Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.1674 (5735163b34*) started at 2026-02-03T23:45:01.022 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 10.64s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Installed Bzip2_jll ──────────────────────── v1.0.9+0 Installed OrderedCollections ─────────────── v1.8.1 Installed ChunkCodecLibZstd ──────────────── v1.0.0 Installed CommonWorldInvalidations ───────── v1.0.0 Installed MUMPS_seq_jll ──────────────────── v500.800.200+0 Installed FastPower ──────────────────────── v1.3.1 Installed SIMDTypes ──────────────────────── v0.1.0 Installed EnzymeCore ─────────────────────── v0.8.18 Installed TrajectoryIndexingUtils ────────── v0.1.0 Installed Xorg_libpciaccess_jll ──────────── v0.18.1+0 Installed Ipopt_jll ──────────────────────── v300.1400.1901+0 Installed PreallocationTools ─────────────── v1.1.2 Installed CpuId ──────────────────────────── v0.3.1 Installed AbstractDifferentiation ────────── v0.4.4 Installed NaNMath ────────────────────────── v1.1.3 Installed StaticArrayInterface ───────────── v1.8.0 Installed EnumX ──────────────────────────── v1.0.6 Installed OpenSpecFun_jll ────────────────── v0.5.6+0 Installed BracketingNonlinearSolve ───────── v1.6.2 Installed FastBroadcast ──────────────────── v0.3.5 Installed ScopedValues ───────────────────── v1.5.0 Installed NonlinearSolveBase ─────────────── v2.11.2 Installed DiffEqBase ─────────────────────── v6.200.0 Installed InverseFunctions ───────────────── v0.1.17 Installed Reexport ───────────────────────── v1.2.2 Installed FileIO ─────────────────────────── v1.18.0 Installed MaybeInplace ───────────────────── v0.1.4 Installed Jieko ──────────────────────────── v0.2.1 Installed Static ─────────────────────────── v1.3.1 Installed Preferences ────────────────────── v1.5.1 Installed RecursiveArrayTools ────────────── v3.47.0 Installed CodecZlib ──────────────────────── v0.7.8 Installed ADTypes ────────────────────────── v1.21.0 Installed DiffResults ────────────────────── v1.1.0 Installed ExprTools ──────────────────────── v0.1.10 Installed DataStructures ─────────────────── v0.19.3 Installed MacroTools ─────────────────────── v0.5.16 Installed FillArrays ─────────────────────── v1.16.0 Installed ManualMemory ───────────────────── v0.1.8 Installed LoggingExtras ──────────────────── v1.2.0 Installed CommonSubexpressions ───────────── v0.3.1 Installed StructUtils ────────────────────── v2.6.2 Installed SciMLJacobianOperators ─────────── v0.1.12 Installed Observables ────────────────────── v0.5.5 Installed ArrayInterface ─────────────────── v7.22.0 Installed LayoutPointers ─────────────────── v0.1.17 Installed ConcreteStructs ────────────────── v0.2.3 Installed TruncatedStacktraces ───────────── v1.4.0 Installed IrrationalConstants ────────────── v0.2.6 Installed GPUArraysCore ──────────────────── v0.2.0 Installed BenchmarkTools ─────────────────── v1.6.3 Installed Hwloc_jll ──────────────────────── v2.12.2+0 Installed SPRAL_jll ──────────────────────── v2025.9.18+0 Installed ArrayLayouts ───────────────────── v1.12.2 Installed Setfield ───────────────────────── v1.1.2 Installed DocStringExtensions ────────────── v0.9.5 Installed CompositionsBase ───────────────── v0.1.2 Installed CommonSolve ────────────────────── v0.2.6 Installed ForwardDiff ────────────────────── v1.3.2 Installed BitTwiddlingConvenienceFunctions ─ v0.1.6 Installed Moshi ──────────────────────────── v0.3.7 Installed HashArrayMappedTries ───────────── v0.2.0 Installed IteratorInterfaceExtensions ────── v1.0.0 Installed RecipesBase ────────────────────── v1.3.4 Installed MathOptInterface ───────────────── v1.49.0 Installed DifferentiationInterface ───────── v0.7.16 Installed StaticArraysCore ───────────────── v1.4.4 Installed FunctionWrappersWrappers ───────── v0.1.3 Installed Requires ───────────────────────── v1.3.1 Installed SciMLStructures ────────────────── v1.10.0 Installed ComputePipeline ────────────────── v0.1.6 Installed SciMLPublic ────────────────────── v1.0.1 Installed SciMLOperators ─────────────────── v1.15.1 Installed StaticArrays ───────────────────── v1.9.16 Installed FunctionWrappers ───────────────── v1.1.3 Installed DiffRules ──────────────────────── v1.15.1 Installed OpenBLAS32_jll ─────────────────── v0.3.30+0 Installed LogExpFunctions ────────────────── v0.3.29 Installed Parsers ────────────────────────── v2.8.3 Installed JSON ───────────────────────────── v1.4.0 Installed FiniteDiff ─────────────────────── v2.29.0 Installed OrdinaryDiffEqCore ─────────────── v3.4.0 Installed SciMLBase ──────────────────────── v2.136.0 Installed FastClosures ───────────────────── v0.3.2 Installed MutableArithmetics ─────────────── v1.6.7 Installed Polyester ──────────────────────── v0.7.18 Installed JLLWrappers ────────────────────── v1.7.1 Installed CloseOpenIntervals ─────────────── v0.1.13 Installed TestItems ──────────────────────── v1.0.0 Installed ChunkCodecCore ─────────────────── v1.0.1 Installed ThreadingUtilities ─────────────── v0.5.5 Installed ConstructionBase ───────────────── v1.6.0 Installed Compat ─────────────────────────── v4.18.1 Installed Adapt ──────────────────────────── v4.4.0 Installed TranscodingStreams ─────────────── v0.11.3 Installed Accessors ──────────────────────── v0.1.43 Installed RuntimeGeneratedFunctions ──────── v0.5.17 Installed StrideArraysCore ───────────────── v0.5.8 Installed SymbolicIndexingInterface ──────── v0.3.46 Installed JLD2 ───────────────────────────── v0.6.3 Installed ASL_jll ────────────────────────── v0.1.3+0 Installed Statistics ─────────────────────── v1.11.1 Installed PrecompileTools ────────────────── v1.3.3 Installed TimerOutputs ───────────────────── v0.5.29 Installed ChunkCodecLibZlib ──────────────── v1.0.0 Installed CodecBzip2 ─────────────────────── v0.8.5 Installed LazyArrays ─────────────────────── v2.9.5 Installed CPUSummary ─────────────────────── v0.2.7 Installed ExponentialAction ──────────────── v0.2.10 Installed ExproniconLite ─────────────────── v0.10.14 Installed ChainRulesCore ─────────────────── v1.26.0 Installed XML2_jll ───────────────────────── v2.13.9+0 Installed IfElse ─────────────────────────── v0.1.1 Installed MuladdMacro ────────────────────── v0.2.4 Installed SciMLLogging ───────────────────── v1.8.0 Installed Ipopt ──────────────────────────── v1.14.0 Installed SpecialFunctions ───────────────── v2.6.1 Installed NamedTrajectories ──────────────── v0.8.2 Installed TestItemRunner ─────────────────── v1.1.4 Installed Libiconv_jll ───────────────────── v1.18.0+0 Installed OrdinaryDiffEqTsit5 ────────────── v1.9.0 Installed METIS_jll ──────────────────────── v5.1.3+0 Installed PolyesterWeave ─────────────────── v0.2.2 Installed DirectTrajOpt ──────────────────── v0.8.1 Installing 12 artifacts Installed artifact Bzip2 503.5 KiB Installed artifact Xorg_libpciaccess 24.8 KiB Installed artifact ASL 276.3 KiB Installed artifact METIS 1.1 MiB Installed artifact SPRAL 691.9 KiB Installed artifact Ipopt 1.3 MiB Installed artifact OpenSpecFun 194.9 KiB Installed artifact Libiconv 1.9 MiB Installed artifact XML2 2.5 MiB Installed artifact Hwloc 3.5 MiB Installed artifact OpenBLAS32 10.0 MiB Installed artifact MUMPS_seq 8.6 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 v6.200.0 [163ba53b] + DiffResults v1.1.0 [b552c78f] + DiffRules v1.15.1 [a0c0ee7d] + DifferentiationInterface v0.7.16 [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 v1.18.0 [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 [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 v1.49.0 [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 v2.11.2 [510215fc] + Observables v0.5.5 [bac558e1] + OrderedCollections v1.8.1 [bbf590c4] + OrdinaryDiffEqCore v3.4.0 [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 v0.5.17 [94e857df] + SIMDTypes v0.1.0 [0bca4576] + SciMLBase v2.136.0 [19f34311] + SciMLJacobianOperators v0.1.12 [a6db7da4] + SciMLLogging v1.8.0 [c0aeaf25] + SciMLOperators v1.15.1 [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 [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 v3.5.5+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 13.49s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling packages... 4442.3 ms ✓ TestEnv 1 dependency successfully precompiled in 5 seconds. 27 already precompiled. Precompiling package dependencies... Precompiling packages... 4117.2 ms ✓ MacroTools 834.2 ms ✓ Reexport 1191.5 ms ✓ ConstructionBase 2235.4 ms ✓ IrrationalConstants 1101.8 ms ✓ Observables 850.4 ms ✓ CommonSolve 1307.5 ms ✓ TranscodingStreams 1052.5 ms ✓ ChunkCodecCore 777.8 ms ✓ TestItems 1160.4 ms ✓ Statistics 989.1 ms ✓ StaticArraysCore 1375.6 ms ✓ EnzymeCore 1114.3 ms ✓ IfElse 1208.3 ms ✓ ManualMemory 1077.5 ms ✓ SciMLPublic 3168.8 ms ✓ ExproniconLite 809.2 ms ✓ TrajectoryIndexingUtils 843.0 ms ✓ CommonWorldInvalidations 950.1 ms ✓ FastPower 1008.8 ms ✓ InverseFunctions 893.0 ms ✓ CompositionsBase 830.5 ms ✓ MuladdMacro 920.4 ms ✓ EnumX 2215.7 ms ✓ FillArrays 959.1 ms ✓ ExprTools 871.6 ms ✓ ConcreteStructs 1308.8 ms ✓ OrderedCollections 1542.0 ms ✓ FunctionWrappers 829.9 ms ✓ HashArrayMappedTries 1447.2 ms ✓ ADTypes 1158.7 ms ✓ DocStringExtensions 906.5 ms ✓ FastClosures 1488.5 ms ✓ SIMDTypes 956.6 ms ✓ IteratorInterfaceExtensions 1063.9 ms ✓ NaNMath 1458.2 ms ✓ Requires 1672.5 ms ✓ CpuId 1134.2 ms ✓ LoggingExtras 1505.2 ms ✓ StructUtils 1369.8 ms ✓ Compat 1301.6 ms ✓ Preferences 11448.6 ms ✓ MutableArithmetics 2227.8 ms ✓ CommonSubexpressions 1133.4 ms ✓ ConstructionBase → ConstructionBaseLinearAlgebraExt 1293.9 ms ✓ CodecZlib 1158.6 ms ✓ ChunkCodecLibZlib 1199.0 ms ✓ ChunkCodecLibZstd 25260.6 ms ✓ TestItemRunner 1486.8 ms ✓ Statistics → SparseArraysExt 985.6 ms ✓ DiffResults 1987.5 ms ✓ ThreadingUtilities 3293.7 ms ✓ Jieko 888.7 ms ✓ InverseFunctions → InverseFunctionsDatesExt 1709.5 ms ✓ InverseFunctions → InverseFunctionsTestExt 848.9 ms ✓ CompositionsBase → CompositionsBaseInverseFunctionsExt 1593.5 ms ✓ FillArrays → FillArraysSparseArraysExt 1154.7 ms ✓ FillArrays → FillArraysStatisticsExt 3546.3 ms ✓ TimerOutputs 983.7 ms ✓ RuntimeGeneratedFunctions 3579.5 ms ✓ DataStructures 855.9 ms ✓ FunctionWrappersWrappers 929.3 ms ✓ ScopedValues 841.1 ms ✓ ADTypes → ADTypesConstructionBaseExt 1913.5 ms ✓ DifferentiationInterface 841.8 ms ✓ ADTypes → ADTypesEnzymeCoreExt 1449.1 ms ✓ LogExpFunctions 1007.1 ms ✓ Adapt 9316.9 ms ✓ FileIO 939.8 ms ✓ Compat → CompatLinearAlgebraExt 986.1 ms ✓ PrecompileTools 1259.6 ms ✓ JLLWrappers 1676.4 ms ✓ TruncatedStacktraces 1734.4 ms ✓ ComputePipeline 1453.9 ms ✓ SciMLLogging 3066.5 ms ✓ Setfield 17401.5 ms ✓ Moshi 5112.8 ms ✓ Accessors 1419.5 ms ✓ DifferentiationInterface → DifferentiationInterfaceSparseArraysExt 868.4 ms ✓ LogExpFunctions → LogExpFunctionsInverseFunctionsExt 1189.9 ms ✓ ArrayInterface 1286.5 ms ✓ Adapt → AdaptSparseArraysExt 1235.4 ms ✓ GPUArraysCore 820.8 ms ✓ EnzymeCore → AdaptExt 2661.4 ms ✓ ChainRulesCore 13847.8 ms ✓ StaticArrays 2938.1 ms ✓ RecipesBase 16524.6 ms ✓ Parsers 7407.7 ms ✓ Static 48606.1 ms ✓ JLD2 1494.8 ms ✓ OpenBLAS32_jll 1531.9 ms ✓ Bzip2_jll 1864.0 ms ✓ OpenSpecFun_jll 2321.4 ms ✓ ASL_jll 1621.6 ms ✓ METIS_jll 1460.7 ms ✓ Xorg_libpciaccess_jll 1467.6 ms ✓ Libiconv_jll 1840.3 ms ✓ Accessors → TestExt 2418.1 ms ✓ Accessors → LinearAlgebraExt 826.8 ms ✓ ArrayInterface → ArrayInterfaceStaticArraysCoreExt 2305.6 ms ✓ MaybeInplace 1332.4 ms ✓ ArrayInterface → ArrayInterfaceSparseArraysExt 1359.9 ms ✓ SciMLStructures 2357.6 ms ✓ PreallocationTools 869.6 ms ✓ DifferentiationInterface → DifferentiationInterfaceGPUArraysCoreExt 871.6 ms ✓ ArrayInterface → ArrayInterfaceGPUArraysCoreExt 2232.0 ms ✓ AbstractDifferentiation 1438.4 ms ✓ ChainRulesCore → ChainRulesCoreSparseArraysExt 1334.1 ms ✓ EnzymeCore → EnzymeCoreChainRulesCoreExt 856.7 ms ✓ ADTypes → ADTypesChainRulesCoreExt 915.2 ms ✓ DifferentiationInterface → DifferentiationInterfaceChainRulesCoreExt 3439.8 ms ✓ LogExpFunctions → LogExpFunctionsChainRulesCoreExt 858.5 ms ✓ ArrayInterface → ArrayInterfaceChainRulesCoreExt 1627.6 ms ✓ StaticArrays → StaticArraysStatisticsExt 2016.5 ms ✓ StaticArrays → StaticArraysChainRulesCoreExt 1445.9 ms ✓ ConstructionBase → ConstructionBaseStaticArraysExt 1716.1 ms ✓ FillArrays → FillArraysStaticArraysExt 1561.1 ms ✓ DifferentiationInterface → DifferentiationInterfaceStaticArraysExt 1444.0 ms ✓ Adapt → AdaptStaticArraysExt 1584.4 ms ✓ Accessors → StaticArraysExt 7225.8 ms ✓ JSON 1001.5 ms ✓ BitTwiddlingConvenienceFunctions 2374.1 ms ✓ CPUSummary 5214.5 ms ✓ StaticArrayInterface 1020.5 ms ✓ CodecBzip2 5109.5 ms ✓ SpecialFunctions 1696.2 ms ✓ MUMPS_seq_jll 1696.3 ms ✓ XML2_jll 5105.3 ms ✓ SciMLOperators 1539.2 ms ✓ FiniteDiff 3780.0 ms ✓ SymbolicIndexingInterface 1351.8 ms ✓ MaybeInplace → MaybeInplaceSparseArraysExt 2045.4 ms ✓ ExponentialAction 22896.9 ms ✓ ArrayLayouts 3270.3 ms ✓ BenchmarkTools 1777.2 ms ✓ PolyesterWeave 1631.5 ms ✓ StaticArrayInterface → StaticArrayInterfaceStaticArraysExt 1183.8 ms ✓ CloseOpenIntervals 1424.0 ms ✓ LayoutPointers 4562.4 ms ✓ SpecialFunctions → SpecialFunctionsChainRulesCoreExt 1354.2 ms ✓ DiffRules 1540.8 ms ✓ Hwloc_jll 1061.0 ms ✓ SciMLOperators → SciMLOperatorsStaticArraysCoreExt 1627.5 ms ✓ SciMLOperators → SciMLOperatorsSparseArraysExt 1484.8 ms ✓ FiniteDiff → FiniteDiffStaticArraysExt 1365.2 ms ✓ FiniteDiff → FiniteDiffSparseArraysExt 1069.9 ms ✓ DifferentiationInterface → DifferentiationInterfaceFiniteDiffExt 8364.5 ms ✓ RecursiveArrayTools 3605.5 ms ✓ ArrayLayouts → ArrayLayoutsSparseArraysExt 2214.5 ms ✓ StrideArraysCore 6850.3 ms ✓ ForwardDiff 1565.9 ms ✓ SPRAL_jll 1950.6 ms ✓ RecursiveArrayTools → RecursiveArrayToolsSparseArraysExt 1353.7 ms ✓ RecursiveArrayTools → RecursiveArrayToolsStatisticsExt 7518.0 ms ✓ LazyArrays 2037.9 ms ✓ Polyester 1758.7 ms ✓ ForwardDiff → ForwardDiffStaticArraysExt 1188.4 ms ✓ FastPower → FastPowerForwardDiffExt 1497.3 ms ✓ DifferentiationInterface → DifferentiationInterfaceForwardDiffExt 2353.9 ms ✓ PreallocationTools → PreallocationToolsForwardDiffExt 78461.4 ms ✓ MathOptInterface 1483.5 ms ✓ RecursiveArrayTools → RecursiveArrayToolsForwardDiffExt 1581.8 ms ✓ Ipopt_jll 30970.7 ms ✓ SciMLBase 3692.4 ms ✓ LazyArrays → LazyArraysStaticArraysExt 2004.0 ms ✓ FastBroadcast 1262.7 ms ✓ Ipopt 3367.3 ms ✓ SciMLBase → SciMLBaseChainRulesCoreExt 3660.2 ms ✓ SciMLBase → SciMLBaseForwardDiffExt 3129.2 ms ✓ SciMLBase → SciMLBaseDifferentiationInterfaceExt 9591.6 ms ✓ NamedTrajectories 2152.5 ms ✓ RecursiveArrayTools → RecursiveArrayToolsFastBroadcastExt 44476.8 ms ✓ Ipopt → IpoptMathOptInterfaceExt 8635.3 ms ✓ SciMLJacobianOperators 18692.1 ms ✓ NonlinearSolveBase 4551.4 ms ✓ NonlinearSolveBase → NonlinearSolveBaseSparseArraysExt 2965.5 ms ✓ NonlinearSolveBase → NonlinearSolveBaseChainRulesCoreExt 5194.0 ms ✓ NonlinearSolveBase → NonlinearSolveBaseForwardDiffExt 8928.7 ms ✓ BracketingNonlinearSolve 3452.2 ms ✓ BracketingNonlinearSolve → BracketingNonlinearSolveForwardDiffExt 9362.3 ms ✓ DiffEqBase 3553.6 ms ✓ BracketingNonlinearSolve → BracketingNonlinearSolveChainRulesCoreExt 4057.0 ms ✓ DiffEqBase → DiffEqBaseSparseArraysExt 4372.7 ms ✓ DiffEqBase → DiffEqBaseChainRulesCoreExt 4412.5 ms ✓ DiffEqBase → DiffEqBaseForwardDiffExt 12584.9 ms ✓ OrdinaryDiffEqCore 5077.7 ms ✓ OrdinaryDiffEqCore → OrdinaryDiffEqCoreSparseArraysExt 4299.8 ms ✓ OrdinaryDiffEqCore → OrdinaryDiffEqCoreEnzymeCoreExt 14672.5 ms ✓ OrdinaryDiffEqTsit5 24004.7 ms ✓ DirectTrajOpt 189 dependencies successfully precompiled in 770 seconds. 