Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.1687 (b1350e5378*) started at 2026-02-05T23:17:40.456 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 11.5s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Updating `~/.julia/environments/v1.14/Project.toml` [c823fa1f] + DirectTrajOpt v0.8.1 Updating `~/.julia/environments/v1.14/Manifest.toml` [47edcb42] + ADTypes v1.21.0 ⌃ [c29ec348] + AbstractDifferentiation v0.4.4 [7d9f7c33] + Accessors v0.1.43 [79e6a3ab] + Adapt v4.4.0 [4fba245c] + ArrayInterface v7.22.0 [4c555306] + ArrayLayouts v1.12.2 [6e4b80f9] + BenchmarkTools v1.6.3 [62783981] + BitTwiddlingConvenienceFunctions v0.1.6 [70df07ce] + BracketingNonlinearSolve v1.6.2 [2a0fbf3d] + CPUSummary v0.2.7 [d360d2e6] + ChainRulesCore v1.26.0 [0b6fb165] + ChunkCodecCore v1.0.1 [4c0bbee4] + ChunkCodecLibZlib v1.0.0 [55437552] + ChunkCodecLibZstd v1.0.0 [fb6a15b2] + CloseOpenIntervals v0.1.13 [523fee87] + CodecBzip2 v0.8.5 [944b1d66] + CodecZlib v0.7.8 [38540f10] + CommonSolve v0.2.6 [bbf7d656] + CommonSubexpressions v0.3.1 [f70d9fcc] + CommonWorldInvalidations v1.0.0 [34da2185] + Compat v4.18.1 [a33af91c] + CompositionsBase v0.1.2 [95dc2771] + ComputePipeline v0.1.6 [2569d6c7] + ConcreteStructs v0.2.3 [187b0558] + ConstructionBase v1.6.0 [adafc99b] + CpuId v0.3.1 [864edb3b] + DataStructures v0.19.3 [2b5f629d] + DiffEqBase v6.200.0 [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 v3.4.2 [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 6.02s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling packages... 30649.5 ms ✓ DirectTrajOpt 1 dependency successfully precompiled in 34 seconds. 224 already precompiled. Precompilation completed after 55.38s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_1u2xJr/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_1u2xJr/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 v3.4.2 [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 2.4794708e+00 2.89e+00 6.83e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9801697e+00 1.38e-01 5.02e+00 -0.9 1.86e+00 0.0 6.25e-01 1.00e+00f 1 2 2.5472307e+00 6.23e-02 2.13e+00 -0.6 2.88e-01 0.4 1.00e+00 7.34e-01h 1 3 2.4009626e+00 3.53e-02 1.15e+00 -4.0 2.12e-01 -0.1 6.85e-01 4.60e-01h 1 4 2.1555190e+00 7.60e-03 7.60e-01 -2.0 1.41e-01 0.4 1.00e+00 7.80e-01h 1 5 2.1132120e+00 1.81e-03 3.88e-01 -2.9 1.42e-01 -0.1 9.99e-01 1.00e+00h 1 6 2.1086912e+00 6.97e-05 5.58e-01 -4.0 4.74e-02 -0.6 1.00e+00 1.00e+00h 1 7 2.0921158e+00 4.46e-05 3.14e-02 -4.0 1.34e-02 -1.1 1.00e+00 4.22e-01f 1 8 2.0908537e+00 8.28e-07 3.16e-03 -4.0 1.98e-03 -1.5 1.00e+00 1.00e+00h 1 9 2.0908484e+00 2.43e-09 4.12e-05 -4.0 4.23e-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 2.0908478e+00 3.37e-11 2.06e-05 -4.0 6.33e-03 -2.5 1.00e+00 1.00e+00h 1 11 2.0908460e+00 1.37e-10 2.06e-05 -4.0 1.90e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0908404e+00 1.23e-09 2.06e-05 -4.0 5.70e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908235e+00 1.11e-08 2.06e-05 -4.0 1.71e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0907731e+00 9.99e-08 2.06e-05 -4.0 5.12e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0906221e+00 9.01e-07 2.05e-05 -4.0 1.54e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0901701e+00 8.16e-06 3.62e-05 -4.0 4.59e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0888255e+00 7.48e-05 3.23e-04 -4.0 1.37e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0848975e+00 7.09e-04 2.95e-03 -4.0 3.99e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0796336e+00 2.04e-03 1.87e-01 -4.0 1.03e+02 -6.8 1.00e+00 5.12e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0801345e+00 5.24e-04 1.81e-01 -4.0 6.64e+01 -7.3 1.00e+00 9.62e-01H 1 21 2.0774097e+00 8.46e-03 1.67e-02 -4.0 1.25e+02 -7.7 1.00e+00 9.54e-01h 1 22 2.0769640e+00 1.57e-03 7.18e-02 -4.0 2.07e+02 -8.2 1.00e+00 1.00e+00h 1 23 2.0760879e+00 3.51e-03 2.02e-02 -4.0 3.52e+02 -8.7 1.00e+00 9.04e-01h 1 24 2.0755222e+00 1.54e-03 3.34e-02 -4.0 4.88e+02 -9.2 1.00e+00 6.94e-01h 1 25 2.0757391e+00 2.58e-03 9.80e-03 -4.0 1.36e+02 -9.6 1.00e+00 1.00e+00h 1 26 2.0753675e+00 1.07e-03 3.56e-04 -4.1 6.78e+01 -10.1 1.00e+00 1.00e+00h 1 27 2.0756724e+00 4.56e-04 6.01e-06 -4.0 2.00e+01 -10.6 1.00e+00 1.00e+00h 1 28 2.0756712e+00 5.59e-07 8.25e-07 -4.0 1.03e+01 -11.1 1.00e+00 1.00e+00h 1 29 2.0756712e+00 1.42e-09 5.28e-08 -4.0 3.53e+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 1.95e-11 7.88e-10 -4.0 4.99e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 2.0756712121249441e+00 2.0756712121249441e+00 Dual infeasibility......: 7.8816804249598124e-10 7.8816804249598124e-10 Constraint violation....: 1.9543811013988943e-11 1.9543811013988943e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000060e-04 1.0000000000000060e-04 Overall NLP error.......: 7.8816804249598124e-10 7.8816804249598124e-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 = 72.905 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 4.6193611e+00 1.84e+00 4.92e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6553035e+00 7.47e-02 1.73e+00 -1.0 1.80e+00 0.0 1.00e+00 9.60e-01f 1 2 2.3641782e+00 1.77e-02 6.03e-01 -1.5 2.28e-01 -0.5 9.97e-01 1.00e+00h 1 3 2.1687892e+00 3.08e-03 6.85e-02 -2.5 6.79e-02 -1.0 9.95e-01 1.00e+00h 1 4 2.0965794e+00 8.63e-04 2.50e-02 -3.7 6.86e-02 -1.4 9.98e-01 8.94e-01h 1 5 2.0919444e+00 8.21e-04 8.10e-01 -4.0 7.19e-01 -1.9 1.00e+00 3.91e-01h 1 6 2.0913134e+00 1.10e-04 9.27e-03 -4.0 6.09e-01 -2.4 1.00e+00 1.00e+00h 1 7 2.0908362e+00 4.50e-06 1.37e-02 -4.0 3.71e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908854e+00 