Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.1613 (8dab3f0623*) started at 2026-01-25T23:55:44.439 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 9.62s ################################################################################ # 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 v2.9.5 [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 v2.11.1 [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 v1.1.0 [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 v0.3.30+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 5.64s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling packages... 2850.8 ms ✓ ExponentialAction 8715.4 ms ✓ NamedTrajectories 27647.7 ms ✓ DirectTrajOpt 3 dependencies successfully precompiled in 45 seconds. 224 already precompiled. Precompilation completed after 55.85s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_EVLt4Q/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 v2.9.5 [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_EVLt4Q/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 v2.9.5 [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 v2.11.1 [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 v1.1.0 [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 v0.3.30+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 3.7694137e+00 3.00e+00 5.00e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.1997143e+00 5.47e-01 1.64e+00 -1.1 2.03e+00 0.0 8.14e-01 8.17e-01f 1 2 2.4717448e+00 7.87e-02 1.31e+00 -1.2 5.58e-01 -0.5 5.91e-01 8.60e-01h 1 3 2.3432097e+00 6.61e-02 7.97e-01 -1.2 6.88e-01 -1.0 7.25e-01 4.02e-01f 1 4 2.2868660e+00 5.34e-03 1.08e-01 -1.7 2.25e-01 -1.4 9.65e-01 1.00e+00h 1 5 2.1464342e+00 4.83e-03 1.76e-01 -2.6 3.33e-01 -1.9 9.93e-01 7.38e-01h 1 6 2.0946589e+00 2.64e-04 6.95e-03 -3.5 3.48e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0908330e+00 9.58e-06 3.46e-04 -4.0 1.64e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908369e+00 8.80e-08 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908236e+00 6.85e-09 2.06e-05 -4.0 1.35e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0907838e+00 6.22e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0906644e+00 5.61e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903070e+00 5.07e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892419e+00 4.63e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861112e+00 4.35e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796326e+00 2.48e-03 8.81e-02 -4.0 8.71e+01 -6.7 1.00e+00 7.52e-01h 1 16 2.0812044e+00 1.59e-04 1.97e-01 -4.0 6.95e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778264e+00 6.20e-03 2.85e-02 -4.0 1.13e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0782039e+00 1.63e-02 6.69e-02 -3.7 1.69e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0768399e+00 9.63e-03 1.75e-02 -3.8 3.09e+02 -8.6 1.00e+00 9.31e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0759926e+00 8.71e-03 2.20e-02 -3.9 4.57e+02 -9.1 1.00e+00 9.79e-01f 1 21 2.0757576e+00 7.81e-03 9.58e-03 -4.0 1.46e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756816e+00 5.09e-04 4.31e-04 -4.0 6.46e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 8.93e-06 7.06e-06 -4.0 2.33e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 4.30e-08 1.52e-06 -4.0 1.52e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.60e-09 1.53e-07 -4.0 5.30e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.96e-11 3.11e-09 -4.0 9.36e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122086447e+00 2.0756712122086447e+00 Dual infeasibility......: 3.1063287285568609e-09 3.1063287285568609e-09 Constraint violation....: 7.9639739247738817e-11 7.9639739247738817e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000026e-04 1.0000000000000026e-04 Overall NLP error.......: 3.1063287285568609e-09 3.1063287285568609e-09 Number of objective function evaluations = 28 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 26 Total seconds in IPOPT = 41.267 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: equality constraint on trajectory variable du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1488 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1524 Total number of variables............................: 100 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.0376178e+00 1.67e+00 9.15e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6981227e+00 9.17e-02 7.16e+00 -1.1 1.78e+00 0.0 1.26e-01 9.98e-01f 1 2 2.5425174e+00 1.52e-02 1.34e+00 -0.9 2.84e-01 0.4 9.28e-01 8.18e-01f 1 3 2.4935642e+00 1.62e-02 3.13e-01 -1.3 1.81e-01 -0.1 9.27e-01 1.00e+00f 1 4 2.3071486e+00 2.91e-03 6.87e-02 -1.9 6.99e-02 -0.5 9.66e-01 1.00e+00h 1 5 2.1282597e+00 1.72e-03 9.46e-02 -2.9 8.66e-02 -1.0 9.96e-01 7.68e-01f 1 6 2.0974278e+00 6.31e-04 3.82e-02 -3.8 1.06e-01 -1.5 1.00e+00 8.87e-01h 1 7 2.0913773e+00 3.30e-04 2.04e-02 -4.0 1.61e-01 -2.0 1.00e+00 8.96e-01h 1 8 2.0909041e+00 1.57e-06 2.91e-03 -4.0 2.32e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909538e+00 5.22e-07 1.52e-04 -4.0 1.78e-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 2.0909488e+00 1.79e-08 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909338e+00 8.76e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908890e+00 7.83e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907546e+00 7.06e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903524e+00 6.39e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891548e+00 5.84e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856441e+00 5.52e-04 2.30e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796327e+00 2.32e-03 1.35e-01 -4.0 9.57e+01 -6.7 1.00e+00 6.34e-01h 1 18 2.0807585e+00 1.60e-04 1.83e-01 -4.0 6.62e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775352e+00 7.39e-03 2.47e-02 -4.0 1.19e+02 -7.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0769271e+00 1.14e-03 4.92e-02 -4.0 1.76e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0760044e+00 1.02e-03 2.36e-02 -4.0 3.09e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0754452e+00 4.99e-04 2.97e-02 -4.0 4.67e+02 -9.1 1.00e+00 7.25e-01H 1 23 2.0757765e+00 2.17e-03 1.08e-02 -4.0 1.42e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753824e+00 1.41e-03 4.86e-04 -4.1 7.84e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756722e+00 3.97e-04 6.86e-06 -4.0 1.81e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0753425e+00 6.32e-04 7.77e-07 -4.1 2.58e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756725e+00 3.34e-04 8.13e-07 -4.0 1.36e+01 -11.5 1.00e+00 1.00e+00h 1 28 2.0753425e+00 5.01e-04 2.60e-07 -4.1 2.05e+01 -12.0 1.00e+00 1.00e+00h 1 29 2.0756725e+00 5.53e-04 1.18e-07 -4.0 2.26e+01 -12.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0753425e+00 5.53e-04 9.06e-08 -4.1 2.26e+01 -12.9 1.00e+00 1.00e+00h 1 31 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -13.4 9.28e-01 1.00e+00h 1 32 2.0757517e+00 1.59e-01 1.53e-04 -4.0 1.29e+03 -13.9 1.00e+00 1.00e+00h 1 33 2.0753574e+00 2.64e-02 8.69e-05 -4.1 1.05e+03 -14.4 1.00e+00 1.00e+00h 1 34 2.0753474e+00 1.15e-05 2.14e-06 -4.1 1.63e+02 -14.8 1.00e+00 1.00e+00h 1 35 2.0756726e+00 7.25e-04 1.64e-07 -4.0 3.02e+01 -15.3 1.00e+00 1.00e+00h 1 36 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -15.8 1.00e+00 1.00e+00h 1 37 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -16.3 9.28e-01 1.00e+00h 1 38 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -16.8 8.16e-01 1.00e+00h 1 39 2.0742914e+00 4.02e-02 1.95e-02 -4.0 1.50e+04 -17.2 1.00e+00 1.46e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0748877e+00 5.32e-02 4.44e-05 -4.3 1.16e+03 -17.7 1.00e+00 1.00e+00h 1 41 2.0748919e+00 7.80e-04 1.27e-05 -4.3 8.19e+02 -18.2 1.00e+00 1.00e+00h 1 42 2.0756799e+00 8.81e-03 2.72e-06 -4.0 1.52e+02 -18.7 1.00e+00 1.00e+00h 1 43 2.0753438e+00 1.84e-03 6.19e-07 -4.1 7.48e+01 -19.1 1.00e+00 1.00e+00h 1 44 2.0753420e+00 1.03e-06 2.13e-08 -4.1 1.76e+01 -19.6 1.00e+00 1.00e+00h 1 45 2.0756726e+00 7.23e-04 1.61e-07 -4.0 2.96e+01 -20.0 1.00e+00 1.00e+00h 1 46 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -20.0 1.00e+00 1.00e+00h 1 47 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 48 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -20.0 8.16e-01 1.00e+00h 1 49 2.0739622e+00 1.34e-06 1.83e-05 -6.1 8.40e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0741067e+00 2.44e-02 3.22e-02 -4.0 5.48e+04 -20.0 1.00e+00 5.98e-02f 1 51 2.0748071e+00 7.96e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 52 2.0748241e+00 9.52e-04 1.02e-05 -4.3 6.22e+02 -20.0 1.00e+00 1.00e+00h 1 53 2.0748237e+00 1.04e-07 2.35e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 54 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 55 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 56 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 57 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 58 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 59 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0741065e+00 2.43e-02 3.23e-02 -4.0 5.49e+04 -20.0 1.00e+00 5.97e-02f 1 61 2.0748071e+00 7.95e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 62 2.0748240e+00 9.52e-04 1.02e-05 -4.3 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 63 2.0748236e+00 1.04e-07 2.36e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 64 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 65 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 66 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 68 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 69 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0739617e+00 2.11e-08 1.94e-06 -6.1 2.49e+02 -20.0 1.00e+00 1.00e+00h 1 71 2.0740871e+00 2.06e-02 3.56e-02 -4.0 6.55e+04 -20.0 1.00e+00 5.03e-02f 1 72 2.0748016e+00 7.32e-02 4.77e-05 -4.3 1.41e+03 -20.0 1.00e+00 1.00e+00f 1 73 2.0748204e+00 9.23e-04 8.08e-06 -4.3 5.36e+02 -20.0 1.00e+00 1.00e+00h 1 74 2.0748200e+00 1.25e-07 3.57e-07 -4.3 7.03e+01 -20.0 1.00e+00 1.00e+00h 1 75 2.0740036e+00 1.08e-02 5.23e-04 -6.5 1.81e+02 -20.0 8.93e-01 1.00e+00f 1 76 2.0739632e+00 2.51e-04 3.38e-04 -6.5 7.34e+02 -20.0 7.62e-01 1.00e+00h 1 77 2.0739539e+00 4.81e-07 1.83e-05 -6.5 9.12e+02 -20.0 1.00e+00 1.00e+00h 1 78 2.0740681e+00 1.80e-02 3.75e-02 -4.0 7.10e+04 -20.0 1.00e+00 4.51e-02f 1 79 2.0747866e+00 7.58e-02 5.27e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0748068e+00 8.84e-04 6.22e-06 -4.3 4.91e+02 -20.0 1.00e+00 1.00e+00h 1 81 2.0748064e+00 1.21e-07 3.63e-07 -4.3 6.91e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 83 2.0739630e+00 2.41e-04 3.38e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 84 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 85 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 86 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 87 2.0748064e+00 8.81e-04 6.11e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 88 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0739630e+00 2.40e-04 3.37e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 91 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 92 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 93 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 94 2.0748064e+00 8.81e-04 6.10e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 95 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 97 2.0739630e+00 2.40e-04 3.37e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 98 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 99 2.0739527e+00 5.48e-08 5.24e-06 -6.5 3.94e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0740476e+00 1.42e-02 4.44e-02 -4.0 9.26e+04 -20.0 1.00e+00 3.50e-02f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0740476226011366e+00 