Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.1640 (5532bea546*) started at 2026-01-30T16:02:05.691 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 10.1s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Installed Bzip2_jll ──────────────────────── v1.0.9+0 Installed ChunkCodecLibZstd ──────────────── v1.0.0 Installed FastPower ──────────────────────── v1.3.1 Installed MUMPS_seq_jll ──────────────────── v500.800.200+0 Installed CommonWorldInvalidations ───────── v1.0.0 Installed OrderedCollections ─────────────── v1.8.1 Installed SIMDTypes ──────────────────────── v0.1.0 Installed TrajectoryIndexingUtils ────────── v0.1.0 Installed Xorg_libpciaccess_jll ──────────── v0.18.1+0 Installed PreallocationTools ─────────────── v1.1.2 Installed Ipopt_jll ──────────────────────── v300.1400.1901+0 Installed NaNMath ────────────────────────── v1.1.3 Installed EnzymeCore ─────────────────────── v0.8.18 Installed FileIO ─────────────────────────── v1.17.1 Installed OpenSpecFun_jll ────────────────── v0.5.6+0 Installed CpuId ──────────────────────────── v0.3.1 Installed StaticArrayInterface ───────────── v1.8.0 Installed AbstractDifferentiation ────────── v0.4.4 Installed ScopedValues ───────────────────── v1.5.0 Installed NonlinearSolveBase ─────────────── v2.11.1 Installed EnumX ──────────────────────────── v1.0.6 Installed BracketingNonlinearSolve ───────── v1.6.2 Installed InverseFunctions ───────────────── v0.1.17 Installed Jieko ──────────────────────────── v0.2.1 Installed DiffEqBase ─────────────────────── v6.199.0 Installed FastBroadcast ──────────────────── v0.3.5 Installed MaybeInplace ───────────────────── v0.1.4 Installed Static ─────────────────────────── v1.3.1 Installed Preferences ────────────────────── v1.5.1 Installed ADTypes ────────────────────────── v1.21.0 Installed MacroTools ─────────────────────── v0.5.16 Installed DataStructures ─────────────────── v0.19.3 Installed Reexport ───────────────────────── v1.2.2 Installed RecursiveArrayTools ────────────── v3.47.0 Installed CodecZlib ──────────────────────── v0.7.8 Installed ManualMemory ───────────────────── v0.1.8 Installed Observables ────────────────────── v0.5.5 Installed SciMLJacobianOperators ─────────── v0.1.12 Installed ArrayInterface ─────────────────── v7.22.0 Installed ExprTools ──────────────────────── v0.1.10 Installed DiffResults ────────────────────── v1.1.0 Installed FillArrays ─────────────────────── v1.16.0 Installed StructUtils ────────────────────── v2.6.2 Installed GPUArraysCore ──────────────────── v0.2.0 Installed IrrationalConstants ────────────── v0.2.6 Installed TruncatedStacktraces ───────────── v1.4.0 Installed CommonSubexpressions ───────────── v0.3.1 Installed LayoutPointers ─────────────────── v0.1.17 Installed LoggingExtras ──────────────────── v1.2.0 Installed ConcreteStructs ────────────────── v0.2.3 Installed Hwloc_jll ──────────────────────── v2.12.2+0 Installed SPRAL_jll ──────────────────────── v2025.9.18+0 Installed ArrayLayouts ───────────────────── v1.12.2 Installed DocStringExtensions ────────────── v0.9.5 Installed BenchmarkTools ─────────────────── v1.6.3 Installed Setfield ───────────────────────── v1.1.2 Installed CompositionsBase ───────────────── v0.1.2 Installed HashArrayMappedTries ───────────── v0.2.0 Installed BitTwiddlingConvenienceFunctions ─ v0.1.6 Installed ForwardDiff ────────────────────── v1.3.2 Installed CommonSolve ────────────────────── v0.2.6 Installed Moshi ──────────────────────────── v0.3.7 Installed DifferentiationInterface ───────── v0.7.15 Installed IteratorInterfaceExtensions ────── v1.0.0 Installed RecipesBase ────────────────────── v1.3.4 Installed FunctionWrappersWrappers ───────── v0.1.3 Installed MathOptInterface ───────────────── v1.48.0 Installed StaticArraysCore ───────────────── v1.4.4 Installed SciMLOperators ─────────────────── v1.14.1 Installed StaticArrays ───────────────────── v1.9.16 Installed ComputePipeline ────────────────── v0.1.6 Installed SciMLStructures ────────────────── v1.10.0 Installed Requires ───────────────────────── v1.3.1 Installed LogExpFunctions ────────────────── v0.3.29 Installed OpenBLAS32_jll ─────────────────── v0.3.30+0 Installed SciMLPublic ────────────────────── v1.0.1 Installed DiffRules ──────────────────────── v1.15.1 Installed FunctionWrappers ───────────────── v1.1.3 Installed JSON ───────────────────────────── v1.4.0 Installed SciMLBase ──────────────────────── v2.136.0 Installed OrdinaryDiffEqCore ─────────────── v3.2.0 Installed Parsers ────────────────────────── v2.8.3 Installed CloseOpenIntervals ─────────────── v0.1.13 Installed JLLWrappers ────────────────────── v1.7.1 Installed FastClosures ───────────────────── v0.3.2 Installed TestItems ──────────────────────── v1.0.0 Installed Polyester ──────────────────────── v0.7.18 Installed MutableArithmetics ─────────────── v1.6.7 Installed FiniteDiff ─────────────────────── v2.29.0 Installed ChunkCodecCore ─────────────────── v1.0.1 Installed StructTypes ────────────────────── v1.11.0 Installed Adapt ──────────────────────────── v4.4.0 Installed RuntimeGeneratedFunctions ──────── v0.5.16 Installed SymbolicIndexingInterface ──────── v0.3.46 Installed ThreadingUtilities ─────────────── v0.5.5 Installed ConstructionBase ───────────────── v1.6.0 Installed JLD2 ───────────────────────────── v0.6.3 Installed Accessors ──────────────────────── v0.1.43 Installed TranscodingStreams ─────────────── v0.11.3 Installed Compat ─────────────────────────── v4.18.1 Installed ASL_jll ────────────────────────── v0.1.3+0 Installed Statistics ─────────────────────── v1.11.1 Installed TimerOutputs ───────────────────── v0.5.29 Installed ExproniconLite ─────────────────── v0.10.14 Installed StrideArraysCore ───────────────── v0.5.8 Installed LazyArrays ─────────────────────── v2.9.5 Installed PrecompileTools ────────────────── v1.3.3 Installed ChunkCodecLibZlib ──────────────── v1.0.0 Installed ChainRulesCore ─────────────────── v1.26.0 Installed JSON3 ──────────────────────────── v1.14.3 Installed CodecBzip2 ─────────────────────── v0.8.5 Installed MuladdMacro ────────────────────── v0.2.4 Installed SciMLLogging ───────────────────── v1.8.0 Installed IfElse ─────────────────────────── v0.1.1 Installed CPUSummary ─────────────────────── v0.2.7 Installed ExponentialAction ──────────────── v0.2.10 Installed TestItemRunner ─────────────────── v1.1.4 Installed NamedTrajectories ──────────────── v0.8.2 Installed Libiconv_jll ───────────────────── v1.18.0+0 Installed XML2_jll ───────────────────────── v2.13.9+0 Installed OrdinaryDiffEqTsit5 ────────────── v1.9.0 Installed METIS_jll ──────────────────────── v5.1.3+0 Installed Ipopt ──────────────────────────── v1.14.0 Installed SpecialFunctions ───────────────── v2.6.1 Installed PolyesterWeave ─────────────────── v0.2.2 Installed DirectTrajOpt ──────────────────── v0.8.1 Installing 12 artifacts Installed artifact Xorg_libpciaccess 24.8 KiB Installed artifact Ipopt 1.3 MiB Installed artifact SPRAL 691.9 KiB Installed artifact ASL 276.3 KiB Installed artifact OpenSpecFun 194.9 KiB Installed artifact Bzip2 503.5 KiB Installed artifact XML2 2.5 MiB Installed artifact Hwloc 3.5 MiB Installed artifact Libiconv 1.9 MiB Installed artifact METIS 1.1 MiB Installed artifact MUMPS_seq 8.6 MiB Installed artifact OpenBLAS32 10.0 MiB 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 v1.3.1 [5789e2e9] + FileIO v1.17.1 [1a297f60] + FillArrays v1.16.0 [6a86dc24] + FiniteDiff v2.29.0 [f6369f11] + ForwardDiff v1.3.2 [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 v1.1.2 [aea7be01] + PrecompileTools v1.3.3 [21216c6a] + Preferences v1.5.1 [3cdcf5f2] + RecipesBase v1.3.4 [731186ca] + RecursiveArrayTools v3.47.0 [189a3867] + Reexport v1.2.2 [ae029012] + Requires v1.3.1 [7e49a35a] + RuntimeGeneratedFunctions v0.5.16 [94e857df] + SIMDTypes v0.1.0 [0bca4576] + SciMLBase v2.136.0 [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 12.25s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling packages... 4079.2 ms ✓ TestEnv 1 dependency successfully precompiled in 4 seconds. 27 already precompiled. Precompiling package dependencies... Precompiling packages... 4197.3 ms ✓ MacroTools 720.6 ms ✓ Reexport 1061.6 ms ✓ ConstructionBase 1925.1 ms ✓ IrrationalConstants 992.6 ms ✓ Observables 766.9 ms ✓ CommonSolve 1365.3 ms ✓ TranscodingStreams 1046.1 ms ✓ ChunkCodecCore 769.5 ms ✓ TestItems 1041.8 ms ✓ Statistics 896.0 ms ✓ StaticArraysCore 1204.1 ms ✓ EnzymeCore 778.8 ms ✓ IfElse 974.6 ms ✓ ManualMemory 874.3 ms ✓ SciMLPublic 3282.4 ms ✓ ExproniconLite 763.5 ms ✓ TrajectoryIndexingUtils 770.6 ms ✓ CommonWorldInvalidations 774.9 ms ✓ FastPower 864.6 ms ✓ InverseFunctions 797.0 ms ✓ CompositionsBase 778.1 ms ✓ MuladdMacro 1352.8 ms ✓ EnumX 2246.7 ms ✓ FillArrays 860.8 ms ✓ ExprTools 915.7 ms ✓ ConcreteStructs 1239.0 ms ✓ OrderedCollections 1366.8 ms ✓ FunctionWrappers 907.9 ms ✓ HashArrayMappedTries 1266.4 ms ✓ ADTypes 1029.9 ms ✓ DocStringExtensions 786.9 ms ✓ FastClosures 727.5 ms ✓ SIMDTypes 727.3 ms ✓ IteratorInterfaceExtensions 963.2 ms ✓ NaNMath 1100.8 ms ✓ Requires 1646.5 ms ✓ CpuId 1508.0 ms ✓ StructTypes 1025.8 ms ✓ LoggingExtras 1387.7 ms ✓ StructUtils 1097.4 ms ✓ Compat 1113.8 ms ✓ Preferences 10581.7 ms ✓ MutableArithmetics 1665.9 ms ✓ CommonSubexpressions 800.1 ms ✓ ConstructionBase → ConstructionBaseLinearAlgebraExt 896.8 ms ✓ CodecZlib 928.7 ms ✓ ChunkCodecLibZlib 1051.5 ms ✓ ChunkCodecLibZstd 23340.7 ms ✓ TestItemRunner 1244.3 ms ✓ Statistics → SparseArraysExt 832.3 ms ✓ DiffResults 1625.9 ms ✓ ThreadingUtilities 3101.2 ms ✓ Jieko 870.5 ms ✓ InverseFunctions → InverseFunctionsDatesExt 1532.9 ms ✓ InverseFunctions → InverseFunctionsTestExt 754.7 ms ✓ CompositionsBase → CompositionsBaseInverseFunctionsExt 1422.9 ms ✓ FillArrays → FillArraysSparseArraysExt 893.9 ms ✓ FillArrays → FillArraysStatisticsExt 3076.7 ms ✓ TimerOutputs 836.2 ms ✓ RuntimeGeneratedFunctions 3397.2 ms ✓ DataStructures 1149.8 ms ✓ FunctionWrappersWrappers 1237.9 ms ✓ ScopedValues 931.0 ms ✓ ADTypes → ADTypesConstructionBaseExt 1950.2 ms ✓ DifferentiationInterface 804.0 ms ✓ ADTypes → ADTypesEnzymeCoreExt 1261.4 ms ✓ LogExpFunctions 1002.7 ms ✓ Adapt 8376.2 ms ✓ FileIO 798.0 ms ✓ Compat → CompatLinearAlgebraExt 846.3 ms ✓ PrecompileTools 1095.9 ms ✓ JLLWrappers 1449.7 ms ✓ TruncatedStacktraces 1619.4 ms ✓ ComputePipeline 1361.3 ms ✓ SciMLLogging 2744.4 ms ✓ Setfield 15420.6 ms ✓ Moshi 4755.8 ms ✓ Accessors 1262.7 ms ✓ DifferentiationInterface → DifferentiationInterfaceSparseArraysExt 772.9 ms ✓ LogExpFunctions → LogExpFunctionsInverseFunctionsExt 1108.4 ms ✓ ArrayInterface 1239.3 ms ✓ Adapt → AdaptSparseArraysExt 1164.8 ms ✓ GPUArraysCore 741.4 ms ✓ EnzymeCore → AdaptExt 2474.1 ms ✓ ChainRulesCore 12459.9 ms ✓ StaticArrays 2639.6 ms ✓ RecipesBase 15387.1 ms ✓ Parsers 6047.5 ms ✓ Static 44537.1 ms ✓ JLD2 1440.5 ms ✓ OpenBLAS32_jll 1413.7 ms ✓ Bzip2_jll 1314.7 ms ✓ OpenSpecFun_jll 1337.4 ms ✓ ASL_jll 1339.3 ms ✓ METIS_jll 1343.9 ms ✓ Xorg_libpciaccess_jll 1674.2 ms ✓ Libiconv_jll 2288.8 ms ✓ Accessors → TestExt 2221.8 ms ✓ Accessors → LinearAlgebraExt 724.1 ms ✓ ArrayInterface → ArrayInterfaceStaticArraysCoreExt 1926.0 ms ✓ MaybeInplace 1210.0 ms ✓ ArrayInterface → ArrayInterfaceSparseArraysExt 1209.3 ms ✓ SciMLStructures 2133.7 ms ✓ PreallocationTools 847.7 ms ✓ DifferentiationInterface → DifferentiationInterfaceGPUArraysCoreExt 971.5 ms ✓ ArrayInterface → ArrayInterfaceGPUArraysCoreExt 2170.4 ms ✓ AbstractDifferentiation 1449.3 ms ✓ ChainRulesCore → ChainRulesCoreSparseArraysExt 1422.3 ms ✓ EnzymeCore → EnzymeCoreChainRulesCoreExt 847.1 ms ✓ ADTypes → ADTypesChainRulesCoreExt 896.9 ms ✓ DifferentiationInterface → DifferentiationInterfaceChainRulesCoreExt 3173.8 ms ✓ LogExpFunctions → LogExpFunctionsChainRulesCoreExt 847.8 ms ✓ ArrayInterface → ArrayInterfaceChainRulesCoreExt 1342.1 ms ✓ StaticArrays → StaticArraysStatisticsExt 1387.3 ms ✓ StaticArrays → StaticArraysChainRulesCoreExt 1571.3 ms ✓ ConstructionBase → ConstructionBaseStaticArraysExt 1719.5 ms ✓ FillArrays → FillArraysStaticArraysExt 1505.2 ms ✓ DifferentiationInterface → DifferentiationInterfaceStaticArraysExt 1340.4 ms ✓ Adapt → AdaptStaticArraysExt 1609.9 ms ✓ Accessors → StaticArraysExt 13043.3 ms ✓ JSON3 6533.8 ms ✓ JSON 929.3 ms ✓ BitTwiddlingConvenienceFunctions 2200.9 ms ✓ CPUSummary 4719.3 ms ✓ StaticArrayInterface 1006.0 ms ✓ CodecBzip2 4687.0 ms ✓ SpecialFunctions 1569.4 ms ✓ MUMPS_seq_jll 1470.1 ms ✓ XML2_jll 4496.4 ms ✓ SciMLOperators 1257.0 ms ✓ FiniteDiff 3453.1 ms ✓ SymbolicIndexingInterface 1243.2 ms ✓ MaybeInplace → MaybeInplaceSparseArraysExt 1907.0 ms ✓ ExponentialAction 21734.3 ms ✓ ArrayLayouts 2924.4 ms ✓ BenchmarkTools 1625.1 ms ✓ PolyesterWeave 1533.7 ms ✓ StaticArrayInterface → StaticArrayInterfaceStaticArraysExt 1069.0 ms ✓ CloseOpenIntervals 1236.9 ms ✓ LayoutPointers 3923.4 ms ✓ SpecialFunctions → SpecialFunctionsChainRulesCoreExt 1261.1 ms ✓ DiffRules 1369.3 ms ✓ Hwloc_jll 985.2 ms ✓ SciMLOperators → SciMLOperatorsStaticArraysCoreExt 1534.9 ms ✓ SciMLOperators → SciMLOperatorsSparseArraysExt 1348.5 ms ✓ FiniteDiff → FiniteDiffStaticArraysExt 1263.5 ms ✓ FiniteDiff → FiniteDiffSparseArraysExt 971.5 ms ✓ DifferentiationInterface → DifferentiationInterfaceFiniteDiffExt 7312.2 ms ✓ RecursiveArrayTools 3353.1 ms ✓ ArrayLayouts → ArrayLayoutsSparseArraysExt 1898.7 ms ✓ StrideArraysCore 6041.2 ms ✓ ForwardDiff 1408.7 ms ✓ SPRAL_jll 1861.1 ms ✓ RecursiveArrayTools → RecursiveArrayToolsSparseArraysExt 1220.1 ms ✓ RecursiveArrayTools → RecursiveArrayToolsStatisticsExt 6795.5 ms ✓ LazyArrays 1819.0 ms ✓ Polyester 1616.2 ms ✓ ForwardDiff → ForwardDiffStaticArraysExt 1045.2 ms ✓ FastPower → FastPowerForwardDiffExt 1332.5 ms ✓ DifferentiationInterface → DifferentiationInterfaceForwardDiffExt 2185.4 ms ✓ PreallocationTools → PreallocationToolsForwardDiffExt 71877.2 ms ✓ MathOptInterface 1407.1 ms ✓ RecursiveArrayTools → RecursiveArrayToolsForwardDiffExt 1635.3 ms ✓ Ipopt_jll 28473.8 ms ✓ SciMLBase 3475.8 ms ✓ LazyArrays → LazyArraysStaticArraysExt 1890.4 ms ✓ FastBroadcast 1150.3 ms ✓ Ipopt 2951.2 ms ✓ SciMLBase → SciMLBaseChainRulesCoreExt 3472.0 ms ✓ SciMLBase → SciMLBaseForwardDiffExt 2862.8 ms ✓ SciMLBase → SciMLBaseDifferentiationInterfaceExt 9226.0 ms ✓ NamedTrajectories 2047.8 ms ✓ RecursiveArrayTools → RecursiveArrayToolsFastBroadcastExt 41898.1 ms ✓ Ipopt → IpoptMathOptInterfaceExt 7919.7 ms ✓ SciMLJacobianOperators 17695.1 ms ✓ NonlinearSolveBase 3917.7 ms ✓ NonlinearSolveBase → NonlinearSolveBaseSparseArraysExt 3105.7 ms ✓ NonlinearSolveBase → NonlinearSolveBaseChainRulesCoreExt 4016.8 ms ✓ NonlinearSolveBase → NonlinearSolveBaseForwardDiffExt 8612.4 ms ✓ BracketingNonlinearSolve 3955.5 ms ✓ BracketingNonlinearSolve → BracketingNonlinearSolveForwardDiffExt 7475.8 ms ✓ DiffEqBase 3324.1 ms ✓ BracketingNonlinearSolve → BracketingNonlinearSolveChainRulesCoreExt 3886.7 ms ✓ DiffEqBase → DiffEqBaseSparseArraysExt 4146.6 ms ✓ DiffEqBase → DiffEqBaseChainRulesCoreExt 3959.2 ms ✓ DiffEqBase → DiffEqBaseForwardDiffExt 11674.5 ms ✓ OrdinaryDiffEqCore 4975.1 ms ✓ OrdinaryDiffEqCore → OrdinaryDiffEqCoreEnzymeCoreExt 13001.6 ms ✓ OrdinaryDiffEqTsit5 21963.4 ms ✓ DirectTrajOpt 190 dependencies successfully precompiled in 718 seconds. 