819803e+00 1.03e-02 3.99e-04 -4.0 8.48e+01 -11.9 1.00e+00 1.00e+00f 1 89 2.0816778e+00 9.65e-04 4.77e-05 -4.1 4.56e+01 -12.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0816419e+00 4.56e-07 2.90e-05 -4.1 8.53e+00 -12.9 1.00e+00 1.00e+00h 1 91 2.0818414e+00 1.26e-04 3.39e-05 -4.0 7.46e+00 -13.3 1.00e+00 1.00e+00h 1 92 2.0815817e+00 2.11e-04 2.76e-05 -4.1 9.63e+00 -13.8 1.00e+00 1.00e+00h 1 93 2.0805923e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -14.3 9.77e-01 9.68e-01h 1 94 2.0805497e+00 7.03e-05 1.80e-06 -6.1 1.55e+01 -14.8 1.00e+00 1.00e+00h 1 95 2.0819871e+00 1.06e-02 4.00e-04 -4.0 8.58e+01 -15.2 1.00e+00 1.00e+00f 1 96 2.0816826e+00 9.87e-04 5.24e-05 -4.1 4.71e+01 -15.7 1.00e+00 1.00e+00h 1 97 2.0816444e+00 5.44e-07 2.90e-05 -4.1 8.94e+00 -16.2 1.00e+00 1.00e+00h 1 98 2.0805933e+00 3.65e-03 1.55e-04 -6.1 4.19e+01 -16.7 9.76e-01 9.71e-01h 1 99 2.0805509e+00 7.35e-05 1.95e-06 -6.1 1.62e+01 -17.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805468e+00 5.07e-08 2.90e-07 -6.1 2.92e+00 -17.6 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805467651786262e+00 2.0805467651786262e+00 Dual infeasibility......: 2.8965367270005519e-07 2.8965367270005519e-07 Constraint violation....: 5.0692592346024412e-08 5.0692592346024412e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.6467210376650413e-07 8.6467210376650413e-07 Overall NLP error.......: 9.9219996693582999e-05 9.9219996693582999e-05 Number of objective function evaluations = 109 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 109 Number of inequality constraint evaluations = 109 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 29.386 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 1.7551003e+02 3.66e+00 4.21e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 6.5797049e+01 2.01e+00 2.55e+01 -0.6 1.73e+01 -2.0 2.19e-01 4.14e-01f 1 2 3.6696613e+00 5.77e+00 1.89e+01 -0.4 2.46e+01 -2.5 8.44e-01 1.00e+00f 1 3 3.8343647e+00 6.42e-01 2.01e+01 -0.8 5.96e+00 -2.1 2.06e-01 1.00e+00f 1 4 3.5201384e+00 3.61e-01 1.50e+01 -0.5 8.17e+00 -1.6 8.54e-01 3.78e-01h 1 5 3.1032944e+00 2.70e-01 1.42e+01 -1.0 3.63e+00 -1.2 6.35e-01 3.15e-01h 1 6 3.0558940e+00 2.58e-01 1.49e+01 -4.0 6.16e+00 -1.7 5.91e-02 5.46e-02h 1 7 2.7617062e+00 6.49e-02 1.69e+00 -1.0 1.02e+00 -1.3 8.30e-01 1.00e+00f 1 8 2.4043961e+00 5.04e-02 2.50e+00 -1.6 1.32e+00 -1.7 9.76e-01 1.00e+00h 1 9 2.3354905e+00 3.86e-02 1.04e+00 -1.6 3.05e+00 -2.2 6.08e-01 2.34e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.3050201e+00 3.46e-02 8.75e-01 -1.6 2.53e+00 -2.7 1.00e+00 1.03e-01h 1 11 2.1848137e+00 6.45e-02 4.36e-01 -2.5 4.56e+00 -3.2 9.53e-01 7.00e-01h 1 12 2.1085091e+00 1.28e-02 2.42e-02 -2.9 9.92e-01 -3.6 9.97e-01 1.00e+00h 1 13 2.0915704e+00 1.17e-03 2.77e-03 -4.0 5.09e-01 -4.1 1.00e+00 1.00e+00h 1 14 2.0910925e+00 1.10e-05 1.89e-03 -4.0 1.44e-01 -3.7 1.00e+00 1.00e+00h 1 15 2.0910224e+00 4.04e-06 2.26e-04 -4.0 3.15e-01 -4.2 1.00e+00 1.00e+00h 1 16 2.0909313e+00 4.40e-07 2.26e-04 -4.0 8.92e-01 -4.6 1.00e+00 1.00e+00h 1 17 2.0907550e+00 1.88e-06 