2.0740476226011366e+00 Dual infeasibility......: 4.4440948322914557e-02 4.4440948322914557e-02 Constraint violation....: 1.4164404722585289e-02 1.4164404722585289e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.3095644031728794e-04 2.3095644031728794e-04 Overall NLP error.......: 4.4440948322914557e-02 4.4440948322914557e-02 Number of objective function evaluations = 103 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 103 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 18.357 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... applying constraint: equality constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.4244153e+00 2.70e+00 6.50e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5404714e+00 1.05e-01 2.67e+00 -1.3 2.07e+00 0.0 3.98e-01 9.61e-01h 1 2 2.4871577e+00 8.00e-02 2.41e+00 -0.6 2.30e+00 -0.5 6.68e-01 2.36e-01f 1 3 2.8873620e+00 2.25e-02 1.17e+00 -0.9 5.16e-01 -1.0 9.18e-01 1.00e+00f 1 4 2.5701537e+00 2.65e-02 3.24e-01 -1.3 4.71e-01 -1.4 7.37e-01 7.43e-01h 1 5 2.2356119e+00 6.16e-02 1.85e-01 -1.9 9.83e-01 -1.9 9.64e-01 8.71e-01h 1 6 2.1535688e+00 1.04e-02 6.61e-02 -2.2 5.34e-01 -2.4 9.13e-01 1.00e+00h 1 7 2.0926041e+00 1.02e-03 9.43e-03 -3.7 1.67e-01 -2.9 1.00e+00 9.73e-01h 1 8 2.0909059e+00 2.60e-05 2.80e-04 -4.0 4.59e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908817e+00 6.42e-07 2.06e-05 -4.0 1.35e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908419e+00 6.20e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907224e+00 5.61e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903649e+00 5.07e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892994e+00 4.63e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861673e+00 4.35e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796271e+00 2.53e-03 8.65e-02 -4.0 8.73e+01 -6.7 1.00e+00 7.58e-01h 1 16 2.0812598e+00 1.37e-04 1.87e-01 -4.0 6.84e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778336e+00 5.44e-03 2.58e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781600e+00 1.67e-02 3.53e-02 -3.7 1.55e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767361e+00 1.29e-02 1.77e-02 -3.8 2.93e+02 -8.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0759851e+00 7.56e-03 2.26e-02 -3.9 4.18e+02 -9.1 1.00e+00 9.90e-01h 1 21 2.0757536e+00 8.32e-03 9.67e-03 -4.0 1.36e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756806e+00 4.26e-04 3.88e-04 -4.0 5.66e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 6.24e-06 7.78e-06 -4.0 2.32e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 5.57e-08 1.50e-06 -4.0 1.51e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.52e-09 1.50e-07 -4.0 5.25e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.79e-11 3.05e-09 -4.0 9.29e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122119043e+00 2.0756712122119043e+00 Dual infeasibility......: 3.0451132306355023e-09 3.0451132306355023e-09 Constraint violation....: 7.7856054936376040e-11 7.7856054936376040e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000014e-04 1.0000000000000014e-04 Overall NLP error.......: 3.0451132306355023e-09 3.0451132306355023e-09 Number of objective function evaluations = 28 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 26 Total seconds in IPOPT = 24.779 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 3.6768753e+00 2.99e+00 5.59e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.7922671e+00 1.73e-01 9.37e-01 -1.0 3.13e+00 -2.0 9.87e-01 1.00e+00h 1 Hello, world! 2 2.2856817e+00 7.98e-02 3.88e-01 -2.0 1.64e+00 -2.5 8.37e-01 1.00e+00h 1 Hello, world! 3 2.1322639e+00 1.43e-02 5.24e-02 -2.4 7.33e-01 -3.0 9.77e-01 1.00e+00h 1 Hello, world! 4 2.0944652e+00 3.44e-04 4.14e-03 -3.4 7.22e-02 -3.4 9.88e-01 1.00e+00h 1 Hello, world! 5 2.0908857e+00 6.22e-05 2.92e-04 -4.0 1.35e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 6 2.0908619e+00 4.02e-07 8.90e-05 -4.0 3.68e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0907828e+00 3.38e-07 2.02e-04 -4.0 1.04e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0905364e+00 3.22e-06 4.42e-04 -4.0 3.08e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0904405e+00 5.95e-07 3.72e-04 -4.0 1.26e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0902772e+00 1.43e-06 1.22e-02 -4.0 4.78e+00 -5.4 1.00e+00 3.32e-01h 2 Hello, world! 11 2.0892358e+00 4.67e-05 2.27e-03 -4.0 1.17e+01 -5.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0871967e+00 3.34e-04 2.63e-02 -4.0 3.10e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0861642e+00 2.09e-04 3.57e-02 -4.0 1.58e+01 -5.9 1.00e+00 4.87e-01h 1 Hello, world! 14 2.0846750e+00 2.13e-04 1.73e-02 -4.0 2.54e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0828023e+00 1.97e-04 2.31e-02 -4.0 3.50e+01 -6.9 1.00e+00 8.74e-01h 1 Hello, world! 16 2.0828894e+00 7.90e-04 2.58e-02 -4.0 5.99e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0820612e+00 1.90e-03 9.53e-03 -4.1 1.38e+02 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 18 3.7163302e+00 1.02e-03 2.55e+01 -4.0 1.29e+03 -8.3 2.76e-02 1.00e+00H 1 Hello, world! 19 2.0940815e+00 1.71e-04 2.18e+00 -4.2 7.70e-01 -0.5 2.99e-01 8.33e-01f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0942979e+00 1.71e-04 5.49e+00 -4.2 8.21e-02 -0.9 1.00e+00 3.91e-03h 9 Hello, world! 21 2.0940557e+00 2.89e-07 2.00e-03 -4.2 5.19e-02 -1.4 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0938341e+00 3.94e-07 1.92e-03 -4.0 1.49e-01 -1.9 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0930010e+00 1.32e-06 1.79e-03 -4.0 4.18e-01 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0924285e+00 1.44e-06 6.20e-01 -4.0 7.37e-01 -2.8 1.00e+00 4.01e-01H 1 Hello, world! 25 2.0924564e+00 2.06e-06 8.68e-05 -4.1 7.71e-02 -3.3 1.00e+00 1.00e+00f 1 Hello, world! 26 2.0925417e+00 2.93e-06 9.08e-05 -4.0 1.06e-01 -3.8 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0923456e+00 7.29e-06 4.32e-05 -4.1 3.26e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0915577e+00 1.20e-04 1.47e-02 -6.1 1.13e+00 -4.8 8.97e-01 1.00e+00h 1 Hello, world! 29 2.0911225e+00 5.89e-05 3.68e-04 -6.1 3.26e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0905451e+00 2.61e-05 4.77e-02 -6.1 9.31e+00 -5.7 1.00e+00 5.66e-01h 1 Hello, world! 31 2.0899377e+00 6.19e-06 2.51e-02 -6.1 2.00e+01 -6.2 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0891190e+00 4.07e-03 1.19e-02 -4.0 5.57e+01 -6.7 1.00e+00 1.00e+00f 1 Hello, world! 33 2.0862121e+00 1.25e-03 5.54e-02 -4.1 1.34e+02 -7.1 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0831745e+00 2.63e-03 1.39e-01 -4.1 2.49e+02 -7.6 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0817102e+00 6.03e-03 5.09e-02 -4.1 3.20e+02 -8.1 6.80e-01 1.00e+00h 1 Hello, world! 36 2.0818063e+00 2.85e-03 7.39e-01 -4.0 1.35e+02 -6.8 1.00e+00 6.67e-01h 1 Hello, world! 37 2.0827016e+00 3.19e-03 1.90e-02 -3.7 5.42e+01 -7.2 9.61e-01 1.00e+00h 1 Hello, world! 38 2.0877773e+00 2.06e-05 8.96e-02 -3.8 9.93e+01 -7.7 3.62e-01 1.00e+00H 1 Hello, world! 39 2.0861739e+00 3.58e-08 4.00e-02 -4.0 2.98e-02 0.1 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0841261e+00 5.44e-08 2.60e-02 -4.0 5.71e-02 -0.4 1.00e+00 1.00e+00f 1 Hello, world! 41 2.0826875e+00 1.37e-07 1.03e-02 -4.0 7.38e-02 -0.8 1.00e+00 1.00e+00f 1 Hello, world! 42 2.0823557e+00 1.55e-07 1.44e-03 -4.0 3.21e-02 -1.3 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0823602e+00 1.16e-07 2.94e-04 -4.0 1.60e-02 -1.8 1.00e+00 1.00e+00h 1 Hello, world! 44 2.0823364e+00 8.48e-08 7.57e-05 -4.0 1.34e-02 -2.3 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0823366e+00 1.69e-08 1.12e-05 -4.0 6.15e-03 -2.7 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0823370e+00 1.11e-08 3.61e-06 -4.0 5.92e-03 -3.2 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0823363e+00 1.90e-09 3.60e-06 -4.0 1.77e-02 -3.7 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0823342e+00 2.29e-09 3.58e-06 -4.0 5.28e-02 -4.2 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0823280e+00 2.08e-08 3.52e-06 -4.0 1.56e-01 -4.6 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0823104e+00 1.60e-07 7.54e-06 -4.0 4.64e-01 -5.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0823104348397137e+00 2.0823104348397137e+00 Dual infeasibility......: 7.5358808659827501e-06 7.5358808659827501e-06 Constraint violation....: 1.6039845363025051e-07 1.6039845363025051e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999999869e-05 9.9999999999999869e-05 Overall NLP error.......: 7.5358808659827501e-06 7.5358808659827501e-06 Number of objective function evaluations = 65 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 65 Number of inequality constraint evaluations = 65 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 18.282 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.6768753e+00 2.99e+00 5.59e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.7922671e+00 1.73e-01 9.37e-01 -1.0 3.13e+00 -2.0 9.87e-01 1.00e+00h 1 Hello, world! 2 2.2856817e+00 7.98e-02 3.88e-01 -2.0 1.64e+00 -2.5 8.37e-01 1.00e+00h 1 Hello, world! 3 2.1322639e+00 1.43e-02 5.24e-02 -2.4 7.33e-01 -3.0 9.77e-01 1.00e+00h 1 Hello, world! 4 2.0944652e+00 3.44e-04 4.14e-03 -3.4 7.22e-02 -3.4 9.88e-01 1.00e+00h 1 Hello, world! 5 2.0908857e+00 6.22e-05 2.92e-04 -4.0 1.35e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 6 2.0908619e+00 4.02e-07 8.90e-05 -4.0 3.68e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0907828e+00 3.38e-07 2.02e-04 -4.0 1.04e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0905364e+00 3.22e-06 4.42e-04 -4.0 3.08e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0904405e+00 5.95e-07 3.72e-04 -4.0 1.26e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0902772e+00 1.43e-06 1.22e-02 -4.0 4.78e+00 -5.4 1.00e+00 3.32e-01h 2 Hello, world! 11 2.0892358e+00 4.67e-05 2.27e-03 -4.0 1.17e+01 -5.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0871967e+00 3.34e-04 2.63e-02 -4.0 3.10e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0861642e+00 2.09e-04 3.57e-02 -4.0 1.58e+01 -5.9 1.00e+00 4.87e-01h 1 Hello, world! 14 2.0846750e+00 2.13e-04 1.73e-02 -4.0 2.54e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0828023e+00 1.97e-04 2.31e-02 -4.0 3.50e+01 -6.9 1.00e+00 8.74e-01h 1 Hello, world! 16 2.0828894e+00 7.90e-04 2.58e-02 -4.0 5.99e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0820612e+00 1.90e-03 9.53e-03 -4.1 1.38e+02 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 18 3.7163302e+00 1.02e-03 2.55e+01 -4.0 1.29e+03 -8.3 2.76e-02 1.00e+00H 1 Hello, world! 19 2.0940815e+00 1.71e-04 2.18e+00 -4.2 7.70e-01 -0.5 2.99e-01 8.33e-01f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0942979e+00 1.71e-04 5.49e+00 -4.2 8.21e-02 -0.9 1.00e+00 3.91e-03h 9 Hello, world! 21 2.0940557e+00 2.89e-07 2.00e-03 -4.2 5.19e-02 -1.4 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0938341e+00 3.94e-07 1.92e-03 -4.0 1.49e-01 -1.9 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0930010e+00 1.32e-06 1.79e-03 -4.0 4.18e-01 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0924285e+00 1.44e-06 6.20e-01 -4.0 7.37e-01 -2.8 1.00e+00 4.01e-01H 1 Hello, world! 25 2.0924564e+00 2.06e-06 8.68e-05 -4.1 7.71e-02 -3.3 1.00e+00 1.00e+00f 1 Hello, world! 26 2.0925417e+00 2.93e-06 9.08e-05 -4.0 1.06e-01 -3.8 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0923456e+00 7.29e-06 4.32e-05 -4.1 3.26e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0915577e+00 1.20e-04 1.47e-02 -6.1 1.13e+00 -4.8 8.97e-01 1.00e+00h 1 Hello, world! 29 2.0911225e+00 5.89e-05 3.68e-04 -6.1 3.26e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0905451e+00 2.61e-05 4.77e-02 -6.1 9.31e+00 -5.7 1.00e+00 5.66e-01h 1 Hello, world! 