37 already precompiled. Precompilation completed after 723.4s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_36Xa14/Project.toml` [c823fa1f] DirectTrajOpt v0.8.1 [e24c0720] ExponentialAction v0.2.10 [6a86dc24] FiniteDiff v2.29.0 [f6369f11] ForwardDiff v1.3.2 [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_36Xa14/Manifest.toml` [47edcb42] ADTypes v1.21.0 ⌃ [c29ec348] AbstractDifferentiation v0.4.4 [7d9f7c33] Accessors v0.1.43 [79e6a3ab] Adapt v4.4.0 [4fba245c] ArrayInterface v7.22.0 [4c555306] ArrayLayouts v1.12.2 [6e4b80f9] BenchmarkTools v1.6.3 [62783981] 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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 2.4224690e+00 3.54e+00 8.53e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5396850e+00 1.28e-01 2.75e+00 -1.1 2.36e+00 0.0 3.10e-01 9.76e-01h 1 2 2.6877703e+00 5.22e-02 1.15e+00 -1.1 5.45e-01 -0.5 9.70e-01 1.00e+00f 1 3 2.5968283e+00 8.85e-02 9.52e-01 -4.0 3.55e+00 -1.0 1.90e-01 1.46e-01h 1 4 2.4339281e+00 6.88e-02 6.30e-01 -1.9 1.07e+00 -0.5 3.04e-01 2.24e-01h 1 5 2.4410189e+00 6.74e-02 8.70e-01 -1.5 1.02e+00 -0.1 1.06e-01 2.09e-02h 1 6 2.4159469e+00 6.41e-02 1.45e+00 -1.5 4.63e-01 0.3 9.86e-01 4.88e-02h 1 7 2.5193109e+00 6.43e-02 5.09e+00 -0.2 1.75e+00 -0.2 3.02e-01 4.89e-02f 1 8 2.4905599e+00 6.84e-02 2.06e+00 -0.8 1.37e+00 -0.6 8.02e-01 1.53e-01h 1 9 2.4608437e+00 5.80e-02 2.50e+00 -1.0 3.70e-01 -0.2 8.35e-01 1.53e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.6585578e+00 1.36e-02 9.41e-01 -1.0 2.57e-01 -0.7 7.09e-01 1.00e+00f 1 11 2.3347160e+00 7.84e-03 9.56e-02 -1.9 2.34e-01 -1.2 9.86e-01 1.00e+00h 1 12 2.1152007e+00 3.51e-03 2.78e-02 -3.2 1.35e-01 -1.6 9.32e-01 9.22e-01h 1 13 2.0907049e+00 7.06e-05 8.30e-03 -4.0 1.89e-02 -2.1 9.99e-01 1.00e+00h 1 14 2.0908780e+00 2.37e-07 4.48e-04 -4.0 8.03e-03 -2.6 1.00e+00 1.00e+00h 1 15 2.0908769e+00 6.63e-09 2.06e-05 -4.0 2.40e-02 -3.1 1.00e+00 1.00e+00h 1 16 2.0908699e+00 1.97e-09 2.06e-05 -4.0 7.21e-02 -3.5 1.00e+00 1.00e+00h 1 17 2.0908486e+00 1.77e-08 2.06e-05 -4.0 2.16e-01 -4.0 1.00e+00 1.00e+00h 1 18 2.0907848e+00 1.59e-07 2.06e-05 -4.0 6.49e-01 -4.5 1.00e+00 1.00e+00h 1 19 2.0905936e+00 1.44e-06 2.05e-05 -4.0 1.94e+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 2.0900221e+00 1.30e-05 5.79e-05 -4.0 5.81e+00 -5.5 1.00e+00 1.00e+00h 1 21 2.0883258e+00 1.20e-04 5.16e-04 -4.0 1.72e+01 -5.9 1.00e+00 1.00e+00h 1 22 2.0834112e+00 1.15e-03 4.81e-03 -4.0 4.99e+01 -6.4 1.00e+00 1.00e+00h 1 23 2.0796254e+00 1.73e-03 2.67e-01 -4.0 1.14e+02 -6.9 1.00e+00 3.29e-01h 1 24 2.0790149e+00 7.56e-03 1.97e-01 -4.1 6.34e+01 -7.4 1.00e+00 7.11e-01h 1 25 2.0778626e+00 1.72e-02 5.80e-02 -3.8 1.28e+02 -7.8 1.00e+00 1.00e+00h 1 26 2.0764663e+00 1.74e-02 2.76e-02 -4.0 2.19e+02 -8.3 1.00e+00 1.00e+00h 1 27 2.0760101e+00 1.41e-03 2.48e-02 -4.0 3.63e+02 -8.8 1.00e+00 1.00e+00h 1 28 2.0755115e+00 1.36e-03 2.99e-02 -4.0 3.53e+02 -9.3 1.00e+00 6.64e-01h 1 29 2.0757196e+00 1.20e-03 6.58e-03 -4.0 1.16e+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 30 2.0756730e+00 4.74e-05 7.24e-05 -4.0 2.40e+01 -10.2 1.00e+00 1.00e+00h 1 31 2.0756713e+00 3.78e-07 3.45e-06 -4.0 2.12e+01 -10.7 1.00e+00 1.00e+00h 1 32 2.0756712e+00 1.60e-08 7.02e-07 -4.0 1.06e+01 -11.2 1.00e+00 1.00e+00h 1 33 2.0756712e+00 9.38e-10 3.69e-08 -4.0 2.90e+00 -11.7 1.00e+00 1.00e+00h 1 34 2.0756712e+00 8.64e-12 3.45e-10 -4.0 3.32e-01 -12.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 34 (scaled) (unscaled) Objective...............: 2.0756712120960046e+00 2.0756712120960046e+00 Dual infeasibility......: 3.4466381558149149e-10 3.4466381558149149e-10 Constraint violation....: 8.6398665999354307e-12 8.6398665999354307e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000037e-04 1.0000000000000037e-04 Overall NLP error.......: 3.4466381558149149e-10 3.4466381558149149e-10 Number of objective function evaluations = 35 Number of objective gradient evaluations = 35 Number of equality constraint evaluations = 35 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 35 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 34 Total seconds in IPOPT = 55.915 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 3.3096890e+00 2.54e+00 5.74e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5300346e+00 1.99e-01 2.11e+00 -0.9 1.84e+00 0.0 1.00e+00 9.22e-01h 1 2 2.4445635e+00 2.52e-02 3.52e-01 -1.3 3.01e-01 -0.5 9.93e-01 1.00e+00h 1 3 2.2232041e+00 3.31e-03 1.76e-01 -2.1 1.45e-01 -1.0 9.96e-01 1.00e+00h 1 4 2.0989561e+00 1.57e-03 3.52e-02 -3.5 9.35e-02 -1.4 9.98e-01 8.62e-01h 1 5 2.0940192e+00 8.28e-04 6.90e-01 -4.0 3.11e-01 -1.9 1.00e+00 4.74e-01h 1 6 2.0915563e+00 1.72e-04 2.82e-02 -4.0 3.79e-01 -2.4 1.00e+00 1.00e+00h 1 7 2.0909315e+00 2.49e-06 1.52e-02 -4.0 6.82e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0910073e+00 1.20e-06 3.67e-04 -4.0 4.69e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909936e+00 1.49e-08 2.06e-05 -4.0 1.35e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909537e+00 6.22e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0908342e+00 5.55e-07 2.06e-05 -4.0 1.22e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0904764e+00 5.02e-06 2.27e-05 -4.0 3.64e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0894102e+00 4.59e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0862756e+00 4.31e-04 1.81e-03 -4.0 3.19e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796231e+00 2.58e-03 8.34e-02 -4.0 8.75e+01 -6.7 1.00e+00 7.69e-01h 1 16 2.0813381e+00 1.55e-04 1.95e-01 -4.0 6.81e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778450e+00 5.67e-03 2.72e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781414e+00 1.62e-02 3.33e-02 -3.7 1.50e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767425e+00 1.31e-02 1.84e-02 -3.8 2.79e+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 2.0758294e+00 1.10e-02 2.12e-02 -3.9 4.12e+02 -9.1 1.00e+00 9.92e-01h 1 21 2.0757786e+00 6.68e-03 9.59e-03 -4.0 1.37e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756778e+00 3.58e-04 4.16e-04 -4.0 5.91e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 1.56e-06 7.35e-06 -4.0 2.08e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756713e+00 5.50e-08 1.34e-06 -4.0 1.45e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756713e+00 3.71e-09 1.57e-07 -4.0 5.97e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756713e+00 9.46e-11 3.67e-09 -4.0 1.09e+00 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712528771448e+00 2.0756712528771448e+00 Dual infeasibility......: 3.6674632788134820e-09 3.6674632788134820e-09 Constraint violation....: 9.4622309987357767e-11 9.4622309987357767e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000057e-04 1.0000000000000057e-04 Overall NLP error.......: 3.6674632788134820e-09 3.6674632788134820e-09 Number of objective function evaluations = 28 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 26 Total seconds in IPOPT = 20.331 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 2.2503614e+00 3.19e+00 7.95e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7771470e+00 1.04e-01 4.80e+00 -0.9 2.10e+00 0.0 9.72e-01 1.00e+00h 1 2 3.0165076e+00 3.95e-02 2.05e+00 -1.0 6.75e-01 -0.5 7.30e-01 1.00e+00h 1 3 2.5212335e+00 3.41e-02 5.54e-01 -1.2 4.54e-01 -1.0 9.66e-01 6.88e-01h 1 4 2.3033451e+00 1.43e-02 5.80e-02 -1.7 2.72e-01 -1.4 9.46e-01 1.00e+00h 1 5 2.1342998e+00 4.42e-03 2.02e-01 -2.7 4.69e-01 -1.9 9.99e-01 7.22e-01h 1 6 2.0952620e+00 3.47e-04 1.41e-02 -3.4 4.50e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0908734e+00 1.06e-05 2.62e-04 -4.0 1.56e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908414e+00 2.07e-07 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908281e+00 6.75e-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 2.0907883e+00 6.22e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0906689e+00 5.61e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903115e+00 5.07e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892463e+00 4.63e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861155e+00 4.35e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796299e+00 2.49e-03 8.79e-02 -4.0 8.71e+01 -6.7 1.00e+00 7.53e-01h 1 16 2.0812007e+00 1.22e-04 1.78e-01 -4.0 7.00e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778213e+00 5.61e-03 2.39e-02 -4.0 1.13e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0782176e+00 1.75e-02 4.80e-02 -3.7 1.75e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0768738e+00 9.14e-03 2.59e-02 -3.8 3.14e+02 -8.6 1.00e+00 9.13e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0760951e+00 8.06e-03 2.52e-02 -3.9 4.60e+02 -9.1 1.00e+00 9.77e-01f 1 21 2.0757476e+00 9.91e-03 1.11e-02 -4.0 1.43e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756796e+00 5.46e-04 4.43e-04 -4.0 6.16e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 4.59e-06 8.78e-06 -4.0 2.37e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 6.39e-08 1.58e-06 -4.0 1.55e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.75e-09 1.59e-07 -4.0 5.37e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 8.23e-11 3.20e-09 -4.0 9.46e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122117236e+00 2.0756712122117236e+00 Dual infeasibility......: 3.2032543350951018e-09 3.2032543350951018e-09 Constraint violation....: 8.2304718596049042e-11 8.2304718596049042e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000037e-04 1.0000000000000037e-04 Overall NLP error.......: 3.2032543350951018e-09 3.2032543350951018e-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 = 31.462 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 1.3572130e+00 2.29e+00 4.09e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.7188354e+00 1.64e-01 8.82e-01 -1.0 2.33e+00 -2.0 9.93e-01 1.00e+00h 1 Hello, world! 2 2.5126999e+00 2.14e-01 1.37e+00 -1.7 7.08e+00 -2.5 9.56e-01 4.93e-01h 1 Hello, world! 3 2.2677709e+00 8.58e-02 2.74e-01 -1.9 5.42e-01 -2.1 9.90e-01 5.99e-01h 1 Hello, world! 4 2.1596764e+00 2.08e-02 1.37e-01 -2.1 9.21e-01 -2.5 9.40e-01 1.00e+00h 1 Hello, world! 5 2.0971627e+00 2.26e-03 1.24e-02 -3.4 2.86e-01 -3.0 9.96e-01 9.88e-01h 1 Hello, world! 6 2.0910110e+00 7.46e-05 1.60e-03 -4.0 7.70e-02 -3.5 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0909493e+00 1.58e-06 3.88e-05 -4.0 2.18e-01 -4.0 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908958e+00 1.41e-07 2.51e-04 -4.0 5.33e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908041e+00 5.42e-07 1.27e-03 -4.0 1.19e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0905587e+00 4.82e-06 1.18e-03 -4.0 3.81e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0898147e+00 3.99e-05 1.42e-03 -4.0 1.08e+01 -5.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0890607e+00 4.08e-05 6.55e-02 -4.0 2.97e+01 -6.3 1.00e+00 2.92e-01h 1 Hello, world! 13 2.0856269e+00 1.54e-03 1.01e-01 -4.0 6.74e+01 -6.8 1.00e+00 1.00e+00f 1 Hello, world! 14 2.0839861e+00 6.56e-04 5.46e-02 -4.0 6.49e+00 -5.5 1.00e+00 5.94e-01h 1 Hello, world! 15 2.0837993e+00 7.67e-05 6.25e-03 -4.0 6.21e+00 -6.0 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0830284e+00 1.75e-05 4.40e-03 -4.0 1.14e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0827845e+00 1.01e-04 3.86e-03 -4.0 2.62e+01 -6.9 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0825553e+00 1.32e-04 2.99e-03 -4.0 6.76e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0821687e+00 7.30e-04 7.08e-03 -4.0 1.60e+02 -7.9 7.27e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.4031710e+00 2.04e-04 1.54e+00 -4.0 1.04e+02 -6.5 5.78e-01 1.00e+00H 1 Hello, world! 21 2.3079495e+00 7.31e-09 1.29e+00 -4.0 6.51e-02 1.3 1.00e+00 1.00e+00f 1 Hello, world! 22 2.1757662e+00 3.54e-08 8.20e-01 -3.7 1.24e-01 0.8 1.00e+00 1.00e+00f 1 Hello, world! 23 2.0959469e+00 1.71e-08 3.06e-01 -4.0 1.42e-01 0.3 1.00e+00 1.00e+00f 1 Hello, world! 24 2.0834813e+00 2.34e-08 4.82e-02 -4.0 6.99e-02 -0.1 1.00e+00 1.00e+00f 1 Hello, world! 25 2.0833169e+00 3.38e-09 7.16e-03 -4.0 5.05e-03 -0.6 1.00e+00 7.37e-01h 1 Hello, world! 26 2.0834154e+00 4.12e-08 1.34e-03 -4.0 1.64e-02 -1.1 1.00e+00 1.00e+00f 1 Hello, world! 27 2.0831686e+00 1.29e-07 1.07e-03 -4.1 3.94e-02 -1.6 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0832533e+00 4.04e-07 2.69e-04 -4.0 2.98e-02 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0831044e+00 1.38e-07 5.94e-05 -4.1 7.51e-03 -2.5 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0832788e+00 2.26e-07 3.06e-05 -4.0 9.66e-03 -3.0 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0831014e+00 7.66e-07 2.83e-05 -4.1 3.02e-02 -3.5 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0832717e+00 2.13e-06 4.16e-05 -4.0 8.39e-02 -4.0 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0830772e+00 6.86e-06 2.36e-05 -4.1 2.68e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0832055e+00 1.88e-05 1.26e-04 -4.0 7.35e-01 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0828837e+00 5.73e-05 1.52e-04 -4.1 2.20e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0817287e+00 7.53e-04 2.52e-03 -6.1 7.51e+00 -5.9 9.83e-01 1.00e+00h 1 Hello, world! 37 2.0817862e+00 1.70e-04 4.17e-02 -4.2 1.17e+01 -6.3 1.00e+00 6.24e-01h 1 Hello, world! 38 2.0823440e+00 1.43e-03 1.57e-02 -4.0 2.38e+01 -6.8 1.00e+00 1.00e+00f 1 Hello, world! 39 2.0818072e+00 1.03e-03 2.44e-02 -4.1 5.93e+01 -7.3 4.87e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818898e+00 1.47e-04 2.95e-03 -4.1 5.26e+00 -6.0 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0830453e+00 1.95e-05 1.36e-01 -4.0 2.86e+01 -6.4 4.13e-01 1.00e+00H 1 Hello, world! 42 2.0823519e+00 2.36e-06 3.68e-02 -4.0 1.14e-01 -1.5 1.00e+00 8.83e-01h 1 Hello, world! 43 2.0823510e+00 1.49e-06 1.78e-01 -4.0 1.56e-01 -2.0 1.00e+00 4.11e-01f 2 Hello, world! 44 2.0821552e+00 7.82e-07 2.59e-04 -4.1 6.04e-02 -2.5 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0823147e+00 3.50e-07 9.49e-05 -4.0 3.14e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0821587e+00 4.56e-07 4.62e-05 -4.1 1.88e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0815173e+00 9.51e-06 2.65e-02 -6.1 9.61e-02 -3.9 8.48e-01 1.00e+00h 1 Hello, world! 48 2.0824083e+00 2.31e-05 1.27e-03 -4.0 1.69e-01 -4.4 1.00e+00 1.00e+00f 1 Hello, world! 49 2.0821181e+00 1.72e-05 1.01e-04 -4.1 4.88e-01 -4.8 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 50 2.0813542e+00 2.33e-04 2.23e-03 -6.1 2.36e+00 -5.3 9.91e-01 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0813542266385157e+00 2.0813542266385157e+00 Dual infeasibility......: 2.2253168497787671e-03 2.2253168497787671e-03 Constraint violation....: 2.3346636276166954e-04 2.3346636276166954e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.9251594593261762e-05 1.9251594593261762e-05 Overall NLP error.......: 2.2253168497787671e-03 2.2253168497787671e-03 Number of objective function evaluations = 56 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 56 Number of inequality constraint evaluations = 56 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 21.944 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 1.3572130e+00 2.29e+00 4.09e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.7188354e+00 1.64e-01 8.82e-01 -1.0 2.33e+00 -2.0 9.93e-01 1.00e+00h 1 Hello, world! 2 2.5126999e+00 2.14e-01 1.37e+00 -1.7 7.08e+00 -2.5 9.56e-01 4.93e-01h 1 Hello, world! 3 2.2677709e+00 8.58e-02 2.74e-01 -1.9 5.42e-01 -2.1 9.90e-01 5.99e-01h 1 Hello, world! 4 2.1596764e+00 2.08e-02 1.37e-01 -2.1 9.21e-01 -2.5 9.40e-01 1.00e+00h 1 Hello, world! 