37 already precompiled. Precompilation completed after 777.28s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_ko15kH/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 v1.49.0 [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_ko15kH/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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MutableArithmetics v1.6.7 [77ba4419] NaNMath v1.1.3 [538bc3a1] NamedTrajectories v0.8.2 [be0214bd] NonlinearSolveBase v2.11.2 [510215fc] Observables v0.5.5 [bac558e1] OrderedCollections v1.8.1 [bbf590c4] OrdinaryDiffEqCore v3.4.0 [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 v0.5.17 [94e857df] SIMDTypes v0.1.0 [0bca4576] SciMLBase v2.136.0 [19f34311] SciMLJacobianOperators v0.1.12 [a6db7da4] SciMLLogging v1.8.0 [c0aeaf25] SciMLOperators v1.15.1 [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 [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 v3.5.5+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 2.1996660e+00 2.33e+00 6.07e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.0068551e+00 4.56e-01 1.84e+00 -1.0 1.83e+00 0.0 6.94e-01 8.05e-01h 1 2 1.9395963e+00 2.97e-01 2.68e+00 -0.7 6.10e-01 0.4 6.17e-01 3.47e-01f 1 3 2.0013895e+00 1.93e-01 3.30e+00 -0.8 5.79e-01 -0.1 6.76e-01 3.49e-01h 1 4 2.3520668e+00 6.49e-03 5.42e-01 -1.5 5.89e-01 -0.5 8.18e-01 1.00e+00h 1 5 2.3055685e+00 6.38e-03 7.38e-01 -1.7 2.69e-01 -0.1 8.63e-01 2.14e-01h 1 6 2.2831290e+00 5.51e-03 1.30e+00 -1.4 2.21e-01 0.3 1.00e+00 1.31e-01h 1 7 2.1767834e+00 1.38e-03 3.02e-01 -2.4 6.63e-02 -0.2 1.00e+00 8.22e-01h 1 8 2.1003752e+00 5.12e-04 5.16e-02 -4.0 4.31e-02 -0.6 1.00e+00 9.53e-01h 1 9 2.0909513e+00 3.56e-05 7.60e-03 -4.0 2.20e-02 -1.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909244e+00 1.02e-07 4.23e-04 -4.0 4.15e-03 -1.6 1.00e+00 1.00e+00h 1 11 2.0909226e+00 1.93e-09 7.69e-05 -4.0 8.87e-03 -2.1 1.00e+00 1.00e+00h 1 12 2.0909219e+00 2.01e-11 3.54e-05 -4.0 1.23e-02 -2.5 1.00e+00 1.00e+00h 1 13 2.0909198e+00 1.72e-10 2.06e-05 -4.0 2.14e-02 -3.0 1.00e+00 1.00e+00h 1 14 2.0909135e+00 1.55e-09 2.06e-05 -4.0 6.41e-02 -3.5 1.00e+00 1.00e+00h 1 15 2.0908946e+00 1.39e-08 2.06e-05 -4.0 1.92e-01 -4.0 1.00e+00 1.00e+00h 1 16 2.0908379e+00 1.26e-07 2.06e-05 -4.0 5.77e-01 -4.4 1.00e+00 1.00e+00h 1 17 2.0906679e+00 1.13e-06 2.06e-05 -4.0 1.73e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0901595e+00 1.03e-05 4.58e-05 -4.0 5.17e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0886485e+00 9.42e-05 4.08e-04 -4.0 1.54e+01 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0842505e+00 8.98e-04 3.75e-03 -4.0 4.47e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0796325e+00 1.89e-03 2.32e-01 -4.0 1.11e+02 -6.8 1.00e+00 4.18e-01h 1 22 2.0792745e+00 8.01e-03 2.00e-01 -4.1 6.47e+01 -7.3 1.00e+00 7.42e-01h 1 23 2.0780815e+00 1.70e-02 4.76e-02 -3.8 1.17e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.0765150e+00 1.71e-02 2.69e-02 -4.0 2.07e+02 -8.3 1.00e+00 1.00e+00h 1 25 2.0761308e+00 1.58e-03 2.83e-02 -4.0 3.34e+02 -8.7 1.00e+00 1.00e+00h 1 26 2.0755189e+00 6.51e-04 4.04e-02 -4.0 4.64e+02 -9.2 1.00e+00 6.35e-01H 1 27 2.0757523e+00 1.78e-03 9.08e-03 -4.0 1.33e+02 -9.7 1.00e+00 1.00e+00h 1 28 2.0753703e+00 9.25e-04 2.27e-04 -4.1 4.97e+01 -10.2 1.00e+00 1.00e+00h 1 29 2.0756723e+00 4.56e-04 4.04e-06 -4.0 2.03e+01 -10.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0753424e+00 5.96e-04 6.40e-07 -4.1 2.44e+01 -11.1 1.00e+00 1.00e+00h 1 31 2.0756725e+00 3.44e-04 6.98e-07 -4.0 1.41e+01 -11.6 1.00e+00 1.00e+00h 1 32 2.0756712e+00 1.28e-07 1.24e-08 -4.0 2.31e+00 -12.1 1.00e+00 1.00e+00h 1 33 2.0756712e+00 6.42e-14 3.67e-12 -4.0 1.77e-02 -12.6 1.00e+00 1.00e+00h 1 Number of Iterations....: 33 (scaled) (unscaled) Objective...............: 2.0756712120665637e+00 2.0756712120665637e+00 Dual infeasibility......: 3.6716576773312276e-12 3.6716576773312276e-12 Constraint violation....: 6.4170890823334048e-14 6.4170890823334048e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000055e-04 1.0000000000000055e-04 Overall NLP error.......: 3.6716576773312276e-12 3.6716576773312276e-12 Number of objective function evaluations = 35 Number of objective gradient evaluations = 34 Number of equality constraint evaluations = 35 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 34 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 33 Total seconds in IPOPT = 60.061 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: equality constraint on trajectory variable du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1488 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1524 Total number of variables............................: 100 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.5166184e+00 2.62e+00 4.55e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7199146e+00 9.31e-02 2.35e+00 -0.9 2.37e+00 0.0 8.78e-01 1.00e+00f 1 2 2.6777681e+00 7.89e-03 3.52e-01 -1.0 1.10e-01 0.4 9.75e-01 1.00e+00h 1 3 2.3953551e+00 2.37e-03 1.45e-01 -1.9 5.93e-02 -0.1 9.52e-01 1.00e+00f 1 4 2.1333325e+00 3.78e-03 1.14e-01 -2.7 1.36e-01 -0.5 9.99e-01 8.06e-01f 1 5 2.0936994e+00 1.81e-04 1.55e-02 -3.4 2.58e-02 -1.0 9.99e-01 9.83e-01h 1 6 2.0909751e+00 6.92e-05 2.71e-02 -4.0 7.64e-02 -1.5 1.00e+00 1.00e+00h 1 7 2.0908152e+00 6.44e-07 3.71e-03 -4.0 1.50e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0908931e+00 1.27e-07 4.37e-05 -4.0 1.19e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908911e+00 6.98e-09 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908862e+00 9.72e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908712e+00 8.68e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908264e+00 7.82e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906921e+00 7.05e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902900e+00 6.38e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890928e+00 5.83e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855836e+00 5.51e-04 2.31e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796168e+00 2.29e-03 1.36e-01 -4.0 9.56e+01 -6.7 1.00e+00 6.30e-01h 1 18 2.0807227e+00 1.55e-04 1.81e-01 -4.0 6.59e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775226e+00 7.29e-03 2.46e-02 -4.0 1.19e+02 -7.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0769617e+00 1.12e-03 5.20e-02 -4.0 1.75e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0759696e+00 9.13e-04 2.33e-02 -4.0 3.13e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0754425e+00 4.87e-04 2.82e-02 -4.0 4.57e+02 -9.1 1.00e+00 7.31e-01H 1 23 2.0757705e+00 2.11e-03 1.03e-02 -4.0 1.39e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753803e+00 1.40e-03 4.71e-04 -4.1 7.75e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756723e+00 4.10e-04 7.04e-06 -4.0 1.86e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0753425e+00 6.40e-04 8.38e-07 -4.1 2.62e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756725e+00 3.34e-04 8.15e-07 -4.0 1.36e+01 -11.5 1.00e+00 1.00e+00h 1 28 2.0753425e+00 5.01e-04 2.62e-07 -4.1 2.05e+01 -12.0 1.00e+00 1.00e+00h 1 29 2.0756725e+00 5.53e-04 1.18e-07 -4.0 2.26e+01 -12.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0753425e+00 5.53e-04 9.06e-08 -4.1 2.26e+01 -12.9 1.00e+00 1.00e+00h 1 31 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -13.4 9.28e-01 1.00e+00h 1 32 2.0757517e+00 1.59e-01 1.53e-04 -4.0 1.29e+03 -13.9 1.00e+00 1.00e+00h 1 33 2.0753574e+00 2.64e-02 8.69e-05 -4.1 1.05e+03 -14.4 1.00e+00 1.00e+00h 1 34 2.0753474e+00 1.15e-05 2.14e-06 -4.1 1.63e+02 -14.8 1.00e+00 1.00e+00h 1 35 2.0756726e+00 7.25e-04 1.64e-07 -4.0 3.02e+01 -15.3 1.00e+00 1.00e+00h 1 36 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -15.8 1.00e+00 1.00e+00h 1 37 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -16.3 9.28e-01 1.00e+00h 1 38 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -16.8 8.16e-01 1.00e+00h 1 39 2.0742914e+00 4.02e-02 1.95e-02 -4.0 1.50e+04 -17.2 1.00e+00 1.46e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0748877e+00 5.32e-02 4.44e-05 -4.3 1.16e+03 -17.7 1.00e+00 1.00e+00h 1 41 2.0748919e+00 7.80e-04 1.27e-05 -4.3 8.19e+02 -18.2 1.00e+00 1.00e+00h 1 42 2.0756799e+00 8.81e-03 2.72e-06 -4.0 1.52e+02 -18.7 1.00e+00 1.00e+00h 1 43 2.0753438e+00 1.84e-03 6.19e-07 -4.1 7.48e+01 -19.1 1.00e+00 1.00e+00h 1 44 2.0753420e+00 1.03e-06 2.13e-08 -4.1 1.76e+01 -19.6 1.00e+00 1.00e+00h 1 45 2.0756726e+00 7.23e-04 1.61e-07 -4.0 2.96e+01 -20.0 1.00e+00 1.00e+00h 1 46 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -20.0 1.00e+00 1.00e+00h 1 47 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 48 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -20.0 8.16e-01 1.00e+00h 1 49 2.0739622e+00 1.34e-06 1.83e-05 -6.1 8.40e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0741067e+00 2.44e-02 3.22e-02 -4.0 5.48e+04 -20.0 1.00e+00 5.98e-02f 1 51 2.0748071e+00 7.96e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 52 2.0748241e+00 9.52e-04 1.02e-05 -4.3 6.22e+02 -20.0 1.00e+00 1.00e+00h 1 53 2.0748237e+00 1.04e-07 2.35e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 54 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 55 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 56 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 57 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 58 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 59 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0741065e+00 2.43e-02 3.23e-02 -4.0 5.49e+04 -20.0 1.00e+00 5.97e-02f 1 61 2.0748071e+00 7.95e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 62 2.0748240e+00 9.52e-04 1.02e-05 -4.3 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 63 2.0748236e+00 1.04e-07 2.36e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 64 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 65 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 66 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 68 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 69 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0739617e+00 2.11e-08 1.94e-06 -6.1 2.49e+02 -20.0 1.00e+00 1.00e+00h 1 71 2.0740871e+00 2.06e-02 3.56e-02 -4.0 6.55e+04 -20.0 1.00e+00 5.03e-02f 1 72 2.0748016e+00 7.32e-02 4.77e-05 -4.3 1.41e+03 -20.0 1.00e+00 1.00e+00f 1 73 2.0748204e+00 9.23e-04 8.08e-06 -4.3 5.36e+02 -20.0 1.00e+00 1.00e+00h 1 74 2.0748200e+00 1.25e-07 3.57e-07 -4.3 7.03e+01 -20.0 1.00e+00 1.00e+00h 1 75 2.0740036e+00 1.08e-02 5.23e-04 -6.5 1.81e+02 -20.0 8.93e-01 1.00e+00f 1 76 2.0739632e+00 2.51e-04 3.38e-04 -6.5 7.34e+02 -20.0 7.62e-01 1.00e+00h 1 77 2.0739539e+00 4.81e-07 1.83e-05 -6.5 9.12e+02 -20.0 1.00e+00 1.00e+00h 1 78 2.0740681e+00 1.80e-02 3.75e-02 -4.0 7.10e+04 -20.0 1.00e+00 4.51e-02f 1 79 2.0747866e+00 7.58e-02 5.27e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0748068e+00 8.84e-04 6.22e-06 -4.3 4.91e+02 -20.0 1.00e+00 1.00e+00h 1 81 2.0748064e+00 1.21e-07 3.63e-07 -4.3 6.91e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 83 2.0739630e+00 2.41e-04 3.38e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 84 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 85 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 86 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 87 2.0748064e+00 8.81e-04 6.11e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 88 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0739630e+00 2.40e-04 3.37e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 91 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 92 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 93 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 94 2.0748064e+00 8.81e-04 6.10e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 95 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 97 2.0739630e+00 2.40e-04 3.37e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 98 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 99 2.0739527e+00 5.48e-08 5.24e-06 -6.5 3.94e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0740476e+00 1.42e-02 4.44e-02 -4.0 9.26e+04 -20.0 1.00e+00 3.50e-02f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0740476226011366e+00 2.0740476226011366e+00 Dual infeasibility......: 4.4440948322914557e-02 4.4440948322914557e-02 Constraint violation....: 1.4164404722581736e-02 1.4164404722581736e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.3095644031728788e-04 2.3095644031728788e-04 Overall NLP error.......: 4.4440948322914557e-02 4.4440948322914557e-02 Number of objective function evaluations = 103 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 103 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 22.141 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... applying constraint: equality constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.2760968e+00 3.22e+00 3.89e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.1950254e+00 1.11e-01 3.28e+00 -0.9 1.87e+00 0.0 9.72e-01 1.00e+00h 1 2 2.1961691e+00 7.46e-02 2.39e+00 -1.0 1.36e+00 -0.5 5.44e-01 3.33e-01f 1 3 2.3120922e+00 3.39e-03 4.52e-01 -1.4 1.37e-01 -0.1 9.92e-01 1.00e+00h 1 4 2.2263732e+00 5.97e-04 1.40e-01 -2.3 6.05e-02 -0.5 9.95e-01 1.00e+00h 1 5 2.1114244e+00 1.89e-03 9.29e-02 -3.4 1.25e-01 -1.0 1.00e+00 6.75e-01f 1 6 2.0910086e+00 3.27e-05 9.01e-03 -4.0 8.80e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0907351e+00 1.67e-07 2.21e-04 -4.0 9.24e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0907359e+00 2.32e-09 5.20e-05 -4.0 1.42e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0907342e+00 1.09e-10 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0907292e+00 9.76e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0907143e+00 8.79e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0906695e+00 7.91e-08 2.06e-05 -4.0 4.55e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0905353e+00 7.13e-07 2.05e-05 -4.0 1.36e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0901336e+00 6.46e-06 2.86e-05 -4.0 4.08e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0889376e+00 5.91e-05 2.56e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0854328e+00 5.57e-04 2.33e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796309e+00 2.21e-03 1.39e-01 -4.0 9.50e+01 -6.7 1.00e+00 6.16e-01h 1 18 2.0806327e+00 1.55e-04 1.81e-01 -4.0 6.60e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775245e+00 7.56e-03 2.49e-02 -4.0 1.18e+02 -7.