31 2.0899377e+00 6.19e-06 2.51e-02 -6.1 2.00e+01 -6.2 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0891190e+00 4.07e-03 1.19e-02 -4.0 5.57e+01 -6.7 1.00e+00 1.00e+00f 1 Hello, world! 33 2.0862121e+00 1.25e-03 5.54e-02 -4.1 1.34e+02 -7.1 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0831745e+00 2.63e-03 1.39e-01 -4.1 2.49e+02 -7.6 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0817102e+00 6.03e-03 5.09e-02 -4.1 3.20e+02 -8.1 6.80e-01 1.00e+00h 1 Hello, world! 36 2.0818063e+00 2.85e-03 7.39e-01 -4.0 1.35e+02 -6.8 1.00e+00 6.67e-01h 1 Hello, world! 37 2.0827016e+00 3.19e-03 1.90e-02 -3.7 5.42e+01 -7.2 9.61e-01 1.00e+00h 1 Hello, world! 38 2.0877773e+00 2.06e-05 8.96e-02 -3.8 9.93e+01 -7.7 3.62e-01 1.00e+00H 1 Hello, world! 39 2.0861739e+00 3.58e-08 4.00e-02 -4.0 2.98e-02 0.1 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0841261e+00 5.44e-08 2.60e-02 -4.0 5.71e-02 -0.4 1.00e+00 1.00e+00f 1 Hello, world! 41 2.0826875e+00 1.37e-07 1.03e-02 -4.0 7.38e-02 -0.8 1.00e+00 1.00e+00f 1 Hello, world! 42 2.0823557e+00 1.55e-07 1.44e-03 -4.0 3.21e-02 -1.3 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0823602e+00 1.16e-07 2.94e-04 -4.0 1.60e-02 -1.8 1.00e+00 1.00e+00h 1 Hello, world! 44 2.0823364e+00 8.48e-08 7.57e-05 -4.0 1.34e-02 -2.3 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0823366e+00 1.69e-08 1.12e-05 -4.0 6.15e-03 -2.7 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0823370e+00 1.11e-08 3.61e-06 -4.0 5.92e-03 -3.2 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0823363e+00 1.90e-09 3.60e-06 -4.0 1.77e-02 -3.7 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0823342e+00 2.29e-09 3.58e-06 -4.0 5.28e-02 -4.2 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0823280e+00 2.08e-08 3.52e-06 -4.0 1.56e-01 -4.6 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0823104e+00 1.60e-07 7.54e-06 -4.0 4.64e-01 -5.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0823104348397137e+00 2.0823104348397137e+00 Dual infeasibility......: 7.5358808659827501e-06 7.5358808659827501e-06 Constraint violation....: 1.6039845363025051e-07 1.6039845363025051e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999999869e-05 9.9999999999999869e-05 Overall NLP error.......: 7.5358808659827501e-06 7.5358808659827501e-06 Number of objective function evaluations = 65 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 65 Number of inequality constraint evaluations = 65 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 0.901 EXIT: Stopping optimization at current point as requested by user. 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 2.4137910e+00 3.10e+00 8.22e-02 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.0299252e+00 2.25e+00 6.01e+00 -0.6 1.43e+01 -2.0 1.26e-01 3.42e-01f 1 2 1.9749476e+00 1.88e+00 5.17e+00 -0.3 7.19e+00 -0.7 1.72e-01 1.56e-01f 1 3 1.9410428e+00 1.32e+00 1.28e+01 -1.0 3.62e+00 -0.2 1.50e-01 2.90e-01h 1 4 1.8654899e+00 1.09e+00 1.03e+01 -0.1 2.70e+00 0.2 1.87e-01 1.97e-01f 1 5 1.8631921e+00 8.49e-01 2.08e+01 0.0 7.72e+00 -0.3 4.91e-01 2.18e-01f 1 6 1.8415973e+00 6.46e-01 1.45e+01 0.2 1.35e+00 1.0 2.55e-01 2.46e-01f 1 7 1.9617037e+00 4.56e-01 1.23e+01 -0.1 6.48e-01 0.6 5.86e-01 2.94e-01h 1 8 2.1421651e+00 1.72e-01 1.03e+01 -0.2 2.66e+00 0.1 9.08e-01 6.25e-01h 1 9 2.2267115e+00 1.23e-01 2.90e+00 -0.7 9.95e-01 0.5 9.93e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.1862184e+00 5.85e-03 6.17e+00 -2.3 3.55e-01 0.0 8.02e-01 1.00e+00h 1 11 1.8944563e+00 4.98e-02 1.28e+00 -1.0 6.62e-01 -0.4 1.00e+00 9.01e-01f 1 12 1.6821854e+00 3.41e-02 7.02e-01 -1.3 8.72e-01 -0.9 7.88e-01 1.00e+00f 1 13 1.4626584e+00 4.02e-02 5.09e-01 -2.6 7.73e-01 -1.4 7.38e-01 9.04e-01h 1 14 1.3715771e+00 1.22e-01 2.58e-01 -2.1 1.68e+00 -1.9 9.97e-01 6.27e-01h 1 15 1.2995976e+00 6.62e-02 2.36e-02 -2.2 1.13e+00 -2.4 9.68e-01 1.00e+00h 1 16 1.1965610e+00 2.48e-01 4.71e-02 -3.2 1.11e+00 -2.8 9.24e-01 1.00e+00h 1 17 1.2037398e+00 1.93e-01 8.14e-02 -3.2 3.93e+00 -3.3 9.61e-01 1.00e+00h 1 18 1.1770180e+00 1.94e-01 2.62e-02 -3.8 2.73e+00 -3.8 1.00e+00 1.00e+00h 1 19 1.1775516e+00 1.74e-02 4.78e-02 -4.0 4.84e+00 -4.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.1711254e+00 1.71e-01 9.93e-03 -4.0 7.16e+00 -4.7 1.00e+00 1.00e+00h 1 21 1.1699743e+00 9.40e-02 2.13e-02 -4.0 1.04e+01 -5.2 1.00e+00 1.00e+00h 1 22 1.1669015e+00 1.96e-01 3.20e-03 -4.0 1.62e+01 -5.7 1.00e+00 1.00e+00h 1 23 1.1655547e+00 1.81e-01 6.99e-03 -4.0 2.42e+01 -6.2 1.00e+00 1.00e+00h 1 24 1.1638545e+00 2.64e-01 7.17e-03 -4.0 3.72e+01 -6.7 1.00e+00 1.00e+00h 1 25 1.1628592e+00 2.84e-01 5.57e-03 -4.0 5.53e+01 -7.1 1.00e+00 1.00e+00h 1 26 1.1618592e+00 3.65e-01 1.67e-02 -4.0 8.29e+01 -7.6 1.00e+00 1.00e+00h 1 27 1.1612260e+00 3.99e-01 1.86e-02 -4.0 1.20e+02 -8.1 1.00e+00 1.00e+00h 1 28 1.1606888e+00 4.52e-01 2.60e-02 -4.0 1.69e+02 -8.6 1.00e+00 1.00e+00h 1 29 1.1604903e+00 3.83e-01 1.90e-02 -4.0 2.10e+02 -9.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.1607355e+00 8.49e-02 2.30e-03 -4.0 1.37e+02 -9.5 1.00e+00 1.00e+00h 1 31 1.1608524e+00 2.68e-03 7.49e-04 -4.0 1.61e+01 -10.0 1.00e+00 1.00e+00h 1 32 1.1608491e+00 1.66e-04 2.02e-05 -4.0 5.38e+00 -10.5 1.00e+00 1.00e+00h 1 33 1.1608491e+00 7.77e-08 3.29e-10 -4.0 1.25e-01 -10.9 1.00e+00 1.00e+00h 1 34 1.1608491e+00 6.96e-13 6.84e-14 -4.0 3.43e-04 -11.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 34 (scaled) (unscaled) Objective...............: 1.1608491307790516e+00 1.1608491307790516e+00 Dual infeasibility......: 6.8396189319835932e-14 6.8396189319835932e-14 Constraint violation....: 6.9633188104489818e-13 6.9633188104489818e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000372e-04 1.0000000000000372e-04 Overall NLP error.......: 6.9633188104489818e-13 6.9633188104489818e-13 Number of objective function evaluations = 35 Number of objective gradient evaluations = 35 Number of equality constraint evaluations = 35 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 35 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 34 Total seconds in IPOPT = 17.791 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 2.9059579e+00 9.24e-01 1.14e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.3677949e+00 2.43e-01 1.79e+00 -0.9 9.24e-01 0.0 1.00e+00 1.00e+00h 1 2 1.3771918e+00 1.59e-01 7.18e+00 -0.7 3.63e+01 - 4.22e-01 3.45e-01f 1 3 1.3136071e+00 8.18e-02 2.24e+00 -1.3 3.54e-01 -0.5 9.97e-01 4.86e-01f 1 4 1.9769833e+00 6.97e-02 1.07e+00 -1.8 3.37e-01 -1.0 6.65e-01 1.00e+00H 1 5 1.7436334e+00 6.35e-02 7.94e-01 -1.6 1.11e+01 -1.4 1.18e-01 7.06e-02f 1 6 1.8325250e+00 6.98e-02 7.76e-01 -1.0 2.15e+00 -1.0 7.96e-01 9.77e-02f 2 7 1.7996456e+00 7.15e-02 5.82e+00 -1.2 3.13e+00 -0.6 2.15e-01 1.51e-02h 3 8 2.0032974e+00 7.56e-02 1.11e+00 -1.2 4.36e-01 -1.1 1.00e+00 1.00e+00h 1 9 1.2673983e+00 4.79e-03 1.39e-01 -2.3 2.16e-01 -1.5 9.96e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.1210147e+00 4.48e-04 8.98e-02 -3.4 1.40e-01 -2.0 1.00e+00 9.62e-01f 1 11 1.1441077e+00 5.71e-06 4.32e+00 -4.0 2.35e+01 - 4.06e-01 1.00e+00h 1 12 1.1007400e+00 4.30e-06 2.72e+00 -4.0 6.22e+00 -2.5 1.00e+00 2.47e-01f 1 13 1.0933160e+00 2.15e-06 1.03e+00 -4.0 2.38e+01 - 4.10e-02 5.00e-01f 2 14 1.0912106e+00 2.14e-06 6.63e-01 -4.0 1.55e+01 -3.0 1.00e+00 4.04e-03f 1 15 1.0911797e+00 5.91e-10 3.03e-02 -4.0 1.70e+00 - 1.00e+00 1.00e+00h 1 16 1.0910342e+00 8.88e-16 5.00e-05 -4.0 6.91e-02 - 1.00e+00 1.00e+00f 1 17 1.0910386e+00 1.05e-27 4.14e-08 -4.0 2.01e-03 - 1.00e+00 1.00e+00f 1 18 1.0908587e+00 8.88e-16 1.09e-08 -4.1 1.99e-05 - 1.00e+00 1.00e+00f 1 19 1.0910386e+00 1.78e-15 1.09e-08 -4.0 1.99e-05 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.0908587e+00 5.18e-28 1.09e-08 -4.1 1.99e-05 - 1.00e+00 1.00e+00f 1 21 1.0901453e+00 1.90e-26 1.72e-07 -6.1 7.90e-05 - 1.00e+00 1.00e+00f 1 22 1.0910388e+00 8.88e-16 2.91e-07 -4.0 1.23e-02 - 1.00e+00 1.00e+00f 1 23 1.0908587e+00 7.57e-27 2.26e-07 -4.1 9.78e-03 - 1.00e+00 1.00e+00f 1 24 1.0901453e+00 8.88e-16 1.72e-07 -6.1 8.92e-05 - 1.00e+00 1.00e+00f 1 25 1.0901388e+00 8.88e-16 1.71e-07 -9.0 8.34e-03 - 9.68e-01 1.00e+00f 1 26 1.0910388e+00 1.78e-15 2.01e-05 -4.0 5.56e-02 -3.4 1.00e+00 1.00e+00f 1 27 1.0908591e+00 1.71e-27 4.31e-06 -4.1 3.98e-02 - 1.00e+00 1.00e+00f 1 28 1.0901454e+00 4.07e-27 1.72e-07 -6.1 1.48e-04 - 1.00e+00 1.00e+00f 1 29 1.0901388e+00 8.88e-16 1.35e-07 -9.0 7.61e-03 - 9.70e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.0901388e+00 1.78e-15 1.84e-07 -9.0 1.53e-03 -3.9 1.00e+00 1.00e+00h 1 31 1.0901388e+00 1.78e-15 1.96e-07 -9.0 4.87e-03 -4.4 1.00e+00 1.00e+00h 1 32 1.0901388e+00 8.88e-16 8.03e-07 -9.0 1.77e-02 -4.9 1.00e+00 1.00e+00h 1 33 1.0901437e+00 8.88e-16 5.85e-04 -4.0 5.20e+01 -5.4 1.00e+00 5.14e-03f 1 34 1.0905432e+00 8.88e-16 1.14e-04 -4.3 1.20e-01 - 1.00e+00 1.00e+00f 1 35 1.0901415e+00 1.78e-15 4.08e-07 -6.5 7.86e-04 - 1.00e+00 1.00e+00f 1 36 1.0901388e+00 8.88e-16 3.11e-08 -9.0 4.37e-03 - 9.70e-01 1.00e+00f 1 37 1.0901388e+00 8.88e-16 3.19e-06 -9.0 5.46e-02 -5.8 1.00e+00 1.00e+00h 1 38 1.0901388e+00 1.78e-15 1.80e-06 -9.0 2.94e-02 -5.4 1.00e+00 1.00e+00h 1 39 1.0901387e+00 8.43e-33 5.53e-05 -9.0 8.62e-01 -5.9 2.50e-01 3.26e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.0903536e+00 8.42e-33 5.29e-03 -4.0 1.49e+04 - 4.97e-08 1.64e-05f 2 41 1.0901611e+00 8.27e-33 4.36e-03 -8.9 6.86e+00 -1.8 1.00e+00 1.78e-02f 2 42 1.0901391e+00 3.76e-34 3.14e-04 -8.9 2.76e-02 -2.3 1.00e+00 1.00e+00f 1 43 1.0901388e+00 8.88e-16 1.74e-06 -8.9 1.84e-03 -2.8 1.00e+00 1.00e+00f 1 44 1.0901388e+00 3.93e-39 5.63e-08 -8.9 1.05e-04 -3.3 1.00e+00 1.00e+00h 1 45 1.0901388e+00 8.88e-16 5.63e-08 -8.9 3.16e-04 -3.7 1.00e+00 1.00e+00f 1 46 1.0901388e+00 8.88e-16 5.65e-08 -8.9 9.51e-04 -4.2 1.00e+00 1.00e+00h 1 47 1.0901388e+00 1.69e-38 5.71e-08 -8.9 2.88e-03 -4.7 1.00e+00 1.00e+00h 1 48 1.0901388e+00 8.88e-16 8.20e-08 -8.9 8.95e-03 -5.2 1.00e+00 1.00e+00f 1 49 1.0901388e+00 9.89e-35 9.80e-07 -8.9 3.08e-02 -5.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 1.0901388e+00 8.88e-16 4.28e-05 -8.9 2.49e-01 -6.1 5.82e-01 1.00e+00f 1 51 1.0901385e+00 8.88e-16 4.39e-05 -8.9 6.73e-02 -4.8 1.00e+00 1.00e+00f 1 52 1.0911118e+00 5.03e-29 2.16e-02 -4.0 9.78e+00 -3.5 1.00e+00 4.64e-02f 1 53 1.0910427e+00 8.88e-16 2.09e-03 -4.0 4.19e-01 - 6.78e-02 1.00e+00f 1 54 1.0909727e+00 8.88e-16 2.65e-04 -4.0 1.24e-01 -2.1 9.89e-01 1.00e+00f 1 55 1.0901472e+00 2.55e-29 1.18e-04 -6.1 2.86e-02 -2.6 1.00e+00 1.00e+00f 1 56 1.0901467e+00 2.11e-32 1.20e-05 -6.1 9.61e-03 -3.1 1.00e+00 1.00e+00f 1 57 1.0901467e+00 9.64e-30 2.45e-05 -6.1 7.07e-02 - 1.00e+00 1.00e+00f 1 58 1.0901467e+00 8.88e-16 5.20e-06 -6.1 2.99e-02 - 1.00e+00 1.00e+00f 1 59 1.0901388e+00 8.97e-25 1.47e-07 -9.0 7.09e-03 - 9.73e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 1.0901388e+00 4.64e-36 2.10e-07 -9.0 7.98e-04 -3.6 1.00e+00 1.00e+00f 1 61 1.0901388e+00 8.88e-16 2.17e-07 -9.0 2.47e-03 -4.1 1.00e+00 1.00e+00f 1 62 1.0901388e+00 1.78e-15 2.39e-07 -9.0 8.17e-03 -4.5 1.00e+00 1.00e+00h 1 63 1.0901388e+00 1.78e-15 3.56e-06 -9.0 3.59e-02 -5.0 1.00e+00 1.00e+00h 1 64 1.0901388e+00 1.78e-15 2.00e-06 -9.0 1.90e-02 -4.6 1.00e+00 1.00e+00h 1 65 1.0901385e+00 1.96e-34 5.50e-05 -9.0 1.60e+00 -5.1 2.01e-01 1.06e-01f 1 66 1.0901365e+00 1.47e-34 4.12e-04 -9.0 4.44e-01 - 1.00e+00 2.50e-01f 3 67 1.0983388e+00 1.78e-15 6.02e-02 -4.0 4.47e+00 -2.8 1.00e+00 1.34e-01f 2 68 1.0929625e+00 1.78e-15 3.14e-02 -4.2 1.20e-01 -0.6 1.00e+00 1.00e+00f 1 69 1.0907108e+00 8.88e-16 2.49e-03 -4.2 1.29e-01 -1.1 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 1.0907686e+00 1.78e-15 3.95e-03 -4.2 2.25e-02 -1.6 1.00e+00 5.00e-01f 2 71 1.0907472e+00 7.43e-35 2.75e-04 -4.2 2.89e-02 -2.0 1.00e+00 1.00e+00f 1 72 1.0901963e+00 8.88e-16 2.98e-04 -6.4 4.12e-02 -2.5 9.94e-01 1.00e+00f 1 73 1.0901757e+00 7.56e-33 3.50e-04 -6.4 9.81e-02 -3.0 1.00e+00 1.00e+00f 1 74 1.0901396e+00 8.08e-28 3.14e-04 -6.4 3.59e+00 - 5.35e-02 1.25e-01f 4 75 1.0901388e+00 8.88e-16 6.72e-05 -6.4 2.17e-02 -2.6 1.00e+00 2.98e-01f 2 76 1.0901380e+00 3.92e-28 3.73e-05 -6.4 4.44e-02 -3.0 1.00e+00 3.09e-01f 2 77 1.0901364e+00 3.61e-28 8.80e-04 -6.4 4.48e-01 - 1.00e+00 8.60e-02f 2 78 1.0917571e+00 1.78e-15 3.79e-02 -4.0 1.88e+00 - 2.33e-01 5.00e-01f 2 79 1.0905727e+00 4.71e-23 7.96e-03 -4.6 2.08e-01 -1.7 1.00e+00 5.68e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 1.0904585e+00 4.12e-23 1.64e-03 -4.6 9.55e+00 - 4.46e-03 1.25e-01f 4 81 1.0904570e+00 1.78e-15 2.06e-03 -4.6 5.52e-02 -2.2 1.00e+00 5.00e-01f 2 82 1.0903976e+00 8.88e-16 2.46e-04 -4.6 8.31e-02 -2.7 1.00e+00 1.00e+00f 1 83 1.0901376e+00 2.66e-30 7.54e-05 -6.8 1.75e-02 -2.2 9.68e-01 1.00e+00f 1 84 1.0901326e+00 1.78e-15 3.11e-05 -6.8 1.66e-02 -2.7 1.00e+00 1.00e+00f 1 85 1.0933349e+00 8.88e-16 9.47e-02 -4.0 1.12e+01 - 1.21e-02 1.25e-01f 4 86 1.0903733e+00 1.78e-15 1.72e-02 -5.3 1.33e-01 -1.4 1.00e+00 7.12e-01f 1 87 1.0902120e+00 6.38e-27 4.49e-03 -5.3 1.47e+01 - 3.46e-04 1.25e-01f 4 88 1.0901943e+00 4.82e-27 2.87e-03 -5.3 1.39e-02 -1.9 1.00e+00 2.44e-01f 2 89 1.0901836e+00 8.88e-16 7.12e-04 -5.3 4.37e-03 -2.3 1.00e+00 3.88e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 1.0901775e+00 8.88e-16 5.47e-04 -5.3 3.24e-01 - 9.34e-01 1.00e+00f 1 91 1.0901819e+00 8.88e-16 6.30e-04 -5.3 7.50e-02 -2.8 1.00e+00 2.50e-01f 3 92 1.0901821e+00 8.88e-16 1.91e-04 -5.3 1.86e-01 - 7.35e-01 5.00e-01f 2 93 1.0901853e+00 1.78e-15 1.13e-04 -5.3 1.85e-02 -2.4 1.00e+00 1.00e+00f 1 94 1.0901841e+00 8.88e-16 1.79e-05 -5.3 4.39e-02 -2.9 1.00e+00 1.00e+00f 1 95 1.0901383e+00 8.88e-16 2.55e-05 -7.9 6.98e-03 -2.4 9.87e-01 1.00e+00f 1 96 1.0901363e+00 8.62e-29 4.68e-05 -7.9 7.34e-02 -2.9 1.00e+00 5.26e-01f 1 97 1.0901277e+00 4.44e-39 2.19e-03 -7.9 4.40e-01 - 1.00e+00 1.00e+00f 1 98 1.0906590e+00 1.78e-15 2.88e-03 -4.0 3.55e+00 -3.4 1.00e+00 2.50e-01f 3 99 1.0908862e+00 1.78e-15 9.39e-04 -4.2 5.94e-02 -2.1 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 1.0907826e+00 1.82e-31 7.47e-04 -4.2 2.25e-01 -2.5 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.0907826482864706e+00 1.0907826482864706e+00 Dual infeasibility......: 7.4679850401772839e-04 7.4679850401772839e-04 Constraint violation....: 1.8217024381257407e-31 1.8217024381257407e-31 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 6.8351119184196878e-05 6.8351119184196878e-05 Overall NLP error.......: 7.4679850401772839e-04 7.4679850401772839e-04 Number of objective function evaluations = 162 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 162 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 14.370 EXIT: Maximum Number of Iterations Exceeded. 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 1.6970356e+00 3.09e+00 1.47e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8787223e+00 1.59e-02 6.03e-01 -1.0 1.87e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.3576690e+00 1.44e-02 3.93e-02 -1.8 2.26e-01 -1.6 9.80e-01 1.00e+00h 1 3 2.1408866e+00 7.40e-03 3.14e-01 -3.5 2.15e-01 -1.1 9.29e-01 1.00e+00h 1 4 2.0976578e+00 1.97e-03 8.14e-02 -4.0 9.74e-02 -1.6 1.00e+00 7.89e-01h 1 5 2.0917395e+00 6.36e-04 4.83e-01 -4.0 6.02e-01 -2.1 1.00e+00 5.66e-01h 1 6 2.0910169e+00 1.14e-04 1.34e-01 -4.0 4.84e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0909737e+00 6.13e-07 1.48e-03 -4.0 2.35e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0909723e+00 2.18e-07 2.06e-05 -4.0 7.04e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909516e+00 1.64e-08 2.06e-05 -4.0 2.11e-01 -4.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908898e+00 1.46e-07 2.05e-05 -4.0 6.31e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907078e+00 1.29e-06 4.95e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0901891e+00 1.09e-05 4.19e-04 -4.0 5.44e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888480e+00 8.18e-05 3.15e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861639e+00 4.38e-04 1.74e-02 -4.0 3.46e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830953e+00 9.10e-04 4.70e-02 -4.0 5.32e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828482e+00 9.37e-04 2.25e-02 -4.0 5.43e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823447e+00 3.90e-04 1.02e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820404e+00 9.40e-05 1.85e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.69e-04 8.69e-03 -4.0 9.93e+01 -8.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0819393e+00 3.68e-05 8.47e-04 -4.0 3.11e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.31e-07 1.39e-05 -4.0 4.44e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.76e-10 3.25e-08 -4.0 2.44e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.50e-13 1.21e-11 -4.0 4.58e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907190942e+00 2.0819382907190942e+00 Dual infeasibility......: 1.2108180316673309e-11 1.2108180316673309e-11 Constraint violation....: 2.4957813593573519e-13 2.4957813593573519e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000060e-04 1.0000000000000060e-04 Overall NLP error.......: 1.2108180316673309e-11 1.2108180316673309e-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 = 13.523 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 3.0090241e+00 2.78e+00 2.12e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8973079e+00 1.98e-02 3.91e-01 -1.1 2.00e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.2771672e+00 1.67e-02 5.48e-02 -1.8 2.42e-01 -1.6 9.61e-01 1.00e+00h 1 3 2.1284906e+00 1.55e-03 2.17e-01 -3.1 1.00e-01 -1.1 9.90e-01 9.64e-01h 1 4 2.0960725e+00 4.29e-04 1.29e-01 -4.0 1.22e-01 -1.6 1.00e+00 7.51e-01h 1 5 2.0918876e+00 1.62e-04 6.04e-01 -4.0 5.90e-01 -2.1 1.00e+00 4.69e-01h 1 6 2.0910412e+00 8.62e-05 4.41e-02 -4.0 3.96e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0908848e+00 2.63e-06 3.33e-03 -4.0 2.75e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0908832e+00 6.05e-07 2.35e-05 -4.0 8.04e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908593e+00 2.65e-08 4.77e-05 -4.0 2.19e-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 2.0908121e+00 1.09e-07 2.72e-04 -4.0 5.40e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907119e+00 5.31e-07 1.03e-03 -4.0 1.32e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904362e+00 6.09e-06 8.69e-04 -4.0 4.28e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0902861e+00 5.70e-06 1.51e-02 -4.0 1.31e+01 -5.9 5.02e-01 1.27e-01h 2 14 2.0887167e+00 1.56e-04 3.98e-02 -4.0 3.02e+01 -6.4 1.00e+00 6.72e-01h 1 15 2.0859413e+00 1.57e-03 1.19e-01 -4.0 6.98e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0835712e+00 8.42e-04 1.58e-01 -4.0 1.25e+01 -5.5 1.00e+00 5.15e-01h 1 17 2.0833720e+00 1.40e-04 1.01e-02 -4.0 5.04e+00 -6.0 1.00e+00 1.00e+00h 1 18 2.0828995e+00 5.85e-05 3.08e-03 -4.0 1.01e+01 -6.5 1.00e+00 1.00e+00h 1 19 2.0827658e+00 6.50e-05 2.59e-03 -4.0 2.83e+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 2.0824967e+00 1.85e-04 3.12e-03 -4.0 7.34e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0821471e+00 9.91e-04 9.67e-03 -4.0 1.82e+02 -7.9 5.59e-01 1.00e+00h 1 22 2.0821528e+00 1.31e-03 2.18e+00 -4.0 2.11e+02 -6.6 1.00e+00 6.98e-02h 3 23 2.0820909e+00 7.43e-05 3.71e-03 -4.0 3.10e+00 -5.3 1.00e+00 1.00e+00h 1 24 2.0821478e+00 8.36e-05 4.63e-02 -4.0 4.57e+00 -3.9 1.71e-02 2.03e-02h 3 25 2.0819539e+00 4.78e-05 2.24e-04 -4.1 4.17e-01 -4.4 1.00e+00 1.00e+00h 1 26 2.0820122e+00 1.65e-05 3.20e-02 -4.0 1.02e+01 -4.9 4.07e-02 3.27e-02h 2 27 2.0820866e+00 4.70e-04 1.80e-03 -4.0 2.46e+00 -5.4 1.00e+00 1.00e+00h 1 28 2.0819582e+00 7.68e-05 1.39e-03 -4.1 1.30e+00 -5.9 1.00e+00 1.00e+00h 1 29 2.0818616e+00 1.05e-04 2.31e-04 -4.1 4.47e+00 -6.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0820560e+00 1.27e-04 9.62e-04 -4.0 5.41e+00 -6.8 1.00e+00 1.00e+00h 1 31 2.0817781e+00 4.10e-04 5.34e-04 -4.1 1.82e+01 -7.3 1.00e+00 1.00e+00h 1 32 2.0819318e+00 7.04e-04 2.80e-03 -4.0 3.07e+01 -7.8 1.00e+00 1.00e+00h 1 33 2.0816127e+00 1.17e-03 2.87e-03 -4.1 4.85e+01 -8.2 1.00e+00 1.00e+00h 1 34 2.0818434e+00 1.09e-03 1.55e-03 -4.0 4.62e+01 -8.7 1.00e+00 1.00e+00h 1 35 2.0815806e+00 4.65e-04 2.29e-04 -4.1 2.01e+01 -9.2 1.00e+00 1.00e+00h 1 36 2.0818394e+00 1.70e-04 3.43e-05 -4.0 7.42e+00 -9.7 1.00e+00 1.00e+00h 1 37 2.0818383e+00 2.41e-08 6.69e-08 -4.0 3.46e-01 -10.1 1.00e+00 1.00e+00h 1 38 2.0818383e+00 3.10e-13 2.47e-11 -4.0 4.18e-03 -10.6 1.00e+00 1.00e+00h 1 Number of Iterations....: 38 (scaled) (unscaled) Objective...............: 2.0818383021837690e+00 2.0818383021837690e+00 Dual infeasibility......: 2.4744707856089870e-11 2.4744707856089870e-11 Constraint violation....: 3.1030733538273125e-13 3.1030733538273125e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000399926e-04 1.0000000000399926e-04 Overall NLP error.......: 2.4744707856089870e-11 2.4744707856089870e-11 Number of objective function evaluations = 53 Number of objective gradient evaluations = 39 Number of equality constraint evaluations = 53 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 39 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 38 Total seconds in IPOPT = 14.991 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 1.9966033e+00 1.00e+00 1.05e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5447276e+00 2.46e-01 1.79e+00 -0.9 8.52e-01 0.0 9.93e-01 9.99e-01h 1 2 1.6820408e+00 7.20e-02 3.00e-01 -0.7 3.36e-01 -0.5 1.00e+00 7.06e-01f 1 3 1.2804359e+00 1.52e-01 2.18e-01 -2.7 2.34e+00 - 7.74e-01 1.00e+00h 1 4 1.1404836e+00 3.02e-02 2.48e-01 -2.2 1.91e+00 - 1.00e+00 7.92e-01h 1 5 1.1025058e+00 1.74e-03 1.03e-01 -3.7 1.23e+00 - 1.00e+00 1.00e+00h 1 6 1.0910719e+00 8.53e-05 9.86e-02 -4.0 2.76e+00 - 1.00e+00 1.00e+00h 1 7 1.0908791e+00 1.23e-07 1.20e-03 -4.0 3.24e-01 - 1.00e+00 1.00e+00h 1 8 1.0908998e+00 1.09e-12 2.07e-05 -4.0 6.74e-03 - 1.00e+00 1.00e+00h 1 9 1.0908997e+00 7.68e-22 2.06e-05 -4.0 1.31e-05 - 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 4.57e-28 5.44e-16 -4.0 3.03e-11 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 1.0908997263265459e+00 1.0908997263265459e+00 Dual infeasibility......: 5.4426059674177706e-16 5.4426059674177706e-16 Constraint violation....: 4.5670146581205881e-28 4.5670146581205881e-28 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 5.4426059674177706e-16 5.4426059674177706e-16 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 12.937 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 = 1.077 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 1.2189661e+00 6.40e-01 9.09e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 7.9757838e-01 3.05e-09 1.18e-01 -0.6 4.37e-01 -2.0 9.43e-01 1.00e+00f 1 2 2.2402903e-01 1.98e-09 1.72e-01 -1.9 8.43e-01 -1.6 8.79e-01 1.00e+00f 1 3 1.0038809e-01 2.65e-10 3.97e-02 -2.5 4.29e-01 -1.1 1.00e+00 1.00e+00f 1 4 2.7204857e-02 1.57e-11 2.80e-02 -3.3 6.75e-01 -1.6 9.93e-01 1.00e+00f 1 5 1.5407352e-02 5.32e-12 1.08e-02 -4.0 1.84e-01 -1.2 1.00e+00 1.00e+00f 1 6 5.0095898e-03 5.95e-12 5.52e-03 -4.0 2.79e-01 -1.7 1.00e+00 1.00e+00f 1 7 8.9811946e-04 6.00e-12 2.19e-03 -4.0 2.32e-01 -2.2 1.00e+00 1.00e+00f 1 8 4.3025671e-04 2.45e-12 3.64e-04 -4.0 6.39e-02 -2.6 1.00e+00 1.00e+00f 1 9 4.6015308e-04 2.20e-13 2.98e-04 -4.0 1.24e-01 -3.1 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 3.4388869e-04 2.12e-14 2.79e-04 -4.1 7.67e-02 -3.6 1.00e+00 1.00e+00f 1 11 5.1151622e-04 6.84e-15 6.29e-04 -4.0 9.53e-02 -4.1 1.00e+00 1.00e+00f 1 12 2.7576990e-04 2.00e-15 1.02e-03 -4.1 1.91e-01 -4.5 1.00e+00 1.00e+00f 1 13 6.5651127e-04 2.66e-15 2.00e-03 -4.0 2.86e-01 -5.0 1.00e+00 1.00e+00f 1 14 1.8898930e-04 3.55e-15 2.01e-03 -4.1 4.15e-01 -5.5 1.00e+00 1.00e+00f 1 15 8.5379455e-04 6.44e-15 3.81e-03 -4.0 5.13e-01 -6.0 1.00e+00 1.00e+00f 1 16 1.1436559e-04 6.77e-15 2.77e-03 -4.1 6.57e-01 -6.4 1.00e+00 1.00e+00f 1 17 1.0862083e-03 1.09e-14 5.83e-03 -4.0 7.47e-01 -6.9 1.00e+00 1.00e+00f 1 18 6.0772046e-05 9.88e-15 3.18e-03 -4.1 9.00e-01 -7.4 1.00e+00 1.00e+00f 1 19 1.3880254e-03 1.44e-14 8.17e-03 -4.0 9.95e-01 -7.9 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.6719314e-05 1.21e-14 3.25e-03 -4.2 1.16e+00 -8.4 1.00e+00 1.00e+00f 1 21 1.8417918e-03 1.64e-14 1.11e-02 -4.0 1.27e+00 -8.8 1.00e+00 1.00e+00f 1 22 8.8308003e-06 1.31e-14 2.99e-03 -4.2 1.44e+00 -9.3 1.00e+00 1.00e+00f 1 23 3.9619267e-04 1.90e-15 2.95e-03 -4.0 1.60e+00 -9.8 1.00e+00 5.00e-01f 2 24 2.2040006e-04 1.55e-15 2.64e-04 -4.2 3.52e-01 -10.3 1.00e+00 5.00e-01f 2 25 2.0028758e-05 3.44e-15 9.96e-04 -6.4 5.03e-01 -10.7 9.53e-01 1.00e+00f 1 26 8.1471636e-06 2.44e-15 1.20e-04 -6.4 1.26e-01 -11.2 1.00e+00 1.00e+00f 1 27 8.4443508e-04 1.33e-15 2.36e-03 -4.0 1.17e+01 -11.7 1.00e+00 1.01e-01f 4 28 1.8863021e-04 3.53e-14 2.66e-03 -4.1 5.30e-01 -12.2 1.00e+00 1.00e+00f 1 29 6.0230865e-04 1.42e-14 2.47e-03 -4.1 3.82e-01 -12.7 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 3.7738501e-04 2.44e-15 4.42e-04 -4.1 3.48e-01 -13.1 1.00e+00 5.00e-01f 2 31 3.4070733e-05 5.11e-15 1.60e-03 -6.1 6.09e-01 -13.6 9.42e-01 1.00e+00f 1 32 1.4202733e-05 4.00e-15 1.85e-04 -6.1 1.48e-01 -14.1 1.00e+00 1.00e+00f 1 33 3.7013796e-06 6.66e-16 1.21e-04 -6.1 1.77e-01 -14.6 1.00e+00 1.00e+00f 1 34 5.9049833e-04 4.06e-16 4.18e-04 -4.0 1.95e+01 -15.0 1.00e+00 6.12e-02f 4 35 2.6806327e-04 3.20e-14 1.62e-03 -4.1 2.97e-01 -15.5 1.00e+00 1.00e+00f 1 36 4.9488207e-04 6.88e-15 1.30e-03 -4.1 2.09e-01 -16.0 1.00e+00 1.00e+00f 1 37 3.7861219e-04 1.11e-15 3.08e-04 -4.1 2.10e-01 -16.5 1.00e+00 5.00e-01f 2 38 3.2209878e-05 5.11e-15 1.68e-03 -6.1 6.48e-01 -16.9 9.38e-01 1.00e+00f 1 39 1.3788641e-05 3.77e-15 1.82e-04 -6.1 1.48e-01 -17.4 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 3.5441813e-06 5.55e-16 1.25e-04 -6.1 1.86e-01 -17.9 1.00e+00 1.00e+00f 1 41 5.1070578e-04 3.12e-16 2.58e-04 -4.0 2.09e+01 -18.4 1.00e+00 5.69e-02f 4 42 2.9633093e-04 2.91e-14 1.21e-03 -4.1 2.19e-01 -18.9 1.00e+00 1.00e+00f 1 43 4.5150326e-04 4.22e-15 8.68e-04 -4.1 1.43e-01 -19.3 1.00e+00 1.00e+00f 1 44 3.0706866e-04 3.33e-15 8.75e-04 -4.1 1.58e-01 -19.8 1.00e+00 1.00e+00f 1 45 4.4551531e-04 2.44e-15 7.54e-04 -4.1 1.24e-01 -20.0 1.00e+00 1.00e+00f 1 46 2.3981025e-05 4.44e-15 1.86e-03 -6.1 7.81e-01 -20.0 9.23e-01 1.00e+00f 1 47 1.2336574e-05 3.66e-15 1.28e-04 -6.1 1.12e-01 -20.0 1.00e+00 1.00e+00f 1 48 3.0787981e-06 4.44e-16 1.19e-04 -6.1 1.90e-01 -20.0 1.00e+00 1.00e+00f 1 49 4.5382728e-04 2.43e-16 9.06e-04 -4.0 2.37e+01 -20.0 1.00e+00 5.03e-02f 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 3.2404502e-04 2.75e-14 8.23e-04 -4.1 1.46e-01 -20.0 1.00e+00 1.00e+00f 1 51 3.3946802e-05 5.55e-15 1.64e-03 -6.1 6.30e-01 -20.0 9.39e-01 1.00e+00f 1 52 1.3330104e-05 2.89e-15 2.17e-04 -6.1 1.78e-01 -20.0 1.00e+00 1.00e+00f 1 53 3.5893304e-06 5.55e-16 1.30e-04 -6.1 1.94e-01 -20.0 1.00e+00 1.00e+00f 1 54 3.6758446e-06 2.22e-16 4.98e-06 -6.1 8.80e-03 -20.0 1.00e+00 1.00e+00h 1 55 2.3707735e-07 4.90e-17 5.62e-05 -9.0 2.55e-01 -20.0 9.75e-01 1.00e+00f 1 56 2.2928062e-03 5.62e-16 1.16e-02 -4.0 1.07e+02 -20.0 1.00e+00 2.27e-02f 3 57 8.4044918e-05 4.60e-14 6.88e-03 -4.0 1.52e+00 -20.0 1.00e+00 1.00e+00f 1 58 7.5624899e-04 2.73e-14 5.34e-03 -4.0 8.13e-01 -20.0 1.00e+00 1.00e+00f 1 59 4.2521077e-04 5.33e-15 7.88e-04 -4.0 5.55e-01 -20.0 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 4.2220928e-05 4.11e-15 2.13e-03 -5.9 7.20e-01 -20.0 9.29e-01 1.00e+00f 1 61 1.7362997e-05 3.77e-15 2.62e-04 -5.9 1.89e-01 -20.0 1.00e+00 1.00e+00f 1 62 4.9212553e-06 7.06e-16 1.65e-04 -5.9 2.12e-01 -20.0 1.00e+00 1.00e+00f 1 63 5.5329152e-06 3.33e-16 1.60e-05 -5.9 2.32e-02 -20.0 1.00e+00 1.00e+00h 1 64 5.1523783e-06 9.11e-17 1.92e-06 -5.9 2.82e-03 -20.0 1.00e+00 1.00e+00h 1 65 3.6786362e-07 6.90e-17 7.82e-05 -8.9 2.88e-01 -20.0 9.71e-01 1.00e+00f 1 66 1.4836980e-07 5.55e-17 8.16e-06 -8.9 6.34e-02 -20.0 1.00e+00 1.00e+00f 1 67 1.4881126e-03 4.86e-16 2.50e-03 -4.0 3.31e+02 -20.0 1.00e+00 7.35e-03f 3 68 4.9860510e-04 6.13e-14 5.29e-03 -3.8 6.78e-01 -20.0 1.00e+00 1.00e+00f 1 69 8.6862025e-04 1.69e-14 1.89e-03 -3.8 2.25e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 5.7469345e-04 7.55e-15 2.18e-03 -3.8 2.83e-01 -20.0 1.00e+00 1.00e+00f 1 71 8.5848512e-04 2.44e-15 1.23e-03 -3.8 1.45e-01 -20.0 1.00e+00 1.00e+00f 1 72 5.1206083e-05 8.66e-15 3.58e-03 -5.7 1.02e+00 -20.0 8.96e-01 1.00e+00f 1 73 2.6758110e-05 6.66e-15 2.56e-04 -5.7 1.53e-01 -20.0 1.00e+00 1.00e+00f 1 74 8.0431478e-06 7.77e-16 2.33e-04 -5.7 2.36e-01 -20.0 1.00e+00 1.00e+00f 1 75 1.1495533e-05 3.99e-16 6.76e-05 -5.7 7.00e-02 -20.0 1.00e+00 1.00e+00f 1 76 8.8984912e-06 1.11e-16 3.63e-05 -5.7 3.97e-02 -20.0 1.00e+00 1.00e+00f 1 77 1.1495332e-05 8.76e-17 5.30e-05 -5.7 5.42e-02 -20.0 1.00e+00 1.00e+00f 1 78 8.9378493e-06 1.11e-16 3.68e-05 -5.7 4.01e-02 -20.0 1.00e+00 1.00e+00f 1 79 1.1430751e-05 1.12e-16 5.17e-05 -5.7 5.30e-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 80 8.9797905e-06 4.60e-17 3.59e-05 -5.7 3.92e-02 -20.0 1.00e+00 1.00e+00f 1 81 1.1368000e-05 1.13e-16 5.04e-05 -5.7 5.17e-02 -20.0 1.00e+00 1.00e+00f 1 82 9.0209166e-06 6.77e-17 3.51e-05 -5.7 3.82e-02 -20.0 1.00e+00 1.00e+00f 1 83 1.1306886e-05 9.45e-17 4.89e-05 -5.7 5.03e-02 -20.0 1.00e+00 1.00e+00f 1 84 9.0611830e-06 1.02e-16 3.42e-05 -5.7 3.72e-02 -20.0 1.00e+00 1.00e+00f 1 85 1.1247464e-05 1.38e-16 4.75e-05 -5.7 4.89e-02 -20.0 1.00e+00 1.00e+00f 1 86 9.1005383e-06 1.11e-16 3.33e-05 -5.7 3.62e-02 -20.0 1.00e+00 1.00e+00f 1 87 1.1189781e-05 1.02e-16 4.60e-05 -5.7 4.74e-02 -20.0 1.00e+00 1.00e+00f 1 88 9.1389371e-06 5.90e-17 3.24e-05 -5.7 3.51e-02 -20.0 1.00e+00 1.00e+00f 1 89 1.1133872e-05 8.85e-17 4.45e-05 -5.7 4.59e-02 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 9.1763396e-06 7.11e-17 3.14e-05 -5.7 3.40e-02 -20.0 1.00e+00 1.00e+00f 1 91 1.1079764e-05 6.25e-17 4.30e-05 -5.7 4.44e-02 -20.0 1.00e+00 1.00e+00f 1 92 9.2127124e-06 8.15e-17 3.04e-05 -5.7 3.29e-02 -20.0 1.00e+00 1.00e+00f 1 93 1.1027477e-05 8.33e-17 4.15e-05 -5.7 4.29e-02 -20.0 1.00e+00 1.00e+00f 1 94 9.2480275e-06 7.11e-17 2.94e-05 -5.7 3.18e-02 -20.0 1.00e+00 1.00e+00f 1 95 1.0977020e-05 1.13e-16 3.99e-05 -5.7 4.14e-02 -20.0 1.00e+00 1.00e+00f 1 96 9.2822631e-06 9.97e-17 2.84e-05 -5.7 3.07e-02 -20.0 1.00e+00 1.00e+00f 1 97 1.0928396e-05 1.11e-16 3.84e-05 -5.7 3.98e-02 -20.0 1.00e+00 1.00e+00f 1 98 9.3154027e-06 7.03e-17 2.74e-05 -5.7 2.96e-02 -20.0 1.00e+00 1.00e+00f 1 99 1.0881600e-05 9.02e-17 3.69e-05 -5.7 3.83e-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 9.3474351e-06 6.68e-17 2.64e-05 -5.7 2.85e-02 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 9.3474350950740989e-06 9.3474350950740989e-06 Dual infeasibility......: 2.6397795474557154e-05 2.6397795474557154e-05 Constraint violation....: 6.6786853825107073e-17 6.6786853825107073e-17 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.2245208799296505e-06 2.2245208799296505e-06 Overall NLP error.......: 9.7779779074882298e-05 9.7779779074882298e-05 Number of objective function evaluations = 139 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 139 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 = 2.215 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 4.5757158e+00 2.93e+00 7.61e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7741178e+00 2.94e-02 4.02e-01 -1.1 2.01e+00 - 9.99e-01 1.00e+00f 1 2 2.2708522e+00 9.50e-03 6.44e-02 -1.7 1.24e-01 - 9.30e-01 1.00e+00f 1 3 2.1053184e+00 4.46e-04 1.42e-02 -2.9 2.50e-02 - 9.93e-01 1.00e+00h 1 4 2.0909362e+00 6.22e-05 1.08e-03 -4.0 2.52e-02 - 1.00e+00 1.00e+00h 1 5 2.0908910e+00 9.62e-06 3.36e-05 -4.0 4.07e-01 - 1.00e+00 1.00e+00h 1 6 2.0908969e+00 2.16e-09 2.57e-08 -4.0 1.05e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 3.03e-11 5.36e-11 -4.0 1.07e-02 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971975231929e+00 2.0908971975231929e+00 Dual infeasibility......: 5.3617620272058270e-11 5.3617620272058270e-11 Constraint violation....: 3.0252601693290387e-11 3.0252601693290387e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000237067875184e-04 1.0000237067875184e-04 Overall NLP error.......: 2.3706787518305850e-09 2.3706787518305850e-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 = 20.204 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: bounds constraint on trajectory variable du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.0357167e+00 1.76e+00 5.53e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.0987536e+00 9.91e-01 9.00e+00 -0.5 1.83e+00 0.0 5.59e-02 4.37e-01f 1 2 3.0121898e+00 7.35e-01 9.56e+00 -0.2 1.18e+00 0.4 8.20e-01 2.55e-01f 1 3 3.1257520e+00 1.97e-01 1.27e+01 0.1 1.31e+00 -0.1 6.79e-01 7.42e-01f 1 4 3.0671943e+00 1.57e-02 1.98e+00 -0.5 5.40e-01 -0.5 9.40e-01 1.00e+00f 1 5 2.9367519e+00 4.16e-03 1.07e+00 -1.0 8.48e-02 -0.1 1.00e+00 1.00e+00f 1 6 2.4028348e+00 2.04e-02 8.52e-02 -1.6 2.27e-01 -0.6 9.58e-01 9.73e-01f 1 7 2.1359382e+00 1.56e-03 2.32e-02 -2.5 4.15e-02 -1.1 9.64e-01 9.46e-01h 1 8 2.0915325e+00 4.75e-05 9.20e-03 -3.8 8.99e-03 -1.5 9.90e-01 9.89e-01h 1 9 2.0908899e+00 3.09e-07 7.62e-04 -4.0 1.90e-03 -2.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908890e+00 6.22e-09 1.97e-05 -4.0 6.04e-03 -2.5 1.00e+00 1.00e+00h 1 11 2.0908873e+00 1.16e-10 1.96e-05 -4.0 1.81e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0908821e+00 1.03e-09 1.96e-05 -4.0 5.41e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908665e+00 9.02e-09 1.94e-05 -4.0 1.61e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0908214e+00 7.52e-08 2.93e-05 -4.0 4.67e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0906988e+00 5.40e-07 2.22e-04 -4.0 1.28e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0904224e+00 2.52e-06 1.25e-03 -4.0 2.94e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0900663e+00 5.15e-06 3.17e-03 -4.0 4.58e+00 -5.8 1.00e+00 1.00e+00h 1 18 2.0899127e+00 3.39e-06 2.43e-03 -4.0 5.98e+00 -6.3 1.00e+00 1.00e+00h 1 19 2.0898438e+00 1.23e-06 1.46e-03 -4.0 9.86e+00 -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 2.0898266e+00 7.32e-07 1.35e-03 -4.0 1.15e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0898231e+00 1.69e-06 4.86e-04 -4.0 7.85e+00 -7.7 1.00e+00 1.00e+00h 1 22 2.0898220e+00 1.65e-07 3.43e-05 -4.0 1.70e+00 -8.2 1.00e+00 1.00e+00h 1 23 2.0898219e+00 1.49e-09 2.89e-07 -4.0 1.98e-01 -8.7 1.00e+00 1.00e+00h 1 24 2.0898218e+00 9.71e-13 4.40e-10 -4.0 9.39e-03 -9.