2.06e-03 -4.0 2.12e+00 -5.1 1.00e+00 1.00e+00h 1 18 2.0906150e+00 9.25e-07 3.67e-03 -4.0 1.36e+00 -4.7 1.00e+00 6.79e-01h 1 19 2.0905474e+00 2.90e-06 2.26e-03 -4.0 2.82e+00 -5.2 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0902188e+00 2.50e-06 5.06e-03 -4.0 2.02e+00 -4.7 1.00e+00 6.85e-01h 1 21 2.0900354e+00 2.71e-06 3.60e-03 -4.0 3.10e+00 -5.2 1.00e+00 1.00e+00f 1 22 2.0894518e+00 1.17e-05 2.46e-02 -4.0 1.15e+01 -5.7 1.00e+00 4.45e-01h 1 23 2.0877106e+00 2.13e-04 1.53e-02 -4.0 2.35e+01 -6.2 1.00e+00 1.00e+00h 1 24 2.0867188e+00 2.26e-04 2.52e-01 -4.0 9.02e+01 -6.7 1.00e+00 1.21e-01h 1 25 2.0829576e+00 2.02e-03 9.59e-02 -4.0 7.16e+01 -7.1 1.00e+00 9.26e-01h 1 26 2.0830482e+00 3.29e-03 5.40e-02 -4.0 1.05e+02 -7.6 1.00e+00 1.00e+00h 1 27 2.0846733e+00 7.29e-03 1.58e-01 -4.0 3.88e+02 -8.1 1.62e-01 1.00e+00h 1 28 2.0830535e+00 6.85e-03 2.33e-01 -4.0 3.83e+01 -5.9 2.68e-01 3.12e-01h 1 29 2.0829372e+00 6.86e-03 2.31e-01 -4.0 2.80e+02 -5.4 2.27e-04 3.35e-04h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0828457e+00 6.86e-03 8.04e-01 -4.0 3.14e+02 -4.1 1.39e-02 2.63e-04h 1 31 2.0831382e+00 2.23e-05 5.10e-04 -4.0 3.10e-01 -4.6 1.00e+00 1.00e+00h 1 32 2.0829468e+00 2.56e-05 3.56e-04 -4.0 8.30e-01 -5.1 1.00e+00 1.00e+00h 1 33 2.0827897e+00 3.46e-06 2.66e-04 -4.0 2.21e+00 -5.5 1.00e+00 1.00e+00h 1 34 2.0825159e+00 1.94e-05 1.21e-03 -4.0 5.20e+00 -6.0 1.00e+00 1.00e+00h 1 35 2.0822997e+00 4.42e-05 1.97e-03 -4.0 1.20e+01 -6.5 1.00e+00 1.00e+00h 1 36 2.0821167e+00 3.72e-05 2.41e-03 -4.0 2.85e+01 -7.0 1.00e+00 1.00e+00h 1 37 2.0818581e+00 2.07e-04 2.03e-03 -4.0 6.13e+01 -7.4 7.81e-01 1.00e+00h 1 38 2.0844378e+00 4.21e-06 2.85e-02 -4.0 2.48e+01 -6.1 1.00e+00 1.00e+00H 1 39 2.0819501e+00 1.29e-05 7.33e-03 -4.0 3.80e-01 -3.9 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0816547e+00 1.83e-05 2.34e-03 -4.0 2.70e-01 -4.4 1.00e+00 1.00e+00h 1 41 2.0816939e+00 2.85e-05 5.62e-04 -4.0 1.15e+00 -4.8 1.00e+00 1.00e+00h 1 42 2.0816557e+00 9.39e-06 1.11e-03 -4.1 1.05e+00 -5.3 1.00e+00 1.00e+00h 1 43 2.0817315e+00 1.63e-04 6.95e-04 -4.1 5.14e+00 -5.8 1.00e+00 1.00e+00h 1 44 2.0811818e+00 4.77e-04 1.69e-02 -6.1 7.77e+00 -6.3 7.51e-01 6.05e-01h 1 45 2.0814758e+00 2.17e-04 7.75e-02 -4.0 4.38e+01 -6.7 1.00e+00 1.77e-01f 3 46 2.0817615e+00 2.39e-05 8.65e-04 -4.0 4.67e-01 -4.5 1.00e+00 1.00e+00h 1 47 2.0815905e+00 2.48e-05 1.99e-04 -4.1 1.17e+00 -5.0 1.00e+00 1.00e+00h 1 48 2.0828548e+00 1.52e-05 2.97e-01 -4.0 7.51e+00 -5.5 3.74e-01 7.63e-01H 1 49 2.0816746e+00 3.13e-05 3.63e-01 -4.2 6.34e-01 -5.9 5.89e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0814409e+00 7.82e-07 4.01e-01 -4.2 4.11e-02 -1.9 7.60e-01 1.00e+00h 1 51 2.0816740e+00 1.15e-06 6.97e-04 -4.0 2.09e-02 -2.4 1.00e+00 1.00e+00h 1 52 2.0815573e+00 1.91e-07 1.82e-04 -4.1 3.56e-02 -2.9 1.00e+00 1.00e+00h 1 53 2.0811525e+00 2.40e-06 1.39e-01 -6.1 2.69e-02 -3.3 6.35e-01 1.00e+00h 1 54 2.0817867e+00 7.45e-06 2.71e-03 -4.0 6.78e-02 -3.8 1.00e+00 1.00e+00h 1 55 2.0815486e+00 1.03e-05 1.81e-04 -4.1 2.18e-01 -4.3 1.00e+00 1.00e+00h 1 56 2.0811004e+00 5.32e-05 8.48e-02 -6.1 5.90e-01 -4.8 7.38e-01 1.00e+00h 1 57 2.0816175e+00 2.97e-05 1.31e-01 -4.0 6.59e-01 -3.4 6.90e-01 4.63e-01h 1 58 2.0814316e+00 5.84e-06 3.24e-03 -4.3 1.74e-01 -3.9 1.00e+00 1.00e+00h 1 59 2.0813854e+00 2.32e-05 1.37e-03 -4.3 2.62e-01 -4.