5 2.0971627e+00 2.26e-03 1.24e-02 -3.4 2.86e-01 -3.0 9.96e-01 9.88e-01h 1 Hello, world! 6 2.0910110e+00 7.46e-05 1.60e-03 -4.0 7.70e-02 -3.5 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0909493e+00 1.58e-06 3.88e-05 -4.0 2.18e-01 -4.0 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908958e+00 1.41e-07 2.51e-04 -4.0 5.33e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908041e+00 5.42e-07 1.27e-03 -4.0 1.19e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0905587e+00 4.82e-06 1.18e-03 -4.0 3.81e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0898147e+00 3.99e-05 1.42e-03 -4.0 1.08e+01 -5.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0890607e+00 4.08e-05 6.55e-02 -4.0 2.97e+01 -6.3 1.00e+00 2.92e-01h 1 Hello, world! 13 2.0856269e+00 1.54e-03 1.01e-01 -4.0 6.74e+01 -6.8 1.00e+00 1.00e+00f 1 Hello, world! 14 2.0839861e+00 6.56e-04 5.46e-02 -4.0 6.49e+00 -5.5 1.00e+00 5.94e-01h 1 Hello, world! 15 2.0837993e+00 7.67e-05 6.25e-03 -4.0 6.21e+00 -6.0 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0830284e+00 1.75e-05 4.40e-03 -4.0 1.14e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0827845e+00 1.01e-04 3.86e-03 -4.0 2.62e+01 -6.9 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0825553e+00 1.32e-04 2.99e-03 -4.0 6.76e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0821687e+00 7.30e-04 7.08e-03 -4.0 1.60e+02 -7.9 7.27e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.4031710e+00 2.04e-04 1.54e+00 -4.0 1.04e+02 -6.5 5.78e-01 1.00e+00H 1 Hello, world! 21 2.3079495e+00 7.31e-09 1.29e+00 -4.0 6.51e-02 1.3 1.00e+00 1.00e+00f 1 Hello, world! 22 2.1757662e+00 3.54e-08 8.20e-01 -3.7 1.24e-01 0.8 1.00e+00 1.00e+00f 1 Hello, world! 23 2.0959469e+00 1.71e-08 3.06e-01 -4.0 1.42e-01 0.3 1.00e+00 1.00e+00f 1 Hello, world! 24 2.0834813e+00 2.34e-08 4.82e-02 -4.0 6.99e-02 -0.1 1.00e+00 1.00e+00f 1 Hello, world! 25 2.0833169e+00 3.38e-09 7.16e-03 -4.0 5.05e-03 -0.6 1.00e+00 7.37e-01h 1 Hello, world! 26 2.0834154e+00 4.12e-08 1.34e-03 -4.0 1.64e-02 -1.1 1.00e+00 1.00e+00f 1 Hello, world! 27 2.0831686e+00 1.29e-07 1.07e-03 -4.1 3.94e-02 -1.6 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0832533e+00 4.04e-07 2.69e-04 -4.0 2.98e-02 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0831044e+00 1.38e-07 5.94e-05 -4.1 7.51e-03 -2.5 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0832788e+00 2.26e-07 3.06e-05 -4.0 9.66e-03 -3.0 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0831014e+00 7.66e-07 2.83e-05 -4.1 3.02e-02 -3.5 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0832717e+00 2.13e-06 4.16e-05 -4.0 8.39e-02 -4.0 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0830772e+00 6.86e-06 2.36e-05 -4.1 2.68e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0832055e+00 1.88e-05 1.26e-04 -4.0 7.35e-01 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0828837e+00 5.73e-05 1.52e-04 -4.1 2.20e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0817287e+00 7.53e-04 2.52e-03 -6.1 7.51e+00 -5.9 9.83e-01 1.00e+00h 1 Hello, world! 37 2.0817862e+00 1.70e-04 4.17e-02 -4.2 1.17e+01 -6.3 1.00e+00 6.24e-01h 1 Hello, world! 38 2.0823440e+00 1.43e-03 1.57e-02 -4.0 2.38e+01 -6.8 1.00e+00 1.00e+00f 1 Hello, world! 39 2.0818072e+00 1.03e-03 2.44e-02 -4.1 5.93e+01 -7.3 4.87e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818898e+00 1.47e-04 2.95e-03 -4.1 5.26e+00 -6.0 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0830453e+00 1.95e-05 1.36e-01 -4.0 2.86e+01 -6.4 4.13e-01 1.00e+00H 1 Hello, world! 42 2.0823519e+00 2.36e-06 3.68e-02 -4.0 1.14e-01 -1.5 1.00e+00 8.83e-01h 1 Hello, world! 43 2.0823510e+00 1.49e-06 1.78e-01 -4.0 1.56e-01 -2.0 1.00e+00 4.11e-01f 2 Hello, world! 44 2.0821552e+00 7.82e-07 2.59e-04 -4.1 6.04e-02 -2.5 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0823147e+00 3.50e-07 9.49e-05 -4.0 3.14e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0821587e+00 4.56e-07 4.62e-05 -4.1 1.88e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0815173e+00 9.51e-06 2.65e-02 -6.1 9.61e-02 -3.9 8.48e-01 1.00e+00h 1 Hello, world! 48 2.0824083e+00 2.31e-05 1.27e-03 -4.0 1.69e-01 -4.4 1.00e+00 1.00e+00f 1 Hello, world! 49 2.0821181e+00 1.72e-05 1.01e-04 -4.1 4.88e-01 -4.8 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 50 2.0813542e+00 2.33e-04 2.23e-03 -6.1 2.36e+00 -5.3 9.91e-01 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0813542266385157e+00 2.0813542266385157e+00 Dual infeasibility......: 2.2253168497787671e-03 2.2253168497787671e-03 Constraint violation....: 2.3346636276166954e-04 2.3346636276166954e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.9251594593261762e-05 1.9251594593261762e-05 Overall NLP error.......: 2.2253168497787671e-03 2.2253168497787671e-03 Number of objective function evaluations = 56 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 56 Number of inequality constraint evaluations = 56 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 0.907 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 1.3364300e+00 3.10e+00 7.86e-02 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.2813253e+00 2.17e+00 4.44e+00 -0.8 1.54e+01 -2.0 1.11e-01 3.79e-01h 1 2 1.2869661e+00 2.15e+00 2.58e+01 0.7 4.21e+01 -0.7 1.28e-01 2.21e-02f 1 3 1.9352377e+00 1.77e+00 1.92e+01 0.6 1.31e+01 -1.1 3.13e-01 4.08e-01h 1 4 1.9176585e+00 7.99e-01 2.18e+01 0.0 5.89e+00 -0.7 3.76e-01 6.55e-01h 1 5 1.9515991e+00 5.12e-01 1.47e+01 -4.0 5.37e+00 -0.3 3.20e-01 3.65e-01h 1 6 2.0234067e+00 2.02e-01 1.35e+01 -0.2 1.55e+00 0.1 4.92e-01 8.09e-01f 1 7 2.0536472e+00 3.65e-03 3.65e+00 -0.7 2.33e-01 0.6 1.00e+00 1.00e+00f 1 8 1.9796495e+00 1.71e-03 2.50e-01 -1.3 1.20e-01 0.1 9.92e-01 1.00e+00h 1 9 1.7120732e+00 3.25e-03 1.39e-01 -1.9 1.40e-01 -0.4 8.72e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.4893234e+00 1.44e-02 5.04e-02 -2.1 3.73e-01 -0.9 9.64e-01 1.00e+00f 1 11 1.3554865e+00 3.86e-02 6.33e-02 -2.3 8.06e-01 -1.4 8.15e-01 7.39e-01h 1 12 1.2540071e+00 2.11e-01 1.49e-01 -2.8 1.51e+00 -1.8 7.49e-01 1.00e+00h 1 13 1.2252099e+00 7.90e-02 6.10e-02 -3.3 2.61e+00 -2.3 7.87e-01 6.72e-01h 1 14 1.2220137e+00 6.69e-02 5.55e-02 -2.9 5.21e-01 -1.9 1.00e+00 1.00e+00h 1 15 1.2046863e+00 1.16e-02 9.40e-03 -3.5 7.55e-01 -2.4 1.00e+00 9.98e-01h 1 16 1.1927054e+00 3.05e-02 1.04e-02 -4.0 1.26e+00 -2.8 1.00e+00 9.58e-01h 1 17 1.1855290e+00 5.25e-02 1.66e-02 -4.0 2.00e+00 -3.3 1.00e+00 1.00e+00h 1 18 1.1800788e+00 7.36e-02 1.25e-02 -4.0 2.86e+00 -3.8 1.00e+00 1.00e+00h 1 19 1.1758570e+00 8.28e-02 1.44e-02 -4.0 4.47e+00 -4.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.1722384e+00 1.12e-01 9.98e-03 -4.0 6.80e+00 -4.7 1.00e+00 1.00e+00h 1 21 1.1694983e+00 1.33e-01 9.11e-03 -4.0 1.05e+01 -5.2 1.00e+00 1.00e+00h 1 22 1.1671941e+00 1.68e-01 4.85e-03 -4.0 1.60e+01 -5.7 1.00e+00 1.00e+00h 1 23 1.1654063e+00 2.03e-01 1.72e-03 -4.0 2.44e+01 -6.2 1.00e+00 1.00e+00h 1 24 1.1639464e+00 2.49e-01 3.37e-03 -4.0 3.70e+01 -6.7 1.00e+00 1.00e+00h 1 25 1.1628047e+00 2.97e-01 8.35e-03 -4.0 5.56e+01 -7.1 1.00e+00 1.00e+00h 1 26 1.1618947e+00 3.54e-01 1.46e-02 -4.0 8.26e+01 -7.6 1.00e+00 1.00e+00h 1 27 1.1612022e+00 4.08e-01 2.03e-02 -4.0 1.20e+02 -8.1 1.00e+00 1.00e+00h 1 28 1.1607049e+00 4.44e-01 2.47e-02 -4.0 1.69e+02 -8.6 1.00e+00 1.00e+00h 1 29 1.1604799e+00 3.89e-01 2.00e-02 -4.0 2.11e+02 -9.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.1607391e+00 8.26e-02 2.58e-03 -4.0 1.37e+02 -9.5 1.00e+00 1.00e+00h 1 31 1.1608524e+00 2.44e-03 6.96e-04 -4.0 1.53e+01 -10.0 1.00e+00 1.00e+00h 1 32 1.1608491e+00 1.51e-04 1.84e-05 -4.0 5.12e+00 -10.5 1.00e+00 1.00e+00h 1 33 1.1608491e+00 6.64e-08 1.43e-10 -4.0 1.15e-01 -10.9 1.00e+00 1.00e+00h 1 34 1.1608491e+00 5.95e-13 5.83e-14 -4.0 3.16e-04 -11.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 34 (scaled) (unscaled) Objective...............: 1.1608491307790174e+00 1.1608491307790174e+00 Dual infeasibility......: 5.8340159959924254e-14 5.8340159959924254e-14 Constraint violation....: 5.9507954119908391e-13 5.9507954119908391e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000534e-04 1.0000000000000534e-04 Overall NLP error.......: 5.9507954119908391e-13 5.9507954119908391e-13 Number of objective function evaluations = 35 Number of objective gradient evaluations = 35 Number of equality constraint evaluations = 35 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 35 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 34 Total seconds in IPOPT = 20.538 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 186 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 19 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.1301016e+00 1.67e+00 1.07e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.9194371e+00 1.72e-01 2.07e+00 -0.8 7.37e-01 0.0 8.66e-01 1.00e+00h 1 2 1.9126215e+00 5.04e-02 8.80e-01 -0.8 3.47e-01 -0.5 6.70e-01 9.88e-01h 1 3 3.0945616e+01 1.23e-01 2.41e+02 -1.0 3.32e+01 - 9.03e-01 9.77e-01h 1 4 1.5023045e+00 2.69e-02 1.95e+01 -1.2 2.56e+00 -0.1 1.00e+00 8.17e-01f 1 5 1.3981324e+00 1.86e-02 1.35e+01 -2.1 4.95e-02 -0.5 1.00e+00 3.08e-01h 1 6 1.1125540e+00 2.97e-03 2.38e+00 -4.0 3.40e+01 - 3.78e-01 8.29e-01f 1 7 1.0937463e+00 3.35e-05 4.18e-01 -4.0 6.46e+00 - 1.00e+00 1.00e+00h 1 8 1.0914922e+00 1.14e-05 9.18e-03 -4.0 8.76e-01 - 1.00e+00 6.59e-01h 1 9 1.0910371e+00 9.71e-09 2.77e-03 -4.0 5.26e-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 5.34e-13 8.86e-07 -4.0 9.33e-03 - 1.00e+00 1.00e+00h 1 11 1.0910386e+00 3.94e-22 6.43e-07 -4.0 1.04e-06 - 1.00e+00 1.00e+00h 1 12 1.0910386e+00 2.91e-28 4.12e-16 -4.0 3.02e-13 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 12 (scaled) (unscaled) Objective...............: 1.0910385779862031e+00 1.0910385779862031e+00 Dual infeasibility......: 4.1233352114102527e-16 4.1233352114102527e-16 Constraint violation....: 2.9067080030561938e-28 2.9067080030561938e-28 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000000e-04 1.0000000000000000e-04 Overall NLP error.......: 4.1233352114102527e-16 4.1233352114102527e-16 Number of objective function evaluations = 13 Number of objective gradient evaluations = 13 Number of equality constraint evaluations = 13 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 13 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 12 Total seconds in IPOPT = 20.892 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 4.0891888e+00 2.38e+00 3.05e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8893449e+00 3.60e-02 4.57e-01 -1.1 2.30e+00 -2.0 9.96e-01 1.00e+00f 1 2 2.3500538e+00 2.08e-02 7.13e-02 -1.6 3.26e-01 -1.6 9.34e-01 1.00e+00h 1 3 2.1393202e+00 2.72e-03 1.96e-01 -2.8 1.27e-01 -1.1 9.49e-01 1.00e+00h 1 4 2.0927589e+00 1.13e-03 1.61e-01 -3.7 1.78e-01 -1.6 1.00e+00 9.11e-01h 1 5 2.0908976e+00 7.23e-04 9.44e-01 -4.0 7.47e-01 -2.1 1.00e+00 3.66e-01h 1 6 2.0908931e+00 3.60e-05 2.22e-01 -4.0 8.22e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0909293e+00 8.87e-07 3.67e-03 -4.0 2.34e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0909489e+00 6.35e-07 2.06e-05 -4.0 7.03e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909282e+00 1.61e-08 2.05e-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 2.0908666e+00 1.46e-07 2.05e-05 -4.0 6.29e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0906849e+00 1.29e-06 4.94e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0901671e+00 1.09e-05 4.18e-04 -4.0 5.43e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888284e+00 8.17e-05 3.15e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861494e+00 4.38e-04 1.74e-02 -4.0 3.46e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830883e+00 9.11e-04 4.69e-02 -4.0 5.30e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828736e+00 9.36e-04 2.43e-02 -4.0 5.39e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823476e+00 4.11e-04 1.00e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820398e+00 9.32e-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 8.67e-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 3.68e-05 8.46e-04 -4.0 3.11e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.32e-07 1.39e-05 -4.0 4.45e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.79e-10 3.26e-08 -4.0 2.45e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.51e-13 1.21e-11 -4.0 4.59e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907190964e+00 2.0819382907190964e+00 Dual infeasibility......: 1.2147148521421403e-11 1.2147148521421403e-11 Constraint violation....: 2.5135449277513544e-13 2.5135449277513544e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000060e-04 1.0000000000000060e-04 Overall NLP error.......: 1.2147148521421403e-11 1.2147148521421403e-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 = 21.348 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1528 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 77 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.4151061e+00 1.99e+00 3.02e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6609484e+00 1.99e-02 3.96e-01 -1.0 1.95e+00 -2.0 9.84e-01 1.00e+00f 1 2 2.3206085e+00 1.86e-02 5.85e-02 -1.8 2.89e-01 -1.6 9.63e-01 1.00e+00h 1 3 2.1343557e+00 1.96e-03 1.53e-01 -2.9 1.12e-01 -1.1 9.74e-01 9.96e-01h 1 4 2.1014390e+00 7.38e-04 2.54e-01 -3.8 5.50e-02 -1.6 1.00e+00 7.46e-01h 1 5 2.0936406e+00 4.94e-04 4.85e-01 -4.0 3.83e-01 -2.1 1.00e+00 4.33e-01h 1 6 2.0915948e+00 1.49e-04 6.70e-01 -4.0 9.89e-01 -2.6 1.00e+00 4.92e-01h 1 7 2.0909655e+00 9.45e-05 4.18e-02 -4.0 7.62e-01 -3.1 1.00e+00 1.00e+00h 1 8 2.0908530e+00 3.96e-06 3.80e-03 -4.0 7.35e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908483e+00 1.27e-06 4.09e-05 -4.0 2.02e-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 2.0908069e+00 9.25e-08 2.54e-04 -4.0 5.14e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907083e+00 6.39e-07 7.98e-04 -4.0 1.32e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904303e+00 6.08e-06 6.99e-04 -4.0 4.23e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0903103e+00 7.38e-07 5.31e-04 -4.0 1.51e+00 -5.0 1.00e+00 1.00e+00h 1 14 2.0901768e+00 1.27e-06 1.86e-02 -4.0 6.25e+00 -5.5 1.00e+00 2.12e-01h 2 15 2.0890634e+00 5.85e-05 2.30e-03 -4.0 1.34e+01 -6.0 1.00e+00 1.00e+00h 1 16 2.0876620e+00 1.24e-04 6.45e-02 -4.0 3.77e+01 -6.4 1.00e+00 4.33e-01h 1 17 2.0837737e+00 1.69e-03 5.96e-02 -4.0 6.80e+01 -6.9 1.00e+00 1.00e+00h 1 18 2.0835689e+00 4.63e-04 5.27e-03 -3.8 5.46e+00 -6.5 1.00e+00 9.27e-01h 1 19 2.0827801e+00 2.50e-03 4.45e-03 -4.0 2.89e+01 -7.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0825051e+00 6.69e-05 3.36e-03 -4.0 7.41e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0821319e+00 8.65e-04 9.31e-03 -4.0 1.76e+02 -7.9 6.19e-01 1.00e+00h 1 22 2.1763586e+00 5.11e-04 3.81e-01 -4.0 2.59e+02 -8.4 2.33e-01 4.36e-01h 1 23 2.1696727e+00 2.50e-08 3.80e-01 -4.1 1.39e-02 1.4 1.00e+00 1.00e+00h 1 24 2.1549559e+00 4.84e-08 3.25e-01 -4.1 3.28e-02 1.0 3.96e-01 1.00e+00f 1 25 2.1275145e+00 1.26e-07 2.48e-01 -4.1 8.00e-02 0.5 1.00e+00 1.00e+00f 1 26 2.0985921e+00 7.79e-07 4.62e+00 -4.1 1.47e-01 0.0 5.78e-01 1.00e+00f 1 27 2.0835205e+00 2.06e-07 3.19e+00 -4.1 1.54e-01 -0.5 7.19e-01 1.00e+00f 1 28 2.0821200e+00 3.91e-07 4.86e-01 -4.0 6.25e-02 -0.9 1.00e+00 9.10e-01f 1 29 2.0823718e+00 1.98e-07 3.57e-01 -4.0 3.50e-02 -1.4 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0821632e+00 1.15e-07 2.30e-04 -4.0 1.52e-02 -1.9 1.00e+00 1.00e+00h 1 31 2.0821579e+00 3.28e-08 3.25e-05 -4.0 4.16e-03 -2.4 1.00e+00 1.00e+00h 1 32 2.0821496e+00 7.57e-10 3.88e-06 -4.0 2.79e-03 -2.9 1.00e+00 1.00e+00h 1 33 2.0821490e+00 1.10e-10 3.88e-06 -4.0 8.37e-03 -3.3 1.00e+00 1.00e+00h 1 34 2.0821479e+00 7.95e-10 3.87e-06 -4.0 2.51e-02 -3.8 1.00e+00 1.00e+00h 1 35 2.0821446e+00 6.95e-09 3.86e-06 -4.0 7.49e-02 -4.3 1.00e+00 1.00e+00h 1 36 2.0821353e+00 5.73e-08 3.81e-06 -4.0 2.22e-01 -4.8 1.00e+00 1.00e+00h 1 37 2.0821119e+00 4.01e-07 1.87e-05 -4.0 6.46e-01 -5.2 1.00e+00 1.00e+00h 1 38 2.0820678e+00 1.89e-06 8.13e-05 -4.0 1.82e+00 -5.7 1.00e+00 1.00e+00h 1 39 2.0820113e+00 5.57e-06 1.77e-04 -4.0 5.14e+00 -6.