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 24 (scaled) (unscaled) Objective...............: 2.0898218498291037e+00 2.0898218498291037e+00 Dual infeasibility......: 4.4037689491652383e-10 4.4037689491652383e-10 Constraint violation....: 9.7050145697608059e-13 9.7050145697608059e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000041e-04 1.0000000000000041e-04 Overall NLP error.......: 4.4037689491652383e-10 4.4037689491652383e-10 Number of objective function evaluations = 25 Number of objective gradient evaluations = 25 Number of equality constraint evaluations = 25 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 25 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 24 Total seconds in IPOPT = 21.033 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: bounds constraint on trajectory variable x applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 35 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.7921419e+00 3.86e+00 5.45e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 5.1031560e+00 3.28e+00 1.76e+01 -0.2 2.44e+00 0.0 8.14e-03 1.50e-01f 1 2 5.0835474e+00 3.25e+00 1.74e+01 -4.0 3.12e+00 -0.5 9.38e-02 8.97e-03h 1 3 5.0984602e+00 3.23e+00 2.17e+01 -4.0 1.24e+02 -1.0 2.18e-03 9.39e-03h 1 4 5.0137825e+00 2.89e+00 2.35e+01 -1.3 3.49e+01 -1.4 7.85e-02 1.05e-01f 1 5 5.0036350e+00 2.88e+00 2.86e+01 -2.7 8.03e+00 -1.9 1.49e-01 4.06e-03h 1 6 4.9408323e+00 2.81e+00 2.82e+01 -2.7 5.05e+00 -1.5 2.58e-02 2.45e-02h 1 7 4.8008847e+00 2.71e+00 2.92e+01 -1.7 1.37e+02 -2.0 2.87e-02 3.57e-02h 1 8 4.7396725e+00 2.66e+00 7.16e+01 -1.9 3.90e+01 -1.5 1.42e-01 1.58e-02h 1 9 4.8140469e+00 2.54e+00 1.06e+02 0.0 2.40e+01 -1.1 7.53e-02 4.20e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 4.8715050e+00 2.45e+00 4.27e+03 0.1 2.58e+01 -0.7 1.00e+00 3.72e-02h 1 11 5.1889186e+00 2.33e+00 5.45e+03 1.2 4.49e+01 -0.3 1.35e-01 4.51e-02f 1 12 5.4349457e+00 2.22e+00 5.08e+03 1.6 2.83e+01 0.2 8.06e-02 5.09e-02f 1 13 5.5422271e+00 2.08e+00 5.07e+03 0.7 1.48e+01 -0.3 1.95e-01 7.83e-02h 1 14 5.7792420e+00 1.93e+00 8.04e+03 0.2 1.09e+01 1.0 1.72e-01 7.45e-02h 1 15 5.8612838e+00 1.87e+00 1.04e+04 1.5 9.70e+00 1.4 2.26e-01 2.78e-02f 1 16 5.9804396e+00 1.88e+00 4.06e+04 2.5 1.21e+02 1.0 2.02e-01 1.04e-02f 1 17 6.1777836e+00 1.51e+00 3.60e+04 1.9 1.34e+01 1.4 2.76e-01 1.85e-01f 1 18 6.1910169e+00 1.49e+00 3.22e+04 1.3 3.14e+01 1.8 2.37e-02 1.14e-02h 1 19 6.2553937e+00 1.33e+00 2.48e+04 1.9 3.00e+00 2.2 2.03e-01 1.12e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 6.3662200e+00 1.23e+00 5.15e+04 2.3 9.32e+00 1.8 9.88e-01 6.95e-02f 1 21 6.6210458e+00 9.86e-01 4.36e+04 0.6 9.56e+00 1.3 1.55e-01 1.95e-01h 1 22 6.8072595e+00 8.28e-01 5.10e+04 2.5 6.72e+00 0.8 2.51e-01 1.28e-01h 1 23 6.8090415e+00 8.27e-01 9.80e+06 2.5 7.88e+00 0.3 7.67e-01 1.49e-03h 1 24 6.8432911e+00 8.26e-01 1.11e+07 2.5 2.18e+02 -0.1 8.56e-04 7.55e-04h 1 25 6.8502859e+00 8.26e-01 2.11e+09 2.5 2.28e+02 -0.6 1.22e-02 1.19e-04h 1 26r 6.8502859e+00 8.26e-01 9.98e+02 2.5 0.00e+00 -1.1 0.00e+00 3.03e-07R 3 27r 6.3783853e+00 2.02e-01 4.80e+02 0.9 5.16e+00 - 6.97e-01 3.35e-01f 1 28 6.3813480e+00 1.99e-01 4.30e+01 -2.6 7.15e-01 -1.6 6.40e-01 1.46e-02h 1 29 6.3761835e+00 1.99e-01 2.23e+05 0.3 1.02e+02 -2.0 7.00e-01 1.71e-04h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 6.3774595e+00 1.99e-01 4.05e+09 1.6 1.24e+02 -2.5 1.00e+00 5.51e-05h 1 31r 6.3774595e+00 1.99e-01 9.74e+02 2.5 0.00e+00 -3.0 0.00e+00 2.94e-07R 2 32r 5.0711499e+00 2.12e-01 2.92e+02 1.2 5.70e-01 - 6.69e-01 7.79e-01f 1 33r 5.0148401e+00 2.04e-01 7.33e+01 0.3 1.28e-01 - 9.16e-01 7.67e-01f 1 34r 4.8439416e+00 1.99e-01 6.11e+01 -0.5 9.11e-01 - 5.19e-01 9.67e-01f 1 35r 4.9914314e+00 2.88e-01 2.49e+01 -0.0 1.44e+00 - 7.41e-01 9.61e-01f 1 36r 5.0447090e+00 1.99e-01 3.74e+01 -0.9 8.32e-01 - 1.00e+00 8.16e-01f 1 37r 5.0204264e+00 1.99e-01 4.26e+00 -1.3 4.33e-02 2.0 1.00e+00 1.00e+00f 1 38r 5.0586672e+00 1.99e-01 5.29e+00 -2.2 5.63e-02 1.5 9.96e-01 7.26e-01f 1 39r 5.0662237e+00 1.99e-01 2.66e-02 -2.9 3.31e-03 1.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40r 5.4768150e+00 1.99e-01 1.39e-01 -3.3 4.36e-01 - 7.13e-01 1.00e+00f 1 41r 4.9040703e+00 1.99e-01 7.37e-01 -2.7 8.30e-01 - 1.00e+00 4.78e-01f 1 42r 5.1283394e+00 1.99e-01 2.67e+00 -3.0 2.14e-01 - 2.70e-01 1.00e+00h 1 43r 5.3176036e+00 1.99e-01 1.08e-02 -3.5 5.45e-02 - 1.00e+00 1.00e+00h 1 44r 5.5351009e+00 1.99e-01 1.28e-03 -4.0 4.24e-02 - 1.00e+00 1.00e+00h 1 45r 5.5630561e+00 1.99e-01 8.81e-05 -4.0 2.82e-02 - 1.00e+00 1.00e+00h 1 46r 5.5677643e+00 1.99e-01 2.78e-06 -4.0 5.31e-03 - 1.00e+00 1.00e+00h 1 47r 5.5679191e+00 1.99e-01 1.15e-09 -4.0 1.39e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 47 (scaled) (unscaled) Objective...............: 5.5679192154933892e+00 5.5679192154933892e+00 Dual infeasibility......: 2.2181033605323854e+00 2.2181033605323854e+00 Constraint violation....: 1.9875045038163530e-01 1.9875045038163530e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000037205e-04 1.0000000000037205e-04 Overall NLP error.......: 2.2181033605323854e+00 2.2181033605323854e+00 Number of objective function evaluations = 54 Number of objective gradient evaluations = 33 Number of equality constraint evaluations = 54 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 48 Total seconds in IPOPT = 23.620 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 4.6189263e+00 2.16e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.3686180e+00 2.54e-01 1.42e+00 -0.7 2.66e+00 -2.0 8.68e-01 9.91e-01f 1 2 2.8080605e+00 3.13e-02 3.61e-01 -1.0 1.35e+00 -2.5 8.89e-01 1.00e+00f 1 3 2.3823962e+00 2.04e-01 5.44e-01 -1.7 3.95e+00 -3.0 9.95e-01 1.00e+00h 1 4 2.1749384e+00 1.76e-01 2.85e-01 -2.1 5.82e+00 -3.4 9.99e-01 7.40e-01h 1 5 2.1156076e+00 2.89e-02 5.28e-02 -2.6 2.15e+00 -3.9 9.90e-01 1.00e+00h 1 6 2.0911098e+00 6.87e-04 2.77e-03 -3.9 1.93e-01 -4.4 1.00e+00 9.97e-01h 1 7 2.0905627e+00 1.76e-04 5.15e-04 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0901216e+00 8.51e-06 3.01e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0888102e+00 7.09e-05 3.08e-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 2.0849767e+00 6.74e-04 2.81e-03 -4.0 3.89e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0796398e+00 2.06e-03 1.78e-01 -4.0 1.01e+02 -6.8 1.00e+00 5.29e-01h 1 12 2.0802169e+00 1.30e-04 1.60e-01 -4.0 6.79e+01 -7.2 1.00e+00 1.00e+00H 1 13 2.0774782e+00 7.57e-03 2.43e-02 -4.0 1.23e+02 -7.7 1.00e+00 9.43e-01h 1 14 2.0768670e+00 1.51e-03 4.66e-02 -4.0 2.05e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0762169e+00 1.71e-03 3.75e-02 -4.0 3.52e+02 -8.7 1.00e+00 8.03e-01h 1 16 2.0755282e+00 1.99e-03 3.35e-02 -4.0 5.94e+02 -9.2 1.00e+00 6.84e-01h 1 17 2.0757720e+00 2.97e-03 1.54e-02 -4.0 1.66e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0756804e+00 3.81e-04 5.32e-04 -4.0 7.30e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0756713e+00 4.37e-06 8.62e-06 -4.0 2.27e+01 -10.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0756712e+00 5.27e-08 1.11e-06 -4.0 1.31e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0756712e+00 2.01e-09 8.24e-08 -4.0 4.06e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0756712e+00 2.98e-11 1.17e-09 -4.0 5.90e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0756712121380154e+00 2.0756712121380154e+00 Dual infeasibility......: 1.1745095482122714e-09 1.1745095482122714e-09 Constraint violation....: 2.9754643193768970e-11 2.9754643193768970e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000022e-04 1.0000000000000022e-04 Overall NLP error.......: 1.1745095482122714e-09 1.1745095482122714e-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 = 22.278 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 5.6208440e+00 3.39e+00 6.64e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7090968e+00 1.36e-01 4.27e+00 -0.9 2.71e+00 0.0 9.95e-01 1.00e+00f 1 2 2.9702950e+00 1.13e-01 2.19e+00 -1.0 7.53e-01 -0.5 5.31e-01 1.00e+00h 1 3 2.8997191e+00 8.44e-02 2.32e+00 -0.2 8.99e+00 -1.0 1.00e-01 3.16e-02f 2 4 2.6917046e+00 5.53e-02 1.44e+00 -1.2 4.11e-01 -0.5 9.82e-01 4.68e-01h 1 5 2.2406916e+00 2.02e-02 8.55e-02 -1.9 2.23e-01 -1.0 9.97e-01 1.00e+00h 1 6 2.1080385e+00 2.15e-03 1.72e-02 -3.0 9.67e-02 -1.5 9.64e-01 8.88e-01h 1 7 2.0909627e+00 4.00e-05 2.11e-03 -4.0 1.71e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0908951e+00 4.22e-07 7.24e-05 -4.0 1.84e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908902e+00 2.37e-09 2.39e-05 -4.0 1.96e-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 2.0908826e+00 1.41e-09 2.34e-05 -4.0 5.76e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908626e+00 1.06e-08 2.69e-05 -4.0 1.65e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908162e+00 6.47e-08 1.44e-04 -4.0 4.30e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907355e+00 3.27e-07 8.53e-04 -4.0 1.00e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0905349e+00 3.18e-06 1.18e-03 -4.0 3.03e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0899332e+00 2.65e-05 9.28e-04 -4.0 8.76e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0896777e+00 4.67e-06 1.75e-03 -4.0 3.40e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0895470e+00 1.15e-06 2.82e-04 -4.0 1.38e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0891733e+00 6.69e-06 4.83e-04 -4.0 4.19e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0881203e+00 5.38e-05 2.21e-03 -4.0 1.21e+01 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0861339e+00 3.03e-04 1.54e-02 -4.0 2.91e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0849989e+00 3.15e-04 1.58e-01 -4.0 7.05e+01 -6.8 1.00e+00 1.92e-01h 1 22 2.0827177e+00 5.15e-04 5.38e-02 -4.0 6.43e+01 -7.3 1.00e+00 7.56e-01h 1 23 2.0825856e+00 1.84e-03 4.13e-02 -4.0 1.31e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.0824352e+00 1.68e-03 2.83e-02 -4.0 1.13e+02 -7.4 1.00e+00 1.00e+00h 1 25 2.8463780e+00 2.03e-05 4.63e+00 -4.0 2.07e+02 -7.8 6.99e-02 1.00e+00H 1 26 2.7555848e+00 1.91e-05 4.37e+00 -4.1 3.52e-01 0.0 1.40e-01 6.12e-02f 1 27 2.6287693e+00 1.74e-05 3.97e+00 -4.1 4.38e-01 -0.5 8.91e-02 9.03e-02f 1 28 2.4609902e+00 1.45e-05 3.31e+00 -4.1 2.75e-01 -0.9 1.19e-01 1.68e-01f 1 29 2.4400372e+00 1.41e-05 4.01e+01 -4.1 1.37e+00 -1.4 1.00e+00 2.55e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.1930551e+00 1.23e-05 2.11e+01 -4.1 2.26e-01 -1.9 6.70e-01 4.37e-01f 1 31 2.0824999e+00 1.02e-06 1.43e+00 -4.1 1.39e-01 -2.4 1.00e+00 9.18e-01f 1 32 2.0831924e+00 9.88e-07 1.42e+01 -4.0 6.69e-02 -2.9 7.96e-01 6.25e-02f 5 33 2.0828152e+00 6.82e-05 1.00e+01 -4.0 3.89e-01 -3.3 1.12e-01 2.64e-01f 1 34 2.0827878e+00 5.79e-05 9.07e+00 -4.0 1.67e-01 -3.8 1.00e+00 1.67e-01f 2 35 2.0824951e+00 1.10e-05 1.20e-02 -4.0 3.90e-01 -4.3 1.00e+00 1.00e+00h 1 36 2.0824395e+00 4.32e-06 5.86e-04 -4.0 6.36e-01 -4.8 1.00e+00 1.00e+00h 1 37 2.0825004e+00 6.63e-06 5.04e-04 -4.0 1.27e+00 -5.2 1.00e+00 1.00e+00h 1 38 2.0823891e+00 2.78e-05 7.50e-04 -4.1 2.13e+00 -5.7 1.00e+00 1.00e+00h 1 39 2.0826015e+00 1.44e-04 1.07e-04 -4.0 6.32e+00 -6.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0823055e+00 3.42e-04 1.36e-03 -4.1 1.73e+01 -6.7 1.00e+00 1.00e+00h 1 41 2.0823447e+00 1.08e-03 3.90e-03 -4.0 4.45e+01 -7.2 1.00e+00 1.00e+00h 1 42 2.0818450e+00 2.25e-03 9.59e-03 -4.1 9.42e+01 -7.6 1.00e+00 1.00e+00h 1 43 2.1067748e+00 3.14e-05 1.03e+00 -4.0 4.90e+02 -8.1 8.52e-02 1.00e+00H 1 44 2.0865420e+00 1.89e-03 7.51e+00 -4.2 8.47e+00 -4.1 1.47e-02 1.53e-01f 1 45 2.0849760e+00 1.36e-03 5.40e+00 -4.2 3.25e-02 -2.7 1.00e+00 2.84e-01f 1 46 2.0834278e+00 6.84e-04 2.67e+00 -4.2 2.64e+00 -3.2 1.00e+00 5.13e-01f 1 47 2.0834991e+00 4.06e-04 2.28e+00 -4.2 4.34e-01 -3.7 1.00e+00 4.04e-01f 2 48 2.0831967e+00 1.33e-05 1.05e-03 -4.2 1.48e-01 -4.2 1.00e+00 1.00e+00h 1 49 2.0831436e+00 1.51e-06 1.83e-05 -4.2 3.80e-01 -4.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0833605e+00 3.50e-05 3.92e-04 -4.0 9.32e-01 -5.1 1.00e+00 1.00e+00h 1 51 2.0830198e+00 7.28e-05 1.78e-04 -4.1 2.70e+00 -5.6 1.00e+00 1.00e+00h 1 52 2.0818260e+00 8.16e-04 2.27e-03 -6.1 8.18e+00 -6.1 9.85e-01 1.00e+00h 1 53 2.0816763e+00 1.24e-04 4.69e-03 -5.0 1.64e+01 -6.6 1.00e+00 1.00e+00h 1 54 2.0824421e+00 3.75e-03 3.53e-02 -4.0 4.14e+01 -7.0 5.44e-01 1.00e+00h 1 55 2.0814829e+00 2.98e-03 2.16e-02 -4.3 7.40e+01 -7.5 1.00e+00 1.00e+00h 1 56 2.0826259e+00 1.73e-05 7.29e-02 -4.0 2.69e+02 -8.0 1.71e-01 1.00e+00H 1 57 2.0817155e+00 1.31e-04 2.09e-01 -4.3 7.19e+00 -5.8 1.00e+00 4.74e-01h 1 58 2.0829565e+00 8.63e-04 3.30e-02 -4.0 1.71e+01 -6.2 1.00e+00 1.00e+00f 1 59 2.0824021e+00 7.13e-03 8.35e-03 -4.0 5.01e+01 -6.7 7.97e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0823089e+00 4.71e-03 3.80e-01 -4.0 2.07e-01 -4.5 1.00e+00 3.40e-01h 2 61 2.0823638e+00 7.03e-06 1.06e-04 -4.0 3.72e-01 -5.0 1.00e+00 1.00e+00h 1 62 2.0822759e+00 7.32e-06 1.49e-05 -4.0 1.13e+00 -5.4 1.00e+00 1.00e+00h 1 63 2.0822056e+00 4.75e-06 1.55e-04 -4.0 3.56e+00 -5.9 1.00e+00 1.00e+00h 1 64 2.0822674e+00 9.68e-04 7.62e-02 -4.0 2.02e+01 -6.4 6.47e-01 1.00e+00h 1 65 2.0821004e+00 8.45e-04 2.87e+00 -4.1 8.35e-01 -2.3 8.43e-01 1.27e-01h 1 66 2.0820796e+00 6.95e-04 4.15e-01 -4.1 4.52e-02 -2.8 1.00e+00 1.77e-01f 2 67 2.0821084e+00 1.92e-06 1.70e-04 -4.1 3.08e-02 -3.3 1.00e+00 1.00e+00h 1 68 2.0822599e+00 2.40e-06 8.73e-05 -4.0 8.21e-02 -3.8 1.00e+00 1.00e+00h 1 69 2.0820764e+00 8.16e-06 7.45e-05 -4.1 2.38e-01 -4.