Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.1621 (4d04bb6b3b*) started at 2026-01-28T06:35:25.053 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 11.67s ################################################################################ # 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 v0.7.15 [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 v3.46.0 [189a3867] + Reexport v1.2.2 [ae029012] + Requires v1.3.1 [7e49a35a] + RuntimeGeneratedFunctions v0.5.16 [94e857df] + SIMDTypes v0.1.0 [0bca4576] + SciMLBase v2.135.0 [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 6.09s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling packages... 30613.0 ms ✓ DirectTrajOpt 1 dependency successfully precompiled in 35 seconds. 226 already precompiled. Precompilation completed after 55.6s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_TZLyl6/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_TZLyl6/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 v0.7.15 [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 v3.46.0 [189a3867] Reexport v1.2.2 [ae029012] Requires v1.3.1 [7e49a35a] RuntimeGeneratedFunctions v0.5.16 [94e857df] SIMDTypes v0.1.0 [0bca4576] SciMLBase v2.135.0 [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 2.0131989e+00 3.36e+00 6.30e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7816735e+00 4.87e-02 5.18e-01 -1.1 2.32e+00 -2.0 9.87e-01 1.00e+00h 1 2 2.3149891e+00 3.71e-02 1.57e-01 -1.6 9.91e-01 -2.5 9.29e-01 9.72e-01h 1 3 2.1216434e+00 4.16e-02 1.20e-01 -2.7 1.40e+00 -3.0 9.45e-01 9.39e-01h 1 4 2.0972062e+00 4.16e-04 1.50e-02 -3.2 1.38e-01 -3.4 9.96e-01 1.00e+00h 1 5 2.0908851e+00 1.36e-04 1.39e-04 -4.0 1.66e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0908366e+00 2.74e-06 2.06e-05 -4.0 5.00e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0906892e+00 8.60e-07 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0902481e+00 7.71e-06 3.44e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0889356e+00 7.06e-05 3.07e-04 -4.0 1.33e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0850981e+00 6.70e-04 2.79e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0796335e+00 2.12e-03 1.76e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.39e-01h 1 12 2.0802787e+00 2.40e-04 1.81e-01 -4.0 6.69e+01 -7.2 1.00e+00 9.86e-01H 1 13 2.0774206e+00 8.43e-03 2.29e-02 -4.0 1.24e+02 -7.7 1.00e+00 9.66e-01h 1 14 2.0770128e+00 1.56e-03 7.60e-02 -4.0 2.08e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0761766e+00 3.68e-03 1.68e-02 -4.0 3.51e+02 -8.7 1.00e+00 8.29e-01h 1 16 2.0755525e+00 1.81e-03 3.00e-02 -4.0 5.15e+02 -9.2 1.00e+00 7.19e-01h 1 17 2.0757519e+00 3.18e-03 1.08e-02 -4.0 1.43e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0753725e+00 1.16e-03 4.23e-04 -4.1 7.49e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0756723e+00 4.79e-04 6.26e-06 -4.0 2.13e+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 5.93e-07 9.67e-07 -4.0 1.11e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0756712e+00 1.76e-09 6.47e-08 -4.0 3.93e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0756712e+00 2.56e-11 1.02e-09 -4.0 5.71e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0756712121335741e+00 2.0756712121335741e+00 Dual infeasibility......: 1.0230735152550342e-09 1.0230735152550342e-09 Constraint violation....: 2.5645929824236191e-11 2.5645929824236191e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000026e-04 1.0000000000000026e-04 Overall NLP error.......: 1.0230735152550342e-09 1.0230735152550342e-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 = 67.322 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 4.7359129e+00 2.38e+00 4.00e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7527401e+00 1.10e+00 2.49e+00 -0.8 2.08e+00 0.0 9.68e-01 5.41e-01f 1 2 2.7164019e+00 4.33e-02 1.58e+00 -0.9 8.93e-01 -0.5 9.74e-01 1.00e+00f 1 3 2.4666737e+00 1.81e-02 1.66e-01 -1.4 2.81e-01 -1.0 9.43e-01 1.00e+00h 1 4 2.1574627e+00 8.04e-03 4.23e-02 -2.3 1.60e-01 -1.4 9.96e-01 9.57e-01h 1 5 2.0961223e+00 5.19e-04 1.12e-02 -3.4 6.54e-02 -1.9 9.66e-01 1.00e+00h 1 6 2.0908274e+00 2.09e-04 5.64e-02 -4.0 3.77e-01 -2.4 1.00e+00 1.00e+00h 1 7 2.0908495e+00 3.87e-06 1.18e-02 -4.0 5.87e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908696e+00 4.88e-07 1.73e-04 -4.0 4.53e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908562e+00 8.57e-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 2.0908164e+00 6.22e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0906969e+00 5.60e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903395e+00 5.06e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892741e+00 4.62e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861427e+00 4.34e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796249e+00 2.51e-03 8.70e-02 -4.0 8.72e+01 -6.7 1.00e+00 7.56e-01h 1 16 2.0812647e+00 1.51e-04 1.91e-01 -4.0 6.72e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778349e+00 5.70e-03 2.67e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781656e+00 1.61e-02 3.49e-02 -3.7 1.50e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767334e+00 1.29e-02 1.81e-02 -3.8 2.81e+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 2.0758059e+00 2.11e-04 2.17e-02 -3.9 4.11e+02 -9.1 1.00e+00 9.95e-01H 1 21 2.0757796e+00 6.44e-03 9.73e-03 -4.0 1.40e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756781e+00 3.50e-04 4.30e-04 -4.0 5.97e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 1.54e-06 7.45e-06 -4.0 2.06e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756713e+00 5.53e-08 1.31e-06 -4.0 1.44e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756713e+00 3.64e-09 1.54e-07 -4.0 5.93e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756713e+00 9.29e-11 3.62e-09 -4.0 1.08e+00 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712528743382e+00 2.0756712528743382e+00 Dual infeasibility......: 3.6161365616043783e-09 3.6161365616043783e-09 Constraint violation....: 9.2898688741627211e-11 9.2898688741627211e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000013e-04 1.0000000000000013e-04 Overall NLP error.......: 3.6161365616043783e-09 3.6161365616043783e-09 Number of objective function evaluations = 29 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 29 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 = 23.964 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: equality constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.3968685e+00 5.17e+00 5.24e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7239832e+00 5.99e-02 2.95e+00 -1.0 2.95e+00 0.0 9.77e-01 1.00e+00h 1 2 2.6357489e+00 1.31e-02 5.71e-01 -1.1 2.79e-01 -0.5 9.88e-01 1.00e+00h 1 3 2.2813637e+00 7.34e-03 5.69e-02 -1.8 1.55e-01 -1.0 9.75e-01 9.32e-01h 1 4 2.1112399e+00 1.23e-03 2.40e-02 -3.0 5.73e-02 -1.4 9.89e-01 9.24e-01h 1 5 2.0910421e+00 3.69e-05 4.89e-03 -4.0 1.60e-02 -1.9 1.00e+00 9.93e-01h 1 6 2.0908858e+00 5.02e-07 1.14e-04 -4.0 1.13e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0908848e+00 4.34e-09 2.06e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908804e+00 7.67e-10 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908671e+00 6.91e-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 2.0908273e+00 6.22e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907078e+00 5.61e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903503e+00 5.07e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892849e+00 4.63e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861533e+00 4.35e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796369e+00 2.51e-03 8.71e-02 -4.0 8.72e+01 -6.7 1.00e+00 7.56e-01h 1 16 2.0812225e+00 1.23e-04 1.79e-01 -4.0 7.04e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778287e+00 5.65e-03 2.39e-02 -4.0 1.13e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0782136e+00 1.77e-02 4.89e-02 -3.7 1.77e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0768813e+00 8.96e-03 2.66e-02 -3.8 3.15e+02 -8.6 1.00e+00 9.06e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0761151e+00 7.76e-03 2.53e-02 -3.9 4.63e+02 -9.1 1.00e+00 9.77e-01f 1 21 2.0757465e+00 1.02e-02 1.12e-02 -4.0 1.44e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756794e+00 5.60e-04 4.44e-04 -4.0 6.18e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 4.46e-06 8.57e-06 -4.0 2.29e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 6.01e-08 1.44e-06 -4.0 1.47e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.31e-09 1.42e-07 -4.0 5.08e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.29e-11 2.87e-09 -4.0 9.02e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122045431e+00 2.0756712122045431e+00 Dual infeasibility......: 2.8660480641865514e-09 2.8660480641865514e-09 Constraint violation....: 7.2919892346590132e-11 7.2919892346590132e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000052e-04 1.0000000000000052e-04 Overall NLP error.......: 2.8660480641865514e-09 2.8660480641865514e-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 = 35.422 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 4.3471176e+00 2.32e+00 8.98e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.5122428e+00 9.56e-02 1.12e+00 -0.9 1.81e+00 -2.0 9.65e-01 1.00e+00f 1 Hello, world! 2 2.4310310e+00 4.02e-02 3.58e-01 -1.5 1.09e+00 -2.5 9.07e-01 1.00e+00h 1 Hello, world! 3 2.1694932e+00 5.33e-02 8.00e-02 -2.3 1.65e+00 -3.0 9.97e-01 9.37e-01h 1 Hello, world! 4 2.0969247e+00 9.29e-03 1.94e-02 -3.3 7.49e-01 -3.4 9.87e-01 1.00e+00h 1 Hello, world! 5 2.0908807e+00 1.50e-04 8.45e-04 -4.0 1.94e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 6 2.0908283e+00 2.40e-06 2.37e-04 -4.0 4.67e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0907406e+00 3.97e-07 9.38e-04 -4.0 1.08e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0905212e+00 3.78e-06 1.16e-03 -4.0 3.35e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0898500e+00 3.12e-05 1.28e-03 -4.0 9.45e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0891386e+00 3.40e-05 5.85e-02 -4.0 2.72e+01 -6.3 1.00e+00 2.98e-01h 1 Hello, world! 11 2.0858489e+00 1.36e-03 9.41e-02 -4.0 6.33e+01 -6.8 1.00e+00 1.00e+00f 1 Hello, world! 12 2.0842868e+00 5.58e-04 4.53e-02 -4.0 5.80e+00 -5.4 1.00e+00 6.10e-01h 1 Hello, world! 13 2.0840917e+00 6.36e-05 5.87e-03 -4.0 6.45e+00 -5.9 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0831914e+00 2.46e-05 4.54e-03 -4.0 1.31e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0827507e+00 9.26e-05 6.42e-03 -4.0 2.40e+01 -6.9 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0826145e+00 5.44e-05 2.85e-03 -4.0 6.16e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0822104e+00 6.30e-04 5.08e-03 -4.0 1.46e+02 -7.8 8.60e-01 1.00e+00h 1 Hello, world! 18 2.0846957e+00 1.97e-05 5.14e-02 -4.0 5.06e+01 -6.5 1.00e+00 1.00e+00H 1 Hello, world! 