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0813784e+00 9.28e-06 3.93e-04 -4.3 4.88e-01 -4.9 1.00e+00 1.00e+00h 1 61 2.0809589e+00 1.05e-04 2.41e-02 -6.4 1.89e+00 -5.3 8.90e-01 1.00e+00h 1 62 2.0809682e+00 9.38e-05 2.94e+00 -4.3 2.72e+00 -4.0 1.00e+00 9.37e-02h 1 63 2.0818660e+00 8.80e-05 1.96e-01 -4.0 5.83e-01 -4.5 1.00e+00 5.46e-01h 1 64 2.0817934e+00 5.74e-04 1.20e+00 -4.1 3.28e+00 -5.0 4.21e-01 1.00e+00h 1 65 2.0814590e+00 1.93e-04 6.32e-01 -4.1 9.38e-02 -1.8 1.00e+00 6.64e-01h 1 66 2.0817082e+00 1.01e-06 1.19e-03 -4.1 4.16e-02 -2.3 1.00e+00 1.00e+00f 1 67 2.0815454e+00 2.83e-07 7.55e-04 -4.1 1.12e-01 -2.8 1.00e+00 1.00e+00h 1 68 2.0811007e+00 3.52e-06 2.97e-01 -6.1 9.59e-02 -3.3 6.10e-01 1.00e+00h 1 69 2.0817546e+00 8.59e-06 4.68e-03 -4.0 1.80e-01 -3.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0814734e+00 8.50e-06 2.68e-04 -4.1 2.39e-01 -4.2 1.00e+00 1.00e+00h 1 71 2.0810105e+00 7.29e-05 1.39e-01 -6.2 8.52e-01 -4.7 8.08e-01 1.00e+00h 1 72 2.0817659e+00 1.39e-04 2.82e-03 -4.0 1.15e+00 -5.2 1.00e+00 1.00e+00h 1 73 2.0815557e+00 4.21e-05 5.49e-04 -4.1 1.49e+00 -5.6 1.00e+00 1.00e+00h 1 74 2.0808319e+00 4.28e-04 1.04e-02 -6.1 4.39e+00 -6.1 9.84e-01 1.00e+00h 1 75 2.0807773e+00 9.34e-05 3.49e-02 -5.0 4.76e+00 -6.6 1.00e+00 7.60e-01h 1 76 2.0811873e+00 9.21e-05 5.76e-02 -4.0 7.29e+01 -7.1 3.95e-01 8.58e-02f 2 77 2.0810089e+00 7.35e-08 1.98e-03 -4.5 1.57e-01 -2.1 1.00e+00 1.00e+00h 1 78 2.0809957e+00 3.08e-07 2.58e+00 -4.0 9.20e-02 -2.6 1.00e+00 2.96e-01H 1 79 2.0810611e+00 4.41e-06 1.63e-03 -4.0 2.08e-01 -3.1 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0811116e+00 1.90e-06 2.55e-03 -4.1 2.73e-01 -3.6 1.00e+00 1.00e+00h 1 81 2.0812034e+00 5.52e-06 1.39e-03 -4.1 5.16e-01 -4.0 1.00e+00 1.00e+00h 1 82 2.0813096e+00 7.73e-06 1.75e-03 -4.1 7.12e-01 -4.5 1.00e+00 1.00e+00h 1 83 2.0814104e+00 8.59e-06 1.12e-03 -4.1 1.04e+00 -5.0 1.00e+00 1.00e+00h 1 84 2.0814872e+00 8.21e-06 7.80e-04 -4.1 1.93e+00 -5.5 1.00e+00 1.00e+00h 1 85 2.0811173e+00 5.55e-04 9.32e-02 -6.2 1.03e+01 -6.0 3.50e-01 8.82e-01h 1 86 2.0809913e+00 4.92e-04 2.11e+00 -6.2 5.52e+00 -4.6 4.39e-01 1.14e-01h 1 87 2.0807470e+00 8.09e-05 3.65e-02 -6.2 4.36e-01 -4.2 1.00e+00 8.37e-01h 1 88 2.0814727e+00 8.00e-05 9.34e-01 -4.0 1.71e+01 -4.7 6.79e-02 2.12e-02f 2 89 2.0812321e+00 1.53e-04 9.14e-01 -4.1 3.87e+01 -5.2 1.60e-01 2.12e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0814790e+00 6.54e-05 4.01e-03 -4.1 1.77e+00 -5.6 1.00e+00 1.00e+00h 1 91 2.0815908e+00 1.14e-05 3.32e-04 -4.1 5.40e-01 -6.1 1.00e+00 1.00e+00h 1 92 2.0807451e+00 7.41e-04 5.56e-03 -6.2 1.03e+01 -6.6 9.88e-01 1.00e+00h 1 93 2.0806963e+00 1.59e-04 2.04e-02 -5.2 8.00e+00 -7.1 1.00e+00 8.34e-01h 1 94 2.0816546e+00 1.45e-04 3.20e-02 -4.0 4.68e+01 -7.5 5.99e-01 1.08e-01f 1 