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0821820e+00 1.64e-05 1.30e-03 -4.0 6.11e-01 -4.7 1.00e+00 1.00e+00h 1 71 2.0819234e+00 3.39e-05 4.76e-04 -4.1 9.52e-01 -5.2 1.00e+00 1.00e+00h 1 72 2.0820511e+00 4.27e-05 4.23e-04 -4.0 1.22e+00 -5.7 1.00e+00 1.00e+00h 1 73 2.0819683e+00 2.97e-06 2.18e-04 -4.0 2.58e+00 -6.2 1.00e+00 1.00e+00h 1 74 2.0818953e+00 3.57e-05 4.78e-04 -4.0 3.78e+00 -6.6 1.00e+00 1.00e+00h 1 75 2.0818636e+00 1.91e-05 3.49e-04 -4.0 4.46e+00 -7.1 1.00e+00 1.00e+00h 1 76 2.0818503e+00 1.00e-05 2.22e-04 -4.0 5.39e+00 -7.6 1.00e+00 1.00e+00h 1 77 2.0818460e+00 5.10e-06 1.01e-04 -4.0 6.66e+00 -8.1 1.00e+00 1.00e+00h 1 78 2.0818442e+00 1.86e-06 4.28e-05 -4.0 9.01e+00 -8.5 1.00e+00 1.00e+00h 1 79 2.0818435e+00 4.40e-07 2.12e-05 -4.0 5.76e+00 -9.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0818434e+00 2.44e-08 1.42e-06 -4.0 1.46e+00 -9.5 1.00e+00 1.00e+00h 1 81 2.0818434e+00 1.86e-10 1.21e-08 -4.0 1.34e-01 -10.0 1.00e+00 1.00e+00h 1 82 2.0818434e+00 1.72e-13 1.00e-09 -4.0 4.24e-03 -10.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 82 (scaled) (unscaled) Objective...............: 2.0818434105321528e+00 2.0818434105321528e+00 Dual infeasibility......: 1.0000000031599315e-09 1.0000000031599315e-09 Constraint violation....: 1.7230661342182430e-13 1.7230661342182430e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000047e-04 1.0000000000000047e-04 Overall NLP error.......: 1.0000000031599315e-09 1.0000000031599315e-09 Number of objective function evaluations = 100 Number of objective gradient evaluations = 83 Number of equality constraint evaluations = 100 Number of inequality constraint evaluations = 100 Number of equality constraint Jacobian evaluations = 83 Number of inequality constraint Jacobian evaluations = 83 Number of Lagrangian Hessian evaluations = 82 Total seconds in IPOPT = 22.601 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 1.8032766e+01 2.45e+00 4.82e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 5.1530682e+00 2.83e-01 4.89e+00 -0.8 1.78e+00 0.0 7.06e-01 8.84e-01f 1 2 4.0595067e+00 1.45e-01 7.60e+00 -0.5 4.91e-01 0.4 1.00e+00 4.93e-01f 1 3 2.7571681e+00 1.25e-02 3.49e+00 -0.8 5.81e-01 -0.1 9.92e-01 1.00e+00f 1 4 2.5276073e+00 1.45e-02 1.76e+00 -1.1 4.15e-01 -0.5 9.99e-01 5.56e-01h 1 5 2.3608323e+00 7.23e-03 4.90e-01 -1.5 1.70e-01 -0.1 9.99e-01 7.86e-01f 1 6 2.2371037e+00 3.01e-03 7.87e-02 -1.9 1.22e-01 -0.6 9.96e-01 1.00e+00f 1 7 2.1496518e+00 4.54e-03 1.80e-01 -2.6 1.89e-01 -1.1 9.49e-01 5.03e-01h 1 8 2.0933384e+00 4.40e-04 5.29e-02 -3.5 3.12e-02 -1.5 9.99e-01 9.04e-01h 1 9 2.0910196e+00 1.05e-05 5.75e-03 -4.0 1.80e-02 -2.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0910053e+00 9.33e-09 1.42e-04 -4.0 4.37e-02 -2.5 1.00e+00 1.00e+00h 1 11 2.0909962e+00 9.69e-10 2.54e-05 -4.0 2.34e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0909871e+00 2.15e-09 2.52e-05 -4.0 6.98e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0909619e+00 1.83e-08 3.74e-05 -4.0 2.05e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0908948e+00 1.37e-07 3.45e-04 -4.0 5.57e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0907970e+00 5.77e-07 1.32e-03 -4.0 1.17e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0905707e+00 3.98e-06 1.87e-03 -4.0 3.49e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0899123e+00 3.51e-05 8.46e-04 -4.0 1.01e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0895973e+00 6.05e-06 2.16e-03 -4.0 3.86e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0893910e+00 7.06e-06 5.13e-02 -4.0 1.59e+01 -5.9 1.00e+00 1.33e-01h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0871083e+00 3.04e-04 1.14e-02 -4.0 2.93e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0851809e+00 3.89e-04 8.84e-02 -4.0 5.78e+01 -6.8 1.00e+00 4.49e-01h 1 22 2.0827460e+00 6.77e-04 6.53e-02 -4.0 6.75e+01 -7.3 1.00e+00 6.90e-01h 1 23 2.0826985e+00 2.46e-03 4.34e-02 -4.0 1.32e+02 -7.8 9.44e-01 1.00e+00h 1 24 2.0828706e+00 5.04e-04 1.01e-02 -4.0 2.11e+01 -6.5 1.00e+00 1.00e+00h 1 25 2.0864670e+00 5.40e-05 1.33e-01 -4.0 9.42e+01 -6.9 3.75e-01 1.00e+00H 1 26 2.0833388e+00 4.19e-05 1.71e+00 -4.0 8.72e-01 -2.0 8.26e-02 3.11e-01h 1 27 2.0829668e+00 4.16e-05 1.28e+00 -4.0 1.07e+00 -2.5 1.00e+00 3.04e-01h 1 28 2.0836130e+00 3.81e-06 1.87e-03 -4.0 2.27e-01 -2.9 1.00e+00 1.00e+00h 1 29 2.0830787e+00 5.26e-06 2.19e-03 -4.0 1.64e-01 -3.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0829091e+00 2.64e-06 3.10e-04 -4.0 6.41e-02 -3.9 1.00e+00 1.00e+00h 1 31 2.0828896e+00 8.91e-08 3.66e-05 -4.0 1.92e-01 -4.4 1.00e+00 1.00e+00h 1 32 2.0828540e+00 1.69e-07 3.68e-05 -4.0 5.60e-01 -4.9 1.00e+00 1.00e+00h 1 33 2.0827562e+00 1.33e-06 1.18e-04 -4.0 1.56e+00 -5.3 1.00e+00 1.00e+00h 1 34 2.0825341e+00 7.96e-06 7.23e-04 -4.0 4.03e+00 -5.8 1.00e+00 1.00e+00h 1 35 2.0822476e+00 3.19e-05 2.09e-03 -4.0 9.68e+00 -6.3 1.00e+00 1.00e+00h 1 36 2.0827365e+00 4.82e-07 7.72e-02 -4.0 3.83e+01 -6.8 3.87e-01 1.00e+00H 1 37 2.0819811e+00 6.36e-05 3.85e-01 -4.0 1.44e+00 -4.5 1.00e+00 6.76e-01f 1 38 2.0824854e+00 4.59e-08 3.41e-03 -4.0 7.55e-01 -5.0 1.00e+00 1.00e+00H 1 39 2.0823390e+00 3.04e-04 2.42e-03 -4.0 3.00e+00 -5.5 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0821369e+00 5.31e-04 2.13e+00 -4.1 5.25e+01 -6.0 1.00e+00 8.43e-02h 2 41 2.0819921e+00 3.47e-05 8.26e-04 -4.1 1.10e+01 -6.4 1.00e+00 1.00e+00h 1 42 2.0820153e+00 2.48e-05 9.77e-05 -4.1 4.09e+00 -6.0 1.00e+00 1.00e+00h 1 43 2.0830912e+00 1.46e-05 1.51e-01 -4.0 3.09e+01 -6.5 4.15e-01 1.00e+00H 1 44 2.0823049e+00 1.06e-06 2.75e-02 -4.1 1.05e-01 -1.6 1.00e+00 9.32e-01h 1 45 2.0824421e+00 3.68e-06 2.12e-01 -4.0 1.88e-01 -2.0 1.00e+00 5.15e-01f 1 46 2.0826249e+00 7.51e-07 4.26e-04 -4.0 5.23e-02 -2.5 1.00e+00 1.00e+00f 1 47 2.0817476e+00 4.50e-06 1.12e-01 -6.0 4.58e-02 -3.0 7.88e-01 1.00e+00h 1 48 2.0825215e+00 5.93e-06 1.20e-03 -4.0 5.11e-02 -3.5 1.00e+00 1.00e+00f 1 49 2.0822750e+00 2.69e-06 3.08e-05 -4.1 6.49e-02 -3.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0824230e+00 4.31e-06 7.22e-05 -4.0 1.79e-01 -4.4 1.00e+00 1.00e+00h 1 51 2.0822308e+00 1.41e-05 6.47e-05 -4.1 5.67e-01 -4.9 1.00e+00 1.00e+00h 1 52 2.0814556e+00 2.57e-04 1.68e-03 -6.1 2.60e+00 -5.4 9.95e-01 1.00e+00h 1 53 2.0814014e+00 3.24e-04 4.07e-03 -4.4 6.84e+00 -5.8 9.78e-01 9.88e-01h 1 54 2.0813623e+00 3.10e-04 2.40e+00 -4.0 1.14e+01 -4.5 5.17e-01 8.48e-02h 2 55 2.0841764e+00 3.86e-04 1.82e+00 -4.0 2.83e+00 -5.0 2.28e-01 4.78e-01h 1 56 2.0820575e+00 1.23e-03 1.42e-01 -4.2 3.85e+00 -5.5 9.37e-01 1.00e+00h 1 57 2.0815499e+00 1.29e-04 4.40e-02 -4.2 8.25e-02 -1.4 1.00e+00 8.95e-01h 1 58 2.0819152e+00 1.41e-06 1.60e-03 -4.0 4.71e-02 -1.9 1.00e+00 1.00e+00f 1 59 2.0817542e+00 2.51e-07 4.65e-04 -4.0 6.51e-02 -2.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0817254e+00 1.63e-07 1.82e-04 -4.0 3.80e-02 -2.9 1.00e+00 1.00e+00h 1 61 2.0817263e+00 7.18e-08 4.14e-05 -4.0 5.47e-02 -3.3 1.00e+00 1.00e+00h 1 62 2.0817425e+00 2.35e-07 4.14e-05 -4.0 1.50e-01 -3.8 1.00e+00 1.00e+00h 1 63 2.0817001e+00 2.18e-06 3.02e-04 -4.1 2.21e-01 -4.3 1.00e+00 1.00e+00h 1 64 2.0818230e+00 1.59e-05 4.55e-04 -4.0 8.52e-01 -4.8 1.00e+00 1.00e+00h 1 65 2.0817570e+00 1.14e-05 7.32e-04 -4.1 1.36e+00 -5.2 1.00e+00 1.00e+00h 1 66 2.0811545e+00 2.18e-04 2.01e-02 -6.1 2.54e+00 -5.7 9.72e-01 1.00e+00h 1 67 2.0811461e+00 5.65e-05 3.33e-02 -5.0 3.50e-01 -4.4 1.00e+00 7.38e-01h 1 68 2.0813091e+00 5.47e-05 4.56e-01 -4.0 2.48e+00 -4.9 1.00e+00 1.95e-01f 1 69 2.0817729e+00 1.84e-04 3.72e-03 -4.0 2.61e+00 -5.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0818253e+00 7.56e-06 1.65e-03 -4.1 1.57e+00 -5.8 1.00e+00 1.00e+00h 1 71 2.0818829e+00 4.08e-06 3.34e-04 -4.1 3.08e+00 -6.3 1.00e+00 1.00e+00h 1 72 2.0809943e+00 1.26e-03 6.66e-03 -6.1 1.59e+01 -6.8 9.94e-01 1.00e+00h 1 73 2.0810851e+00 6.10e-06 8.59e-05 -4.8 4.01e-01 -5.5 1.00e+00 1.00e+00h 1 74 2.0815496e+00 1.35e-04 1.92e-01 -4.0 7.66e+00 -5.9 1.00e+00 4.08e-01h 1 75 2.0817017e+00 1.26e-04 2.07e-03 -4.1 4.42e+00 -6.4 1.00e+00 1.00e+00f 1 76 2.0817287e+00 3.94e-05 5.40e-04 -4.1 7.37e+00 -6.9 1.00e+00 1.00e+00h 1 77 2.0808347e+00 2.32e-03 2.05e-03 -6.2 3.07e+01 -7.4 9.85e-01 9.66e-01h 1 78 2.0810993e+00 1.62e-03 4.98e-02 -4.0 4.19e+01 -7.8 1.00e+00 2.46e-01f 1 79 2.0815269e+00 3.43e-03 9.82e-03 -4.2 7.26e+01 -8.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0816384e+00 5.01e-05 3.06e-01 -4.2 4.66e-01 -4.3 7.39e-01 1.00e+00h 1 81 2.0815239e+00 4.78e-05 1.96e-03 -4.2 5.83e-01 -4.8 1.00e+00 1.00e+00h 1 82 2.0815261e+00 1.01e-05 3.63e-04 -4.2 4.55e-01 -5.2 1.00e+00 1.00e+00h 1 83 2.0809317e+00 2.69e-04 1.97e-03 -6.2 3.26e+00 -5.7 1.00e+00 1.00e+00h 1 84 2.0814742e+00 8.49e-05 3.07e-01 -4.0 4.20e-01 -3.5 1.00e+00 6.85e-01h 1 85 2.0814384e+00 4.40e-07 6.15e-04 -4.1 2.20e-01 -4.0 1.00e+00 1.00e+00f 1 86 2.0815765e+00 8.36e-06 2.22e-04 -4.0 3.25e-01 -4.4 1.00e+00 1.00e+00h 1 87 2.0814980e+00 6.34e-06 3.54e-04 -4.1 3.00e-01 -4.9 1.00e+00 1.00e+00h 1 88 2.0809352e+00 1.80e-04 8.92e-03 -6.1 1.92e+00 -5.4 9.81e-01 1.00e+00h 1 89 2.0809067e+00 1.20e-04 3.14e-01 -5.2 7.33e-01 -4.1 1.00e+00 3.32e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0811793e+00 9.06e-05 2.87e-01 -4.0 1.71e+00 -4.5 1.00e+00 2.82e-01f 1 91 2.0813873e+00 2.64e-05 1.23e-03 -4.1 6.70e-01 -5.0 1.00e+00 1.00e+00h 1 92 2.0814624e+00 4.86e-06 7.04e-04 -4.1 1.04e+00 -5.5 1.00e+00 1.00e+00h 1 93 2.0808205e+00 3.35e-04 4.40e-02 -6.2 3.71e+00 -6.0 8.21e-01 1.00e+00h 1 94 2.0809538e+00 1.76e-06 9.69e-05 -4.6 1.43e-01 -4.6 1.00e+00 1.00e+00h 1 95 2.0810720e+00 8.05e-06 3.83e-01 -4.0 3.42e+00 -5.1 9.65e-01 1.65e-01h 2 96 2.0812964e+00 5.54e-05 1.26e-03 -4.2 1.51e+00 -5.6 1.00e+00 1.00e+00h 1 97 2.0814051e+00 1.87e-05 4.95e-04 -4.2 1.80e+00 -6.1 1.00e+00 1.00e+00h 1 98 2.0807152e+00 4.19e-04 4.77e-03 -6.2 7.80e+00 -6.5 9.96e-01 1.00e+00h 1 99 2.0808358e+00 7.58e-06 1.46e-04 -4.7 3.64e-01 -5.