Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.1601 (79ea5eb99c*) started at 2026-01-24T21:03:28.878 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 10.35s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Updating `~/.julia/environments/v1.14/Project.toml` [c823fa1f] + DirectTrajOpt v0.8.1 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 v0.8.1 [ffbed154] + DocStringExtensions v0.9.5 [4e289a0a] + EnumX v1.0.6 [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 v2.11.0 [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 v3.45.1 [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 v0.3.30+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 5.72s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling packages... 2572.3 ms ✓ ExponentialAction 10501.0 ms ✓ NamedTrajectories 28534.7 ms ✓ DirectTrajOpt 3 dependencies successfully precompiled in 72 seconds. 224 already precompiled. Precompilation completed after 63.51s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_8PEFpq/Project.toml` [c823fa1f] DirectTrajOpt v0.8.1 [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_8PEFpq/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 v0.8.1 [ffbed154] DocStringExtensions v0.9.5 [4e289a0a] EnumX v1.0.6 [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 v2.11.0 [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 v3.45.1 [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 v0.3.30+0 [efe28fd5] OpenSpecFun_jll v0.5.6+0 [319450e9] SPRAL_jll v2025.9.18+0 ⌅ [02c8fc9c] XML2_jll v2.13.9+0 [a65dc6b1] Xorg_libpciaccess_jll v0.18.1+0 [0dad84c5] ArgTools v1.1.2 [56f22d72] Artifacts v1.11.0 [2a0f44e3] Base64 v1.11.0 [ade2ca70] Dates v1.11.0 [8ba89e20] Distributed v1.11.0 [f43a241f] Downloads v1.7.0 [7b1f6079] FileWatching v1.11.0 [9fa8497b] Future v1.11.0 [b77e0a4c] InteractiveUtils v1.11.0 [ac6e5ff7] JuliaSyntaxHighlighting v1.13.0 [b27032c2] LibCURL v1.0.0 [76f85450] LibGit2 v1.11.0 [8f399da3] Libdl v1.11.0 [37e2e46d] LinearAlgebra v1.13.0 [56ddb016] Logging v1.11.0 [d6f4376e] Markdown v1.11.0 [a63ad114] Mmap v1.11.0 [ca575930] NetworkOptions v1.3.0 [44cfe95a] Pkg v1.14.0 [de0858da] Printf v1.11.0 [9abbd945] Profile v1.11.0 [9a3f8284] Random v1.11.0 [ea8e919c] SHA v1.0.0 [9e88b42a] Serialization v1.11.0 [6462fe0b] Sockets v1.11.0 [2f01184e] SparseArrays v1.13.0 [f489334b] StyledStrings v1.13.0 [fa267f1f] TOML v1.0.3 [a4e569a6] Tar v1.10.0 [8dfed614] Test v1.11.0 [cf7118a7] UUIDs v1.11.0 [4ec0a83e] Unicode v1.11.0 [e66e0078] CompilerSupportLibraries_jll v1.3.0+1 [deac9b47] LibCURL_jll v8.18.0+0 [e37daf67] LibGit2_jll v1.9.2+0 [29816b5a] LibSSH2_jll v1.11.3+1 [14a3606d] MozillaCACerts_jll v2025.12.2 [4536629a] OpenBLAS_jll v0.3.29+0 [05823500] OpenLibm_jll v0.8.7+0 [458c3c95] OpenSSL_jll v3.5.4+0 [efcefdf7] PCRE2_jll v10.47.0+0 [bea87d4a] SuiteSparse_jll v7.10.1+0 [83775a58] Zlib_jll v1.3.1+2 [3161d3a3] Zstd_jll v1.5.7+1 [8e850b90] libblastrampoline_jll v5.15.0+0 [8e850ede] nghttp2_jll v1.68.0+1 [3f19e933] p7zip_jll v17.7.0+0 Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. Testing Running tests... initializing optimizer... applying constraint: 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 4.9382414e+00 2.54e+00 4.97e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7791608e+00 8.69e-02 4.41e+00 -1.0 2.25e+00 0.0 9.25e-01 1.00e+00f 1 2 2.6320700e+00 1.38e-02 1.54e+00 -0.7 1.99e-01 0.4 1.00e+00 1.00e+00f 1 3 2.5190021e+00 4.99e-04 3.11e-01 -1.8 4.72e-02 -0.1 1.00e+00 1.00e+00h 1 4 2.1492719e+00 2.17e-03 6.81e-02 -2.4 1.27e-01 -0.5 9.93e-01 7.79e-01f 1 5 2.0962630e+00 2.58e-04 1.93e-02 -3.5 1.86e-02 -1.0 9.97e-01 9.15e-01h 1 6 2.0909114e+00 2.79e-06 2.68e-03 -4.0 2.90e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0909164e+00 1.27e-08 2.06e-05 -4.0 1.88e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909158e+00 7.57e-11 2.06e-05 -4.0 5.63e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909142e+00 1.08e-10 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909092e+00 9.69e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908942e+00 8.72e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908494e+00 7.85e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907150e+00 7.08e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903130e+00 6.40e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891156e+00 5.86e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856059e+00 5.53e-04 2.31e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796373e+00 2.30e-03 1.36e-01 -4.0 9.56e+01 -6.7 1.00e+00 6.30e-01h 1 18 2.0807343e+00 1.59e-04 1.83e-01 -4.0 6.62e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775359e+00 7.48e-03 2.50e-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 2.0769275e+00 1.17e-03 5.21e-02 -4.0 1.77e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0759987e+00 1.13e-03 2.38e-02 -4.0 3.14e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0754499e+00 5.14e-04 3.11e-02 -4.0 4.75e+02 -9.1 1.00e+00 7.20e-01H 1 23 2.0757708e+00 2.23e-03 1.08e-02 -4.0 1.44e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753802e+00 1.35e-03 5.01e-04 -4.1 7.90e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756723e+00 4.74e-04 6.50e-06 -4.0 2.15e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0753424e+00 6.29e-04 9.93e-07 -4.1 2.57e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756725e+00 3.34e-04 8.22e-07 -4.0 1.36e+01 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 1.11e-07 1.16e-08 -4.0 2.00e+00 -12.0 1.00e+00 1.00e+00h 1 29 2.0756712e+00 6.12e-14 3.59e-12 -4.0 1.54e-02 -12.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 29 (scaled) (unscaled) Objective...............: 2.0756712120666410e+00 2.0756712120666410e+00 Dual infeasibility......: 3.5918259740173181e-12 3.5918259740173181e-12 Constraint violation....: 6.1173288656846125e-14 6.1173288656846125e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000070e-04 1.0000000000000070e-04 Overall NLP error.......: 3.5918259740173181e-12 3.5918259740173181e-12 Number of objective function evaluations = 32 Number of objective gradient evaluations = 30 Number of equality constraint evaluations = 32 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 30 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 29 Total seconds in IPOPT = 47.320 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 2.0009018e+00 2.80e+00 6.31e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.0186440e+00 1.03e+00 2.10e+00 -0.8 2.55e+00 0.0 1.00e+00 6.33e-01f 1 2 2.8585232e+00 5.98e-02 3.04e+00 -0.8 1.02e+00 0.4 7.68e-01 1.00e+00h 1 3 2.7621557e+00 4.89e-03 7.07e-01 -0.9 8.04e-02 0.9 9.91e-01 1.00e+00h 1 4 2.5843363e+00 1.68e-03 5.81e-01 -1.8 6.17e-02 0.4 9.94e-01 1.00e+00h 1 5 2.1886766e+00 4.58e-03 1.36e-01 -2.4 1.77e-01 -0.1 1.00e+00 8.76e-01f 1 6 2.1283566e+00 3.43e-03 6.38e-01 -3.1 2.51e-01 -0.6 1.00e+00 2.51e-01h 1 7 2.0978325e+00 2.44e-03 2.45e-01 -4.0 1.86e-01 -1.1 1.00e+00 7.00e-01h 1 8 2.0921364e+00 4.86e-04 9.42e-02 -4.0 1.45e-01 -1.5 1.00e+00 1.00e+00h 1 9 2.0911886e+00 2.16e-04 2.44e-01 -4.0 5.48e-02 -2.0 1.00e+00 5.54e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909371e+00 2.10e-06 5.95e-03 -4.0 1.62e-02 -2.5 1.00e+00 1.00e+00h 1 11 2.0909335e+00 5.09e-08 2.06e-05 -4.0 1.90e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0909279e+00 1.26e-09 2.06e-05 -4.0 5.70e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0909110e+00 1.10e-08 2.06e-05 -4.0 1.71e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0908606e+00 9.93e-08 2.06e-05 -4.0 5.13e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0907095e+00 8.95e-07 2.06e-05 -4.0 1.54e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0902573e+00 8.11e-06 3.62e-05 -4.0 4.60e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0889120e+00 7.43e-05 3.22e-04 -4.0 1.37e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0849812e+00 7.04e-04 2.93e-03 -4.0 3.99e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0796306e+00 2.09e-03 1.86e-01 -4.0 1.04e+02 -6.8 1.00e+00 5.19e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0801988e+00 3.78e-04 1.77e-01 -4.0 6.53e+01 -7.3 1.00e+00 9.74e-01H 1 21 2.0773577e+00 8.62e-03 1.79e-02 -4.0 1.26e+02 -7.7 1.00e+00 9.70e-01h 1 22 2.0771219e+00 1.84e-03 7.67e-02 -4.0 2.11e+02 -8.2 1.00e+00 1.00e+00h 1 23 2.0760531e+00 5.69e-03 2.11e-02 -4.0 3.51e+02 -8.7 1.00e+00 9.22e-01h 1 24 2.0769135e+00 2.50e-02 2.38e-02 -3.7 2.68e+02 -9.2 1.00e+00 1.00e+00h 1 25 2.0764641e+00 4.95e-03 2.20e-03 -3.8 7.72e+01 -9.6 1.00e+00 1.00e+00h 1 26 2.0764551e+00 7.44e-05 3.96e-05 -3.8 1.68e+01 -10.1 1.00e+00 1.00e+00h 1 27 2.0756782e+00 1.81e-03 4.12e-06 -4.0 3.12e+01 -10.6 1.00e+00 1.00e+00h 1 28 2.0756713e+00 6.73e-06 1.34e-06 -4.0 2.14e+01 -11.1 1.00e+00 1.00e+00h 1 29 2.0756713e+00 3.91e-09 1.55e-07 -4.0 5.29e+00 -11.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0756713e+00 5.45e-11 1.96e-09 -4.0 7.86e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 2.0756712527948777e+00 2.0756712527948777e+00 Dual infeasibility......: 1.9598146801160649e-09 1.9598146801160649e-09 Constraint violation....: 5.4503734858712960e-11 5.4503734858712960e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000021e-04 1.0000000000000021e-04 Overall NLP error.......: 1.9598146801160649e-09 1.9598146801160649e-09 Number of objective function evaluations = 32 Number of objective gradient evaluations = 31 Number of equality constraint evaluations = 32 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 31 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 30 Total seconds in IPOPT = 18.057 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 4.4420061e+00 2.23e+00 6.26e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8688168e+00 6.93e-02 3.65e+00 -1.0 1.98e+00 0.0 8.82e-01 1.00e+00h 1 2 2.4674955e+00 2.72e-02 7.11e-01 -1.0 2.16e-01 0.4 8.55e-01 9.24e-01h 1 3 2.4204538e+00 4.37e-03 2.53e-01 -1.7 1.14e-01 -0.1 9.89e-01 1.00e+00f 1 4 2.2285269e+00 2.45e-03 2.80e-01 -2.2 1.65e-01 -0.5 9.81e-01 5.70e-01f 1 5 2.1252149e+00 7.66e-04 8.92e-02 -3.4 4.57e-02 -1.0 9.98e-01 6.88e-01h 1 6 2.0910895e+00 1.47e-04 9.65e-03 -4.0 1.80e-02 -1.5 1.00e+00 9.89e-01h 1 7 2.0908476e+00 1.78e-07 2.71e-04 -4.0 7.82e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908490e+00 3.50e-09 4.42e-05 -4.0 1.21e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908473e+00 1.09e-10 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908423e+00 9.74e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908274e+00 8.76e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0907826e+00 7.89e-08 2.06e-05 -4.0 4.55e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906483e+00 7.12e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902463e+00 6.44e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890495e+00 5.89e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855416e+00 5.56e-04 2.31e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796415e+00 2.27e-03 1.37e-01 -4.0 9.54e+01 -6.7 1.00e+00 6.24e-01h 1 18 2.0806591e+00 1.27e-04 1.67e-01 -4.0 6.90e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775413e+00 7.15e-03 2.21e-02 -4.0 1.19e+02 -7.7 1.00e+00 9.95e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0769186e+00 1.09e-03 5.14e-02 -4.0 2.06e+02 -8.2 9.83e-01 9.46e-01h 1 21 2.0763426e+00 1.37e-03 4.59e-02 -4.0 3.58e+02 -8.6 1.00e+00 6.32e-01h 1 22 2.0755444e+00 4.26e-03 3.51e-02 -4.0 6.50e+02 -9.1 1.00e+00 7.52e-01h 1 23 2.0758176e+00 3.75e-03 2.01e-02 -4.0 1.95e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0756814e+00 6.41e-04 1.03e-03 -4.0 1.05e+02 -10.1 1.00e+00 1.00e+00h 1 25 2.0756712e+00 4.76e-06 1.72e-05 -4.0 2.33e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 1.03e-07 1.35e-06 -4.0 1.44e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.83e-09 1.18e-07 -4.0 4.82e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 5.12e-11 1.99e-09 -4.0 7.66e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121689680e+00 2.0756712121689680e+00 Dual infeasibility......: 1.9883186270672985e-09 1.9883186270672985e-09 Constraint violation....: 5.1177617699238453e-11 5.1177617699238453e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000015e-04 1.0000000000000015e-04 Overall NLP error.......: 1.9883186270672985e-09 1.9883186270672985e-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 = 28.211 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 3.5393237e+00 3.32e+00 5.81e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.9410625e+00 6.66e-02 4.08e+00 -0.9 1.92e+00 0.0 9.43e-01 1.00e+00f 1 Hello, world! 