19 2.0829369e+00 2.31e-07 2.32e-03 -4.0 8.25e-02 -1.6 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 20 2.0826227e+00 2.40e-06 1.09e-03 -4.0 9.22e-02 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0826870e+00 1.30e-07 2.14e-04 -4.0 3.35e-02 -2.5 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0826678e+00 8.59e-08 1.04e-05 -4.0 1.01e-02 -3.0 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0826659e+00 1.31e-08 7.57e-06 -4.0 2.21e-02 -3.5 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0826618e+00 2.27e-09 7.55e-06 -4.0 6.62e-02 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0826496e+00 2.11e-08 7.48e-06 -4.0 1.97e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0826139e+00 1.80e-07 1.75e-05 -4.0 5.76e-01 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0825160e+00 1.36e-06 1.38e-04 -4.0 1.65e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0822872e+00 1.55e-05 7.88e-04 -4.0 4.61e+00 -5.9 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0833457e+00 9.90e-07 1.52e-01 -4.0 2.27e+01 -6.3 3.67e-01 1.00e+00H 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0830557e+00 6.69e-06 3.61e+00 -4.1 5.04e+00 -4.1 3.19e-01 4.11e-02h 2 Hello, world! 31 2.0820868e+00 6.25e-05 3.11e-01 -4.1 3.16e-01 -3.7 1.00e+00 7.87e-01h 1 Hello, world! 32 2.0826937e+00 1.50e-04 9.04e-01 -3.9 3.16e-01 -4.1 1.00e+00 6.30e-01f 1 Hello, world! 33 2.0825120e+00 1.95e-04 2.54e-03 -3.8 1.28e+00 -4.6 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0823765e+00 1.86e-04 2.70e+00 -3.8 9.34e-01 -3.3 8.44e-01 5.35e-02h 2 Hello, world! 35 2.0823553e+00 2.81e-06 6.44e-05 -3.8 1.33e-01 -3.8 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0821060e+00 3.16e-06 5.38e-04 -4.0 1.08e-01 -4.2 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0820763e+00 1.74e-06 4.09e-05 -4.0 3.59e-01 -4.7 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0821245e+00 3.13e-06 1.92e-04 -4.0 7.44e-01 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0820076e+00 4.71e-05 2.53e-04 -4.1 2.02e+00 -5.7 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 2.0823005e+00 6.06e-04 2.71e-02 -4.0 1.21e+01 -6.2 8.43e-01 1.00e+00h 1 Hello, world! 41 2.0821978e+00 4.92e-04 2.01e+00 -4.1 1.03e+00 -3.9 1.00e+00 2.22e-01h 1 Hello, world! 42 2.0819628e+00 1.03e-05 2.00e-04 -4.1 1.71e-01 -4.4 1.00e+00 1.00e+00f 1 Hello, world! 43 2.0822643e+00 1.80e-05 2.73e-04 -4.0 3.17e-01 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 44 2.0820747e+00 1.73e-05 2.25e-04 -4.1 5.74e-01 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0813276e+00 3.78e-04 8.12e-03 -6.1 5.14e+00 -5.8 9.82e-01 1.00e+00h 1 Hello, world! 46 2.0813101e+00 2.08e-05 1.15e-02 -5.2 2.50e-01 -3.6 1.00e+00 9.45e-01h 1 Hello, world! 47 2.0815573e+00 1.68e-05 2.50e-01 -4.0 2.23e+00 -4.1 1.00e+00 2.17e-01f 1 Hello, world! 48 2.0820454e+00 8.30e-05 2.53e-03 -4.0 6.21e-01 -4.6 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0819457e+00 1.02e-05 4.15e-04 -4.1 4.99e-01 -5.0 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0820611e+00 2.18e-05 1.57e-04 -4.0 1.29e+00 -5.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0820610720621175e+00 2.0820610720621175e+00 Dual infeasibility......: 1.5685585308954845e-04 1.5685585308954845e-04 Constraint violation....: 2.1810806825173223e-05 2.1810806825173223e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0342496648249162e-04 1.0342496648249162e-04 Overall NLP error.......: 1.5685585308954845e-04 1.5685585308954845e-04 Number of objective function evaluations = 57 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 57 Number of inequality constraint evaluations = 57 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 25.064 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 4.3471176e+00 2.32e+00 8.98e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.5122428e+00 9.56e-02 1.12e+00 -0.9 1.81e+00 -2.0 9.65e-01 1.00e+00f 1 Hello, world! 2 2.4310310e+00 4.02e-02 3.58e-01 -1.5 1.09e+00 -2.5 9.07e-01 1.00e+00h 1 Hello, world! 3 2.1694932e+00 5.33e-02 8.00e-02 -2.3 1.65e+00 -3.0 9.97e-01 9.37e-01h 1 Hello, world! 4 2.0969247e+00 9.29e-03 1.94e-02 -3.3 7.49e-01 -3.4 9.87e-01 1.00e+00h 1 Hello, world! 5 2.0908807e+00 1.50e-04 8.45e-04 -4.0 1.94e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 6 2.0908283e+00 2.40e-06 2.37e-04 -4.0 4.67e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0907406e+00 3.97e-07 9.38e-04 -4.0 1.08e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0905212e+00 3.78e-06 1.16e-03 -4.0 3.35e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0898500e+00 3.12e-05 1.28e-03 -4.0 9.45e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0891386e+00 3.40e-05 5.85e-02 -4.0 2.72e+01 -6.3 1.00e+00 2.98e-01h 1 Hello, world! 11 2.0858489e+00 1.36e-03 9.41e-02 -4.0 6.33e+01 -6.8 1.00e+00 1.00e+00f 1 Hello, world! 12 2.0842868e+00 5.58e-04 4.53e-02 -4.0 5.80e+00 -5.4 1.00e+00 6.10e-01h 1 Hello, world! 13 2.0840917e+00 6.36e-05 5.87e-03 -4.0 6.45e+00 -5.9 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0831914e+00 2.46e-05 4.54e-03 -4.0 1.31e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0827507e+00 9.26e-05 6.42e-03 -4.0 2.40e+01 -6.9 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0826145e+00 5.44e-05 2.85e-03 -4.0 6.16e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0822104e+00 6.30e-04 5.08e-03 -4.0 1.46e+02 -7.8 8.60e-01 1.00e+00h 1 Hello, world! 18 2.0846957e+00 1.97e-05 5.14e-02 -4.0 5.06e+01 -6.5 1.00e+00 1.00e+00H 1 Hello, world! 19 2.0829369e+00 2.31e-07 2.32e-03 -4.0 8.25e-02 -1.6 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 20 2.0826227e+00 2.40e-06 1.09e-03 -4.0 9.22e-02 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0826870e+00 1.30e-07 2.14e-04 -4.0 3.35e-02 -2.5 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0826678e+00 8.59e-08 1.04e-05 -4.0 1.01e-02 -3.0 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0826659e+00 1.31e-08 7.57e-06 -4.0 2.21e-02 -3.5 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0826618e+00 2.27e-09 7.55e-06 -4.0 6.62e-02 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0826496e+00 2.11e-08 7.48e-06 -4.0 1.97e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0826139e+00 1.80e-07 1.75e-05 -4.0 5.76e-01 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0825160e+00 1.36e-06 1.38e-04 -4.0 1.65e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0822872e+00 1.55e-05 7.88e-04 -4.0 4.61e+00 -5.9 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0833457e+00 9.90e-07 1.52e-01 -4.0 2.27e+01 -6.3 3.67e-01 1.00e+00H 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0830557e+00 6.69e-06 3.61e+00 -4.1 5.04e+00 -4.1 3.19e-01 4.11e-02h 2 Hello, world! 31 2.0820868e+00 6.25e-05 3.11e-01 -4.1 3.16e-01 -3.7 1.00e+00 7.87e-01h 1 Hello, world! 32 2.0826937e+00 1.50e-04 9.04e-01 -3.9 3.16e-01 -4.1 1.00e+00 6.30e-01f 1 Hello, world! 33 2.0825120e+00 1.95e-04 2.54e-03 -3.8 1.28e+00 -4.6 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0823765e+00 1.86e-04 2.70e+00 -3.8 9.34e-01 -3.3 8.44e-01 5.35e-02h 2 Hello, world! 35 2.0823553e+00 2.81e-06 6.44e-05 -3.8 1.33e-01 -3.8 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0821060e+00 3.16e-06 5.38e-04 -4.0 1.08e-01 -4.2 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0820763e+00 1.74e-06 4.09e-05 -4.0 3.59e-01 -4.7 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0821245e+00 3.13e-06 1.92e-04 -4.0 7.44e-01 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0820076e+00 4.71e-05 2.53e-04 -4.1 2.02e+00 -5.7 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 2.0823005e+00 6.06e-04 2.71e-02 -4.0 1.21e+01 -6.2 8.43e-01 1.00e+00h 1 Hello, world! 41 2.0821978e+00 4.92e-04 2.01e+00 -4.1 1.03e+00 -3.9 1.00e+00 2.22e-01h 1 Hello, world! 42 2.0819628e+00 1.03e-05 2.00e-04 -4.1 1.71e-01 -4.4 1.00e+00 1.00e+00f 1 Hello, world! 43 2.0822643e+00 1.80e-05 2.73e-04 -4.0 3.17e-01 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 44 2.0820747e+00 1.73e-05 2.25e-04 -4.1 5.74e-01 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0813276e+00 3.78e-04 8.12e-03 -6.1 5.14e+00 -5.8 9.82e-01 1.00e+00h 1 Hello, world! 46 2.0813101e+00 2.08e-05 1.15e-02 -5.2 2.50e-01 -3.6 1.00e+00 9.45e-01h 1 Hello, world! 47 2.0815573e+00 1.68e-05 2.50e-01 -4.0 2.23e+00 -4.1 1.00e+00 2.17e-01f 1 Hello, world! 48 2.0820454e+00 8.30e-05 2.53e-03 -4.0 6.21e-01 -4.6 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0819457e+00 1.02e-05 4.15e-04 -4.1 4.99e-01 -5.0 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0820611e+00 2.18e-05 1.57e-04 -4.0 1.29e+00 -5.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0820610720621175e+00 2.0820610720621175e+00 Dual infeasibility......: 1.5685585308954845e-04 1.5685585308954845e-04 Constraint violation....: 2.1810806825173223e-05 2.1810806825173223e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0342496648249162e-04 1.0342496648249162e-04 Overall NLP error.......: 1.5685585308954845e-04 1.5685585308954845e-04 Number of objective function evaluations = 57 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 57 Number of inequality constraint evaluations = 57 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 0.998 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 1.9708688e+00 3.10e+00 8.08e-02 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.3624181e+00 2.22e+00 3.81e+00 -2.7 1.55e+01 -2.0 7.31e-02 2.84e-01h 1 2 1.3067741e+00 2.01e+00 4.22e+00 -0.4 9.43e+00 -0.7 3.48e-02 9.61e-02f 1 3 1.2451611e+00 1.25e+00 2.99e+00 -1.0 4.42e+00 -1.1 2.41e-01 3.79e-01f 1 4 1.3359539e+00 9.24e-01 5.55e+00 -0.5 3.44e+00 -0.7 7.59e-01 2.58e-01f 1 5 1.3769155e+00 7.47e-01 3.57e+00 -0.2 6.54e+00 -1.2 5.14e-01 1.92e-01h 1 6 1.5283453e+00 1.07e+00 6.30e+00 -0.8 5.16e+00 -0.8 6.90e-01 3.65e-01h 1 7 1.7420799e+00 6.07e-01 4.61e+00 -0.4 5.57e+00 -1.3 5.74e-01 5.16e-01h 1 8 1.7852409e+00 4.48e-01 3.08e+00 -1.2 1.68e+00 -1.7 6.26e-01 3.75e-01h 1 9 1.7747918e+00 6.35e-01 2.38e+00 -1.1 2.89e+00 -2.2 9.99e-01 5.62e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.7778891e+00 6.41e-01 3.67e+00 -4.0 1.02e+02 -1.8 2.73e-02 8.95e-03h 4 11 1.8701055e+00 6.34e-01 6.68e+00 -0.7 2.30e+00 -0.4 6.84e-01 4.40e-01f 1 12 1.8640840e+00 5.97e-01 5.82e+00 -0.6 5.42e+00 -0.9 5.41e-01 5.92e-02h 1 13 1.8920418e+00 4.41e-01 5.77e+00 -0.4 2.18e+00 -1.4 1.00e+00 4.26e-01f 1 14 1.8639298e+00 3.99e-01 6.50e+00 -0.7 4.29e+00 -1.0 9.90e-01 4.90e-01h 2 15 1.8204604e+00 3.54e-01 5.84e+00 -0.8 3.45e+00 -1.5 4.56e-01 6.36e-01f 1 16 1.7431977e+00 1.02e-01 2.48e-01 -1.4 1.88e+00 -1.9 1.00e+00 1.00e+00f 1 17 1.4539077e+00 1.65e-01 7.06e-02 -2.1 1.29e+00 -2.4 9.12e-01 9.89e-01h 1 18 1.2297435e+00 2.77e-01 4.41e-02 -2.7 8.57e-01 -2.9 8.52e-01 1.00e+00h 1 19 1.2344527e+00 6.20e-01 2.37e-01 -2.7 5.90e+00 -3.4 6.10e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.2085788e+00 6.72e-02 2.92e-02 -2.8 1.36e+00 -3.8 1.00e+00 1.00e+00h 1 21 1.1786875e+00 1.70e-01 4.80e-03 -3.7 3.74e+00 -4.3 9.85e-01 1.00e+00h 1 22 1.1725091e+00 1.63e-01 1.24e-02 -4.0 8.12e+00 -4.8 1.00e+00 1.00e+00h 1 23 1.1693730e+00 1.73e-01 9.40e-03 -4.0 1.15e+01 -5.3 1.00e+00 1.00e+00h 1 24 1.1670737e+00 1.91e-01 6.19e-03 -4.0 1.71e+01 -5.7 1.00e+00 1.00e+00h 1 25 1.1652396e+00 2.24e-01 1.10e-03 -4.0 2.58e+01 -6.2 1.00e+00 1.00e+00h 1 26 1.1638227e+00 2.63e-01 3.47e-03 -4.0 3.89e+01 -6.7 1.00e+00 1.00e+00h 1 27 1.1626892e+00 3.12e-01 9.34e-03 -4.0 5.82e+01 -7.2 1.00e+00 1.00e+00h 1 28 1.1618115e+00 3.65e-01 1.51e-02 -4.0 8.62e+01 -7.7 1.00e+00 1.00e+00h 1 29 1.1611343e+00 4.18e-01 2.13e-02 -4.0 1.25e+02 -8.