95 2.0817710e+00 7.38e-03 9.25e-02 -4.4 2.41e+02 -8.0 3.88e-01 1.00e+00h 1 96 2.0816373e+00 2.13e-03 3.33e-01 -4.4 5.63e-02 -2.2 1.00e+00 7.11e-01h 1 97 2.0816993e+00 2.29e-07 1.57e-04 -4.4 7.21e-02 -2.6 1.00e+00 1.00e+00f 1 98 2.0813705e+00 2.02e-06 1.24e-01 -6.6 2.02e-01 -3.1 4.99e-01 9.48e-01h 1 99 2.0813145e+00 9.33e-07 3.02e-01 -6.6 8.81e-02 -3.6 9.47e-01 6.15e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0812911e+00 3.84e-07 4.89e-05 -6.6 1.44e-01 -4.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0812911370062226e+00 2.0812911370062226e+00 Dual infeasibility......: 4.8859109461936627e-05 4.8859109461936627e-05 Constraint violation....: 3.8368236143782042e-07 3.8368236143782042e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.2842088748739689e-06 1.2842088748739689e-06 Overall NLP error.......: 9.9975181702399726e-05 9.9975181702399726e-05 Number of objective function evaluations = 117 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 117 Number of inequality constraint evaluations = 117 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 33.363 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... applying constraint: timesteps all equal constraint applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 81 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.9771821e+00 3.29e+00 1.25e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5543210e+00 9.22e-01 1.88e+00 -1.1 2.04e+01 -4.0 1.00e+00 1.00e+00f 1 2 2.3081170e+00 2.73e-01 1.18e+00 -1.6 1.35e+01 -4.5 9.97e-01 1.00e+00h 1 3 2.1777059e+00 1.87e-01 2.53e-01 -2.1 1.28e+01 -5.0 9.97e-01 1.00e+00h 1 4 2.1132663e+00 7.09e-02 5.76e-02 -2.8 1.00e+01 -5.4 9.95e-01 1.00e+00h 1 5 2.0894247e+00 3.66e-02 1.06e-02 -3.8 1.44e+01 -5.9 9.97e-01 1.00e+00h 1 6 2.0845969e+00 5.52e-03 1.00e-02 -4.0 4.57e+01 -6.4 1.00e+00 1.00e+00h 1 7 2.0799521e+00 2.25e-03 1.68e-01 -4.0 1.04e+02 -6.9 1.00e+00 4.39e-01h 1 8 2.0790898e+00 6.28e-03 1.52e-01 -4.0 7.38e+01 -7.3 1.00e+00 1.00e+00h 1 9 2.0785139e+00 1.85e-02 1.71e-02 -3.7 1.19e+02 -7.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0766627e+00 2.09e-02 2.30e-02 -4.0 2.12e+02 -8.3 1.00e+00 1.00e+00h 1 11 2.0761384e+00 4.78e-03 2.46e-02 -4.0 3.47e+02 -8.8 1.00e+00 1.00e+00h 1 12 2.0769172e+00 2.69e-02 2.19e-02 -3.7 2.41e+02 -9.2 1.00e+00 1.00e+00h 1 13 2.0765114e+00 7.03e-03 3.00e-03 -3.8 1.16e+02 -9.7 1.00e+00 1.00e+00h 1 14 2.0764859e+00 3.04e-05 3.50e-05 -3.8 2.02e+01 -10.2 1.00e+00 1.00e+00h 1 15 2.0757757e+00 1.51e-03 2.85e-06 -4.0 2.78e+01 -10.7 1.00e+00 1.00e+00h 1 16 2.0757704e+00 4.26e-06 1.15e-06 -4.0 1.96e+01 -11.2 1.00e+00 1.00e+00h 1 17 2.0757704e+00 2.96e-10 8.69e-08 -4.0 3.72e+00 -11.6 1.00e+00 1.00e+00h 1 18 2.0757704e+00 1.31e-12 6.57e-10 -4.0 4.10e-01 -12.