2 2.5919940e+00 2.58e-02 1.66e+00 -0.9 2.49e-01 0.4 8.80e-01 6.95e-01h 1 Hello, world! 3 2.4850999e+00 5.62e-03 4.39e-01 -1.5 1.85e-01 -0.1 9.83e-01 1.00e+00h 1 Hello, world! 4 2.3028588e+00 2.35e-03 1.71e-01 -2.4 7.33e-02 0.4 9.98e-01 1.00e+00h 1 Hello, world! 5 2.1445873e+00 2.64e-03 1.75e-01 -3.3 2.33e-01 -0.1 9.99e-01 5.25e-01f 1 Hello, world! 6 2.1103172e+00 1.40e-03 2.61e-01 -4.0 6.18e-02 -0.6 1.00e+00 4.72e-01h 1 Hello, world! 7 2.0917723e+00 6.78e-05 2.22e-02 -4.0 7.92e-03 -1.1 1.00e+00 9.51e-01h 1 Hello, world! 8 2.0908935e+00 2.92e-07 7.48e-04 -4.0 9.66e-03 -1.5 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908942e+00 4.24e-09 1.75e-04 -4.0 1.80e-02 -2.0 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908870e+00 1.69e-10 5.87e-05 -4.0 1.81e-02 -2.5 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908835e+00 1.89e-10 1.52e-05 -4.0 1.41e-02 -3.0 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908798e+00 5.65e-10 1.53e-05 -4.0 4.22e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0908695e+00 5.11e-09 1.52e-05 -4.0 1.26e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0908392e+00 4.42e-08 1.51e-05 -4.0 3.76e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0907449e+00 3.93e-07 8.71e-05 -4.0 1.14e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0903861e+00 6.05e-07 3.07e-03 -4.0 4.04e+00 -5.4 1.00e+00 8.60e-01H 1 Hello, world! 17 2.0897721e+00 5.17e-05 1.26e-02 -4.0 1.20e+01 -5.8 1.00e+00 1.00e+00f 1 Hello, world! 18 2.0889601e+00 5.80e-05 1.92e-01 -4.0 3.77e+01 -5.4 1.00e+00 1.47e-01h 1 Hello, world! 19 2.0879987e+00 6.85e-05 1.65e-02 -4.0 1.23e+01 -5.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0861152e+00 1.71e-04 2.29e-02 -4.0 2.95e+01 -6.4 1.00e+00 8.15e-01h 1 Hello, world! 21 2.0834714e+00 7.35e-04 4.09e-02 -4.0 4.93e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0826248e+00 1.93e-04 1.14e-02 -4.0 6.53e+01 -7.3 1.00e+00 8.04e-01h 1 Hello, world! 23 2.0823606e+00 2.37e-04 1.17e-02 -4.0 1.49e+02 -7.8 8.93e-01 1.00e+00h 1 Hello, world! 24 2.0826032e+00 4.19e-04 1.01e-02 -4.0 2.02e+01 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0824802e+00 3.02e-04 2.71e-03 -4.0 5.16e+01 -6.9 6.41e-01 1.00e+00h 1 Hello, world! 26 2.0823814e+00 1.26e-04 3.83e-02 -4.0 8.12e-01 -4.7 1.00e+00 9.45e-01h 1 Hello, world! 27 2.0823265e+00 1.17e-04 5.68e-04 -4.0 1.79e+00 -5.2 1.00e+00 1.00e+00f 1 Hello, world! 28 2.0833018e+00 4.67e-05 2.44e-02 -4.0 4.06e+00 -5.7 6.98e-01 9.59e-01h 1 Hello, world! 29 2.0824620e+00 3.37e-05 1.92e-01 -4.0 1.88e+00 -6.1 4.02e-01 1.00e+00f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0822663e+00 8.75e-07 6.37e-04 -4.0 3.67e-02 -2.1 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0823085e+00 3.50e-07 1.61e-04 -4.0 2.14e-02 -2.6 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0822919e+00 4.09e-07 1.47e-04 -4.0 5.09e-02 -3.1 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0822803e+00 1.21e-06 7.67e-05 -4.0 4.56e-02 -3.5 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0822793e+00 1.24e-06 1.28e-05 -4.0 1.29e-01 -4.0 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0822816e+00 2.79e-06 6.66e-05 -4.0 3.68e-01 -4.5 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0821419e+00 5.48e-05 2.86e-04 -4.1 8.88e-01 -5.0 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0822770e+00 1.06e-05 5.58e-04 -4.0 1.32e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0820866e+00 8.88e-05 3.88e-04 -4.1 2.51e+00 -5.9 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0822234e+00 5.94e-05 8.73e-04 -4.0 3.24e+00 -6.4 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0819601e+00 2.77e-04 4.92e-04 -4.1 1.20e+01 -6.9 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0820907e+00 4.29e-04 2.65e-03 -4.0 2.06e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0817184e+00 1.17e-03 3.14e-03 -4.1 4.62e+01 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0818742e+00 1.43e-03 5.50e-03 -4.0 6.00e+01 -8.3 1.00e+00 1.00e+00h 1 Hello, world! 44 2.0815867e+00 1.11e-03 2.02e-03 -4.1 4.93e+01 -8.8 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0818447e+00 4.02e-04 2.09e-04 -4.0 1.72e+01 -9.3 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0818434e+00 3.45e-07 3.39e-06 -4.0 2.15e+00 -9.7 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0818434e+00 1.75e-10 8.21e-09 -4.0 1.14e-01 -10.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 47 (scaled) (unscaled) Objective...............: 2.0818434106803716e+00 2.0818434106803716e+00 Dual infeasibility......: 8.2146245256617487e-09 8.2146245256617487e-09 Constraint violation....: 1.7529711016095462e-10 1.7529711016095462e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000015e-04 1.0000000000000015e-04 Overall NLP error.......: 8.2146245256617487e-09 8.2146245256617487e-09 Number of objective function evaluations = 49 Number of objective gradient evaluations = 48 Number of equality constraint evaluations = 49 Number of inequality constraint evaluations = 49 Number of equality constraint Jacobian evaluations = 48 Number of inequality constraint Jacobian evaluations = 48 Number of Lagrangian Hessian evaluations = 47 Total seconds in IPOPT = 19.997 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 3.5393237e+00 3.32e+00 5.81e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.9410625e+00 6.66e-02 4.08e+00 -0.9 1.92e+00 0.0 9.43e-01 1.00e+00f 1 Hello, world! 2 2.5919940e+00 2.58e-02 1.66e+00 -0.9 2.49e-01 0.4 8.80e-01 6.95e-01h 1 Hello, world! 3 2.4850999e+00 5.62e-03 4.39e-01 -1.5 1.85e-01 -0.1 9.83e-01 1.00e+00h 1 Hello, world! 4 2.3028588e+00 2.35e-03 1.71e-01 -2.4 7.33e-02 0.4 9.98e-01 1.00e+00h 1 Hello, world! 5 2.1445873e+00 2.64e-03 1.75e-01 -3.3 2.33e-01 -0.1 9.99e-01 5.25e-01f 1 Hello, world! 6 2.1103172e+00 1.40e-03 2.61e-01 -4.0 6.18e-02 -0.6 1.00e+00 4.72e-01h 1 Hello, world! 7 2.0917723e+00 6.78e-05 2.22e-02 -4.0 7.92e-03 -1.1 1.00e+00 9.51e-01h 1 Hello, world! 8 2.0908935e+00 2.92e-07 7.48e-04 -4.0 9.66e-03 -1.5 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908942e+00 4.24e-09 1.75e-04 -4.0 1.80e-02 -2.0 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908870e+00 1.69e-10 5.87e-05 -4.0 1.81e-02 -2.5 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908835e+00 1.89e-10 1.52e-05 -4.0 1.41e-02 -3.0 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908798e+00 5.65e-10 1.53e-05 -4.0 4.22e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0908695e+00 5.11e-09 1.52e-05 -4.0 1.26e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0908392e+00 4.42e-08 1.51e-05 -4.0 3.76e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0907449e+00 3.93e-07 8.71e-05 -4.0 1.14e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0903861e+00 6.05e-07 3.07e-03 -4.0 4.04e+00 -5.4 1.00e+00 8.60e-01H 1 Hello, world! 17 2.0897721e+00 5.17e-05 1.26e-02 -4.0 1.20e+01 -5.8 1.00e+00 1.00e+00f 1 Hello, world! 18 2.0889601e+00 5.80e-05 1.92e-01 -4.0 3.77e+01 -5.4 1.00e+00 1.47e-01h 1 Hello, world! 19 2.0879987e+00 6.85e-05 1.65e-02 -4.0 1.23e+01 -5.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0861152e+00 1.71e-04 2.29e-02 -4.0 2.95e+01 -6.4 1.00e+00 8.15e-01h 1 Hello, world! 21 2.0834714e+00 7.35e-04 4.09e-02 -4.0 4.93e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0826248e+00 1.93e-04 1.14e-02 -4.0 6.53e+01 -7.3 1.00e+00 8.04e-01h 1 Hello, world! 23 2.0823606e+00 2.37e-04 1.17e-02 -4.0 1.49e+02 -7.8 8.93e-01 1.00e+00h 1 Hello, world! 24 2.0826032e+00 4.19e-04 1.01e-02 -4.0 2.02e+01 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0824802e+00 3.02e-04 2.71e-03 -4.0 5.16e+01 -6.9 6.41e-01 1.00e+00h 1 Hello, world! 26 2.0823814e+00 1.26e-04 3.83e-02 -4.0 8.12e-01 -4.7 1.00e+00 9.45e-01h 1 Hello, world! 27 2.0823265e+00 1.17e-04 5.68e-04 -4.0 1.79e+00 -5.2 1.00e+00 1.00e+00f 1 Hello, world! 28 2.0833018e+00 4.67e-05 2.44e-02 -4.0 4.06e+00 -5.7 6.98e-01 9.59e-01h 1 Hello, world! 29 2.0824620e+00 3.37e-05 1.92e-01 -4.0 1.88e+00 -6.1 4.02e-01 1.00e+00f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0822663e+00 8.75e-07 6.37e-04 -4.0 3.67e-02 -2.1 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0823085e+00 3.50e-07 1.61e-04 -4.0 2.14e-02 -2.6 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0822919e+00 4.09e-07 1.47e-04 -4.0 5.09e-02 -3.1 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0822803e+00 1.21e-06 7.67e-05 -4.0 4.56e-02 -3.5 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0822793e+00 1.24e-06 1.28e-05 -4.0 1.29e-01 -4.0 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0822816e+00 2.79e-06 6.66e-05 -4.0 3.68e-01 -4.5 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0821419e+00 5.48e-05 2.86e-04 -4.1 8.88e-01 -5.0 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0822770e+00 1.06e-05 5.58e-04 -4.0 1.32e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0820866e+00 8.88e-05 3.88e-04 -4.1 2.51e+00 -5.9 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0822234e+00 5.94e-05 8.73e-04 -4.0 3.24e+00 -6.4 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0819601e+00 2.77e-04 4.92e-04 -4.1 1.20e+01 -6.9 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0820907e+00 4.29e-04 2.65e-03 -4.0 2.06e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0817184e+00 1.17e-03 3.14e-03 -4.1 4.62e+01 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0818742e+00 1.43e-03 5.50e-03 -4.0 6.00e+01 -8.3 1.00e+00 1.00e+00h 1 Hello, world! 44 2.0815867e+00 1.11e-03 2.02e-03 -4.1 4.93e+01 -8.8 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0818447e+00 4.02e-04 2.09e-04 -4.0 1.72e+01 -9.3 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0818434e+00 3.45e-07 3.39e-06 -4.0 2.15e+00 -9.7 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0818434e+00 1.75e-10 8.21e-09 -4.0 1.14e-01 -10.