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.1606647e+00 4.47e-01 2.48e-02 -4.0 1.74e+02 -8.6 1.00e+00 1.00e+00h 1 31 1.1604770e+00 3.74e-01 1.86e-02 -4.0 2.12e+02 -9.1 1.00e+00 1.00e+00h 1 32 1.1607799e+00 5.02e-02 3.70e-03 -4.0 1.15e+02 -9.6 1.00e+00 1.00e+00h 1 33 1.1608507e+00 1.37e-03 3.71e-04 -4.0 1.20e+01 -10.0 1.00e+00 1.00e+00h 1 34 1.1608491e+00 4.12e-05 5.18e-06 -4.0 2.69e+00 -10.5 1.00e+00 1.00e+00h 1 35 1.1608491e+00 8.80e-09 1.28e-10 -4.0 4.08e-02 -11.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 35 (scaled) (unscaled) Objective...............: 1.1608491309054081e+00 1.1608491309054081e+00 Dual infeasibility......: 1.2849004632086054e-10 1.2849004632086054e-10 Constraint violation....: 8.7953697658349483e-09 8.7953697658349483e-09 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000547e-04 1.0000000000000547e-04 Overall NLP error.......: 8.7953697658349483e-09 8.7953697658349483e-09 Number of objective function evaluations = 42 Number of objective gradient evaluations = 36 Number of equality constraint evaluations = 42 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 36 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 35 Total seconds in IPOPT = 25.499 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 186 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 19 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.4918203e+00 7.93e-01 1.08e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8459674e+00 4.40e-01 8.89e+00 -0.8 4.40e+00 -2.0 9.10e-01 1.00e+00h 1 2 1.9464096e+00 3.82e-01 1.81e+00 0.2 1.98e+01 -0.7 3.98e-01 1.28e-01h 1 3 1.8975780e+00 7.84e-02 1.83e+00 -2.3 1.44e+01 - 8.89e-01 1.00e+00h 1 4 1.9118582e+00 2.36e-02 2.25e+00 -1.7 7.38e-01 -1.1 9.72e-01 8.83e-01h 1 5 1.2353953e+00 3.41e-03 5.43e-01 -2.1 3.61e-01 -0.7 1.00e+00 6.64e-01f 1 6 1.1290799e+00 2.54e-04 6.71e-02 -2.6 1.66e-02 -1.2 1.00e+00 9.19e-01h 1 7 1.0981615e+00 1.30e-05 8.17e-01 -4.0 6.43e+00 - 1.00e+00 1.00e+00h 1 8 1.0924873e+00 1.06e-05 2.56e-02 -4.0 1.58e+00 - 1.00e+00 1.85e-01f 1 9 1.0910342e+00 8.61e-09 8.69e-03 -4.0 8.93e-01 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0910386e+00 1.34e-12 6.72e-05 -4.0 7.15e-02 - 1.00e+00 1.00e+00h 1 11 1.0910386e+00 4.93e-21 6.44e-05 -4.0 1.85e-05 - 1.00e+00 1.00e+00h 1 12 1.0910386e+00 2.76e-33 6.43e-05 -4.0 6.30e-11 - 1.00e+00 1.00e+00h 1 13 1.0908587e+00 1.21e-33 3.75e-09 -4.1 1.99e-05 - 1.00e+00 1.00e+00f 1 14 1.0910386e+00 8.88e-16 4.00e-09 -4.0 1.99e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 14 (scaled) (unscaled) Objective...............: 1.0910385864123910e+00 1.0910385864123910e+00 Dual infeasibility......: 3.9975586680956673e-09 3.9975586680956673e-09 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000114091619609e-04 1.0000114091619609e-04 Overall NLP error.......: 3.9975586680956673e-09 3.9975586680956673e-09 Number of objective function evaluations = 15 Number of objective gradient evaluations = 15 Number of equality constraint evaluations = 15 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 15 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 14 Total seconds in IPOPT = 24.394 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 82 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.6087877e+00 2.17e+00 2.27e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8694598e+00 1.93e-02 7.99e-01 -1.1 1.91e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.3261339e+00 6.81e-02 7.05e-02 -1.6 6.59e-01 -1.6 9.73e-01 9.43e-01h 1 3 2.1329169e+00 2.70e-03 2.28e-01 -3.0 1.11e-01 -1.1 8.94e-01 1.00e+00h 1 4 2.1015230e+00 1.41e-03 2.98e-01 -3.6 1.67e-01 -1.6 1.00e+00 7.99e-01h 1 5 2.0938357e+00 1.03e-03 3.86e-01 -4.0 3.59e-01 -2.1 1.00e+00 5.80e-01h 1 6 2.0908735e+00 3.12e-04 7.36e-02 -4.0 4.03e-01 -2.6 1.00e+00 7.74e-01h 1 7 2.0909604e+00 2.31e-05 2.78e-02 -4.0 1.60e-01 -3.1 1.00e+00 1.00e+00h 1 8 2.0909548e+00 3.57e-07 6.56e-05 -4.0 7.03e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909335e+00 3.87e-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 2.0908718e+00 1.46e-07 2.05e-05 -4.0 6.30e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0906899e+00 1.29e-06 4.95e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0901717e+00 1.09e-05 4.19e-04 -4.0 5.44e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888318e+00 8.17e-05 3.15e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861506e+00 4.38e-04 1.74e-02 -4.0 3.46e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830872e+00 9.07e-04 4.70e-02 -4.0 5.31e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828666e+00 9.32e-04 2.36e-02 -4.0 5.38e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823466e+00 4.04e-04 9.99e-03 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820401e+00 9.22e-05 1.85e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.69e-04 8.68e-03 -4.0 9.92e+01 -8.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0819393e+00 3.69e-05 8.47e-04 -4.0 3.11e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.34e-07 1.39e-05 -4.0 4.47e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.86e-10 3.29e-08 -4.0 2.46e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.54e-13 1.23e-11 -4.0 4.61e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907191040e+00 2.0819382907191040e+00 Dual infeasibility......: 1.2272936058274966e-11 1.2272936058274966e-11 Constraint violation....: 2.5401902803423582e-13 2.5401902803423582e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000061e-04 1.0000000000000061e-04 Overall NLP error.......: 1.2272936058274966e-11 1.2272936058274966e-11 Number of objective function evaluations = 24 Number of objective gradient evaluations = 24 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 24 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 23 Total seconds in IPOPT = 24.526 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 2.6118707e+00 3.46e+00 2.03e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6963609e+00 3.38e-02 6.26e-01 -1.0 2.23e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3109092e+00 3.44e-02 1.87e-01 -1.7 3.52e-01 -1.6 9.25e-01 1.00e+00h 1 3 2.1173229e+00 1.96e-03 1.82e-01 -2.9 8.37e-02 -1.1 9.95e-01 9.55e-01h 1 4 2.1072304e+00 1.30e-03 2.11e+00 -4.0 3.44e-01 -1.6 1.00e+00 3.60e-01h 1 5 2.1007750e+00 2.06e-03 1.36e+00 -3.1 7.53e-01 -2.1 9.97e-01 1.00e+00h 1 6 2.0923178e+00 1.09e-03 8.88e-01 -4.0 1.61e+00 -2.6 1.00e+00 4.63e-01h 1 7 2.0914477e+00 4.73e-04 5.18e-01 -4.0 5.00e-01 -3.1 1.00e+00 5.57e-01h 1 8 2.0909266e+00 1.74e-05 2.74e-02 -4.0 1.96e-01 -3.5 1.00e+00 1.00e+00h 1 9 2.0909299e+00 2.94e-06 3.81e-04 -4.0 1.85e-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 2.0908895e+00 2.05e-07 1.43e-04 -4.0 4.98e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907878e+00 5.17e-07 5.22e-04 -4.0 1.32e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904914e+00 5.46e-06 4.62e-04 -4.0 4.02e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0903644e+00 8.83e-07 6.14e-04 -4.0 1.59e+00 -5.0 1.00e+00 1.00e+00h 1 14 2.0902131e+00 1.54e-06 1.92e-02 -4.0 6.60e+00 -5.5 1.00e+00 2.23e-01h 2 15 2.0890161e+00 6.66e-05 2.67e-03 -4.0 1.40e+01 -6.0 1.00e+00 1.00e+00h 1 16 2.0865042e+00 3.45e-04 3.13e-02 -4.0 3.71e+01 -6.4 1.00e+00 8.45e-01h 1 17 2.0834645e+00 1.20e-03 5.12e-02 -4.0 5.89e+01 -6.9 1.00e+00 1.00e+00h 1 18 2.0827281e+00 7.71e-04 1.86e-02 -4.0 1.01e+02 -7.4 1.00e+00 1.00e+00h 1 19 2.0824701e+00 8.48e-05 4.84e-03 -4.0 1.59e+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 2.0823265e+00 2.33e-04 4.32e-03 -4.0 6.64e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0866220e+00 7.76e-07 1.79e-01 -4.0 2.54e+02 -7.9 2.10e-01 1.00e+00H 1 22 2.0827532e+00 1.05e-03 1.52e+00 -4.0 5.83e+00 -4.8 1.64e-01 4.73e-01f 1 23 2.0824044e+00 1.03e-03 1.57e+00 -4.1 1.11e+01 -3.5 2.07e-01 2.46e-02h 1 24 2.0825247e+00 7.31e-04 1.70e+00 -4.1 3.76e-01 -3.9 1.00e+00 2.92e-01f 2 25 2.0823836e+00 1.17e-05 2.98e-04 -4.1 1.78e-01 -4.4 1.00e+00 1.00e+00h 1 26 2.0825690e+00 1.25e-05 1.68e-04 -4.0 4.30e-01 -4.9 1.00e+00 1.00e+00h 1 27 2.0823182e+00 3.39e-05 9.37e-05 -4.1 1.35e+00 -5.4 1.00e+00 1.00e+00h 1 28 2.0823695e+00 6.30e-05 7.63e-04 -4.0 3.13e+00 -5.9 1.00e+00 1.00e+00h 1 29 2.0820267e+00 1.88e-04 5.79e-04 -4.1 8.11e+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 2.0821207e+00 4.58e-04 1.36e-03 -4.0 2.03e+01 -6.8 1.00e+00 1.00e+00h 1 31 2.0816654e+00 8.94e-04 2.70e-03 -4.1 4.61e+01 -7.3 8.47e-01 1.00e+00h 1 32 2.0816923e+00 6.32e-04 1.47e-02 -4.0 1.50e+01 -6.0 1.00e+00 1.00e+00h 1 33 2.0817815e+00 3.87e-05 7.45e-03 -4.0 2.85e+00 -6.4 9.87e-01 1.00e+00h 1 34 2.0818957e+00 1.09e-04 1.41e-03 -4.0 6.59e+00 -6.9 1.00e+00 1.00e+00h 1 35 2.0816577e+00 1.93e-04 9.61e-04 -4.1 9.21e+00 -7.4 1.00e+00 1.00e+00h 1 36 2.0818674e+00 5.38e-04 5.86e-04 -4.0 2.37e+01 -7.9 1.00e+00 1.00e+00h 1 37 2.0815924e+00 7.70e-04 6.80e-04 -4.1 3.45e+01 -8.3 1.00e+00 1.00e+00h 1 38 2.0818405e+00 6.72e-04 4.82e-04 -4.0 2.87e+01 -8.8 1.00e+00 1.00e+00h 1 39 2.0815807e+00 3.07e-04 5.10e-05 -4.1 1.36e+01 -9.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818394e+00 1.86e-04 2.60e-05 -4.0 8.49e+00 -9.8 1.00e+00 1.00e+00h 1 41 2.0815804e+00 2.08e-04 1.27e-05 -4.1 9.48e+00 -10.2 1.00e+00 1.00e+00h 1 42 2.0818395e+00 2.10e-04 1.06e-05 -4.0 9.57e+00 -10.7 1.00e+00 1.00e+00h 1 43 2.0815804e+00 2.11e-04 9.55e-06 -4.1 9.60e+00 -11.2 1.00e+00 1.00e+00h 1 44 2.0818395e+00 2.11e-04 9.41e-06 -4.0 9.62e+00 -11.7 1.00e+00 1.00e+00h 1 45 2.0815804e+00 2.11e-04 9.14e-06 -4.1 9.62e+00 -12.2 1.00e+00 1.00e+00h 1 46 2.0818395e+00 2.11e-04 9.27e-06 -4.0 9.62e+00 -12.6 1.00e+00 1.00e+00h 1 47 2.0815804e+00 2.11e-04 9.09e-06 -4.1 9.62e+00 -13.1 1.00e+00 1.00e+00h 1 48 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -13.6 9.78e-01 9.71e-01h 1 49 2.0818882e+00 6.56e-03 2.96e-04 -4.0 6.10e+01 -14.1 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0816141e+00 4.87e-04 1.05e-05 -4.1 2.07e+01 -14.5 1.00e+00 1.00e+00h 1 51 2.0805989e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -15.0 9.76e-01 9.65e-01h 1 52 2.0805508e+00 8.46e-05 2.20e-06 -6.1 1.69e+01 -15.5 1.00e+00 1.00e+00h 1 53 2.0819794e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -16.0 1.00e+00 1.00e+00f 1 54 2.0816850e+00 9.29e-04 4.93e-05 -4.1 4.57e+01 -16.5 1.00e+00 1.00e+00h 1 55 2.0816490e+00 4.77e-07 7.43e-07 -4.1 8.50e+00 -16.9 1.00e+00 1.00e+00h 1 56 2.0818389e+00 1.13e-04 4.87e-06 -4.0 7.02e+00 -17.4 1.00e+00 1.00e+00h 1 57 2.0815801e+00 2.08e-04 9.04e-06 -4.1 9.49e+00 -17.9 1.00e+00 1.00e+00h 1 58 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -18.4 9.78e-01 9.71e-01h 1 59 2.0805497e+00 6.51e-05 1.78e-06 -6.1 1.55e+01 -18.