1.15e-06 1.19e-04 -4.0 4.54e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908722e+00 3.25e-08 2.06e-05 -4.0 1.35e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908323e+00 6.19e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907129e+00 5.59e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903554e+00 5.05e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892899e+00 4.61e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861581e+00 4.33e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796228e+00 2.50e-03 8.65e-02 -4.0 8.72e+01 -6.7 1.00e+00 7.58e-01h 1 16 2.0812725e+00 1.54e-04 1.92e-01 -4.0 6.72e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778348e+00 5.76e-03 2.68e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781688e+00 1.59e-02 3.76e-02 -3.7 1.50e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767322e+00 1.29e-02 1.84e-02 -3.8 2.83e+02 -8.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0757864e+00 2.26e-04 2.15e-02 -3.9 4.14e+02 -9.1 1.00e+00 9.95e-01H 1 21 2.0757818e+00 6.12e-03 9.59e-03 -4.0 1.44e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756783e+00 3.44e-04 4.23e-04 -4.0 6.22e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 1.45e-06 7.41e-06 -4.0 2.08e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756713e+00 5.55e-08 1.34e-06 -4.0 1.46e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756713e+00 3.77e-09 1.59e-07 -4.0 6.05e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756713e+00 9.69e-11 3.79e-09 -4.0 1.11e+00 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712528785224e+00 2.0756712528785224e+00 Dual infeasibility......: 3.7866771264015876e-09 3.7866771264015876e-09 Constraint violation....: 9.6892383005808824e-11 9.6892383005808824e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000028e-04 1.0000000000000028e-04 Overall NLP error.......: 3.7866771264015876e-09 3.7866771264015876e-09 Number of objective function evaluations = 29 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 29 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 26 Total seconds in IPOPT = 25.407 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: equality constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.4998527e+00 1.96e+00 6.10e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.3004208e+00 4.30e-01 7.86e+00 -1.5 1.80e+00 0.0 8.68e-02 7.85e-01h 1 2 2.2540250e+00 2.81e-01 5.58e+00 -0.9 8.26e-01 0.4 8.29e-01 3.44e-01f 1 3 2.5718625e+00 3.53e-02 7.69e+00 -0.8 8.13e-01 -0.1 6.62e-01 1.00e+00f 1 4 2.4423632e+00 2.81e-02 2.30e+00 -1.0 2.54e-01 0.4 9.96e-01 5.54e-01h 1 5 2.3202025e+00 7.34e-03 9.86e-01 -1.5 1.34e-01 -0.1 9.87e-01 8.57e-01h 1 6 2.2139391e+00 4.06e-03 8.81e-02 -2.0 9.63e-02 -0.6 1.00e+00 9.53e-01h 1 7 2.1014986e+00 4.38e-04 1.22e-02 -3.3 4.06e-02 -1.1 9.97e-01 1.00e+00h 1 8 2.0908622e+00 2.19e-05 2.94e-04 -4.0 1.10e-02 -1.5 1.00e+00 1.00e+00h 1 9 2.0909175e+00 5.24e-08 3.56e-05 -4.0 3.01e-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 2.0909168e+00 4.09e-11 2.06e-05 -4.0 6.33e-03 -2.5 1.00e+00 1.00e+00h 1 11 2.0909150e+00 1.36e-10 2.06e-05 -4.0 1.90e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0909094e+00 1.22e-09 2.06e-05 -4.0 5.70e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908925e+00 1.10e-08 2.06e-05 -4.0 1.71e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0908421e+00 9.91e-08 2.06e-05 -4.0 5.13e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0906910e+00 8.94e-07 2.06e-05 -4.0 1.54e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0902388e+00 8.10e-06 3.62e-05 -4.0 4.60e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0888937e+00 7.42e-05 3.22e-04 -4.0 1.37e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0849635e+00 7.03e-04 2.93e-03 -4.0 3.99e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0796308e+00 2.08e-03 1.86e-01 -4.0 1.04e+02 -6.8 1.00e+00 5.17e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0801893e+00 1.84e-04 1.72e-01 -4.0 6.59e+01 -7.3 1.00e+00 9.89e-01H 1 21 2.0773756e+00 8.32e-03 2.22e-02 -4.0 1.26e+02 -7.7 1.00e+00 9.61e-01h 1 22 2.0770760e+00 1.92e-03 6.23e-02 -4.0 2.10e+02 -8.2 1.00e+00 1.00e+00h 1 23 2.0760798e+00 4.26e-03 2.07e-02 -4.0 3.51e+02 -8.7 1.00e+00 9.03e-01h 1 24 2.0768569e+00 3.21e-02 2.69e-02 -3.7 3.05e+02 -9.2 1.00e+00 1.00e+00h 1 25 2.0764534e+00 8.82e-03 4.75e-03 -3.8 1.17e+02 -9.6 1.00e+00 1.00e+00h 1 26 2.0764313e+00 1.69e-04 1.08e-04 -3.8 2.58e+01 -10.1 1.00e+00 1.00e+00h 1 27 2.0756777e+00 1.75e-03 5.89e-06 -4.0 3.11e+01 -10.6 1.00e+00 1.00e+00h 1 28 2.0756712e+00 6.38e-06 1.40e-06 -4.0 2.16e+01 -11.1 1.00e+00 1.00e+00h 1 29 2.0756712e+00 3.62e-09 1.49e-07 -4.0 4.88e+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 4.46e-11 1.65e-09 -4.0 6.60e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 2.0756712121480363e+00 2.0756712121480363e+00 Dual infeasibility......: 1.6493363087235428e-09 1.6493363087235428e-09 Constraint violation....: 4.4555248379651857e-11 4.4555248379651857e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000010e-04 1.0000000000000010e-04 Overall NLP error.......: 1.6493363087235428e-09 1.6493363087235428e-09 Number of objective function evaluations = 32 Number of objective gradient evaluations = 31 Number of equality constraint evaluations = 32 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 31 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 30 Total seconds in IPOPT = 40.345 EXIT: Optimal Solution Found. [test_integrator] Starting... [test_integrator] constraint_dim=8, datavec_len=75, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.5708539e+00 3.13e+00 4.65e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.5570452e+00 6.15e-02 2.00e+00 -1.0 1.97e+00 0.0 9.63e-01 1.00e+00f 1 Hello, world! 