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 47 (scaled) (unscaled) Objective...............: 2.0818434106803716e+00 2.0818434106803716e+00 Dual infeasibility......: 8.2146245256617487e-09 8.2146245256617487e-09 Constraint violation....: 1.7529711016095462e-10 1.7529711016095462e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000015e-04 1.0000000000000015e-04 Overall NLP error.......: 8.2146245256617487e-09 8.2146245256617487e-09 Number of objective function evaluations = 49 Number of objective gradient evaluations = 48 Number of equality constraint evaluations = 49 Number of inequality constraint evaluations = 49 Number of equality constraint Jacobian evaluations = 48 Number of inequality constraint Jacobian evaluations = 48 Number of Lagrangian Hessian evaluations = 47 Total seconds in IPOPT = 0.860 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 8.8595774e-01 3.94e+00 3.08e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.3414393e+00 2.67e+00 1.40e+01 -0.6 2.72e+01 -2.0 1.31e-01 3.57e-01f 1 2 1.2770266e+00 2.64e+00 1.16e+01 0.0 2.87e+02 -1.6 9.15e-03 1.13e-02F 1 3 1.4558356e+00 1.92e+00 1.25e+01 -0.5 1.54e+01 -1.1 2.10e-01 2.89e-01f 1 4 1.5300134e+00 1.74e+00 1.73e+01 0.3 1.39e+01 -0.7 3.69e-01 1.06e-01f 1 5 1.7842915e+00 4.35e+00 4.07e+01 -4.0 2.45e+01 -1.2 1.55e-01 5.02e-01h 1 6 1.8217133e+00 3.70e+00 3.44e+01 -0.8 1.81e+01 -1.7 1.34e-01 1.56e-01f 1 7 1.8781599e+00 2.08e+00 1.78e+01 -0.6 1.63e+01 -2.2 5.53e-01 5.22e-01h 1 8 1.8707359e+00 1.99e+00 1.75e+01 -1.3 5.57e+01 -1.7 7.31e-02 3.89e-02h 2 9 1.8749790e+00 1.56e+00 1.40e+01 -1.1 4.26e+00 -2.2 4.91e-01 2.37e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.8529083e+00 1.17e+00 2.13e+01 -0.5 1.58e+01 -2.7 1.00e+00 2.52e-01h 1 11 1.8923752e+00 9.20e-01 2.40e+01 0.0 1.20e+01 -1.4 9.82e-01 3.29e-01f 1 12 1.8886543e+00 9.96e-01 1.55e+01 -0.9 2.47e+01 -1.8 2.81e-01 2.33e-01h 1 13 1.9284413e+00 1.48e-02 2.27e+00 -1.6 2.16e+00 -1.4 9.54e-01 1.00e+00h 1 14 1.6196317e+00 1.61e-02 1.47e+00 -1.8 1.33e+00 -1.9 9.83e-01 1.00e+00f 1 15 1.3532423e+00 1.42e-01 1.55e-01 -2.4 1.96e+00 -2.4 9.96e-01 1.00e+00f 1 16 1.2913495e+00 6.74e-03 2.15e-02 -2.9 6.46e-01 -2.8 9.83e-01 1.00e+00h 1 17 1.2712261e+00 5.01e-03 2.79e-03 -3.3 1.72e+00 -3.3 9.94e-01 1.00e+00h 1 18 1.2607506e+00 1.40e-03 2.77e-03 -4.0 6.96e-01 -2.9 1.00e+00 1.00e+00h 1 19 1.2485276e+00 5.34e-01 2.54e-01 -4.0 7.39e+00 -3.4 8.18e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.2410535e+00 3.36e-01 6.52e-01 -4.0 1.09e+00 -1.1 9.33e-01 3.76e-01h 1 21 1.3945313e+00 5.82e-02 1.45e-01 -2.9 4.94e-01 -1.6 1.00e+00 8.33e-01h 1 22 1.3551997e+00 1.95e-01 1.61e-01 -2.5 1.55e+00 -2.1 5.36e-01 1.00e+00f 1 23 1.3093745e+00 2.51e-02 7.03e-02 -2.5 5.52e-01 -1.7 3.81e-01 8.73e-01h 1 24 1.2853181e+00 1.07e-01 5.18e-01 -2.5 4.12e+00 -2.1 8.84e-01 3.39e-01h 1 25 1.2546097e+00 1.93e-01 6.41e-02 -2.5 1.26e+00 -1.7 1.00e+00 1.00e+00h 1 26 1.2279084e+00 5.26e-02 1.37e-01 -2.9 7.66e-01 -2.2 9.73e-01 6.98e-01h 1 27 1.1992851e+00 5.15e-02 1.10e-02 -3.6 1.10e+00 -2.7 1.00e+00 1.00e+00h 1 28 1.1890906e+00 5.37e-02 1.89e-02 -4.0 1.80e+00 -3.1 1.00e+00 1.00e+00h 1 29 1.1822333e+00 7.30e-02 1.69e-02 -4.0 2.65e+00 -3.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.1773774e+00 8.73e-02 1.41e-02 -4.0 3.81e+00 -4.1 1.00e+00 1.00e+00h 1 31 1.1735333e+00 1.03e-01 1.29e-02 -4.0 5.88e+00 -4.6 1.00e+00 1.00e+00h 1 32 1.1704145e+00 1.29e-01 9.37e-03 -4.0 9.01e+00 -5.1 1.00e+00 1.00e+00h 1 33 1.1679777e+00 1.56e-01 6.87e-03 -4.0 1.38e+01 -5.5 1.00e+00 1.00e+00h 1 34 1.1659962e+00 1.92e-01 2.78e-03 -4.0 2.10e+01 -6.0 1.00e+00 1.00e+00h 1 35 1.1644339e+00 2.32e-01 1.31e-03 -4.0 3.19e+01 -6.5 1.00e+00 1.00e+00h 1 36 1.1631796e+00 2.81e-01 6.60e-03 -4.0 4.81e+01 -7.0 1.00e+00 1.00e+00h 1 37 1.1621950e+00 3.34e-01 1.22e-02 -4.0 7.18e+01 -7.4 1.00e+00 1.00e+00h 1 38 1.1614255e+00 3.90e-01 1.84e-02 -4.0 1.06e+02 -7.9 1.00e+00 1.00e+00h 1 39 1.1608582e+00 4.36e-01 2.35e-02 -4.0 1.51e+02 -8.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.1605173e+00 4.29e-01 2.36e-02 -4.0 2.00e+02 -8.9 1.00e+00 1.00e+00h 1 41 1.1605896e+00 2.18e-01 5.75e-03 -4.0 1.91e+02 -9.3 1.00e+00 1.00e+00h 1 42 1.1608622e+00 3.36e-04 3.50e-04 -4.0 1.87e+00 -9.8 1.00e+00 1.00e+00h 1 43 1.1608495e+00 6.36e-06 8.19e-05 -4.0 1.06e+01 -10.3 1.00e+00 1.00e+00H 1 44 1.1608491e+00 4.60e-07 4.40e-09 -4.0 2.74e-01 -10.8 1.00e+00 1.00e+00h 1 45 1.1608491e+00 6.21e-12 7.80e-13 -4.0 1.04e-03 -11.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 45 (scaled) (unscaled) Objective...............: 1.1608491307805822e+00 1.1608491307805822e+00 Dual infeasibility......: 7.7954952063842564e-13 7.7954952063842564e-13 Constraint violation....: 6.2119198673826759e-12 6.2119198673826759e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000520e-04 1.0000000000000520e-04 Overall NLP error.......: 6.2119198673826759e-12 6.2119198673826759e-12 Number of objective function evaluations = 51 Number of objective gradient evaluations = 46 Number of equality constraint evaluations = 51 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 46 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 45 Total seconds in IPOPT = 20.515 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 2.1666055e+00 9.05e-01 1.05e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6055603e+00 1.98e-01 1.77e+00 -1.5 1.88e+00 -2.0 9.27e-01 1.00e+00h 1 2 1.5681496e+00 1.72e-01 2.04e+00 -0.7 1.13e+01 -1.6 1.00e+00 1.29e-01h 1 3 1.4841831e+00 1.83e-02 8.69e-01 -1.7 8.71e+00 - 9.88e-01 1.00e+00h 1 4 1.1707101e+00 6.74e-03 2.56e-01 -2.6 2.22e+00 - 1.00e+00 6.27e-01f 1 5 1.1020359e+00 1.47e-04 2.70e-01 -4.0 4.88e+00 - 1.00e+00 9.94e-01h 1 6 1.0911165e+00 2.25e-06 2.41e-02 -3.9 1.29e+00 - 1.00e+00 9.96e-01h 1 7 1.0910383e+00 7.13e-09 4.77e-03 -4.0 6.90e-01 - 1.00e+00 1.00e+00h 1 8 1.0910386e+00 7.44e-13 4.85e-05 -4.0 7.12e-03 - 1.00e+00 1.00e+00h 1 9 1.0910386e+00 8.88e-16 4.83e-05 -4.0 1.80e-06 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0908587e+00 1.79e-27 3.08e-09 -4.1 1.99e-05 - 1.00e+00 1.00e+00f 1 11 1.0910386e+00 1.78e-15 3.37e-09 -4.0 1.99e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 11 (scaled) (unscaled) Objective...............: 1.0910385864123910e+00 1.0910385864123910e+00 Dual infeasibility......: 3.3744643134457630e-09 3.3744643134457630e-09 Constraint violation....: 1.7763568394002505e-15 1.7763568394002505e-15 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000114091593922e-04 1.0000114091593922e-04 Overall NLP error.......: 3.3744643134457630e-09 3.3744643134457630e-09 Number of objective function evaluations = 12 Number of objective gradient evaluations = 12 Number of equality constraint evaluations = 12 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 12 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 11 Total seconds in IPOPT = 19.539 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 82 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.7016356e+00 4.04e+00 2.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8127001e+00 1.53e-02 6.73e-01 -1.1 2.81e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3183074e+00 2.46e-02 8.79e-02 -1.8 3.49e-01 -1.6 9.85e-01 1.00e+00h 1 3 2.1416689e+00 2.81e-03 3.45e-01 -2.7 1.32e-01 -1.1 8.82e-01 1.00e+00h 1 4 2.0967520e+00 6.43e-04 1.50e-01 -3.6 1.03e-01 -1.6 9.98e-01 8.17e-01h 1 5 2.0921925e+00 5.15e-04 5.01e-01 -4.0 5.99e-01 -2.1 1.00e+00 4.58e-01h 1 6 2.0910368e+00 4.58e-04 2.02e-01 -4.0 5.95e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0908368e+00 7.42e-06 2.15e-02 -4.0 1.17e-01 -3.1 1.00e+00 1.00e+00h 1 8 2.0909311e+00 2.20e-06 1.55e-04 -4.0 7.02e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909104e+00 3.79e-08 2.05e-05 -4.0 2.10e-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 2.0908489e+00 1.46e-07 2.05e-05 -4.0 6.29e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0906676e+00 1.29e-06 4.93e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0901509e+00 1.09e-05 4.17e-04 -4.0 5.43e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888151e+00 8.15e-05 3.14e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861417e+00 4.36e-04 1.73e-02 -4.0 3.46e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830868e+00 9.05e-04 4.68e-02 -4.0 5.30e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828664e+00 9.43e-04 2.35e-02 -4.0 5.40e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823464e+00 4.09e-04 1.00e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820400e+00 9.22e-05 1.85e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.68e-04 8.66e-03 -4.0 9.91e+01 -8.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0819393e+00 3.66e-05 8.44e-04 -4.0 3.10e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.29e-07 1.38e-05 -4.0 4.45e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.72e-10 3.26e-08 -4.0 2.45e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.50e-13 1.22e-11 -4.0 4.59e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907190929e+00 2.0819382907190929e+00 Dual infeasibility......: 1.2152700205750669e-11 1.2152700205750669e-11 Constraint violation....: 2.4957813593573519e-13 2.4957813593573519e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000029e-04 1.0000000000000029e-04 Overall NLP error.......: 1.2152700205750669e-11 1.2152700205750669e-11 Number of objective function evaluations = 24 Number of objective gradient evaluations = 24 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 24 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 23 Total seconds in IPOPT = 20.458 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 1.4477425e+00 2.36e+00 1.83e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9103512e+00 2.25e-02 5.16e-01 -1.0 2.39e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.2954488e+00 1.74e-02 5.40e-02 -1.8 2.69e-01 -1.6 9.39e-01 1.00e+00h 1 3 2.1483518e+00 2.61e-03 1.77e-01 -3.2 1.04e-01 -1.1 9.64e-01 9.29e-01h 1 4 2.0985191e+00 8.74e-04 1.50e-01 -4.0 8.24e-02 -1.6 1.00e+00 8.55e-01h 1 5 2.0941409e+00 4.43e-04 1.11e+00 -4.0 7.35e-01 -2.1 1.00e+00 2.78e-01h 1 6 2.0915198e+00 5.83e-04 5.17e-01 -4.0 1.08e+00 -2.6 1.00e+00 5.53e-01h 1 7 2.0910563e+00 8.03e-05 5.82e-02 -4.0 7.63e-01 -3.1 1.00e+00 1.00e+00h 1 8 2.0908936e+00 7.72e-06 4.45e-03 -4.0 8.62e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908944e+00 4.07e-06 5.74e-05 -4.0 2.37e-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 2.0908422e+00 1.37e-07 2.91e-04 -4.0 5.66e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907413e+00 6.36e-07 1.29e-03 -4.0 1.33e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904664e+00 6.37e-06 9.86e-04 -4.0 4.31e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0901632e+00 9.36e-06 2.62e-02 -4.0 1.11e+01 -5.9 1.00e+00 3.38e-01h 2 14 2.0892495e+00 4.36e-05 7.05e-02 -4.0 3.08e+01 -6.4 1.00e+00 3.54e-01h 1 15 2.0855433e+00 1.77e-03 1.10e-01 -4.0 7.33e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0837745e+00 8.26e-04 7.63e-02 -4.0 8.02e+00 -5.5 1.00e+00 5.55e-01h 1 17 2.0836096e+00 9.25e-05 7.45e-03 -4.0 5.97e+00 -6.0 1.00e+00 1.00e+00h 1 18 2.0829322e+00 2.01e-05 4.07e-03 -4.0 1.02e+01 -6.5 1.00e+00 1.00e+00h 1 19 2.0827801e+00 9.48e-05 3.47e-03 -4.0 2.89e+01 -7.