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0769718e+00 1.21e-03 6.37e-02 -4.0 1.83e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0761922e+00 1.73e-03 1.51e-02 -4.0 3.30e+02 -8.6 1.00e+00 8.02e-01h 1 22 2.0754864e+00 1.73e-03 2.66e-02 -4.0 5.50e+02 -9.1 1.00e+00 7.47e-01h 1 23 2.0757942e+00 3.12e-03 1.37e-02 -4.0 1.64e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753891e+00 1.41e-03 6.86e-04 -4.1 9.46e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756722e+00 4.73e-04 6.49e-06 -4.0 2.20e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 6.03e-07 1.16e-06 -4.0 1.22e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.33e-09 8.72e-08 -4.0 4.38e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 3.93e-11 1.56e-09 -4.0 6.92e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121585124e+00 2.0756712121585124e+00 Dual infeasibility......: 1.5625311536727853e-09 1.5625311536727853e-09 Constraint violation....: 3.9348413416462336e-11 3.9348413416462336e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000055e-04 1.0000000000000055e-04 Overall NLP error.......: 1.5625311536727853e-09 1.5625311536727853e-09 Number of objective function evaluations = 30 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 30 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 34.562 EXIT: Optimal Solution Found. [test_integrator] Starting... [test_integrator] constraint_dim=8, datavec_len=75, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.4589773e+00 2.29e+00 5.62e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.6476192e+00 1.73e-01 1.13e+00 -1.1 2.60e+00 -2.0 9.79e-01 1.00e+00h 1 Hello, world! 2 2.2219532e+00 6.84e-02 5.38e-01 -1.9 1.49e+00 -2.5 8.46e-01 1.00e+00h 1 Hello, world! 3 2.1634285e+00 3.38e-02 1.30e-01 -2.0 1.41e+00 -3.0 9.69e-01 1.00e+00h 1 Hello, world! 4 2.1007713e+00 3.25e-03 7.80e-03 -3.1 3.70e-01 -3.4 9.92e-01 1.00e+00h 1 Hello, world! 5 2.0910121e+00 2.60e-04 6.12e-04 -4.0 2.11e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 6 2.0909357e+00 5.49e-06 2.50e-04 -4.0 5.18e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0908489e+00 3.85e-07 1.39e-03 -4.0 1.11e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0906298e+00 3.64e-06 1.39e-03 -4.0 3.36e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0899904e+00 3.29e-05 7.67e-04 -4.0 9.96e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0896688e+00 5.81e-06 2.17e-03 -4.0 3.79e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0890397e+00 1.99e-05 1.88e-02 -4.0 1.25e+01 -5.9 1.00e+00 5.37e-01h 1 Hello, world! 12 2.0870883e+00 3.62e-04 3.26e-02 -4.0 3.12e+01 -6.3 1.00e+00 1.00e+00f 1 Hello, world! 13 2.0860122e+00 2.79e-04 7.75e-02 -4.0 2.21e+01 -5.9 1.00e+00 3.40e-01h 1 Hello, world! 14 2.0845744e+00 1.84e-04 2.07e-02 -4.0 2.47e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0827283e+00 1.46e-04 2.26e-02 -4.0 3.34e+01 -6.9 1.00e+00 9.11e-01h 1 Hello, world! 16 2.0830390e+00 1.22e-03 3.60e-02 -4.0 5.85e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0821178e+00 1.42e-03 8.31e-03 -4.1 1.40e+02 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 18 3.7283588e+00 9.37e-04 2.48e+01 -4.0 1.25e+03 -8.3 2.94e-02 1.00e+00H 1 Hello, world! 19 2.0935126e+00 1.61e-04 2.07e+00 -4.1 8.07e-01 -0.5 2.83e-01 8.28e-01f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0937249e+00 1.60e-04 5.38e+00 -4.1 8.23e-02 -0.9 1.00e+00 3.91e-03h 9 Hello, world! 21 2.0934988e+00 2.89e-07 1.97e-03 -4.1 5.12e-02 -1.4 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0932788e+00 3.66e-07 1.89e-03 -4.0 1.48e-01 -1.9 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0924672e+00 1.40e-06 1.77e-03 -4.0 4.14e-01 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0918474e+00 2.10e-06 5.25e-01 -4.0 7.72e-01 -2.8 1.00e+00 4.20e-01h 1 Hello, world! 25 2.0920913e+00 2.42e-06 2.05e-04 -4.0 1.09e-01 -3.3 1.00e+00 1.00e+00f 1 Hello, world! 26 2.0918178e+00 4.39e-06 7.74e-05 -4.1 1.06e-01 -3.8 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0919286e+00 6.05e-06 9.11e-05 -4.0 3.10e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0916715e+00 2.16e-05 8.83e-05 -4.1 9.44e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0906575e+00 3.32e-04 1.87e-03 -6.1 3.15e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0899334e+00 1.63e-04 2.92e-02 -6.1 8.94e+00 -5.7 1.00e+00 7.15e-01h 1 Hello, world! 31 2.0893666e+00 7.10e-05 8.53e-02 -6.1 1.94e+01 -6.2 1.00e+00 7.52e-01h 1 Hello, world! 32 2.0888449e+00 5.17e-05 2.26e-01 -6.1 5.26e+01 -6.7 1.00e+00 2.75e-01h 1 Hello, world! 33 2.0883487e+00 1.77e-02 3.73e-01 -4.0 1.81e+02 -7.1 2.67e-01 8.84e-01f 1 Hello, world! 34 2.0832362e+00 4.79e-03 2.39e-01 -4.3 2.56e+02 -7.6 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0814124e+00 2.74e-03 1.28e-01 -4.3 3.13e+02 -8.1 5.18e-01 1.00e+00h 1 Hello, world! 36 2.0818327e+00 4.87e-03 2.49e-01 -4.0 1.40e+02 -6.8 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0830497e+00 4.06e-03 4.07e-01 -3.7 2.95e+01 -7.2 7.95e-01 1.00e+00h 1 Hello, world! 38 2.0835023e+00 6.88e-03 1.29e-01 -3.7 9.50e+01 -7.7 6.97e-01 1.00e+00h 1 Hello, world! 39 2.0833529e+00 3.07e-03 1.13e-02 -3.7 6.20e+01 -8.2 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0834062e+00 5.93e-04 3.22e-03 -3.7 4.55e+01 -8.7 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0833883e+00 1.82e-05 9.54e-04 -3.7 1.65e+01 -9.2 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0818770e+00 5.07e-03 4.00e-04 -4.0 3.94e+01 -9.6 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0815947e+00 3.44e-04 1.61e-05 -4.1 1.55e+01 -10.1 1.00e+00 1.00e+00h 1 Hello, world! 44 2.0818444e+00 1.88e-04 1.11e-05 -4.0 8.92e+00 -10.6 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0818434e+00 1.91e-08 8.86e-09 -4.0 2.84e-01 -11.1 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0818434e+00 1.02e-14 1.00e-09 -4.0 6.38e-04 -11.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 46 (scaled) (unscaled) Objective...............: 2.0818434105300692e+00 2.0818434105300692e+00 Dual infeasibility......: 1.0000000000157452e-09 1.0000000000157452e-09 Constraint violation....: 1.0214051826551440e-14 1.0214051826551440e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000199396e-04 1.0000000000199396e-04 Overall NLP error.......: 1.0000000000157452e-09 1.0000000000157452e-09 Number of objective function evaluations = 56 Number of objective gradient evaluations = 47 Number of equality constraint evaluations = 56 Number of inequality constraint evaluations = 56 Number of equality constraint Jacobian evaluations = 47 Number of inequality constraint Jacobian evaluations = 47 Number of Lagrangian Hessian evaluations = 46 Total seconds in IPOPT = 23.659 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.4589773e+00 2.29e+00 5.62e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.6476192e+00 1.73e-01 1.13e+00 -1.1 2.60e+00 -2.0 9.79e-01 1.00e+00h 1 Hello, world! 2 2.2219532e+00 6.84e-02 5.38e-01 -1.9 1.49e+00 -2.5 8.46e-01 1.00e+00h 1 Hello, world! 3 2.1634285e+00 3.38e-02 1.30e-01 -2.0 1.41e+00 -3.0 9.69e-01 1.00e+00h 1 Hello, world! 4 2.1007713e+00 3.25e-03 7.80e-03 -3.1 3.70e-01 -3.4 9.92e-01 1.00e+00h 1 Hello, world! 5 2.0910121e+00 2.60e-04 6.12e-04 -4.0 2.11e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 6 2.0909357e+00 5.49e-06 2.50e-04 -4.0 5.18e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0908489e+00 3.85e-07 1.39e-03 -4.0 1.11e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0906298e+00 3.64e-06 1.39e-03 -4.0 3.36e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0899904e+00 3.29e-05 7.67e-04 -4.0 9.96e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0896688e+00 5.81e-06 2.17e-03 -4.0 3.79e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0890397e+00 1.99e-05 1.88e-02 -4.0 1.25e+01 -5.9 1.00e+00 5.37e-01h 1 Hello, world! 12 2.0870883e+00 3.62e-04 3.26e-02 -4.0 3.12e+01 -6.3 1.00e+00 1.00e+00f 1 Hello, world! 13 2.0860122e+00 2.79e-04 7.75e-02 -4.0 2.21e+01 -5.9 1.00e+00 3.40e-01h 1 Hello, world! 14 2.0845744e+00 1.84e-04 2.07e-02 -4.0 2.47e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0827283e+00 1.46e-04 2.26e-02 -4.0 3.34e+01 -6.9 1.00e+00 9.11e-01h 1 Hello, world! 16 2.0830390e+00 1.22e-03 3.60e-02 -4.0 5.85e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0821178e+00 1.42e-03 8.31e-03 -4.1 1.40e+02 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 18 3.7283588e+00 9.37e-04 2.48e+01 -4.0 1.25e+03 -8.3 2.94e-02 1.00e+00H 1 Hello, world! 19 2.0935126e+00 1.61e-04 2.07e+00 -4.1 8.07e-01 -0.5 2.83e-01 8.28e-01f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0937249e+00 1.60e-04 5.38e+00 -4.1 8.23e-02 -0.9 1.00e+00 3.91e-03h 9 Hello, world! 21 2.0934988e+00 2.89e-07 1.97e-03 -4.1 5.12e-02 -1.4 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0932788e+00 3.66e-07 1.89e-03 -4.0 1.48e-01 -1.9 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0924672e+00 1.40e-06 1.77e-03 -4.0 4.14e-01 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0918474e+00 2.10e-06 5.25e-01 -4.0 7.72e-01 -2.8 1.00e+00 4.20e-01h 1 Hello, world! 25 2.0920913e+00 2.42e-06 2.05e-04 -4.0 1.09e-01 -3.3 1.00e+00 1.00e+00f 1 Hello, world! 26 2.0918178e+00 4.39e-06 7.74e-05 -4.1 1.06e-01 -3.8 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0919286e+00 6.05e-06 9.11e-05 -4.0 3.10e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0916715e+00 2.16e-05 8.83e-05 -4.1 9.44e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0906575e+00 3.32e-04 1.87e-03 -6.1 3.15e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0899334e+00 1.63e-04 2.92e-02 -6.1 8.94e+00 -5.7 1.00e+00 7.15e-01h 1 Hello, world! 31 2.0893666e+00 7.10e-05 8.53e-02 -6.1 1.94e+01 -6.2 1.00e+00 7.52e-01h 1 Hello, world! 32 2.0888449e+00 5.17e-05 2.26e-01 -6.1 5.26e+01 -6.7 1.00e+00 2.75e-01h 1 Hello, world! 33 2.0883487e+00 1.77e-02 3.73e-01 -4.0 1.81e+02 -7.1 2.67e-01 8.84e-01f 1 Hello, world! 34 2.0832362e+00 4.79e-03 2.39e-01 -4.3 2.56e+02 -7.6 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0814124e+00 2.74e-03 1.28e-01 -4.3 3.13e+02 -8.1 5.18e-01 1.00e+00h 1 Hello, world! 36 2.0818327e+00 4.87e-03 2.49e-01 -4.0 1.40e+02 -6.8 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0830497e+00 4.06e-03 4.07e-01 -3.7 2.95e+01 -7.2 7.95e-01 1.00e+00h 1 Hello, world! 38 2.0835023e+00 6.88e-03 1.29e-01 -3.7 9.50e+01 -7.7 6.97e-01 1.00e+00h 1 Hello, world! 39 2.0833529e+00 3.07e-03 1.13e-02 -3.7 6.20e+01 -8.2 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0834062e+00 5.93e-04 3.22e-03 -3.7 4.55e+01 -8.7 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0833883e+00 1.82e-05 9.54e-04 -3.7 1.65e+01 -9.2 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0818770e+00 5.07e-03 4.00e-04 -4.0 3.94e+01 -9.6 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0815947e+00 3.44e-04 1.61e-05 -4.1 1.55e+01 -10.1 1.00e+00 1.00e+00h 1 Hello, world! 44 2.0818444e+00 1.88e-04 1.11e-05 -4.0 8.92e+00 -10.6 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0818434e+00 1.91e-08 8.86e-09 -4.0 2.84e-01 -11.1 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0818434e+00 1.02e-14 1.00e-09 -4.0 6.38e-04 -11.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 46 (scaled) (unscaled) Objective...............: 2.0818434105300692e+00 2.0818434105300692e+00 Dual infeasibility......: 1.0000000000157452e-09 1.0000000000157452e-09 Constraint violation....: 1.0214051826551440e-14 1.0214051826551440e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000199396e-04 1.0000000000199396e-04 Overall NLP error.......: 1.0000000000157452e-09 1.0000000000157452e-09 Number of objective function evaluations = 56 Number of objective gradient evaluations = 47 Number of equality constraint evaluations = 56 Number of inequality constraint evaluations = 56 Number of equality constraint Jacobian evaluations = 47 Number of inequality constraint Jacobian evaluations = 47 Number of Lagrangian Hessian evaluations = 46 Total seconds in IPOPT = 0.855 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: duration constraint of 4.0 applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1529 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 73 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.8688865e+00 4.55e+00 3.32e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5821422e+00 4.11e+00 9.15e-01 -1.2 3.55e+00 0.0 6.84e-02 9.64e-02h 1 2 2.0064178e+00 3.02e+00 1.37e+00 -4.0 4.73e+00 -0.5 1.43e-01 2.65e-01h 1 3 1.9097635e+00 2.36e+00 4.52e+00 -3.0 2.69e+00 -0.1 1.14e-01 2.26e-01h 1 4 1.9335393e+00 1.66e+00 5.30e+00 -0.8 2.67e+00 0.4 6.24e-02 2.99e-01f 1 5 1.9479409e+00 1.32e+00 4.82e+01 -0.7 1.69e+00 0.8 9.93e-01 2.01e-01f 1 6 1.9506671e+00 1.08e+00 3.05e+01 0.2 1.94e+00 0.3 8.23e-01 2.29e-01f 1 7 1.9420325e+00 7.61e-01 9.75e+00 -0.0 2.88e+00 -0.2 5.45e-01 3.12e-01f 1 8 1.9917077e+00 4.00e-01 5.03e+00 -0.1 1.32e+00 0.3 6.31e-01 5.02e-01f 1 9 2.0204532e+00 1.24e-01 7.85e+00 -0.8 1.33e+00 -0.2 6.99e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.9181541e+00 5.00e-02 5.13e-01 -1.0 3.34e-01 0.2 9.38e-01 1.00e+00f 1 11 1.7505971e+00 1.08e-03 7.96e-02 -1.6 9.16e-02 -0.3 9.93e-01 1.00e+00h 1 12 1.4593974e+00 4.41e-03 8.22e-02 -2.2 1.88e-01 -0.7 8.24e-01 1.00e+00f 1 13 1.3575841e+00 1.54e-02 8.38e-02 -2.2 5.36e-01 -1.2 9.54e-01 7.13e-01h 1 14 1.2506565e+00 8.12e-02 1.77e-02 -2.7 5.35e-01 -1.7 9.95e-01 9.45e-01h 1 15 1.2157290e+00 2.02e-02 2.30e-02 -3.3 9.42e-01 -2.2 1.00e+00 9.87e-01h 1 16 1.2083925e+00 5.42e-03 6.76e-03 -3.9 3.71e-01 -1.7 9.97e-01 1.00e+00h 1 17 1.2008094e+00 1.90e-02 9.52e-03 -4.0 6.45e-01 -2.2 1.00e+00 1.00e+00h 1 18 1.1943779e+00 2.76e-02 7.91e-03 -4.0 1.13e+00 -2.7 1.00e+00 1.00e+00h 1 19 1.1919178e+00 2.33e-02 2.77e-02 -4.0 2.42e+00 -3.2 2.88e-01 3.80e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.1921231e+00 7.08e-04 2.01e-03 -4.0 1.39e-01 -1.8 1.00e+00 1.00e+00h 1 21 1.1906898e+00 2.10e-03 1.67e-03 -4.0 3.47e-01 -2.3 1.00e+00 1.00e+00h 1 22 1.1879126e+00 9.37e-03 2.82e-03 -4.0 8.23e-01 -2.8 1.00e+00 1.00e+00h 1 23 1.1838975e+00 2.56e-02 6.69e-03 -4.0 1.54e+00 -3.3 1.00e+00 1.00e+00h 1 24 1.1796416e+00 4.70e-02 9.18e-03 -4.0 2.52e+00 -3.7 1.00e+00 1.00e+00h 1 25 1.1757558e+00 6.99e-02 1.03e-02 -4.0 4.07e+00 -4.2 1.00e+00 1.00e+00h 1 26 1.1724047e+00 9.62e-02 9.67e-03 -4.0 6.42e+00 -4.7 1.00e+00 1.00e+00h 1 27 1.1696294e+00 1.25e-01 8.00e-03 -4.0 9.97e+00 -5.2 1.00e+00 1.00e+00h 1 28 1.1673601e+00 1.58e-01 5.24e-03 -4.0 1.54e+01 -5.7 1.00e+00 1.00e+00h 1 29 1.1655295e+00 1.96e-01 1.67e-03 -4.0 2.35e+01 -6.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.1640597e+00 2.41e-01 2.78e-03 -4.0 3.56e+01 -6.6 1.00e+00 1.00e+00h 1 31 1.1628891e+00 2.92e-01 8.00e-03 -4.0 5.37e+01 -7.1 1.00e+00 1.00e+00h 1 32 1.1619653e+00 3.48e-01 1.39e-02 -4.0 7.99e+01 -7.6 1.00e+00 1.00e+00h 1 33 1.1612528e+00 4.03e-01 1.99e-02 -4.0 1.17e+02 -8.0 1.00e+00 1.00e+00h 1 34 1.1607396e+00 4.42e-01 2.44e-02 -4.0 1.64e+02 -8.5 1.00e+00 1.00e+00h 1 35 1.1604837e+00 4.01e-01 2.11e-02 -4.0 2.09e+02 -9.0 1.00e+00 1.00e+00h 1 36 1.1607036e+00 1.12e-01 1.14e-03 -4.0 1.53e+02 -9.5 1.00e+00 1.00e+00h 1 37 1.1608543e+00 2.97e-03 9.27e-04 -4.0 1.58e+01 -10.0 1.00e+00 1.00e+00h 1 38 1.1608490e+00 3.08e-04 3.71e-05 -4.0 7.27e+00 -10.4 1.00e+00 1.00e+00h 1 39 1.1608491e+00 2.13e-07 2.04e-09 -4.0 2.09e-01 -10.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.1608491e+00 2.34e-12 2.40e-13 -4.0 6.32e-04 -11.