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 18 (scaled) (unscaled) Objective...............: 2.0757703960846343e+00 2.0757703960846343e+00 Dual infeasibility......: 6.5705840957995185e-10 6.5705840957995185e-10 Constraint violation....: 1.3057491286133649e-12 1.3057491286133649e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000014e-04 1.0000000000000014e-04 Overall NLP error.......: 6.5705840957995185e-10 6.5705840957995185e-10 Number of objective function evaluations = 19 Number of objective gradient evaluations = 19 Number of equality constraint evaluations = 19 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 19 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 18 Total seconds in IPOPT = 25.781 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 1.3552912e+00 7.59e-01 1.07e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.2912630e+00 3.52e-01 2.04e+00 -1.5 3.16e+00 - 9.43e-01 1.00e+00h 1 2 1.5395384e+00 1.30e-01 1.59e+00 -1.2 3.52e-01 0.0 8.66e-01 1.00e+00h 1 3 1.4929217e+00 8.61e-02 7.07e-01 -1.0 8.01e-01 -0.5 8.82e-01 3.40e-01h 1 4 1.9059748e+00 5.96e-02 1.77e+00 -1.6 6.36e-01 -1.0 9.44e-01 1.00e+00h 1 5 1.2908059e+00 4.14e-02 1.01e+00 -1.5 6.46e-01 -0.5 9.93e-01 4.54e-01f 1 6 1.1855379e+00 2.09e-02 5.12e-01 -2.5 1.20e-01 -1.0 1.00e+00 4.95e-01h 1 7 1.1452927e+00 2.03e-03 6.52e-02 -2.4 5.71e-01 -1.5 9.95e-01 9.03e-01h 1 8 1.0936226e+00 1.95e-05 9.56e-02 -4.0 1.94e+00 - 1.00e+00 1.00e+00h 1 9 1.0908899e+00 1.77e-07 2.95e-02 -4.0 1.52e+00 - 9.97e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0909005e+00 5.20e-11 1.29e-03 -4.0 3.59e-01 - 1.00e+00 1.00e+00f 1 11 1.0908997e+00 6.29e-19 5.92e-05 -4.0 8.97e-02 - 1.00e+00 1.00e+00f 1 12 1.0908997e+00 8.90e-28 8.97e-08 -4.0 1.48e-02 - 1.00e+00 1.00e+00f 1 13 1.0907198e+00 2.20e-27 9.24e-09 -4.1 2.00e-05 - 1.00e+00 1.00e+00f 1 14 1.0908997e+00 8.34e-27 9.24e-09 -4.0 2.00e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 14 (scaled) (unscaled) Objective...............: 1.0908997336734827e+00 1.0908997336734827e+00 Dual infeasibility......: 9.2445378296890368e-09 9.2445378296890368e-09 Constraint violation....: 8.3447865879180556e-27 8.3447865879180556e-27 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000081632639009e-04 1.0000081632639009e-04 Overall NLP error.......: 9.2445378296890368e-09 9.2445378296890368e-09 Number of objective function evaluations = 15 Number of objective gradient evaluations = 15 Number of equality constraint evaluations = 15 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 15 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 14 Total seconds in IPOPT = 21.869 EXIT: Optimal Solution Found. 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 2.0545121e+00 2.42e+00 6.13e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6109383e+00 4.19e-02 5.53e-01 -1.0 2.52e+00 - 9.94e-01 1.00e+00f 1 2 2.4167137e+00 5.84e-03 7.92e-02 -1.5 1.32e-01 - 9.46e-01 1.00e+00h 1 3 2.1285938e+00 1.44e-03 2.79e-02 -2.7 4.08e-02 - 9.69e-01 9.70e-01h 1 4 2.0913487e+00 8.47e-05 1.74e-03 -3.9 2.58e-02 - 9.84e-01 9.96e-01h 1 5 2.0908883e+00 2.45e-05 1.99e-04 -4.0 3.40e-01 - 1.00e+00 1.00e+00h 1 6 2.0908970e+00 6.05e-09 2.88e-07 -4.0 1.38e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 5.96e-11 6.02e-11 -4.0 1.60e-02 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971970600345e+00 