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0825050e+00 1.93e-04 3.36e-03 -4.0 7.43e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0821363e+00 9.17e-04 9.37e-03 -4.0 1.78e+02 -7.9 5.97e-01 1.00e+00h 1 22 2.0822462e+00 9.14e-04 9.57e-03 -4.0 5.30e+02 -8.4 1.23e-02 3.39e-02h 4 23 2.0820966e+00 1.08e-04 4.34e-02 -4.0 2.42e-01 -4.4 1.00e+00 8.96e-01h 1 24 2.0822202e+00 1.06e-05 9.04e-04 -4.0 2.53e-01 -4.8 1.00e+00 1.00e+00h 1 25 2.0822191e+00 9.69e-05 6.40e-04 -4.0 1.82e+00 -5.3 1.00e+00 1.00e+00h 1 26 2.0822281e+00 5.51e-06 4.85e-05 -4.0 6.14e-01 -4.9 1.00e+00 1.00e+00h 1 27 2.0822665e+00 9.06e-05 5.63e-04 -4.0 2.61e+00 -5.4 1.00e+00 1.00e+00h 1 28 2.0834057e+00 4.11e-07 3.88e-02 -4.1 8.55e+00 -5.9 4.50e-01 1.00e+00H 1 29 2.0824536e+00 1.64e-06 8.19e-03 -4.0 6.50e-02 -0.9 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0824658e+00 5.09e-07 1.80e-03 -4.0 2.82e-02 -1.4 1.00e+00 1.00e+00h 1 31 2.0824954e+00 2.39e-07 7.52e-04 -4.0 5.25e-02 -1.9 1.00e+00 1.00e+00h 1 32 2.0823971e+00 1.46e-07 4.03e-04 -4.0 1.07e-01 -2.3 1.00e+00 1.00e+00h 1 33 2.0823163e+00 1.37e-07 1.04e-04 -4.0 8.14e-02 -2.8 1.00e+00 1.00e+00h 1 34 2.0823430e+00 1.33e-07 1.68e-05 -4.0 2.42e-02 -3.3 1.00e+00 1.00e+00h 1 35 2.0823391e+00 7.00e-08 1.25e-05 -4.0 7.44e-02 -3.8 1.00e+00 1.00e+00h 1 36 2.0823250e+00 3.93e-07 2.86e-05 -4.0 2.35e-01 -4.2 1.00e+00 1.00e+00h 1 37 2.0822699e+00 3.92e-06 5.61e-04 -4.0 8.04e-01 -4.7 1.00e+00 1.00e+00h 1 38 2.0820241e+00 4.17e-05 8.06e-04 -4.1 1.01e+00 -5.2 1.00e+00 1.00e+00h 1 39 2.0821565e+00 3.18e-05 4.08e-04 -4.0 8.44e-01 -5.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0821249e+00 1.16e-05 1.14e-04 -4.0 2.11e+00 -6.2 1.00e+00 1.00e+00h 1 41 2.0820930e+00 1.06e-05 2.38e-04 -4.0 5.08e+00 -6.6 1.00e+00 1.00e+00h 1 42 2.0820470e+00 1.65e-05 5.52e-04 -4.0 1.22e+01 -7.1 1.00e+00 1.00e+00h 1 43 2.0819710e+00 4.23e-05 1.67e-03 -4.0 2.58e+01 -7.6 1.00e+00 1.00e+00h 1 44 2.0818899e+00 9.78e-05 3.32e-03 -4.0 4.35e+01 -8.1 1.00e+00 1.00e+00h 1 45 2.0818485e+00 9.80e-05 2.48e-03 -4.0 5.11e+01 -8.5 1.00e+00 1.00e+00h 1 46 2.0818393e+00 2.38e-05 4.92e-04 -4.0 2.89e+01 -9.0 1.00e+00 1.00e+00h 1 47 2.0818384e+00 9.38e-07 2.65e-05 -4.0 6.65e+00 -9.5 1.00e+00 1.00e+00h 1 48 2.0818383e+00 5.05e-09 2.04e-07 -4.0 5.69e-01 -10.0 1.00e+00 1.00e+00h 1 49 2.0818383e+00 3.66e-12 1.94e-10 -4.0 1.72e-02 -10.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 49 (scaled) (unscaled) Objective...............: 2.0818383021873266e+00 2.0818383021873266e+00 Dual infeasibility......: 1.9409760127278575e-10 1.9409760127278575e-10 Constraint violation....: 3.6628478028433165e-12 3.6628478028433165e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000030e-04 1.0000000000000030e-04 Overall NLP error.......: 1.9409760127278575e-10 1.9409760127278575e-10 Number of objective function evaluations = 59 Number of objective gradient evaluations = 50 Number of equality constraint evaluations = 59 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 50 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 49 Total seconds in IPOPT = 20.183 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. 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 1.8125656e+00 1.02e+00 1.07e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7508815e+00 1.39e-01 1.56e+00 -1.0 9.09e-01 0.0 9.93e-01 9.78e-01h 1 2 1.7802870e+00 5.22e-02 3.34e-01 -0.8 3.25e-01 -0.5 9.56e-01 5.93e-01f 1 3 1.7652714e+00 1.93e-02 8.32e-01 -1.7 4.29e-01 -1.0 9.47e-01 1.00e+00h 1 4 1.4381530e+00 1.65e-02 2.08e+00 -1.6 1.09e+01 - 9.84e-01 1.45e-01f 1 5 1.1797389e+00 1.69e-03 1.83e-01 -2.5 1.55e+00 - 1.00e+00 1.00e+00h 1 6 1.1058128e+00 1.88e-04 3.13e-02 -3.8 2.86e-01 - 1.00e+00 8.58e-01f 1 7 1.0916639e+00 4.48e-06 3.93e-02 -4.0 1.52e+00 - 1.00e+00 1.00e+00h 1 8 1.0908880e+00 3.84e-08 3.65e-03 -4.0 5.03e-01 - 1.00e+00 1.00e+00h 1 9 1.0908998e+00 2.77e-12 8.04e-06 -4.0 1.51e-02 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0908997e+00 8.81e-21 1.89e-12 -4.0 1.31e-05 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 1.0908997263264699e+00 1.0908997263264699e+00 Dual infeasibility......: 1.8914904907109398e-12 1.8914904907109398e-12 Constraint violation....: 8.8140983344950528e-21 8.8140983344950528e-21 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000022995e-04 1.0000000000022995e-04 Overall NLP error.......: 1.8914904907109398e-12 1.8914904907109398e-12 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 = 18.273 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/4TeZc/src/problems.jl:65 initializing optimizer... applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: bounds on u applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial time t₁ = 0 This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 30 Number of Iterations....: 0 Number of objective function evaluations = 0 Number of objective gradient evaluations = 1 Number of equality constraint evaluations = 0 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 1 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 0 Total seconds in IPOPT = 1.114 EXIT: Invalid number in NLP function or derivative detected. initializing optimizer... applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial value of t applying constraint: bounds on u applying constraint: bounds on t applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 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 9.6635729e-01 4.97e-01 9.96e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.2092128e-01 9.37e-10 1.69e-01 -1.7 4.41e-01 -2.0 8.69e-01 1.00e+00h 1 2 1.9939581e-01 3.29e-10 6.56e-02 -1.5 4.71e-01 -1.6 9.73e-01 1.00e+00f 1 3 8.6546622e-02 1.26e-10 3.03e-02 -2.7 4.98e-01 -1.1 9.94e-01 1.00e+00f 1 4 2.7079464e-02 3.65e-11 2.35e-02 -2.9 6.36e-01 -1.6 9.86e-01 1.00e+00f 1 5 6.2077071e-03 2.02e-11 1.18e-02 -4.0 6.37e-01 -2.1 1.00e+00 1.00e+00f 1 6 1.2272513e-03 6.03e-12 4.43e-03 -4.0 4.64e-01 -2.6 1.00e+00 1.00e+00f 1 7 4.3579272e-04 2.06e-12 1.18e-03 -4.0 1.93e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.7626347e-04 3.98e-13 3.24e-04 -4.0 6.11e-02 -3.5 1.00e+00 1.00e+00f 1 9 3.0067064e-04 2.92e-14 4.36e-04 -4.1 8.05e-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 6.6165581e-04 1.26e-14 1.31e-03 -4.0 1.86e-01 -4.5 1.00e+00 1.00e+00f 1 11 1.9964796e-04 3.77e-15 1.20e-03 -4.1 2.44e-01 -5.0 1.00e+00 1.00e+00f 1 12 4.4935835e-04 6.99e-15 6.42e-04 -4.0 3.49e-01 -5.4 1.00e+00 5.00e-01f 2 13 2.4714455e-04 5.00e-15 5.90e-04 -4.1 1.17e-01 -5.9 1.00e+00 1.00e+00f 1 14 2.9462785e-05 1.17e-14 7.44e-04 -6.2 3.28e-01 -6.4 9.74e-01 1.00e+00f 1 15 1.9341416e-03 3.00e-15 7.41e-03 -4.0 1.83e+00 -6.9 1.00e+00 5.00e-01f 2 16 2.0763262e-05 3.13e-14 2.58e-03 -4.1 9.43e-01 -7.4 1.00e+00 1.00e+00f 1 17 1.5724398e-03 4.33e-14 7.12e-03 -4.0 8.85e-01 -7.8 1.00e+00 1.00e+00f 1 18 8.8100092e-06 2.35e-14 1.94e-03 -4.2 9.71e-01 -8.3 1.00e+00 1.00e+00f 1 19 5.0502689e-04 1.33e-15 2.69e-03 -4.0 1.29e+00 -8.8 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.1417796e-04 4.55e-15 2.14e-04 -4.2 3.80e-01 -9.3 1.00e+00 5.00e-01f 2 21 1.9848729e-05 5.50e-15 6.97e-04 -6.4 3.63e-01 -9.7 9.69e-01 1.00e+00f 1 22 7.9405004e-06 4.05e-15 8.71e-05 -6.4 9.27e-02 -10.2 1.00e+00 1.00e+00f 1 23 1.6426597e-03 1.33e-15 5.27e-03 -4.0 8.74e+00 -10.7 1.00e+00 1.25e-01f 4 24 9.2489217e-05 6.61e-14 3.19e-03 -4.0 7.37e-01 -11.2 1.00e+00 1.00e+00f 1 25 7.6978458e-04 4.64e-14 3.33e-03 -4.0 5.01e-01 -11.6 1.00e+00 1.00e+00f 1 26 3.8325626e-04 8.99e-15 3.79e-04 -4.0 3.85e-01 -12.1 1.00e+00 5.00e-01f 2 27 3.5420580e-05 6.38e-15 1.19e-03 -6.0 4.55e-01 -12.6 9.61e-01 1.00e+00f 1 28 1.4630623e-05 6.38e-15 1.43e-04 -6.0 1.12e-01 -13.1 1.00e+00 1.00e+00f 1 29 4.0629473e-06 1.05e-15 9.02e-05 -6.0 1.27e-01 -13.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.4731049e-03 7.98e-16 4.78e-03 -4.0 1.40e+01 -14.0 1.00e+00 8.60e-02f 4 31 1.1360444e-04 6.07e-14 3.29e-03 -4.0 7.20e-01 -14.5 1.00e+00 1.00e+00f 1 32 7.5192631e-04 3.71e-14 3.31e-03 -4.0 4.92e-01 -15.0 1.00e+00 1.00e+00f 1 33 3.9237547e-04 7.22e-15 4.13e-04 -4.0 3.90e-01 -15.5 1.00e+00 5.00e-01f 2 34 3.6217755e-05 6.22e-15 1.31e-03 -6.0 4.93e-01 -15.9 9.56e-01 1.00e+00f 1 35 1.4983579e-05 5.77e-15 1.57e-04 -6.0 1.22e-01 -16.4 1.00e+00 1.00e+00f 1 36 4.1162853e-06 9.44e-16 9.97e-05 -6.0 1.39e-01 -16.9 1.00e+00 1.00e+00f 1 37 4.5424367e-06 3.89e-16 9.20e-06 -6.0 1.47e-02 -17.4 1.00e+00 1.00e+00h 1 38 2.6737421e-07 5.55e-17 4.63e-05 -9.0 1.96e-01 -17.8 9.81e-01 1.00e+00f 1 39 6.7850643e-04 2.36e-16 3.90e-04 -4.0 6.79e+01 -18.3 1.00e+00 1.80e-02f 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.7424392e-04 4.76e-14 1.57e-03 -4.0 2.82e-01 -18.8 1.00e+00 1.00e+00f 1 41 5.4322736e-04 1.13e-14 1.35e-03 -4.0 2.10e-01 -19.3 1.00e+00 1.00e+00f 1 42 4.0368014e-04 2.00e-15 2.47e-04 -4.0 1.90e-01 -19.8 1.00e+00 5.00e-01f 2 43 3.3682990e-05 6.66e-15 1.48e-03 -6.1 5.63e-01 -20.0 9.48e-01 1.00e+00f 1 44 1.4507551e-05 4.88e-15 1.59e-04 -6.1 1.26e-01 -20.0 1.00e+00 1.00e+00f 1 45 3.7943802e-06 7.77e-16 1.09e-04 -6.1 1.57e-01 -20.0 1.00e+00 1.00e+00f 1 46 4.1881954e-06 2.79e-16 9.32e-06 -6.1 1.55e-02 -20.0 1.00e+00 1.00e+00h 1 47 3.9585665e-06 2.26e-17 2.43e-06 -6.1 4.12e-03 -20.0 1.00e+00 1.00e+00h 1 48 2.7251646e-07 5.55e-17 4.70e-05 -9.0 2.03e-01 -20.0 9.80e-01 1.00e+00f 1 49 1.1070979e-07 2.78e-17 4.82e-06 -9.0 4.34e-02 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 4.3835480e-03 5.41e-16 1.16e-02 -4.0 3.10e+02 -20.0 1.00e+00 7.93e-03f 3 51 2.8246970e-04 1.32e-13 9.71e-03 -3.7 1.30e+00 -20.0 1.00e+00 1.00e+00f 1 52 1.3245307e-03 7.51e-14 5.42e-03 -3.7 5.85e-01 -20.0 1.00e+00 1.00e+00f 1 53 8.9966669e-04 2.04e-14 8.66e-04 -3.7 3.76e-01 -20.0 1.00e+00 5.00e-01f 2 54 8.5121245e-05 1.21e-14 3.12e-03 -5.5 7.42e-01 -20.0 9.30e-01 1.00e+00f 1 55 3.7615770e-05 1.04e-14 3.54e-04 -5.5 1.75e-01 -20.0 1.00e+00 1.00e+00f 1 56 1.2658705e-05 1.67e-15 2.31e-04 -5.5 1.89e-01 -20.0 1.00e+00 1.00e+00f 1 57 1.6681248e-05 6.66e-16 6.00e-05 -5.5 5.11e-02 -20.0 1.00e+00 1.00e+00f 1 58 1.3622542e-05 1.35e-16 2.78e-05 -5.5 2.48e-02 -20.0 1.00e+00 1.00e+00f 1 59 1.1083902e-06 1.34e-16 1.37e-04 -8.2 2.96e-01 -20.0 9.71e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 4.2855783e-07 1.11e-16 1.60e-05 -8.2 7.27e-02 -20.0 1.00e+00 1.00e+00f 1 61 7.2663721e-08 3.38e-17 1.03e-05 -8.2 1.01e-01 -20.0 1.00e+00 1.00e+00f 1 62 2.6593447e-03 8.88e-16 6.66e-03 -4.0 3.61e+02 -20.0 1.00e+00 6.80e-03f 3 63 2.9570430e-04 8.48e-14 7.83e-03 -3.8 1.11e+00 -20.0 1.00e+00 1.00e+00f 1 64 1.0511244e-03 4.09e-14 4.38e-03 -3.8 5.15e-01 -20.0 1.00e+00 1.00e+00f 1 65 7.1988632e-04 1.09e-14 8.76e-04 -3.8 4.01e-01 -20.0 1.00e+00 5.00e-01f 2 66 6.8644205e-05 8.99e-15 2.98e-03 -5.6 7.83e-01 -20.0 9.24e-01 1.00e+00f 1 67 2.9625522e-05 7.11e-15 3.44e-04 -5.6 1.91e-01 -20.0 1.00e+00 1.00e+00f 1 68 9.1958271e-06 1.22e-15 2.25e-04 -5.6 2.13e-01 -20.0 1.00e+00 1.00e+00f 1 69 1.1463710e-05 4.44e-16 4.18e-05 -5.6 4.26e-02 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 9.8626590e-06 7.11e-17 1.65e-05 -5.6 1.74e-02 -20.0 1.00e+00 1.00e+00h 1 71 7.6584131e-07 7.33e-17 1.20e-04 -8.5 3.10e-01 -20.0 9.69e-01 1.00e+00f 1 72 3.0100239e-07 8.98e-17 1.35e-05 -8.5 7.32e-02 -20.0 1.00e+00 1.00e+00f 1 73 4.9224144e-08 3.43e-17 8.90e-06 -8.5 1.05e-01 -20.0 1.00e+00 1.00e+00f 1 74 1.6929124e-03 8.74e-16 4.18e-04 -4.0 5.34e+02 -20.0 1.00e+00 4.59e-03f 3 75 4.5880866e-04 6.75e-14 5.82e-03 -3.8 7.56e-01 -20.0 1.00e+00 1.00e+00f 1 76 9.1638835e-04 2.18e-14 2.46e-03 -3.8 2.90e-01 -20.0 1.00e+00 1.00e+00f 1 77 5.5312223e-04 9.77e-15 2.36e-03 -3.8 3.10e-01 -20.0 1.00e+00 1.00e+00f 1 78 9.0640613e-04 3.77e-15 1.64e-03 -3.8 