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -19.3 1.00e+00 1.00e+00f 1 61 2.0816901e+00 9.49e-04 5.23e-05 -4.1 4.72e+01 -19.8 1.00e+00 1.00e+00h 1 62 2.0816518e+00 5.68e-07 7.86e-07 -4.1 8.91e+00 -20.0 1.00e+00 1.00e+00h 1 63 2.0805907e+00 3.69e-03 1.61e-04 -6.1 4.17e+01 -20.0 9.77e-01 9.75e-01h 1 64 2.0805511e+00 6.76e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 65 2.0805469e+00 4.72e-08 2.03e-08 -6.1 2.96e+00 -20.0 1.00e+00 1.00e+00h 1 66 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.88e+01 -20.0 1.00e+00 1.00e+00f 1 67 2.0817176e+00 1.03e-03 6.82e-05 -4.1 5.46e+01 -20.0 1.00e+00 1.00e+00h 1 68 2.0816664e+00 1.23e-06 1.00e-06 -4.1 1.09e+01 -20.0 1.00e+00 1.00e+00h 1 69 2.0805915e+00 3.77e-03 1.67e-04 -6.1 4.21e+01 -20.0 9.76e-01 9.75e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 71 2.0805471e+00 5.00e-08 2.15e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 72 2.0805365e+00 9.59e-07 8.07e-07 -9.0 9.59e-01 -20.0 1.00e+00 9.97e-01h 1 73 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 74 2.0817324e+00 1.07e-03 7.73e-05 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 75 2.0816741e+00 1.68e-06 1.10e-06 -4.1 1.18e+01 -20.0 1.00e+00 1.00e+00h 1 76 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 77 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 78 2.0805472e+00 5.16e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 79 2.0805365e+00 9.80e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805365e+00 9.37e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 81 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 82 2.0817328e+00 1.07e-03 7.75e-05 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 83 2.0816743e+00 1.69e-06 1.10e-06 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 84 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 85 2.0805516e+00 7.08e-05 2.06e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 86 2.0805472e+00 5.17e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 87 2.0805365e+00 9.81e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 88 2.0805365e+00 9.39e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 89 2.0805365e+00 4.44e-16 3.37e-16 -9.0 1.11e-05 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805365e+00 6.66e-16 2.22e-16 -9.0 1.99e-12 -20.0 1.00e+00 1.00e+00h 1 91 2.0805365e+00 2.22e-16 2.41e-16 -9.0 8.86e-14 -20.0 1.00e+00 1.00e+00 0 92 2.0805365e+00 8.88e-16 2.03e-16 -9.0 6.79e-14 -20.0 1.00e+00 1.00e+00T 0 Number of Iterations....: 92 (scaled) (unscaled) Objective...............: 2.0805364715330508e+00 2.0805364715330508e+00 Dual infeasibility......: 2.0309745975833971e-16 2.0309745975833971e-16 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 9.0909103283437487e-09 9.0909103283437487e-09 Complementarity.........: 9.0909090969342984e-10 9.0909090969342984e-10 Overall NLP error.......: 9.9999090909091523e-05 9.9999090909091523e-05 Number of objective function evaluations = 98 Number of objective gradient evaluations = 93 Number of equality constraint evaluations = 98 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 93 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 93 Total seconds in IPOPT = 26.684 EXIT: Search Direction is becoming Too Small. initializing optimizer... applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 196 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 28 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.6666425e+00 8.87e-01 1.06e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.4637693e+00 1.34e-01 1.09e+00 -1.1 8.24e-01 0.0 9.68e-01 9.43e-01h 1 2 1.4579894e+00 4.63e-02 6.74e-01 -0.9 4.29e-01 -0.5 8.86e-01 5.21e-01f 1 3 1.6090643e+00 4.31e-02 1.07e+00 -1.5 3.62e-01 -1.0 9.16e-01 1.00e+00h 1 4 2.0201303e+00 4.24e-02 1.22e+00 0.3 4.43e+01 -1.4 5.83e-02 6.93e-03f 2 5 2.6576997e+00 1.11e-01 3.96e+00 1.1 2.57e+02 - 3.29e-02 5.62e-03f 2 6 2.8047836e+00 3.49e-01 4.30e+00 -0.4 1.32e+00 - 1.00e+00 1.00e+00f 1 7 2.4896463e+00 5.54e-02 5.20e-01 -0.4 6.33e-01 - 1.00e+00 1.00e+00h 1 8 2.0158540e+00 2.56e-03 2.34e+00 -4.0 2.42e-01 - 8.08e-01 1.00e+00f 1 9 1.1595192e+00 6.38e-06 3.75e-01 -2.2 3.78e-01 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0931038e+00 1.99e-08 1.91e-02 -3.7 2.12e-01 - 1.00e+00 1.00e+00f 1 11 1.0909138e+00 5.07e-11 7.04e-03 -4.0 6.71e-01 - 1.00e+00 1.00e+00f 1 12 1.0908997e+00 4.50e-15 7.84e-05 -4.0 7.51e-02 - 1.00e+00 1.00e+00h 1 13 1.0908997e+00 2.83e-28 1.30e-10 -4.0 9.68e-05 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 13 (scaled) (unscaled) Objective...............: 1.0908997263323117e+00 1.0908997263323117e+00 Dual infeasibility......: 1.3013842447792169e-10 1.3013842447792169e-10 Constraint violation....: 2.8305218052374978e-28 2.8305218052374978e-28 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000318564530e-04 1.0000000318564530e-04 Overall NLP error.......: 1.3013842447792169e-10 1.3013842447792169e-10 Number of objective function evaluations = 18 Number of objective gradient evaluations = 14 Number of equality constraint evaluations = 18 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 14 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 13 Total seconds in IPOPT = 22.226 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 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.1643697e-02 8.33e-17 9.99e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Number of Iterations....: 1 Number of objective function evaluations = 2 Number of objective gradient evaluations = 2 Number of equality constraint evaluations = 2 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 = 1 Total seconds in IPOPT = 2.533 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 1.1509268e+00 4.40e-01 9.67e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.0209184e+00 5.77e-09 3.09e-01 -0.3 7.67e-01 -2.0 9.09e-01 1.00e+00f 1 2 2.5191659e-01 4.50e-09 2.63e-01 -4.0 1.07e+00 -1.6 8.31e-01 1.00e+00f 1 3 1.2053831e-01 4.29e-11 3.97e-02 -2.2 4.23e-01 -1.1 1.00e+00 1.00e+00f 1 4 3.3030467e-02 2.47e-11 3.52e-02 -3.1 7.34e-01 -1.6 1.00e+00 1.00e+00f 1 5 7.2359904e-03 1.49e-11 1.56e-02 -4.0 6.64e-01 -2.1 1.00e+00 1.00e+00f 1 6 1.5457010e-03 4.93e-12 5.23e-03 -4.0 4.59e-01 -2.6 1.00e+00 1.00e+00f 1 7 5.3351313e-04 1.48e-12 1.34e-03 -4.0 2.12e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.5731536e-04 2.35e-13 2.40e-04 -4.0 7.44e-02 -3.5 1.00e+00 1.00e+00f 1 9 4.5289448e-04 1.88e-14 1.48e-04 -4.0 2.43e-02 -4.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 4.5780309e-04 1.70e-14 1.63e-04 -4.0 2.64e-02 -4.5 1.00e+00 1.00e+00f 1 11 3.0172668e-04 1.31e-14 4.04e-04 -4.1 7.41e-02 -5.0 1.00e+00 1.00e+00f 1 12 4.6320028e-04 7.88e-15 3.72e-04 -4.0 1.96e-01 -5.4 1.00e+00 5.00e-01f 2 13 2.7208524e-04 4.77e-15 5.26e-04 -4.1 1.00e-01 -5.9 1.00e+00 1.00e+00f 1 14 4.6763742e-04 3.77e-15 4.68e-04 -4.0 2.46e-01 -6.4 1.00e+00 5.00e-01f 2 15 2.6256184e-04 2.78e-15 5.84e-04 -4.1 1.12e-01 -6.9 1.00e+00 1.00e+00f 1 16 4.6828743e-04 2.78e-15 5.05e-04 -4.0 2.66e-01 -7.4 1.00e+00 5.00e-01f 2 17 2.5953958e-04 2.22e-15 6.11e-04 -4.1 1.18e-01 -7.8 1.00e+00 1.00e+00f 1 18 4.6808610e-04 2.33e-15 5.21e-04 -4.0 2.76e-01 -8.3 1.00e+00 5.00e-01f 2 19 2.5858496e-04 1.78e-15 6.29e-04 -4.1 1.22e-01 -8.8 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 4.6756350e-04 1.89e-15 5.30e-04 -4.0 2.82e-01 -9.3 1.00e+00 5.00e-01f 2 21 2.5830168e-04 1.55e-15 6.44e-04 -4.1 1.25e-01 -9.7 1.00e+00 1.00e+00f 1 22 4.6695596e-04 1.67e-15 5.36e-04 -4.0 2.86e-01 -10.2 1.00e+00 5.00e-01f 2 23 2.5823016e-04 1.33e-15 6.57e-04 -4.1 1.27e-01 -10.7 1.00e+00 1.00e+00f 1 24 4.6633376e-04 1.33e-15 5.41e-04 -4.0 2.90e-01 -11.2 1.00e+00 5.00e-01f 2 25 2.5822287e-04 1.22e-15 6.70e-04 -4.1 1.30e-01 -11.6 1.00e+00 1.00e+00f 1 26 4.6572168e-04 1.22e-15 5.45e-04 -4.0 2.93e-01 -12.1 1.00e+00 5.00e-01f 2 27 2.5823283e-04 1.05e-15 6.82e-04 -4.1 1.32e-01 -12.6 1.00e+00 1.00e+00f 1 28 3.0911447e-05 9.83e-15 8.55e-04 -6.2 3.65e-01 -13.1 9.70e-01 1.00e+00f 1 29 1.7536685e-03 2.66e-15 7.44e-03 -4.0 1.93e+00 -13.6 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.4254679e-05 2.53e-14 2.78e-03 -4.1 9.82e-01 -14.0 1.00e+00 1.00e+00f 1 31 1.5835030e-03 3.33e-14 7.75e-03 -4.0 9.52e-01 -14.5 1.00e+00 1.00e+00f 1 32 9.9706447e-06 1.94e-14 2.20e-03 -4.2 1.05e+00 -15.0 1.00e+00 1.00e+00f 1 33 4.6990565e-04 1.67e-15 2.70e-03 -4.0 1.34e+00 -15.5 1.00e+00 5.00e-01f 2 34 2.1888923e-04 3.33e-15 2.29e-04 -4.2 3.66e-01 -15.9 1.00e+00 5.00e-01f 2 35 2.0126602e-05 4.72e-15 7.76e-04 -6.4 3.98e-01 -16.4 9.65e-01 1.00e+00f 1 36 8.0936587e-06 3.50e-15 9.57e-05 -6.4 1.01e-01 -16.9 1.00e+00 1.00e+00f 1 37 1.5789515e-03 1.11e-15 5.46e-03 -4.0 9.38e+00 -17.4 1.00e+00 1.25e-01f 4 38 9.5942874e-05 5.66e-14 3.42e-03 -4.0 7.84e-01 -17.8 1.00e+00 1.00e+00f 1 39 7.5608451e-04 3.82e-14 3.50e-03 -4.0 5.29e-01 -18.3 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 3.8105813e-04 7.11e-15 4.22e-04 -4.0 4.12e-01 -18.8 1.00e+00 5.00e-01f 2 41 3.5508520e-05 5.77e-15 1.29e-03 -6.0 4.90e-01 -19.3 9.57e-01 1.00e+00f 1 42 1.4635551e-05 5.61e-15 1.55e-04 -6.0 1.22e-01 -19.8 1.00e+00 1.00e+00f 1 43 4.0377115e-06 8.88e-16 9.82e-05 -6.0 1.39e-01 -20.0 1.00e+00 1.00e+00f 1 44 1.1450302e-03 8.88e-16 3.50e-03 -4.0 1.52e+01 -20.0 1.00e+00 7.92e-02f 4 45 1.5007177e-04 5.06e-14 2.98e-03 -4.0 6.16e-01 -20.0 1.00e+00 1.00e+00f 1 46 6.9470298e-04 2.58e-14 2.93e-03 -4.0 4.39e-01 -20.0 1.00e+00 1.00e+00f 1 47 3.9115210e-04 4.88e-15 4.21e-04 -4.0 3.70e-01 -20.0 1.00e+00 5.00e-01f 2 48 3.5672003e-05 5.88e-15 1.42e-03 -6.0 5.32e-01 -20.0 9.52e-01 1.00e+00f 1 49 1.4804843e-05 5.05e-15 1.67e-04 -6.0 1.30e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 3.9701517e-06 8.88e-16 1.07e-04 -6.0 1.52e-01 -20.0 1.00e+00 1.00e+00f 1 51 9.2111737e-04 4.44e-16 2.48e-03 -4.0 1.63e+01 -20.0 1.00e+00 7.37e-02f 4 52 1.8479306e-04 4.33e-14 2.62e-03 -4.0 5.20e-01 -20.0 1.00e+00 1.00e+00f 1 53 6.3325026e-04 1.82e-14 2.49e-03 -4.0 3.79e-01 -20.0 1.00e+00 1.00e+00f 1 54 3.8786165e-04 3.33e-15 4.08e-04 -4.0 3.35e-01 -20.0 1.00e+00 5.00e-01f 2 55 3.4796895e-05 5.55e-15 1.50e-03 -6.1 5.68e-01 -20.0 9.47e-01 1.00e+00f 1 56 1.4532775e-05 4.55e-15 1.73e-04 -6.1 1.37e-01 -20.0 1.00e+00 1.00e+00f 1 57 3.8269056e-06 7.22e-16 1.14e-04 -6.1 1.63e-01 -20.0 1.00e+00 1.00e+00f 1 58 7.5536989e-04 4.51e-16 1.54e-03 -4.0 1.77e+01 -20.0 1.00e+00 6.77e-02f 4 59 2.2111259e-04 3.80e-14 2.22e-03 -4.1 4.23e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 5.7202966e-04 1.24e-14 1.99e-03 -4.1 3.09e-01 -20.0 1.00e+00 1.00e+00f 1 61 3.8487289e-04 2.00e-15 3.75e-04 -4.1 2.86e-01 -20.0 1.00e+00 5.00e-01f 2 62 3.3802394e-05 5.44e-15 1.58e-03 -6.1 6.02e-01 -20.0 9.43e-01 1.00e+00f 1 63 1.4252297e-05 4.11e-15 1.78e-04 -6.1 1.42e-01 -20.0 1.00e+00 1.00e+00f 1 64 3.7047974e-06 6.66e-16 1.19e-04 -6.1 1.74e-01 -20.0 1.00e+00 1.00e+00f 1 65 6.3461362e-04 4.44e-16 7.43e-04 -4.0 1.90e+01 -20.0 1.00e+00 6.28e-02f 4 66 2.5441287e-04 3.38e-14 1.80e-03 -4.1 3.34e-01 -20.0 1.00e+00 1.00e+00f 1 67 5.1722938e-04 8.22e-15 1.51e-03 -4.1 2.39e-01 -20.0 1.00e+00 1.00e+00f 1 68 3.8083308e-04 1.33e-15 3.30e-04 -4.1 2.34e-01 -20.0 1.00e+00 5.00e-01f 2 69 3.2712700e-05 5.22e-15 1.65e-03 -6.1 6.34e-01 -20.0 9.39e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 1.3938409e-05 3.77e-15 1.81e-04 -6.1 1.46e-01 -20.0 1.00e+00 1.00e+00f 1 71 3.5926298e-06 6.11e-16 1.23e-04 -6.1 1.82e-01 -20.0 1.00e+00 1.00e+00f 1 72 5.4519491e-04 3.05e-16 7.81e-05 -4.0 2.03e+01 -20.0 1.00e+00 5.86e-02f 4 73 2.8381921e-04 3.04e-14 1.40e-03 -4.1 2.54e-01 -20.0 1.00e+00 1.00e+00f 1 74 4.7074992e-04 5.33e-15 1.06e-03 -4.1 1.73e-01 -20.0 1.00e+00 1.00e+00f 1 75 2.9684643e-04 4.00e-15 9.99e-04 -4.1 