2.0908971970600345e+00 Dual infeasibility......: 6.0248416038034477e-11 6.0248416038034477e-11 Constraint violation....: 5.9604633701566476e-11 5.9604633701566476e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000473517394771e-04 1.0000473517394771e-04 Overall NLP error.......: 4.7351739477016893e-09 4.7351739477016893e-09 Number of objective function evaluations = 8 Number of objective gradient evaluations = 8 Number of equality constraint evaluations = 8 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 8 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 7 Total seconds in IPOPT = 24.275 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 4.4776856e+00 1.86e+00 7.15e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7331851e+00 8.21e-01 8.20e-01 -1.0 8.52e+00 -4.0 6.23e-01 5.83e-01f 1 2 2.5413008e+00 2.30e-01 1.97e+00 -0.9 2.01e+00 -1.8 3.49e-01 7.92e-01f 1 3 2.6300976e+00 1.03e-02 4.89e-01 -1.1 3.75e-01 -1.3 9.41e-01 1.00e+00f 1 4 2.3328552e+00 2.18e-01 4.29e-01 -1.7 1.64e+00 -1.8 8.63e-01 1.00e+00h 1 5 2.2041250e+00 1.71e-02 9.72e-02 -1.9 4.17e-01 -2.3 9.68e-01 9.51e-01h 1 6 2.1166047e+00 2.69e-03 7.97e-02 -2.7 2.78e-01 -2.8 9.98e-01 9.29e-01h 1 7 2.0942674e+00 1.00e-03 1.43e-02 -3.4 1.91e-01 -3.3 9.94e-01 1.00e+00h 1 8 2.0908439e+00 4.72e-05 7.76e-04 -4.0 9.42e-02 -3.7 1.00e+00 1.00e+00h 1 9 2.0908260e+00 1.36e-06 7.68e-05 -4.0 2.94e-01 -4.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0907468e+00 2.37e-07 1.00e-04 -4.0 8.28e-01 -4.7 1.00e+00 1.00e+00h 1 11 2.0905528e+00 1.32e-06 6.41e-04 -4.0 2.06e+00 -5.2 1.00e+00 1.00e+00h 1 12 2.0902296e+00 3.06e-06 2.27e-03 -4.0 3.79e+00 -5.6 1.00e+00 1.00e+00h 1 13 2.0899951e+00 7.25e-06 2.82e-03 -4.0 6.37e+00 -6.1 1.00e+00 1.00e+00h 1 14 2.0898676e+00 5.61e-06 2.36e-03 -4.0 8.93e+00 -6.6 1.00e+00 1.00e+00h 1 15 2.0898283e+00 8.07e-07 1.70e-03 -4.0 1.25e+01 -7.1 1.00e+00 1.00e+00h 1 16 2.0898245e+00 2.31e-06 9.74e-04 -4.0 1.11e+01 -7.5 1.00e+00 1.00e+00h 1 17 2.0898222e+00 7.53e-07 1.49e-04 -4.0 4.24e+00 -8.0 1.00e+00 1.00e+00h 1 18 2.0898219e+00 1.54e-08 2.70e-06 -4.0 5.02e-01 -8.5 1.00e+00 1.00e+00h 1 19 2.0898219e+00 2.70e-11 7.25e-09 -4.0 3.82e-02 -9.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 19 (scaled) (unscaled) Objective...............: 2.0898218501995234e+00 2.0898218501995234e+00 Dual infeasibility......: 7.2467542141770383e-09 7.2467542141770383e-09 Constraint violation....: 2.7035623739735115e-11 2.7035623739735115e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 7.2467542141770383e-09 7.2467542141770383e-09 Number of objective function evaluations = 20 Number of objective gradient evaluations = 20 Number of equality constraint evaluations = 20 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 20 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 19 Total seconds in IPOPT = 27.273 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 5.1499952e+00 2.60e+00 2.85e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.4735877e+00 2.07e+00 1.64e+00 -0.2 1.61e+01 -2.0 8.49e-02 