2 2.5342871e+00 2.10e-02 4.68e-01 -1.2 2.12e-01 -0.5 9.95e-01 1.00e+00h 1 Hello, world! 3 2.2522446e+00 4.64e-03 7.14e-02 -2.0 8.46e-02 -1.0 9.75e-01 1.00e+00h 1 Hello, world! 4 2.0988398e+00 9.41e-04 9.51e-03 -3.2 4.53e-02 -1.4 9.99e-01 9.70e-01h 1 Hello, world! 5 2.0910104e+00 1.83e-05 3.27e-03 -4.0 8.43e-03 -1.9 1.00e+00 1.00e+00h 1 Hello, world! 6 2.0909529e+00 8.78e-08 3.84e-05 -4.0 6.36e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0909503e+00 1.02e-09 2.60e-05 -4.0 1.89e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0909431e+00 1.48e-09 2.56e-05 -4.0 5.61e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909229e+00 1.23e-08 3.11e-05 -4.0 1.61e-01 -3.8 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 2.0908773e+00 8.31e-08 2.47e-04 -4.0 4.12e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908031e+00 3.30e-07 1.70e-03 -4.0 9.23e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0906234e+00 2.30e-06 1.42e-03 -4.0 2.68e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0901081e+00 2.21e-05 5.96e-04 -4.0 8.16e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0898426e+00 3.54e-06 1.69e-03 -4.0 3.05e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0891433e+00 2.22e-05 7.04e-03 -4.0 9.75e+00 -5.8 1.00e+00 7.87e-01h 1 Hello, world! 16 2.0877009e+00 2.52e-04 3.13e-02 -4.0 2.62e+01 -6.3 1.00e+00 1.00e+00f 1 Hello, world! 17 2.0864824e+00 2.49e-04 2.10e-01 -4.0 4.73e+01 -5.8 1.00e+00 1.96e-01h 1 Hello, world! 18 2.0850515e+00 1.97e-04 2.42e-02 -4.0 2.26e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0829418e+00 2.06e-04 2.52e-02 -4.0 3.61e+01 -6.8 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 20 2.0827927e+00 4.53e-04 1.50e-02 -4.0 5.29e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0823258e+00 6.38e-04 8.43e-03 -4.0 1.24e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.1998579e+00 7.45e-05 3.40e+00 -4.0 7.21e+02 -8.2 6.12e-02 1.00e+00H 1 Hello, world! 23 2.0849778e+00 1.16e-05 5.00e-01 -4.1 7.73e-02 -0.4 1.00e+00 8.44e-01f 1 Hello, world! 24 2.0854548e+00 1.14e-05 2.88e+00 -4.0 6.57e-02 -0.8 1.00e+00 1.56e-02f 7 Hello, world! 25 2.0854859e+00 2.71e-07 1.15e-03 -3.9 2.41e-02 -1.3 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0850278e+00 6.71e-08 9.30e-04 -4.0 5.85e-02 -1.8 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0848793e+00 3.41e-07 4.45e-04 -4.0 8.42e-02 -2.3 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0849105e+00 5.63e-08 1.79e-05 -4.0 1.02e-02 -2.8 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0849058e+00 3.66e-08 9.58e-06 -4.0 1.63e-02 -3.2 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 2.0849022e+00 3.72e-09 9.58e-06 -4.0 4.90e-02 -3.7 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0848918e+00 2.35e-08 9.54e-06 -4.0 1.46e-01 -4.2 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0848617e+00 2.02e-07 1.08e-05 -4.0 4.35e-01 -4.7 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0847809e+00 1.58e-06 8.24e-05 -4.0 1.27e+00 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0846037e+00 9.31e-06 4.51e-04 -4.0 3.52e+00 -5.6 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0843341e+00 2.51e-05 1.25e-03 -4.0 9.36e+00 -6.1 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0838965e+00 5.46e-05 2.65e-03 -4.0 2.43e+01 -6.6 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0831323e+00 3.47e-04 1.26e-02 -4.0 5.87e+01 -7.0 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0822685e+00 1.29e-03 3.42e-02 -4.0 1.16e+02 -7.5 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0817939e+00 2.48e-03 4.23e-02 -4.0 1.92e+02 -8.0 5.27e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.1115491e+00 2.35e-03 5.22e-01 -4.0 7.31e+02 -7.6 1.24e-02 2.32e-01h 2 Hello, world! 41 2.1095980e+00 2.35e-03 5.67e-01 -4.1 2.60e+01 -3.5 5.70e-03 3.41e-03h 1 Hello, world! 42 2.0848863e+00 9.24e-04 1.36e+00 -4.1 2.22e-01 -1.3 7.51e-01 6.07e-01f 1 Hello, world! 43 2.0831157e+00 5.41e-04 3.12e+00 -4.1 6.22e-02 -1.8 1.00e+00 4.15e-01f 1 Hello, world! 44 2.0820299e+00 1.84e-04 1.40e+00 -4.1 1.68e-01 -2.3 1.00e+00 6.60e-01f 1 Hello, world! 45 2.0818437e+00 8.31e-05 8.79e-01 -4.2 1.52e-01 -2.7 1.00e+00 5.49e-01h 1 Hello, world! 46 2.0820796e+00 2.19e-06 7.63e-04 -4.0 3.32e-02 -3.2 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0820335e+00 8.65e-07 1.36e-05 -4.0 4.07e-02 -3.7 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0820394e+00 4.84e-08 8.03e-06 -4.0 1.18e-01 -4.2 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0820548e+00 3.88e-07 2.36e-05 -4.0 3.25e-01 -4.6 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0819364e+00 7.26e-06 2.98e-04 -4.1 5.12e-01 -5.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0819363949747776e+00 2.0819363949747776e+00 Dual infeasibility......: 2.9775625523289421e-04 2.9775625523289421e-04 Constraint violation....: 7.2649178244343915e-06 7.2649178244343915e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.0967642355176143e-05 8.0967642355176143e-05 Overall NLP error.......: 2.9775625523289421e-04 2.9775625523289421e-04 Number of objective function evaluations = 61 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 61 Number of inequality constraint evaluations = 61 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 27.862 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.5708539e+00 3.13e+00 4.65e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.5570452e+00 6.15e-02 2.00e+00 -1.0 1.97e+00 0.0 9.63e-01 1.00e+00f 1 Hello, world! 