1.82e-01 -20.0 1.00e+00 1.00e+00f 1 76 4.6368396e-04 2.89e-15 9.23e-04 -4.1 1.50e-01 -20.0 1.00e+00 1.00e+00f 1 77 3.0399905e-04 3.55e-15 9.05e-04 -4.1 1.64e-01 -20.0 1.00e+00 1.00e+00f 1 78 4.5661405e-04 2.89e-15 8.28e-04 -4.1 1.35e-01 -20.0 1.00e+00 1.00e+00f 1 79 2.3521472e-05 4.66e-15 1.82e-03 -6.1 7.70e-01 -20.0 9.25e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 1.2290929e-05 4.00e-15 1.20e-04 -6.1 1.06e-01 -20.0 1.00e+00 1.00e+00f 1 81 3.0737880e-06 4.44e-16 1.15e-04 -6.1 1.83e-01 -20.0 1.00e+00 1.00e+00f 1 82 4.9702500e-04 4.44e-16 5.19e-04 -4.0 2.30e+01 -20.0 1.00e+00 5.18e-02f 4 83 3.0869035e-04 2.95e-14 1.08e-03 -4.1 1.93e-01 -20.0 1.00e+00 1.00e+00f 1 84 4.4448978e-04 3.77e-15 7.40e-04 -4.1 1.22e-01 -20.0 1.00e+00 1.00e+00f 1 85 2.4258648e-05 4.44e-15 1.89e-03 -6.1 7.90e-01 -20.0 9.22e-01 1.00e+00f 1 86 1.2432867e-05 3.66e-15 1.31e-04 -6.1 1.15e-01 -20.0 1.00e+00 1.00e+00f 1 87 3.1154192e-06 4.44e-16 1.22e-04 -6.1 1.93e-01 -20.0 1.00e+00 1.00e+00f 1 88 3.9875519e-06 2.05e-16 2.09e-05 -6.1 3.63e-02 -20.0 1.00e+00 1.00e+00f 1 89 3.4333082e-06 5.55e-17 6.02e-06 -6.1 1.08e-02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.6119571e-07 5.55e-17 5.27e-05 -9.0 2.34e-01 -20.0 9.77e-01 1.00e+00f 1 91 2.4793126e-03 6.87e-16 1.21e-02 -4.0 1.04e+02 -20.0 1.00e+00 2.33e-02f 3 92 8.3243470e-05 4.88e-14 7.12e-03 -3.9 1.56e+00 -20.0 1.00e+00 1.00e+00f 1 93 7.7302849e-04 2.93e-14 5.39e-03 -3.9 8.17e-01 -20.0 1.00e+00 1.00e+00f 1 94 4.3989809e-04 5.77e-15 7.71e-04 -3.9 5.36e-01 -20.0 1.00e+00 5.00e-01f 2 95 4.3461414e-05 4.22e-15 2.14e-03 -5.9 7.14e-01 -20.0 9.30e-01 1.00e+00f 1 96 1.7953100e-05 4.00e-15 2.62e-04 -5.9 1.86e-01 -20.0 1.00e+00 1.00e+00f 1 97 5.1406272e-06 7.04e-16 1.66e-04 -5.9 2.09e-01 -20.0 1.00e+00 1.00e+00f 1 98 5.8508377e-06 3.33e-16 1.77e-05 -5.9 2.50e-02 -20.0 1.00e+00 1.00e+00h 1 99 5.4017276e-06 5.29e-17 2.80e-06 -5.9 4.02e-03 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 3.8873342e-07 5.38e-17 7.97e-05 -8.9 2.86e-01 -20.0 9.71e-01 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 3.8873341892342126e-07 3.8873341892342126e-07 Dual infeasibility......: 7.9662111958848236e-05 7.9662111958848236e-05 Constraint violation....: 5.3776427755281020e-17 5.3776427755281020e-17 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 3.1455489214252206e-07 3.1455489214252206e-07 Overall NLP error.......: 9.9999998463067030e-05 9.9999998463067030e-05 Number of objective function evaluations = 171 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 171 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 1 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 3.289 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 6.2699892e+00 4.08e+00 5.38e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7547634e+00 3.72e-02 6.03e-01 -1.0 2.83e+00 - 1.00e+00 1.00e+00f 1 2 2.4905948e+00 8.11e-03 2.53e-01 -1.4 1.96e-01 - 8.87e-01 1.00e+00f 1 3 2.1709084e+00 3.66e-03 4.58e-02 -2.2 6.53e-02 - 9.44e-01 8.97e-01h 1 4 2.0946604e+00 1.56e-04 4.97e-03 -3.5 1.34e-02 - 9.90e-01 1.00e+00h 1 5 2.0908949e+00 4.82e-05 3.53e-04 -4.0 1.04e-01 - 1.00e+00 1.00e+00h 1 6 2.0908979e+00 2.13e-07 1.07e-05 -4.0 1.60e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 1.31e-10 4.41e-10 -4.0 2.29e-02 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971970394212e+00 2.0908971970394212e+00 Dual infeasibility......: 4.4125426053374765e-10 4.4125426053374765e-10 Constraint violation....: 1.3111370176415241e-10 1.3111370176415241e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000614327184081e-04 1.0000614327184081e-04 Overall NLP error.......: 6.1432718408019425e-09 6.1432718408019425e-09 Number of objective function evaluations = 8 Number of objective gradient evaluations = 8 Number of equality constraint evaluations = 8 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 8 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 7 Total seconds in IPOPT = 24.645 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 4.5093053e+00 1.32e+00 9.19e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.2031509e+00 7.33e-01 1.01e+00 -0.9 7.43e+00 -4.0 7.08e-01 8.14e-01f 1 2 2.3770798e+00 7.52e-01 6.19e+00 -1.4 8.11e+00 -2.7 2.43e-01 9.39e-01h 1 3 2.3468390e+00 2.38e-01 2.51e+00 -1.4 1.58e+00 -1.3 7.54e-01 5.83e-01f 1 4 2.2746989e+00 1.31e-02 9.84e-01 -1.6 4.74e-01 -1.8 9.98e-01 1.00e+00h 1 5 2.1937894e+00 2.41e-02 1.56e-01 -2.0 7.72e-01 -2.3 9.93e-01 1.00e+00h 1 6 2.1482367e+00 6.01e-03 4.23e-01 -2.5 1.34e+00 -2.8 9.75e-01 4.92e-01h 1 7 2.1031941e+00 3.87e-03 7.03e-02 -2.6 4.18e-01 -3.3 9.98e-01 9.96e-01h 1 8 2.0922848e+00 3.87e-04 2.66e-02 -3.6 1.52e-01 -3.7 1.00e+00 1.00e+00h 1 9 2.0908503e+00 1.02e-04 6.19e-04 -4.0 2.94e-01 -4.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0907699e+00 1.34e-06 6.75e-05 -4.0 8.41e-01 -4.7 1.00e+00 1.00e+00h 1 11 2.0905620e+00 1.95e-06 6.63e-04 -4.0 2.08e+00 -5.2 1.00e+00 1.00e+00h 1 12 2.0902172e+00 4.68e-06 2.41e-03 -4.0 3.75e+00 -5.6 1.00e+00 1.00e+00h 1 13 2.0900312e+00 4.04e-06 4.14e-03 -4.0 5.52e+00 -6.1 1.00e+00 1.00e+00h 1 14 2.0898683e+00 9.64e-06 1.66e-03 -4.0 8.38e+00 -6.6 1.00e+00 1.00e+00h 1 15 2.0898252e+00 9.37e-07 1.48e-03 -4.0 1.06e+01 -7.1 1.00e+00 1.00e+00h 1 16 2.0898245e+00 1.99e-06 7.71e-04 -4.0 9.78e+00 -7.5 1.00e+00 1.00e+00h 1 17 2.0898222e+00 5.33e-07 1.21e-04 -4.0 3.52e+00 -8.0 1.00e+00 1.00e+00h 1 18 2.0898219e+00 1.28e-08 2.30e-06 -4.0 6.29e-01 -8.5 1.00e+00 1.00e+00h 1 19 2.0898219e+00 4.02e-11 1.11e-08 -4.0 5.84e-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 20 2.0898218e+00 4.89e-14 1.16e-11 -4.0 1.97e-03 -9.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 20 (scaled) (unscaled) Objective...............: 2.0898218497899701e+00 2.0898218497899701e+00 Dual infeasibility......: 1.1633527393370771e-11 1.1633527393370771e-11 Constraint violation....: 4.8905324234738146e-14 4.8905324234738146e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 1.1633527393370771e-11 1.1633527393370771e-11 Number of objective function evaluations = 21 Number of objective gradient evaluations = 21 Number of equality constraint evaluations = 21 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 21 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 20 Total seconds in IPOPT = 25.180 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: bounds constraint on trajectory variable x applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 35 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.5639641e+00 3.62e+00 6.58e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.3063687e+00 3.40e+00 4.56e+00 -0.0 2.12e+00 0.0 2.07e-02 5.99e-02f 1 2 4.3046161e+00 3.40e+00 1.43e+02 -4.0 4.45e+00 -0.5 4.81e-02 1.07e-03h 1 3 4.5050200e+00 3.30e+00 4.48e+03 0.3 1.39e+01 -1.0 1.00e+00 2.74e-02f 1 4 4.5217284e+00 3.30e+00 1.32e+04 -4.0 2.33e+02 -1.4 8.09e-03 1.09e-03h 1 5 4.8557859e+00 3.29e+00 1.97e+06 2.1 7.16e+02 -1.9 1.00e+00 3.58e-03f 1 6 4.8555219e+00 3.28e+00 2.77e+06 2.5 9.19e+04 -2.4 1.32e-03 3.63e-04h 3 7 4.8537478e+00 3.28e+00 3.41e+06 2.5 2.10e+05 -2.9 1.24e-03 2.93e-04f 4 8 4.8488318e+00 3.28e+00 3.32e+07 2.5 3.44e+05 -3.3 7.39e-02 9.29e-04f 3 9 4.8478357e+00 3.28e+00 3.54e+07 2.5 4.14e+05 -3.8 1.79e-03 6.90e-04h 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 4.8464740e+00 3.27e+00 1.42e+09 2.5 4.15e+05 -4.3 3.54e-01 1.06e-03h 2 11 4.8441964e+00 3.22e+00 4.87e+09 2.5 2.94e+05 -4.8 5.82e-03 1.63e-03h 1 12 4.8441325e+00 3.22e+00 8.57e+11 2.5 2.44e+05 -5.2 8.70e-03 6.23e-05h 1 13 3.8635061e+00 1.01e+01 7.32e+11 2.5 1.67e+03 -4.8 1.45e-01 9.09e-01H 1 14r 3.8635061e+00 1.01e+01 9.99e+02 1.0 0.00e+00 -5.3 0.00e+00 1.88e-07R 2 15r 3.8616016e+00 2.51e+00 7.00e+03 2.4 5.07e+04 - 9.08e-02 1.23e-03f 1 16 3.8610272e+00 2.51e+00 3.05e+02 -4.0 6.44e+01 -5.8 5.14e-01 1.66e-03h 1 17 3.8613812e+00 2.51e+00 3.14e+03 0.2 3.82e+05 -6.3 4.08e-04 4.19e-05h 1 18 3.8681207e+00 6.17e+00 3.50e+04 1.2 2.79e+06 -6.7 2.99e-03 2.25e-04f 1 19 3.8848888e+00 9.72e+00 3.52e+04 -0.8 1.27e+06 -7.2 2.74e-04 2.60e-04f 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 3.9497434e+00 1.25e+01 3.64e+04 -0.8 4.29e+04 -7.7 5.63e-04 1.28e-03f 2 21 4.0080343e+00 6.07e+00 3.03e+03 -0.8 7.44e+04 -8.2 4.97e-02 1.65e-03h 3 22 4.2143186e+00 5.48e+00 1.65e+03 -0.8 9.36e+03 -8.6 1.57e-03 6.80e-03f 2 23 4.4215610e+00 2.85e+00 1.39e+03 -0.8 2.04e+03 -9.1 1.10e-04 6.95e-03h 1 24 4.4218889e+00 2.84e+00 1.17e+03 -0.8 8.59e+01 -9.6 9.46e-01 4.03e-03h 1 25 4.4225626e+00 2.84e+00 3.32e+04 -0.8 3.91e+02 -10.1 7.29e-02 1.46e-04h 1 26 4.4253605e+00 2.84e+00 9.19e+06 -0.8 8.91e+02 -10.5 7.35e-02 2.74e-04h 1 27 4.4255956e+00 2.84e+00 4.99e+10 -0.8 3.58e+03 -11.0 1.15e-01 2.08e-05h 1 28r 4.4255956e+00 2.84e+00 1.00e+03 0.5 0.00e+00 -11.5 0.00e+00 1.41e-07R 2 29r 4.1938916e+00 9.94e-01 9.98e+02 1.6 4.60e+03 - 7.60e-02 1.25e-03f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 4.1938185e+00 9.93e-01 4.56e+03 -1.2 6.63e+01 -12.0 8.35e-01 2.36e-04h 1 31 4.1941120e+00 9.93e-01 1.49e+08 0.1 1.18e+03 -12.5 1.00e+00 3.05e-05h 1 32r 4.1941120e+00 9.93e-01 1.00e+03 2.1 0.00e+00 -12.9 0.00e+00 2.18e-07R 2 33r 3.8655523e+00 2.06e-01 7.89e+02 0.6 2.47e+01 - 7.66e-01 1.37e-01f 1 34 3.8649686e+00 2.05e-01 4.08e+02 -1.2 6.82e+01 -13.4 8.45e-01 2.72e-03h 1 35 3.8689190e+00 2.05e-01 1.41e+06 0.2 1.64e+03 -13.9 1.00e+00 3.14e-04h 1 36 3.8693112e+00 2.05e-01 6.47e+10 1.3 2.83e+03 -14.4 1.00e+00 2.14e-05h 1 37r 3.8693112e+00 2.05e-01 9.88e+02 2.5 0.00e+00 -14.8 0.00e+00 1.54e-07R 2 38r 3.4207144e+00 4.36e-01 2.43e+02 0.7 9.69e+00 - 8.00e-01 7.20e-01f 1 39r 3.4163163e+00 2.01e-01 5.09e+01 -0.3 4.89e-01 0.0 7.71e-01 7.87e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40r 3.5481492e+00 1.99e-01 8.92e+00 -0.3 1.46e-01 -0.5 1.00e+00 9.59e-01f 1 41r 3.6086165e+00 1.99e-01 2.65e+00 -0.8 8.55e+00 - 9.23e-01 1.00e+00f 1 42r 3.5749432e+00 2.08e-01 1.22e+01 -1.6 9.27e+00 - 9.98e-01 9.32e-01f 1 43r 3.5634787e+00 1.99e-01 3.81e+00 -2.2 3.09e+00 - 9.08e-01 1.00e+00f 1 44r 3.5772871e+00 1.99e-01 2.26e-02 -3.2 2.59e+00 - 1.00e+00 1.00e+00f 1 45r 3.5838198e+00 1.99e-01 9.09e-03 -4.0 7.62e-01 - 1.00e+00 1.00e+00h 1 46r 3.6270729e+00 1.99e-01 1.30e-03 -4.0 1.23e+00 - 1.00e+00 1.00e+00h 1 47r 3.6228369e+00 1.99e-01 6.00e-05 -4.0 7.86e-01 - 1.00e+00 1.00e+00h 1 48r 3.6219532e+00 1.99e-01 1.28e-07 -4.0 2.09e-02 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 48 (scaled) (unscaled) Objective...............: 3.6219529144970046e+00 3.6219529144970046e+00 Dual infeasibility......: 2.0592808743981283e+00 2.0592808743981283e+00 Constraint violation....: 1.9875045034350569e-01 1.9875045034350569e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000818984324e-04 1.0000000818984324e-04 Overall NLP error.......: 2.0592808743981283e+00 2.0592808743981283e+00 Number of objective function evaluations = 87 Number of objective gradient evaluations = 39 Number of equality constraint evaluations = 87 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 54 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 49 Total seconds in IPOPT = 25.736 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 4.2314001e+00 2.89e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.9945542e+00 9.62e-01 2.55e+00 -0.9 5.71e+00 -2.0 6.89e-01 1.00e+00f 1 2 3.4751211e+00 1.00e+00 2.22e+00 -4.0 4.71e+01 -2.5 1.19e-01 1.51e-01f 1 3 2.3621448e+00 4.11e-01 1.81e+00 -2.5 6.07e+00 -3.0 6.91e-01 9.49e-01f 1 4 2.3373539e+00 4.36e-01 1.11e+00 -1.1 1.44e+01 -2.5 4.84e-01 1.10e-01f 1 5 2.2852673e+00 3.18e-01 5.87e-01 -2.1 8.17e+00 -3.0 7.53e-01 4.82e-01h 1 6 2.1997383e+00 2.51e-01 2.30e-01 -1.9 3.22e+00 -3.5 9.78e-01 9.88e-01h 1 7 2.1184705e+00 1.32e-02 2.52e-02 -2.4 1.54e+00 -4.0 1.00e+00 9.57e-01h 1 8 2.0922113e+00 1.74e-03 6.23e-03 -3.7 4.00e-01 -4.4 9.86e-01 1.00e+00h 1 9 2.0904285e+00 4.70e-04 1.09e-03 -4.0 1.68e+00 -4.