1.91e-01 -20.0 1.00e+00 1.00e+00f 1 79 4.8522569e-05 8.77e-15 3.53e-03 -5.6 1.02e+00 -20.0 8.96e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.6389288e-05 7.22e-15 2.26e-04 -5.6 1.37e-01 -20.0 1.00e+00 1.00e+00f 1 81 7.9941602e-06 7.77e-16 2.21e-04 -5.6 2.25e-01 -20.0 1.00e+00 1.00e+00f 1 82 1.1804282e-05 4.44e-16 7.20e-05 -5.6 7.38e-02 -20.0 1.00e+00 1.00e+00f 1 83 1.0261566e-05 2.22e-16 5.75e-06 -5.6 4.31e-02 -20.0 1.00e+00 5.00e-01f 2 84 7.3882123e-07 1.11e-16 1.31e-04 -8.5 3.39e-01 -20.0 9.66e-01 1.00e+00f 1 85 2.9983854e-07 1.11e-16 1.36e-05 -8.5 7.44e-02 -20.0 1.00e+00 1.00e+00f 1 86 4.7665181e-08 3.82e-17 9.39e-06 -8.5 1.12e-01 -20.0 1.00e+00 1.00e+00f 1 87 1.3891045e-03 5.24e-16 2.73e-03 -4.0 5.70e+02 -20.0 1.00e+00 4.30e-03f 3 88 4.9786224e-04 5.93e-14 4.86e-03 -3.8 6.29e-01 -20.0 1.00e+00 1.00e+00f 1 89 8.3739053e-04 1.55e-14 1.71e-03 -3.8 2.06e-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 5.6533113e-04 6.88e-15 2.05e-03 -3.8 2.69e-01 -20.0 1.00e+00 1.00e+00f 1 91 8.2768286e-04 2.22e-15 1.12e-03 -3.8 1.34e-01 -20.0 1.00e+00 1.00e+00f 1 92 5.0156149e-05 8.33e-15 3.50e-03 -5.7 1.01e+00 -20.0 8.97e-01 1.00e+00f 1 93 2.5994239e-05 6.44e-15 2.54e-04 -5.7 1.55e-01 -20.0 1.00e+00 1.00e+00f 1 94 7.7455196e-06 7.77e-16 2.29e-04 -5.7 2.36e-01 -20.0 1.00e+00 1.00e+00f 1 95 1.0965389e-05 3.63e-16 6.39e-05 -5.7 6.77e-02 -20.0 1.00e+00 1.00e+00f 1 96 8.5656394e-06 1.11e-16 3.37e-05 -5.7 3.75e-02 -20.0 1.00e+00 1.00e+00f 1 97 1.0965191e-05 9.97e-17 4.99e-05 -5.7 5.22e-02 -20.0 1.00e+00 1.00e+00f 1 98 8.6014203e-06 1.11e-16 3.41e-05 -5.7 3.79e-02 -20.0 1.00e+00 1.00e+00f 1 99 1.0905822e-05 1.11e-16 4.87e-05 -5.7 5.10e-02 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 8.6395173e-06 1.11e-16 3.34e-05 -5.7 3.71e-02 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 8.6395172514780502e-06 8.6395172514780502e-06 Dual infeasibility......: 3.3353239471207150e-05 3.3353239471207150e-05 Constraint violation....: 1.1102230246251565e-16 1.1102230246251565e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.1300406154745896e-06 2.1300406154745896e-06 Overall NLP error.......: 9.7879863094816106e-05 9.7879863094816106e-05 Number of objective function evaluations = 147 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 147 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 1 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 2.242 EXIT: Maximum Number of Iterations Exceeded. [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: 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 3.1383992e+00 2.02e+00 9.64e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7131164e+00 1.94e-02 4.70e-01 -1.1 1.95e+00 - 1.00e+00 1.00e+00f 1 2 2.2993321e+00 1.14e-02 1.75e-01 -1.6 1.29e-01 - 8.47e-01 1.00e+00f 1 3 2.1241468e+00 2.07e-03 3.90e-02 -2.4 5.86e-02 - 9.62e-01 9.75e-01h 1 4 2.0915640e+00 1.13e-04 1.67e-03 -4.0 1.85e-02 - 9.93e-01 1.00e+00h 1 5 2.0908943e+00 3.94e-05 2.86e-04 -4.0 2.27e-01 - 1.00e+00 1.00e+00h 1 6 2.0908977e+00 1.09e-08 5.91e-07 -4.0 1.09e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 3.19e-11 6.88e-11 -4.0 1.07e-02 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971975490904e+00 2.0908971975490904e+00 Dual infeasibility......: 6.8783203254190600e-11 6.8783203254190600e-11 Constraint violation....: 3.1917698464691696e-11 3.1917698464691696e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000234228414681e-04 1.0000234228414681e-04 Overall NLP error.......: 2.3422841468039718e-09 2.3422841468039718e-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 = 20.473 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 2.8468560e+00 1.72e+00 8.03e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.0669084e+00 7.13e-01 9.36e-01 -0.8 9.55e+00 -4.0 6.83e-01 7.69e-01f 1 2 2.3961491e+00 1.30e+00 3.76e+01 -1.9 4.75e+01 -3.6 8.24e-02 8.94e-01h 1 3 2.4213923e+00 1.32e-01 4.62e+00 -1.5 4.21e+00 -2.2 9.08e-01 1.00e+00f 1 4 2.2304264e+00 4.19e-02 1.49e-01 -1.9 8.92e-01 -2.7 9.96e-01 1.00e+00h 1 5 2.1509252e+00 3.09e-02 1.75e-01 -2.1 1.59e+00 -3.2 9.59e-01 8.62e-01h 1 6 2.1067175e+00 3.32e-03 8.64e-02 -2.7 6.06e-01 -3.7 9.98e-01 9.77e-01h 1 7 2.0937561e+00 1.90e-03 8.73e-02 -3.5 8.02e-01 -4.2 1.00e+00 9.55e-01h 1 8 2.0909569e+00 5.00e-04 1.44e-02 -4.0 6.97e-01 -4.6 1.00e+00 9.81e-01h 1 9 2.0906644e+00 2.18e-04 3.24e-04 -4.0 2.11e+00 -5.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0902809e+00 9.58e-06 2.46e-03 -4.0 3.95e+00 -5.6 1.00e+00 1.00e+00h 1 11 2.0899870e+00 5.98e-06 3.32e-03 -4.0 4.82e+00 -6.1 1.00e+00 1.00e+00h 1 12 2.0898809e+00 1.59e-05 1.81e-03 -4.0 7.63e+00 -6.5 1.00e+00 1.00e+00h 1 13 2.0898167e+00 1.60e-05 2.01e-03 -4.0 1.14e+01 -7.0 1.00e+00 1.00e+00h 1 14 2.0898212e+00 4.94e-06 1.05e-03 -4.0 1.43e+01 -7.5 1.00e+00 1.00e+00h 1 15 2.0898221e+00 7.64e-07 3.31e-04 -4.0 8.84e+00 -8.0 1.00e+00 1.00e+00h 1 16 2.0898219e+00 4.75e-08 1.37e-05 -4.0 1.67e+00 -8.4 1.00e+00 1.00e+00h 1 17 2.0898219e+00 3.92e-10 8.28e-08 -4.0 1.48e-01 -8.9 1.00e+00 1.00e+00h 1 18 2.0898218e+00 3.14e-13 8.51e-11 -4.0 4.89e-03 -9.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 18 (scaled) (unscaled) Objective...............: 2.0898218497886072e+00 2.0898218497886072e+00 Dual infeasibility......: 8.5076179581018360e-11 8.5076179581018360e-11 Constraint violation....: 3.1369047984175502e-13 3.1369047984175502e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000003e-04 1.0000000000000003e-04 Overall NLP error.......: 8.5076179581018360e-11 8.5076179581018360e-11 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 = 19.921 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 1.8943554e+00 3.64e+00 4.90e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.9138416e+00 3.15e+00 1.42e+00 -0.1 1.31e+01 -2.0 1.22e-01 1.26e-01f 1 2 2.1826483e+00 2.61e+00 1.06e+01 -1.9 2.19e+01 -2.5 1.15e-01 1.78e-01h 1 3 2.3122455e+00 2.29e+00 9.45e+00 -4.0 1.98e+01 -3.0 1.95e-01 1.34e-01h 1 4 2.3157610e+00 2.28e+00 4.98e+02 -1.2 2.50e+01 -2.5 1.34e-01 1.56e-03h 1 5 2.3350832e+00 2.28e+00 5.61e+02 -4.0 2.19e+03 -3.0 5.47e-04 1.67e-04h 5 6 2.4344132e+00 2.54e+00 8.40e+02 0.9 2.32e+04 -2.6 1.38e-04 2.02e-04f 1 7 2.4352368e+00 2.54e+00 3.27e+05 0.3 4.96e+02 -2.2 1.00e+00 5.54e-05h 1 8 2.8695000e+00 5.64e+00 3.20e+05 2.4 5.36e+03 -2.6 2.54e-03 2.98e-03f 1 9 2.8722087e+00 5.64e+00 8.05e+06 0.3 5.76e+02 -3.1 2.47e-02 7.40e-05h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.8722545e+00 5.64e+00 2.09e+10 0.3 1.02e+03 -3.6 2.96e-02 1.10e-05h 1 11r 2.8722545e+00 5.64e+00 1.00e+03 0.8 0.00e+00 -2.3 0.00e+00 2.47e-07R 2 12r 2.9869909e+00 1.51e+00 9.92e+02 2.4 3.79e+03 - 4.03e-02 1.92e-03f 1 13 2.9880540e+00 1.51e+00 1.66e+02 -4.0 9.59e+00 -2.7 4.22e-01 2.51e-03h 1 14 2.9888275e+00 1.51e+00 6.17e+06 0.7 2.30e+02 -3.2 1.00e+00 3.17e-05h 1 15r 2.9888275e+00 1.51e+00 1.00e+03 1.8 0.00e+00 -3.7 0.00e+00 3.95e-07R 5 16r 3.0995414e+00 4.47e-01 7.17e+02 1.9 5.97e+01 - 5.45e-01 5.23e-02f 1 17 3.0948415e+00 4.38e-01 2.62e+01 -4.0 2.04e+01 -4.2 5.29e-01 1.93e-02h 1 18 3.0969993e+00 4.38e-01 8.69e+04 0.3 5.06e+02 -4.6 5.05e-01 2.23e-04h 1 19 3.1005160e+00 4.38e-01 1.07e+09 1.4 6.18e+02 -5.1 1.00e+00 8.07e-05h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20r 3.1005160e+00 4.38e-01 9.85e+02 2.5 0.00e+00 -5.6 0.00e+00 4.57e-07R 2 21r 3.1273737e+00 2.35e-01 3.28e+02 1.8 9.20e+00 - 1.00e+00 6.07e-01f 1 22 3.0762580e+00 1.99e-01 2.70e+00 -4.0 3.93e+00 -6.1 5.60e-01 1.53e-01h 1 23 3.0798663e+00 1.99e-01 8.29e+02 -0.4 2.78e+01 -6.5 2.60e-01 1.90e-03h 1 24 3.1162047e+00 1.99e-01 8.44e+05 -0.4 1.04e+02 -7.0 1.00e+00 8.49e-04h 1 25 3.1167178e+00 1.99e-01 5.90e+10 1.0 1.33e+02 -7.5 1.00e+00 1.32e-05h 1 26r 3.1167178e+00 1.99e-01 1.00e+03 2.5 0.00e+00 -8.0 0.00e+00 2.25e-07R 2 27r 3.2802688e+00 2.04e-01 1.29e+02 0.8 5.71e-01 - 9.92e-01 7.52e-01f 1 28r 3.2396038e+00 4.99e-01 7.36e+01 0.7 1.22e+00 - 1.00e+00 8.63e-01f 1 29r 3.5593604e+00 2.08e-01 3.43e+01 0.5 1.23e+00 - 7.45e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30r 4.0226304e+00 2.00e-01 9.99e+00 -1.0 1.15e+00 - 7.90e-01 7.47e-01f 1 31r 4.2792040e+00 1.99e-01 2.12e+01 -0.8 2.56e-01 0.0 9.86e-01 8.51e-01f 1 32r 4.1787278e+00 1.99e-01 2.18e+00 -1.1 5.30e-01 - 1.00e+00 1.00e+00f 1 33r 4.0723497e+00 1.99e-01 1.39e+00 -2.0 1.17e+00 - 9.73e-01 1.00e+00f 1 34r 4.1805258e+00 1.99e-01 9.70e-01 -1.9 4.97e-01 - 9.75e-01 1.00e+00h 1 35r 4.1131013e+00 1.99e-01 2.72e-02 -2.6 7.31e-02 - 1.00e+00 1.00e+00f 1 36r 3.9209694e+00 1.99e-01 2.69e-02 -3.5 8.62e-02 - 9.91e-01 1.00e+00f 1 37r 3.8496859e+00 1.99e-01 3.09e-03 -4.0 3.79e-02 - 1.00e+00 1.00e+00h 1 38r 3.9009872e+00 1.99e-01 1.06e-04 -4.0 3.48e-02 - 1.00e+00 1.00e+00h 1 39r 3.8941858e+00 1.99e-01 1.25e-06 -4.0 5.11e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 39 (scaled) (unscaled) Objective...............: 3.8941768999352440e+00 3.8941768999352440e+00 Dual infeasibility......: 1.9506099138507453e+00 1.9506099138507453e+00 Constraint violation....: 1.9875045035241712e-01 1.9875045035241712e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000001062955975e-04 1.0000001062955975e-04 Overall NLP error.......: 1.9506099138507453e+00 1.9506099138507453e+00 Number of objective function evaluations = 57 Number of objective gradient evaluations = 28 Number of equality constraint evaluations = 57 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 45 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 40 Total seconds in IPOPT = 21.866 EXIT: Converged to a point of local infeasibility. Problem may be infeasible. initializing optimizer... applying constraint: bounds constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 36 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.4160259e+00 4.16e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.6199063e+00 8.80e-02 4.21e-01 -0.9 2.65e+00 -2.0 6.70e-01 1.00e+00f 1 2 2.4409405e+00 3.94e-02 9.93e-02 -1.5 1.12e+00 -2.5 9.38e-01 1.00e+00f 1 3 2.1711737e+00 3.24e-02 4.68e-02 -2.2 1.13e+00 -3.0 9.95e-01 1.00e+00h 1 4 2.0967652e+00 6.97e-03 3.81e-02 -3.3 8.16e-01 -3.4 9.65e-01 9.62e-01h 1 5 2.0909897e+00 1.17e-04 1.50e-03 -4.0 1.68e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0908367e+00 1.06e-05 2.63e-05 -4.0 5.00e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0906893e+00 8.27e-07 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0902483e+00 7.71e-06 3.44e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0889358e+00 7.07e-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 2.0850984e+00 6.70e-04 2.79e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0796410e+00 2.12e-03 1.76e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.39e-01h 1 12 2.0802923e+00 1.46e-04 1.68e-01 -4.0 6.70e+01 -7.2 1.00e+00 1.00e+00H 1 13 2.0774247e+00 7.87e-03 2.43e-02 -4.0 1.24e+02 -7.7 1.00e+00 9.64e-01h 1 14 2.0770131e+00 1.72e-03 4.85e-02 -4.0 2.09e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0761712e+00 1.73e-03 1.91e-02 -4.0 3.52e+02 -8.7 1.00e+00 8.02e-01h 1 16 2.0755085e+00 1.94e-03 2.88e-02 -4.0 5.32e+02 -9.2 1.00e+00 7.05e-01h 1 17 2.0757576e+00 2.60e-03 1.25e-02 -4.0 1.47e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0756787e+00 2.96e-04 4.39e-04 -4.0 6.81e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0756713e+00 2.81e-06 7.28e-06 -4.0 2.26e+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 