2 2.5342871e+00 2.10e-02 4.68e-01 -1.2 2.12e-01 -0.5 9.95e-01 1.00e+00h 1 Hello, world! 3 2.2522446e+00 4.64e-03 7.14e-02 -2.0 8.46e-02 -1.0 9.75e-01 1.00e+00h 1 Hello, world! 4 2.0988398e+00 9.41e-04 9.51e-03 -3.2 4.53e-02 -1.4 9.99e-01 9.70e-01h 1 Hello, world! 5 2.0910104e+00 1.83e-05 3.27e-03 -4.0 8.43e-03 -1.9 1.00e+00 1.00e+00h 1 Hello, world! 6 2.0909529e+00 8.78e-08 3.84e-05 -4.0 6.36e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0909503e+00 1.02e-09 2.60e-05 -4.0 1.89e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0909431e+00 1.48e-09 2.56e-05 -4.0 5.61e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909229e+00 1.23e-08 3.11e-05 -4.0 1.61e-01 -3.8 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 2.0908773e+00 8.31e-08 2.47e-04 -4.0 4.12e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908031e+00 3.30e-07 1.70e-03 -4.0 9.23e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0906234e+00 2.30e-06 1.42e-03 -4.0 2.68e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0901081e+00 2.21e-05 5.96e-04 -4.0 8.16e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0898426e+00 3.54e-06 1.69e-03 -4.0 3.05e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0891433e+00 2.22e-05 7.04e-03 -4.0 9.75e+00 -5.8 1.00e+00 7.87e-01h 1 Hello, world! 16 2.0877009e+00 2.52e-04 3.13e-02 -4.0 2.62e+01 -6.3 1.00e+00 1.00e+00f 1 Hello, world! 17 2.0864824e+00 2.49e-04 2.10e-01 -4.0 4.73e+01 -5.8 1.00e+00 1.96e-01h 1 Hello, world! 18 2.0850515e+00 1.97e-04 2.42e-02 -4.0 2.26e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0829418e+00 2.06e-04 2.52e-02 -4.0 3.61e+01 -6.8 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 20 2.0827927e+00 4.53e-04 1.50e-02 -4.0 5.29e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0823258e+00 6.38e-04 8.43e-03 -4.0 1.24e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.1998579e+00 7.45e-05 3.40e+00 -4.0 7.21e+02 -8.2 6.12e-02 1.00e+00H 1 Hello, world! 23 2.0849778e+00 1.16e-05 5.00e-01 -4.1 7.73e-02 -0.4 1.00e+00 8.44e-01f 1 Hello, world! 24 2.0854548e+00 1.14e-05 2.88e+00 -4.0 6.57e-02 -0.8 1.00e+00 1.56e-02f 7 Hello, world! 25 2.0854859e+00 2.71e-07 1.15e-03 -3.9 2.41e-02 -1.3 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0850278e+00 6.71e-08 9.30e-04 -4.0 5.85e-02 -1.8 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0848793e+00 3.41e-07 4.45e-04 -4.0 8.42e-02 -2.3 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0849105e+00 5.63e-08 1.79e-05 -4.0 1.02e-02 -2.8 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0849058e+00 3.66e-08 9.58e-06 -4.0 1.63e-02 -3.2 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 2.0849022e+00 3.72e-09 9.58e-06 -4.0 4.90e-02 -3.7 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0848918e+00 2.35e-08 9.54e-06 -4.0 1.46e-01 -4.2 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0848617e+00 2.02e-07 1.08e-05 -4.0 4.35e-01 -4.7 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0847809e+00 1.58e-06 8.24e-05 -4.0 1.27e+00 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0846037e+00 9.31e-06 4.51e-04 -4.0 3.52e+00 -5.6 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0843341e+00 2.51e-05 1.25e-03 -4.0 9.36e+00 -6.1 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0838965e+00 5.46e-05 2.65e-03 -4.0 2.43e+01 -6.6 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0831323e+00 3.47e-04 1.26e-02 -4.0 5.87e+01 -7.0 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0822685e+00 1.29e-03 3.42e-02 -4.0 1.16e+02 -7.5 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0817939e+00 2.48e-03 4.23e-02 -4.0 1.92e+02 -8.0 5.27e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.1115491e+00 2.35e-03 5.22e-01 -4.0 7.31e+02 -7.6 1.24e-02 2.32e-01h 2 Hello, world! 41 2.1095980e+00 2.35e-03 5.67e-01 -4.1 2.60e+01 -3.5 5.70e-03 3.41e-03h 1 Hello, world! 42 2.0848863e+00 9.24e-04 1.36e+00 -4.1 2.22e-01 -1.3 7.51e-01 6.07e-01f 1 Hello, world! 43 2.0831157e+00 5.41e-04 3.12e+00 -4.1 6.22e-02 -1.8 1.00e+00 4.15e-01f 1 Hello, world! 44 2.0820299e+00 1.84e-04 1.40e+00 -4.1 1.68e-01 -2.3 1.00e+00 6.60e-01f 1 Hello, world! 45 2.0818437e+00 8.31e-05 8.79e-01 -4.2 1.52e-01 -2.7 1.00e+00 5.49e-01h 1 Hello, world! 46 2.0820796e+00 2.19e-06 7.63e-04 -4.0 3.32e-02 -3.2 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0820335e+00 8.65e-07 1.36e-05 -4.0 4.07e-02 -3.7 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0820394e+00 4.84e-08 8.03e-06 -4.0 1.18e-01 -4.2 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0820548e+00 3.88e-07 2.36e-05 -4.0 3.25e-01 -4.6 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0819364e+00 7.26e-06 2.98e-04 -4.1 5.12e-01 -5.