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0899364e+00 6.42e-06 4.74e-05 -4.0 5.03e+00 -5.4 1.00e+00 1.00e+00h 1 11 2.0884642e+00 9.14e-05 3.91e-04 -4.0 1.50e+01 -5.9 1.00e+00 1.00e+00h 1 12 2.0841778e+00 8.72e-04 3.61e-03 -4.0 4.35e+01 -6.3 1.00e+00 1.00e+00h 1 13 2.0796055e+00 1.86e-03 2.23e-01 -4.0 1.08e+02 -6.8 1.00e+00 4.24e-01h 1 14 2.0793547e+00 1.51e-03 1.64e-01 -4.1 6.50e+01 -7.3 1.00e+00 8.62e-01H 1 15 2.0773480e+00 8.66e-03 2.57e-02 -4.0 1.27e+02 -7.8 1.00e+00 8.92e-01h 1 16 2.0767318e+00 2.12e-03 3.99e-02 -4.0 2.08e+02 -8.3 1.00e+00 1.00e+00h 1 17 2.0760557e+00 2.76e-03 2.98e-02 -4.0 3.55e+02 -8.7 1.00e+00 1.00e+00h 1 18 2.0755135e+00 1.51e-03 3.18e-02 -4.0 4.73e+02 -9.2 1.00e+00 6.27e-01h 1 19 2.0757330e+00 1.80e-03 1.06e-02 -4.0 1.35e+02 -9.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0756737e+00 1.39e-04 2.13e-04 -4.0 4.25e+01 -10.2 1.00e+00 1.00e+00h 1 21 2.0756713e+00 8.70e-07 4.35e-06 -4.0 2.12e+01 -10.6 1.00e+00 1.00e+00h 1 22 2.0756712e+00 2.64e-08 8.93e-07 -4.0 1.20e+01 -11.1 1.00e+00 1.00e+00h 1 23 2.0756712e+00 1.58e-09 6.26e-08 -4.0 3.91e+00 -11.6 1.00e+00 1.00e+00h 1 24 2.0756712e+00 2.07e-11 8.49e-10 -4.0 5.21e-01 -12.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 24 (scaled) (unscaled) Objective...............: 2.0756712121178809e+00 2.0756712121178809e+00 Dual infeasibility......: 8.4911272270663495e-10 8.4911272270663495e-10 Constraint violation....: 2.0716539594900496e-11 2.0716539594900496e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000033e-04 1.0000000000000033e-04 Overall NLP error.......: 8.4911272270663495e-10 8.4911272270663495e-10 Number of objective function evaluations = 26 Number of objective gradient evaluations = 25 Number of equality constraint evaluations = 26 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 25 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 24 Total seconds in IPOPT = 26.635 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 1.6968889e+00 2.05e+00 5.59e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.1915781e+00 2.11e-01 3.14e+00 -0.9 1.79e+00 0.0 9.97e-01 9.00e-01h 1 2 2.7776142e+00 1.75e-02 1.72e+00 -1.0 4.80e-01 -0.5 7.16e-01 1.00e+00f 1 3 2.4248001e+00 1.55e-02 3.74e-01 -1.3 1.56e-01 -1.0 9.72e-01 8.50e-01h 1 4 2.1788806e+00 3.65e-03 7.14e-02 -2.2 1.25e-01 -1.4 9.51e-01 1.00e+00h 1 5 2.0949863e+00 6.87e-04 1.63e-02 -3.7 6.26e-02 -1.9 9.93e-01 9.62e-01h 1 6 2.0909087e+00 1.51e-05 3.05e-03 -4.0 1.33e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0909219e+00 1.30e-07 2.48e-05 -4.0 1.81e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909154e+00 1.75e-09 2.42e-05 -4.0 5.30e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908982e+00 9.67e-09 1.26e-04 -4.0 1.49e-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 2.0908619e+00 5.71e-08 6.17e-04 -4.0 3.74e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907920e+00 2.61e-07 7.69e-04 -4.0 9.03e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0906125e+00 2.40e-06 1.12e-03 -4.0 2.67e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0900864e+00 2.15e-05 6.78e-04 -4.0 8.00e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0898315e+00 3.76e-06 1.63e-03 -4.0 3.05e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0896141e+00 5.06e-06 3.26e-02 -4.0 1.13e+01 -5.8 1.00e+00 2.00e-01h 2 16 2.0875995e+00 2.11e-04 7.32e-03 -4.0 2.46e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0846529e+00 8.85e-04 4.55e-02 -4.0 5.15e+01 -6.7 1.00e+00 1.00e+00h 1 18 2.0835139e+00 4.69e-04 2.49e-02 -4.0 1.95e+01 -6.3 1.00e+00 5.23e-01h 1 19 2.0827625e+00 1.55e-04 1.46e-02 -4.0 1.99e+01 -6.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827559e+00 2.18e-04 9.29e-03 -4.0 5.17e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0822979e+00 5.87e-04 7.28e-03 -4.0 1.26e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0885571e+00 4.09e-05 2.63e-01 -4.0 1.70e+02 -7.3 1.73e-01 1.00e+00H 1 23 2.0832342e+00 7.10e-04 2.46e+00 -4.0 2.45e+00 -4.2 1.10e-01 4.46e-01f 1 24 2.0827838e+00 6.02e-04 2.18e+00 -4.1 2.23e+00 -2.8 8.52e-01 1.55e-01h 1 25 2.0832172e+00 4.36e-06 1.76e-03 -4.1 2.42e-01 -3.3 1.00e+00 1.00e+00f 1 26 2.0829341e+00 7.90e-06 1.37e-03 -4.0 2.05e-01 -3.8 1.00e+00 1.00e+00h 1 27 2.0828617e+00 2.48e-06 4.06e-05 -4.0 1.30e-01 -4.3 1.00e+00 1.00e+00h 1 28 2.0828382e+00 1.34e-07 8.11e-06 -4.0 3.83e-01 -4.8 1.00e+00 1.00e+00h 1 29 2.0827762e+00 9.00e-07 6.33e-05 -4.0 1.08e+00 -5.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0826428e+00 5.24e-06 3.56e-04 -4.0 2.78e+00 -5.7 1.00e+00 1.00e+00h 1 31 2.0824737e+00 1.52e-05 9.46e-04 -4.0 7.02e+00 -6.2 1.00e+00 1.00e+00h 1 32 2.0822967e+00 1.28e-05 1.41e-03 -4.0 1.82e+01 -6.7 1.00e+00 1.00e+00h 1 33 2.0819924e+00 1.24e-04 3.93e-03 -4.0 4.63e+01 -7.1 7.67e-01 1.00e+00h 1 34 2.0820692e+00 1.99e-04 1.21e+00 -4.0 2.54e+01 -5.8 1.00e+00 2.22e-01h 2 35 2.0822049e+00 1.28e-04 4.97e-01 -4.0 6.21e+00 -6.3 7.28e-01 1.00e+00h 1 36 2.0820096e+00 9.59e-08 1.88e-01 -4.0 2.34e-01 -3.2 5.65e-01 1.00e+00h 1 37 2.0820050e+00 3.02e-06 2.10e+00 -4.0 4.04e-01 -3.6 1.00e+00 1.96e-01h 2 38 2.0817494e+00 2.27e-09 4.33e-04 -4.1 1.51e-01 -4.1 1.00e+00 1.00e+00H 1 39 2.0820017e+00 1.91e-05 2.67e-04 -4.0 3.89e-01 -4.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818040e+00 2.39e-05 9.98e-04 -4.1 1.13e+00 -5.1 1.00e+00 1.00e+00h 1 41 2.0817838e+00 4.19e-06 5.17e-04 -4.1 6.00e-01 -5.5 1.00e+00 1.00e+00h 1 42 2.0810686e+00 3.88e-04 4.27e-03 -6.1 5.37e+00 -6.0 1.00e+00 1.00e+00h 1 43 2.0817723e+00 4.48e-05 3.76e-02 -4.0 9.92e-02 -3.8 1.00e+00 9.09e-01h 1 44 2.0814865e+00 1.88e-05 6.70e-04 -4.1 4.72e-01 -4.3 1.00e+00 1.00e+00h 1 45 2.0816865e+00 2.65e-05 8.02e-04 -4.0 9.03e-01 -4.7 1.00e+00 1.00e+00h 1 46 2.0816684e+00 8.08e-06 9.66e-04 -4.1 6.74e-01 -5.2 1.00e+00 1.00e+00h 1 47 2.0818763e+00 5.33e-05 1.70e-04 -4.0 2.38e+00 -5.7 1.00e+00 1.00e+00h 1 48 2.0817829e+00 2.53e-05 5.60e-04 -4.1 1.79e+00 -6.2 1.00e+00 1.00e+00h 1 49 2.0809224e+00 9.13e-04 5.54e-03 -6.1 1.21e+01 -6.6 9.93e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0810095e+00 4.64e-06 7.24e-05 -4.9 3.22e-01 -5.3 1.00e+00 1.00e+00h 1 51 2.0811715e+00 2.28e-05 1.81e-01 -4.0 7.23e+00 -5.8 1.00e+00 1.64e-01h 2 52 2.0815265e+00 2.35e-04 7.18e-04 -4.2 4.96e+00 -6.3 1.00e+00 1.00e+00h 1 53 2.0816231e+00 3.38e-05 7.74e-04 -4.2 5.34e+00 -6.7 1.00e+00 1.00e+00h 1 54 2.0816090e+00 2.20e-05 4.27e-04 -4.2 1.13e+01 -7.2 1.00e+00 1.00e+00h 1 55 2.0807329e+00 2.96e-03 7.00e-04 -6.2 4.20e+01 -7.7 9.79e-01 9.44e-01h 1 56 2.0818894e+00 5.73e-03 2.45e-03 -4.0 5.13e+01 -8.2 1.00e+00 1.00e+00f 1 57 2.0816288e+00 1.06e-03 1.30e-03 -4.1 4.46e+01 -8.7 1.00e+00 1.00e+00h 1 58 2.0816046e+00 1.11e-05 3.19e-04 -4.1 2.15e+01 -9.1 1.00e+00 1.00e+00h 1 59 2.0805956e+00 3.53e-03 1.54e-04 -6.1 4.24e+01 -9.6 9.77e-01 9.65e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0818905e+00 6.45e-03 5.00e-04 -4.0 6.02e+01 -10.1 1.00e+00 1.00e+00f 1 61 2.0816149e+00 4.95e-04 3.10e-05 -4.1 2.07e+01 -10.6 1.00e+00 1.00e+00h 1 62 2.0806044e+00 3.49e-03 2.34e-04 -6.1 4.24e+01 -11.0 9.76e-01 9.58e-01h 1 63 2.0805508e+00 9.74e-05 2.90e-06 -6.1 1.71e+01 -11.5 1.00e+00 1.00e+00h 1 64 2.0819817e+00 1.02e-02 4.01e-04 -4.0 8.54e+01 -12.0 1.00e+00 1.00e+00f 1 65 2.0816804e+00 9.64e-04 4.82e-05 -4.1 4.56e+01 -12.5 1.00e+00 1.00e+00h 1 66 2.0816443e+00 4.71e-07 7.99e-07 -4.1 8.39e+00 -13.0 1.00e+00 1.00e+00h 1 67 2.0818441e+00 1.27e-04 5.47e-06 -4.0 7.55e+00 -13.4 1.00e+00 1.00e+00h 1 68 2.0815834e+00 2.14e-04 9.28e-06 -4.1 9.76e+00 -13.9 1.00e+00 1.00e+00h 1 69 2.0805950e+00 3.33e-03 1.58e-04 -6.1 4.09e+01 -14.4 9.77e-01 9.64e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0805497e+00 7.61e-05 1.82e-06 -6.1 1.56e+01 -14.9 1.00e+00 1.00e+00h 1 71 2.0819883e+00 1.06e-02 4.03e-04 -4.0 8.64e+01 -15.3 1.00e+00 1.00e+00f 1 72 2.0816850e+00 9.86e-04 5.24e-05 -4.1 4.71e+01 -15.8 1.00e+00 1.00e+00h 1 73 2.0816467e+00 5.59e-07 8.13e-07 -4.1 8.79e+00 -16.3 1.00e+00 1.00e+00h 1 74 2.0805963e+00 3.67e-03 1.56e-04 -6.1 4.25e+01 -16.8 9.76e-01 9.67e-01h 1 75 2.0805509e+00 8.01e-05 1.98e-06 -6.1 1.63e+01 -17.2 1.00e+00 1.00e+00h 1 76 2.0805468e+00 5.50e-08 2.37e-08 -6.1 2.91e+00 -17.7 1.00e+00 1.00e+00h 1 77 2.0820237e+00 1.21e-02 4.23e-04 -4.0 9.79e+01 -18.2 1.00e+00 1.00e+00f 1 78 2.0817108e+00 1.09e-03 6.84e-05 -4.1 5.44e+01 -18.7 1.00e+00 1.00e+00h 1 79 2.0816597e+00 1.20e-06 1.05e-06 -4.1 1.08e+01 -19.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805973e+00 3.75e-03 1.59e-04 -6.1 4.29e+01 -19.6 9.76e-01 9.67e-01h 1 81 2.0805512e+00 8.26e-05 2.04e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0805470e+00 5.83e-08 2.51e-08 -6.1 3.00e+00 -20.0 1.00e+00 1.00e+00h 1 83 2.0805365e+00 9.22e-07 7.87e-07 -9.0 9.36e-01 -20.0 1.00e+00 9.97e-01h 1 84 2.0820411e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 85 2.0817244e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 86 2.0816662e+00 1.63e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 87 2.0805979e+00 3.78e-03 1.61e-04 -6.1 4.31e+01 -20.0 9.76e-01 9.67e-01h 1 88 2.0805514e+00 8.39e-05 2.07e-06 -6.1 1.67e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0805470e+00 6.01e-08 2.58e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805365e+00 9.41e-07 8.10e-07 -9.0 9.46e-01 -20.0 1.00e+00 9.97e-01h 1 91 2.0805365e+00 8.66e-11 2.16e-12 -9.0 2.61e-02 -20.0 1.00e+00 1.00e+00h 1 92 2.0820415e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 93 2.0817247e+00 1.13e-03 7.75e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 94 2.0816664e+00 1.64e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 95 2.0805979e+00 3.78e-03 1.61e-04 -6.1 4.31e+01 -20.0 9.76e-01 9.67e-01h 1 96 2.0805514e+00 8.39e-05 2.07e-06 -6.1 1.67e+01 -20.0 1.00e+00 1.00e+00h 1 97 2.0805470e+00 6.01e-08 2.58e-08 -6.1 3.05e+00 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 9.41e-07 8.10e-07 -9.0 9.47e-01 -20.0 1.00e+00 9.97e-01h 1 99 2.0805365e+00 8.67e-11 2.17e-12 -9.0 2.61e-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 2.0805365e+00 8.88e-16 9.09e-15 -9.0 9.99e-06 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595436484e+00 2.0805364595436484e+00 Dual infeasibility......: 9.0909090908930799e-15 9.0909090908930799e-15 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090990828421e-10 9.0909090990828421e-10 Overall NLP error.......: 9.9999090909091550e-05 9.9999090909091550e-05 Number of objective function evaluations = 115 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 115 Number of inequality constraint evaluations = 115 