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 40 (scaled) (unscaled) Objective...............: 1.1608491307795006e+00 1.1608491307795006e+00 Dual infeasibility......: 2.4019057142526945e-13 2.4019057142526945e-13 Constraint violation....: 2.3376856006507296e-12 2.3376856006507296e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000427e-04 1.0000000000000427e-04 Overall NLP error.......: 2.3376856006507296e-12 2.3376856006507296e-12 Number of objective function evaluations = 41 Number of objective gradient evaluations = 41 Number of equality constraint evaluations = 41 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 41 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 40 Total seconds in IPOPT = 22.504 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 2.2677685e+00 1.06e+00 1.08e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7049063e+00 1.46e-01 1.84e+00 -0.8 6.79e-01 0.0 1.00e+00 1.00e+00h 1 2 1.5525205e+00 1.05e-01 6.48e-01 -0.6 6.81e+00 - 3.60e-01 2.81e-01h 1 3 2.8851469e+00 2.96e-02 3.32e+01 -1.5 2.19e+01 - 9.78e-01 1.00e+00h 1 4 1.7668948e+00 1.59e-02 1.54e+01 -1.7 4.10e-01 -0.5 1.00e+00 5.20e-01f 1 5 1.3719768e+00 8.95e-03 1.07e+01 -1.8 4.63e-01 -1.0 1.00e+00 2.60e-01f 1 6 1.1646591e+00 2.85e-03 2.81e+00 -2.9 3.13e-01 -1.4 1.00e+00 6.99e-01f 1 7 1.0957463e+00 1.02e-04 9.91e-01 -4.0 2.17e+01 - 4.05e-01 9.96e-01h 1 8 1.0951556e+00 9.92e-05 7.41e-02 -4.0 2.01e+00 - 1.00e+00 3.01e-02h 1 9 1.0910207e+00 4.81e-06 2.88e-02 -4.0 1.58e+00 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0910389e+00 6.43e-09 1.63e-03 -4.0 4.02e-01 - 1.00e+00 1.00e+00h 1 11 1.0910386e+00 8.88e-16 4.46e-05 -4.0 3.28e-04 - 1.00e+00 1.00e+00h 1 12 1.0910386e+00 8.88e-16 4.42e-05 -4.0 4.11e-08 - 1.00e+00 1.00e+00h 1 13 1.0908587e+00 1.78e-15 5.16e-09 -4.1 1.99e-05 - 1.00e+00 1.00e+00f 1 14 1.0910386e+00 8.88e-16 5.80e-09 -4.0 1.99e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 14 (scaled) (unscaled) Objective...............: 1.0910385864123910e+00 1.0910385864123910e+00 Dual infeasibility......: 5.8046198041315084e-09 5.8046198041315084e-09 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000114091619609e-04 1.0000114091619609e-04 Overall NLP error.......: 5.8046198041315084e-09 5.8046198041315084e-09 Number of objective function evaluations = 15 Number of objective gradient evaluations = 15 Number of equality constraint evaluations = 15 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 15 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 14 Total seconds in IPOPT = 22.068 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 5.1119507e+00 2.71e+00 3.52e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8554653e+00 1.78e-02 1.38e+00 -1.1 1.95e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3461134e+00 2.29e-02 7.44e-02 -1.8 4.23e-01 -1.6 9.88e-01 1.00e+00h 1 3 2.1554510e+00 4.96e-03 2.91e-01 -3.3 1.59e-01 -1.1 9.40e-01 1.00e+00h 1 4 2.1022854e+00 1.48e-03 1.89e-01 -3.9 6.87e-02 -1.6 1.00e+00 7.90e-01h 1 5 2.0948792e+00 1.01e-03 1.15e+00 -4.0 6.96e-01 -2.1 1.00e+00 2.97e-01h 1 6 2.0913549e+00 9.31e-04 1.01e+00 -4.0 1.48e+00 -2.6 1.00e+00 7.65e-01h 1 7 2.0908734e+00 3.30e-05 2.37e-01 -4.0 5.16e-01 -3.1 1.00e+00 1.00e+00h 1 8 2.0910303e+00 3.64e-06 4.51e-04 -4.0 7.06e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909888e+00 1.99e-06 2.06e-05 -4.0 2.11e-01 -4.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909268e+00 1.42e-07 2.06e-05 -4.0 6.32e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907440e+00 1.30e-06 4.97e-05 -4.0 1.88e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0902230e+00 1.10e-05 4.21e-04 -4.0 5.46e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888760e+00 8.22e-05 3.17e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861803e+00 4.41e-04 1.75e-02 -4.0 3.47e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830987e+00 9.18e-04 4.72e-02 -4.0 5.34e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828325e+00 9.29e-04 2.17e-02 -4.0 5.44e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823427e+00 3.74e-04 1.02e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820405e+00 9.52e-05 1.85e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.69e-04 8.69e-03 -4.0 9.93e+01 -8.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0819393e+00 3.69e-05 8.46e-04 -4.0 3.10e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.32e-07 1.38e-05 -4.0 4.43e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.78e-10 3.23e-08 -4.0 2.44e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.50e-13 1.20e-11 -4.0 4.57e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907190862e+00 2.0819382907190862e+00 Dual infeasibility......: 1.2019916610433654e-11 1.2019916610433654e-11 Constraint violation....: 2.5046631435543532e-13 2.5046631435543532e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000057e-04 1.0000000000000057e-04 Overall NLP error.......: 1.2019916610433654e-11 1.2019916610433654e-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 = 22.509 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 4.2093868e+00 3.70e+00 2.98e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9293482e+00 2.65e-02 6.62e-01 -1.1 3.00e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.2612946e+00 4.57e-02 8.80e-02 -1.6 5.19e-01 -1.6 9.73e-01 9.63e-01h 1 3 2.1218909e+00 3.18e-03 1.03e-01 -2.7 6.19e-02 -1.1 9.97e-01 9.31e-01h 1 4 2.1029146e+00 7.12e-04 5.78e-01 -3.9 1.33e-01 -1.6 1.00e+00 7.42e-01h 1 5 2.0937987e+00 5.03e-04 1.45e-01 -4.0 2.48e-01 -2.1 1.00e+00 5.45e-01h 1 6 2.0913442e+00 2.48e-04 5.28e-01 -4.0 5.96e-01 -2.6 1.00e+00 4.84e-01h 1 7 2.0909301e+00 4.81e-05 1.12e-01 -4.0 4.73e-01 -3.1 1.00e+00 1.00e+00h 1 8 2.0909165e+00 1.34e-06 1.01e-03 -4.0 6.99e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909053e+00 5.81e-07 3.53e-05 -4.0 1.95e-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 2.0908650e+00 8.83e-08 2.22e-04 -4.0 5.06e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907659e+00 4.99e-07 6.93e-04 -4.0 1.32e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904835e+00 5.80e-06 5.86e-04 -4.0 4.20e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0903600e+00 7.88e-07 5.73e-04 -4.0 1.54e+00 -5.0 1.00e+00 1.00e+00h 1 14 2.0902215e+00 1.35e-06 1.86e-02 -4.0 6.38e+00 -5.5 1.00e+00 2.15e-01h 2 15 2.0890791e+00 6.11e-05 2.41e-03 -4.0 1.36e+01 -6.0 1.00e+00 1.00e+00h 1 16 2.0874543e+00 1.55e-04 5.64e-02 -4.0 3.75e+01 -6.4 1.00e+00 5.12e-01h 1 17 2.0837267e+00 1.60e-03 5.55e-02 -4.0 6.64e+01 -6.9 1.00e+00 1.00e+00h 1 18 2.0827550e+00 4.62e-04 1.27e-02 -4.0 1.16e+01 -6.5 1.00e+00 6.76e-01h 1 19 2.0828156e+00 1.38e-04 8.87e-03 -4.0 2.88e+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 2.0825153e+00 2.92e-04 3.16e-03 -4.0 7.44e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0821290e+00 8.35e-04 8.70e-03 -4.0 1.73e+02 -7.9 6.55e-01 1.00e+00h 1 22 2.0821877e+00 8.52e-04 5.52e-01 -4.0 1.02e+02 -6.6 6.44e-01 7.01e-02h 4 23 2.0816664e+00 3.21e-04 7.53e-02 -4.1 2.07e+01 -7.1 8.60e-01 7.76e-01H 1 24 2.0819786e+00 1.86e-04 6.22e-01 -4.0 1.27e+01 -4.8 1.00e-01 1.98e-01f 1 25 2.0821552e+00 8.40e-04 2.57e-01 -4.0 1.13e+01 -5.3 1.85e-01 2.50e-01h 2 26 2.0816448e+00 3.47e-07 2.35e-03 -4.2 4.85e-02 -1.3 1.00e+00 1.00e+00h 1 27 2.0817743e+00 2.64e-07 7.10e-04 -4.0 3.84e-02 -1.8 1.00e+00 1.00e+00h 1 28 2.0817565e+00 8.31e-09 2.57e-04 -4.0 4.42e-02 -2.2 1.00e+00 1.00e+00h 1 29 2.0817562e+00 9.80e-09 1.14e-04 -4.0 5.93e-02 -2.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0817579e+00 2.21e-08 2.05e-05 -4.0 3.21e-02 -3.2 1.00e+00 1.00e+00h 1 31 2.0816849e+00 6.60e-07 1.30e-04 -4.1 4.39e-02 -3.7 1.00e+00 1.00e+00h 1 32 2.0812756e+00 1.59e-05 1.37e-01 -6.1 2.13e-01 -4.1 6.56e-01 1.00e+00h 1 33 2.0819537e+00 3.43e-05 2.23e-03 -4.0 3.12e-01 -4.6 1.00e+00 1.00e+00h 1 34 2.0817239e+00 2.11e-05 2.45e-04 -4.1 6.56e-01 -5.1 1.00e+00 1.00e+00h 1 35 2.0811435e+00 1.96e-04 2.71e-03 -6.1 2.38e+00 -5.6 1.00e+00 1.00e+00h 1 36 2.0818299e+00 1.86e-05 3.46e-02 -4.0 7.98e-02 -3.3 1.00e+00 9.21e-01h 1 37 2.0814404e+00 1.16e-05 1.83e-03 -4.1 2.28e-01 -3.8 1.00e+00 1.00e+00f 1 38 2.0816534e+00 1.57e-05 5.43e-04 -4.0 5.07e-01 -4.3 1.00e+00 1.00e+00h 1 39 2.0816492e+00 2.90e-06 1.01e-03 -4.1 4.55e-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 40 2.0816872e+00 1.96e-06 2.33e-04 -4.1 9.93e-01 -5.3 1.00e+00 1.00e+00h 1 41 2.0811003e+00 2.09e-04 1.59e-02 -6.1 2.68e+00 -5.7 9.71e-01 1.00e+00h 1 42 2.0811111e+00 9.36e-05 1.22e-01 -4.8 4.54e-01 -4.4 1.00e+00 5.50e-01h 1 43 2.0813425e+00 8.39e-05 3.47e-01 -4.0 1.84e+00 -4.9 1.00e+00 2.98e-01f 1 44 2.0815739e+00 5.41e-05 9.18e-04 -4.1 1.51e+00 -5.4 1.00e+00 1.00e+00h 1 45 2.0816797e+00 1.44e-05 8.22e-04 -4.1 1.89e+00 -5.8 1.00e+00 1.00e+00h 1 46 2.0817321e+00 5.51e-06 4.14e-04 -4.1 2.48e+00 -6.3 1.00e+00 1.00e+00h 1 47 2.0809119e+00 1.07e-03 5.24e-03 -6.2 1.46e+01 -6.8 9.94e-01 1.00e+00h 1 48 2.0809794e+00 3.03e-04 1.60e-02 -4.9 3.00e+00 -6.4 1.00e+00 7.13e-01h 1 49 2.0812568e+00 2.74e-04 7.31e-02 -4.0 1.78e+01 -6.8 7.16e-01 2.87e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0830444e+00 4.77e-07 1.57e-02 -4.3 2.73e+01 -7.3 1.00e+00 1.00e+00H 1 51 2.0823209e+00 4.11e-07 2.39e+00 -4.3 2.51e-01 -1.5 1.00e+00 2.69e-01h 1 52 2.0817615e+00 7.79e-06 2.57e-01 -4.3 1.56e-01 -1.9 1.00e+00 8.31e-01f 1 53 2.0815244e+00 1.28e-05 1.46e-01 -4.3 6.45e-02 -2.4 1.00e+00 9.39e-01f 1 54 2.0819154e+00 3.24e-06 1.16e-03 -4.0 3.19e-02 -2.9 1.00e+00 1.00e+00f 1 55 2.0816795e+00 6.39e-07 8.78e-05 -4.1 1.62e-02 -3.4 1.00e+00 1.00e+00h 1 56 2.0811810e+00 9.99e-06 1.15e-01 -6.1 1.14e-01 -3.9 6.69e-01 1.00e+00h 1 57 2.0819475e+00 1.44e-05 2.44e-03 -4.0 1.27e-01 -4.3 1.00e+00 1.00e+00h 1 58 2.0816944e+00 1.43e-05 7.41e-05 -4.1 3.78e-01 -4.8 1.00e+00 1.00e+00h 1 59 2.0810698e+00 1.64e-04 5.51e-03 -6.1 1.94e+00 -5.3 9.51e-01 9.67e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0820295e+00 5.67e-04 8.67e-03 -4.0 4.90e+00 -5.8 1.00e+00 1.00e+00f 1 61 2.0818706e+00 8.46e-05 3.15e-03 -4.1 7.55e+00 -6.2 9.79e-01 1.00e+00h 1 62 2.0821436e+00 6.95e-05 2.64e-01 -4.1 4.78e+00 -4.9 3.06e-01 1.87e-01h 1 63 2.0818396e+00 2.21e-06 3.71e-03 -4.1 2.50e+00 -5.4 1.00e+00 1.00e+00F 1 64 2.0818882e+00 3.19e-04 1.87e-03 -4.1 2.63e+00 -5.9 1.00e+00 1.00e+00f 1 65 2.0818064e+00 2.13e-04 9.45e-04 -4.1 2.62e+00 -6.3 1.00e+00 1.00e+00h 1 66 2.0817740e+00 7.61e-05 2.69e-04 -4.1 4.44e+00 -6.8 1.00e+00 1.00e+00h 1 67 2.0807879e+00 2.14e-03 5.09e-04 -6.1 2.59e+01 -7.3 9.82e-01 9.40e-01h 1 68 2.0819084e+00 3.47e-03 2.56e-03 -4.0 3.16e+01 -7.8 1.00e+00 1.00e+00f 1 69 2.0816308e+00 1.04e-03 1.44e-03 -4.1 4.09e+01 -8.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0816016e+00 4.04e-05 1.13e-03 -4.1 3.89e+01 -8.7 1.00e+00 1.00e+00h 1 71 2.0815981e+00 5.30e-06 1.44e-04 -4.1 1.60e+01 -9.2 1.00e+00 1.00e+00h 1 72 2.0818393e+00 1.58e-04 2.37e-05 -4.0 7.80e+00 -9.7 1.00e+00 1.00e+00h 1 73 2.0815804e+00 2.07e-04 1.31e-05 -4.1 9.45e+00 -10.2 1.00e+00 1.00e+00h 1 74 2.0805901e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -10.6 9.78e-01 9.71e-01h 1 75 2.0818882e+00 6.55e-03 3.13e-04 -4.0 6.09e+01 -11.1 1.00e+00 1.00e+00f 1 76 2.0816142e+00 4.87e-04 9.56e-06 -4.1 2.07e+01 -11.6 1.00e+00 1.00e+00h 1 77 2.0805990e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -12.1 9.76e-01 9.65e-01h 1 78 2.0805508e+00 8.46e-05 2.26e-06 -6.1 1.69e+01 -12.5 1.00e+00 1.00e+00h 1 79 2.0819793e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -13.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0816850e+00 9.29e-04 4.92e-05 -4.1 4.57e+01 -13.5 1.00e+00 1.00e+00h 1 81 2.0816490e+00 4.77e-07 7.46e-07 -4.1 8.50e+00 -14.0 1.00e+00 1.00e+00h 1 82 2.0818389e+00 1.13e-04 4.87e-06 -4.0 7.02e+00 -14.5 1.00e+00 1.00e+00h 1 83 2.0815801e+00 2.08e-04 9.04e-06 -4.1 9.49e+00 -14.9 1.00e+00 1.00e+00h 1 84 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -15.4 9.78e-01 9.71e-01h 1 85 2.0805497e+00 6.51e-05 1.78e-06 -6.1 1.55e+01 -15.9 1.00e+00 1.00e+00h 1 86 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -16.4 1.00e+00 1.00e+00f 1 87 2.0816901e+00 9.49e-04 5.23e-05 -4.1 4.72e+01 -16.8 1.00e+00 1.00e+00h 1 88 2.0816518e+00 5.68e-07 7.86e-07 -4.1 8.91e+00 -17.3 1.00e+00 1.00e+00h 1 89 2.0805907e+00 3.69e-03 1.61e-04 -6.1 4.17e+01 -17.8 9.77e-01 9.75e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805511e+00 6.76e-05 1.95e-06 -6.1 1.62e+01 -18.3 1.00e+00 1.00e+00h 1 91 2.0805469e+00 4.72e-08 2.03e-08 -6.1 2.96e+00 -18.8 1.00e+00 1.00e+00h 1 92 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.88e+01 -19.2 1.00e+00 1.00e+00f 1 93 2.0817176e+00 1.03e-03 6.82e-05 -4.1 5.46e+01 -19.7 1.00e+00 1.00e+00h 1 94 2.0816664e+00 1.23e-06 1.00e-06 -4.1 1.09e+01 -20.0 1.00e+00 1.00e+00h 1 95 2.0805915e+00 3.77e-03 1.67e-04 -6.1 4.21e+01 -20.0 9.76e-01 9.75e-01h 1 96 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 97 2.0805471e+00 5.00e-08 2.15e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 9.59e-07 8.07e-07 -9.0 9.59e-01 -20.0 1.00e+00 9.97e-01h 1 99 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0817324e+00 1.07e-03 7.73e-05 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 101 2.0816741e+00 1.68e-06 1.10e-06 -4.1 1.18e+01 -20.0 1.00e+00 1.00e+00h 1 102 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 103 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 104 2.0805472e+00 5.16e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 105 2.0805365e+00 9.80e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 106 2.0805365e+00 9.37e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 107 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 108 2.0817328e+00 1.07e-03 7.75e-05 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 109 2.0816743e+00 1.69e-06 1.10e-06 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 110 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 111 2.0805516e+00 7.08e-05 2.06e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 112 2.0805472e+00 5.17e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 113 2.0805365e+00 9.81e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 114 2.0805365e+00 9.39e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 115 2.0805365e+00 4.44e-16 3.37e-16 -9.0 1.11e-05 -20.0 1.00e+00 1.00e+00h 1 116 2.0805365e+00 6.66e-16 2.22e-16 -9.0 1.99e-12 -20.0 1.00e+00 1.00e+00h 1 117 2.0805365e+00 2.22e-16 2.41e-16 -9.0 8.86e-14 -20.0 1.00e+00 1.00e+00 0 118 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....: 118 (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 = 133 Number of objective gradient evaluations = 119 Number of equality constraint evaluations = 133 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 119 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 119 Total seconds in IPOPT = 22.593 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 2.7051546e+00 8.25e-01 1.14e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7899063e+00 1.30e-01 1.71e+00 -0.9 7.49e-01 0.0 9.85e-01 1.00e+00h 1 2 1.7726747e+00 1.00e-01 1.05e+00 -0.4 4.44e+00 - 5.26e-01 2.31e-01H 1 3 1.4405987e+00 4.46e-02 7.56e-01 -1.3 1.12e+00 - 9.40e-01 1.00e+00f 1 4 1.1970835e+00 3.40e-02 2.11e+00 -1.4 6.86e+00 - 9.58e-01 2.73e-01h 1 5 7.9778681e-01 9.25e-02 1.70e+00 -2.1 4.09e+00 - 1.00e+00 8.65e-01h 1 6 1.3320260e+00 4.62e-02 5.39e+00 -1.8 6.02e+00 - 1.00e+00 9.42e-01h 1 7 1.1758618e+00 2.98e-02 3.15e+00 -2.6 7.88e-02 -0.5 1.00e+00 4.04e-01h 1 8 1.1096602e+00 1.19e-02 1.01e+00 -4.0 1.96e-02 -1.0 1.00e+00 6.43e-01h 1 9 1.0939482e+00 5.57e-04 9.89e-01 -4.0 8.27e+00 - 7.82e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.3695346e+00 3.10e-04 2.26e+00 -1.7 4.34e+01 - 1.00e+00 7.38e-02f 3 11 1.1411918e+00 5.67e-05 7.68e-01 -2.0 1.21e+00 -1.4 9.99e-01 5.72e-01f 1 12 1.0957230e+00 5.43e-06 2.52e-01 -3.6 2.79e+00 - 1.00e+00 1.00e+00f 1 13 1.0912685e+00 1.09e-06 1.15e-02 -4.0 5.65e-01 - 1.00e+00 7.98e-01f 1 14 1.0909004e+00 3.45e-10 2.58e-03 -4.0 3.77e-01 - 1.00e+00 1.00e+00h 1 15 1.0908997e+00 3.85e-17 4.26e-08 -4.0 1.54e-03 - 1.00e+00 1.00e+00h 1 16 1.0908997e+00 2.74e-26 5.60e-16 -4.0 1.38e-07 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 16 (scaled) (unscaled) Objective...............: 1.0908997263265459e+00 1.0908997263265459e+00 Dual infeasibility......: 5.5982779176289021e-16 5.5982779176289021e-16 Constraint violation....: 2.7412794936981695e-26 2.7412794936981695e-26 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000008071e-04 1.0000000000008071e-04 Overall NLP error.......: 5.5982779176289021e-16 5.5982779176289021e-16 Number of objective function evaluations = 22 Number of objective gradient evaluations = 17 Number of equality constraint evaluations = 22 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 17 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 16 Total seconds in IPOPT = 19.938 EXIT: Optimal Solution Found. ┌ Warning: Trajectory has timestep variable :Δt but no bounds on it. │ Adding default lower bound of 0 to prevent negative timesteps. │ │ Recommended: Add explicit bounds when creating the trajectory: │ NamedTrajectory(...; Δt_bounds=(min, max)) │ Example: │ NamedTrajectory(qtraj, N; Δt_bounds=(1e-3, 0.5)) │ │ Or use timesteps_all_equal=true in problem options to fix timesteps. └ @ DirectTrajOpt.Problems ~/.julia/packages/DirectTrajOpt/4TeZc/src/problems.jl:65 initializing optimizer... applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: bounds on u applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial time t₁ = 0 This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 30 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.8858540e-02 8.33e-17 1.