4.39e-08 1.10e-06 -4.0 1.31e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0756712e+00 2.00e-09 8.20e-08 -4.0 4.01e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0756712e+00 2.91e-11 1.16e-09 -4.0 5.79e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0756712121388423e+00 2.0756712121388423e+00 Dual infeasibility......: 1.1558250290026606e-09 1.1558250290026606e-09 Constraint violation....: 2.9143354396410359e-11 2.9143354396410359e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000051e-04 1.0000000000000051e-04 Overall NLP error.......: 1.1558250290026606e-09 1.1558250290026606e-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 = 22.253 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 4.8692745e+00 3.11e+00 8.09e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9034730e+00 1.40e+00 2.32e+00 -0.6 2.40e+00 0.0 1.00e+00 5.53e-01h 1 2 2.7439543e+00 2.68e-02 1.97e+00 -0.8 1.34e+00 -0.5 9.62e-01 1.00e+00f 1 3 2.5518323e+00 6.92e-02 6.62e-01 -1.1 5.22e-01 -1.0 9.31e-01 8.70e-01h 1 4 2.2466042e+00 2.42e-02 3.56e-01 -2.0 5.26e-01 -1.4 9.90e-01 1.00e+00h 1 5 2.1126528e+00 3.82e-03 5.43e-02 -2.7 1.87e-01 -1.9 9.96e-01 1.00e+00h 1 6 2.0915679e+00 4.35e-05 7.24e-04 -3.7 1.75e-02 -2.4 9.97e-01 1.00e+00h 1 7 2.0909749e+00 1.13e-06 2.75e-05 -4.0 2.00e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909681e+00 6.54e-09 1.73e-05 -4.0 3.79e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909578e+00 5.52e-09 1.69e-05 -4.0 1.11e-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 2.0909315e+00 4.05e-08 4.43e-05 -4.0 3.14e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0908645e+00 2.49e-07 1.96e-04 -4.0 8.61e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0906702e+00 2.14e-06 2.86e-04 -4.0 2.47e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0905916e+00 2.98e-07 2.51e-04 -4.0 1.00e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902366e+00 4.07e-06 1.38e-03 -4.0 3.49e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0897111e+00 3.97e-05 9.96e-03 -4.0 1.04e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0889814e+00 4.28e-05 1.13e-01 -4.0 2.24e+01 -5.4 1.00e+00 2.09e-01h 1 17 2.0881251e+00 4.78e-05 1.37e-02 -4.0 1.11e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0865788e+00 1.23e-04 2.94e-02 -4.0 2.74e+01 -6.3 1.00e+00 6.87e-01h 1 19 2.0837982e+00 8.00e-04 4.00e-02 -4.0 4.95e+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 2.0827481e+00 2.77e-04 8.12e-03 -4.0 5.49e+01 -7.3 1.00e+00 6.11e-01h 1 21 2.0825137e+00 8.10e-04 2.63e-02 -4.0 1.34e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.5550265e+00 3.85e-04 7.15e+00 -4.0 5.02e+02 -7.3 3.42e-02 1.00e+00H 1 23 2.0874294e+00 1.02e-05 5.48e-01 -4.1 1.25e-01 0.5 1.00e+00 9.73e-01f 1 24 2.0877363e+00 1.02e-05 3.87e+00 -4.0 6.97e-02 0.1 1.00e+00 7.81e-03f 8 25 2.0877352e+00 2.17e-08 1.65e-03 -4.0 4.33e-03 -0.4 1.00e+00 1.00e+00h 1 26 2.0875097e+00 2.46e-08 1.62e-03 -4.0 1.28e-02 -0.9 1.00e+00 1.00e+00h 1 27 2.0874220e+00 1.11e-07 1.52e-03 -4.0 3.60e-02 -1.4 1.00e+00 1.00e+00h 1 28 2.0872479e+00 4.76e-07 1.16e-03 -4.0 8.23e-02 -1.9 1.00e+00 1.00e+00h 1 29 2.0871551e+00 5.20e-07 2.31e-04 -4.0 4.93e-02 -2.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0871986e+00 1.03e-07 2.06e-05 -4.0 1.32e-02 -2.8 1.00e+00 1.00e+00h 1 31 2.0871939e+00 2.51e-08 1.54e-05 -4.0 2.96e-02 -3.3 1.00e+00 1.00e+00h 1 32 2.0871862e+00 2.42e-09 1.54e-05 -4.0 8.88e-02 -3.8 1.00e+00 1.00e+00h 1 33 2.0871633e+00 2.46e-08 1.69e-05 -4.0 2.65e-01 -4.2 1.00e+00 1.00e+00h 1 34 2.0869155e+00 1.89e-05 8.86e-05 -4.1 8.08e-01 -4.7 1.00e+00 1.00e+00h 1 35 2.0869039e+00 5.34e-05 3.49e-04 -4.0 2.31e+00 -5.2 1.00e+00 1.00e+00h 1 36 2.0864105e+00 1.59e-05 1.19e-03 -4.0 6.29e+00 -5.7 1.00e+00 1.00e+00h 1 37 2.0855711e+00 5.98e-05 5.56e-03 -4.0 1.50e+01 -6.1 1.00e+00 1.00e+00h 1 38 2.0847490e+00 1.75e-04 9.43e-03 -4.0 3.58e+01 -6.6 1.00e+00 1.00e+00h 1 39 2.0832824e+00 8.21e-04 2.53e-02 -4.0 7.86e+01 -7.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0819118e+00 1.19e-03 3.50e-02 -4.1 1.18e+02 -7.6 9.32e-01 1.00e+00h 1 41 2.0815970e+00 2.85e-03 4.14e+00 -4.0 1.08e+03 -7.2 1.00e+00 8.33e-02h 2 42 2.0819914e+00 1.11e-03 1.25e-01 -3.9 2.86e+01 -7.6 9.71e-01 1.00e+00h 1 43 2.0820530e+00 4.48e-03 2.88e-02 -4.0 1.23e+02 -8.1 8.43e-01 1.00e+00h 1 44 2.0818812e+00 1.30e-04 2.98e-03 -4.0 3.52e+01 -8.6 1.00e+00 1.00e+00h 1 45 2.0818550e+00 1.01e-04 3.44e-04 -4.0 4.49e+01 -9.1 1.00e+00 1.00e+00h 1 46 2.0818434e+00 8.71e-07 7.90e-05 -4.0 9.38e+00 -9.5 1.00e+00 1.00e+00h 1 47 2.0818434e+00 5.00e-09 3.08e-06 -4.0 4.03e-01 -10.0 1.00e+00 1.00e+00h 1 48 2.0818434e+00 6.61e-13 3.56e-09 -4.0 7.80e-03 -10.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 48 (scaled) (unscaled) Objective...............: 2.0818434105266612e+00 2.0818434105266612e+00 Dual infeasibility......: 3.5578686602279959e-09 3.5578686602279959e-09 Constraint violation....: 6.6113781116428072e-13 6.6113781116428072e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000002698437896e-04 1.0000002698437896e-04 Overall NLP error.......: 3.5578686602279959e-09 3.5578686602279959e-09 Number of objective function evaluations = 61 Number of objective gradient evaluations = 49 Number of equality constraint evaluations = 61 Number of inequality constraint evaluations = 61 Number of equality constraint Jacobian evaluations = 49 Number of inequality constraint Jacobian evaluations = 49 Number of Lagrangian Hessian evaluations = 48 Total seconds in IPOPT = 21.910 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.: 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 6.0458372e+00 2.68e+00 3.33e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.4746290e+00 5.59e-02 3.51e+00 -1.0 1.83e+00 0.0 7.79e-01 1.00e+00f 1 2 3.0476836e+00 3.65e-03 1.60e+00 -0.9 3.12e-01 0.4 8.27e-01 1.00e+00h 1 3 2.5808461e+00 2.11e-03 2.97e-01 -1.5 2.43e-01 -0.1 9.99e-01 1.00e+00h 1 4 2.1814678e+00 5.65e-03 7.40e-02 -2.2 1.34e-01 -0.5 9.81e-01 7.85e-01f 1 5 2.1048946e+00 1.37e-04 5.60e-03 -2.8 3.51e-02 -1.0 9.71e-01 1.00e+00h 1 6 2.0909517e+00 8.22e-06 5.28e-04 -4.0 5.00e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0908723e+00 3.96e-08 1.60e-05 -4.0 1.46e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908719e+00 4.09e-11 1.61e-05 -4.0 4.39e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908709e+00 5.39e-11 1.60e-05 -4.0 1.31e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908680e+00 4.74e-10 1.59e-05 -4.0 3.92e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908593e+00 4.08e-09 1.57e-05 -4.0 1.16e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908343e+00 3.34e-08 3.91e-05 -4.0 3.35e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907621e+00 2.79e-07 1.58e-04 -4.0 9.54e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905397e+00 2.70e-06 3.76e-04 -4.0 2.80e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0904520e+00 4.52e-07 3.20e-04 -4.0 1.14e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0902850e+00 1.33e-06 8.77e-03 -4.0 4.16e+00 -5.4 1.00e+00 4.01e-01h 2 17 2.0893275e+00 3.85e-05 2.49e-03 -4.0 1.08e+01 -5.8 1.00e+00 9.79e-01h 1 18 2.0876068e+00 3.03e-04 3.31e-02 -4.0 2.93e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0863859e+00 2.52e-04 9.69e-02 -4.0 2.58e+01 -5.9 1.00e+00 3.15e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0848933e+00 2.07e-04 2.24e-02 -4.0 2.45e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0828363e+00 2.03e-04 2.57e-02 -4.0 3.65e+01 -6.8 1.00e+00 9.52e-01h 1 22 2.0829377e+00 7.54e-04 2.50e-02 -4.0 5.66e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0821080e+00 1.72e-03 8.99e-03 -4.1 1.31e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.0922426e+00 1.25e-05 4.99e-01 -4.0 4.51e+02 -8.3 1.22e-01 1.00e+00H 1 25 2.0835341e+00 5.06e-03 3.25e+00 -4.2 2.29e+01 -5.1 6.65e-02 3.32e-01f 1 26 2.0827624e+00 6.54e-03 3.25e+00 -4.2 1.17e+03 -5.6 1.12e-05 1.59e-03f 1 27 2.0827960e+00 6.59e-03 3.27e+00 -4.2 1.77e+04 -6.1 1.27e-07 4.10e-05f 2 28 2.0828195e+00 5.93e-03 3.85e+00 -4.2 4.94e-01 -2.9 1.00e+00 1.00e-01h 1 29 2.0828843e+00 1.13e-06 7.39e-04 -4.2 3.99e-02 -3.4 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0831269e+00 2.28e-06 1.35e-04 -4.0 5.71e-02 -3.9 1.00e+00 1.00e+00h 1 31 2.0829401e+00 5.06e-06 3.38e-05 -4.1 1.96e-01 -4.4 1.00e+00 1.00e+00h 1 32 2.0821968e+00 9.64e-05 8.21e-03 -6.1 9.76e-01 -4.9 9.23e-01 1.00e+00h 1 33 2.0830216e+00 2.20e-04 2.28e-03 -4.0 1.59e+00 -5.3 1.00e+00 1.00e+00h 1 34 2.0825185e+00 1.68e-04 8.61e-04 -4.1 3.71e+00 -5.8 1.00e+00 1.00e+00h 1 35 2.0823005e+00 2.19e-05 1.70e-03 -4.1 8.75e+00 -6.3 1.00e+00 1.00e+00h 1 36 2.0823712e+00 4.77e-04 1.85e-03 -4.0 2.10e+01 -6.8 1.00e+00 1.00e+00h 1 37 2.0818425e+00 8.35e-04 7.54e-03 -4.1 4.60e+01 -7.2 1.00e+00 1.00e+00h 1 38 2.0817963e+00 2.25e-03 5.83e-03 -4.0 1.05e+02 -7.7 6.86e-01 1.00e+00h 1 39 2.0867301e+00 2.90e-03 4.18e-02 -4.0 3.77e+01 -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 2.0861095e+00 2.83e-03 1.29e+00 -4.0 2.62e+00 -3.3 4.15e-02 2.52e-02h 1 41 2.0822165e+00 4.87e-04 6.28e-01 -4.0 1.55e-01 -1.9 1.00e+00 8.28e-01f 1 42 2.0819493e+00 1.06e-05 3.22e+00 -4.0 4.57e-02 -2.4 5.35e-01 1.00e+00f 1 43 2.0818883e+00 1.02e-05 2.56e+00 -3.4 2.37e-01 -2.9 1.00e+00 1.32e-01h 2 44 2.0817766e+00 7.34e-07 2.46e-04 -3.9 3.41e-02 -3.4 1.00e+00 1.00e+00h 1 45 2.0815638e+00 6.48e-06 3.69e-04 -4.0 1.44e-01 -3.8 1.00e+00 1.00e+00h 1 46 2.0816122e+00 2.01e-06 1.83e-04 -4.0 3.19e-01 -4.3 1.00e+00 1.00e+00h 1 47 2.0816686e+00 3.19e-06 2.84e-04 -4.0 7.27e-01 -4.8 1.00e+00 1.00e+00h 1 48 2.0816057e+00 1.30e-05 7.04e-04 -4.1 8.08e-01 -5.3 1.00e+00 1.00e+00h 1 49 2.0808626e+00 3.44e-04 4.77e-03 -6.1 3.80e+00 -5.7 9.73e-01 9.85e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0808704e+00 4.95e-05 3.16e-03 -4.7 3.73e+00 -6.2 1.00e+00 9.57e-01f 1 51 2.0818330e+00 1.77e-03 6.40e-02 -4.0 1.77e+01 -6.7 4.07e-01 1.00e+00f 1 52 2.0811775e+00 4.69e-04 1.97e-02 -4.3 7.58e+00 -7.2 8.33e-01 1.00e+00h 1 53 2.0812281e+00 1.27e-04 2.21e-01 -4.3 1.86e+00 -4.9 8.02e-01 1.00e+00h 1 54 2.0811749e+00 8.43e-05 1.81e-01 -4.3 1.93e+00 -5.4 8.26e-01 6.11e-01h 1 55 2.0817783e+00 2.09e-03 1.52e-02 -4.0 7.67e+00 -5.9 1.00e+00 1.00e+00f 1 56 2.0816428e+00 1.10e-04 3.23e-04 -4.1 1.62e+00 -6.4 1.00e+00 1.00e+00h 1 57 2.0806835e+00 1.82e-03 1.41e-03 -6.1 1.30e+01 -6.9 9.88e-01 9.79e-01h 1 58 2.0818792e+00 1.84e-03 7.45e-03 -4.0 1.88e+01 -7.3 1.00e+00 1.00e+00f 1 59 2.0816239e+00 1.26e-04 6.24e-04 -4.1 5.42e+00 -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 60 2.0806728e+00 2.58e-03 8.41e-04 -6.1 3.43e+01 -8.3 9.78e-01 9.02e-01h 1 61 2.0818722e+00 3.98e-03 1.98e-03 -4.0 3.80e+01 -8.8 1.00e+00 1.00e+00f 1 62 2.0816082e+00 4.31e-04 2.67e-04 -4.1 1.78e+01 -9.2 1.00e+00 1.00e+00h 1 63 2.0806016e+00 3.44e-03 2.00e-04 -6.1 4.16e+01 -9.7 9.76e-01 9.62e-01h 1 64 2.0814546e+00 3.94e-03 5.81e-03 -4.0 5.83e+01 -10.2 1.00e+00 6.72e-01f 1 65 2.0815303e+00 9.27e-05 3.57e-05 -4.1 1.22e+01 -10.7 1.00e+00 1.00e+00h 1 66 2.0805902e+00 3.01e-03 1.37e-04 -6.2 3.90e+01 -11.1 9.78e-01 9.67e-01h 1 67 2.0807399e+00 2.75e-03 1.64e-02 -4.0 6.25e+01 -11.6 1.00e+00 1.19e-01f 1 68 2.0813883e+00 1.20e-03 5.83e-05 -4.2 2.15e+01 -12.1 1.00e+00 1.00e+00h 1 69 2.0813953e+00 6.93e-06 3.12e-05 -4.2 1.07e+01 -12.