2.02e-01f 1 2 3.2660844e+00 8.62e-01 1.19e+00 -0.8 1.00e+01 -2.5 3.36e-01 6.12e-01h 1 3 3.2696789e+00 8.45e-01 3.45e+01 -0.8 3.80e+01 -3.0 3.08e-01 2.16e-02h 1 4 4.1073494e+00 1.20e+00 2.40e+02 0.4 4.90e+01 -1.6 3.35e-01 4.89e-02f 1 5 4.2621441e+00 1.15e+00 3.26e+02 -0.1 5.48e+01 -2.1 9.07e-02 4.41e-02h 2 6 4.4806099e+00 1.08e+00 4.94e+02 -0.1 9.27e+01 -2.6 1.17e-01 6.00e-02h 1 7 4.5920724e+00 1.07e+00 1.04e+02 1.0 9.05e+02 -3.1 6.44e-02 1.09e-02f 2 8 4.7637270e+00 1.00e+00 2.82e+02 0.0 4.20e+01 -1.7 1.32e-01 6.39e-02h 1 9 5.1165190e+00 2.07e+00 7.06e+03 1.7 7.40e+02 -2.2 1.21e-01 1.08e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 5.1225170e+00 2.07e+00 6.06e+05 0.8 9.40e+01 -2.7 1.86e-02 2.43e-04h 1 11 5.1512367e+00 2.07e+00 6.06e+06 0.8 1.82e+02 -3.2 6.39e-03 6.50e-04h 1 12r 5.1512367e+00 2.07e+00 1.00e+03 0.8 0.00e+00 -0.0 0.00e+00 4.31e-07R 5 13r 5.1604063e+00 6.06e-01 1.07e+03 2.3 1.36e+03 - 1.32e-01 3.72e-03f 1 14 5.1550621e+00 6.04e-01 3.81e+02 -0.8 1.04e+00 -0.5 8.29e-01 3.68e-03h 1 15 5.1556216e+00 6.04e-01 8.60e+06 0.8 2.54e+01 -1.0 1.00e+00 4.89e-05h 1 16 5.1567620e+00 6.04e-01 4.22e+10 2.5 1.54e+02 -1.5 1.31e-01 2.64e-05h 1 17r 5.1567620e+00 6.04e-01 9.70e+02 2.5 0.00e+00 -1.9 0.00e+00 1.35e-07R 2 18r 4.4333798e+00 2.04e-01 3.89e+02 1.1 6.03e+00 - 6.84e-01 4.16e-01f 1 19 4.4204238e+00 1.99e-01 4.22e+01 -1.1 6.92e-01 -2.4 8.19e-01 2.55e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 4.4170946e+00 1.99e-01 8.83e+04 0.6 7.98e+01 -2.9 4.40e-01 3.47e-04h 1 21 4.4210471e+00 1.99e-01 9.27e+08 1.4 1.41e+02 -3.4 1.00e+00 9.48e-05h 1 22r 4.4210471e+00 1.99e-01 9.83e+02 2.5 0.00e+00 -3.8 0.00e+00 2.71e-07R 3 23r 3.5352463e+00 2.10e-01 3.22e+02 1.1 1.56e+00 - 6.55e-01 8.28e-01f 1 24r 3.7446646e+00 2.03e-01 6.11e+01 0.2 1.29e+00 - 9.10e-01 7.92e-01f 1 25r 3.9978233e+00 2.00e-01 1.43e+01 -0.2 1.43e-01 2.0 1.00e+00 9.94e-01f 1 26r 4.1184598e+00 1.99e-01 3.12e+01 -1.2 3.76e-02 1.5 9.93e-01 7.92e-01f 1 27r 4.1410053e+00 1.99e-01 3.25e+01 -1.9 1.00e-02 1.0 1.00e+00 8.89e-01f 1 28r 4.1552151e+00 1.99e-01 4.73e-02 -3.0 1.33e-02 0.6 1.00e+00 1.00e+00f 1 29r 4.2610364e+00 1.99e-01 7.14e-03 -3.3 9.59e-01 - 9.92e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30r 4.1901584e+00 1.99e-01 4.00e-02 -3.7 1.35e-01 - 7.89e-01 1.00e+00h 1 31r 4.1890902e+00 1.99e-01 6.67e-04 -4.0 6.27e-02 - 1.00e+00 1.00e+00h 1 32r 4.1899432e+00 1.99e-01 1.29e-05 -4.0 1.74e-02 - 1.00e+00 1.00e+00h 1 33r 4.1894893e+00 1.99e-01 3.98e-09 -4.0 1.19e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 33 (scaled) (unscaled) Objective...............: 4.1894895714444162e+00 4.1894895714444162e+00 Dual infeasibility......: 1.8783832811357351e+00 1.8783832811357351e+00 Constraint violation....: 1.9875045037946570e-01 1.9875045037946570e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000004301384e-04 1.0000000004301384e-04 Overall NLP error.......: 1.8783832811357351e+00 1.8783832811357351e+00 Number of objective function evaluations = 51 Number of objective gradient evaluations = 24 Number of equality