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0819081e+00 4.36e-05 1.08e-04 -4.0 1.57e+01 -6.7 1.00e+00 1.00e+00h 1 41 2.0818292e+00 1.94e-04 1.94e-02 -4.0 4.97e+02 -7.2 3.27e-02 4.63e-02h 4 42 2.0829021e+00 9.53e-05 5.90e-01 -4.0 3.35e+00 -4.9 5.43e-01 8.33e-01H 1 43 2.0820342e+00 3.87e-04 2.47e-01 -4.1 2.47e+00 -5.4 3.52e-01 1.00e+00h 1 44 2.0818800e+00 4.94e-07 1.62e-03 -4.1 3.43e-02 -1.4 1.00e+00 1.00e+00h 1 45 2.0821273e+00 9.11e-07 8.97e-04 -4.0 4.89e-02 -1.8 1.00e+00 1.00e+00f 1 46 2.0819081e+00 3.00e-07 4.72e-04 -4.1 7.73e-02 -2.3 1.00e+00 1.00e+00h 1 47 2.0812577e+00 3.42e-06 1.49e-01 -6.1 9.90e-02 -2.8 7.75e-01 9.96e-01h 1 48 2.0821603e+00 6.56e-06 2.15e-03 -4.0 1.26e-01 -3.3 1.00e+00 1.00e+00f 1 49 2.0819068e+00 3.58e-06 7.26e-05 -4.1 6.78e-02 -3.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0812448e+00 2.17e-05 1.40e-01 -6.1 2.08e-01 -4.2 7.85e-01 1.00e+00h 1 51 2.0820750e+00 6.19e-05 2.40e-03 -4.0 4.36e-01 -4.7 1.00e+00 1.00e+00f 1 52 2.0817432e+00 6.35e-05 2.76e-03 -4.1 1.42e+00 -5.2 9.60e-01 1.00e+00h 1 53 2.0817128e+00 1.26e-05 1.26e-03 -4.1 5.20e-01 -5.7 1.00e+00 1.00e+00h 1 54 2.0818926e+00 3.33e-05 3.03e-04 -4.0 1.41e+00 -6.1 1.00e+00 1.00e+00h 1 55 2.0817003e+00 4.18e-05 4.80e-04 -4.1 2.53e+00 -6.6 1.00e+00 1.00e+00h 1 56 2.0807475e+00 1.54e-03 1.82e-03 -6.1 1.87e+01 -7.1 9.83e-01 9.73e-01h 1 57 2.0819070e+00 2.34e-03 3.09e-03 -4.0 2.04e+01 -7.6 1.00e+00 1.00e+00f 1 58 2.0816407e+00 7.96e-04 1.23e-03 -4.1 2.60e+01 -8.0 1.00e+00 1.00e+00h 1 59 2.0816081e+00 5.21e-05 1.06e-03 -4.1 3.47e+01 -8.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0816018e+00 9.48e-06 2.47e-04 -4.1 2.10e+01 -9.0 1.00e+00 1.00e+00h 1 61 2.0818392e+00 1.77e-04 3.21e-05 -4.0 8.03e+00 -9.5 1.00e+00 1.00e+00h 1 62 2.0815804e+00 2.08e-04 1.41e-05 -4.1 9.47e+00 -9.9 1.00e+00 1.00e+00h 1 63 2.0805902e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -10.4 9.78e-01 9.71e-01h 1 64 2.0818881e+00 6.54e-03 3.25e-04 -4.0 6.08e+01 -10.9 1.00e+00 1.00e+00f 1 65 2.0816142e+00 4.87e-04 1.10e-05 -4.1 2.07e+01 -11.4 1.00e+00 1.00e+00h 1 66 2.0805990e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -11.9 9.76e-01 9.65e-01h 1 67 2.0805508e+00 8.47e-05 2.30e-06 -6.1 1.70e+01 -12.3 1.00e+00 1.00e+00h 1 68 2.0819793e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -12.8 1.00e+00 1.00e+00f 1 69 2.0816850e+00 9.29e-04 4.91e-05 -4.1 4.57e+01 -13.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0816490e+00 4.77e-07 7.48e-07 -4.1 8.50e+00 -13.8 1.00e+00 1.00e+00h 1 71 2.0818389e+00 1.13e-04 4.87e-06 -4.0 7.02e+00 -14.2 1.00e+00 1.00e+00h 1 72 2.0815801e+00 2.08e-04 9.04e-06 -4.1 9.49e+00 -14.7 1.00e+00 1.00e+00h 1 73 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -15.2 9.78e-01 9.71e-01h 1 74 2.0805497e+00 6.51e-05 1.78e-06 -6.1 1.55e+01 -15.7 1.00e+00 1.00e+00h 1 75 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -16.1 1.00e+00 1.00e+00f 1 76 2.0816901e+00 9.49e-04 5.23e-05 -4.1 4.72e+01 -16.6 1.00e+00 1.00e+00h 1 77 2.0816518e+00 5.68e-07 7.86e-07 -4.1 8.91e+00 -17.1 1.00e+00 1.00e+00h 1 78 2.0805907e+00 3.69e-03 1.61e-04 -6.1 4.17e+01 -17.6 9.77e-01 9.75e-01h 1 79 2.0805511e+00 6.76e-05 1.95e-06 -6.1 1.62e+01 -18.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805469e+00 4.72e-08 2.03e-08 -6.1 2.96e+00 -18.5 1.00e+00 1.00e+00h 1 81 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.88e+01 -19.0 1.00e+00 1.00e+00f 1 82 2.0817176e+00 1.03e-03 6.82e-05 -4.1 5.46e+01 -19.5 1.00e+00 1.00e+00h 1 83 2.0816664e+00 1.23e-06 1.00e-06 -4.1 1.09e+01 -20.0 1.00e+00 1.00e+00h 1 84 2.0805915e+00 3.77e-03 1.67e-04 -6.1 4.21e+01 -20.0 9.76e-01 9.75e-01h 1 85 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 86 2.0805471e+00 5.00e-08 2.15e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 87 2.0805365e+00 9.59e-07 8.07e-07 -9.0 9.59e-01 -20.0 1.00e+00 9.97e-01h 1 88 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 89 2.0817324e+00 1.07e-03 7.73e-05 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0816741e+00 1.68e-06 1.10e-06 -4.1 1.18e+01 -20.0 1.00e+00 1.00e+00h 1 91 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 92 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 93 2.0805472e+00 5.16e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 94 2.0805365e+00 9.80e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 95 2.0805365e+00 9.37e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 96 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 97 2.0817328e+00 1.07e-03 7.75e-05 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 98 2.0816743e+00 1.69e-06 1.10e-06 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 99 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805516e+00 7.08e-05 2.06e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 101 2.0805472e+00 5.17e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 102 2.0805365e+00 9.81e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 103 2.0805365e+00 9.39e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 104 2.0805365e+00 4.44e-16 3.37e-16 -9.0 1.11e-05 -20.0 1.00e+00 1.00e+00h 1 105 2.0805365e+00 6.66e-16 2.22e-16 -9.0 2.01e-12 -20.0 1.00e+00 1.00e+00h 1 106 2.0805365e+00 2.22e-16 2.41e-16 -9.0 7.59e-14 -20.0 1.00e+00 1.00e+00 0 107 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....: 107 (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 = 118 Number of objective gradient evaluations = 108 Number of equality constraint evaluations = 118 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 108 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 108 Total seconds in IPOPT = 22.453 EXIT: Search Direction is becoming Too Small. initializing optimizer... applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 196 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 28 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.7534206e+00 9.11e-01 1.01e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5976053e+00 2.19e-01 1.80e+00 -0.8 9.11e-01 0.0 9.82e-01 1.00e+00h 1 2 1.2786742e+00 2.04e-01 1.56e+00 -4.0 4.03e+01 - 1.04e-01 6.59e-02f 1 3 1.2484767e+00 1.10e-01 1.11e+00 -1.0 3.82e-01 -0.5 7.08e-01 4.59e-01h 1 4 1.4748170e+00 5.96e-02 2.72e+00 -1.7 3.79e-01 -1.0 9.74e-01 1.00e+00h 1 5 1.3423051e+00 5.01e-02 1.97e+00 -1.4 6.65e-01 -0.5 1.00e+00 1.61e-01h 1 6 1.1854162e+00 2.81e-02 8.47e-01 -2.1 2.54e-01 -1.0 1.00e+00 4.52e-01h 1 7 1.1171874e+00 7.16e-03 1.53e-01 -3.1 1.00e-01 -1.5 1.00e+00 7.58e-01h 1 8 1.0953129e+00 6.68e-05 8.38e-03 -4.0 6.90e-02 -1.1 1.00e+00 1.00e+00h 1 9 1.0937644e+00 8.85e-08 1.52e-03 -4.0 5.60e-02 -1.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0936384e+00 5.61e-11 6.75e-04 -4.0 3.44e-02 -2.0 1.00e+00 1.00e+00h 1 11 1.0934589e+00 5.84e-14 6.43e-04 -4.0 1.00e-01 -2.5 1.00e+00 1.00e+00f 1 12 1.0934070e+00 9.73e-17 1.14e-02 -4.0 4.49e-01 -3.0 4.72e-01 1.00e+00f 1 13 1.0931329e+00 4.97e-17 3.89e-03 -4.0 1.09e-01 -1.6 1.00e+00 4.89e-01f 2 14 1.0929747e+00 1.05e-20 3.53e-04 -4.0 3.80e-02 -2.1 1.00e+00 1.00e+00f 1 15 1.0928093e+00 1.47e-27 5.42e-04 -4.0 1.10e-01 -2.6 1.00e+00 1.00e+00f 1 16 1.0927027e+00 1.32e-27 1.14e-03 -4.0 7.58e-01 -3.1 2.13e-01 2.50e-01f 3 17 1.0926717e+00 4.26e-29 4.70e-04 -4.0 2.59e-02 -1.7 1.00e+00 1.00e+00f 1 18 1.0915505e+00 2.51e-26 1.90e-02 -4.0 2.69e+00 - 5.97e-01 1.00e+00f 1 19 1.0910364e+00 1.91e-31 2.56e-03 -4.0 5.16e-02 -1.3 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.0909044e+00 2.45e-30 6.15e-04 -4.0 3.79e-02 -1.8 1.00e+00 1.00e+00f 1 21 1.0909002e+00 1.88e-27 2.41e-04 -4.0 6.55e-02 - 1.00e+00 1.00e+00f 1 22 1.0908997e+00 1.82e-27 3.42e-05 -4.0 2.35e-02 - 1.00e+00 1.00e+00f 1 23 1.0908997e+00 3.73e-27 4.72e-07 -4.0 1.72e-03 - 1.00e+00 1.00e+00f 1 24 1.0908997e+00 1.19e-26 1.02e-10 -4.0 2.77e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 24 (scaled) (unscaled) Objective...............: 1.0908997263265459e+00 1.0908997263265459e+00 Dual infeasibility......: 1.0226589622772247e-10 1.0226589622772247e-10 Constraint violation....: 1.1910083973865517e-26 1.1910083973865517e-26 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000000e-04 1.0000000000000000e-04 Overall NLP error.......: 1.0226589622772247e-10 1.0226589622772247e-10 Number of objective function evaluations = 29 Number of objective gradient evaluations = 25 Number of equality constraint evaluations = 29 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 = 19.466 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 2.0918744e-02 8.33e-17 9.96e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8606110e-02 1.03e-11 1.74e-02 -4.0 3.31e-02 -2.0 9.83e-01 1.00e+00f 1 2 9.9936035e-03 2.48e-12 8.77e-02 -2.9 1.19e-01 -1.6 9.98e-01 1.00e+00f 1 3 2.2128486e-03 3.89e-11 6.56e-02 -3.4 1.34e-01 -1.1 1.00e+00 9.21e-01f 1 4 5.1662698e-04 2.17e-11 3.69e-02 -3.1 4.80e-01 -1.6 1.00e+00 3.25e-01f 2 5 6.5113492e-04 2.78e-12 3.30e-02 -2.9 1.60e+00 -2.1 1.00e+00 4.69e-01f 2 6 6.5113492e-04 2.78e-12 2.49e-02 -3.0 3.43e+01 -2.6 3.76e-02 2.98e-16h 46 7 6.5113492e-04 2.78e-12 1.17e-02 -3.0 3.83e+00 -3.1 3.18e-01 9.88e-17h 52 8 6.5113492e-04 2.78e-12 3.87e-02 -3.0 2.89e+00 -3.5 1.00e+00 1.02e-15h 49 9 7.8158091e-04 2.04e-11 8.67e-03 -3.0 8.76e-01 -4.0 9.58e-01 9.58e-01s 64 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 4.3624666e-04 1.53e-11 2.05e-02 -4.5 1.79e+00 -4.5 4.69e-01 2.53e-01f 1 11 3.6132503e-04 1.10e-11 2.09e-02 -3.6 7.02e-01 -5.0 1.00e+00 2.91e-01f 2 12 3.6132503e-04 1.10e-11 6.34e-02 -4.0 3.07e+00 -5.4 1.00e+00 3.28e-15h 47 13 4.1676225e-04 8.34e-12 1.44e-02 -3.3 6.88e-01 -5.9 1.00e+00 2.50e-01f 3 14 4.1676225e-04 8.34e-12 1.28e-02 -3.3 5.53e-01 -6.4 1.00e+00 5.68e-14h 45 15 8.3582960e-05 3.57e-13 9.27e-03 -3.3 3.76e-01 -6.9 1.00e+00 1.00e+00S 58 16 8.3582960e-05 3.57e-13 8.91e-03 -4.0 1.31e-01 -7.4 1.00e+00 7.11e-15h 48 17 8.3582960e-05 3.57e-13 7.47e-03 -3.6 9.65e-02 -7.8 1.00e+00 1.42e-14h 47 18 2.5657197e-05 1.93e-17 5.26e-03 -3.6 9.17e-02 -8.3 1.00e+00 1.00e+00S 61 19 2.5657197e-05 1.95e-17 5.90e-03 -4.0 7.00e-02 -8.8 1.00e+00 3.64e-12h 39 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.5657197e-05 1.97e-17 5.27e-03 -3.8 4.39e-02 -9.3 1.00e+00 2.91e-11h 36 21 2.5657197e-05 1.99e-17 5.39e-03 -3.8 4.30e-02 -9.7 1.00e+00 5.82e-11h 35 22 2.5657197e-05 1.99e-17 5.51e-03 -3.8 4.29e-02 -10.2 1.00e+00 1.46e-11h 37 23 2.5657197e-05 1.99e-17 5.63e-03 -3.8 4.27e-02 -10.7 1.00e+00 5.82e-11h 35 24 2.5657197e-05 2.04e-17 5.73e-03 -3.8 4.26e-02 -11.2 1.00e+00 2.91e-11h 36 25 2.5657197e-05 2.04e-17 5.82e-03 -3.8 4.25e-02 -11.6 1.00e+00 2.91e-11h 36 26 2.5657197e-05 2.08e-17 5.90e-03 -3.8 4.23e-02 -12.1 1.00e+00 1.46e-11h 37 27 2.5657197e-05 2.08e-17 5.98e-03 -3.8 4.22e-02 -12.6 1.00e+00 1.46e-11h 37 28 2.5657197e-05 2.13e-17 6.05e-03 -3.8 4.21e-02 -13.1 1.00e+00 1.82e-12h 40 29 2.5657197e-05 2.08e-17 6.11e-03 -3.8 4.19e-02 -13.6 1.00e+00 7.28e-12h 38 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.5657197e-05 2.08e-17 6.17e-03 -3.8 4.18e-02 -14.0 1.00e+00 7.28e-12h 38 31 2.5657197e-05 2.19e-17 6.23e-03 -3.8 4.16e-02 -14.5 1.00e+00 7.28e-12h 38 32 2.5657197e-05 2.10e-17 6.28e-03 -3.8 4.15e-02 -15.0 1.00e+00 2.91e-11h 36 33 2.5657197e-05 2.10e-17 6.33e-03 -3.8 4.13e-02 -15.5 1.00e+00 7.28e-12h 38 34 2.5657197e-05 2.13e-17 6.38e-03 -3.8 4.12e-02 -15.9 1.00e+00 5.68e-14h 45 35 2.5657197e-05 2.19e-17 6.42e-03 -3.8 4.11e-02 -16.4 1.00e+00 1.46e-11h 37 36 2.5657197e-05 2.19e-17 6.46e-03 -3.8 4.09e-02 -16.9 1.00e+00 7.28e-12h 38 37 2.5657197e-05 2.17e-17 6.50e-03 -3.8 4.08e-02 -17.4 1.00e+00 1.46e-11h 37 38 2.5657197e-05 2.10e-17 6.53e-03 -3.8 4.06e-02 -17.8 1.00e+00 7.28e-12h 38 39 2.5657197e-05 2.10e-17 6.57e-03 -3.8 4.05e-02 -18.3 1.00e+00 1.46e-11h 37 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.5657197e-05 2.15e-17 6.60e-03 -3.8 4.03e-02 -18.8 1.00e+00 4.55e-13h 42 41 2.5657197e-05 2.08e-17 6.63e-03 -3.8 4.02e-02 -19.3 1.00e+00 1.82e-12h 40 42 2.5657197e-05 2.08e-17 6.67e-03 -3.8 4.01e-02 -19.8 1.00e+00 1.82e-12h 40 43 2.5657197e-05 2.13e-17 6.69e-03 -3.8 3.99e-02 -20.0 1.00e+00 2.84e-14h 46 44 2.5657197e-05 2.13e-17 6.72e-03 -3.8 3.98e-02 -20.0 1.00e+00 9.09e-13h 41 45 2.5657197e-05 2.08e-17 6.75e-03 -3.8 3.96e-02 -20.0 1.00e+00 3.64e-12h 39 46 2.5657197e-05 2.08e-17 6.78e-03 -3.8 3.95e-02 -20.0 1.00e+00 3.64e-12h 39 47 2.5657197e-05 2.08e-17 6.80e-03 -3.8 3.93e-02 -20.0 1.00e+00 1.14e-13h 44 48 2.5657197e-05 2.08e-17 6.83e-03 -3.8 3.92e-02 -20.0 1.00e+00 1.42e-14h 47 49 3.4664730e-06 8.67e-19 3.74e-03 -3.8 3.90e-02 -20.0 1.00e+00 1.00e+00S 75 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 3.4664730e-06 8.67e-19 1.24e-03 -4.0 3.10e-02 -20.0 1.00e+00 9.09e-13h 41 51 3.4664730e-06 6.51e-19 1.17e-03 -3.9 2.46e-02 -20.0 1.00e+00 7.28e-12h 38 52 3.4664730e-06 1.19e-18 1.17e-03 -3.9 2.45e-02 -20.0 1.00e+00 7.28e-12h 38 53 3.4664730e-06 1.30e-18 1.17e-03 -3.9 2.45e-02 -20.0 1.00e+00 9.09e-13h 41 54 3.4664730e-06 1.30e-18 1.18e-03 -3.9 2.45e-02 -20.0 1.00e+00 1.42e-14h 47 55 1.6287056e-06 8.67e-19 8.96e-04 -3.9 2.44e-02 -20.0 1.00e+00 1.00e+00S 78 56 1.6287056e-06 3.25e-19 6.98e-04 -4.0 7.29e-03 -20.0 1.00e+00 4.66e-10h 32 57 1.6287056e-06 5.42e-19 7.62e-04 -4.1 1.33e-02 -20.0 1.00e+00 4.55e-13h 42 58 1.6287056e-06 1.08e-19 1.22e-03 -6.1 5.64e-02 -20.0 9.81e-01 1.42e-14h 47 59 1.6287056e-06 3.25e-19 1.21e-03 -6.1 5.77e-02 -20.0 1.00e+00 7.11e-15h 48 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 3.0709760e-11 7.59e-19 5.97e-04 -6.1 5.77e-02 -20.0 1.00e+00 1.00e+00s 82 61 1.2141431e-06 3.25e-19 5.32e-05 -4.0 5.17e-02 -20.0 1.00e+00 1.00e+00f 1 62 1.2141431e-06 3.25e-19 6.39e-04 -4.1 1.11e-02 -20.0 1.00e+00 9.09e-13h 41 63 1.2141431e-06 5.42e-19 1.05e-03 -6.1 5.07e-02 -20.0 9.83e-01 1.42e-14h 47 64 2.7410018e-11 3.25e-19 5.17e-04 -6.1 5.18e-02 -20.0 1.00e+00 1.00e+00s 81 65 6.3827910e-11 3.39e-21 2.42e-06 -6.1 1.09e-05 -20.0 1.00e+00 0.00e+00S 81 66 6.3827910e-11 4.24e-21 7.87e-06 -9.0 3.74e-04 -20.0 1.00e+00 1.82e-12h 40 67 6.3827910e-11 4.24e-21 7.87e-06 -9.0 3.74e-04 -20.0 1.00e+00 7.28e-12h 38 68 6.3827910e-11 4.24e-21 7.87e-06 -9.0 3.74e-04 -20.0 1.00e+00 8.88e-16h 51 69 6.3827910e-11 1.69e-21 7.87e-06 -9.0 3.74e-04 -20.0 1.00e+00 1.82e-12h 40 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 6.3827910e-11 1.69e-21 7.87e-06 -9.0 3.74e-04 -20.0 1.00e+00 8.88e-16h 51 71 6.3827910e-11 1.69e-21 7.87e-06 -9.0 3.74e-04 -20.0 1.00e+00 5.55e-17h 55 72 6.3827910e-11 1.69e-21 7.87e-06 -9.0 3.74e-04 -20.0 1.00e+00 5.55e-17h 55 73 6.3827910e-11 1.69e-21 7.87e-06 -9.0 3.74e-04 -20.0 1.00e+00 5.55e-17h 55 74 6.3827910e-11 1.69e-21 7.87e-06 -9.0 3.74e-04 -20.0 1.00e+00 5.55e-17h 55 75 6.3827910e-11 1.69e-21 7.87e-06 -9.0 3.74e-04 -20.0 1.00e+00 7.28e-12h 38 76 6.3827910e-11 1.69e-21 7.87e-06 -9.0 3.74e-04 -20.0 1.00e+00 5.55e-17h 55 77 6.3827910e-11 1.69e-21 7.87e-06 -9.0 3.74e-04 -20.0 