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0819363949747776e+00 2.0819363949747776e+00 Dual infeasibility......: 2.9775625523289421e-04 2.9775625523289421e-04 Constraint violation....: 7.2649178244343915e-06 7.2649178244343915e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.0967642355176143e-05 8.0967642355176143e-05 Overall NLP error.......: 2.9775625523289421e-04 2.9775625523289421e-04 Number of objective function evaluations = 61 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 61 Number of inequality constraint evaluations = 61 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 1.121 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... applying constraint: duration constraint of 4.0 applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1529 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 73 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.2121970e+00 3.10e+00 9.08e-02 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8274461e+00 1.51e+00 4.25e+00 -0.8 7.36e+00 -2.0 1.84e-01 5.60e-01h 1 2 1.8404131e+00 8.54e-01 4.60e+01 -0.1 5.12e+00 0.2 3.96e-02 3.74e-01h 1 3 1.8172329e+00 8.01e-01 8.38e+01 0.1 2.54e+00 0.7 9.61e-01 6.23e-02f 1 4 1.8741789e+00 3.24e-01 2.77e+01 0.5 2.62e+00 0.2 6.28e-01 7.37e-01h 1 5 2.0239380e+00 1.31e-01 1.56e+01 0.2 1.16e+00 0.6 7.58e-01 1.00e+00f 1 6 2.0191790e+00 3.88e-03 3.22e+00 -0.6 2.91e-01 0.1 9.70e-01 1.00e+00h 1 7 1.9038148e+00 1.03e-03 1.59e-01 -1.4 1.68e-01 -0.3 9.69e-01 1.00e+00f 1 8 1.5975034e+00 3.92e-03 2.75e-01 -2.3 2.60e-01 -0.8 6.41e-01 1.00e+00f 1 9 1.3687875e+00 4.89e-03 3.01e-02 -2.1 5.47e-01 -1.3 9.94e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.2927796e+00 2.34e-02 3.21e-02 -2.4 4.13e-01 -1.8 7.88e-01 8.76e-01h 1 11 1.2143410e+00 1.53e-01 2.56e-02 -2.9 8.06e-01 -2.3 9.43e-01 1.00e+00h 1 12 1.2193895e+00 3.33e-02 1.13e-02 -3.2 5.69e-01 -1.8 9.10e-01 1.00e+00h 1 13 1.2017569e+00 2.51e-02 1.88e-02 -3.8 5.92e-01 -2.3 9.88e-01 1.00e+00h 1 14 1.1934862e+00 3.79e-02 1.05e-02 -4.0 1.32e+00 -2.8 1.00e+00 1.00e+00h 1 15 1.1879107e+00 4.07e-02 1.73e-02 -4.0 2.09e+00 -3.3 1.00e+00 8.17e-01h 1 16 1.1808877e+00 8.26e-02 1.56e-02 -4.0 2.64e+00 -3.7 1.00e+00 1.00e+00h 1 17 1.1764405e+00 8.59e-02 1.62e-02 -4.0 4.37e+00 -4.2 1.00e+00 1.00e+00h 1 18 1.1726178e+00 1.15e-01 1.05e-02 -4.0 6.54e+00 -4.7 1.00e+00 1.00e+00h 1 19 1.1698060e+00 1.32e-01 9.97e-03 -4.0 1.00e+01 -5.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.1674144e+00 1.67e-01 5.17e-03 -4.0 1.53e+01 -5.6 1.00e+00 1.00e+00h 1 21 1.1655883e+00 1.99e-01 2.34e-03 -4.0 2.33e+01 -6.1 1.00e+00 1.00e+00h 1 22 1.1640844e+00 2.45e-01 2.92e-03 -4.0 3.54e+01 -6.6 1.00e+00 1.00e+00h 1 23 1.1629168e+00 2.92e-01 7.68e-03 -4.0 5.32e+01 -7.1 1.00e+00 1.00e+00h 1 24 1.1619801e+00 3.49e-01 1.40e-02 -4.0 7.92e+01 -7.6 1.00e+00 1.00e+00h 1 25 1.1612677e+00 4.03e-01 1.97e-02 -4.0 1.16e+02 -8.0 1.00e+00 1.00e+00h 1 26 1.1607468e+00 4.43e-01 2.45e-02 -4.0 1.63e+02 -8.5 1.00e+00 1.00e+00h 1 27 1.1604853e+00 4.05e-01 2.13e-02 -4.0 2.08e+02 -9.0 1.00e+00 1.00e+00h 1 28 1.1606924e+00 1.22e-01 6.16e-04 -4.0 1.57e+02 -9.5 1.00e+00 1.00e+00h 1 29 1.1608550e+00 3.05e-03 9.84e-04 -4.0 1.56e+01 -9.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.1608490e+00 3.67e-04 4.41e-05 -4.0 7.92e+00 -10.4 1.00e+00 1.00e+00h 1 31 1.1608491e+00 2.84e-07 3.15e-09 -4.0 2.42e-01 -10.9 1.00e+00 1.00e+00h 1 32 1.1608491e+00 3.29e-12 3.43e-13 -4.0 7.52e-04 -11.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 32 (scaled) (unscaled) Objective...............: 1.1608491307796962e+00 1.1608491307796962e+00 Dual infeasibility......: 3.4303292086208803e-13 3.4303292086208803e-13 Constraint violation....: 3.2915892234086641e-12 3.2915892234086641e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000440e-04 1.0000000000000440e-04 Overall NLP error.......: 3.2915892234086641e-12 3.2915892234086641e-12 Number of objective function evaluations = 33 Number of objective gradient evaluations = 33 Number of equality constraint evaluations = 33 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 33 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 32 Total seconds in IPOPT = 27.733 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 2.1265495e+00 1.00e+00 1.02e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5227376e+00 1.17e-01 1.52e+00 -1.0 7.76e-01 0.0 9.90e-01 1.00e+00h 1 2 1.4874145e+00 4.29e-02 5.99e-01 -0.8 3.66e-01 -0.5 1.00e+00 5.57e-01h 1 3 1.4122686e+00 1.12e-01 1.11e+00 -1.4 2.92e+00 - 8.63e-01 1.00e+00f 1 4 1.1330144e+00 4.35e-02 6.68e-01 -1.7 3.41e-01 -1.0 9.99e-01 6.28e-01h 1 5 1.1621369e+00 1.70e-02 1.18e-01 -2.2 4.70e-01 -1.4 1.00e+00 5.55e-01h 1 6 1.1050003e+00 2.56e-03 1.88e-01 -3.3 4.12e+00 - 1.00e+00 9.89e-01h 1 7 1.0913673e+00 1.15e-05 1.15e-01 -4.0 2.53e+00 - 1.00e+00 1.00e+00h 1 8 1.0910142e+00 1.49e-08 1.13e-03 -4.0 3.24e-01 - 1.00e+00 1.00e+00h 1 9 1.0910386e+00 3.84e-14 3.31e-05 -4.0 1.11e-02 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0910386e+00 8.88e-16 3.81e-11 -4.0 5.04e-05 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 1.0910385779861556e+00 1.0910385779861556e+00 Dual infeasibility......: 3.8089351415753966e-11 3.8089351415753966e-11 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000541e-04 1.0000000000000541e-04 Overall NLP error.......: 3.8089351415753966e-11 3.8089351415753966e-11 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 28.676 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 1.2625823e+00 2.62e+00 1.29e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9567854e+00 2.19e-02 5.84e-01 -1.1 2.00e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.2393351e+00 2.76e-02 1.23e-01 -1.7 3.83e-01 -1.6 9.88e-01 9.72e-01f 1 3 2.1412182e+00 4.85e-03 4.57e-01 -3.0 1.44e-01 -1.1 9.44e-01 1.00e+00h 1 4 2.1005168e+00 1.82e-03 1.50e-01 -4.0 1.67e-01 -1.6 1.00e+00 7.21e-01h 1 5 2.0935265e+00 1.08e-03 5.84e-01 -4.0 6.46e-01 -2.1 1.00e+00 5.01e-01h 1 6 2.0908831e+00 1.01e-04 1.06e-01 -4.0 4.79e-01 -2.6 1.00e+00 7.09e-01h 1 7 2.0909923e+00 4.76e-05 4.74e-02 -4.0 3.28e-01 -3.1 1.00e+00 1.00e+00h 1 8 2.0910018e+00 5.33e-07 1.97e-04 -4.0 7.05e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909822e+00 1.07e-07 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 2.0909203e+00 1.47e-07 2.05e-05 -4.0 