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0818446e+00 6.89e-04 4.64e-05 -4.0 1.82e+01 -13.1 1.00e+00 1.00e+00h 1 71 2.0815833e+00 2.28e-04 3.77e-05 -4.1 1.04e+01 -13.5 1.00e+00 1.00e+00h 1 72 2.0805928e+00 3.32e-03 1.40e-04 -6.1 4.05e+01 -14.0 9.77e-01 9.67e-01h 1 73 2.0805497e+00 7.13e-05 1.82e-06 -6.1 1.56e+01 -14.5 1.00e+00 1.00e+00h 1 74 2.0819868e+00 1.06e-02 4.00e-04 -4.0 8.58e+01 -15.0 1.00e+00 1.00e+00f 1 75 2.0816824e+00 9.86e-04 5.22e-05 -4.1 4.70e+01 -15.4 1.00e+00 1.00e+00h 1 76 2.0816443e+00 5.40e-07 3.97e-05 -4.1 8.92e+00 -15.9 1.00e+00 1.00e+00h 1 77 2.0818414e+00 1.23e-04 4.63e-05 -4.0 7.36e+00 -16.4 1.00e+00 1.00e+00h 1 78 2.0815817e+00 2.11e-04 3.76e-05 -4.1 9.62e+00 -16.9 1.00e+00 1.00e+00h 1 79 2.0805923e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -17.3 9.77e-01 9.68e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805497e+00 7.03e-05 1.80e-06 -6.1 1.55e+01 -17.8 1.00e+00 1.00e+00h 1 81 2.0819871e+00 1.06e-02 4.00e-04 -4.0 8.58e+01 -18.3 1.00e+00 1.00e+00f 1 82 2.0816826e+00 9.87e-04 5.24e-05 -4.1 4.71e+01 -18.8 1.00e+00 1.00e+00h 1 83 2.0816444e+00 5.44e-07 3.97e-05 -4.1 8.94e+00 -19.3 1.00e+00 1.00e+00h 1 84 2.0805933e+00 3.65e-03 1.55e-04 -6.1 4.19e+01 -19.7 9.76e-01 9.71e-01h 1 85 2.0805509e+00 7.35e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 86 2.0805468e+00 5.07e-08 3.96e-07 -6.1 2.92e+00 -20.0 1.00e+00 1.00e+00h 1 87 2.0820226e+00 1.22e-02 4.21e-04 -4.0 9.85e+01 -20.0 1.00e+00 1.00e+00f 1 88 2.0817083e+00 1.09e-03 6.84e-05 -4.1 5.45e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0816573e+00 1.18e-06 4.01e-05 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805943e+00 3.73e-03 1.58e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.71e-01h 1 91 2.0805512e+00 7.57e-05 2.01e-06 -6.1 1.64e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0805469e+00 5.37e-08 4.02e-07 -6.1 3.01e+00 -20.0 1.00e+00 1.00e+00h 1 93 2.0805365e+00 9.26e-07 7.80e-07 -9.0 9.40e-01 -20.0 1.00e+00 9.97e-01h 1 94 2.0820402e+00 1.30e-02 4.35e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 95 2.0817219e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0816639e+00 1.62e-06 4.03e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 97 2.0805948e+00 3.76e-03 1.59e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 98 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 99 2.0805470e+00 5.53e-08 4.06e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805365e+00 9.45e-07 8.03e-07 -9.0 9.51e-01 -20.0 1.00e+00 9.97e-01h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805365098376218e+00 2.0805365098376218e+00 Dual infeasibility......: 8.0307906598144285e-07 8.0307906598144285e-07 Constraint violation....: 9.4501552316827997e-07 9.4501552316827997e-07 Variable bound violation: 9.9678122283952675e-09 9.9678122283952675e-09 Complementarity.........: 1.6345626262606283e-08 1.6345626262606283e-08 Overall NLP error.......: 9.9999999356653477e-05 9.9999999356653477e-05 Number of objective function evaluations = 110 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 110 Number of inequality constraint evaluations = 110 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 24.669 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 1.1320272e+02 3.93e+00 3.36e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 5.1528830e+01 2.57e+00 2.19e+01 -0.5 2.10e+00 0.0 1.00e+00 3.45e-01f 1 2 3.5059087e+00 8.52e-02 6.27e+00 -0.2 1.44e+00 -0.5 1.00e+00 1.00e+00f 1 3 3.3328888e+00 4.06e-02 1.54e+00 -0.4 7.69e-01 -1.0 9.70e-01 1.00e+00f 1 4 2.9260237e+00 2.31e-02 6.86e-01 -1.2 4.49e-01 -1.4 9.68e-01 1.00e+00h 1 5 2.2954004e+00 1.34e-01 2.55e-01 -1.9 1.23e+00 -1.9 9.80e-01 9.75e-01f 1 6 2.1683512e+00 7.82e-03 4.55e-02 -2.1 3.25e-01 -2.4 8.93e-01 1.00e+00h 1 7 2.0949678e+00 1.12e-03 6.00e-03 -3.4 1.41e-01 -2.9 9.96e-01 9.73e-01h 1 8 2.0909327e+00 4.49e-05 2.48e-04 -4.0 6.49e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909009e+00 4.06e-07 2.48e-04 -4.0 1.64e-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 2.0908522e+00 9.40e-08 2.48e-04 -4.0 4.28e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907764e+00 3.36e-07 1.02e-03 -4.0 9.38e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905965e+00 2.47e-06 1.51e-03 -4.0 2.69e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0900839e+00 2.26e-05 6.26e-04 -4.0 8.25e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0898168e+00 3.78e-06 1.71e-03 -4.0 3.05e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890114e+00 2.99e-05 4.07e-03 -4.0 9.58e+00 -5.8 1.00e+00 9.41e-01h 1 16 2.0876989e+00 2.47e-04 3.28e-02 -4.0 2.60e+01 -6.3 1.00e+00 1.00e+00f 1 17 2.0863758e+00 2.66e-04 3.74e-01 -4.0 8.02e+01 -5.8 1.00e+00 1.36e-01h 1 18 2.0849461e+00 2.60e-04 2.66e-02 -4.0 2.24e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0829780e+00 2.40e-04 2.48e-02 -4.0 3.49e+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 2.0828146e+00 4.35e-04 1.59e-02 -4.0 5.38e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0823236e+00 6.99e-04 8.67e-03 -4.0 1.26e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0822885e+00 1.04e-03 1.03e-02 -4.0 6.69e+03 -8.2 5.10e-03 1.14e-02h 7 23 2.0824240e+00 1.17e-03 6.30e-02 -4.0 1.85e+06 -6.9 1.25e-06 6.86e-06f 4 24 2.0822151e+00 3.47e-04 1.75e-01 -4.1 9.68e-01 -4.7 1.00e+00 7.91e-01h 1 25 2.0822591e+00 1.16e-04 1.06e-03 -4.0 1.89e+00 -5.1 1.00e+00 1.00e+00f 1 26 2.0821986e+00 1.40e-05 1.20e-03 -4.0 1.09e+00 -5.6 1.00e+00 1.00e+00h 1 27 2.0822199e+00 2.17e-05 2.48e-04 -4.0 1.50e+00 -6.1 1.00e+00 1.00e+00h 1 28 2.0822125e+00 1.59e-05 2.48e-04 -4.0 4.48e+00 -6.6 1.00e+00 1.00e+00h 1 29 2.0821600e+00 4.47e-06 2.64e-04 -4.0 1.28e+01 -7.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0820499e+00 3.19e-05 2.00e-03 -4.0 2.90e+01 -7.5 1.00e+00 1.00e+00h 1 31 2.0819230e+00 1.13e-04 4.80e-03 -4.0 4.69e+01 -8.0 1.00e+00 1.00e+00h 1 32 2.0818557e+00 1.54e-04 4.13e-03 -4.0 5.95e+01 -8.5 1.00e+00 1.00e+00h 1 33 2.0818401e+00 4.73e-05 9.59e-04 -4.0 3.78e+01 -8.9 1.00e+00 1.00e+00h 1 34 2.0818384e+00 2.37e-06 2.48e-04 -4.0 1.00e+01 -9.4 1.00e+00 1.00e+00h 1 35 2.0818383e+00 1.69e-08 2.48e-04 -4.0 1.00e+00 -9.9 1.00e+00 1.00e+00h 1 36 2.0818383e+00 1.64e-11 2.48e-04 -4.0 3.56e-02 -10.4 1.00e+00 1.00e+00h 1 37 2.0818383e+00 8.19e-12 1.24e-04 -4.0 4.39e-04 -10.9 1.00e+00 5.00e-01h 2 38 2.0818383e+00 8.88e-16 2.48e-04 -4.0 2.21e-04 -11.8 1.00e+00 1.00e+00H 1 39 2.0818383e+00 4.44e-16 2.48e-04 -4.0 2.00e-05 -12.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0815797e+00 2.05e-04 1.98e-04 -4.1 9.35e+00 -12.8 1.00e+00 1.00e+00h 1 41 2.0818395e+00 2.13e-04 2.48e-04 -4.0 9.67e+00 -13.2 1.00e+00 1.00e+00h 1 42 2.0815804e+00 2.11e-04 1.99e-04 -4.1 9.63e+00 -13.7 1.00e+00 1.00e+00h 1 43 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -14.2 9.78e-01 9.71e-01h 1 44 2.0818882e+00 6.56e-03 2.96e-04 -4.0 6.10e+01 -14.7 1.00e+00 1.00e+00f 1 45 2.0816136e+00 4.88e-04 2.04e-04 -4.1 2.07e+01 -15.1 1.00e+00 1.00e+00h 1 46 2.0805989e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -15.6 9.76e-01 9.65e-01h 1 47 2.0805508e+00 8.46e-05 2.20e-06 -6.1 1.69e+01 -16.1 1.00e+00 1.00e+00h 1 48 2.0819794e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -16.6 1.00e+00 1.00e+00f 1 49 2.0816837e+00 9.34e-04 2.11e-04 -4.1 4.57e+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 50 2.0816477e+00 4.73e-07 2.11e-04 -4.1 8.53e+00 -17.5 1.00e+00 1.00e+00h 1 51 2.0818389e+00 1.15e-04 2.48e-04 -4.0 7.07e+00 -18.0 1.00e+00 1.00e+00h 1 52 2.0815801e+00 2.08e-04 1.98e-04 -4.1 9.50e+00 -18.5 1.00e+00 1.00e+00h 1 53 2.0805898e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -19.0 9.78e-01 9.71e-01h 1 54 2.0805497e+00 6.51e-05 1.78e-06 -6.1 1.55e+01 -19.4 1.00e+00 1.00e+00h 1 55 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -19.9 1.00e+00 1.00e+00f 1 56 2.0816887e+00 9.54e-04 2.12e-04 -4.1 4.72e+01 -20.0 1.00e+00 1.00e+00h 1 57 2.0816504e+00 5.63e-07 2.12e-04 -4.1 8.93e+00 -20.0 1.00e+00 1.00e+00h 1 58 2.0805906e+00 3.68e-03 1.60e-04 -6.1 4.16e+01 -20.0 9.77e-01 9.75e-01h 1 59 2.0805511e+00 6.76e-05 1.96e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0805469e+00 4.72e-08 1.96e-06 -6.1 2.95e+00 -20.0 1.00e+00 1.00e+00h 1 61 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.89e+01 -20.0 1.00e+00 1.00e+00f 1 62 2.0817159e+00 1.04e-03 2.15e-04 -4.1 5.46e+01 -20.0 1.00e+00 1.00e+00h 1 63 2.0816648e+00 1.22e-06 2.15e-04 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 64 2.0805915e+00 3.76e-03 1.66e-04 -6.1 4.20e+01 -20.0 9.76e-01 9.75e-01h 1 65 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 66 2.0805471e+00 4.99e-08 2.00e-06 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 67 2.0805365e+00 9.55e-07 8.02e-07 -9.0 9.57e-01 -20.0 1.00e+00 9.97e-01h 1 68 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 69 2.0817306e+00 1.08e-03 2.16e-04 -4.1 5.83e+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 2.0816723e+00 1.67e-06 2.16e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 71 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 72 2.0805516e+00 7.07e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 73 2.0805472e+00 5.15e-08 2.01e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 74 2.0805365e+00 9.76e-07 8.28e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 75 2.0805365e+00 9.27e-11 2.25e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 76 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 77 2.0817309e+00 1.08e-03 2.16e-04 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 78 2.0816725e+00 1.68e-06 2.16e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 79 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+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 80 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 81 2.0805472e+00 5.16e-08 2.02e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 82 2.0805365e+00 9.76e-07 8.29e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 83 2.0805365e+00 9.28e-11 2.25e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 84 2.0805365e+00 8.88e-16 2.25e-09 -9.0 1.10e-05 -20.0 1.00e+00 1.00e+00h 1 85 2.0805365e+00 6.66e-16 2.25e-09 -9.0 1.13e-10 -20.0 1.00e+00 1.00e+00h 1 86 2.0805365e+00 4.44e-16 2.25e-09 -9.0 1.13e-10 -20.0 1.00e+00 1.00e+00h 1 87 2.0805365e+00 4.44e-16 2.25e-09 -9.0 1.13e-10 -20.0 1.00e+00 1.00e+00h 1 88 2.0805365e+00 2.22e-16 2.25e-09 -9.0 1.13e-10 -20.0 1.00e+00 1.00e+00h 1 89 2.0805365e+00 4.44e-16 2.25e-09 -9.0 1.13e-10 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805365e+00 4.44e-16 2.25e-09 -9.0 1.13e-10 -20.0 1.00e+00 1.00e+00h 1 91 2.0805365e+00 4.44e-16 2.25e-09 -9.0 1.13e-10 -20.0 1.00e+00 1.00e+00h 1 92 2.0805365e+00 4.44e-16 2.25e-09 -9.0 1.13e-10 -20.0 1.00e+00 1.00e+00h 1 93 2.0805365e+00 4.44e-16 2.25e-09 -9.0 1.13e-10 -20.0 1.00e+00 1.00e+00h 1 94 2.0805365e+00 2.22e-16 2.25e-09 -9.0 1.13e-10 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 4.44e-16 2.25e-09 -9.0 1.13e-10 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 4.44e-16 2.25e-09 -9.0 1.13e-10 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 4.44e-16 2.25e-09 -9.0 1.13e-10 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 4.44e-16 2.25e-09 -9.0 1.13e-10 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 4.44e-16 2.25e-09 -9.0 1.13e-10 