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7000973e-02 6.41e-12 1.69e-02 -4.0 3.02e-02 -2.0 9.83e-01 1.00e+00f 1 2 8.8364372e-03 1.23e-12 7.82e-02 -2.9 9.90e-02 -1.6 1.00e+00 1.00e+00f 1 3 1.4047832e-03 2.40e-11 5.73e-02 -3.3 1.80e-01 -1.1 1.00e+00 9.54e-01f 1 4 2.6596829e-04 9.58e-12 2.05e-02 -3.1 4.69e-01 -1.6 1.00e+00 3.72e-01f 2 5 4.3178869e-04 4.13e-12 2.02e-02 -2.8 1.52e+00 -2.1 1.00e+00 5.00e-01f 2 6 4.3178869e-04 4.13e-12 1.29e-02 -3.0 2.02e+00 -2.6 4.95e-01 2.36e-15h 47 7 1.0670791e-03 5.50e-12 6.18e-03 -3.0 2.26e+00 -3.1 3.47e-01 3.47e-01s 63 8 1.0670791e-03 5.50e-12 1.42e-02 -4.5 1.97e+00 -3.5 3.83e-01 4.30e-15h 47 9 4.1888471e-04 4.38e-12 1.38e-02 -4.5 1.73e+00 -4.0 8.27e-01 4.60e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.5188731e-04 3.14e-12 1.18e-02 -4.5 2.74e-01 -4.5 1.00e+00 4.74e-01f 2 11 1.5188731e-04 3.14e-12 1.41e-02 -4.0 2.65e-01 -5.0 1.00e+00 5.50e-14h 45 12 6.8833770e-05 2.33e-12 1.35e-02 -3.7 1.06e+00 -5.4 1.00e+00 5.00e-01f 2 13 6.8833770e-05 2.33e-12 9.95e-03 -4.0 3.20e-01 -5.9 1.00e+00 1.42e-14h 47 14 6.5943251e-05 2.30e-12 3.09e-02 -3.8 1.82e+00 -6.4 1.00e+00 1.42e-02f 7 15 6.5943251e-05 2.30e-12 1.37e-02 -4.0 4.43e-01 -6.9 1.00e+00 1.21e-14h 47 16 4.0664013e-05 2.13e-12 5.09e-02 -3.7 3.79e+00 -7.4 1.00e+00 1.07e-01f 3 17 4.0664013e-05 2.13e-12 1.18e-02 -3.7 5.26e-01 -7.8 9.99e-01 3.66e-14h 45 18 4.0664013e-05 2.13e-12 1.31e-02 -3.7 1.40e+00 -8.3 1.00e+00 4.93e-14h 45 19 4.0663983e-05 2.13e-12 1.45e-02 -3.7 5.89e-01 -8.8 1.00e+00 4.77e-07h 22 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 4.0663974e-05 2.13e-12 1.58e-02 -3.7 9.80e-01 -9.3 1.00e+00 1.19e-07h 24 21 4.0663974e-05 2.13e-12 1.72e-02 -3.7 7.31e-01 -9.7 1.00e+00 5.68e-14h 45 22 4.0663820e-05 2.13e-12 1.85e-02 -3.7 9.10e-01 -10.2 1.00e+00 1.91e-06h 20 23 4.0663820e-05 2.13e-12 1.99e-02 -3.7 8.10e-01 -10.7 1.00e+00 2.84e-14h 46 24 4.0663815e-05 2.13e-12 2.12e-02 -3.7 9.02e-01 -11.2 1.00e+00 5.96e-08h 25 25 4.0663815e-05 2.13e-12 2.26e-02 -3.7 8.56e-01 -11.6 1.00e+00 1.42e-14h 47 26 4.0663815e-05 2.13e-12 2.39e-02 -3.7 9.10e-01 -12.1 1.00e+00 1.86e-09h 30 27 4.0663812e-05 2.13e-12 2.52e-02 -3.7 8.89e-01 -12.6 1.00e+00 2.98e-08h 26 28 4.0663812e-05 2.13e-12 2.66e-02 -3.7 9.24e-01 -13.1 1.00e+00 1.42e-14h 47 29 8.7642640e-04 6.68e-13 5.01e-02 -3.7 9.14e-01 -13.6 1.00e+00 1.00e+00S 59 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.1160651e-04 7.37e-14 7.67e-02 -3.7 1.49e-02 -1.7 1.00e+00 1.00e+00f 1 31 2.6001035e-05 7.24e-14 6.57e-02 -3.7 3.62e-02 -2.2 1.00e+00 5.00e-01f 2 32 2.6001037e-05 7.24e-14 5.47e-02 -4.0 3.30e-01 -2.7 1.00e+00 7.45e-09h 28 33 2.6001037e-05 7.24e-14 4.38e-02 -3.9 9.57e-01 -3.1 1.00e+00 1.42e-14h 47 34 4.4420642e-06 2.42e-13 4.38e-02 -3.9 2.68e+00 -3.6 6.83e-01 6.83e-01s 64 35 1.6818441e-01 2.11e-13 5.71e-01 -1.8 1.21e+02 -4.1 8.73e-02 8.02e-03f 1 36 6.7522364e-02 1.04e-10 7.65e-01 -3.3 1.74e-01 -0.1 1.00e+00 1.00e+00f 1 37 1.8514770e-04 7.04e-11 7.28e-01 -3.3 7.15e-01 -0.5 8.87e-01 5.75e-01f 1 38 1.3860884e-04 4.35e-11 6.89e-01 -3.3 6.35e-01 -1.0 7.18e-02 1.37e-01f 2 39 9.4110837e-05 3.84e-11 4.47e-01 -3.3 1.37e+01 -1.5 1.00e+00 3.33e-02f 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 8.9443617e-05 3.45e-11 4.44e-01 -3.3 2.69e+01 -2.0 2.16e-02 2.62e-02f 2 41 8.9443617e-05 3.45e-11 3.72e-01 -3.3 5.40e+01 -2.4 1.00e+00 2.97e-15h 43 42 5.9080952e-05 4.44e-11 1.62e-01 -3.3 1.26e+00 -2.9 5.60e-01 5.60e-01S 61 43 4.9435709e-05 4.51e-11 4.61e-02 -3.3 1.30e-01 -3.4 1.00e+00 2.50e-01f 3 44 4.9435709e-05 4.51e-11 4.61e-02 -3.3 1.42e-01 -3.9 1.00e+00 1.14e-13h 44 45 4.9435709e-05 4.51e-11 4.61e-02 -3.3 1.56e-01 -4.4 1.00e+00 1.14e-13h 44 46 2.5117095e-05 3.52e-11 3.67e-03 -3.3 1.66e-01 -4.8 1.00e+00 1.00e+00S 55 47 7.6495426e-07 5.15e-12 2.77e-03 -4.9 2.63e-01 -5.3 8.54e-01 8.54e-01S 57 48 1.0657066e-06 1.86e-16 4.68e-04 -4.0 2.41e-01 -5.8 1.00e+00 1.00e+00f 1 49 1.0657066e-06 1.86e-16 6.25e-04 -4.1 6.43e-03 -6.3 1.00e+00 5.96e-08h 25 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.58e-01 -6.7 9.28e-01 5.82e-11h 35 51 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -7.2 1.00e+00 1.16e-10h 34 52 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -7.7 1.00e+00 2.91e-11h 36 53 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -8.2 1.00e+00 3.64e-12h 39 54 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -8.6 1.00e+00 2.91e-11h 36 55 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -9.1 1.00e+00 1.16e-10h 34 56 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -9.6 1.00e+00 1.16e-10h 34 57 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -10.1 1.00e+00 5.82e-11h 35 58 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -10.6 1.00e+00 5.82e-11h 35 59 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -11.0 1.00e+00 1.16e-10h 34 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -11.5 1.00e+00 7.28e-12h 38 61 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -12.0 1.00e+00 2.91e-11h 36 62 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -12.5 1.00e+00 1.16e-10h 34 63 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -12.9 1.00e+00 5.82e-11h 35 64 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -13.4 1.00e+00 1.16e-10h 34 65 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -13.9 1.00e+00 2.91e-11h 36 66 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -14.4 1.00e+00 1.16e-10h 34 67 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -14.8 1.00e+00 5.82e-11h 35 68 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -15.3 1.00e+00 1.16e-10h 34 69 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -15.8 1.00e+00 2.91e-11h 36 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -16.3 1.00e+00 1.16e-10h 34 71 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -16.8 1.00e+00 1.16e-10h 34 72 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -17.2 1.00e+00 2.91e-11h 36 73 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -17.7 1.00e+00 1.16e-10h 34 74 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -18.2 1.00e+00 1.16e-10h 34 75 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -18.7 1.00e+00 2.91e-11h 36 76 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -19.1 1.00e+00 5.82e-11h 35 77 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -19.6 1.00e+00 1.16e-10h 34 78 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -20.0 1.00e+00 1.16e-10h 34 79 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -20.0 1.00e+00 5.82e-11h 35 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -20.0 1.00e+00 1.46e-11h 37 81 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -20.0 1.00e+00 5.82e-11h 35 82 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -20.0 1.00e+00 1.16e-10h 34 83 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -20.0 1.00e+00 1.16e-10h 34 84 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -20.0 1.00e+00 1.16e-10h 34 85 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -20.0 1.00e+00 1.16e-10h 34 86 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -20.0 1.00e+00 1.16e-10h 34 87 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -20.0 1.00e+00 1.16e-10h 34 88 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -20.0 1.00e+00 1.16e-10h 34 89 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -20.0 1.00e+00 1.16e-10h 34 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -20.0 1.00e+00 1.16e-10h 34 91 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -20.0 1.00e+00 1.16e-10h 34 92 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -20.0 1.00e+00 7.28e-12h 38 93 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -20.0 1.00e+00 5.82e-11h 35 94 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -20.0 1.00e+00 2.91e-11h 36 95 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -20.0 1.00e+00 5.82e-11h 35 96 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -20.0 1.00e+00 1.16e-10h 34 97 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -20.0 1.00e+00 1.16e-10h 34 98 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -20.0 1.00e+00 5.82e-11h 35 99 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -20.0 1.00e+00 2.91e-11h 36 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 1.0657066e-06 1.86e-16 1.03e-03 -6.1 1.76e-01 -20.0 1.00e+00 1.16e-10h 34 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.0657065593692483e-06 1.0657065593692483e-06 Dual infeasibility......: 1.0276554630139489e-03 1.0276554630139489e-03 Constraint violation....: 1.8550699171226981e-16 1.8550699171226981e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.1772176816105873e-04 1.1772176816105873e-04 Overall NLP error.......: 1.0276554630139489e-03 1.0276554630139489e-03 Number of objective function evaluations = 3083 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 3083 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 = 3.536 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 1.8908989e+00 9.12e-01 8.85e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5838652e+00 4.27e-09 4.08e-01 -0.2 6.69e-01 -2.0 9.80e-01 1.00e+00f 1 2 3.8661521e-01 3.77e-09 4.03e-01 -4.0 1.35e+00 -1.6 7.65e-01 1.00e+00f 1 3 1.9321173e-01 3.41e-11 6.73e-02 -2.2 5.62e-01 -1.1 9.92e-01 1.00e+00f 1 4 5.0358161e-02 3.42e-11 5.18e-02 -3.0 9.35e-01 -1.6 1.00e+00 1.00e+00f 1 5 9.8151428e-03 3.14e-11 2.11e-02 -4.0 8.05e-01 -2.1 1.00e+00 1.00e+00f 1 6 1.9251749e-03 7.71e-12 6.70e-03 -4.0 5.26e-01 -2.6 1.00e+00 1.00e+00f 1 7 6.0020144e-04 1.83e-12 1.92e-03 -4.0 2.67e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.3511506e-04 2.73e-13 2.98e-04 -4.0 7.33e-02 -3.5 1.00e+00 1.00e+00f 1 9 4.6906664e-04 2.55e-14 1.90e-04 -4.0 2.79e-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 2.9761847e-04 1.22e-14 4.68e-04 -4.1 8.62e-02 -4.5 1.00e+00 1.00e+00f 1 11 4.5878305e-04 6.55e-15 3.74e-04 -4.0 2.04e-01 -5.0 1.00e+00 5.00e-01f 2 12 2.7392734e-04 3.77e-15 5.42e-04 -4.1 1.03e-01 -5.4 1.00e+00 1.00e+00f 1 13 4.6578726e-04 2.66e-15 4.73e-04 -4.0 2.53e-01 -5.9 1.00e+00 5.00e-01f 2 14 2.6344664e-04 2.11e-15 6.13e-04 -4.1 1.18e-01 -6.4 1.00e+00 1.00e+00f 1 15 4.6648163e-04 1.89e-15 5.15e-04 -4.0 2.75e-01 -6.9 1.00e+00 5.00e-01f 2 16 2.5992566e-04 1.55e-15 6.42e-04 -4.1 1.24e-01 -7.4 1.00e+00 1.00e+00f 1 17 4.6643378e-04 1.55e-15 5.32e-04 -4.0 2.85e-01 -7.8 1.00e+00 5.00e-01f 2 18 2.5876161e-04 1.33e-15 6.61e-04 -4.1 1.28e-01 -8.3 1.00e+00 1.00e+00f 1 19 4.6597886e-04 1.33e-15 5.41e-04 -4.0 2.91e-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 2.5839949e-04 1.22e-15 6.75e-04 -4.1 1.31e-01 -9.3 1.00e+00 1.00e+00f 1 21 4.6543004e-04 1.22e-15 5.47e-04 -4.0 2.95e-01 -9.7 1.00e+00 5.00e-01f 2 22 2.5829376e-04 1.06e-15 6.87e-04 -4.1 1.33e-01 -10.2 1.00e+00 1.00e+00f 1 23 4.6486327e-04 9.99e-16 5.51e-04 -4.0 2.98e-01 -10.7 1.00e+00 5.00e-01f 2 24 2.5826856e-04 9.16e-16 6.99e-04 -4.1 1.35e-01 -11.2 1.00e+00 1.00e+00f 1 25 4.6430700e-04 8.88e-16 5.55e-04 -4.0 3.01e-01 -11.6 1.00e+00 5.00e-01f 2 26 2.5826717e-04 9.09e-16 7.10e-04 -4.1 1.37e-01 -12.1 1.00e+00 1.00e+00f 1 27 3.0967928e-05 9.21e-15 8.88e-04 -6.2 3.78e-01 -12.6 9.68e-01 1.00e+00f 1 28 1.7401788e-03 2.44e-15 7.65e-03 -4.0 1.99e+00 -13.1 1.00e+00 5.00e-01f 2 29 2.4534717e-05 2.39e-14 2.87e-03 -4.1 1.01e+00 -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 1.5761751e-03 3.11e-14 7.97e-03 -4.0 9.80e-01 -14.0 1.00e+00 1.00e+00f 1 31 1.0201225e-05 1.83e-14 2.28e-03 -4.2 1.09e+00 -14.5 1.00e+00 1.00e+00f 1 32 4.6571691e-04 1.55e-15 2.75e-03 -4.0 1.37e+00 -15.0 1.00e+00 5.00e-01f 2 33 2.1980022e-04 3.11e-15 2.38e-04 -4.2 3.72e-01 -15.5 1.00e+00 5.00e-01f 2 34 2.0229053e-05 4.55e-15 8.04e-04 -6.4 4.11e-01 -15.9 9.64e-01 1.00e+00f 1 35 8.1381190e-06 3.33e-15 9.90e-05 -6.4 1.04e-01 -16.4 1.00e+00 1.00e+00f 1 36 1.5328754e-03 1.33e-15 5.42e-03 -4.0 9.62e+00 -16.9 1.00e+00 1.24e-01f 4 37 9.9064345e-05 5.36e-14 3.47e-03 -4.0 7.91e-01 -17.4 1.00e+00 1.00e+00f 1 38 7.4902289e-04 3.57e-14 3.54e-03 -4.0 5.34e-01 -17.8 1.00e+00 1.00e+00f 1 39 3.8030772e-04 6.66e-15 4.38e-04 -4.0 4.20e-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 3.5514798e-05 5.55e-15 1.33e-03 -6.0 5.03e-01 -18.8 9.55e-01 1.00e+00f 1 41 1.4627878e-05 5.33e-15 1.60e-04 -6.0 1.26e-01 -19.3 1.00e+00 1.00e+00f 1 42 4.0203601e-06 8.88e-16 1.01e-04 -6.0 1.43e-01 -19.8 1.00e+00 1.00e+00f 1 43 1.0476645e-03 8.47e-16 3.07e-03 -4.0 1.56e+01 -20.0 1.00e+00 7.68e-02f 4 44 1.6431604e-04 4.75e-14 2.85e-03 -4.0 5.77e-01 -20.0 1.00e+00 1.00e+00f 1 45 6.7067702e-04 2.24e-14 2.76e-03 -4.0 4.15e-01 -20.0 1.00e+00 1.00e+00f 1 46 3.9039928e-04 4.00e-15 4.18e-04 -4.0 3.57e-01 -20.0 1.00e+00 5.00e-01f 2 47 3.5383049e-05 5.88e-15 1.45e-03 -6.1 5.47e-01 -20.0 9.50e-01 1.00e+00f 1 48 1.4718649e-05 4.88e-15 1.70e-04 -6.1 1.33e-01 -20.0 1.00e+00 1.00e+00f 1 49 3.9167872e-06 7.77e-16 1.10e-04 -6.1 1.57e-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 8.4912061e-04 4.75e-16 2.09e-03 -4.0 1.68e+01 -20.0 1.00e+00 7.12e-02f 4 51 1.9931752e-04 4.11e-14 2.47e-03 -4.0 4.81e-01 -20.0 1.00e+00 1.00e+00f 1 52 6.0852175e-04 1.58e-14 2.29e-03 -4.0 3.52e-01 -20.0 1.00e+00 1.00e+00f 1 53 3.8676740e-04 2.89e-15 3.97e-04 -4.0 3.17e-01 -20.0 1.00e+00 5.00e-01f 2 54 3.4419442e-05 5.55e-15 1.54e-03 -6.1 5.82e-01 -20.0 