6.31e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907378e+00 1.29e-06 4.97e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0902175e+00 1.09e-05 4.20e-04 -4.0 5.45e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888725e+00 8.20e-05 3.16e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861805e+00 4.40e-04 1.75e-02 -4.0 3.47e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0831027e+00 9.16e-04 4.72e-02 -4.0 5.32e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828516e+00 9.30e-04 2.28e-02 -4.0 5.44e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823465e+00 3.87e-04 1.02e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820407e+00 9.39e-05 1.86e-02 -4.0 1.46e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.71e-04 8.72e-03 -4.0 9.95e+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 3.71e-05 8.50e-04 -4.0 3.11e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.35e-07 1.39e-05 -4.0 4.46e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.86e-10 3.29e-08 -4.0 2.46e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.54e-13 1.22e-11 -4.0 4.61e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907191049e+00 2.0819382907191049e+00 Dual infeasibility......: 1.2245735892327247e-11 1.2245735892327247e-11 Constraint violation....: 2.5401902803423582e-13 2.5401902803423582e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000022e-04 1.0000000000000022e-04 Overall NLP error.......: 1.2245735892327247e-11 1.2245735892327247e-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 = 28.796 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 5.4350325e+00 3.34e+00 3.91e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8726604e+00 2.67e-02 3.88e-01 -1.0 3.30e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3049062e+00 1.59e-02 4.23e-02 -1.7 2.39e-01 -1.6 9.60e-01 1.00e+00h 1 3 2.1235119e+00 1.87e-03 1.36e-01 -3.5 6.55e-02 -1.1 9.00e-01 9.48e-01h 1 4 2.0943099e+00 3.96e-04 1.32e-01 -3.7 1.05e-01 -1.6 1.00e+00 8.79e-01h 1 5 2.0917165e+00 1.31e-04 7.12e-01 -4.0 4.88e-01 -2.1 1.00e+00 4.04e-01h 1 6 2.0909257e+00 4.02e-05 1.44e-01 -4.0 5.27e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0908886e+00 9.96e-07 4.72e-03 -4.0 2.38e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0908968e+00 5.81e-07 2.02e-05 -4.0 6.91e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908796e+00 1.32e-08 3.40e-05 -4.0 1.92e-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 2.0908402e+00 7.76e-08 2.20e-04 -4.0 5.02e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907417e+00 5.02e-07 6.71e-04 -4.0 1.31e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904600e+00 5.81e-06 5.66e-04 -4.0 4.19e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0903369e+00 8.37e-07 5.71e-04 -4.0 1.54e+00 -5.0 1.00e+00 1.00e+00h 1 14 2.0901986e+00 1.42e-06 1.95e-02 -4.0 6.38e+00 -5.5 1.00e+00 2.14e-01h 2 15 2.0890593e+00 6.09e-05 2.41e-03 -4.0 1.36e+01 -6.0 1.00e+00 1.00e+00h 1 16 2.0874661e+00 1.51e-04 5.70e-02 -4.0 3.75e+01 -6.4 1.00e+00 5.02e-01h 1 17 2.0837256e+00 1.60e-03 5.55e-02 -4.0 6.64e+01 -6.9 1.00e+00 1.00e+00h 1 18 2.0827593e+00 4.68e-04 1.29e-02 -4.0 1.17e+01 -6.5 1.00e+00 6.72e-01h 1 19 2.0828188e+00 1.40e-04 8.95e-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 2.0825173e+00 2.92e-04 3.16e-03 -4.0 7.44e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0821295e+00 8.36e-04 8.73e-03 -4.0 1.73e+02 -7.9 6.55e-01 1.00e+00h 1 22 2.0821879e+00 8.54e-04 5.53e-01 -4.0 1.02e+02 -6.6 6.46e-01 7.01e-02h 4 23 2.0816677e+00 3.23e-04 7.49e-02 -4.1 2.07e+01 -7.1 8.61e-01 7.73e-01H 1 24 2.0819786e+00 1.86e-04 6.12e-01 -4.0 1.25e+01 -4.8 1.02e-01 2.00e-01f 1 25 2.0821544e+00 8.39e-04 2.51e-01 -4.0 1.12e+01 -5.3 1.88e-01 2.53e-01h 2 26 2.0816493e+00 3.94e-07 2.34e-03 -4.2 4.80e-02 -1.3 1.00e+00 1.00e+00h 1 27 2.0817758e+00 2.80e-07 7.06e-04 -4.0 3.81e-02 -1.8 1.00e+00 1.00e+00h 1 28 2.0817579e+00 8.71e-09 2.57e-04 -4.0 4.41e-02 -2.2 1.00e+00 1.00e+00h 1 29 2.0817576e+00 9.97e-09 1.13e-04 -4.0 5.90e-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 2.0817592e+00 2.22e-08 2.05e-05 -4.0 3.21e-02 -3.2 1.00e+00 1.00e+00h 1 31 2.0816862e+00 6.56e-07 1.30e-04 -4.1 4.38e-02 -3.7 1.00e+00 1.00e+00h 1 32 2.0812766e+00 1.59e-05 1.37e-01 -6.1 2.13e-01 -4.1 6.55e-01 1.00e+00h 1 33 2.0819548e+00 3.41e-05 2.23e-03 -4.0 3.11e-01 -4.6 1.00e+00 1.00e+00h 1 34 2.0817249e+00 2.11e-05 2.43e-04 -4.1 6.55e-01 -5.1 1.00e+00 1.00e+00h 1 35 2.0811444e+00 1.96e-04 2.71e-03 -6.1 2.39e+00 -5.6 1.00e+00 1.00e+00h 1 36 2.0818298e+00 1.89e-05 3.53e-02 -4.0 7.93e-02 -3.3 1.00e+00 9.19e-01h 1 37 2.0814411e+00 1.15e-05 1.84e-03 -4.1 2.28e-01 -3.8 1.00e+00 1.00e+00f 1 38 2.0816544e+00 1.57e-05 5.45e-04 -4.0 5.07e-01 -4.3 1.00e+00 1.00e+00h 1 39 2.0816502e+00 2.84e-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 2.0816881e+00 1.95e-06 2.32e-04 -4.1 9.93e-01 -5.3 1.00e+00 1.00e+00h 1 41 2.0811011e+00 2.09e-04 1.58e-02 -6.1 2.68e+00 -5.7 9.71e-01 1.00e+00h 1 42 2.0811116e+00 9.43e-05 1.24e-01 -4.8 4.58e-01 -4.4 1.00e+00 5.46e-01h 1 43 2.0813427e+00 8.44e-05 3.47e-01 -4.0 1.84e+00 -4.9 1.00e+00 2.97e-01f 1 44 2.0815745e+00 5.42e-05 9.19e-04 -4.1 1.52e+00 -5.4 1.00e+00 1.00e+00h 1 45 2.0816804e+00 1.45e-05 8.24e-04 -4.1 1.89e+00 -5.8 1.00e+00 1.00e+00h 1 46 2.0817326e+00 5.47e-06 4.15e-04 -4.1 2.49e+00 -6.3 1.00e+00 1.00e+00h 1 47 2.0809125e+00 1.08e-03 5.23e-03 -6.2 1.46e+01 -6.8 9.94e-01 1.00e+00h 1 48 2.0809725e+00 3.91e-04 2.01e-02 -4.9 3.07e+00 -6.4 1.00e+00 6.32e-01h 1 49 2.0812553e+00 3.38e-04 7.54e-02 -4.0 1.81e+01 -6.8 7.07e-01 2.90e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0830749e+00 4.70e-07 1.58e-02 -4.3 2.75e+01 -7.3 1.00e+00 1.00e+00H 1 51 2.0823579e+00 4.01e-07 2.51e+00 -4.3 2.58e-01 -1.5 9.99e-01 2.59e-01h 1 52 2.0820097e+00 3.13e-05 1.45e+00 -4.3 2.38e-01 -1.9 1.00e+00 5.60e-01f 1 53 2.0817360e+00 2.10e-05 2.25e+00 -4.3 6.69e-02 -2.4 4.91e-01 1.00e+00f 1 54 2.0814025e+00 3.94e-06 2.95e-03 -4.3 3.78e-02 -2.9 1.00e+00 9.91e-01h 1 55 2.0818401e+00 2.58e-06 7.62e-04 -4.0 2.90e-02 -3.4 1.00e+00 1.00e+00f 1 56 2.0816750e+00 1.03e-06 1.19e-04 -4.1 4.32e-02 -3.9 1.00e+00 1.00e+00h 1 57 2.0811596e+00 2.80e-05 9.82e-02 -6.1 3.21e-01 -4.3 6.97e-01 1.00e+00h 1 58 2.0819553e+00 4.57e-05 2.06e-03 -4.0 3.98e-01 -4.8 1.00e+00 1.00e+00h 1 59 2.0817386e+00 3.11e-05 2.97e-04 -4.1 9.19e-01 -5.