1.00e+00 5.55e-17h 55 78 6.3827910e-11 1.69e-21 7.87e-06 -9.0 3.74e-04 -20.0 1.00e+00 5.55e-17h 55 79 6.3827910e-11 1.69e-21 7.87e-06 -9.0 3.74e-04 -20.0 1.00e+00 5.55e-17h 55 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 6.3827910e-11 1.69e-21 7.87e-06 -9.0 3.74e-04 -20.0 1.00e+00 5.55e-17h 55 81 6.3827910e-11 1.69e-21 7.87e-06 -9.0 3.74e-04 -20.0 1.00e+00 5.55e-17h 55 82 6.3827910e-11 1.69e-21 7.87e-06 -9.0 3.74e-04 -20.0 1.00e+00 5.55e-17h 55 83 6.3827910e-11 1.69e-21 7.87e-06 -9.0 3.74e-04 -20.0 1.00e+00 5.55e-17h 55 84 6.3827910e-11 1.69e-21 7.87e-06 -9.0 3.74e-04 -20.0 1.00e+00 5.55e-17h 55 85 6.3827910e-11 1.69e-21 7.87e-06 -9.0 3.74e-04 -20.0 1.00e+00 5.55e-17h 55 86 6.3827910e-11 1.69e-21 7.87e-06 -9.0 3.74e-04 -20.0 1.00e+00 5.55e-17h 55 87 6.3827910e-11 1.69e-21 7.87e-06 -9.0 3.74e-04 -20.0 1.00e+00 5.55e-17h 55 88 6.3827910e-11 1.69e-21 7.87e-06 -9.0 3.74e-04 -20.0 1.00e+00 5.55e-17h 55 89 6.3827910e-11 1.69e-21 7.87e-06 -9.0 3.74e-04 -20.0 1.00e+00 5.55e-17h 55 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 6.3827910e-11 1.69e-21 7.87e-06 -9.0 3.74e-04 -20.0 1.00e+00 5.55e-17h 55 91 6.3827910e-11 1.69e-21 7.87e-06 -9.0 3.74e-04 -20.0 1.00e+00 5.55e-17h 55 92 6.3827910e-11 1.69e-21 7.87e-06 -9.0 3.74e-04 -20.0 1.00e+00 5.55e-17h 55 93 6.3827910e-11 1.69e-21 7.87e-06 -9.0 3.74e-04 -20.0 1.00e+00 5.55e-17h 55 94 6.3827910e-11 1.69e-21 7.87e-06 -9.0 3.74e-04 -20.0 1.00e+00 5.55e-17h 55 95 6.3827910e-11 1.69e-21 7.87e-06 -9.0 3.74e-04 -20.0 1.00e+00 5.55e-17h 55 96 6.3827910e-11 1.69e-21 7.87e-06 -9.0 3.74e-04 -20.0 1.00e+00 5.55e-17h 55 97 6.3827910e-11 1.69e-21 7.87e-06 -9.0 3.74e-04 -20.0 1.00e+00 5.55e-17h 55 98 6.3827910e-11 1.69e-21 7.87e-06 -9.0 3.74e-04 -20.0 1.00e+00 5.55e-17h 55 99 6.3827910e-11 1.69e-21 7.87e-06 -9.0 3.74e-04 -20.0 1.00e+00 5.55e-17h 55 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 6.3827910e-11 1.69e-21 7.87e-06 -9.0 3.74e-04 -20.0 1.00e+00 5.55e-17h 55 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 6.3827910476844571e-11 6.3827910476844571e-11 Dual infeasibility......: 7.8699745911237073e-06 7.8699745911237073e-06 Constraint violation....: 1.6940658945086007e-21 1.6940658945086007e-21 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 7.1867862106276985e-07 7.1867862106276985e-07 Overall NLP error.......: 9.9999091079169491e-05 9.9999091079169491e-05 Number of objective function evaluations = 4372 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 4372 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 = 3.398 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial value of t applying constraint: bounds on u applying constraint: bounds on t applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 39 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 19 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.7011039e+00 4.39e-01 8.52e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.2126074e+00 2.44e-09 1.17e-01 -0.4 4.19e-01 -2.0 9.81e-01 1.00e+00f 1 2 3.5274855e-01 1.45e-09 2.30e-01 -1.2 1.14e+00 -1.6 9.56e-01 1.00e+00f 1 3 1.5626773e-01 3.61e-10 5.32e-02 -2.2 5.80e-01 -1.1 1.00e+00 1.00e+00f 1 4 4.1861059e-02 4.15e-11 4.07e-02 -3.1 8.55e-01 -1.6 1.00e+00 1.00e+00f 1 5 8.7363618e-03 2.60e-11 1.83e-02 -4.0 7.56e-01 -2.1 1.00e+00 1.00e+00f 1 6 1.7315931e-03 6.96e-12 6.07e-03 -4.0 5.21e-01 -2.6 1.00e+00 1.00e+00f 1 7 5.3554867e-04 2.04e-12 1.60e-03 -4.0 2.50e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.5440651e-04 3.78e-13 1.46e-04 -4.0 8.77e-02 -3.5 1.00e+00 1.00e+00f 1 9 4.5532360e-04 2.38e-14 1.58e-04 -4.0 2.58e-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 3.0584698e-04 1.91e-14 3.71e-04 -4.1 6.78e-02 -4.5 1.00e+00 1.00e+00f 1 11 4.6191735e-04 9.77e-15 3.48e-04 -4.0 1.85e-01 -5.0 1.00e+00 5.00e-01f 2 12 2.7492482e-04 5.38e-15 5.01e-04 -4.1 9.50e-02 -5.4 1.00e+00 1.00e+00f 1 13 4.6768210e-04 4.33e-15 4.53e-04 -4.0 2.38e-01 -5.9 1.00e+00 5.00e-01f 2 14 2.6363366e-04 3.33e-15 5.67e-04 -4.1 1.09e-01 -6.4 1.00e+00 1.00e+00f 1 15 4.6867686e-04 3.22e-15 4.96e-04 -4.0 2.61e-01 -6.9 1.00e+00 5.00e-01f 2 16 2.5988165e-04 2.44e-15 5.97e-04 -4.1 1.15e-01 -7.4 1.00e+00 1.00e+00f 1 17 4.6860135e-04 2.66e-15 5.15e-04 -4.0 2.72e-01 -7.8 1.00e+00 5.00e-01f 2 18 2.5867270e-04 2.00e-15 6.17e-04 -4.1 1.19e-01 -8.3 1.00e+00 1.00e+00f 1 19 4.6811004e-04 2.22e-15 5.25e-04 -4.0 2.78e-01 -8.8 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.5830960e-04 1.67e-15 6.32e-04 -4.1 1.22e-01 -9.3 1.00e+00 1.00e+00f 1 21 4.6750250e-04 1.78e-15 5.32e-04 -4.0 2.83e-01 -9.7 1.00e+00 5.00e-01f 2 22 2.5821627e-04 1.44e-15 6.46e-04 -4.1 1.25e-01 -10.2 1.00e+00 1.00e+00f 1 23 4.6686860e-04 1.55e-15 5.37e-04 -4.0 2.87e-01 -10.7 1.00e+00 5.00e-01f 2 24 2.5820544e-04 1.22e-15 6.60e-04 -4.1 1.28e-01 -11.2 1.00e+00 1.00e+00f 1 25 4.6624031e-04 1.33e-15 5.42e-04 -4.0 2.91e-01 -11.6 1.00e+00 5.00e-01f 2 26 2.5821708e-04 1.20e-15 6.72e-04 -4.1 1.30e-01 -12.1 1.00e+00 1.00e+00f 1 27 3.0890069e-05 1.01e-14 8.42e-04 -6.2 3.60e-01 -12.6 9.70e-01 1.00e+00f 1 28 1.7587106e-03 2.66e-15 7.36e-03 -4.0 1.90e+00 -13.1 1.00e+00 5.00e-01f 2 29 2.4150864e-05 2.59e-14 2.74e-03 -4.1 9.71e-01 -13.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.5862262e-03 3.42e-14 7.67e-03 -4.0 9.41e-01 -14.0 1.00e+00 1.00e+00f 1 31 9.8859831e-06 1.99e-14 2.17e-03 -4.2 1.04e+00 -14.5 1.00e+00 1.00e+00f 1 32 4.7149213e-04 1.78e-15 2.68e-03 -4.0 1.33e+00 -15.0 1.00e+00 5.00e-01f 2 33 2.1854750e-04 3.33e-15 2.26e-04 -4.2 3.64e-01 -15.5 1.00e+00 5.00e-01f 2 34 2.0088039e-05 4.88e-15 7.65e-04 -6.4 3.93e-01 -15.9 9.66e-01 1.00e+00f 1 35 8.0769865e-06 3.55e-15 9.44e-05 -6.4 9.96e-02 -16.4 1.00e+00 1.00e+00f 1 36 1.5866230e-03 1.11e-15 5.43e-03 -4.0 9.29e+00 -16.9 1.00e+00 1.25e-01f 4 37 9.5547176e-05 5.77e-14 3.38e-03 -4.0 7.77e-01 -17.4 1.00e+00 1.00e+00f 1 38 7.5793111e-04 3.93e-14 3.48e-03 -4.0 5.25e-01 -17.8 1.00e+00 1.00e+00f 1 39 3.8137634e-04 7.33e-15 4.16e-04 -4.0 4.08e-01 -18.3 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 3.5496195e-05 5.88e-15 1.27e-03 -6.0 4.85e-01 -18.8 9.57e-01 1.00e+00f 1 41 1.4634865e-05 5.72e-15 1.54e-04 -6.0 1.21e-01 -19.3 1.00e+00 1.00e+00f 1 42 4.0409289e-06 8.88e-16 9.70e-05 -6.0 1.37e-01 -19.8 1.00e+00 1.00e+00f 1 43 1.1844008e-03 6.66e-16 3.67e-03 -4.0 1.50e+01 -20.0 1.00e+00 8.01e-02f 4 44 1.4483391e-04 5.18e-14 3.03e-03 -4.0 6.31e-01 -20.0 1.00e+00 1.00e+00f 1 45 7.0337969e-04 2.71e-14 2.99e-03 -4.0 4.47e-01 -20.0 1.00e+00 1.00e+00f 1 46 3.9138361e-04 5.00e-15 4.21e-04 -4.0 3.74e-01 -20.0 1.00e+00 5.00e-01f 2 47 3.5767671e-05 6.00e-15 1.40e-03 -6.0 5.27e-01 -20.0 9.52e-01 1.00e+00f 1 48 1.4834023e-05 5.16e-15 1.65e-04 -6.0 1.29e-01 -20.0 1.00e+00 1.00e+00f 1 49 3.9901510e-06 8.33e-16 1.06e-04 -6.0 1.50e-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 9.5029486e-04 5.41e-16 2.63e-03 -4.0 1.61e+01 -20.0 1.00e+00 7.46e-02f 4 51 1.7935961e-04 4.44e-14 2.68e-03 -4.0 5.35e-01 -20.0 1.00e+00 1.00e+00f 1 52 6.4251103e-04 1.91e-14 2.56e-03 -4.0 3.89e-01 -20.0 1.00e+00 1.00e+00f 1 53 3.8822056e-04 3.33e-15 4.11e-04 -4.0 3.42e-01 -20.0 1.00e+00 5.00e-01f 2 54 3.4929112e-05 5.66e-15 1.49e-03 -6.1 5.63e-01 -20.0 9.48e-01 1.00e+00f 1 55 1.4570346e-05 4.66e-15 1.73e-04 -6.1 1.36e-01 -20.0 1.00e+00 1.00e+00f 1 56 3.8457933e-06 7.22e-16 1.13e-04 -6.1 1.62e-01 -20.0 1.00e+00 1.00e+00f 1 57 7.7657711e-04 4.13e-16 1.67e-03 -4.0 1.75e+01 -20.0 1.00e+00 6.85e-02f 4 58 2.1592791e-04 3.86e-14 2.28e-03 -4.0 4.37e-01 -20.0 1.00e+00 1.00e+00f 1 59 5.8073309e-04 1.33e-14 2.06e-03 -4.0 3.20e-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 3.8540135e-04 2.44e-15 3.81e-04 -4.0 2.94e-01 -20.0 1.00e+00 5.00e-01f 2 61 3.3958547e-05 5.44e-15 1.57e-03 -6.1 5.97e-01 -20.0 9.44e-01 1.00e+00f 1 62 1.4296814e-05 4.22e-15 1.78e-04 -6.1 1.41e-01 -20.0 1.00e+00 1.00e+00f 1 63 3.7223444e-06 7.22e-16 1.18e-04 -6.1 1.72e-01 -20.0 1.00e+00 1.00e+00f 1 64 6.5020992e-04 4.48e-16 8.54e-04 -4.0 1.88e+01 -20.0 1.00e+00 6.35e-02f 4 65 2.4971830e-04 3.42e-14 1.86e-03 -4.1 3.47e-01 -20.0 1.00e+00 1.00e+00f 1 66 5.2481968e-04 8.88e-15 1.57e-03 -4.1 2.49e-01 -20.0 1.00e+00 1.00e+00f 1 67 3.8146845e-04 1.33e-15 3.37e-04 -4.1 2.42e-01 -20.0 1.00e+00 5.00e-01f 2 68 3.2874685e-05 5.22e-15 1.64e-03 -6.1 6.30e-01 -20.0 9.40e-01 1.00e+00f 1 69 1.3985447e-05 3.89e-15 1.81e-04 -6.1 1.46e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 3.6083897e-06 6.11e-16 1.23e-04 -6.1 1.81e-01 -20.0 1.00e+00 1.00e+00f 1 71 5.5680365e-04 3.05e-16 1.44e-04 -4.0 2.01e+01 -20.0 1.00e+00 5.92e-02f 4 72 2.7975375e-04 3.09e-14 1.45e-03 -4.1 2.65e-01 -20.0 1.00e+00 1.00e+00f 1 73 4.7706610e-04 5.77e-15 1.12e-03 -4.1 1.82e-01 -20.0 1.00e+00 1.00e+00f 1 74 3.7700162e-04 8.88e-16 2.87e-04 -4.1 1.89e-01 -20.0 1.00e+00 5.00e-01f 2 75 3.1793714e-05 5.00e-15 1.70e-03 -6.1 6.59e-01 -20.0 9.36e-01 1.00e+00f 1 76 1.3668403e-05 3.66e-15 1.83e-04 -6.1 1.49e-01 -20.0 1.00e+00 1.00e+00f 1 77 3.5073466e-06 5.55e-16 1.26e-04 -6.1 1.89e-01 -20.0 1.00e+00 1.00e+00f 1 78 4.8691020e-04 2.64e-16 4.70e-04 -4.0 2.14e+01 -20.0 1.00e+00 5.56e-02f 4 79 3.0537627e-04 2.80e-14 1.07e-03 -4.1 1.93e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 4.3782156e-04 3.55e-15 7.27e-04 -4.1 1.21e-01 -20.0 1.00e+00 1.00e+00f 1 81 2.4096021e-05 4.44e-15 1.90e-03 -6.1 7.98e-01 -20.0 9.21e-01 1.00e+00f 1 82 1.2305469e-05 3.55e-15 1.33e-04 -6.1 1.17e-01 -20.0 1.00e+00 1.00e+00f 1 83 3.0717972e-06 3.96e-16 1.23e-04 -6.1 1.96e-01 -20.0 1.00e+00 1.00e+00f 1 84 4.1344217e-04 3.09e-16 1.31e-03 -4.0 2.44e+01 -20.0 1.00e+00 4.86e-02f 4 85 3.3949613e-04 2.55e-14 5.48e-04 -4.1 9.63e-02 -20.0 1.00e+00 1.00e+00f 1 86 3.1792353e-05 5.00e-15 1.75e-03 -6.1 6.80e-01 -20.0 9.33e-01 1.00e+00f 1 87 1.3134102e-05 3.00e-15 2.06e-04 -6.1 1.71e-01 -20.0 1.00e+00 1.00e+00f 1 88 3.4511730e-06 5.55e-16 1.34e-04 -6.1 2.02e-01 -20.0 1.00e+00 1.00e+00f 1 89 3.6531704e-06 1.73e-16 7.32e-06 -6.1 1.30e-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 2.2851125e-07 7.46e-17 5.76e-05 -9.0 2.65e-01 -20.0 9.74e-01 1.00e+00f 1 91 2.0500518e-03 5.17e-16 1.04e-02 -4.0 1.12e+02 -20.0 1.00e+00 2.17e-02f 3 92 9.5614604e-05 4.35e-14 6.73e-03 -4.0 1.46e+00 -20.0 1.00e+00 1.00e+00f 1 93 7.4523217e-04 2.44e-14 5.20e-03 -4.0 7.87e-01 -20.0 1.00e+00 1.00e+00f 1 94 4.2130799e-04 4.66e-15 8.14e-04 -4.0 5.66e-01 -20.0 1.00e+00 5.00e-01f 2 95 4.1954371e-05 4.00e-15 2.17e-03 -5.9 7.36e-01 -20.0 9.27e-01 1.00e+00f 1 96 1.7206998e-05 3.66e-15 2.68e-04 -5.9 1.94e-01 -20.0 1.00e+00 1.00e+00f 1 97 4.8258605e-06 6.66e-16 1.69e-04 -5.9 2.19e-01 -20.0 1.00e+00 1.00e+00f 1 98 5.3654498e-06 2.98e-16 1.48e-05 -5.9 2.18e-02 -20.0 1.00e+00 1.00e+00h 1 99 5.0352144e-06 8.76e-17 1.29e-06 -5.9 1.93e-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 3.5734519e-07 5.55e-17 7.89e-05 -8.9 2.95e-01 -20.0 9.71e-01 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 3.5734519159012397e-07 3.5734519159012397e-07 Dual infeasibility......: 7.8892228005011033e-05 7.8892228005011033e-05 Constraint violation....: 5.5511151231257827e-17 5.5511151231257827e-17 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.9138110044878842e-07 2.9138110044878842e-07 Overall NLP error.......: 9.9999998683393283e-05 9.9999998683393283e-05 Number of objective function evaluations = 174 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 174 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 1 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 2.802 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 2.0621199e+00 2.04e+00 5.93e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7916620e+00 3.30e-02 5.33e-01 -1.0 2.61e+00 - 1.00e+00 1.00e+00f 1 2 2.3313906e+00 7.82e-03 2.71e-01 -1.6 1.06e-01 - 8.44e-01 1.00e+00f 1 3 2.1306947e+00 8.51e-04 1.07e-02 -2.6 2.93e-02 - 9.92e-01 1.00e+00h 1 4 2.0910651e+00 1.39e-04 1.89e-03 -4.0 2.21e-02 - 1.00e+00 1.00e+00h 1 5 2.0908937e+00 1.17e-05 4.78e-04 -4.0 3.66e-01 - 1.00e+00 1.00e+00h 1 6 2.0908970e+00 5.40e-09 2.12e-08 -4.0 7.62e-02 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 3.56e-11 3.71e-11 -4.0 1.24e-02 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971975949506e+00 2.0908971975949506e+00 Dual infeasibility......: 3.7112558577516441e-11 3.7112558577516441e-11 Constraint violation....: 3.5562677423110062e-11 3.5562677423110062e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000289253238888e-04 1.0000289253238888e-04 Overall NLP error.......: 2.8925323888753882e-09 2.8925323888753882e-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 = 21.408 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: bounds constraint on trajectory variable du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.3695969e+00 1.70e+00 8.94e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4430341e+00 7.24e-01 2.48e+00 -0.9 7.52e+00 -4.0 5.36e-01 8.37e-01f 1 2 2.9019808e+00 3.60e-01 1.45e+00 -0.7 5.25e+00 -1.8 8.59e-01 7.84e-01f 1 3 2.7887642e+00 2.49e-01 2.55e+00 -1.0 1.33e+00 -1.3 8.38e-01 1.00e+00f 1 4 2.5137607e+00 6.59e-02 1.90e-01 -1.5 9.20e-01 -1.8 9.94e-01 1.00e+00h 1 5 2.2160655e+00 8.40e-02 8.13e-02 -2.0 1.08e+00 -2.3 7.84e-01 1.00e+00h 1 6 2.1478150e+00 2.67e-02 2.05e-01 -2.4 2.17e+00 -2.8 9.77e-01 5.65e-01h 1 7 2.1026510e+00 3.15e-03 6.27e-02 -2.7 3.72e-01 -3.3 9.92e-01 1.00e+00h 1 8 2.0914078e+00 4.66e-04 1.49e-02 -3.9 2.51e-01 -3.7 9.97e-01 1.00e+00h 1 9 2.0908427e+00 5.48e-05 3.85e-04 -4.0 3.04e-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 2.0907606e+00 8.26e-07 1.03e-04 -4.0 8.59e-01 -4.7 1.00e+00 1.00e+00h 1 11 2.0905578e+00 1.56e-06 6.71e-04 -4.0 2.16e+00 -5.2 1.00e+00 1.00e+00h 1 12 2.0902127e+00 3.71e-06 2.50e-03 -4.0 3.96e+00 -5.6 1.00e+00 1.00e+00h 1 13 2.0899761e+00 5.92e-06 3.07e-03 -4.0 5.90e+00 -6.1 1.00e+00 1.00e+00h 1 14 2.0898637e+00 3.52e-06 2.05e-03 -4.0 8.15e+00 -6.6 1.00e+00 1.00e+00h 1 15 2.0898279e+00 1.03e-06 1.47e-03 -4.0 1.20e+01 -7.1 1.00e+00 1.00e+00h 1 16 2.0898240e+00 1.70e-06 9.49e-04 -4.0 1.04e+01 -7.5 1.00e+00 1.00e+00h 1 17 2.0898222e+00 6.53e-07 1.50e-04 -4.0 3.95e+00 -8.0 1.00e+00 1.00e+00h 1 18 2.0898219e+00 1.84e-08 3.18e-06 -4.0 6.27e-01 -8.5 1.00e+00 1.00e+00h 1 19 2.0898219e+00 3.33e-11 1.04e-08 -4.0 4.46e-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 1.14e-14 5.94e-12 -4.0 1.17e-03 -9.