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 28.810 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 96 Number of nonzeros in Lagrangian Hessian.............: 1804 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.4743145e+01 3.30e+00 5.25e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.8641901e+00 9.58e-02 6.25e+00 -1.0 2.42e+00 0.0 6.43e-01 9.94e-01f 1 2 4.1362720e+00 3.87e-02 5.27e+00 -0.4 5.54e-01 0.4 9.05e-01 5.58e-01f 1 3 2.9650379e+00 3.70e-02 9.30e-01 -0.9 5.35e-01 -0.1 8.53e-01 1.00e+00f 1 4 2.6134568e+00 1.02e-02 1.39e-01 -1.5 1.84e-01 -0.5 9.79e-01 1.00e+00h 1 5 2.2014656e+00 1.14e-02 6.09e-02 -1.9 1.38e-01 -1.0 8.29e-01 9.38e-01f 1 6 2.0967791e+00 1.19e-03 2.08e-02 -2.9 7.26e-02 -1.5 8.97e-01 9.87e-01h 1 7 2.0909406e+00 3.92e-06 2.95e-02 -4.0 3.15e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908446e+00 5.95e-08 4.86e-05 -4.0 1.33e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908425e+00 1.06e-10 1.67e-05 -4.0 1.37e-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 2.0908388e+00 6.28e-10 1.67e-05 -4.0 4.10e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908290e+00 4.78e-09 1.62e-05 -4.0 1.20e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908023e+00 3.49e-08 4.92e-05 -4.0 3.41e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907299e+00 3.15e-07 2.10e-04 -4.0 9.54e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905132e+00 2.80e-06 3.36e-04 -4.0 2.78e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0904254e+00 4.42e-07 3.23e-04 -4.0 1.13e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0902611e+00 1.32e-06 8.53e-03 -4.0 4.09e+00 -5.4 1.00e+00 4.07e-01h 2 17 2.0893399e+00 3.56e-05 3.32e-03 -4.0 1.07e+01 -5.8 1.00e+00 9.51e-01h 1 18 2.0876405e+00 3.04e-04 3.39e-02 -4.0 2.93e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0863952e+00 2.68e-04 1.28e-01 -4.0 3.21e+01 -5.9 1.00e+00 2.68e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0848879e+00 2.20e-04 2.38e-02 -4.0 2.46e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0827635e+00 2.05e-04 2.70e-02 -4.0 3.65e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0831484e+00 1.30e-03 3.80e-02 -4.0 5.51e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0821975e+00 1.02e-03 7.43e-03 -4.1 1.34e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.0910762e+00 1.04e-05 4.41e-01 -4.0 4.31e+02 -8.3 1.33e-01 1.00e+00H 1 25 2.0833571e+00 4.32e-03 2.90e+00 -4.1 2.05e+01 -5.1 7.59e-02 3.47e-01f 1 26 2.0826556e+00 5.51e-03 2.90e+00 -4.1 9.03e+02 -5.6 1.56e-05 1.79e-03f 1 27 2.0826897e+00 5.56e-03 2.91e+00 -4.1 1.59e+04 -6.1 1.48e-07 4.16e-05f 2 28 2.0827298e+00 5.06e-03 3.63e+00 -4.1 5.17e-01 -2.9 1.00e+00 8.99e-02h 1 29 2.0827988e+00 9.55e-07 6.66e-04 -4.1 3.66e-02 -3.4 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0830186e+00 2.01e-06 1.23e-04 -4.0 5.47e-02 -3.9 1.00e+00 1.00e+00h 1 31 2.0828341e+00 4.84e-06 3.43e-05 -4.1 1.90e-01 -4.4 1.00e+00 1.00e+00h 1 32 2.0820950e+00 9.53e-05 8.23e-03 -6.1 9.66e-01 -4.9 9.25e-01 1.00e+00h 1 33 2.0829236e+00 2.12e-04 2.28e-03 -4.0 1.53e+00 -5.3 1.00e+00 1.00e+00h 1 34 2.0824313e+00 1.61e-04 8.19e-04 -4.1 3.55e+00 -5.8 1.00e+00 1.00e+00h 1 35 2.0822254e+00 2.00e-05 1.58e-03 -4.1 8.38e+00 -6.3 1.00e+00 1.00e+00h 1 36 2.0823157e+00 4.56e-04 1.67e-03 -4.0 2.01e+01 -6.8 1.00e+00 1.00e+00h 1 37 2.0818136e+00 8.17e-04 6.84e-03 -4.1 4.43e+01 -7.2 1.00e+00 1.00e+00h 1 38 2.0817881e+00 2.23e-03 5.93e-03 -4.0 1.07e+02 -7.7 6.32e-01 1.00e+00h 1 39 2.1323158e+00 1.43e-03 4.47e-01 -4.0 4.00e+02 -7.3 1.70e-02 2.42e-01h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.1026435e+00 1.05e-08 2.86e-01 -4.1 8.01e-02 0.6 1.00e+00 1.00e+00h 1 41 2.0845908e+00 1.59e-08 1.07e-01 -4.1 9.17e-02 0.1 1.00e+00 1.00e+00f 1 42 2.0828355e+00 1.25e-08 6.49e-02 -4.0 2.05e-02 0.5 1.00e+00 1.00e+00f 1 43 2.0818837e+00 8.92e-10 2.13e-02 -4.0 2.02e-02 0.0 1.00e+00 1.00e+00h 1 44 2.0818743e+00 2.00e-09 8.24e-04 -4.0 2.35e-03 -0.5 1.00e+00 1.00e+00h 1 45 2.0818810e+00 1.32e-08 5.54e-04 -4.0 4.73e-03 -0.9 1.00e+00 1.00e+00h 1 46 2.0817699e+00 6.95e-08 3.04e-04 -4.1 7.79e-03 -1.4 1.00e+00 1.00e+00h 1 47 2.0818618e+00 3.49e-08 9.23e-05 -4.0 7.06e-03 -1.9 1.00e+00 1.00e+00h 1 48 2.0817415e+00 8.11e-08 1.10e-04 -4.1 7.48e-03 -2.4 1.00e+00 1.00e+00h 1 49 2.0818663e+00 1.21e-07 8.89e-05 -4.0 6.92e-03 -2.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0817395e+00 1.50e-07 1.05e-04 -4.1 8.65e-03 -3.3 1.00e+00 1.00e+00h 1 51 2.0818699e+00 1.05e-06 8.05e-05 -4.0 5.14e-02 -3.8 1.00e+00 1.00e+00h 1 52 2.0817447e+00 1.30e-06 1.35e-04 -4.1 7.46e-02 -4.3 1.00e+00 1.00e+00h 1 53 2.0811629e+00 6.34e-05 4.72e-02 -6.1 6.77e-01 -4.7 8.10e-01 1.00e+00h 1 54 2.0820272e+00 9.74e-05 1.50e-03 -4.0 8.39e-01 -5.2 1.00e+00 1.00e+00h 1 55 2.0817874e+00 5.98e-05 5.40e-04 -4.1 1.48e+00 -5.7 1.00e+00 1.00e+00h 1 56 2.0808783e+00 6.64e-04 4.06e-03 -6.1 6.93e+00 -6.2 9.91e-01 1.00e+00h 1 57 2.0808518e+00 6.34e-05 3.81e-03 -4.8 6.93e+00 -6.7 1.00e+00 9.29e-01h 1 58 2.0818728e+00 3.01e-03 4.36e-02 -4.0 2.89e+01 -7.1 3.72e-01 1.00e+00f 1 59 2.0811503e+00 2.66e-03 6.24e-03 -4.3 3.99e+01 -7.6 8.87e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.1249352e+00 6.26e-04 2.30e-01 -4.3 6.67e+01 -6.3 3.74e-01 4.74e-01h 1 61 2.1100873e+00 5.75e-04 1.48e-01 -4.3 1.98e+01 -6.8 1.44e-03 4.01e-01f 1 62 2.1078012e+00 5.71e-04 4.57e+00 -4.3 3.82e+00 -1.8 1.19e-04 6.79e-03f 1 63 2.0828065e+00 2.12e-06 5.11e+00 -4.3 2.96e-01 -0.5 5.48e-01 1.00e+00f 1 64 2.0815704e+00 9.97e-07 1.79e+00 -4.3 5.24e-02 -1.0 1.00e+00 8.38e-01h 1 65 2.0818555e+00 4.73e-06 5.14e-03 -4.0 3.45e-02 -1.4 1.00e+00 1.00e+00f 1 66 2.0816257e+00 1.26e-06 1.07e-03 -4.1 8.89e-02 -1.9 1.00e+00 1.00e+00h 1 67 2.0816559e+00 7.40e-07 2.79e-04 -4.0 4.75e-02 -2.4 1.00e+00 1.00e+00h 1 68 2.0815793e+00 1.42e-07 7.57e-05 -4.1 1.72e-02 -2.9 1.00e+00 1.00e+00h 1 69 2.0816984e+00 4.64e-07 9.55e-05 -4.0 2.02e-02 -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 70 2.0815863e+00 5.08e-07 1.09e-04 -4.1 2.27e-02 -3.8 1.00e+00 1.00e+00h 1 71 2.0810773e+00 2.83e-05 9.12e-02 -6.1 3.11e-01 -4.3 7.38e-01 1.00e+00h 1 72 2.0818753e+00 2.36e-05 2.60e-03 -4.0 1.96e-01 -4.8 1.00e+00 1.00e+00h 1 73 2.0816025e+00 2.00e-05 1.01e-04 -4.1 5.45e-01 -5.3 1.00e+00 1.00e+00h 1 74 2.0808778e+00 2.95e-04 3.13e-03 -6.1 3.11e+00 -5.7 1.00e+00 1.00e+00h 1 75 2.0807309e+00 1.39e-04 2.62e-02 -6.1 4.04e+00 -6.2 1.00e+00 5.38e-01h 1 76 2.0818657e+00 3.02e-03 1.59e-02 -4.0 2.94e+01 -6.7 1.00e+00 1.00e+00f 1 77 2.0817103e+00 1.67e-04 4.59e-02 -4.1 1.08e+01 -7.2 8.55e-01 1.00e+00h 1 78 2.0817687e+00 2.25e-04 1.38e-01 -4.1 1.78e+01 -4.9 9.21e-02 7.52e-02h 2 79 2.0819103e+00 1.52e-06 1.02e-02 -4.1 1.94e-01 -2.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0817983e+00 1.17e-06 3.22e-03 -4.1 1.00e-01 -3.2 1.00e+00 1.00e+00h 1 81 2.0817319e+00 1.83e-07 4.06e-04 -4.1 5.80e-02 -3.7 1.00e+00 1.00e+00h 1 82 2.0811623e+00 1.56e-05 5.68e-02 -6.1 1.49e-01 -4.1 7.79e-01 1.00e+00h 1 83 2.0817209e+00 5.40e-06 1.23e-01 -4.0 4.12e-01 -4.6 1.00e+00 7.48e-01h 1 84 2.0816545e+00 1.93e-06 9.07e-04 -4.1 2.30e-01 -5.1 1.00e+00 1.00e+00h 1 85 2.0816843e+00 1.17e-08 3.09e-03 -4.1 1.61e+00 -5.6 1.00e+00 1.00e+00H 1 86 2.0818285e+00 1.84e-05 7.75e-04 -4.0 6.63e-01 -6.0 1.00e+00 1.00e+00h 1 87 2.0816166e+00 4.94e-05 4.13e-04 -4.1 2.02e+00 -6.5 1.00e+00 1.00e+00h 1 88 2.0807230e+00 9.81e-04 3.65e-03 -6.1 1.44e+01 -7.0 9.82e-01 9.20e-01h 1 89 2.0809519e+00 8.51e-04 1.20e-01 -4.0 1.94e+01 -7.5 1.00e+00 2.00e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0817237e+00 3.01e-03 7.47e-03 -4.2 5.82e+01 -8.0 1.00e+00 1.00e+00h 1 91 2.0815363e+00 1.71e-04 7.37e-03 -4.2 1.82e-01 -2.1 9.51e-01 9.43e-01h 1 92 2.0814855e+00 1.51e-04 3.97e-01 -4.2 3.64e-01 -2.6 1.00e+00 1.13e-01f 2 93 2.0815425e+00 8.13e-08 1.27e-04 -4.2 2.72e-02 -3.1 1.00e+00 1.00e+00h 1 94 2.0818024e+00 9.99e-07 3.99e-04 -4.0 5.90e-02 -3.5 1.00e+00 1.00e+00h 1 95 2.0816626e+00 1.51e-06 6.17e-05 -4.1 8.62e-02 -4.0 1.00e+00 1.00e+00h 1 96 2.0810658e+00 4.03e-05 1.19e-01 -6.1 4.12e-01 -4.5 7.90e-01 1.00e+00h 1 97 2.0818397e+00 1.00e-04 3.26e-03 -4.0 8.35e-01 -5.0 1.00e+00 1.00e+00f 1 98 2.0815107e+00 8.01e-05 9.02e-04 -4.1 2.10e+00 -5.4 1.00e+00 1.00e+00h 1 99 2.0815423e+00 7.52e-06 1.31e-03 -4.1 9.28e-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 100 2.0817778e+00 7.27e-05 3.42e-04 -4.0 3.11e+00 -6.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0817777644181961e+00 2.0817777644181961e+00 Dual infeasibility......: 3.4202719490295452e-04 3.4202719490295452e-04 Constraint violation....: 7.2733796939061790e-05 7.2733796939061790e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0120938573784943e-04 1.0120938573784943e-04 Overall NLP error.......: 3.4202719490295452e-04 3.4202719490295452e-04 Number of objective function evaluations = 115 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 115 Number of inequality constraint evaluations = 115 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 30.592 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 6.6115986e+01 2.03e+00 2.58e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8476117e+01 1.14e+00 5.56e+01 -0.5 1.72e+00 0.0 9.81e-01 3.87e-01f 1 2 7.6286305e+00 5.92e-01 1.14e+01 -0.0 2.54e+00 -0.5 1.00e+00 4.81e-01f 1 3 3.5973900e+00 6.55e-02 2.49e+01 -0.0 1.11e+00 -1.0 6.10e-01 1.00e+00f 1 4 3.3273462e+00 5.94e-03 2.11e+00 -0.5 1.01e-01 1.3 9.92e-01 1.00e+00h 1 5 3.1093926e+00 1.70e-03 4.77e-01 -1.2 5.34e-02 0.8 9.84e-01 1.00e+00h 1 6 2.5593490e+00 6.08e-03 2.24e-01 -1.8 1.10e-01 0.3 9.89e-01 1.00e+00f 1 7 2.2202595e+00 7.01e-03 1.21e-01 -2.1 1.63e-01 -0.2 9.71e-01 7.22e-01f 1 8 2.1438406e+00 6.65e-03 2.09e-01 -2.4 3.62e-01 -0.6 9.85e-01 3.13e-01h 1 9 2.1030913e+00 2.06e-03 1.77e-01 -3.4 5.05e-02 -1.1 1.00e+00 6.91e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909332e+00 9.18e-06 3.11e-03 -4.0 5.23e-03 -1.6 1.00e+00 1.00e+00h 1 11 2.0909091e+00 3.11e-08 1.95e-04 -4.0 3.07e-03 -2.1 1.00e+00 1.00e+00h 1 12 2.0909085e+00 1.95e-10 1.95e-04 -4.0 7.23e-03 -2.5 1.00e+00 1.00e+00h 1 13 2.0909063e+00 2.70e-10 1.95e-04 -4.0 2.14e-02 -3.0 1.00e+00 1.00e+00h 1 14 2.0909003e+00 2.14e-09 1.95e-04 -4.0 6.26e-02 -3.5 1.00e+00 1.00e+00h 1 15 2.0908846e+00 1.46e-08 1.95e-04 -4.0 1.75e-01 -4.0 1.00e+00 1.00e+00h 1 16 2.0908483e+00 7.08e-08 1.95e-04 -4.0 4.62e-01 -4.4 1.00e+00 1.00e+00h 1 17 2.0907578e+00 4.29e-07 6.20e-04 -4.0 1.21e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0905006e+00 4.84e-06 6.13e-04 -4.0 3.82e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0903901e+00 6.36e-07 4.74e-04 -4.0 1.39e+00 -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 20 2.0900862e+00 1.80e-06 8.65e-03 -4.0 5.41e+00 -5.5 1.00e+00 5.27e-01H 1 21 2.0891926e+00 8.09e-05 1.45e-02 -4.0 1.48e+01 -5.9 1.00e+00 1.00e+00f 1 22 2.0884093e+00 7.97e-05 1.27e-01 -4.0 2.52e+01 -5.5 1.00e+00 2.07e-01h 1 23 2.0873628e+00 8.42e-05 1.61e-02 -4.0 1.46e+01 -6.0 1.00e+00 1.00e+00h 1 24 2.0858611e+00 1.46e-04 4.79e-02 -4.0 3.44e+01 -6.5 1.00e+00 5.41e-01h 1 25 2.0830308e+00 8.59e-04 5.12e-02 -4.0 5.32e+01 -6.9 1.00e+00 1.00e+00h 1 26 2.0831484e+00 1.60e-03 4.07e-02 -4.0 7.67e+01 -7.4 1.00e+00 1.00e+00h 1 27 2.0821375e+00 6.14e-04 