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0811319e+00 1.81e-04 3.66e-02 -6.1 3.79e+00 -5.8 9.07e-01 7.22e-01h 1 61 2.0808924e+00 1.22e-04 7.78e-03 -6.1 4.96e+00 -6.2 1.00e+00 5.77e-01h 1 62 2.0819682e+00 2.52e-03 7.42e-02 -4.0 2.15e+01 -6.7 4.83e-01 1.00e+00f 1 63 2.0813084e+00 7.33e-04 1.94e-02 -4.3 1.16e+01 -7.2 8.21e-01 1.00e+00h 1 64 2.0831799e+00 2.99e-04 1.08e+00 -4.3 6.80e+00 -5.0 2.57e-01 5.91e-01h 1 65 2.0818071e+00 4.44e-04 2.81e-01 -4.3 3.29e+00 -5.4 3.35e-02 1.00e+00f 1 66 2.0816453e+00 2.08e-04 3.96e-01 -4.3 4.12e-02 -1.4 1.00e+00 5.33e-01h 1 67 2.0815119e+00 2.06e-08 1.01e-03 -4.3 1.10e-01 -1.9 1.00e+00 1.00e+00f 1 68 2.0818692e+00 1.18e-06 5.75e-04 -4.0 2.44e-02 -2.4 1.00e+00 1.00e+00h 1 69 2.0817199e+00 1.87e-07 7.21e-05 -4.1 9.41e-03 -2.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0811963e+00 2.98e-06 1.34e-01 -6.1 3.46e-02 -3.3 6.80e-01 1.00e+00h 1 71 2.0819843e+00 5.05e-06 2.51e-03 -4.0 5.42e-02 -3.8 1.00e+00 1.00e+00f 1 72 2.0817051e+00 4.70e-06 2.83e-05 -4.1 1.27e-01 -4.3 1.00e+00 1.00e+00h 1 73 2.0811472e+00 7.20e-05 8.24e-02 -6.1 7.74e-01 -4.7 7.95e-01 1.00e+00h 1 74 2.0818733e+00 1.69e-04 3.07e-03 -4.0 1.64e+00 -5.2 1.00e+00 1.00e+00h 1 75 2.0815673e+00 1.34e-04 9.01e-04 -4.1 3.70e+00 -5.7 1.00e+00 1.00e+00h 1 76 2.0816375e+00 1.01e-05 1.16e-03 -4.1 1.73e+00 -6.2 1.00e+00 1.00e+00h 1 77 2.0816711e+00 4.27e-06 1.54e-04 -4.1 3.33e+00 -6.7 1.00e+00 1.00e+00h 1 78 2.0807948e+00 1.28e-03 8.20e-04 -6.1 1.80e+01 -7.1 9.85e-01 9.38e-01h 1 79 2.0811842e+00 9.15e-04 5.75e-02 -4.0 2.34e+01 -7.6 1.00e+00 3.52e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0815773e+00 2.47e-03 4.87e-03 -4.2 6.70e+01 -8.1 1.00e+00 1.00e+00h 1 81 2.0822452e+00 5.14e-05 1.94e-02 -4.2 4.32e+01 -8.6 7.14e-01 1.00e+00h 1 82 2.0816006e+00 1.24e-05 5.75e-03 -4.2 2.67e+01 -9.0 1.00e+00 1.00e+00h 1 83 2.0814801e+00 2.29e-07 1.71e-03 -4.2 2.59e-02 -1.2 1.00e+00 1.00e+00h 1 84 2.0816740e+00 4.24e-07 6.85e-04 -4.0 1.67e-02 -1.7 1.00e+00 1.00e+00h 1 85 2.0815855e+00 5.75e-08 1.75e-04 -4.1 2.44e-02 -2.1 1.00e+00 1.00e+00h 1 86 2.0811432e+00 1.53e-06 7.59e-02 -6.1 3.65e-02 -2.6 7.55e-01 9.69e-01h 1 87 2.0818897e+00 5.52e-06 3.43e-03 -4.0 1.60e-01 -3.1 1.00e+00 1.00e+00f 1 88 2.0815892e+00 3.88e-06 1.38e-03 -4.1 1.03e-01 -3.6 1.00e+00 1.00e+00h 1 89 2.0815402e+00 3.00e-06 3.06e-04 -4.1 1.42e-01 -4.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0810074e+00 5.84e-05 7.51e-02 -6.1 6.09e-01 -4.5 8.17e-01 1.00e+00h 1 91 2.0810944e+00 4.73e-05 1.54e-01 -4.0 5.86e+00 -5.0 1.43e-01 1.12e-01h 1 92 2.0814787e+00 5.52e-05 4.77e-02 -4.0 1.00e+00 -5.5 6.07e-01 5.76e-01f 1 93 2.0816031e+00 2.94e-08 1.12e-02 -4.3 3.12e+00 -6.0 1.00e+00 1.00e+00H 1 94 2.0814278e+00 1.53e-07 6.69e-01 -4.3 5.34e-02 -1.9 1.00e+00 3.82e-01h 2 95 2.0816791e+00 1.46e-06 1.42e-03 -4.0 7.34e-02 -2.4 1.00e+00 1.00e+00h 1 96 2.0815393e+00 2.38e-07 1.28e-04 -4.1 7.17e-02 -2.9 1.00e+00 1.00e+00h 1 97 2.0810896e+00 5.58e-06 1.10e-01 -6.1 8.37e-02 -3.4 7.12e-01 1.00e+00h 1 98 2.0811787e+00 1.18e-06 3.94e-04 -4.4 1.51e-01 -3.8 1.00e+00 1.00e+00h 1 99 2.0817353e+00 2.28e-05 1.81e-03 -4.0 2.58e-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 100 2.0815451e+00 1.65e-07 4.70e-02 -4.1 1.10e+00 -4.8 8.28e-01 1.00e+00H 1 101 2.0814566e+00 1.93e-05 1.60e-03 -4.1 8.09e-01 -5.3 1.00e+00 1.00e+00h 1 102 2.0815036e+00 2.32e-05 4.00e-04 -4.1 1.12e+00 -5.7 1.00e+00 1.00e+00h 1 103 2.0807596e+00 4.70e-04 4.48e-03 -6.1 5.45e+00 -6.2 9.98e-01 1.00e+00h 1 104 2.0813393e+00 1.35e-04 1.49e-01 -4.0 3.36e-01 -4.0 1.00e+00 7.57e-01h 1 105 2.0812394e+00 8.22e-06 2.33e-04 -4.1 5.71e-01 -4.5 1.00e+00 1.00e+00h 1 106 2.0808627e+00 7.78e-05 6.65e-02 -6.2 1.00e+00 -4.9 8.88e-01 1.00e+00h 1 107 2.0814649e+00 3.98e-04 4.14e-01 -4.0 5.81e+00 -5.4 1.00e+00 7.61e-01h 1 108 2.0815369e+00 3.83e-06 1.29e-03 -4.1 6.35e-01 -5.9 1.00e+00 1.00e+00h 1 109 2.0816392e+00 7.17e-09 4.02e-03 -4.1 5.14e+00 -6.4 1.00e+00 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 110 2.0817995e+00 7.11e-05 1.13e-03 -4.0 3.32e+00 -6.9 1.00e+00 1.00e+00f 1 111 2.0815749e+00 7.23e-05 1.21e-04 -4.1 2.88e+00 -7.3 1.00e+00 1.00e+00h 1 112 2.0806745e+00 1.56e-03 1.42e-03 -6.2 2.25e+01 -7.8 9.82e-01 9.01e-01h 1 113 2.0809592e+00 1.40e-03 4.28e-02 -4.0 3.52e+01 -8.3 1.00e+00 2.42e-01f 1 114 2.0814398e+00 9.94e-04 8.99e-04 -4.2 2.28e+01 -8.8 1.00e+00 1.00e+00h 1 115 2.0821643e+00 9.93e-04 1.92e-02 -4.2 9.94e+03 -9.2 5.25e-04 1.02e-03h 1 116 2.0815576e+00 4.43e-06 5.69e-03 -4.2 1.37e+01 -9.7 1.00e+00 1.00e+00f 1 117 2.0814291e+00 5.03e-07 2.89e-04 -4.2 3.67e-02 -1.9 1.00e+00 1.00e+00h 1 118 2.0810381e+00 1.32e-06 5.24e-02 -6.3 2.67e-02 -2.3 7.93e-01 1.00e+00h 1 119 2.0817727e+00 5.98e-06 3.21e-03 -4.0 1.59e-01 -2.8 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 120 2.0815226e+00 8.87e-07 1.87e-04 -4.1 4.41e-02 -3.3 1.00e+00 