9.46e-01 1.00e+00f 1 55 1.4425807e-05 4.33e-15 1.76e-04 -6.1 1.39e-01 -20.0 1.00e+00 1.00e+00f 1 56 3.7770010e-06 6.66e-16 1.16e-04 -6.1 1.68e-01 -20.0 1.00e+00 1.00e+00f 1 57 7.0289929e-04 4.44e-16 1.21e-03 -4.0 1.82e+01 -20.0 1.00e+00 6.57e-02f 4 58 2.3475835e-04 3.60e-14 2.05e-03 -4.1 3.87e-01 -20.0 1.00e+00 1.00e+00f 1 59 5.4932973e-04 1.07e-14 1.79e-03 -4.1 2.81e-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 3.8335530e-04 1.55e-15 3.58e-04 -4.1 2.66e-01 -20.0 1.00e+00 5.00e-01f 2 61 3.3373603e-05 5.33e-15 1.61e-03 -6.1 6.15e-01 -20.0 9.42e-01 1.00e+00f 1 62 1.4129542e-05 4.00e-15 1.80e-04 -6.1 1.44e-01 -20.0 1.00e+00 1.00e+00f 1 63 3.6587854e-06 6.66e-16 1.21e-04 -6.1 1.77e-01 -20.0 1.00e+00 1.00e+00f 1 64 5.9590232e-04 5.00e-16 4.54e-04 -4.0 1.95e+01 -20.0 1.00e+00 6.10e-02f 4 65 2.6661113e-04 3.22e-14 1.64e-03 -4.1 3.01e-01 -20.0 1.00e+00 1.00e+00f 1 66 4.9772412e-04 7.11e-15 1.32e-03 -4.1 2.12e-01 -20.0 1.00e+00 1.00e+00f 1 67 3.7907462e-04 1.11e-15 3.10e-04 -4.1 2.13e-01 -20.0 1.00e+00 5.00e-01f 2 68 3.2279529e-05 5.11e-15 1.68e-03 -6.1 6.46e-01 -20.0 9.38e-01 1.00e+00f 1 69 1.3811828e-05 3.77e-15 1.82e-04 -6.1 1.48e-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 3.5516435e-06 6.11e-16 1.25e-04 -6.1 1.85e-01 -20.0 1.00e+00 1.00e+00f 1 71 5.1627977e-04 3.33e-16 2.13e-04 -4.0 2.08e+01 -20.0 1.00e+00 5.71e-02f 4 72 2.9427540e-04 2.93e-14 1.24e-03 -4.1 2.25e-01 -20.0 1.00e+00 1.00e+00f 1 73 4.5466277e-04 4.44e-15 9.00e-04 -4.1 1.48e-01 -20.0 1.00e+00 1.00e+00f 1 74 3.0538162e-04 3.33e-15 8.96e-04 -4.1 1.62e-01 -20.0 1.00e+00 1.00e+00f 1 75 4.4848464e-04 2.35e-15 7.82e-04 -4.1 1.29e-01 -20.0 1.00e+00 1.00e+00f 1 76 2.3829312e-05 4.55e-15 1.86e-03 -6.1 7.83e-01 -20.0 9.23e-01 1.00e+00f 1 77 1.2316330e-05 3.77e-15 1.26e-04 -6.1 1.11e-01 -20.0 1.00e+00 1.00e+00f 1 78 3.0737745e-06 4.44e-16 1.19e-04 -6.1 1.89e-01 -20.0 1.00e+00 1.00e+00f 1 79 4.5718499e-04 4.44e-16 8.77e-04 -4.0 2.37e+01 -20.0 1.00e+00 5.03e-02f 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 3.2291323e-04 2.78e-14 8.43e-04 -4.1 1.49e-01 -20.0 1.00e+00 1.00e+00f 1 81 3.4119615e-05 5.66e-15 1.64e-03 -6.1 6.26e-01 -20.0 9.39e-01 1.00e+00f 1 82 1.3345013e-05 3.00e-15 2.18e-04 -6.1 1.78e-01 -20.0 1.00e+00 1.00e+00f 1 83 3.6008806e-06 5.55e-16 1.30e-04 -6.1 1.93e-01 -20.0 1.00e+00 1.00e+00f 1 84 3.6789501e-06 2.22e-16 4.82e-06 -6.1 8.52e-03 -20.0 1.00e+00 1.00e+00h 1 85 2.3779280e-07 2.78e-17 5.61e-05 -9.0 2.54e-01 -20.0 9.75e-01 1.00e+00f 1 86 2.3142931e-03 5.27e-16 1.17e-02 -4.0 1.07e+02 -20.0 1.00e+00 2.28e-02f 3 87 8.3101226e-05 4.62e-14 6.89e-03 -4.0 1.53e+00 -20.0 1.00e+00 1.00e+00f 1 88 7.5697342e-04 2.75e-14 5.35e-03 -4.0 8.15e-01 -20.0 1.00e+00 1.00e+00f 1 89 4.2551669e-04 5.33e-15 7.86e-04 -4.0 5.54e-01 -20.0 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 4.2238829e-05 4.11e-15 2.12e-03 -5.9 7.18e-01 -20.0 9.29e-01 1.00e+00f 1 91 1.7374661e-05 3.77e-15 2.61e-04 -5.9 1.88e-01 -20.0 1.00e+00 1.00e+00f 1 92 4.9288196e-06 6.66e-16 1.65e-04 -5.9 2.12e-01 -20.0 1.00e+00 1.00e+00f 1 93 5.5465595e-06 2.50e-16 1.61e-05 -5.9 2.33e-02 -20.0 1.00e+00 1.00e+00h 1 94 5.1617238e-06 8.24e-17 1.97e-06 -5.9 2.90e-03 -20.0 1.00e+00 1.00e+00h 1 95 3.6871716e-07 4.55e-17 7.82e-05 -8.9 2.88e-01 -20.0 9.71e-01 1.00e+00f 1 96 1.4868034e-07 5.46e-17 8.16e-06 -8.9 6.33e-02 -20.0 1.00e+00 1.00e+00f 1 97 1.5000165e-03 5.27e-16 2.39e-03 -4.0 3.30e+02 -20.0 1.00e+00 7.37e-03f 3 98 4.9662651e-04 6.17e-14 5.33e-03 -3.8 6.84e-01 -20.0 1.00e+00 1.00e+00f 1 99 8.7159854e-04 1.73e-14 1.92e-03 -3.8 2.29e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 5.7381363e-04 7.77e-15 2.19e-03 -3.8 2.84e-01 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 5.7381362911545206e-04 5.7381362911545206e-04 Dual infeasibility......: 2.1896061488178957e-03 2.1896061488178957e-03 Constraint violation....: 7.7715611723760958e-15 7.7715611723760958e-15 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.7058127853798494e-04 1.7058127853798494e-04 Overall NLP error.......: 2.1896061488178957e-03 2.1896061488178957e-03 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 = 3.200 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 2.8648858e+00 2.93e+00 9.70e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7197261e+00 5.37e-02 6.03e-01 -1.0 2.33e+00 - 1.00e+00 1.00e+00f 1 2 2.3860149e+00 1.14e-02 3.90e-01 -1.6 1.31e-01 - 7.60e-01 1.00e+00h 1 3 2.1420384e+00 1.58e-03 4.82e-02 -2.3 4.68e-02 - 9.98e-01 9.58e-01h 1 4 2.0926425e+00 2.71e-04 1.90e-03 -3.7 2.91e-02 - 9.92e-01 9.97e-01h 1 5 2.0908910e+00 3.09e-05 5.28e-04 -4.0 2.24e-01 - 1.00e+00 1.00e+00h 1 6 2.0908976e+00 4.14e-08 1.67e-06 -4.0 1.53e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 3.23e-11 9.53e-11 -4.0 1.11e-02 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971975598383e+00 2.0908971975598383e+00 Dual infeasibility......: 9.5332090881356316e-11 9.5332090881356316e-11 Constraint violation....: 3.2326063999004936e-11 3.2326063999004936e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000230414903932e-04 1.0000230414903932e-04 Overall NLP error.......: 2.3041490393189284e-09 2.3041490393189284e-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 = 21.392 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 1.4449854e+00 1.72e+00 7.05e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5883217e+00 7.89e-01 1.13e+00 -0.9 7.49e+00 -4.0 8.24e-01 6.25e-01f 1 2 1.5960196e+00 7.89e-01 1.49e+01 -1.8 9.76e+01 -4.5 3.28e-01 6.32e-02h 1 3 1.8364621e+00 1.21e+00 2.25e+01 -0.7 3.15e+02 -5.0 8.75e-02 1.73e-01f 1 4 2.3168750e+00 1.04e+00 1.55e+01 -1.0 1.56e+02 -5.4 3.99e-02 3.98e-01h 1 5 2.3740984e+00 4.48e-01 5.48e+00 -1.1 2.28e+00 -2.3 6.73e-01 6.08e-01f 1 6 2.2697487e+00 3.30e-01 3.68e+00 -1.9 2.36e+00 -2.8 6.94e-01 1.00e+00h 1 7 2.2395266e+00 3.49e-02 2.88e-01 -1.7 4.05e+00 -3.3 9.99e-01 1.00e+00h 1 8 2.1468699e+00 1.02e-01 1.95e-01 -2.3 2.65e+00 -3.7 9.91e-01 1.00e+00h 1 9 2.1221548e+00 2.54e-02 1.59e-01 -2.4 5.03e+00 -4.2 1.00e+00 9.70e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0985991e+00 7.41e-03 1.58e-01 -3.1 2.10e+00 -4.7 1.00e+00 9.40e-01h 1 11 2.0910834e+00 1.90e-03 1.62e-02 -4.0 1.45e+00 -5.2 1.00e+00 9.81e-01h 1 12 2.0903813e+00 6.03e-04 3.40e-03 -4.0 4.41e+00 -5.6 1.00e+00 1.00e+00h 1 13 2.0901609e+00 3.68e-05 3.19e-03 -4.0 1.16e+01 -6.1 1.00e+00 1.00e+00h 1 14 2.0898501e+00 6.33e-05 8.12e-03 -4.0 1.98e+01 -6.6 1.00e+00 1.00e+00h 1 15 2.0898040e+00 1.08e-05 2.99e-03 -4.0 1.35e+01 -7.1 1.00e+00 1.00e+00h 1 16 2.0898244e+00 7.68e-06 1.04e-03 -4.0 1.22e+01 -7.5 1.00e+00 1.00e+00h 1 17 2.0898218e+00 9.40e-07 1.50e-04 -4.0 4.98e+00 -8.0 1.00e+00 1.00e+00h 1 18 2.0898218e+00 2.63e-08 7.02e-06 -4.0 1.32e+00 -8.5 1.00e+00 1.00e+00h 1 19 2.0898218e+00 2.38e-10 6.67e-08 -4.0 1.41e-01 -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 2.51e-13 7.69e-11 -4.0 4.92e-03 -9.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 20 (scaled) (unscaled) Objective...............: 2.0898218497711176e+00 2.0898218497711176e+00 Dual infeasibility......: 7.6869823982701757e-11 7.6869823982701757e-11 Constraint violation....: 2.5118795932144167e-13 2.5118795932144167e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000025e-04 1.0000000000000025e-04 Overall NLP error.......: 7.6869823982701757e-11 7.6869823982701757e-11 Number of objective function evaluations = 21 Number of objective gradient evaluations = 21 Number of equality constraint evaluations = 21 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 21 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 20 Total seconds in IPOPT = 21.913 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 3.9865739e+00 3.43e+00 7.08e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.0296071e+00 2.53e+00 1.16e+01 -1.4 1.17e+01 -2.0 2.24e-02 2.84e-01h 1 2 2.9737347e+00 2.41e+00 1.36e+01 -0.8 2.49e+00 -1.6 4.16e-01 4.93e-02f 1 3 3.5738877e+00 2.30e+00 9.75e+01 0.6 1.59e+02 -2.1 2.90e-01 4.58e-02f 1 4 4.0187616e+00 2.05e+00 2.87e+02 0.9 1.24e+02 -2.5 6.12e-01 1.26e-01f 1 5 4.0769785e+00 1.98e+00 5.08e+02 -4.0 3.00e+02 -3.0 6.08e-02 2.92e-02h 1 6 4.5194369e+00 2.24e+00 3.11e+02 1.3 3.48e+02 -2.6 2.10e-01 7.20e-02f 1 7 4.5483087e+00 2.11e+00 9.77e+02 0.8 4.82e+01 -3.1 2.78e-01 4.52e-02h 1 8 4.7015268e+00 1.85e+00 2.08e+04 1.4 8.30e+01 -3.5 1.00e+00 6.25e-02h 1 9 5.2949937e+00 2.96e+01 1.55e+04 2.5 1.70e+03 -4.0 4.95e-02 7.83e-02F 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 5.3234237e+00 2.80e+01 8.84e+04 1.5 7.42e+01 -4.5 5.24e-01 5.40e-02h 1 11 5.4182316e+00 2.66e+01 1.27e+06 1.5 6.13e+01 -5.0 6.65e-01 5.17e-02h 1 12 5.4271233e+00 2.64e+01 2.45e+08 1.5 6.42e+01 -5.4 1.00e+00 5.03e-03h 1 13 5.4279373e+00 2.64e+01 4.27e+11 1.5 6.82e+01 -5.9 8.51e-01 4.80e-04h 1 14 5.4279547e+00 2.64e+01 3.72e+16 1.5 7.03e+01 -6.4 1.00e+00 1.13e-05h 1 15 5.4556415e+00 2.63e+01 1.24e+18 1.5 5.68e+01 -6.9 1.91e-01 5.66e-03h 1 16 5.3196057e+00 1.54e+01 9.45e+17 1.5 2.58e+02 -7.4 1.00e+00 4.14e-01h 1 17 5.3190278e+00 1.53e+01 1.20e+20 1.5 9.94e+02 -7.8 1.00e+00 9.43e-03h 1 18 5.3192361e+00 1.51e+01 1.72e+20 1.5 1.04e+04 -8.3 1.00e+00 1.14e-02h 1 19 5.3192264e+00 1.51e+01 1.20e+18 1.5 6.15e+03 -8.8 1.62e-01 1.15e-04h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20r 5.3192264e+00 1.51e+01 9.98e+02 1.5 0.00e+00 -9.3 0.00e+00 2.87e-07R 3 21r 5.3060599e+00 3.97e+00 2.32e+03 2.8 1.22e+04 - 1.68e-01 2.45e-03f 1 22 5.3022708e+00 3.93e+00 1.03e+02 -1.4 8.01e+00 -9.7 7.24e-01 8.21e-03h 1 23 5.3024817e+00 3.93e+00 1.22e+06 0.2 1.48e+01 -10.2 1.00e+00 9.14e-05h 1 24 5.3038668e+00 3.93e+00 8.07e+07 2.2 1.21e+02 -10.7 2.55e-03 3.96e-05h 1 25r 5.3038668e+00 3.93e+00 9.99e+02 2.1 0.00e+00 -11.2 0.00e+00 3.45e-07R 3 26r 4.6640653e+00 5.62e-01 7.87e+02 2.0 1.79e+02 - 2.02e-01 3.71e-02f 1 27 4.6561843e+00 5.53e-01 4.86e+01 -1.5 3.80e+00 -11.6 7.16e-01 1.66e-02h 1 28 4.6574956e+00 5.53e-01 2.20e+05 0.4 2.58e+01 -12.1 6.94e-01 2.05e-04h 1 29 4.6599716e+00 5.53e-01 3.42e+09 1.7 1.21e+02 -12.6 1.00e+00 6.42e-05h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30r 4.6599716e+00 5.53e-01 9.68e+02 2.5 0.00e+00 -13.1 0.00e+00 3.54e-07R 2 31r 4.2568688e+00 3.08e-01 5.29e+02 1.3 4.72e+00 - 4.61e-01 4.67e-01f 1 32 4.2389933e+00 2.94e-01 1.69e+01 -1.4 2.36e+00 -13.6 7.09e-01 4.58e-02h 1 33 4.2354010e+00 2.94e-01 1.61e+04 0.3 3.81e+01 -14.0 3.01e-01 5.70e-04h 1 34 4.2430368e+00 2.93e-01 8.34e+07 1.2 6.51e+01 -14.5 1.00e+00 1.94e-04h 1 35r 4.2430368e+00 2.93e-01 9.90e+02 2.5 0.00e+00 -15.0 0.00e+00 3.62e-07R 4 36r 4.1100888e+00 2.01e-01 4.51e+02 0.5 8.18e-01 - 5.32e-01 6.36e-01f 1 37 4.1067531e+00 1.99e-01 1.17e+02 -1.2 2.23e+00 -15.5 8.31e-01 9.03e-03h 1 38 4.1076197e+00 1.99e-01 9.49e+05 0.7 9.33e+01 -15.9 8.46e-01 1.38e-04h 1 39 4.1082125e+00 1.99e-01 6.38e+10 1.9 4.52e+01 -16.4 1.00e+00 1.47e-05h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40r 4.1082125e+00 1.99e-01 9.52e+02 2.5 0.00e+00 -16.9 0.00e+00 7.73e-08R 2 41r 4.0626639e+00 2.05e-01 8.87e+01 0.8 4.20e-01 - 9.46e-01 8.47e-01f 1 42r 4.1100874e+00 1.99e-01 5.41e+01 0.1 1.63e-01 - 1.00e+00 8.97e-01f 1 43r 4.3994632e+00 1.99e-01 1.26e+00 -0.6 1.29e-01 - 1.00e+00 9.84e-01f 1 44r 4.3676358e+00 1.99e-01 3.49e+00 -4.0 9.87e-02 0.0 7.08e-01 7.21e-01f 1 45r 4.3883061e+00 1.99e-01 1.53e+00 -1.9 1.02e-02 0.4 9.84e-01 1.00e+00f 1 46r 4.3791328e+00 1.99e-01 1.50e-02 -2.7 1.07e-01 - 1.00e+00 1.00e+00f 1 47r 4.3467192e+00 1.99e-01 6.56e-02 -3.9 2.90e-02 - 9.57e-01 1.00e+00f 1 48r 4.3579527e+00 1.99e-01 2.15e-04 -4.0 1.10e-02 - 1.00e+00 1.00e+00h 1 49r 4.3798359e+00 1.99e-01 1.42e-06 -4.0 6.00e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 49 (scaled) (unscaled) Objective...............: 4.3797734320483492e+00 4.3797734320483492e+00 Dual infeasibility......: 1.9971082816348735e+00 1.9971082816348735e+00 Constraint violation....: 1.9875045034383698e-01 1.9875045034383698e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000001989978328e-04 1.0000001989978328e-04 Overall NLP error.......: 1.9971082816348735e+00 1.9971082816348735e+00 Number of objective function evaluations = 66 Number of objective gradient evaluations = 42 Number of equality constraint evaluations = 66 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 56 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 22.341 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 5.6577606e+00 3.54e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.0786667e+00 2.82e-01 4.06e+00 -0.7 1.95e+00 0.0 1.00e+00 9.23e-01f 1 2 2.4061314e+00 1.12e-01 4.79e+00 -0.5 4.29e-01 0.4 1.00e+00 5.97e-01f 1 3 2.5435217e+00 8.75e-03 1.47e+00 -0.9 4.85e-01 -0.1 1.00e+00 1.00e+00f 1 4 2.3597410e+00 6.07e-03 7.63e-01 -1.6 8.69e-02 0.4 9.93e-01 6.90e-01h 1 5 2.1529826e+00 1.95e-03 1.49e-01 -2.5 6.10e-02 -0.1 1.00e+00 8.75e-01f 1 6 2.1002545e+00 5.47e-04 1.34e-01 -3.3 4.40e-02 -0.6 1.00e+00 8.46e-01h 1 7 2.0910498e+00 6.54e-05 2.43e-02 -4.0 2.37e-02 -1.1 1.00e+00 9.67e-01h 1 8 2.0909226e+00 1.41e-07 2.39e-04 -4.0 2.27e-03 -1.5 1.00e+00 1.00e+00h 1 9 2.0909192e+00 2.24e-09 2.06e-05 -4.0 2.11e-03 -2.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909185e+00 1.70e-11 2.06e-05 -4.0 6.33e-03 -2.5 1.00e+00 1.00e+00h 1 11 2.0909167e+00 1.36e-10 2.06e-05 -4.0 1.90e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0909111e+00 1.22e-09 2.06e-05 -4.0 5.70e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908943e+00 1.10e-08 2.06e-05 -4.0 1.71e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0908438e+00 9.93e-08 2.06e-05 -4.0 5.13e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0906927e+00 8.95e-07 2.06e-05 -4.0 1.54e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0902406e+00 8.10e-06 3.62e-05 -4.0 4.60e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0888954e+00 7.43e-05 3.22e-04 -4.0 1.37e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0849651e+00 7.04e-04 2.93e-03 -4.0 3.99e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0796285e+00 2.07e-03 1.86e-01 -4.0 1.04e+02 -6.8 1.00e+00 5.18e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0801696e+00 4.40e-04 1.81e-01 -4.0 6.64e+01 -7.3 1.00e+00 9.69e-01H 1 21 2.0774038e+00 8.42e-03 1.86e-02 -4.0 1.25e+02 -7.7 1.00e+00 9.55e-01h 1 22 2.0770018e+00 1.61e-03 7.27e-02 -4.0 2.08e+02 -8.2 1.00e+00 1.00e+00h 1 23 2.0760593e+00 3.47e-03 2.05e-02 -4.0 3.52e+02 -8.7 1.00e+00 9.05e-01h 1 24 2.0755188e+00 1.58e-03 3.12e-02 -4.0 4.73e+02 -9.2 1.00e+00 7.01e-01h 1 25 2.0757367e+00 2.50e-03 9.41e-03 -4.0 1.32e+02 -9.6 1.00e+00 1.00e+00h 1 26 2.0753616e+00 1.13e-03 3.40e-04 -4.1 6.69e+01 -10.1 1.00e+00 1.00e+00h 1 27 2.0756724e+00 4.79e-04 6.25e-06 -4.0 2.06e+01 -10.6 1.00e+00 1.00e+00h 1 28 2.0756712e+00 5.95e-07 8.73e-07 -4.0 1.06e+01 -11.1 1.00e+00 1.00e+00h 1 29 2.0756712e+00 1.53e-09 5.62e-08 -4.0 3.71e+00 -11.