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805365e+00 2.22e-16 2.25e-09 -9.0 1.13e-10 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595436466e+00 2.0805364595436466e+00 Dual infeasibility......: 2.2549954571247568e-09 2.2549954571247568e-09 Constraint violation....: 2.2204460492503131e-16 2.2204460492503131e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090971179366e-10 9.0909090971179366e-10 Overall NLP error.......: 9.9999090909091550e-05 9.9999090909091550e-05 Number of objective function evaluations = 115 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 115 Number of inequality constraint evaluations = 115 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 29.383 EXIT: Maximum Number of Iterations Exceeded. [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: 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 3.9363113e+00 3.05e+00 2.54e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7359491e+00 3.57e-02 2.01e+00 -1.0 1.98e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3317907e+00 8.98e-02 3.63e-01 -1.9 2.04e+00 -2.5 9.94e-01 1.00e+00h 1 3 2.1474790e+00 2.97e-02 7.47e-02 -2.4 1.37e+00 -3.0 9.90e-01 1.00e+00h 1 4 2.0936310e+00 2.15e-03 1.25e-02 -3.5 3.71e-01 -3.4 1.00e+00 1.00e+00h 1 5 2.0909511e+00 3.68e-05 5.01e-04 -4.0 1.67e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0908840e+00 1.17e-06 2.06e-05 -4.0 5.02e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0907361e+00 8.41e-07 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0902937e+00 7.66e-06 3.46e-05 -4.0 4.50e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0889772e+00 6.99e-05 3.08e-04 -4.0 1.34e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0851270e+00 6.53e-04 2.81e-03 -4.0 3.91e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0797572e+00 1.92e-03 1.46e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.29e-01h 1 12 2.0803653e+00 4.88e-05 1.73e-01 -4.0 6.45e+01 -7.2 1.00e+00 1.00e+00H 1 13 2.0775200e+00 5.80e-03 2.03e-02 -4.0 1.24e+02 -7.7 1.00e+00 9.68e-01h 1 14 2.0771723e+00 7.08e-04 7.72e-02 -4.0 2.10e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0761746e+00 9.96e-04 2.62e-02 -4.0 3.55e+02 -8.7 1.00e+00 7.84e-01h 1 16 2.0755844e+00 6.17e-04 2.48e-02 -4.0 5.11e+02 -9.2 1.00e+00 7.09e-01h 1 17 2.0758569e+00 8.06e-04 1.12e-02 -4.0 1.43e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0754568e+00 1.84e-03 4.58e-04 -4.1 7.94e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0757715e+00 5.11e-04 7.53e-06 -4.0 2.10e+01 -10.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0754220e+00 6.63e-04 7.89e-07 -4.1 2.50e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0757717e+00 3.71e-04 8.27e-07 -4.0 1.40e+01 -11.5 1.00e+00 1.00e+00h 1 22 2.0754219e+00 5.46e-04 2.70e-07 -4.1 2.06e+01 -12.0 1.00e+00 1.00e+00h 1 23 2.0757717e+00 6.02e-04 1.14e-07 -4.0 2.27e+01 -12.5 1.00e+00 1.00e+00h 1 24 2.0754219e+00 6.01e-04 9.83e-08 -4.1 2.27e+01 -13.0 1.00e+00 1.00e+00h 1 25 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -13.5 9.28e-01 1.00e+00h 1 26 2.0758523e+00 1.72e-01 1.56e-04 -4.0 1.29e+03 -13.9 1.00e+00 1.00e+00h 1 27 2.0754378e+00 2.84e-02 8.74e-05 -4.1 1.05e+03 -14.4 1.00e+00 1.00e+00h 1 28 2.0754277e+00 1.24e-05 2.12e-06 -4.1 1.63e+02 -14.9 1.00e+00 1.00e+00h 1 29 2.0757717e+00 7.83e-04 1.74e-07 -4.0 3.01e+01 -15.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0754219e+00 6.34e-04 1.30e-07 -4.1 2.39e+01 -15.8 1.00e+00 1.00e+00h 1 31 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -16.3 9.28e-01 1.00e+00h 1 32 2.0739729e+00 7.49e-04 2.53e-04 -6.1 8.48e+02 -16.8 8.16e-01 1.00e+00h 1 33 2.0743069e+00 2.58e-02 1.46e-02 -4.0 8.97e+03 -17.3 1.00e+00 1.46e-01f 1 34 2.0749156e+00 3.43e-02 4.23e-05 -4.3 7.15e+02 -17.7 1.00e+00 1.00e+00h 1 35 2.0749194e+00 4.29e-04 1.42e-05 -4.3 5.34e+02 -18.2 1.00e+00 1.00e+00h 1 36 2.0757799e+00 1.06e-02 3.26e-06 -4.0 1.65e+02 -18.7 1.00e+00 1.00e+00h 1 37 2.0754236e+00 2.17e-03 7.34e-07 -4.1 8.12e+01 -19.2 1.00e+00 1.00e+00h 1 38 2.0754217e+00 1.05e-06 2.50e-08 -4.1 1.90e+01 -19.7 1.00e+00 1.00e+00h 1 39 2.0757718e+00 7.83e-04 1.70e-07 -4.0 2.96e+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 40 2.0754219e+00 6.34e-04 1.30e-07 -4.1 2.39e+01 -20.0 1.00e+00 1.00e+00h 1 41 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 42 2.0739729e+00 7.49e-04 2.53e-04 -6.1 8.48e+02 -20.0 8.16e-01 1.00e+00h 1 43 2.0739618e+00 7.48e-07 1.83e-05 -6.1 5.36e+02 -20.0 1.00e+00 1.00e+00h 1 44 2.0741610e+00 2.72e-02 1.81e-02 -4.0 3.03e+04 -20.0 1.00e+00 8.17e-02f 1 45 2.0748450e+00 7.42e-02 5.83e-05 -4.3 1.43e+03 -20.0 1.00e+00 1.00e+00f 1 46 2.0748594e+00 4.17e-04 5.58e-06 -4.3 3.96e+02 -20.0 1.00e+00 1.00e+00h 1 47 2.0740038e+00 1.17e-02 4.14e-04 -6.5 1.83e+02 -20.0 8.92e-01 1.00e+00h 1 48 2.0739628e+00 2.48e-04 2.84e-04 -6.5 7.31e+02 -20.0 7.61e-01 1.00e+00h 1 49 2.0739529e+00 2.78e-07 2.04e-05 -6.5 6.29e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0741325e+00 2.58e-02 1.91e-02 -4.0 3.70e+04 -20.0 1.00e+00 7.19e-02f 1 51 2.0748276e+00 8.42e-02 6.63e-05 -4.3 1.60e+03 -20.0 1.00e+00 1.00e+00f 1 52 2.0748443e+00 3.56e-04 3.40e-06 -4.3 3.15e+02 -20.0 1.00e+00 1.00e+00h 1 53 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 54 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 55 2.0739527e+00 2.69e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 56 2.0741318e+00 2.58e-02 1.92e-02 -4.0 3.72e+04 -20.0 1.00e+00 7.16e-02f 1 57 2.0748272e+00 8.45e-02 6.65e-05 -4.3 1.61e+03 -20.0 1.00e+00 1.00e+00f 1 58 2.0748440e+00 3.54e-04 3.34e-06 -4.3 3.13e+02 -20.0 1.00e+00 1.00e+00h 1 59 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 61 2.0739527e+00 2.68e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 62 2.0741318e+00 2.58e-02 1.92e-02 -4.0 3.72e+04 -20.0 1.00e+00 7.16e-02f 1 63 2.0748272e+00 8.45e-02 6.65e-05 -4.3 1.61e+03 -20.0 1.00e+00 1.00e+00f 1 64 2.0748440e+00 3.54e-04 3.34e-06 -4.3 3.13e+02 -20.0 1.00e+00 1.00e+00h 1 65 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 66 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 67 2.0739527e+00 2.68e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 68 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 69 2.0741226e+00 2.63e-02 1.95e-02 -4.0 4.26e+04 -20.0 1.00e+00 6.77e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0748234e+00 8.99e-02 7.10e-05 -4.3 1.70e+03 -20.0 1.00e+00 1.00e+00f 1 71 2.0748412e+00 3.13e-04 2.43e-06 -4.3 2.70e+02 -20.0 1.00e+00 1.00e+00h 1 72 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 73 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 74 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 75 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 76 2.0741225e+00 2.63e-02 1.95e-02 -4.0 4.27e+04 -20.0 1.00e+00 6.76e-02f 1 77 2.0748233e+00 9.00e-02 7.11e-05 -4.3 1.70e+03 -20.0 1.00e+00 1.00e+00f 1 78 2.0748411e+00 3.13e-04 2.42e-06 -4.3 2.70e+02 -20.0 1.00e+00 1.00e+00h 1 79 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 81 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 82 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 83 2.0739440e+00 6.21e-05 3.00e-06 -9.0 1.42e+02 -20.0 9.56e-01 1.00e+00h 1 84 2.0740989e+00 2.54e-02 2.06e-02 -4.0 5.21e+04 -20.0 1.00e+00 5.99e-02f 1 85 2.0748092e+00 1.02e-01 8.36e-05 -4.3 1.92e+03 -20.0 1.00e+00 1.00e+00f 1 86 2.0748293e+00 2.04e-04 1.06e-06 -4.3 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 87 2.0740026e+00 1.16e-02 4.11e-04 -6.5 1.88e+02 -20.0 8.89e-01 1.00e+00h 1 88 2.0739622e+00 2.30e-04 2.84e-04 -6.5 7.25e+02 -20.0 7.59e-01 1.00e+00h 1 89 2.0739525e+00 2.60e-07 1.99e-05 -6.5 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0739518e+00 4.59e-09 7.61e-07 -6.5 1.66e+02 -20.0 1.00e+00 1.00e+00h 1 91 2.0741220e+00 2.63e-02 1.96e-02 -4.0 4.28e+04 -20.0 1.00e+00 6.75e-02f 1 92 2.0748230e+00 9.02e-02 7.13e-05 -4.3 1.71e+03 -20.0 1.00e+00 1.00e+00f 1 93 2.0748409e+00 3.11e-04 2.38e-06 -4.3 2.68e+02 -20.0 1.00e+00 1.00e+00h 1 94 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 95 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 96 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 97 2.0739520e+00 4.54e-09 7.53e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 98 2.0739440e+00 6.21e-05 3.00e-06 -9.0 1.42e+02 -20.0 9.56e-01 1.00e+00h 1 99 2.0740989e+00 2.54e-02 2.06e-02 -4.0 5.21e+04 -20.0 1.00e+00 5.99e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0748092e+00 1.02e-01 8.37e-05 -4.3 1.92e+03 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0748092138579128e+00 2.0748092138579128e+00 Dual infeasibility......: 8.3650444729790985e-05 8.3650444729790985e-05 Constraint violation....: 1.0240270858532252e-01 1.0240270858532252e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 6.8229653538553949e-05 6.8229653538553949e-05 Overall NLP error.......: 1.0240270858532252e-01 1.0240270858532252e-01 Number of objective function evaluations = 102 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 102 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 22.990 EXIT: Maximum Number of Iterations Exceeded. 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 9.6526680e-01 1.14e+00 1.06e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5138720e+00 1.56e-01 1.69e+00 -1.0 6.00e-01 0.0 9.99e-01 1.00e+00h 1 2 1.5955368e+00 5.66e-02 3.10e-01 -0.7 3.05e-01 -0.5 1.00e+00 6.37e-01h 1 3 1.3391182e+00 2.22e-01 1.59e+00 -1.7 7.36e+00 - 8.45e-01 1.00e+00h 1 4 9.5713913e-01 5.80e-02 1.01e+00 -2.3 2.30e-01 -1.0 1.00e+00 7.54e-01h 1 5 1.1202571e+00 1.42e-02 2.81e-01 -2.8 2.18e-01 -1.4 1.00e+00 8.54e-01h 1 6 1.0987451e+00 3.31e-04 1.30e-02 -3.5 6.66e-02 -1.9 1.00e+00 9.78e-01h 1 7 1.0959478e+00 4.15e-07 9.19e-04 -4.0 1.93e-01 -2.4 1.00e+00 1.00e+00h 1 8 1.0951948e+00 9.36e-10 2.95e-03 -4.0 5.40e-01 -2.9 1.00e+00 1.00e+00h 1 9 1.0947413e+00 7.02e-10 7.12e-03 -4.0 1.33e+00 -3.3 1.94e-01 2.50e-01f 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0945418e+00 4.46e-10 4.82e-02 -4.0 5.36e-01 -2.9 1.00e+00 3.65e-01f 2 11 1.0909352e+00 5.38e-12 4.70e-01 -4.0 6.85e+00 - 1.00e+00 1.00e+00f 1 12 1.0908861e+00 8.79e-16 4.81e-05 -4.0 6.05e-02 - 1.00e+00 1.00e+00f 1 13 1.0908997e+00 7.95e-22 1.06e-06 -4.0 2.94e-03 - 1.00e+00 1.00e+00f 1 14 1.0907198e+00 1.74e-27 8.49e-09 -4.1 2.00e-05 - 1.00e+00 1.00e+00f 1 15 1.0908997e+00 4.60e-27 8.49e-09 -4.0 2.00e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 15 (scaled) (unscaled) Objective...............: 1.0908997336735855e+00 1.0908997336735855e+00 Dual infeasibility......: 8.4892861629271010e-09 8.4892861629271010e-09 Constraint violation....: 4.6039787479776353e-27 4.6039787479776353e-27 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000081633782018e-04 1.0000081633782018e-04 Overall NLP error.......: 8.4892861629271010e-09 8.4892861629271010e-09 Number of objective function evaluations = 19 Number of objective gradient evaluations = 16 Number of equality constraint evaluations = 19 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 16 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 15 Total seconds in IPOPT = 19.581 EXIT: Optimal Solution Found. Difference in Hessian Difference in Jacobian Test Summary: | Pass Total Time Package | 202 202 15m58.3s Testing DirectTrajOpt tests passed Testing completed after 1099.54s PkgEval succeeded after 1231.51s