constraint evaluations = 51 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 38 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 34 Total seconds in IPOPT = 25.276 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 3.3554900e+00 3.28e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5915649e+00 2.60e+00 2.21e+00 -0.3 2.31e+01 -2.0 3.31e-01 1.93e-01f 1 2 3.3190172e+00 5.82e-01 9.88e-01 -1.0 7.78e+00 -2.5 7.80e-01 1.00e+00f 1 3 2.7657176e+00 5.43e-01 9.92e-01 -1.1 7.71e+00 -3.0 8.81e-01 4.16e-01h 1 4 2.3868666e+00 8.27e-01 9.51e-01 -4.0 1.56e+01 -3.4 3.20e-01 4.76e-01h 1 5 2.2060264e+00 1.63e-01 1.64e+00 -2.4 3.06e+00 -3.0 4.85e-01 8.33e-01h 1 6 2.1643989e+00 6.60e-02 7.10e-01 -2.1 1.45e+00 -3.5 1.00e+00 5.91e-01f 1 7 2.1062042e+00 1.13e-02 4.59e-02 -2.7 9.84e-01 -4.0 1.00e+00 9.68e-01h 1 8 2.0911765e+00 9.19e-04 2.20e-03 -4.0 5.00e-01 -4.4 1.00e+00 1.00e+00h 1 9 2.0907405e+00 9.20e-05 5.07e-04 -4.0 1.69e+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 2.0902446e+00 8.42e-06 4.96e-05 -4.0 5.04e+00 -5.4 1.00e+00 1.00e+00h 1 11 2.0887696e+00 8.85e-05 3.87e-04 -4.0 1.50e+01 -5.9 1.00e+00 1.00e+00h 1 12 2.0844719e+00 8.44e-04 3.54e-03 -4.0 4.37e+01 -6.3 1.00e+00 1.00e+00h 1 13 2.0796190e+00 1.95e-03 2.23e-01 -4.0 1.10e+02 -6.8 1.00e+00 4.43e-01h 1 14 2.0794784e+00 1.84e-03 1.85e-01 -4.1 6.26e+01 -7.3 1.00e+00 8.18e-01H 1 15 2.0773365e+00 8.57e-03 3.06e-02 -4.0 1.29e+02 -7.8 1.00e+00 9.15e-01h 1 16 2.0769054e+00 2.09e-03 6.52e-02 -4.0 2.09e+02 -8.3 1.00e+00 1.00e+00h 1 17 2.0758699e+00 1.13e-03 2.57e-02 -4.0 3.61e+02 -8.7 1.00e+00 1.00e+00h 1 18 2.0754511e+00 1.78e-03 2.57e-02 -4.0 3.45e+02 -9.2 1.00e+00 7.10e-01h 1 19 2.0757143e+00 1.17e-03 6.27e-03 -4.0 1.06e+02 -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 20 2.0756735e+00 6.56e-05 1.27e-04 -4.0 3.51e+01 -10.2 1.00e+00 1.00e+00h 1 21 2.0756713e+00 3.01e-07 4.17e-06 -4.0 2.24e+01 -10.6 1.00e+00 1.00e+00h 1 22 2.0756712e+00 2.28e-08 9.64e-07 -4.0 1.24e+01 -11.1 1.00e+00 1.00e+00h 1 23 2.0756712e+00 1.61e-09 6.38e-08 -4.0 3.75e+00 -11.6 1.00e+00 1.00e+00h 1 24 2.0756712e+00 1.96e-11 7.68e-10 -4.0 4.90e-01 -12.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 24 (scaled) (unscaled) Objective...............: 2.0756712121171188e+00 2.0756712121171188e+00 Dual infeasibility......: 7.6849935342813112e-10 7.6849935342813112e-10 Constraint violation....: 1.9630963521422018e-11 1.9630963521422018e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000025e-04 1.0000000000000025e-04 Overall NLP error.......: 7.6849935342813112e-10 7.6849935342813112e-10 Number of objective function evaluations = 26 Number of objective gradient evaluations = 25 Number of equality constraint evaluations = 26 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 25 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 24 Total seconds in IPOPT = 26.526 EXIT: Optimal Solution Found. Test Summary: | Pass Total Time Package | 202 202 19m32.9s Testing DirectTrajOpt tests passed Testing completed after 1249.52s PkgEval succeeded after 1350.63s