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 20 (scaled) (unscaled) Objective...............: 2.0898218497858672e+00 2.0898218497858672e+00 Dual infeasibility......: 5.9382103455383334e-12 5.9382103455383334e-12 Constraint violation....: 1.1398217439340108e-14 1.1398217439340108e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000061e-04 1.0000000000000061e-04 Overall NLP error.......: 5.9382103455383334e-12 5.9382103455383334e-12 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 = 21.985 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 3.9372647e+00 3.66e+00 7.66e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.9701175e+00 3.65e+00 9.36e+01 1.5 6.23e+01 0.0 4.09e-02 3.59e-03f 1 2 3.6352010e+00 3.47e+00 1.16e+02 1.0 1.75e+01 -0.5 3.87e-02 4.89e-02f 1 3 3.6103396e+00 3.16e+00 1.13e+02 1.2 1.35e+01 -1.0 1.42e-01 9.43e-02f 1 4 3.2928596e+00 2.05e+00 1.10e+02 0.8 1.44e+01 -1.4 1.64e-01 5.87e-01h 1 5 3.2867389e+00 2.02e+00 8.75e+02 -0.3 1.04e+01 -1.9 7.05e-01 1.50e-02h 1 6 3.1740589e+00 1.96e+00 7.96e+03 1.3 6.51e+01 -0.6 1.07e-01 2.99e-02h 1 7 3.4298654e+00 1.94e+00 6.72e+03 0.3 1.13e+02 -0.2 8.24e-03 1.00e-02h 1 8 3.4251254e+00 1.93e+00 2.15e+03 2.0 3.84e+02 0.3 2.14e-03 3.87e-03h 1 9 3.4717174e+00 1.92e+00 1.12e+03 0.7 1.29e+02 0.7 5.45e-03 4.63e-03h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 3.6023714e+00 1.91e+00 2.00e+03 2.2 9.75e+01 1.1 1.17e-02 7.58e-03f 1 11 3.7862017e+00 1.88e+00 2.74e+04 -4.0 2.25e+02 0.6 6.43e-03 2.96e-02h 1 12 3.7854416e+00 1.87e+00 2.69e+04 -4.0 1.55e+01 1.1 3.96e-03 7.80e-03h 1 13 3.7882700e+00 1.86e+00 3.80e+04 -1.4 2.64e+01 1.5 2.76e-02 1.72e-03h 1 14 3.8338925e+00 1.79e+00 3.80e+04 1.1 2.94e+01 1.0 5.18e-02 3.70e-02f 1 15 3.9755839e+00 1.71e+00 7.53e+04 1.7 1.93e+01 1.4 5.75e-01 4.28e-02h 1 16 4.0183734e+00 1.68e+00 1.32e+05 0.9 3.34e+01 1.0 1.34e-01 1.90e-02h 1 17 4.0773520e+00 1.66e+00 5.54e+05 1.3 6.82e+01 1.4 1.32e-01 1.32e-02h 1 18 4.2454638e+00 1.63e+00 7.18e+05 2.5 1.00e+02 1.8 3.86e-02 2.19e-02h 1 19 4.3686252e+00 1.57e+00 2.64e+05 2.5 8.27e+01 1.3 1.18e-01 3.31e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 4.3775423e+00 1.57e+00 3.85e+06 2.3 4.47e+01 0.9 1.25e-01 1.57e-03h 1 21 4.3843845e+00 1.56e+00 4.85e+08 2.5 2.56e+03 0.4 1.00e+00 7.85e-03h 1 22 4.3767439e+00 1.54e+00 2.68e+09 2.5 1.83e+04 -0.1 9.84e-01 1.07e-02h 1 23 4.3804992e+00 1.53e+00 2.67e+09 2.5 2.58e+04 -0.6 6.40e-04 8.39e-03f 2 24 4.3855905e+00 1.52e+00 2.65e+09 2.5 6.81e+03 -1.0 7.71e-03 9.12e-03h 1 25 4.3855947e+00 1.52e+00 1.41e+10 2.5 3.45e+04 -1.5 7.34e-02 1.03e-04h 1 26 4.3820787e+00 1.51e+00 9.53e+10 2.5 1.10e+06 -2.0 1.43e-02 2.13e-04h 1 27 4.3820433e+00 1.51e+00 9.62e+10 -1.3 2.39e+06 -2.5 2.72e-05 2.12e-06h 1 28 4.3820513e+00 1.51e+00 9.59e+10 2.5 2.26e+06 -2.0 5.70e-08 2.24e-06f 2 29 4.3843930e+00 1.51e+00 9.58e+10 2.5 3.17e+06 -2.5 1.65e-06 6.23e-04f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30r 4.3843930e+00 1.51e+00 1.00e+03 2.5 0.00e+00 -2.1 0.00e+00 3.98e-07R 5 31r 4.2096738e+00 2.88e-01 1.11e+03 -3.6 2.91e+02 - 5.54e-01 1.97e-01f 1 32 4.2096537e+00 2.88e-01 5.04e+01 -4.0 2.20e+01 -2.6 2.86e-03 5.52e-05h 1 33 4.2099782e+00 2.88e-01 6.18e+04 -0.2 4.84e+02 -3.1 6.10e-02 6.69e-05h 1 34 4.2110699e+00 2.88e-01 3.30e+05 1.5 2.66e+04 -3.5 2.34e-04 4.16e-05h 1 35 4.2113179e+00 2.88e-01 7.43e+04 1.5 5.69e+06 -4.0 1.87e-06 5.58e-06h 1 36 4.2117823e+00 2.88e-01 5.93e+05 0.2 1.79e+07 -4.5 1.63e-05 8.14e-06h 1 37 4.2282322e+00 3.48e+01 3.70e+05 1.5 1.31e+07 -5.0 1.83e-06 2.67e-04f 1 38 4.2290318e+00 3.45e+01 2.65e+05 -0.6 9.09e+05 -5.4 1.74e-04 2.39e-04h 1 39 4.2291093e+00 3.45e+01 2.75e+05 -0.6 1.03e+06 -5.9 9.15e-04 5.58e-06h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 4.2409266e+00 2.65e+01 1.25e+09 -0.6 1.72e+06 -6.4 9.82e-01 4.18e-04h 1 41 4.2715254e+00 1.24e+01 1.25e+09 -0.6 5.80e+05 -6.9 9.11e-04 1.12e-03f 5 42 4.3865758e+00 1.80e+01 1.25e+09 -0.6 6.12e+04 -7.3 2.33e-03 4.57e-03f 3 43 4.5600390e+00 2.22e+00 3.11e+07 -0.6 1.06e+04 -7.8 9.30e-01 8.99e-03h 2 44 4.7362202e+00 1.55e+00 3.03e+07 -0.6 3.12e+02 -8.3 2.39e-02 1.24e-02h 1 45 4.7379817e+00 1.55e+00 3.77e+09 -0.6 8.32e+01 -8.8 1.00e+00 1.59e-04h 1 46r 4.7379817e+00 1.55e+00 1.00e+03 0.2 0.00e+00 -9.3 0.00e+00 2.86e-07R 4 47r 4.6359669e+00 4.52e-01 1.00e+03 2.1 1.85e+03 - 2.52e-02 1.61e-03f 1 48 4.6355181e+00 4.51e-01 9.47e+02 -1.3 1.45e+00 -9.7 7.53e-01 1.00e-03h 1 49 4.6357485e+00 4.51e-01 6.58e+05 -1.3 6.41e+00 -10.2 3.36e-01 4.83e-04h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 4.6357485e+00 4.51e-01 4.03e+10 -1.3 1.19e+01 -10.7 9.99e-01 1.61e-05h 1 51 4.5787987e+00 4.20e-01 4.03e+08 -1.3 3.25e+00 -11.2 9.90e-01 6.80e-02h 1 52r 4.5787987e+00 4.20e-01 1.00e+03 1.6 0.00e+00 -11.6 0.00e+00 8.39e-08R 2 53r 4.5599286e+00 2.33e-01 7.57e+02 -0.1 6.14e+00 - 8.07e-01 9.18e-02f 1 54 4.5597771e+00 2.33e-01 2.45e+03 -1.3 1.10e+00 -12.1 8.26e-01 4.24e-04h 1 55 4.5599945e+00 2.33e-01 1.82e+07 -0.4 1.55e+01 -12.6 1.00e+00 1.35e-04h 1 56 4.5600495e+00 2.33e-01 2.41e+09 -4.0 1.67e+01 -13.1 1.44e-03 1.07e-05h 1 57r 4.5600495e+00 2.33e-01 1.00e+03 2.5 0.00e+00 -13.5 0.00e+00 2.84e-07R 4 58r 4.1440459e+00 1.99e-01 3.92e+02 1.0 1.78e+00 - 6.92e-01 3.84e-01f 1 59 4.1440378e+00 1.99e-01 5.45e+02 -1.3 9.13e+00 -14.0 7.59e-01 1.70e-03h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 4.1467458e+00 1.99e-01 8.10e+05 1.0 1.07e+03 -14.5 1.08e-01 1.13e-04h 1 61r 4.1467458e+00 1.99e-01 1.00e+03 1.1 0.00e+00 -15.0 0.00e+00 3.68e-07R 4 62r 4.2317201e+00 2.01e-01 7.49e+02 0.9 9.37e+00 - 4.30e-01 2.04e-01f 1 63r 3.7449073e+00 3.98e-01 6.96e+02 1.0 1.39e+01 - 3.38e-01 7.57e-02f 1 64r 3.7709492e+00 2.14e-01 1.76e+02 0.6 2.79e+00 - 7.38e-01 8.82e-01f 1 65r 4.1689022e+00 2.85e-01 5.36e+01 -0.6 1.40e+00 - 7.48e-01 7.00e-01f 1 66r 4.2589605e+00 1.99e-01 2.92e+01 -0.2 8.59e-01 0.0 9.85e-01 8.70e-01f 1 67r 4.4035075e+00 1.99e-01 1.65e+02 -0.2 2.69e+00 -0.5 9.92e-01 3.50e-01f 1 68r 4.3131566e+00 1.99e-01 1.19e+00 -0.7 3.28e-01 -1.0 9.99e-01 1.00e+00f 1 69r 3.8883219e+00 4.62e-01 1.28e+01 -1.2 6.01e+00 - 5.53e-01 4.42e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70r 4.2653846e+00 1.05e+00 1.41e+02 -0.3 1.14e+01 - 8.37e-01 6.43e-01f 1 71r 4.2744739e+00 4.62e-01 1.53e+02 -0.5 5.76e+00 - 1.00e+00 6.86e-01f 1 72r 4.3531962e+00 1.99e-01 5.24e+01 -0.5 1.83e+00 - 7.06e-01 6.08e-01f 1 73r 4.3412060e+00 1.99e-01 1.14e+00 -0.5 1.09e+00 - 1.00e+00 1.00e+00f 1 74r 4.1340503e+00 5.32e-01 9.33e+00 -1.2 4.76e+00 - 4.30e-01 4.89e-01f 1 75r 4.1427622e+00 1.99e-01 5.84e+01 -4.0 2.95e+00 - 4.84e-01 8.26e-01f 1 76r 4.1566306e+00 1.99e-01 8.22e+01 -4.0 7.61e-01 -1.4 6.41e-02 9.39e-01f 1 77r 4.1904703e+00 1.99e-01 6.94e-02 -2.1 3.11e+00 - 1.00e+00 1.00e+00f 1 78r 4.2220028e+00 1.99e-01 7.82e-01 -3.3 1.95e+00 - 8.60e-01 1.00e+00f 1 79r 4.2292823e+00 1.99e-01 8.11e-03 -3.6 5.16e-01 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80r 4.2845613e+00 1.99e-01 1.34e-03 -4.0 1.07e-01 - 1.00e+00 1.00e+00h 1 81r 4.3007987e+00 1.99e-01 1.57e-05 -4.0 1.75e-02 - 1.00e+00 1.00e+00h 1 82r 4.3031483e+00 1.99e-01 2.60e-06 -4.0 2.83e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 82 (scaled) (unscaled) Objective...............: 4.3031534941413048e+00 4.3031534941413048e+00 Dual infeasibility......: 1.9264245132566036e+00 1.9264245132566036e+00 Constraint violation....: 1.9875045040670802e-01 1.9875045040670802e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000007343894304e-04 1.0000007343894304e-04 Overall NLP error.......: 1.9264245132566036e+00 1.9264245132566036e+00 Number of objective function evaluations = 119 Number of objective gradient evaluations = 63 Number of equality constraint evaluations = 119 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 89 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 83 Total seconds in IPOPT = 23.726 EXIT: Converged to a point of local infeasibility. Problem may be infeasible. initializing optimizer... applying constraint: bounds constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 36 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.8468030e+00 1.88e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.4862992e+00 9.07e-02 2.46e+00 -0.9 1.65e+00 0.0 7.34e-01 9.60e-01f 1 2 2.6428261e+00 5.55e-02 1.60e+00 -1.0 8.96e-01 -0.5 9.61e-01 7.15e-01f 1 3 2.3305503e+00 1.97e-02 1.26e-01 -1.6 2.21e-01 -1.0 9.96e-01 9.94e-01h 1 4 2.1225159e+00 3.43e-03 1.48e-02 -2.4 9.39e-02 -1.4 9.51e-01 9.98e-01h 1 5 2.0912075e+00 4.62e-05 3.71e-03 -4.0 1.73e-02 -1.9 9.50e-01 1.00e+00h 1 6 2.0908679e+00 7.17e-07 1.10e-04 -4.0 7.48e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0908659e+00 2.91e-09 2.53e-05 -4.0 1.84e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908615e+00 7.69e-10 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908482e+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 2.0908083e+00 6.22e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0906889e+00 5.61e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903315e+00 5.07e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892662e+00 4.63e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861349e+00 4.35e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796350e+00 2.49e-03 8.75e-02 -4.0 8.72e+01 -6.7 1.00e+00 7.54e-01h 1 16 2.0811895e+00 1.70e-04 2.02e-01 -4.0 7.15e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778181e+00 6.57e-03 2.98e-02 -4.0 1.13e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0782547e+00 1.84e-02 8.86e-02 -3.7 1.98e+02 -8.1 9.38e-01 1.00e+00h 1 19 2.0769388e+00 7.04e-03 1.93e-02 -3.8 3.32e+02 -8.6 1.00e+00 8.40e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0760601e+00 8.84e-03 2.28e-02 -3.9 5.03e+02 -9.1 1.00e+00 9.59e-01f 1 21 2.0757587e+00 9.08e-03 1.13e-02 -4.0 1.57e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756791e+00 6.51e-04 5.20e-04 -4.0 7.24e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 3.54e-06 8.54e-06 -4.0 2.29e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 5.50e-08 1.46e-06 -4.0 1.49e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.43e-09 1.47e-07 -4.0 5.16e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.51e-11 2.96e-09 -4.0 9.06e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122092966e+00 2.0756712122092966e+00 Dual infeasibility......: 2.9561747565912816e-09 2.9561747565912816e-09 Constraint violation....: 7.5145334399451258e-11 7.5145334399451258e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000009e-04 1.0000000000000009e-04 Overall NLP error.......: 2.9561747565912816e-09 2.9561747565912816e-09 Number of objective function evaluations = 28 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 26 Total seconds in IPOPT = 24.349 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.1890084e+00 2.97e+00 5.82e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8316744e+00 8.82e-02 1.69e+00 -1.0 1.72e+00 0.0 9.83e-01 1.00e+00h 1 2 2.4636046e+00 3.24e-02 4.65e-01 -1.2 2.63e-01 -0.5 9.86e-01 8.91e-01h 1 3 2.2343019e+00 3.07e-03 3.30e-02 -2.1 7.02e-02 -1.0 9.77e-01 1.00e+00h 1 4 2.0999102e+00 6.31e-04 1.09e-02 -3.4 3.79e-02 -1.4 9.95e-01 9.66e-01h 1 5 2.0910238e+00 4.24e-05 9.61e-03 -4.0 2.75e-02 -1.9 1.00e+00 1.00e+00h 1 6 2.0909077e+00 1.05e-07 1.74e-04 -4.0 2.40e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0909010e+00 2.97e-09 2.00e-05 -4.0 1.46e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908956e+00 8.10e-10 1.98e-05 -4.0 4.34e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908820e+00 6.66e-09 2.24e-05 -4.0 1.26e-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 2.0908472e+00 4.80e-08 7.31e-05 -4.0 3.48e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907736e+00 2.96e-07 4.00e-04 -4.0 8.82e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905863e+00 2.47e-06 6.78e-04 -4.0 2.60e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0904659e+00 2.20e-06 1.27e-02 -4.0 9.78e+00 -5.7 5.34e-01 1.26e-01h 2 14 2.0889869e+00 1.09e-04 1.18e-02 -4.0 2.06e+01 -6.2 1.00e+00 8.86e-01h 1 15 2.0867094e+00 9.39e-04 8.80e-02 -4.0 5.40e+01 -6.7 1.00e+00 1.00e+00h 1 16 2.0847367e+00 4.02e-04 6.93e-02 -4.0 6.73e+00 -5.4 1.00e+00 6.23e-01h 1 17 2.0844958e+00 7.13e-05 7.57e-03 -4.0 6.24e+00 -5.8 1.00e+00 1.00e+00h 1 18 2.0835370e+00 5.98e-05 4.12e-03 -4.0 1.44e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0827255e+00 8.95e-05 1.09e-02 -4.0 2.00e+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 2.0827788e+00 2.78e-04 1.11e-02 -4.0 5.11e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0820707e+00 2.11e-03 8.14e-03 -4.1 1.19e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0879875e+00 1.93e-03 2.62e-01 -4.0 5.80e+03 -8.2 5.93e-03 4.72e-02h 5 23 2.0829026e+00 2.68e-03 1.58e+00 -4.2 1.07e+01 -5.1 1.67e-01 4.87e-01h 1 24 2.0825070e+00 2.99e-03 1.58e+00 -4.2 3.19e+02 -5.6 8.47e-05 2.22e-03f 1 25 2.0825607e+00 3.03e-03 1.59e+00 -4.0 1.15e+04 -6.0 2.91e-07 4.86e-05f 1 26 2.0825675e+00 3.03e-03 1.61e+00 -4.2 1.07e+02 -2.9 3.02e-02 4.00e-04h 1 27 2.0851950e+00 1.47e-04 1.93e-02 -4.2 1.39e+00 -3.4 1.00e+00 1.00e+00h 1 28 2.0836595e+00 1.03e-04 9.22e-03 -4.0 9.60e-01 -3.9 1.00e+00 1.00e+00h 1 29 2.0829068e+00 5.24e-05 1.32e-03 -4.0 4.20e-01 -4.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0828993e+00 4.13e-06 2.04e-05 -4.0 3.97e-01 -4.8 1.00e+00 1.00e+00h 1 31 2.0828369e+00 1.22e-06 7.42e-05 -4.0 1.12e+00 -5.3 1.00e+00 1.00e+00h 1 32 2.0827159e+00 5.95e-06 3.46e-04 -4.0 3.03e+00 -5.8 1.00e+00 1.00e+00h 1 33 2.0825735e+00 1.31e-05 7.58e-04 -4.0 7.88e+00 -6.2 1.00e+00 1.00e+00h 1 34 2.0823895e+00 2.72e-05 1.38e-03 -4.0 2.02e+01 -6.7 1.00e+00 1.00e+00h 1 35 2.0820910e+00 1.59e-04 4.48e-03 -4.0 4.57e+01 -7.2 1.00e+00 1.00e+00h 1 36 2.0854823e+00 1.48e-07 1.75e-01 -4.0 1.83e+02 -7.7 1.84e-01 1.00e+00H 1 37 2.0820781e+00 7.62e-04 1.29e+00 -4.0 1.87e+01 -5.4 1.00e+00 4.43e-01f 1 38 2.0817810e+00 2.54e-04 3.22e-01 -4.0 1.84e+00 -5.9 1.00e+00 7.33e-01h 1 39 2.0822026e+00 7.14e-04 5.11e-03 -4.0 7.93e+00 -6.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0819173e+00 2.70e-04 1.72e-03 -4.1 1.88e+01 -6.9 1.00e+00 1.00e+00h 1 41 2.0817637e+00 1.42e-05 2.94e-03 -4.1 4.81e+01 -7.3 1.00e+00 1.00e+00h 1 42 2.0888554e+00 1.62e-05 2.83e-01 -4.0 2.48e+02 -7.8 1.61e-01 1.00e+00H 1 43 2.0828476e+00 1.67e-03 2.71e+00 -4.2 7.00e+00 -4.7 8.74e-02 3.86e-01f 1 44 2.0822004e+00 2.16e-03 2.70e+00 -4.2 2.73e+02 -5.2 2.45e-05 2.38e-03f 1 45 2.0822533e+00 2.19e-03 2.71e+00 -4.2 5.24e+03 -5.6 2.35e-07 6.09e-05f 2 46 2.0822051e+00 2.17e-03 2.98e+00 -4.2 7.18e+00 -3.4 3.74e-01 7.77e-03h 1 47 2.0824906e+00 3.48e-06 1.25e-03 -4.2 1.36e-01 -3.9 1.00e+00 1.00e+00f 1 48 2.0825960e+00 1.08e-05 1.83e-04 -4.0 1.27e-01 -4.4 1.00e+00 1.00e+00h 1 49 2.0824016e+00 1.16e-05 6.72e-05 -4.1 4.56e-01 -4.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0815944e+00 2.41e-04 1.53e-03 -6.1 2.48e+00 -5.3 1.00e+00 1.00e+00h 1 51 2.0823547e+00 4.12e-04 3.63e-03 -4.0 3.02e+00 -5.8 1.00e+00 1.00e+00h 1 52 2.0819650e+00 2.63e-04 8.70e-04 -4.1 6.41e+00 -6.3 1.00e+00 1.00e+00h 1 53 2.0818476e+00 3.75e-05 8.72e-04 -4.1 1.66e+01 -6.7 1.00e+00 1.00e+00h 1 54 2.0816676e+00 6.93e-05 3.30e-03 -4.1 3.62e+01 -7.2 1.00e+00 1.00e+00h 1 55 2.0822423e+00 1.53e-06 3.19e-02 -4.0 1.40e+02 -7.7 3.09e-01 1.00e+00H 1 56 2.0819806e+00 7.09e-06 1.81e-01 -4.0 2.49e+00 -5.5 1.00e+00 3.34e-01h 2 57 2.0819017e+00 2.56e-05 9.75e-04 -4.0 1.79e+00 -5.9 1.00e+00 1.00e+00h 1 58 2.0817452e+00 9.27e-05 3.10e-04 -4.1 6.21e+00 -6.4 1.00e+00 1.00e+00h 1 59 2.0807552e+00 8.56e-04 3.01e-03 -6.2 1.15e+01 -6.9 9.75e-01 8.96e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0819259e+00 5.33e-03 1.03e-02 -4.0 4.62e+01 -7.4 7.77e-01 1.00e+00f 1 61 2.7283135e+00 7.48e-03 2.59e+00 -4.2 3.68e+02 -7.9 1.61e-02 4.33e-01H 1 62 2.6524515e+00 6.93e-03 2.46e+00 -4.2 4.91e-01 -0.0 3.67e-04 7.33e-02f 1 63 2.4775324e+00 6.13e-03 2.33e+01 -4.2 1.09e+00 -0.5 3.03e-02 1.16e-01f 1 64 2.4834296e+00 5.91e-03 1.38e+01 -4.2 3.25e+00 -1.0 2.39e-04 3.56e-02h 1 65 2.4274019e+00 5.60e-03 1.97e+01 -4.2 1.03e+00 -0.5 1.09e-02 5.22e-02f 1 66 2.2093399e+00 3.28e-03 1.38e+01 -4.2 3.47e-01 -0.1 1.00e+00 4.14e-01f 1 67 2.1355962e+00 2.06e-03 7.20e+00 -4.2 1.95e-01 -0.6 9.42e-01 3.71e-01f 1 68 2.0824151e+00 1.65e-04 1.83e+00 -4.2 1.36e-01 -1.1 1.00e+00 9.20e-01f 1 69 2.0826708e+00 1.54e-04 1.83e+01 -4.2 5.79e-02 -1.5 8.15e-01 6.25e-02f 5 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0821963e+00 9.51e-05 1.13e+01 -4.2 2.72e-01 -2.0 3.89e-01 3.84e-01h 1 71 2.0818688e+00 6.73e-05 8.23e+00 -4.2 3.12e-01 -2.5 4.01e-01 2.92e-01f 1 72 2.0818591e+00 5.46e-05 7.34e+00 -4.2 6.19e-02 -3.0 1.00e+00 1.90e-01f 2 73 2.0817846e+00 3.04e-07 3.02e-03 -4.2 1.88e-02 -3.5 1.00e+00 1.00e+00h 1 74 2.0820233e+00 2.45e-06 2.57e-04 -4.0 6.48e-02 -3.9 1.00e+00 1.00e+00h 1 75 2.0818851e+00 1.87e-06 1.48e-04 -4.1 9.43e-02 -4.4 1.00e+00 1.00e+00h 1 76 2.0812827e+00 8.13e-05 4.11e-02 -6.1 8.77e-01 -4.9 8.29e-01 1.00e+00h 1 77 2.0821655e+00 1.31e-04 1.64e-03 -4.0 1.11e+00 -5.4 1.00e+00 1.00e+00h 1 78 2.0819348e+00 7.75e-05 7.10e-04 -4.1 2.00e+00 -5.8 1.00e+00 1.00e+00h 1 79 2.0809920e+00 7.10e-04 3.59e-03 -6.1 7.38e+00 -6.3 9.90e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0809391e+00 7.90e-05 1.73e-03 -5.0 1.31e+01 -6.8 1.00e+00 1.00e+00h 1 81 2.0819803e+00 4.67e-03 3.72e-02 -4.0 4.15e+01 -7.3 4.50e-01 1.00e+00h 1 82 2.0812603e+00 4.39e-03 8.40e-03 -4.3 6.70e+01 -7.7 9.13e-01 1.00e+00h 1 83 2.0816406e+00 1.12e-03 1.99e-02 -4.3 2.86e+01 -6.4 1.00e+00 1.00e+00h 1 84 2.0814528e+00 1.54e-03 3.45e-02 -4.3 7.73e+01 -6.9 1.70e-01 1.57e-01h 2 85 2.0813793e+00 3.59e-07 5.96e-04 -4.3 3.75e-02 -2.0 1.00e+00 1.00e+00h 1 86 2.0816681e+00 1.27e-06 6.61e-04 -4.0 2.12e-02 -1.5 1.00e+00 1.00e+00h 1 87 2.0815690e+00 9.64e-08 1.14e-04 -4.1 6.58e-03 -2.0 1.00e+00 1.00e+00h 1 88 2.0816482e+00 1.18e-07 7.96e-05 -4.0 1.19e-02 -2.5 1.00e+00 1.00e+00h 1 89 2.0815624e+00 2.22e-07 1.03e-04 -4.1 1.21e-02 -3.