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0810193e+00 2.51e-05 1.64e-01 -4.0 5.92e+00 -5.7 1.00e+00 1.85e-01f 2 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0810193340136314e+00 2.0810193340136314e+00 Dual infeasibility......: 1.6438324864458490e-01 1.6438324864458490e-01 Constraint violation....: 2.5106048399836656e-05 2.5106048399836656e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0058282855549781e-04 1.0058282855549781e-04 Overall NLP error.......: 1.6438324864458490e-01 1.6438324864458490e-01 Number of objective function evaluations = 118 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 118 Number of inequality constraint evaluations = 118 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 25.735 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 2.9202274e+01 2.48e+00 1.65e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.1298140e+01 1.38e+00 1.29e+01 -0.3 1.78e+00 0.0 1.00e+00 4.37e-01f 1 2 9.2702042e+00 1.16e+00 1.39e+01 -4.0 6.09e+00 -0.5 7.66e-02 1.64e-01f 1 3 3.3863108e+00 2.80e-01 5.01e+00 -0.4 1.61e+00 -1.0 7.96e-01 1.00e+00f 1 4 2.8222438e+00 2.32e-01 5.18e+00 -1.0 2.89e+00 -1.4 9.20e-01 1.00e+00h 1 5 2.4709130e+00 6.56e-02 4.78e-01 -1.4 7.25e-01 -1.9 9.96e-01 1.00e+00h 1 6 2.2133515e+00 3.25e-02 3.91e-02 -2.2 7.75e-01 -2.4 9.62e-01 1.00e+00h 1 7 2.1091566e+00 3.98e-03 4.66e-02 -3.1 5.47e-01 -2.9 9.92e-01 8.87e-01h 1 8 2.0911785e+00 5.95e-05 9.39e-04 -4.0 4.26e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909023e+00 7.27e-06 2.55e-04 -4.0 1.39e-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 2.0908686e+00 5.63e-08 2.55e-04 -4.0 3.65e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907996e+00 2.44e-07 6.42e-04 -4.0 8.97e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0906185e+00 2.45e-06 9.79e-04 -4.0 2.67e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0900683e+00 2.11e-05 9.04e-04 -4.0 7.78e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0898380e+00 3.98e-06 1.53e-03 -4.0 3.07e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0897208e+00 9.42e-07 2.55e-04 -4.0 1.24e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0893801e+00 5.54e-06 4.59e-04 -4.0 3.78e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0884050e+00 4.51e-05 2.03e-03 -4.0 1.10e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0865049e+00 2.67e-04 1.41e-02 -4.0 2.72e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0854116e+00 2.84e-04 1.83e-01 -4.0 7.60e+01 -6.8 1.00e+00 1.67e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827783e+00 8.05e-04 6.67e-02 -4.0 5.95e+01 -7.3 1.00e+00 7.83e-01h 1 21 2.0826848e+00 2.33e-03 4.73e-02 -4.0 1.22e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.2870621e+00 1.76e-04 5.75e+00 -4.0 9.00e+02 -8.2 4.08e-02 1.00e+00H 1 23 2.0868968e+00 2.75e-05 8.25e-01 -4.1 1.07e-01 -0.4 1.00e+00 8.44e-01f 1 24 2.0872390e+00 2.73e-05 4.26e+00 -4.0 7.57e-02 -0.8 1.00e+00 7.81e-03f 8 25 2.0872426e+00 1.25e-07 1.33e-03 -4.0 2.80e-02 -1.3 1.00e+00 1.00e+00h 1 26 2.0868925e+00 1.43e-07 1.16e-03 -4.0 7.35e-02 -1.8 1.00e+00 1.00e+00h 1 27 2.0866759e+00 6.30e-07 6.94e-04 -4.0 1.31e-01 -2.3 1.00e+00 1.00e+00h 1 28 2.0867378e+00 1.39e-07 2.55e-04 -4.0 2.33e-02 -2.8 1.00e+00 1.00e+00h 1 29 2.0867221e+00 1.42e-07 2.55e-04 -4.0 2.08e-02 -3.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0867161e+00 2.02e-08 2.55e-04 -4.0 6.26e-02 -3.7 1.00e+00 1.00e+00h 1 31 2.0867001e+00 3.28e-08 2.55e-04 -4.0 1.87e-01 -4.2 1.00e+00 1.00e+00h 1 32 2.0866534e+00 2.90e-07 2.55e-04 -4.0 5.56e-01 -4.7 1.00e+00 1.00e+00h 1 33 2.0865241e+00 2.39e-06 2.55e-04 -4.0 1.63e+00 -5.1 1.00e+00 1.00e+00h 1 34 2.0862220e+00 1.56e-05 8.27e-04 -4.0 4.54e+00 -5.6 1.00e+00 1.00e+00h 1 35 2.0857570e+00 5.29e-05 2.67e-03 -4.0 1.17e+01 -6.1 1.00e+00 1.00e+00h 1 36 2.0850891e+00 8.22e-05 4.76e-03 -4.0 2.98e+01 -6.6 1.00e+00 1.00e+00h 1 37 2.0839147e+00 5.27e-04 1.97e-02 -4.0 7.35e+01 -7.0 1.00e+00 1.00e+00h 1 38 2.0825747e+00 1.83e-03 5.36e-02 -4.0 1.44e+02 -7.5 1.00e+00 1.00e+00h 1 39 2.0818440e+00 3.66e-03 3.71e-02 -4.0 2.14e+02 -8.0 6.48e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0816814e+00 2.46e-03 3.38e-02 -4.0 4.82e+01 -6.7 1.00e+00 1.00e+00h 1 41 2.0817458e+00 7.38e-04 6.45e-03 -4.0 2.17e+01 -7.2 9.79e-01 1.00e+00h 1 42 2.1009430e+00 1.32e-06 8.82e-02 -4.0 5.27e+01 -7.6 2.93e-01 1.00e+00H 1 43 2.0951960e+00 3.74e-07 6.65e-02 -4.0 3.93e-02 0.2 1.00e+00 1.00e+00f 1 44 2.0889227e+00 5.47e-07 3.95e-02 -3.7 6.40e-02 -0.3 1.00e+00 1.00e+00f 1 45 2.0847748e+00 6.95e-07 2.01e-02 -3.8 8.66e-02 -0.7 1.00e+00 1.00e+00h 1 46 2.0838440e+00 1.63e-07 1.50e-02 -4.0 2.98e-02 -0.3 1.00e+00 1.00e+00h 1 47 2.0829236e+00 2.59e-07 9.24e-03 -4.0 5.19e-02 -0.8 1.00e+00 1.00e+00h 1 48 2.0821520e+00 4.58e-07 4.29e-03 -4.0 1.05e-01 -1.3 1.00e+00 1.00e+00h 1 49 2.0818551e+00 1.62e-06 1.97e-02 -4.0 9.97e-02 -1.7 1.00e+00 8.56e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0819710e+00 8.84e-07 1.44e-03 -4.0 5.89e-02 -2.2 1.00e+00 1.00e+00f 1 51 2.0817524e+00 1.33e-07 2.20e-04 -4.1 1.87e-02 -2.7 1.00e+00 1.00e+00h 1 52 2.0818778e+00 2.25e-07 2.55e-04 -4.0 1.07e-02 -3.2 1.00e+00 1.00e+00h 1 53 2.0817381e+00 3.09e-07 2.04e-04 -4.1 1.35e-02 -3.7 1.00e+00 1.00e+00h 1 54 2.0818819e+00 1.18e-06 2.55e-04 -4.0 5.50e-02 -4.1 1.00e+00 1.00e+00h 1 55 2.0817397e+00 2.98e-06 2.04e-04 -4.1 1.22e-01 -4.6 1.00e+00 1.00e+00h 1 56 2.0810819e+00 1.27e-04 1.29e-02 -6.1 1.34e+00 -5.1 9.34e-01 1.00e+00h 1 57 2.0819830e+00 1.71e-04 1.51e-03 -4.0 1.30e+00 -5.6 1.00e+00 1.00e+00h 1 58 2.0817357e+00 1.66e-04 3.61e-04 -4.1 4.24e+00 -6.0 1.00e+00 1.00e+00h 1 59 2.0947799e+00 2.13e-04 6.43e-01 -4.0 5.12e+01 -6.5 2.08e-01 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0823679e+00 4.62e-06 1.59e-02 -4.1 1.61e-01 -0.7 9.77e-01 9.78e-01f 1 61 2.0827540e+00 4.04e-06 2.51e-01 -4.1 1.56e-01 -1.1 1.00e+00 1.25e-01f 4 62 2.0824739e+00 4.97e-07 1.65e-03 -4.1 6.88e-02 -1.6 1.00e+00 1.00e+00h 1 63 2.0823634e+00 3.77e-06 1.53e-03 -4.0 1.10e-01 -2.1 1.00e+00 1.00e+00h 1 64 2.0821719e+00 8.42e-08 2.49e-04 -4.1 3.42e-02 -2.6 1.00e+00 1.00e+00h 1 65 2.0823484e+00 4.41e-07 2.55e-04 -4.0 1.50e-02 -3.1 1.00e+00 1.00e+00h 1 66 2.0821803e+00 6.95e-07 2.04e-04 -4.1 2.85e-02 -3.5 1.00e+00 1.00e+00h 1 67 2.0815044e+00 1.26e-05 1.57e-02 -6.1 1.29e-01 -4.0 8.91e-01 1.00e+00h 1 68 2.0824220e+00 3.02e-05 1.43e-03 -4.0 2.47e-01 -4.5 1.00e+00 1.00e+00f 1 69 2.0821251e+00 1.89e-05 2.06e-04 -4.1 7.23e-01 -5.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0812938e+00 3.05e-04 1.32e-03 -6.1 3.14e+00 -5.4 1.00e+00 1.00e+00h 1 71 2.0808294e+00 4.96e-05 1.08e-03 -6.1 8.70e+00 -5.9 1.00e+00 1.00e+00h 1 72 2.0807203e+00 2.57e-05 7.84e-02 -4.7 1.45e+01 -6.4 1.00e+00 2.40e-01h 1 73 2.0840462e+00 2.55e-03 7.20e-02 -4.0 2.06e+01 -6.0 1.00e+00 1.00e+00f 1 74 2.0822223e+00 1.47e-03 2.51e+00 -3.9 7.00e+00 -4.6 1.91e-01 4.26e-01h 1 75 2.0819860e+00 1.39e-03 2.49e+00 -3.9 4.33e+00 -5.1 3.26e-01 5.43e-02h 1 76 2.0837178e+00 1.24e-03 7.05e+00 -3.9 5.17e+01 -5.6 6.22e-01 1.04e-01f 3 77 2.0839912e+00 1.24e-03 1.16e+00 -3.9 8.95e+02 -6.1 3.36e-01 2.75e-03h 5 78 2.0836948e+00 1.24e-03 1.17e+00 -3.9 1.55e+02 -2.9 4.70e-03 3.87e-04h 1 79 2.0824294e+00 1.23e-03 4.54e+00 -3.9 5.14e+01 -3.4 1.47e-05 2.87e-03f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0823848e+00 2.81e-04 2.25e+00 -3.9 1.35e-01 -1.2 1.00e+00 7.72e-01f 1 81 2.0832379e+00 3.53e-07 3.25e-03 -3.9 6.17e-02 -1.7 1.00e+00 1.00e+00f 1 82 2.0827175e+00 1.85e-06 2.20e-03 -3.9 8.40e-02 -2.1 1.00e+00 1.00e+00h 1 83 2.0825494e+00 1.14e-08 3.55e-04 -3.9 2.00e-02 -2.6 1.00e+00 1.00e+00h 1 84 2.0815587e+00 6.21e-06 5.30e-02 -5.8 6.79e-02 -3.1 8.23e-01 1.00e+00h 1 85 2.0822998e+00 4.10e-06 1.46e-03 -4.0 5.43e-02 -3.6 1.00e+00 1.00e+00h 1 86 2.0820675e+00 2.39e-06 2.05e-04 -4.1 8.77e-02 -4.0 1.00e+00 1.00e+00h 1 87 2.0813913e+00 3.99e-05 1.89e-02 -6.1 4.09e-01 -4.5 9.03e-01 1.00e+00h 1 88 2.0812737e+00 7.75e-06 1.28e-04 -6.1 1.14e+00 -5.0 1.00e+00 1.00e+00h 1 89 2.0821916e+00 2.82e-04 3.06e-03 -4.0 2.26e+00 -5.5 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0815893e+00 4.45e-04 1.80e-02 -4.1 6.06e+00 -6.0 9.08e-01 1.00e+00h 1 91 2.0816448e+00 1.63e-05 8.32e-04 -4.1 7.99e-01 -4.6 1.00e+00 1.00e+00h 1 92 2.0815345e+00 2.55e-05 9.31e-04 -4.1 1.63e+00 -5.1 1.00e+00 1.00e+00h 1 93 2.0814992e+00 2.80e-05 1.42e-03 -4.1 1.86e+00 -5.6 1.00e+00 1.00e+00h 1 94 2.0815408e+00 2.79e-05 6.66e-04 -4.1 1.72e+00 -6.1 1.00e+00 1.00e+00h 1 95 2.0807030e+00 6.25e-04 5.73e-03 -6.1 7.31e+00 -6.5 9.93e-01 1.00e+00h 1 96 2.0806957e+00 4.98e-05 9.47e-04 -5.0 4.18e+00 -7.0 1.00e+00 1.00e+00h 1 97 2.0811702e+00 5.86e-04 5.55e-02 -4.0 2.82e+01 -7.5 8.54e-01 4.35e-01h 1 98 2.0814684e+00 8.11e-04 5.26e-03 -4.2 4.79e+01 -8.0 1.00e+00 1.00e+00h 1 99 2.0818457e+00 1.12e-04 2.81e-01 -4.2 1.36e+00 -4.8 6.21e-01 8.62e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0815295e+00 8.95e-05 4.25e-03 -4.2 1.18e+00 -5.3 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0815295080500222e+00 2.0815295080500222e+00 Dual infeasibility......: 4.2532723848203446e-03 4.2532723848203446e-03 Constraint violation....: 8.9501996455076949e-05 8.9501996455076949e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 6.3839281288653594e-05 6.3839281288653594e-05 Overall NLP error.......: 4.2532723848203446e-03 4.2532723848203446e-03 Number of objective function evaluations = 124 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 124 Number of inequality constraint evaluations = 124 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 30.897 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 2.0396046e+00 3.70e+00 1.35e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5452928e+00 5.39e-01 1.97e+00 -1.1 1.57e+01 -4.0 1.00e+00 1.00e+00f 1 2 2.3382454e+00 1.91e-01 3.15e-01 -1.7 7.02e+00 -4.5 9.95e-01 1.00e+00h 1 3 2.1127551e+00 3.68e-01 2.00e-01 -2.4 1.49e+01 -5.0 1.00e+00 1.00e+00h 1 4 2.0936249e+00 6.26e-02 4.35e-01 -2.9 2.20e+01 -5.4 9.85e-01 1.00e+00h 1 5 2.0886496e+00 8.67e-03 3.11e-02 -3.9 1.60e+01 -5.9 1.00e+00 1.00e+00h 1 6 2.0824539e+00 7.79e-03 7.34e-03 -4.0 4.61e+01 -6.4 1.00e+00 1.00e+00h 1 7 2.0883496e+00 1.66e-02 3.09e-02 -3.0 1.88e+01 -6.9 1.00e+00 8.72e-01h 1 8 2.0865388e+00 1.12e-02 4.18e-03 -3.2 2.99e+01 -7.3 1.00e+00 1.00e+00h 1 9 2.0864435e+00 1.87e-03 3.15e-03 -3.2 8.22e+01 -7.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0774945e+00 1.34e-01 5.69e-03 -4.0 1.86e+02 -8.3 9.90e-01 1.00e+00h 1 11 2.0760285e+00 1.34e-02 1.85e-02 -4.0 3.84e+02 -8.8 1.00e+00 1.00e+00h 1 12 2.0769009e+00 2.33e-02 2.02e-02 -3.7 2.24e+02 -9.2 1.00e+00 1.00e+00h 1 13 2.0764430e+00 3.13e-03 1.33e-03 -3.9 5.40e+01 -9.7 1.00e+00 1.00e+00h 1 14 2.0757763e+00 1.55e-03 5.48e-05 -4.0 3.14e+01 -10.2 1.00e+00 1.00e+00h 1 15 2.0757705e+00 6.26e-06 3.58e-06 -4.0 2.59e+01 -10.7 1.00e+00 1.00e+00h 1 16 2.0757704e+00 3.08e-09 9.25e-07 -4.0 1.18e+01 -11.2 1.00e+00 1.00e+00h 1 17 2.0757704e+00 9.37e-11 4.50e-08 -4.0 2.95e+00 -11.6 1.00e+00 1.00e+00h 1 18 2.0757704e+00 8.16e-13 4.16e-10 -4.0 3.45e-01 -12.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 18 (scaled) (unscaled) Objective...............: 2.0757703960807397e+00 2.0757703960807397e+00 Dual infeasibility......: 4.1645231712997624e-10 4.1645231712997624e-10 Constraint violation....: 8.1587861466836387e-13 8.1587861466836387e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000013e-04 1.0000000000000013e-04 Overall NLP error.......: 4.1645231712997624e-10 4.1645231712997624e-10 Number of objective function evaluations = 19 Number of objective gradient evaluations = 19 Number of equality constraint evaluations = 19 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 19 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 18 Total seconds in IPOPT = 22.883 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 194 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 27 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.2409243e+00 8.59e-01 1.03e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7134493e+00 5.30e-01 3.38e+00 -1.0 2.46e+00 -2.0 1.00e+00 1.00e+00h 1 2 1.6493436e+00 3.07e-01 2.41e-01 -0.7 1.30e+00 -0.7 1.00e+00 5.06e-01h 1 3 1.4429789e+00 1.14e-01 5.01e-01 -4.0 3.68e+00 - 7.91e-01 1.00e+00h 1 4 1.1417760e+00 4.42e-02 3.25e-01 -2.1 2.37e+00 - 1.00e+00 6.22e-01h 1 5 1.1035242e+00 3.17e-03 1.16e-01 -3.1 2.65e+00 - 1.00e+00 9.26e-01h 1 6 1.0911328e+00 9.94e-05 1.37e-02 -4.0 9.01e-01 - 1.00e+00 9.68e-01h 1 7 1.0908994e+00 3.20e-07 2.87e-03 -4.0 5.35e-01 - 1.00e+00 1.00e+00h 1 8 1.0908997e+00 6.30e-13 1.62e-05 -4.0 1.50e-02 - 1.00e+00 1.00e+00h 1 9 1.0908997e+00 1.47e-22 1.61e-05 -4.0 3.43e-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 1.0908997e+00 3.71e-26 6.84e-16 -4.0 2.00e-12 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 1.0908997263265459e+00 1.0908997263265459e+00 Dual infeasibility......: 6.8402315062110475e-16 6.8402315062110475e-16 Constraint violation....: 3.7114771395382218e-26 3.7114771395382218e-26 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 6.8402315062110475e-16 6.8402315062110475e-16 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 19.427 EXIT: Optimal Solution Found. Difference in Hessian Difference in Jacobian Test Summary: | Pass Total Time Package | 202 202 15m02.5s Testing DirectTrajOpt tests passed Testing completed after 993.8s PkgEval succeeded after 1110.72s