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0756712e+00 2.15e-11 8.82e-10 -4.0 5.30e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 2.0756712121268572e+00 2.0756712121268572e+00 Dual infeasibility......: 8.8159882166835221e-10 8.8159882166835221e-10 Constraint violation....: 2.1494472868255343e-11 2.1494472868255343e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000026e-04 1.0000000000000026e-04 Overall NLP error.......: 8.8159882166835221e-10 8.8159882166835221e-10 Number of objective function evaluations = 32 Number of objective gradient evaluations = 31 Number of equality constraint evaluations = 32 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 31 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 30 Total seconds in IPOPT = 22.516 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 3.5475354e+00 3.93e+00 4.68e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7872031e+00 7.63e-02 2.82e+00 -1.0 2.82e+00 0.0 9.52e-01 1.00e+00f 1 2 2.3965557e+00 6.41e-03 4.80e-01 -1.3 1.33e-01 0.4 9.97e-01 1.00e+00h 1 3 2.1807026e+00 1.35e-03 6.51e-02 -2.4 5.26e-02 -0.1 9.97e-01 1.00e+00h 1 4 2.0950654e+00 3.28e-04 3.20e-02 -4.0 2.95e-02 -0.5 1.00e+00 9.76e-01h 1 5 2.0910380e+00 1.64e-05 2.16e-02 -4.0 1.84e-02 -1.0 1.00e+00 1.00e+00h 1 6 2.0909142e+00 2.34e-08 2.01e-04 -4.0 4.55e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0909145e+00 4.71e-10 1.08e-04 -4.0 9.81e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909148e+00 3.90e-11 5.19e-05 -4.0 1.42e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0907336e+00 3.14e-07 1.92e-05 -4.1 1.57e-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 2.0909097e+00 9.29e-07 6.66e-05 -4.0 4.65e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0907173e+00 2.63e-06 3.30e-04 -4.1 1.32e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908673e+00 7.27e-06 1.99e-04 -4.0 3.62e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906133e+00 1.90e-05 3.70e-04 -4.1 9.63e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905775e+00 5.86e-05 3.91e-04 -4.0 2.82e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0903657e+00 5.12e-05 9.80e-03 -4.0 1.58e+01 -5.8 3.13e-01 1.19e-01h 1 16 2.0889969e+00 2.77e-04 4.27e-02 -4.0 2.89e+01 -6.3 1.00e+00 1.00e+00f 1 17 2.0876961e+00 9.61e-05 1.81e-02 -4.0 2.97e+00 -4.9 1.00e+00 6.99e-01h 1 18 2.0876693e+00 1.34e-05 5.05e-03 -4.0 3.67e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0865883e+00 4.50e-05 7.23e-03 -4.0 1.10e+01 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0849903e+00 2.11e-04 1.06e-02 -4.0 2.51e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0827993e+00 3.66e-04 2.82e-02 -4.0 3.82e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0831233e+00 1.16e-03 3.51e-02 -4.0 5.54e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0821892e+00 1.10e-03 7.67e-03 -4.1 1.34e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.0957881e+00 9.10e-06 6.16e-01 -4.0 4.65e+02 -8.3 1.18e-01 1.00e+00H 1 25 2.0841264e+00 1.06e-02 5.06e+00 -4.2 5.77e+01 -5.1 2.57e-02 1.85e-01f 1 26 2.0830828e+00 1.11e-02 5.05e+00 -4.2 1.10e+03 -4.7 2.15e-06 7.53e-04f 1 27 2.0831395e+00 1.11e-02 5.08e+00 -4.2 2.90e+03 -5.2 1.55e-07 7.99e-05f 2 28 2.0829898e+00 9.43e-03 4.74e+00 -4.2 6.95e-01 -2.9 1.00e+00 1.51e-01h 1 29 2.0831826e+00 2.46e-06 1.44e-03 -4.2 9.11e-02 -3.4 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0833814e+00 2.79e-06 1.09e-04 -4.0 6.46e-02 -3.9 1.00e+00 1.00e+00h 1 31 2.0831898e+00 5.72e-06 2.89e-05 -4.1 2.20e-01 -4.4 1.00e+00 1.00e+00h 1 32 2.0824291e+00 9.89e-05 5.84e-03 -6.1 9.92e-01 -4.9 9.37e-01 1.00e+00h 1 33 2.0832449e+00 2.51e-04 2.19e-03 -4.0 1.79e+00 -5.3 1.00e+00 1.00e+00h 1 34 2.0826926e+00 1.85e-04 1.04e-03 -4.1 4.14e+00 -5.8 1.00e+00 1.00e+00h 1 35 2.0823854e+00 3.50e-05 2.47e-03 -4.1 9.49e+00 -6.3 1.00e+00 1.00e+00h 1 36 2.0824519e+00 4.88e-04 2.35e-03 -4.0 2.19e+01 -6.8 1.00e+00 1.00e+00h 1 37 2.0818860e+00 8.52e-04 8.48e-03 -4.1 4.85e+01 -7.2 1.00e+00 1.00e+00h 1 38 2.0818121e+00 2.29e-03 4.67e-03 -4.0 1.05e+02 -7.7 7.47e-01 1.00e+00h 1 39 2.0817430e+00 1.85e-03 2.23e-02 -4.0 3.04e+01 -6.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0817970e+00 2.21e-04 1.73e-01 -4.0 7.76e+00 -6.9 7.94e-01 1.00e+00h 1 41 2.0818047e+00 2.26e-07 1.83e-04 -4.0 2.04e-02 -2.8 1.00e+00 1.00e+00h 1 42 2.0818077e+00 2.84e-07 1.72e-05 -4.0 2.31e-02 -3.3 1.00e+00 1.00e+00h 1 43 2.0818061e+00 5.06e-08 1.14e-05 -4.0 6.90e-02 -3.8 1.00e+00 1.00e+00h 1 44 2.0818001e+00 2.65e-07 1.25e-05 -4.0 2.16e-01 -4.3 1.00e+00 1.00e+00h 1 45 2.0817754e+00 2.73e-06 2.07e-04 -4.0 7.37e-01 -4.7 1.00e+00 1.00e+00h 1 46 2.0817190e+00 8.18e-06 1.43e-03 -4.0 1.83e+00 -5.2 1.00e+00 1.00e+00h 1 47 2.0817260e+00 2.80e-05 1.38e-03 -4.0 1.50e+00 -5.7 1.00e+00 1.00e+00h 1 48 2.0815877e+00 1.81e-05 2.76e-04 -4.1 8.67e-01 -6.2 1.00e+00 1.00e+00h 1 49 2.0818091e+00 8.58e-05 2.48e-04 -4.0 4.16e+00 -6.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0815920e+00 1.02e-04 1.87e-04 -4.1 4.29e+00 -7.1 1.00e+00 1.00e+00h 1 51 2.0806768e+00 1.25e-03 2.24e-03 -6.1 1.83e+01 -7.6 9.78e-01 9.04e-01h 1 52 2.0818632e+00 3.35e-03 3.47e-03 -4.0 3.07e+01 -8.1 1.00e+00 1.00e+00f 1 53 2.0816165e+00 2.45e-04 4.94e-04 -4.1 1.03e+01 -8.6 1.00e+00 1.00e+00h 1 54 2.0806154e+00 3.42e-03 3.13e-04 -6.1 4.20e+01 -9.0 9.76e-01 9.50e-01h 1 55 2.0818826e+00 5.76e-03 9.19e-04 -4.0 5.44e+01 -9.5 1.00e+00 1.00e+00f 1 56 2.0816109e+00 4.53e-04 7.92e-05 -4.1 1.89e+01 -10.0 1.00e+00 1.00e+00h 1 57 2.0806034e+00 3.47e-03 2.28e-04 -6.1 4.22e+01 -10.5 9.76e-01 9.58e-01h 1 58 2.0818859e+00 6.33e-03 3.14e-04 -4.0 5.95e+01 -10.9 1.00e+00 1.00e+00f 1 59 2.0816109e+00 4.54e-04 1.11e-05 -4.1 1.91e+01 -11.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0806031e+00 3.47e-03 2.24e-04 -6.1 4.23e+01 -11.9 9.76e-01 9.58e-01h 1 61 2.0813143e+00 3.53e-03 7.74e-03 -4.0 5.98e+01 -12.4 1.00e+00 5.63e-01f 1 62 2.0815047e+00 1.85e-04 1.26e-06 -4.1 1.02e+01 -12.8 1.00e+00 1.00e+00h 1 63 2.0818457e+00 3.97e-04 1.72e-05 -4.0 1.37e+01 -13.3 1.00e+00 1.00e+00h 1 64 2.0815843e+00 2.22e-04 9.44e-06 -4.1 1.02e+01 -13.8 1.00e+00 1.00e+00h 1 65 2.0805953e+00 3.33e-03 1.60e-04 -6.1 4.09e+01 -14.3 9.77e-01 9.64e-01h 1 66 2.0818907e+00 6.61e-03 2.98e-04 -4.0 6.17e+01 -14.8 1.00e+00 1.00e+00f 1 67 2.0816144e+00 4.95e-04 1.05e-05 -4.1 2.07e+01 -15.2 1.00e+00 1.00e+00h 1 68 2.0806041e+00 3.49e-03 2.32e-04 -6.1 4.24e+01 -15.7 9.76e-01 9.58e-01h 1 69 2.0805507e+00 9.68e-05 2.24e-06 -6.1 1.71e+01 -16.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0806648e+00 1.66e-04 2.44e-02 -4.0 8.54e+01 -16.7 1.00e+00 8.80e-02f 1 71 2.0813890e+00 1.64e-03 7.26e-05 -4.2 2.69e+01 -17.1 1.00e+00 1.00e+00f 1 72 2.0814004e+00 3.35e-05 2.34e-06 -4.2 3.20e+01 -17.6 1.00e+00 1.00e+00h 1 73 2.0818463e+00 6.83e-04 2.92e-05 -4.0 1.76e+01 -18.1 1.00e+00 1.00e+00h 1 74 2.0815848e+00 2.28e-04 9.46e-06 -4.1 1.04e+01 -18.6 1.00e+00 1.00e+00h 1 75 2.0805953e+00 3.34e-03 1.60e-04 -6.1 4.10e+01 -19.1 9.77e-01 9.64e-01h 1 76 2.0805497e+00 7.67e-05 1.83e-06 -6.1 1.57e+01 -19.5 1.00e+00 1.00e+00h 1 77 2.0819881e+00 1.05e-02 4.03e-04 -4.0 8.64e+01 -20.0 1.00e+00 1.00e+00f 1 78 2.0816849e+00 9.85e-04 5.24e-05 -4.1 4.71e+01 -20.0 1.00e+00 1.00e+00h 1 79 2.0816467e+00 5.56e-07 8.12e-07 -4.1 8.78e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0818440e+00 1.24e-04 5.33e-06 -4.0 7.44e+00 -20.0 1.00e+00 1.00e+00h 1 81 2.0815834e+00 2.14e-04 9.28e-06 -4.1 9.75e+00 -20.0 1.00e+00 1.00e+00h 1 82 2.0805950e+00 3.33e-03 1.58e-04 -6.1 4.09e+01 -20.0 9.77e-01 9.64e-01h 1 83 2.0805497e+00 7.61e-05 1.82e-06 -6.1 1.56e+01 -20.0 1.00e+00 1.00e+00h 1 84 2.0819883e+00 1.06e-02 4.03e-04 -4.0 8.64e+01 -20.0 1.00e+00 1.00e+00f 1 85 2.0816850e+00 9.86e-04 5.24e-05 -4.1 4.71e+01 -20.0 1.00e+00 1.00e+00h 1 86 2.0816467e+00 5.59e-07 8.13e-07 -4.1 8.79e+00 -20.0 1.00e+00 1.00e+00h 1 87 2.0805963e+00 3.67e-03 1.56e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.67e-01h 1 88 2.0805509e+00 8.01e-05 1.98e-06 -6.1 1.63e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0805468e+00 5.50e-08 2.37e-08 -6.1 2.91e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0820237e+00 1.21e-02 4.23e-04 -4.0 9.79e+01 -20.0 1.00e+00 1.00e+00f 1 91 2.0817108e+00 1.09e-03 6.84e-05 -4.1 5.44e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0816597e+00 1.20e-06 1.05e-06 -4.1 1.08e+01 -20.0 1.00e+00 1.00e+00h 1 93 2.0805973e+00 3.75e-03 1.59e-04 -6.1 4.29e+01 -20.0 9.76e-01 9.67e-01h 1 94 2.0805512e+00 8.26e-05 2.04e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 95 2.0805470e+00 5.83e-08 2.51e-08 -6.1 3.00e+00 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 9.22e-07 7.87e-07 -9.0 9.36e-01 -20.0 1.00e+00 9.97e-01h 1 97 2.0820411e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 98 2.0817244e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 99 2.0816662e+00 1.63e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805979e+00 3.78e-03 1.61e-04 -6.1 4.31e+01 -20.0 9.76e-01 9.67e-01h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805978770256557e+00 2.0805978770256557e+00 Dual infeasibility......: 1.6062562475836474e-04 1.6062562475836474e-04 Constraint violation....: 3.7823710660296328e-03 3.7823710660296328e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.9551393148373177e-05 1.9551393148373177e-05 Overall NLP error.......: 3.7823710660296328e-03 3.7823710660296328e-03 Number of objective function evaluations = 104 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 104 Number of inequality constraint evaluations = 104 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 24.530 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 9.9551785e+00 1.81e+00 3.59e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.2308827e+00 2.78e-01 3.90e+00 -0.8 1.96e+00 0.0 7.03e-01 8.48e-01f 1 2 2.7694488e+00 9.07e-03 2.00e+00 -1.0 7.80e-01 -0.5 9.49e-01 1.00e+00f 1 3 2.4163848e+00 2.22e-02 2.36e-01 -1.5 3.50e-01 -1.0 9.89e-01 1.00e+00h 1 4 2.2093661e+00 1.11e-02 1.36e-01 -2.3 2.42e-01 -1.4 9.27e-01 7.66e-01h 1 5 2.1033294e+00 1.89e-03 2.43e-02 -3.1 1.21e-01 -1.9 9.89e-01 9.18e-01h 1 6 2.0909481e+00 9.19e-06 2.60e-04 -4.0 6.31e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0908560e+00 4.84e-07 1.74e-05 -4.0 1.29e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908528e+00 3.31e-10 1.58e-05 -4.0 3.46e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908448e+00 3.93e-09 1.56e-05 -4.0 1.02e-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 2.0908219e+00 3.10e-08 2.56e-05 -4.0 2.98e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907569e+00 2.46e-07 1.15e-04 -4.0 8.53e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905565e+00 2.11e-06 3.34e-04 -4.0 2.52e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0904788e+00 3.34e-07 2.50e-04 -4.0 1.01e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0901118e+00 1.04e-09 1.38e-03 -4.0 3.57e+00 -5.3 1.00e+00 1.00e+00H 1 15 2.0895809e+00 4.14e-05 1.07e-02 -4.0 1.05e+01 -5.8 1.00e+00 1.00e+00f 1 16 2.0888487e+00 4.12e-05 7.23e-02 -4.0 1.49e+01 -5.4 1.00e+00 2.83e-01h 1 17 2.0880356e+00 4.16e-05 1.28e-02 -4.0 1.09e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0866551e+00 1.04e-04 3.71e-02 -4.0 2.78e+01 -6.3 1.00e+00 5.87e-01h 1 19 2.0837969e+00 8.45e-04 4.17e-02 -4.0 5.03e+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 2.0827417e+00 2.98e-04 8.35e-03 -4.0 5.51e+01 -7.3 1.00e+00 6.07e-01h 1 21 2.0825119e+00 8.53e-04 2.73e-02 -4.0 1.33e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0916384e+00 1.27e-04 3.90e-01 -4.0 2.26e+02 -7.3 1.45e-01 1.00e+00H 1 23 2.0843671e+00 1.02e-02 3.77e+00 -4.1 1.04e+02 -5.1 2.04e-02 1.09e-01f 1 24 2.0835154e+00 1.02e-02 3.76e+00 -4.1 2.81e+02 -3.7 1.66e-05 1.69e-03f 1 25 2.0836911e+00 1.03e-02 3.78e+00 -4.1 6.39e+02 -4.2 5.98e-07 1.88e-04f 2 26 2.0834978e+00 9.47e-03 3.78e+00 -4.1 1.58e+00 -2.9 1.00e+00 7.66e-02h 1 27 2.0836520e+00 1.05e-05 4.75e-03 -4.1 8.39e-02 -3.4 1.00e+00 1.00e+00f 1 28 2.0837299e+00 5.32e-06 7.73e-05 -4.0 7.53e-02 -3.9 1.00e+00 1.00e+00h 1 29 2.0837119e+00 1.03e-07 3.36e-05 -4.0 2.19e-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 2.0836667e+00 1.43e-07 3.38e-05 -4.0 6.46e-01 -4.8 1.00e+00 1.00e+00h 1 31 2.0835397e+00 1.20e-06 1.20e-04 -4.0 1.84e+00 -5.3 1.00e+00 1.00e+00h 1 32 2.0832294e+00 8.69e-06 8.01e-04 -4.0 4.80e+00 -5.8 1.00e+00 1.00e+00h 1 33 2.0827553e+00 3.88e-05 3.27e-03 -4.0 1.02e+01 -6.2 1.00e+00 1.00e+00h 1 34 2.0824947e+00 5.90e-05 3.95e-03 -4.0 2.27e+01 -6.7 1.00e+00 1.00e+00h 1 35 2.0820913e+00 2.06e-04 4.58e-03 -4.0 5.17e+01 -7.2 9.56e-01 1.00e+00h 1 36 2.0820390e+00 1.19e-03 2.00e+00 -4.0 3.09e+02 -6.8 1.00e+00 1.31e-01h 2 37 2.0886596e+00 9.09e-06 2.32e+00 -4.0 4.67e+01 -6.3 3.29e-01 1.00e+00H 1 38 2.0828230e+00 1.15e-05 5.58e+00 -4.1 4.90e-01 -1.4 1.05e-01 2.97e-01f 1 39 2.0822688e+00 2.13e-06 1.53e+00 -4.0 7.49e-02 -1.9 1.00e+00 7.38e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0821211e+00 1.45e-05 4.65e-01 -4.0 3.13e-01 -2.4 1.00e+00 7.42e-01f 1 41 2.0822555e+00 6.76e-07 5.34e-04 -4.0 6.39e-02 -2.8 1.00e+00 1.00e+00h 1 42 2.0821365e+00 4.48e-07 2.06e-04 -4.0 2.96e-02 -3.3 1.00e+00 1.00e+00h 1 43 2.0821175e+00 1.64e-07 3.99e-05 -4.0 2.16e-02 -3.8 1.00e+00 1.00e+00h 1 44 2.0821179e+00 2.82e-09 3.99e-05 -4.0 6.52e-02 -4.3 1.00e+00 1.00e+00h 1 45 2.0821200e+00 2.25e-08 3.99e-05 -4.0 1.97e-01 -4.7 1.00e+00 1.00e+00h 1 46 2.0819686e+00 1.24e-05 7.19e-05 -4.1 6.71e-01 -5.2 1.00e+00 1.00e+00h 1 47 2.0821127e+00 3.46e-05 2.74e-04 -4.0 1.81e+00 -5.7 1.00e+00 1.00e+00h 1 48 2.0818826e+00 1.18e-04 2.42e-04 -4.1 5.79e+00 -6.2 1.00e+00 1.00e+00h 1 49 2.0819507e+00 4.61e-04 3.48e-02 -4.0 2.55e+01 -6.6 7.05e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0833582e+00 4.16e-06 6.29e-01 -4.1 7.50e+00 -5.3 6.45e-01 1.00e+00H 1 51 2.0823533e+00 5.31e-06 7.44e-01 -3.7 1.90e-01 -1.3 1.00e+00 5.19e-01h 1 52 2.0828141e+00 3.51e-06 1.86e-01 -3.8 9.86e-02 -1.8 9.56e-01 1.00e+00f 1 53 2.0826574e+00 2.53e-07 1.39e-03 -3.8 2.45e-02 -1.3 1.00e+00 1.00e+00h 1 54 2.0820075e+00 2.78e-06 1.46e-01 -5.8 3.74e-02 -1.8 7.18e-01 1.00e+00h 1 55 2.0821671e+00 1.03e-06 6.06e-04 -4.0 1.30e-01 -2.3 1.00e+00 1.00e+00h 1 56 2.0820098e+00 3.05e-07 7.02e-05 -4.1 3.94e-02 -2.8 1.00e+00 1.00e+00h 1 57 2.0821667e+00 4.38e-07 8.57e-05 -4.0 2.27e-02 -3.2 1.00e+00 1.00e+00h 1 58 2.0820180e+00 1.22e-06 6.43e-05 -4.1 5.20e-02 -3.7 1.00e+00 1.00e+00h 1 59 2.0813984e+00 2.04e-05 8.08e-02 -6.1 2.03e-01 -4.2 7.89e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0822094e+00 6.84e-05 2.04e-03 -4.0 5.21e-01 -4.7 1.00e+00 1.00e+00h 1 61 2.0818708e+00 6.02e-05 1.38e-03 -4.1 1.53e+00 -5.1 9.63e-01 1.00e+00h 1 62 2.0818373e+00 1.36e-05 8.25e-04 -4.1 5.88e-01 -5.6 1.00e+00 1.00e+00h 1 63 2.0820164e+00 4.06e-05 2.27e-04 -4.0 1.69e+00 -6.1 1.00e+00 1.00e+00h 1 64 2.0818212e+00 5.95e-05 6.92e-04 -4.1 3.66e+00 -6.6 1.00e+00 1.00e+00h 1 65 2.0808891e+00 1.65e-03 4.40e-04 -6.1 2.07e+01 -7.1 9.83e-01 9.44e-01h 1 66 2.0819745e+00 2.88e-03 3.23e-03 -4.0 2.61e+01 -7.5 1.00e+00 1.00e+00f 1 67 2.0816700e+00 1.16e-03 1.61e-03 -4.1 3.92e+01 -8.0 1.00e+00 1.00e+00h 1 68 2.0816088e+00 7.70e-05 2.47e-03 -4.1 5.12e+01 -8.5 1.00e+00 1.00e+00h 1 69 2.0818426e+00 6.85e-04 5.97e-04 -4.0 3.09e+01 -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 70 2.0815820e+00 2.90e-04 3.83e-05 -4.1 1.29e+01 -9.4 1.00e+00 1.00e+00h 1 71 2.0805934e+00 3.33e-03 1.39e-04 -6.1 4.06e+01 -9.9 9.77e-01 9.67e-01h 1 72 2.0818893e+00 6.51e-03 3.92e-04 -4.0 6.07e+01 -10.4 1.00e+00 1.00e+00f 1 73 2.0816126e+00 4.95e-04 3.50e-05 -4.1 2.07e+01 -10.9 1.00e+00 1.00e+00h 1 74 2.0806016e+00 3.47e-03 1.92e-04 -6.1 4.19e+01 -11.3 9.76e-01 9.61e-01h 1 75 2.0805508e+00 9.07e-05 2.53e-06 -6.1 1.70e+01 -11.8 1.00e+00 1.00e+00h 1 76 2.0819805e+00 1.03e-02 3.97e-04 -4.0 8.48e+01 -12.3 1.00e+00 1.00e+00f 1 77 2.0816779e+00 9.65e-04 4.88e-05 -4.1 4.56e+01 -12.8 1.00e+00 1.00e+00h 1 78 2.0816420e+00 4.57e-07 3.61e-05 -4.1 8.54e+00 -13.3 1.00e+00 1.00e+00h 1 79 2.0818414e+00 1.26e-04 4.21e-05 -4.0 7.46e+00 -13.