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0811088e+00 3.59e-06 1.84e-01 -6.1 1.35e-01 -3.4 6.02e-01 1.00e+00h 1 91 2.0818290e+00 2.33e-05 3.20e-03 -4.0 1.69e-01 -3.9 1.00e+00 1.00e+00h 1 92 2.0815675e+00 3.25e-05 2.75e-04 -4.1 3.11e-01 -4.4 1.00e+00 1.00e+00h 1 93 2.0811057e+00 6.50e-05 9.23e-02 -6.1 8.00e-01 -4.9 7.47e-01 1.00e+00h 1 94 2.0809667e+00 3.07e-05 1.14e-01 -6.1 2.44e-01 -2.6 9.13e-01 5.28e-01h 1 95 2.0818494e+00 1.02e-05 3.02e-03 -4.0 2.46e-01 -3.1 1.00e+00 1.00e+00f 1 96 2.0815108e+00 3.50e-06 5.26e-04 -4.1 7.59e-02 -3.6 1.00e+00 1.00e+00h 1 97 2.0811480e+00 1.36e-05 1.59e-01 -6.1 1.49e-01 -4.1 6.94e-01 1.00e+00h 1 98 2.0810818e+00 1.31e-05 1.50e-01 -6.1 5.67e+00 -4.5 4.52e-02 3.91e-02h 1 99 2.0817957e+00 8.40e-05 1.65e-03 -4.0 8.05e-01 -5.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0816186e+00 7.67e-05 5.21e-04 -4.1 8.67e-01 -5.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0816186410805404e+00 2.0816186410805404e+00 Dual infeasibility......: 5.2060564232233252e-04 5.2060564232233252e-04 Constraint violation....: 7.6678009278019488e-05 7.6678009278019488e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.8173075198727247e-05 9.8173075198727247e-05 Overall NLP error.......: 5.2060564232233252e-04 5.2060564232233252e-04 Number of objective function evaluations = 127 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 127 Number of inequality constraint evaluations = 127 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 23.918 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 1.4754002e+01 3.80e+00 4.17e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 5.7726491e+00 6.52e-01 4.52e+00 -0.8 3.12e+00 0.0 6.53e-01 8.29e-01f 1 2 3.6003760e+00 1.68e-02 4.27e+00 -1.0 4.70e-01 0.4 8.45e-01 1.00e+00f 1 3 2.8217408e+00 1.90e-02 5.78e-01 -1.0 3.92e-01 -0.1 9.83e-01 1.00e+00f 1 4 2.2992441e+00 6.77e-03 1.42e-01 -1.8 1.54e-01 -0.5 9.91e-01 8.70e-01f 1 5 2.1410355e+00 2.18e-03 1.01e-01 -2.9 8.84e-02 -1.0 9.94e-01 6.90e-01h 1 6 2.0927121e+00 1.33e-04 4.80e-03 -3.9 1.51e-02 -1.5 1.00e+00 9.83e-01h 1 7 2.0909118e+00 2.06e-06 1.02e-03 -4.0 3.81e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909122e+00 5.47e-09 2.35e-05 -4.0 6.41e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909100e+00 1.61e-10 2.33e-05 -4.0 1.91e-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 2.0909038e+00 1.35e-09 2.27e-05 -4.0 5.57e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908874e+00 1.00e-08 2.60e-05 -4.0 1.55e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908524e+00 5.63e-08 1.45e-04 -4.0 3.99e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907776e+00 2.88e-07 7.05e-04 -4.0 9.88e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905760e+00 3.04e-06 9.34e-04 -4.0 3.02e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0899380e+00 2.55e-05 1.31e-03 -4.0 8.43e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0884764e+00 9.83e-05 3.04e-02 -4.0 2.45e+01 -6.3 1.00e+00 7.14e-01h 1 17 2.0861635e+00 1.07e-03 8.82e-02 -4.0 5.58e+01 -6.7 1.00e+00 1.00e+00f 1 18 2.0842786e+00 3.81e-04 4.97e-02 -4.0 5.87e+00 -5.4 1.00e+00 6.81e-01h 1 19 2.0840180e+00 7.43e-05 6.03e-03 -4.0 6.15e+00 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0832244e+00 2.90e-05 4.39e-03 -4.0 1.26e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0827350e+00 8.89e-05 6.77e-03 -4.0 2.17e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0826367e+00 5.87e-05 3.53e-03 -4.0 5.63e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0822363e+00 5.76e-04 6.17e-03 -4.0 1.36e+02 -7.8 9.38e-01 1.00e+00h 1 24 2.0825292e+00 1.87e-03 2.66e-02 -4.0 3.54e+01 -6.5 1.00e+00 1.00e+00h 1 25 2.0820267e+00 1.39e-03 4.32e-02 -4.0 1.42e+01 -6.9 9.31e-01 1.00e+00h 1 26 2.0824742e+00 6.42e-04 2.54e-01 -4.0 4.02e+00 -4.7 2.86e-01 3.91e-01h 1 27 2.0821817e+00 2.50e-04 1.47e-01 -4.0 1.66e+00 -5.2 6.97e-01 1.00e+00h 1 28 2.0822467e+00 1.50e-07 4.35e-04 -4.0 4.82e-02 -2.0 1.00e+00 1.00e+00h 1 29 2.0822301e+00 2.84e-08 9.80e-05 -4.0 2.96e-02 -2.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0822226e+00 1.10e-08 3.69e-05 -4.0 1.29e-02 -3.0 1.00e+00 1.00e+00h 1 31 2.0822200e+00 1.96e-09 3.69e-05 -4.0 3.87e-02 -3.5 1.00e+00 1.00e+00h 1 32 2.0822132e+00 6.01e-08 3.69e-05 -4.0 1.18e-01 -4.0 1.00e+00 1.00e+00h 1 33 2.0821907e+00 3.83e-07 1.04e-04 -4.0 3.62e-01 -4.4 1.00e+00 1.00e+00h 1 34 2.0821360e+00 4.37e-06 6.86e-04 -4.0 8.67e-01 -4.9 1.00e+00 1.00e+00h 1 35 2.0821191e+00 7.17e-06 5.57e-04 -4.0 6.91e-01 -5.4 1.00e+00 1.00e+00h 1 36 2.0821417e+00 1.68e-06 1.56e-04 -4.0 1.14e+00 -5.9 1.00e+00 1.00e+00h 1 37 2.0821579e+00 1.05e-05 2.14e-04 -4.0 2.25e+00 -6.3 1.00e+00 1.00e+00h 1 38 2.0819187e+00 1.92e-04 7.69e-04 -4.1 9.92e+00 -6.8 1.00e+00 1.00e+00h 1 39 2.0820673e+00 3.49e-04 2.03e-03 -4.0 1.70e+01 -7.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0817154e+00 1.02e-03 2.20e-03 -4.1 4.09e+01 -7.8 1.00e+00 1.00e+00h 1 41 2.0818744e+00 1.34e-03 4.95e-03 -4.0 5.66e+01 -8.2 1.00e+00 1.00e+00h 1 42 2.0815860e+00 1.13e-03 2.10e-03 -4.1 5.03e+01 -8.7 1.00e+00 1.00e+00h 1 43 2.0818422e+00 4.62e-04 2.63e-04 -4.0 1.97e+01 -9.2 1.00e+00 1.00e+00h 1 44 2.0818407e+00 5.04e-07 3.97e-05 -4.0 2.79e+00 -9.7 1.00e+00 1.00e+00h 1 45 2.0818407e+00 3.66e-10 3.97e-05 -4.0 1.65e-01 -10.2 1.00e+00 1.00e+00h 1 46 2.0818407e+00 1.28e-13 3.97e-05 -4.0 3.40e-03 -10.6 1.00e+00 1.00e+00h 1 47 2.0815814e+00 2.08e-04 3.23e-05 -4.1 9.46e+00 -11.1 1.00e+00 1.00e+00h 1 48 2.0818419e+00 2.15e-04 3.97e-05 -4.0 9.78e+00 -11.6 1.00e+00 1.00e+00h 1 49 2.0815819e+00 2.14e-04 3.23e-05 -4.1 9.75e+00 -12.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0805924e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -12.5 9.77e-01 9.68e-01h 1 51 2.0818894e+00 6.59e-03 2.97e-04 -4.0 6.14e+01 -13.0 1.00e+00 1.00e+00f 1 52 2.0816124e+00 4.95e-04 3.29e-05 -4.1 2.07e+01 -13.5 1.00e+00 1.00e+00h 1 53 2.0806015e+00 3.47e-03 1.91e-04 -6.1 4.19e+01 -14.0 9.76e-01 9.61e-01h 1 54 2.0805507e+00 9.05e-05 2.22e-06 -6.1 1.70e+01 -14.5 1.00e+00 1.00e+00h 1 55 2.0819806e+00 1.03e-02 3.96e-04 -4.0 8.49e+01 -14.9 1.00e+00 1.00e+00f 1 56 2.0816780e+00 9.65e-04 4.95e-05 -4.1 4.57e+01 -15.4 1.00e+00 1.00e+00h 1 57 2.0816420e+00 4.58e-07 3.40e-05 -4.1 8.54e+00 -15.9 1.00e+00 1.00e+00h 1 58 2.0818414e+00 1.26e-04 3.97e-05 -4.0 7.46e+00 -16.4 1.00e+00 1.00e+00h 1 59 2.0815817e+00 2.11e-04 3.23e-05 -4.1 9.63e+00 -16.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0805923e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -17.3 9.77e-01 9.68e-01h 1 61 2.0805497e+00 7.03e-05 1.80e-06 -6.1 1.55e+01 -17.8 1.00e+00 1.00e+00h 1 62 2.0819871e+00 1.06e-02 4.00e-04 -4.0 8.58e+01 -18.3 1.00e+00 1.00e+00f 1 63 2.0816826e+00 9.87e-04 5.24e-05 -4.1 4.71e+01 -18.7 1.00e+00 1.00e+00h 1 64 2.0816444e+00 5.44e-07 3.40e-05 -4.1 8.94e+00 -19.2 1.00e+00 1.00e+00h 1 65 2.0805933e+00 3.65e-03 1.55e-04 -6.1 4.19e+01 -19.7 9.76e-01 9.71e-01h 1 66 2.0805509e+00 7.35e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0805468e+00 5.07e-08 3.39e-07 -6.1 2.92e+00 -20.0 1.00e+00 1.00e+00h 1 68 2.0820226e+00 1.22e-02 4.21e-04 -4.0 9.85e+01 -20.0 1.00e+00 1.00e+00f 1 69 2.0817083e+00 1.09e-03 6.84e-05 -4.1 5.45e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0816573e+00 1.18e-06 3.44e-05 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 71 2.0805943e+00 3.73e-03 1.58e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.71e-01h 1 72 2.0805512e+00 7.57e-05 2.01e-06 -6.1 1.64e+01 -20.0 1.00e+00 1.00e+00h 1 73 2.0805469e+00 5.37e-08 3.45e-07 -6.1 3.01e+00 -20.0 1.00e+00 1.00e+00h 1 74 2.0805365e+00 9.26e-07 7.80e-07 -9.0 9.40e-01 -20.0 1.00e+00 9.97e-01h 1 75 2.0820402e+00 1.30e-02 4.35e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 76 2.0817219e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 77 2.0816639e+00 1.62e-06 3.46e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 78 2.0805948e+00 3.76e-03 1.59e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 79 2.0805514e+00 7.69e-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 80 2.0805470e+00 5.53e-08 3.48e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 81 2.0805365e+00 9.45e-07 8.03e-07 -9.0 9.51e-01 -20.0 1.00e+00 9.97e-01h 1 82 2.0805365e+00 8.66e-11 3.95e-10 -9.0 2.64e-02 -20.0 1.00e+00 1.00e+00h 1 83 2.0820406e+00 1.30e-02 4.36e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 84 2.0817222e+00 1.13e-03 7.75e-05 -4.1 5.82e+01 -20.0 1.00e+00 1.00e+00h 1 85 2.0816640e+00 1.63e-06 3.46e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 86 2.0805948e+00 3.76e-03 1.60e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 87 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 88 2.0805470e+00 5.54e-08 3.48e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 89 2.0805365e+00 9.45e-07 8.04e-07 -9.0 9.51e-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 90 2.0805365e+00 8.67e-11 3.95e-10 -9.0 2.64e-02 -20.0 1.00e+00 1.00e+00h 1 91 2.0805365e+00 2.22e-16 3.95e-10 -9.0 1.02e-05 -20.0 1.00e+00 1.00e+00h 1 92 2.0805365e+00 4.44e-16 3.95e-10 -9.0 1.98e-10 -20.0 1.00e+00 1.00e+00h 1 93 2.0805365e+00 6.66e-16 3.95e-10 -9.0 1.98e-10 -20.0 1.00e+00 1.00e+00h 1 94 2.0805365e+00 6.66e-16 3.95e-10 -9.0 1.98e-10 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 6.66e-16 3.95e-10 -9.0 1.98e-10 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 6.66e-16 3.95e-10 -9.0 1.98e-10 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 6.66e-16 3.95e-10 -9.0 1.98e-10 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 6.66e-16 3.95e-10 -9.0 1.98e-10 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 6.66e-16 3.95e-10 -9.0 1.98e-10 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805365e+00 6.66e-16 3.95e-10 -9.0 1.98e-10 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595436475e+00 2.0805364595436475e+00 Dual infeasibility......: 3.9546885908670313e-10 3.9546885908670313e-10 Constraint violation....: 6.6613381477509392e-16 6.6613381477509392e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090971184536e-10 9.0909090971184536e-10 Overall NLP error.......: 9.9999090909091564e-05 9.9999090909091564e-05 Number of objective function evaluations = 101 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 101 Number of inequality constraint evaluations = 101 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 25.972 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 5.7804866e+01 2.42e+00 2.39e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 7.0637111e+00 5.69e-01 5.76e+00 -0.5 1.89e+00 0.0 8.53e-01 7.66e-01f 1 2 3.4256804e+00 1.00e-01 2.52e+00 -0.2 7.88e-01 -0.5 9.89e-01 1.00e+00f 1 3 3.0532326e+00 1.16e-01 8.11e-01 -0.7 9.09e-01 -1.0 1.00e+00 9.71e-01h 1 4 2.6461162e+00 1.12e-01 3.99e-01 -1.3 9.50e-01 -1.4 9.09e-01 1.00e+00f 1 5 2.2039872e+00 7.74e-02 2.09e-01 -2.5 9.33e-01 -1.9 8.00e-01 9.86e-01h 1 6 2.1485084e+00 4.11e-03 7.05e-02 -2.2 3.15e-01 -2.4 9.29e-01 1.00e+00h 1 7 2.0934576e+00 5.32e-04 3.66e-03 -3.6 8.46e-02 -2.9 9.98e-01 9.74e-01h 1 8 2.0909169e+00 2.07e-05 2.39e-04 -4.0 4.84e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908870e+00 2.69e-07 2.39e-04 -4.0 1.32e-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 2.0908495e+00 5.53e-08 2.39e-04 -4.0 3.62e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907765e+00 3.01e-07 5.24e-04 -4.0 8.96e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905934e+00 2.38e-06 9.29e-04 -4.0 2.67e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0899956e+00 1.97e-05 1.50e-03 -4.0 7.21e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0885315e+00 1.61e-04 1.52e-02 -4.0 2.28e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0879709e+00 2.21e-05 4.76e-03 -4.0 1.74e+00 -4.9 1.00e+00 9.06e-01h 1 16 2.0878235e+00 3.16e-06 2.40e-03 -4.0 3.50e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0868856e+00 4.12e-05 5.24e-03 -4.0 1.02e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0853661e+00 1.94e-04 1.08e-02 -4.0 2.39e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0837852e+00 2.51e-04 4.50e-02 -4.0 4.13e+01 -6.8 1.00e+00 5.51e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0826399e+00 8.15e-05 1.33e-02 -4.0 5.71e+01 -7.3 1.00e+00 6.98e-01h 1 21 2.0824908e+00 8.25e-04 2.67e-02 -4.0 1.21e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.1983562e+00 7.69e-05 3.57e+00 -4.0 7.67e+02 -8.2 5.23e-02 1.00e+00H 1 23 2.0853329e+00 1.26e-05 5.58e-01 -4.1 7.21e-02 -0.4 1.00e+00 8.36e-01f 1 24 2.0858234e+00 1.24e-05 2.97e+00 -4.0 6.44e-02 -0.8 1.00e+00 1.56e-02f 7 25 2.0858701e+00 3.34e-07 1.14e-03 -3.9 2.39e-02 -1.3 1.00e+00 1.00e+00h 1 26 2.0847876e+00 3.41e-06 9.00e-02 -5.9 7.79e-02 -1.8 7.96e-01 1.00e+00h 1 27 2.0852931e+00 3.46e-06 1.25e-03 -4.0 7.66e-02 -2.3 1.00e+00 1.00e+00h 1 28 2.0851137e+00 4.09e-07 1.91e-04 -4.1 1.21e-02 -2.8 1.00e+00 1.00e+00h 1 29 2.0844418e+00 3.06e-06 2.60e-02 -6.1 3.88e-02 -3.2 8.10e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0853522e+00 7.32e-06 1.47e-03 -4.0 5.65e-02 -3.7 1.00e+00 1.00e+00f 1 31 2.0850804e+00 6.74e-06 1.91e-04 -4.1 1.64e-01 -4.2 1.00e+00 1.00e+00h 1 32 2.0843580e+00 7.18e-05 1.67e-02 -6.1 7.27e-01 -4.7 8.75e-01 1.00e+00h 1 33 2.0851705e+00 1.91e-04 2.37e-03 -4.0 1.43e+00 -5.1 1.00e+00 1.00e+00h 1 34 2.0846430e+00 1.66e-04 7.43e-04 -4.1 3.86e+00 -5.6 1.00e+00 1.00e+00h 1 35 2.0835368e+00 7.23e-04 1.09e-02 -6.2 1.09e+01 -6.1 9.84e-01 8.48e-01h 1 36 2.0830856e+00 3.83e-04 2.26e-02 -6.2 2.53e+01 -6.6 9.37e-01 6.82e-01h 1 37 2.0821749e+00 2.37e-04 1.40e-02 -6.2 5.80e+01 -7.0 1.00e+00 1.00e+00h 1 38 2.0825169e+00 6.96e-03 8.16e-02 -4.0 1.31e+02 -7.5 4.86e-01 6.62e-01f 1 39 2.0817215e+00 2.71e-03 6.53e-02 -4.3 1.76e+02 -8.0 8.31e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0816498e+00 1.87e-03 1.67e+00 -4.0 1.54e+02 -6.7 1.00e+00 3.05e-01h 1 41 2.0818907e+00 1.66e-03 2.87e-02 -4.0 4.13e+01 -7.2 9.72e-01 1.00e+00h 1 42 2.2130852e+00 3.93e-06 6.88e-01 -4.0 1.22e+02 -7.6 1.25e-01 1.00e+00H 1 43 2.1114471e+00 9.51e-09 3.28e-01 -4.0 2.01e-01 0.2 1.00e+00 1.00e+00f 1 44 2.0827792e+00 6.34e-07 6.49e-02 -4.1 1.47e-01 -0.3 1.00e+00 1.00e+00f 1 45 2.0818657e+00 1.75e-07 7.07e-02 -4.0 2.83e-02 -0.7 1.00e+00 8.43e-01h 1 46 2.0821041e+00 8.77e-08 7.41e-01 -4.0 1.75e-02 -1.2 1.00e+00 5.00e-01h 2 47 2.0819157e+00 4.31e-07 5.65e-04 -4.1 2.69e-02 -1.7 1.00e+00 1.00e+00h 1 48 2.0812665e+00 2.34e-06 7.94e-02 -6.1 4.56e-02 -2.2 7.72e-01 1.00e+00h 1 49 2.0820938e+00 6.39e-06 2.52e-03 -4.0 6.44e-02 -2.