3.05e-02 -4.1 2.01e+02 -7.9 5.69e-01 1.00e+00h 1 28 2.0993971e+00 4.73e-04 4.48e-01 -4.0 5.48e+02 -6.6 1.16e-01 3.44e-02h 1 29 2.0942167e+00 3.27e-04 3.32e-01 -4.1 1.69e-01 -0.7 1.00e+00 3.07e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0926901e+00 2.50e-04 6.07e-01 -4.1 8.63e-02 -1.2 2.67e-01 2.36e-01f 1 31 2.0866831e+00 1.20e-06 2.85e-02 -4.1 1.57e-01 -0.8 1.00e+00 1.00e+00f 1 32 2.0842162e+00 7.47e-06 6.21e-01 -3.4 1.71e-01 -1.2 9.12e-01 1.00e+00f 1 33 2.0833357e+00 6.88e-06 1.04e+00 -4.0 3.32e-01 -1.7 1.22e-01 3.87e-01h 1 34 2.0829161e+00 5.50e-06 7.55e-01 -4.0 2.87e-01 -2.2 1.00e+00 4.28e-01h 1 35 2.0826982e+00 1.04e-05 1.54e-03 -4.0 1.43e-01 -2.7 1.00e+00 1.00e+00f 1 36 2.0825019e+00 9.40e-07 1.95e-04 -4.0 7.01e-02 -3.2 1.00e+00 1.00e+00h 1 37 2.0824731e+00 6.28e-07 1.95e-04 -4.0 3.01e-02 -3.6 1.00e+00 1.00e+00h 1 38 2.0824685e+00 2.50e-08 1.95e-04 -4.0 9.05e-02 -4.1 1.00e+00 1.00e+00h 1 39 2.0824523e+00 5.94e-08 1.95e-04 -4.0 2.70e-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 40 2.0824057e+00 5.80e-07 1.95e-04 -4.0 7.97e-01 -5.1 1.00e+00 1.00e+00h 1 41 2.0822787e+00 6.82e-06 2.33e-04 -4.0 2.39e+00 -5.5 1.00e+00 1.00e+00h 1 42 2.0820537e+00 1.78e-04 6.92e-02 -4.0 1.01e+01 -6.0 6.44e-01 1.00e+00h 1 43 2.0819736e+00 3.13e-04 3.02e-01 -4.0 5.75e+00 -4.7 2.55e-01 3.30e-01h 2 44 2.0820053e+00 1.59e-04 2.42e-03 -4.0 1.23e+00 -5.2 1.00e+00 1.00e+00h 1 45 2.0821070e+00 4.10e-05 9.03e-04 -4.0 1.07e+00 -5.6 1.00e+00 1.00e+00h 1 46 2.0821068e+00 2.71e-05 2.45e-04 -4.0 1.24e+00 -6.1 1.00e+00 1.00e+00h 1 47 2.0821066e+00 3.55e-06 1.95e-04 -4.0 3.92e+00 -6.6 1.00e+00 1.00e+00h 1 48 2.0820718e+00 2.93e-06 1.95e-04 -4.0 1.14e+01 -7.1 1.00e+00 1.00e+00h 1 49 2.0819941e+00 3.03e-05 1.50e-03 -4.0 2.56e+01 -7.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0819023e+00 9.48e-05 3.58e-03 -4.0 4.49e+01 -8.0 1.00e+00 1.00e+00h 1 51 2.0818515e+00 1.16e-04 3.06e-03 -4.0 5.53e+01 -8.5 1.00e+00 1.00e+00h 1 52 2.0818396e+00 3.34e-05 6.90e-04 -4.0 3.33e+01 -9.0 1.00e+00 1.00e+00h 1 53 2.0818384e+00 1.54e-06 1.95e-04 -4.0 8.29e+00 -9.5 1.00e+00 1.00e+00h 1 54 2.0818383e+00 9.65e-09 1.95e-04 -4.0 7.72e-01 -9.9 1.00e+00 1.00e+00h 1 55 2.0818383e+00 8.21e-12 1.95e-04 -4.0 2.55e-02 -10.4 1.00e+00 1.00e+00h 1 56 2.0818383e+00 4.11e-12 9.76e-05 -4.0 2.93e-04 -10.9 1.00e+00 5.00e-01h 2 57 2.0818383e+00 2.22e-16 1.95e-04 -4.0 1.47e-04 -11.8 1.00e+00 1.00e+00H 1 58 2.0818383e+00 2.22e-16 1.95e-04 -4.0 2.00e-05 -12.3 1.00e+00 1.00e+00h 1 59 2.0815797e+00 2.05e-04 1.56e-04 -4.1 9.35e+00 -12.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0818395e+00 2.13e-04 1.95e-04 -4.0 9.67e+00 -13.3 1.00e+00 1.00e+00h 1 61 2.0815804e+00 2.11e-04 1.56e-04 -4.1 9.63e+00 -13.8 1.00e+00 1.00e+00h 1 62 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -14.2 9.78e-01 9.71e-01h 1 63 2.0818882e+00 6.56e-03 2.96e-04 -4.0 6.10e+01 -14.7 1.00e+00 1.00e+00f 1 64 2.0816136e+00 4.88e-04 1.60e-04 -4.1 2.07e+01 -15.2 1.00e+00 1.00e+00h 1 65 2.0805989e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -15.7 9.76e-01 9.65e-01h 1 66 2.0805508e+00 8.46e-05 2.20e-06 -6.1 1.69e+01 -16.1 1.00e+00 1.00e+00h 1 67 2.0819794e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -16.6 1.00e+00 1.00e+00f 1 68 2.0816837e+00 9.34e-04 1.66e-04 -4.1 4.57e+01 -17.1 1.00e+00 1.00e+00h 1 69 2.0816477e+00 4.73e-07 1.66e-04 -4.1 8.53e+00 -17.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0818389e+00 1.15e-04 1.95e-04 -4.0 7.07e+00 -18.0 1.00e+00 1.00e+00h 1 71 2.0815801e+00 2.08e-04 1.56e-04 -4.1 9.50e+00 -18.5 1.00e+00 1.00e+00h 1 72 2.0805898e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -19.0 9.78e-01 9.71e-01h 1 73 2.0805497e+00 6.51e-05 1.78e-06 -6.1 1.55e+01 -19.5 1.00e+00 1.00e+00h 1 74 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -20.0 1.00e+00 1.00e+00f 1 75 2.0816887e+00 9.54e-04 1.67e-04 -4.1 4.72e+01 -20.0 1.00e+00 1.00e+00h 1 76 2.0816504e+00 5.63e-07 1.67e-04 -4.1 8.93e+00 -20.0 1.00e+00 1.00e+00h 1 77 2.0805906e+00 3.68e-03 1.60e-04 -6.1 4.16e+01 -20.0 9.77e-01 9.75e-01h 1 78 2.0805511e+00 6.76e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 79 2.0805469e+00 4.72e-08 1.54e-06 -6.1 2.95e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.89e+01 -20.0 1.00e+00 1.00e+00f 1 81 2.0817159e+00 1.04e-03 1.69e-04 -4.1 5.46e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0816648e+00 1.22e-06 1.69e-04 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 83 2.0805915e+00 3.76e-03 1.66e-04 -6.1 4.20e+01 -20.0 9.76e-01 9.75e-01h 1 84 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 85 2.0805471e+00 4.99e-08 1.57e-06 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 86 2.0805365e+00 9.55e-07 8.02e-07 -9.0 9.57e-01 -20.0 1.00e+00 9.97e-01h 1 87 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 88 2.0817306e+00 1.08e-03 1.70e-04 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0816723e+00 1.67e-06 1.70e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 91 2.0805516e+00 7.07e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0805472e+00 5.15e-08 1.59e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 93 2.0805365e+00 9.76e-07 8.28e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 94 2.0805365e+00 9.27e-11 1.78e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 95 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 96 2.0817309e+00 1.08e-03 1.70e-04 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 97 2.0816725e+00 1.68e-06 1.70e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 98 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 99 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805472e+00 5.16e-08 1.59e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805471888606091e+00 2.0805471888606091e+00 Dual infeasibility......: 1.5865365860670652e-06 1.5865365860670652e-06 Constraint violation....: 5.1567784042916287e-08 5.1567784042916287e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.0544269497184486e-07 9.0544269497184486e-07 Overall NLP error.......: 9.9188961448572286e-05 9.9188961448572286e-05 Number of objective function evaluations = 107 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 107 Number of inequality constraint evaluations = 107 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 35.671 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 5.0114762e+00 1.84e+00 4.19e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5915621e+00 3.78e-02 2.14e+00 -0.9 1.69e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.4203607e+00 2.97e-02 2.83e-01 -1.7 1.15e+00 -2.5 9.95e-01 1.00e+00h 1 3 2.1478177e+00 5.61e-02 9.80e-02 -2.5 1.75e+00 -3.0 9.85e-01 1.00e+00h 1 4 2.0944350e+00 2.34e-03 1.78e-02 -3.4 4.45e-01 -3.4 9.92e-01 1.00e+00h 1 5 2.0909304e+00 5.93e-05 5.31e-04 -4.0 1.71e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0908432e+00 2.45e-06 2.06e-05 -4.0 5.01e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0906954e+00 8.35e-07 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0902531e+00 7.68e-06 3.46e-05 -4.0 4.50e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0889369e+00 7.00e-05 3.09e-04 -4.0 1.34e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0850879e+00 6.54e-04 2.82e-03 -4.0 3.91e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0797645e+00 1.90e-03 1.47e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.25e-01h 1 12 2.0803260e+00 4.98e-05 1.76e-01 -4.0 6.62e+01 -7.2 1.00e+00 1.00e+00H 1 13 2.0775806e+00 5.51e-03 1.85e-02 -4.0 1.24e+02 -7.7 1.00e+00 9.48e-01h 1 14 2.0770015e+00 1.13e-03 7.35e-02 -4.0 2.07e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0762633e+00 5.58e-04 2.39e-02 -4.0 3.54e+02 -8.7 1.00e+00 7.88e-01h 1 16 2.0756063e+00 8.28e-04 2.49e-02 -4.0 5.77e+02 -9.2 1.00e+00 6.85e-01h 1 17 2.0758701e+00 9.41e-04 1.32e-02 -4.0 1.61e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0754609e+00 1.91e-03 5.52e-04 -4.1 8.41e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0757715e+00 5.13e-04 6.45e-06 -4.0 2.14e+01 -10.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0754219e+00 6.68e-04 8.12e-07 -4.1 2.52e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0757717e+00 3.71e-04 8.26e-07 -4.0 1.40e+01 -11.5 1.00e+00 1.00e+00h 1 22 2.0757704e+00 1.10e-07 1.22e-08 -4.0 2.11e+00 -12.0 1.00e+00 1.00e+00h 1 23 2.0757704e+00 2.11e-14 3.44e-12 -4.0 1.57e-02 -12.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0757703960460905e+00 2.0757703960460905e+00 Dual infeasibility......: 3.4435659347891584e-12 3.4435659347891584e-12 Constraint violation....: 2.1094237467877974e-14 2.1094237467877974e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000045e-04 1.0000000000000045e-04 Overall NLP error.......: 3.4435659347891584e-12 3.4435659347891584e-12 Number of objective function evaluations = 25 Number of objective gradient evaluations = 24 Number of equality constraint evaluations = 25 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 24 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 23 Total seconds in IPOPT = 25.348 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 2.2792004e+00 7.37e-01 1.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.2253525e+00 4.41e-01 4.56e+00 -0.9 6.64e+00 -2.0 5.08e-01 4.31e-01h 1 2 1.7296027e+00 1.91e-01 2.88e+00 -1.1 5.08e-01 -0.7 9.73e-01 1.00e+00f 1 3 1.7340263e+00 1.97e-01 1.36e+00 -0.8 3.34e-01 -0.2 1.00e+00 8.62e-01h 1 4 1.6759181e+00 6.42e-02 2.32e+00 -1.5 6.70e-01 -0.7 9.80e-01 1.00e+00h 1 5 2.3021109e+00 5.96e-02 1.68e+00 -0.1 8.41e+00 -1.2 5.53e-01 7.24e-02f 2 6 2.1062389e+00 2.17e-02 8.50e-01 -1.1 9.01e-01 -1.7 9.55e-01 1.00e+00h 1 7 1.9788014e+00 1.62e-02 6.77e+00 -1.2 2.27e+01 -2.2 9.05e-01 7.25e-02f 2 8 1.7287905e+00 1.13e-02 1.75e+00 -1.6 5.33e+00 -2.6 1.00e+00 4.92e-01h 1 9 1.2134855e+00 2.87e-03 3.16e-01 -2.0 1.75e+00 -3.1 1.00e+00 9.65e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.1017752e+00 8.59e-05 2.60e-01 -3.2 5.06e+00 - 1.00e+00 1.00e+00h 1 11 1.0916450e+00 5.37e-06 4.13e-02 -3.9 1.62e+00 - 1.00e+00 9.30e-01h 1 12 1.0908893e+00 9.89e-09 5.52e-03 -4.0 7.19e-01 - 1.00e+00 1.00e+00h 1 13 1.0908998e+00 1.30e-13 3.44e-05 -4.0 4.10e-02 - 1.00e+00 1.00e+00h 1 14 1.0908997e+00 1.47e-22 4.12e-11 -4.0 6.38e-05 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 14 (scaled) (unscaled) Objective...............: 1.0908997263257749e+00 1.0908997263257749e+00 Dual infeasibility......: 4.1157326326332275e-11 4.1157326326332275e-11 Constraint violation....: 1.4748606084274968e-22 1.4748606084274968e-22 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000138331e-04 1.0000000000138331e-04 Overall NLP error.......: 4.1157326326332275e-11 4.1157326326332275e-11 Number of objective function evaluations = 21 Number of objective gradient evaluations = 15 Number of equality constraint evaluations = 21 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 15 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 14 Total seconds in IPOPT = 21.685 EXIT: Optimal Solution Found. Difference in Hessian Difference in Jacobian Test Summary: | Pass Total Time Package | 202 202 19m42.3s Testing DirectTrajOpt tests passed Testing completed after 1256.1s PkgEval succeeded after 1350.07s