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0815817e+00 2.11e-04 3.43e-05 -4.1 9.63e+00 -14.2 1.00e+00 1.00e+00h 1 81 2.0805923e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -14.7 9.77e-01 9.68e-01h 1 82 2.0805497e+00 7.03e-05 1.80e-06 -6.1 1.55e+01 -15.2 1.00e+00 1.00e+00h 1 83 2.0819871e+00 1.06e-02 4.00e-04 -4.0 8.58e+01 -15.6 1.00e+00 1.00e+00f 1 84 2.0816826e+00 9.87e-04 5.24e-05 -4.1 4.71e+01 -16.1 1.00e+00 1.00e+00h 1 85 2.0816444e+00 5.44e-07 3.61e-05 -4.1 8.94e+00 -16.6 1.00e+00 1.00e+00h 1 86 2.0805933e+00 3.65e-03 1.55e-04 -6.1 4.19e+01 -17.1 9.76e-01 9.71e-01h 1 87 2.0805509e+00 7.35e-05 1.95e-06 -6.1 1.62e+01 -17.6 1.00e+00 1.00e+00h 1 88 2.0805468e+00 5.07e-08 3.60e-07 -6.1 2.92e+00 -18.0 1.00e+00 1.00e+00h 1 89 2.0820226e+00 1.22e-02 4.21e-04 -4.0 9.85e+01 -18.5 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0817083e+00 1.09e-03 6.84e-05 -4.1 5.45e+01 -19.0 1.00e+00 1.00e+00h 1 91 2.0816573e+00 1.18e-06 3.65e-05 -4.1 1.10e+01 -19.5 1.00e+00 1.00e+00h 1 92 2.0805943e+00 3.73e-03 1.58e-04 -6.1 4.23e+01 -19.9 9.76e-01 9.71e-01h 1 93 2.0805512e+00 7.57e-05 2.01e-06 -6.1 1.64e+01 -20.0 1.00e+00 1.00e+00h 1 94 2.0805469e+00 5.37e-08 3.66e-07 -6.1 3.01e+00 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 9.26e-07 7.80e-07 -9.0 9.40e-01 -20.0 1.00e+00 9.97e-01h 1 96 2.0820402e+00 1.30e-02 4.35e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 97 2.0817219e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 98 2.0816639e+00 1.62e-06 3.67e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 99 2.0805948e+00 3.76e-03 1.59e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805513632698287e+00 2.0805513632698287e+00 Dual infeasibility......: 2.0482794631855647e-06 2.0482794631855647e-06 Constraint violation....: 7.6920738248748011e-05 7.6920738248748011e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 3.0429769322287867e-06 3.0429769322287867e-06 Overall NLP error.......: 9.9199836256882505e-05 9.9199836256882505e-05 Number of objective function evaluations = 110 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 110 Number of inequality constraint evaluations = 110 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 25.955 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 5.3826164e+01 2.40e+00 2.28e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.5484446e+01 1.91e+00 2.84e+01 -0.3 2.02e+00 0.0 1.00e+00 2.05e-01f 1 2 3.7426067e+00 1.04e-01 1.91e+01 0.2 2.25e+00 -0.5 1.00e+00 1.00e+00f 1 3 3.4354905e+00 6.19e-02 5.41e+00 -0.2 1.78e+00 -1.0 9.83e-01 1.00e+00f 1 4 3.1843639e+00 1.99e-02 8.97e-01 -1.0 7.50e-01 -1.4 9.65e-01 1.00e+00h 1 5 2.4321732e+00 2.53e-01 3.51e-01 -1.5 1.56e+00 -1.9 9.79e-01 1.00e+00f 1 6 2.1648768e+00 7.13e-02 5.03e-01 -2.2 1.46e+00 -2.4 6.68e-01 1.00e+00h 1 7 2.1099187e+00 2.40e-03 4.42e-02 -2.7 3.28e-01 -2.9 9.96e-01 1.00e+00h 1 8 2.0912279e+00 7.79e-05 1.16e-03 -4.0 4.69e-02 -3.3 9.99e-01 1.00e+00h 1 9 2.0908491e+00 7.90e-06 4.73e-04 -4.0 1.22e-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 2.0908260e+00 5.08e-08 2.23e-04 -4.0 3.13e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907570e+00 2.36e-07 2.23e-04 -4.0 8.70e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905234e+00 2.16e-06 5.07e-04 -4.0 2.68e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0903093e+00 3.38e-06 2.36e-02 -4.0 9.53e+00 -5.7 1.00e+00 2.37e-01h 2 14 2.0885802e+00 1.37e-04 1.28e-02 -4.0 2.28e+01 -6.2 1.00e+00 8.92e-01h 1 15 2.0856396e+00 9.48e-04 6.15e-02 -4.0 5.27e+01 -6.7 1.00e+00 1.00e+00h 1 16 2.0841720e+00 7.88e-04 1.51e-01 -4.0 5.28e+01 -6.3 1.00e+00 2.48e-01h 1 17 2.0829693e+00 1.61e-04 2.61e-02 -4.0 2.29e+01 -6.7 1.00e+00 1.00e+00h 1 18 2.0827791e+00 2.19e-04 9.13e-03 -4.0 4.95e+01 -7.2 1.00e+00 1.00e+00h 1 19 2.0823554e+00 4.88e-04 8.08e-03 -4.0 1.16e+02 -7.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.1003370e+00 8.87e-06 7.85e-01 -4.0 4.93e+02 -8.2 1.08e-01 1.00e+00H 1 21 2.0849423e+00 1.33e-02 6.40e+00 -4.0 7.44e+01 -5.0 1.56e-02 1.39e-01f 1 22 2.0835753e+00 8.10e-05 6.79e-03 -4.1 9.50e-01 -2.8 1.00e+00 1.00e+00h 1 23 2.0834401e+00 6.53e-05 7.05e-01 -4.0 5.41e-01 -3.3 1.00e+00 2.07e-01h 1 24 2.0836872e+00 2.83e-06 3.02e-04 -4.0 6.00e-02 -3.7 1.00e+00 1.00e+00h 1 25 2.0836629e+00 1.74e-06 2.23e-04 -4.0 1.48e-01 -4.2 1.00e+00 1.00e+00h 1 26 2.0836293e+00 1.14e-07 2.23e-04 -4.0 4.37e-01 -4.7 1.00e+00 1.00e+00h 1 27 2.0835360e+00 1.02e-06 2.23e-04 -4.0 1.25e+00 -5.2 1.00e+00 1.00e+00h 1 28 2.0833122e+00 7.92e-06 5.47e-04 -4.0 3.27e+00 -5.7 1.00e+00 1.00e+00h 1 29 2.0829754e+00 3.80e-05 1.98e-03 -4.0 8.09e+00 -6.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0827131e+00 4.63e-05 2.66e-03 -4.0 1.92e+01 -6.6 1.00e+00 1.00e+00h 1 31 2.0823309e+00 1.83e-04 6.30e-03 -4.0 4.30e+01 -7.1 1.00e+00 1.00e+00h 1 32 2.0819271e+00 6.10e-04 1.66e-02 -4.0 8.43e+01 -7.6 1.00e+00 1.00e+00h 1 33 2.0863165e+00 8.31e-04 1.80e-01 -4.0 1.83e+02 -7.1 1.00e+00 9.20e-01H 1 34 2.0815361e+00 2.47e-04 4.42e-01 -4.1 4.52e+00 -4.9 1.00e+00 8.55e-01h 1 35 2.0822756e+00 5.42e-05 1.91e-03 -4.0 1.49e+00 -5.4 1.00e+00 1.00e+00f 1 36 2.0821996e+00 3.21e-04 3.99e-03 -4.0 5.41e+00 -5.9 1.00e+00 1.00e+00h 1 37 2.0821110e+00 7.24e-05 2.79e-03 -4.0 5.97e+00 -6.3 1.00e+00 1.00e+00h 1 38 2.0820343e+00 3.48e-05 8.97e-04 -4.0 1.77e+01 -6.8 1.00e+00 1.00e+00h 1 39 2.0820935e+00 1.27e-03 5.74e-02 -4.0 7.40e+01 -7.3 4.62e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818052e+00 1.16e-05 5.71e-04 -4.1 4.58e-01 -5.1 1.00e+00 1.00e+00h 1 41 2.0819501e+00 3.51e-05 7.44e-04 -4.0 1.41e+00 -5.5 1.00e+00 1.00e+00h 1 42 2.0816192e+00 1.07e-04 2.62e-04 -4.1 4.47e+00 -6.0 1.00e+00 1.00e+00h 1 43 2.0815469e+00 2.71e-04 7.95e-02 -4.0 1.62e+02 -6.5 5.37e-02 8.28e-02h 3 44 2.0813415e+00 4.01e-05 6.05e-01 -4.2 5.21e-01 -4.3 6.78e-01 1.00e+00h 1 45 2.0816596e+00 2.58e-05 1.35e-03 -4.0 3.87e-01 -4.7 1.00e+00 1.00e+00h 1 46 2.0816948e+00 6.35e-06 2.23e-04 -4.0 6.62e-01 -5.2 1.00e+00 1.00e+00h 1 47 2.0817444e+00 2.76e-06 2.23e-04 -4.0 8.08e-01 -5.7 1.00e+00 1.00e+00h 1 48 2.0817897e+00 5.33e-06 2.23e-04 -4.0 1.28e+00 -6.2 1.00e+00 1.00e+00h 1 49 2.0818227e+00 5.36e-06 2.23e-04 -4.0 1.19e+00 -6.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818354e+00 1.24e-06 2.23e-04 -4.0 1.97e+00 -7.1 1.00e+00 1.00e+00h 1 51 2.0818382e+00 6.26e-07 2.23e-04 -4.0 4.30e+00 -7.6 1.00e+00 1.00e+00h 1 52 2.0818389e+00 1.54e-06 2.23e-04 -4.0 8.62e+00 -8.1 1.00e+00 1.00e+00h 1 53 2.0815818e+00 2.92e-04 1.78e-04 -4.1 1.26e+01 -8.6 1.00e+00 1.00e+00h 1 54 2.0805998e+00 3.38e-03 1.54e-04 -6.1 4.15e+01 -9.0 9.78e-01 9.63e-01h 1 55 2.0818872e+00 5.95e-03 9.56e-04 -4.0 5.54e+01 -9.5 1.00e+00 1.00e+00f 1 56 2.0816152e+00 4.88e-04 1.83e-04 -4.1 2.07e+01 -10.0 1.00e+00 1.00e+00h 1 57 2.0805997e+00 3.47e-03 1.58e-04 -6.1 4.15e+01 -10.5 9.76e-01 9.64e-01h 1 58 2.0818819e+00 6.23e-03 3.09e-04 -4.0 5.83e+01 -10.9 1.00e+00 1.00e+00f 1 59 2.0816088e+00 4.32e-04 1.82e-04 -4.1 1.88e+01 -11.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0805975e+00 3.45e-03 1.45e-04 -6.1 4.13e+01 -11.9 9.77e-01 9.66e-01h 1 61 2.0818834e+00 6.31e-03 2.87e-04 -4.0 5.90e+01 -12.4 1.00e+00 1.00e+00f 1 62 2.0816098e+00 4.45e-04 1.83e-04 -4.1 1.91e+01 -12.8 1.00e+00 1.00e+00h 1 63 2.0805979e+00 3.45e-03 1.45e-04 -6.1 4.13e+01 -13.3 9.76e-01 9.65e-01h 1 64 2.0805507e+00 8.22e-05 2.16e-06 -6.1 1.68e+01 -13.8 1.00e+00 1.00e+00h 1 65 2.0819803e+00 1.04e-02 3.94e-04 -4.0 8.44e+01 -14.3 1.00e+00 1.00e+00f 1 66 2.0816843e+00 9.37e-04 1.90e-04 -4.1 4.59e+01 -14.8 1.00e+00 1.00e+00h 1 67 2.0816481e+00 4.85e-07 1.90e-04 -4.1 8.58e+00 -15.2 1.00e+00 1.00e+00h 1 68 2.0818389e+00 1.14e-04 2.23e-04 -4.0 7.06e+00 -15.7 1.00e+00 1.00e+00h 1 69 2.0815801e+00 2.08e-04 1.78e-04 -4.1 9.49e+00 -16.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0805898e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -16.7 9.78e-01 9.71e-01h 1 71 2.0805497e+00 6.51e-05 1.78e-06 -6.1 1.55e+01 -17.1 1.00e+00 1.00e+00h 1 72 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -17.6 1.00e+00 1.00e+00f 1 73 2.0816887e+00 9.54e-04 1.91e-04 -4.1 4.72e+01 -18.1 1.00e+00 1.00e+00h 1 74 2.0816504e+00 5.63e-07 1.91e-04 -4.1 8.93e+00 -18.6 1.00e+00 1.00e+00h 1 75 2.0805906e+00 3.68e-03 1.60e-04 -6.1 4.16e+01 -19.1 9.77e-01 9.75e-01h 1 76 2.0805511e+00 6.76e-05 1.95e-06 -6.1 1.62e+01 -19.5 1.00e+00 1.00e+00h 1 77 2.0805469e+00 4.72e-08 1.76e-06 -6.1 2.95e+00 -20.0 1.00e+00 1.00e+00h 1 78 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.89e+01 -20.0 1.00e+00 1.00e+00f 1 79 2.0817159e+00 1.04e-03 1.93e-04 -4.1 5.46e+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 2.0816648e+00 1.22e-06 1.93e-04 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 81 2.0805915e+00 3.76e-03 1.66e-04 -6.1 4.20e+01 -20.0 9.76e-01 9.75e-01h 1 82 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 83 2.0805471e+00 4.99e-08 1.79e-06 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 84 2.0805365e+00 9.55e-07 8.02e-07 -9.0 9.57e-01 -20.0 1.00e+00 9.97e-01h 1 85 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 86 2.0817306e+00 1.08e-03 1.94e-04 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 87 2.0816723e+00 1.67e-06 1.94e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 88 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 89 2.0805516e+00 7.07e-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 90 2.0805472e+00 5.15e-08 1.81e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 91 2.0805365e+00 9.76e-07 8.28e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 92 2.0805365e+00 9.27e-11 2.03e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 93 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 94 2.0817309e+00 1.08e-03 1.94e-04 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 95 2.0816725e+00 1.68e-06 1.94e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 97 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 98 2.0805472e+00 5.16e-08 1.81e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 9.76e-07 8.29e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805365e+00 9.28e-11 2.03e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595553901e+00 2.0805364595553901e+00 Dual infeasibility......: 2.0278321762371895e-09 2.0278321762371895e-09 Constraint violation....: 9.2833296605476789e-11 9.2833296605476789e-11 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.1489642384505653e-10 9.1489642384505653e-10 Overall NLP error.......: 9.9999090910235221e-05 9.9999090910235221e-05 Number of objective function evaluations = 110 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 110 Number of inequality constraint evaluations = 110 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 31.727 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 2.6235537e+00 2.84e+00 1.81e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.3699314e+00 5.22e+00 1.11e+01 -1.1 8.54e+01 -4.0 9.72e-01 1.00e+00h 1 2 2.2178096e+00 4.45e-01 2.24e+00 -1.6 2.98e+01 -4.5 9.29e-01 1.00e+00h 1 3 2.1663227e+00 6.44e-02 6.64e-01 -2.1 1.10e+01 -5.0 1.00e+00 1.00e+00h 1 4 2.1097085e+00 7.37e-02 1.74e-01 -3.0 1.15e+01 -5.4 1.00e+00 1.00e+00h 1 5 2.1017914e+00 3.91e-03 8.51e-02 -2.9 1.88e+01 -5.9 9.98e-01 1.00e+00h 1 6 2.0891398e+00 3.23e-02 2.88e-02 -3.4 4.09e+01 -6.4 9.97e-01 1.00e+00h 1 7 2.0904751e+00 7.97e-03 7.73e-02 -2.9 5.09e+01 -6.9 1.00e+00 8.34e-01H 1 8 2.0779227e+00 7.81e-02 1.73e-02 -4.0 5.15e+01 -7.3 1.00e+00 9.85e-01h 1 9 2.0775548e+00 1.41e-02 1.61e-02 -4.0 1.17e+02 -7.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0777792e+00 2.14e-02 2.60e-02 -3.8 2.04e+02 -8.3 1.00e+00 1.00e+00h 1 11 2.0766477e+00 1.83e-02 2.21e-02 -3.9 3.43e+02 -8.8 1.00e+00 1.00e+00h 1 12 2.0761202e+00 1.41e-03 1.95e-02 -3.9 2.77e+02 -9.2 1.00e+00 9.71e-01h 1 13 2.0758022e+00 5.22e-03 3.48e-03 -4.0 1.02e+02 -9.7 1.00e+00 1.00e+00h 1 14 2.0757713e+00 2.49e-05 4.67e-05 -4.0 1.90e+01 -10.2 1.00e+00 1.00e+00h 1 15 2.0757705e+00 1.47e-08 1.98e-06 -4.0 1.55e+01 -10.7 1.00e+00 1.00e+00h 1 16 2.0757704e+00 8.50e-10 3.77e-07 -4.0 7.68e+00 -11.2 1.00e+00 1.00e+00h 1 17 2.0757704e+00 3.32e-11 1.99e-08 -4.0 2.15e+00 -11.6 1.00e+00 1.00e+00h 1 18 2.0757704e+00 3.40e-13 2.46e-10 -4.0 2.61e-01 -12.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 18 (scaled) (unscaled) Objective...............: 2.0757703960716190e+00 2.0757703960716190e+00 Dual infeasibility......: 2.4638746091661980e-10 2.4638746091661980e-10 Constraint violation....: 3.3951530822862175e-13 3.3951530822862175e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000018e-04 1.0000000000000018e-04 Overall NLP error.......: 2.4638746091661980e-10 2.4638746091661980e-10 Number of objective function evaluations = 20 Number of objective gradient evaluations = 19 Number of equality constraint evaluations = 20 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 19 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 18 Total seconds in IPOPT = 22.691 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 194 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 27 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.4182078e+00 6.99e-01 1.02e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.0096153e+00 5.10e-01 4.78e+00 -0.7 8.94e+00 -4.0 5.28e-01 4.57e-01h 1 2 2.6302490e+00 1.51e-01 4.02e+00 -0.8 1.54e+00 -0.9 9.48e-01 1.00e+00f 1 3 2.5964548e+00 5.02e-02 2.21e+00 -0.5 5.85e-01 -0.4 6.00e-01 1.00e+00f 1 4 2.0535851e+00 2.42e-02 3.49e-01 -1.2 3.38e-01 -0.9 9.62e-01 1.00e+00f 1 5 1.1660535e+00 6.85e-03 2.22e-01 -2.3 2.06e-01 -1.4 9.85e-01 1.00e+00f 1 6 1.1095828e+00 2.20e-05 2.11e-01 -3.1 1.77e+00 - 1.00e+00 1.00e+00h 1 7 1.0926659e+00 1.15e-06 1.23e-01 -4.0 2.94e+00 - 1.00e+00 9.47e-01f 1 8 1.0908161e+00 6.15e-11 9.27e-02 -4.0 3.04e+00 - 1.00e+00 1.00e+00h 1 9 1.0909001e+00 2.21e-18 1.43e-04 -4.0 1.20e-01 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0907199e+00 1.83e-23 6.49e-05 -4.1 1.60e-03 - 1.00e+00 1.00e+00f 1 11 1.0908997e+00 8.25e-28 5.19e-09 -4.0 8.99e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 11 (scaled) (unscaled) Objective...............: 1.0908997336651713e+00 1.0908997336651713e+00 Dual infeasibility......: 5.1937239620809469e-09 5.1937239620809469e-09 Constraint violation....: 8.2486369474589592e-28 8.2486369474589592e-28 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000733783783855e-04 1.0000733783783855e-04 Overall NLP error.......: 7.3378378385438245e-09 7.3378378385438245e-09 Number of objective function evaluations = 12 Number of objective gradient evaluations = 12 Number of equality constraint evaluations = 12 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 12 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 11 Total seconds in IPOPT = 21.316 EXIT: Optimal Solution Found. Difference in Hessian Difference in Jacobian Test Summary: | Pass Total Time Package | 202 202 17m56.4s Testing DirectTrajOpt tests passed Testing completed after 1147.12s PkgEval succeeded after 1987.89s