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818080e+00 8.41e-07 1.94e-04 -4.1 2.81e-02 -3.1 1.00e+00 1.00e+00h 1 51 2.0812182e+00 4.93e-06 4.94e-02 -6.1 5.01e-02 -3.6 7.82e-01 1.00e+00h 1 52 2.0820718e+00 7.05e-06 2.41e-03 -4.0 5.89e-02 -4.1 1.00e+00 1.00e+00f 1 53 2.0817928e+00 4.53e-06 1.92e-04 -4.1 1.05e-01 -4.6 1.00e+00 1.00e+00h 1 54 2.0811545e+00 1.14e-04 2.21e-02 -6.1 1.18e+00 -5.0 8.94e-01 1.00e+00h 1 55 2.0820532e+00 1.48e-04 1.31e-03 -4.0 1.26e+00 -5.5 1.00e+00 1.00e+00h 1 56 2.0817992e+00 1.04e-04 5.74e-04 -4.1 2.59e+00 -6.0 1.00e+00 1.00e+00h 1 57 2.0807773e+00 9.38e-04 3.61e-03 -6.1 9.69e+00 -6.5 9.83e-01 1.00e+00h 1 58 2.0807620e+00 1.44e-04 1.14e-03 -4.9 1.15e+01 -6.9 1.00e+00 9.95e-01h 1 59 2.0818590e+00 5.01e-03 1.26e-02 -4.0 4.70e+01 -7.4 6.80e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0838856e+00 2.27e-03 6.20e-02 -4.2 3.70e+01 -7.9 4.39e-01 1.00e+00h 1 61 2.0834906e+00 2.25e-03 1.99e+00 -4.2 4.50e+00 -3.0 2.88e-02 8.60e-03h 1 62 2.0816674e+00 6.11e-04 7.29e-01 -4.2 1.17e-01 -1.6 1.00e+00 7.28e-01f 1 63 2.0814245e+00 4.12e-06 1.08e+00 -4.2 5.42e-02 -2.1 7.01e-01 1.00e+00f 1 64 2.0812335e+00 1.02e-06 1.77e-03 -4.2 4.18e-02 -2.6 1.00e+00 1.00e+00h 1 65 2.0815340e+00 1.21e-06 7.94e-04 -4.0 3.13e-02 -3.1 1.00e+00 1.00e+00h 1 66 2.0814267e+00 9.43e-07 2.52e-04 -4.1 5.59e-02 -3.5 1.00e+00 1.00e+00h 1 67 2.0810445e+00 1.60e-05 2.43e-01 -6.1 2.26e-01 -4.0 6.05e-01 1.00e+00h 1 68 2.0817182e+00 4.97e-05 2.68e-03 -4.0 4.77e-01 -4.5 1.00e+00 1.00e+00h 1 69 2.0815324e+00 2.12e-05 7.69e-04 -4.1 7.20e-01 -5.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0808936e+00 1.93e-04 5.14e-03 -6.1 2.16e+00 -5.4 9.89e-01 1.00e+00h 1 71 2.0807647e+00 1.11e-04 2.22e-02 -6.1 4.19e+00 -5.9 1.00e+00 4.58e-01h 1 72 2.0806772e+00 3.58e-05 3.90e-03 -6.1 3.62e+00 -6.4 1.00e+00 9.83e-01h 1 73 2.0806585e+00 1.37e-05 5.93e-03 -5.9 8.94e+00 -6.9 1.00e+00 5.37e-01h 1 74 2.0823543e+00 9.96e-03 1.41e-01 -4.0 8.08e+01 -7.3 3.31e-01 1.00e+00f 1 75 2.0817741e+00 1.17e-03 2.28e-02 -4.3 8.42e-01 -5.1 1.00e+00 8.82e-01h 1 76 2.0815968e+00 1.94e-04 5.80e-02 -4.3 2.38e+00 -5.6 1.00e+00 8.75e-01f 1 77 2.0814937e+00 1.05e-04 1.23e-03 -4.3 3.63e+00 -6.1 1.00e+00 1.00e+00f 1 78 2.0814617e+00 3.61e-05 2.18e-03 -4.3 8.32e+00 -6.5 1.00e+00 1.00e+00h 1 79 2.0815322e+00 1.16e-07 6.38e-02 -4.3 4.24e+01 -7.0 4.09e-01 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0817197e+00 6.70e-05 2.49e-03 -4.0 1.32e+00 -4.8 1.00e+00 1.00e+00f 1 81 2.0817187e+00 1.23e-05 1.30e-03 -4.1 7.52e-01 -5.3 1.00e+00 1.00e+00h 1 82 2.0817694e+00 7.05e-05 3.50e-04 -4.1 2.79e+00 -5.7 1.00e+00 1.00e+00h 1 83 2.0815341e+00 2.72e-04 4.57e-01 -6.1 2.05e+01 -6.2 6.79e-01 1.92e-01h 1 84 2.0808524e+00 8.12e-04 1.78e-03 -6.1 1.16e+01 -6.7 1.00e+00 9.65e-01h 1 85 2.0806977e+00 9.58e-05 1.73e-03 -6.1 2.43e+01 -7.2 9.79e-01 9.50e-01h 1 86 2.0806047e+00 5.01e-05 1.94e-02 -6.1 5.29e+01 -7.7 1.00e+00 5.02e-01h 1 87 2.0805616e+00 2.11e-05 6.46e-03 -6.1 3.78e+01 -8.1 1.00e+00 7.44e-01h 1 88 2.0810773e+00 1.59e-04 1.52e-01 -4.0 3.78e+02 -6.8 1.85e-02 5.68e-02f 3 89 2.0807000e+00 1.19e-04 2.12e+00 -5.4 4.74e+00 -4.6 1.02e-01 3.60e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0806731e+00 1.19e-04 2.10e+00 -5.4 4.46e+00 -5.0 1.92e-02 6.79e-03h 1 91 2.0807246e+00 1.07e-04 4.88e+00 -5.4 8.79e+00 -5.5 1.00e+00 2.61e-02f 3 92 2.0806846e+00 2.11e-05 4.82e-03 -5.4 1.50e+00 -6.0 1.00e+00 1.00e+00h 1 93 2.0816864e+00 1.96e-03 2.09e-01 -4.0 1.95e+01 -6.5 4.12e-01 1.00e+00f 1 94 2.0811867e+00 3.55e-04 3.89e-03 -4.3 5.34e+00 -7.0 1.00e+00 1.00e+00h 1 95 2.0816638e+00 4.22e-05 1.59e-02 -4.3 7.42e+00 -7.4 1.00e+00 9.02e-01h 1 96 2.0812577e+00 3.72e-06 4.65e-03 -4.3 7.89e+00 -7.9 6.83e-01 1.00e+00f 1 97 2.0811565e+00 4.08e-07 1.76e-04 -4.3 3.37e-02 -2.1 1.00e+00 1.00e+00h 1 98 2.0815119e+00 1.43e-06 1.15e-03 -4.0 7.16e-02 -2.5 1.00e+00 1.00e+00f 1 99 2.0813732e+00 2.17e-07 1.91e-04 -4.1 2.78e-02 -3.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0809887e+00 6.88e-06 1.69e-01 -6.1 7.71e-02 -3.5 6.84e-01 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0809887438875401e+00 2.0809887438875401e+00 Dual infeasibility......: 1.6927793791638271e-01 1.6927793791638271e-01 Constraint violation....: 6.8835004198297689e-06 6.8835004198297689e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.9427597721177046e-05 2.9427597721177046e-05 Overall NLP error.......: 1.6927793791638271e-01 1.6927793791638271e-01 Number of objective function evaluations = 121 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 121 Number of inequality constraint evaluations = 121 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 31.921 EXIT: Maximum Number of Iterations Exceeded. [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=110, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! initializing optimizer... applying constraint: timesteps all equal constraint applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 81 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.8608148e+00 3.24e+00 2.69e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6394776e+00 5.51e-02 1.22e+00 -1.1 1.99e+00 -2.0 9.93e-01 1.00e+00h 1 2 2.4561085e+00 2.74e-02 2.34e-01 -1.4 1.34e+00 -2.5 9.45e-01 1.00e+00h 1 3 2.1936334e+00 2.91e-02 3.64e-02 -2.4 9.56e-01 -3.0 9.51e-01 1.00e+00h 1 4 2.0941667e+00 1.24e-02 4.99e-02 -3.1 1.14e+00 -3.4 9.99e-01 9.85e-01h 1 5 2.0913698e+00 6.87e-06 1.65e-03 -3.8 1.59e-01 -3.9 9.99e-01 1.00e+00h 1 6 2.0909034e+00 2.29e-05 5.94e-05 -4.0 5.02e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0907556e+00 7.43e-07 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0903132e+00 7.65e-06 3.45e-05 -4.0 4.50e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0889965e+00 6.98e-05 3.08e-04 -4.0 1.34e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0851455e+00 6.53e-04 2.81e-03 -4.0 3.91e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0797528e+00 1.93e-03 1.46e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.31e-01h 1 12 2.0803845e+00 4.82e-05 1.72e-01 -4.0 6.37e+01 -7.2 1.00e+00 1.00e+00H 1 13 2.0774897e+00 5.95e-03 2.10e-02 -4.0 1.25e+02 -7.7 1.00e+00 9.78e-01h 1 14 2.0772670e+00 4.89e-04 7.95e-02 -4.0 2.12e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0761320e+00 1.22e-03 2.72e-02 -4.0 3.56e+02 -8.7 1.00e+00 7.70e-01h 1 16 2.0755836e+00 4.94e-04 2.44e-02 -4.0 4.82e+02 -9.2 1.00e+00 7.28e-01h 1 17 2.0758534e+00 7.50e-04 1.05e-02 -4.0 1.37e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0754560e+00 1.79e-03 4.24e-04 -4.1 7.69e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0757715e+00 5.29e-04 7.63e-06 -4.0 2.17e+01 -10.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0754220e+00 6.71e-04 8.82e-07 -4.1 2.53e+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 2.0754219e+00 5.46e-04 2.69e-07 -4.1 2.06e+01 -12.0 1.00e+00 1.00e+00h 1 23 2.0757717e+00 6.02e-04 1.14e-07 -4.0 2.27e+01 -12.5 1.00e+00 1.00e+00h 1 24 2.0754219e+00 6.01e-04 9.83e-08 -4.1 2.27e+01 -13.0 1.00e+00 1.00e+00h 1 25 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -13.5 9.28e-01 1.00e+00h 1 26 2.0758523e+00 1.72e-01 1.56e-04 -4.0 1.29e+03 -13.9 1.00e+00 1.00e+00h 1 27 2.0754378e+00 2.84e-02 8.74e-05 -4.1 1.05e+03 -14.4 1.00e+00 1.00e+00h 1 28 2.0754277e+00 1.24e-05 2.12e-06 -4.1 1.63e+02 -14.9 1.00e+00 1.00e+00h 1 29 2.0757717e+00 7.83e-04 1.74e-07 -4.0 3.01e+01 -15.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0754219e+00 6.34e-04 1.30e-07 -4.1 2.39e+01 -15.8 1.00e+00 1.00e+00h 1 31 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -16.3 9.28e-01 1.00e+00h 1 32 2.0739729e+00 7.49e-04 2.53e-04 -6.1 8.48e+02 -16.8 8.16e-01 1.00e+00h 1 33 2.0743069e+00 2.58e-02 1.46e-02 -4.0 8.97e+03 -17.3 1.00e+00 1.46e-01f 1 34 2.0749156e+00 3.43e-02 4.23e-05 -4.3 7.15e+02 -17.7 1.00e+00 1.00e+00h 1 35 2.0749194e+00 4.29e-04 1.42e-05 -4.3 5.34e+02 -18.2 1.00e+00 1.00e+00h 1 36 2.0757799e+00 1.06e-02 3.26e-06 -4.0 1.65e+02 -18.7 1.00e+00 1.00e+00h 1 37 2.0754236e+00 2.17e-03 7.34e-07 -4.1 8.12e+01 -19.2 1.00e+00 1.00e+00h 1 38 2.0754217e+00 1.05e-06 2.50e-08 -4.1 1.90e+01 -19.7 1.00e+00 1.00e+00h 1 39 2.0757718e+00 7.83e-04 1.70e-07 -4.0 2.96e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0754219e+00 6.34e-04 1.30e-07 -4.1 2.39e+01 -20.0 1.00e+00 1.00e+00h 1 41 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 42 2.0739729e+00 7.49e-04 2.53e-04 -6.1 8.48e+02 -20.0 8.16e-01 1.00e+00h 1 43 2.0739618e+00 7.48e-07 1.83e-05 -6.1 5.36e+02 -20.0 1.00e+00 1.00e+00h 1 44 2.0741610e+00 2.72e-02 1.81e-02 -4.0 3.03e+04 -20.0 1.00e+00 8.17e-02f 1 45 2.0748450e+00 7.42e-02 5.83e-05 -4.3 1.43e+03 -20.0 1.00e+00 1.00e+00f 1 46 2.0748594e+00 4.17e-04 5.58e-06 -4.3 3.96e+02 -20.0 1.00e+00 1.00e+00h 1 47 2.0740038e+00 1.17e-02 4.14e-04 -6.5 1.83e+02 -20.0 8.92e-01 1.00e+00h 1 48 2.0739628e+00 2.48e-04 2.84e-04 -6.5 7.31e+02 -20.0 7.61e-01 1.00e+00h 1 49 2.0739529e+00 2.78e-07 2.04e-05 -6.5 6.29e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0741325e+00 2.58e-02 1.91e-02 -4.0 3.70e+04 -20.0 1.00e+00 7.19e-02f 1 51 2.0748276e+00 8.42e-02 6.63e-05 -4.3 1.60e+03 -20.0 1.00e+00 1.00e+00f 1 52 2.0748443e+00 3.56e-04 3.40e-06 -4.3 3.15e+02 -20.0 1.00e+00 1.00e+00h 1 53 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 54 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 55 2.0739527e+00 2.69e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 56 2.0741318e+00 2.58e-02 1.92e-02 -4.0 3.72e+04 -20.0 1.00e+00 7.16e-02f 1 57 2.0748272e+00 8.45e-02 6.65e-05 -4.3 1.61e+03 -20.0 1.00e+00 1.00e+00f 1 58 2.0748440e+00 3.54e-04 3.34e-06 -4.3 3.13e+02 -20.0 1.00e+00 1.00e+00h 1 59 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 61 2.0739527e+00 2.68e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 62 2.0741318e+00 2.58e-02 1.92e-02 -4.0 3.72e+04 -20.0 1.00e+00 7.16e-02f 1 63 2.0748272e+00 8.45e-02 6.65e-05 -4.3 1.61e+03 -20.0 1.00e+00 1.00e+00f 1 64 2.0748440e+00 3.54e-04 3.34e-06 -4.3 3.13e+02 -20.0 1.00e+00 1.00e+00h 1 65 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 66 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 67 2.0739527e+00 2.68e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 68 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 69 2.0741226e+00 2.63e-02 1.95e-02 -4.0 4.26e+04 -20.0 1.00e+00 6.77e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0748234e+00 8.99e-02 7.10e-05 -4.3 1.70e+03 -20.0 1.00e+00 1.00e+00f 1 71 2.0748412e+00 3.13e-04 2.43e-06 -4.3 2.70e+02 -20.0 1.00e+00 1.00e+00h 1 72 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 73 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 74 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 75 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 76 2.0741225e+00 2.63e-02 1.95e-02 -4.0 4.27e+04 -20.0 1.00e+00 6.76e-02f 1 77 2.0748233e+00 9.00e-02 7.11e-05 -4.3 1.70e+03 -20.0 1.00e+00 1.00e+00f 1 78 2.0748411e+00 3.13e-04 2.42e-06 -4.3 2.70e+02 -20.0 1.00e+00 1.00e+00h 1 79 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 81 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 82 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 83 2.0739440e+00 6.21e-05 3.00e-06 -9.0 1.42e+02 -20.0 9.56e-01 1.00e+00h 1 84 2.0740989e+00 2.54e-02 2.06e-02 -4.0 5.21e+04 -20.0 1.00e+00 5.99e-02f 1 85 2.0748092e+00 1.02e-01 8.36e-05 -4.3 1.92e+03 -20.0 1.00e+00 1.00e+00f 1 86 2.0748293e+00 2.04e-04 1.06e-06 -4.3 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 87 2.0740026e+00 1.16e-02 4.11e-04 -6.5 1.88e+02 -20.0 8.89e-01 1.00e+00h 1 88 2.0739622e+00 2.30e-04 2.84e-04 -6.5 7.25e+02 -20.0 7.59e-01 1.00e+00h 1 89 2.0739525e+00 2.60e-07 1.99e-05 -6.5 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0739518e+00 4.59e-09 7.61e-07 -6.5 1.66e+02 -20.0 1.00e+00 1.00e+00h 1 91 2.0741220e+00 2.63e-02 1.96e-02 -4.0 4.28e+04 -20.0 1.00e+00 6.75e-02f 1 92 2.0748230e+00 9.02e-02 7.13e-05 -4.3 1.71e+03 -20.0 1.00e+00 1.00e+00f 1 93 2.0748409e+00 3.11e-04 2.38e-06 -4.3 2.68e+02 -20.0 1.00e+00 1.00e+00h 1 94 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 95 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 96 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 97 2.0739520e+00 4.54e-09 7.53e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 98 2.0739440e+00 6.21e-05 3.00e-06 -9.0 1.42e+02 -20.0 9.56e-01 1.00e+00h 1 99 2.0740989e+00 2.54e-02 2.06e-02 -4.0 5.21e+04 -20.0 1.00e+00 5.99e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0748092e+00 1.02e-01 8.37e-05 -4.3 1.92e+03 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0748092138579128e+00 2.0748092138579128e+00 Dual infeasibility......: 8.3650444729791012e-05 8.3650444729791012e-05 Constraint violation....: 1.0240270858531542e-01 1.0240270858531542e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 6.8229653538553963e-05 6.8229653538553963e-05 Overall NLP error.......: 1.0240270858531542e-01 1.0240270858531542e-01 Number of objective function evaluations = 102 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 102 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 23.891 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 194 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 27 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.3891924e+00 5.29e-01 1.03e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5729457e+00 5.30e-02 1.47e+00 -1.1 5.88e-01 0.0 1.00e+00 1.00e+00h 1 2 1.6407853e+00 2.68e-02 3.86e-01 -0.8 3.30e-01 -0.5 1.00e+00 5.18e-01h 1 3 1.6373017e+00 3.72e-02 6.94e-01 -1.6 2.86e+00 - 8.82e-01 5.00e-01h 2 4 1.6406897e+00 1.00e-02 9.04e-01 -0.9 8.45e+00 - 1.00e+00 3.33e-01h 1 5 1.3635678e+00 1.05e-03 1.96e-01 -1.8 6.00e+00 - 9.94e-01 1.00e+00f 1 6 1.1104099e+00 7.75e-05 1.10e-01 -2.9 3.23e+00 - 9.96e-01 9.55e-01f 1 7 1.0916985e+00 2.14e-06 4.85e-02 -3.9 2.14e+00 - 1.00e+00 1.00e+00h 1 8 1.0908891e+00 7.07e-09 3.50e-03 -4.0 5.73e-01 - 1.00e+00 1.00e+00h 1 9 1.0908997e+00 3.89e-13 3.71e-05 -4.0 3.08e-02 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0908997e+00 1.21e-20 3.70e-05 -4.0 1.22e-04 - 1.00e+00 1.00e+00h 1 11 1.0908997e+00 5.18e-29 8.88e-16 -4.0 2.91e-08 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 11 (scaled) (unscaled) Objective...............: 1.0908997263265459e+00 1.0908997263265459e+00 Dual infeasibility......: 8.8817841970012543e-16 8.8817841970012543e-16 Constraint violation....: 5.1819940340315579e-29 5.1819940340315579e-29 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 8.8817841970012543e-16 8.8817841970012543e-16 Number of objective function evaluations = 14 Number of objective gradient evaluations = 12 Number of equality constraint evaluations = 14 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 12 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 11 Total seconds in IPOPT = 19.452 EXIT: Optimal Solution Found. Difference in Hessian Difference in Jacobian Test Summary: | Pass Total Time Package | 202 202 17m17.7s Testing DirectTrajOpt tests passed Testing completed after 1104.66s PkgEval succeeded after 1882.25s