1.00e+00h 1 121 2.0810570e+00 6.16e-06 8.42e-02 -6.1 6.81e-02 -3.8 7.53e-01 1.00e+00h 1 122 2.0809150e+00 7.61e-06 1.31e-02 -6.1 2.28e-01 -4.3 5.67e-01 8.97e-01h 1 123 2.0814788e+00 3.02e-05 9.88e-02 -4.0 7.97e-01 -4.7 1.00e+00 6.09e-01f 1 124 2.0815622e+00 3.08e-05 4.32e-04 -4.1 6.83e-01 -5.2 1.00e+00 1.00e+00h 1 125 2.0809057e+00 3.07e-04 3.98e-03 -6.1 3.15e+00 -5.7 9.94e-01 1.00e+00h 1 126 2.0808827e+00 3.05e-04 8.52e-01 -6.1 2.61e+01 -4.4 1.93e-02 5.60e-03h 1 127 2.0808919e+00 2.71e-04 6.38e-01 -6.1 1.09e+00 -4.8 1.00e+00 1.12e-01h 3 128 2.0808269e+00 1.19e-04 1.92e-01 -6.1 1.54e+00 -5.3 1.00e+00 5.66e-01h 1 129 2.0826902e+00 3.95e-04 7.50e-01 -4.0 3.48e+00 -4.9 1.92e-01 6.47e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 130 2.0814101e+00 1.64e-06 7.66e-03 -4.7 2.19e-01 -1.8 1.00e+00 1.00e+00h 1 131 2.0810968e+00 1.10e-06 1.83e-01 -4.7 1.93e+00 -2.2 1.36e-01 5.48e-02h 1 132 2.0823028e+00 1.49e-05 2.38e+00 -4.0 6.85e-02 -2.7 6.20e-01 1.00e+00f 1 133 2.0815200e+00 5.92e-06 3.53e-03 -4.2 4.26e-02 -2.3 1.00e+00 1.00e+00h 1 134 2.0814451e+00 4.77e-07 7.12e-04 -4.2 5.60e-02 -2.8 1.00e+00 1.00e+00h 1 135 2.0814037e+00 5.19e-07 1.41e-04 -4.2 3.77e-02 -3.2 1.00e+00 1.00e+00h 1 136 2.0815759e+00 1.16e-06 2.66e-04 -4.0 4.54e-02 -3.7 1.00e+00 1.00e+00h 1 137 2.0814639e+00 1.70e-06 1.11e-04 -4.1 1.33e-01 -4.2 1.00e+00 1.00e+00h 1 138 2.0809572e+00 6.93e-05 8.25e-02 -6.1 7.46e-01 -4.7 8.18e-01 1.00e+00h 1 139 2.0807924e+00 2.46e-05 9.92e-02 -6.1 1.29e+00 -5.1 6.82e-01 9.10e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 140 2.0808170e+00 2.28e-05 3.06e-02 -4.0 6.96e+00 -4.7 3.83e-02 4.68e-02f 1 141 2.0808926e+00 2.33e-05 8.64e-01 -4.0 7.34e+00 -5.2 4.17e-01 6.56e-02f 1 142 2.0810536e+00 6.58e-04 8.93e-01 -4.4 1.06e+01 -5.7 1.00e+00 3.43e-01h 2 143 2.0812069e+00 8.30e-05 1.42e-03 -4.4 1.50e+00 -6.1 1.00e+00 1.00e+00h 1 144 2.0811368e+00 2.61e-04 1.22e-04 -4.4 2.81e+00 -6.6 1.00e+00 1.00e+00h 1 145 2.0806632e+00 4.26e-04 3.01e-03 -6.5 1.05e+01 -7.1 9.93e-01 8.68e-01h 1 146 2.0818219e+00 2.92e-03 2.77e-03 -4.0 2.53e+01 -7.6 9.48e-01 1.00e+00f 1 147 2.0815896e+00 1.58e-04 7.61e-04 -4.1 5.89e+00 -8.1 1.00e+00 1.00e+00h 1 148 2.0806353e+00 2.69e-03 4.64e-04 -6.1 3.47e+01 -8.5 9.78e-01 9.36e-01h 1 149 2.0810882e+00 2.39e-03 1.56e-02 -4.0 4.82e+01 -9.0 1.00e+00 3.70e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 150 2.0814436e+00 4.67e-04 1.92e-04 -4.2 1.40e+01 -9.5 1.00e+00 1.00e+00h 1 151 2.0805768e+00 2.49e-03 1.32e-04 -6.2 3.46e+01 -10.0 9.80e-01 9.76e-01h 1 152 2.0806569e+00 2.36e-03 1.90e-02 -4.0 6.55e+01 -10.4 1.00e+00 6.32e-02f 1 153 2.0818314e+00 4.29e-03 2.25e-04 -4.0 4.27e+01 -10.9 1.00e+00 1.00e+00h 1 154 2.0815811e+00 3.91e-04 4.02e-06 -4.1 1.64e+01 -11.4 1.00e+00 1.00e+00h 1 155 2.0805843e+00 3.30e-03 1.48e-04 -6.1 3.98e+01 -11.9 9.78e-01 9.77e-01h 1 156 2.0805493e+00 5.42e-05 1.58e-06 -6.1 1.49e+01 -12.3 1.00e+00 1.00e+00h 1 157 2.0810323e+00 1.43e-03 1.73e-02 -4.0 8.71e+01 -12.8 1.00e+00 3.60e-01f 1 158 2.0814579e+00 6.31e-04 1.73e-05 -4.2 1.58e+01 -13.3 1.00e+00 1.00e+00f 1 159 2.0805562e+00 2.69e-03 2.57e-04 -6.2 3.55e+01 -13.8 9.81e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 160 2.0805456e+00 1.15e-05 1.43e-06 -6.2 1.01e+01 -14.3 1.00e+00 1.00e+00h 1 161 2.0805884e+00 2.35e-05 2.74e-02 -4.0 9.55e+01 -14.7 1.00e+00 3.30e-02f 1 162 2.0813442e+00 1.74e-03 7.73e-05 -4.2 2.77e+01 -15.2 1.00e+00 1.00e+00f 1 163 2.0813671e+00 5.80e-05 4.91e-06 -4.2 4.84e+01 -15.7 1.00e+00 1.00e+00h 1 164 2.0805932e+00 2.09e-03 2.95e-04 -6.3 3.44e+01 -16.2 9.80e-01 9.53e-01h 1 165 2.0805467e+00 6.75e-05 1.46e-06 -6.3 1.52e+01 -16.6 1.00e+00 1.00e+00h 1 166 2.0805428e+00 4.38e-08 1.94e-08 -6.3 3.14e+00 -17.1 1.00e+00 1.00e+00h 1 167 2.0820275e+00 1.25e-02 4.24e-04 -4.0 1.01e+02 -17.6 1.00e+00 1.00e+00f 1 168 2.0817226e+00 1.05e-03 7.13e-05 -4.1 5.59e+01 -18.1 1.00e+00 1.00e+00h 1 169 2.0816691e+00 1.37e-06 1.04e-06 -4.1 1.12e+01 -18.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 170 2.0805917e+00 3.79e-03 1.68e-04 -6.1 4.22e+01 -19.0 9.76e-01 9.75e-01h 1 171 2.0805515e+00 7.00e-05 2.03e-06 -6.1 1.65e+01 -19.5 1.00e+00 1.00e+00h 1 172 2.0805472e+00 5.06e-08 2.17e-08 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 173 2.0805365e+00 9.66e-07 8.16e-07 -9.0 9.63e-01 -20.0 1.00e+00 9.97e-01h 1 174 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 175 2.0817324e+00 1.07e-03 7.73e-05 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 176 2.0816741e+00 1.68e-06 1.10e-06 -4.1 1.18e+01 -20.0 1.00e+00 1.00e+00h 1 177 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 178 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 179 2.0805472e+00 5.16e-08 2.22e-08 -6.1 3.09e+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 180 2.0805365e+00 9.80e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 181 2.0805365e+00 9.37e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 182 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 183 2.0817328e+00 1.07e-03 7.75e-05 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 184 2.0816743e+00 1.69e-06 1.10e-06 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 185 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 186 2.0805516e+00 7.08e-05 2.06e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 187 2.0805472e+00 5.17e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 188 2.0805365e+00 9.81e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 189 2.0805365e+00 9.39e-11 2.34e-12 -9.0 2.75e-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 190 2.0805365e+00 4.44e-16 3.37e-16 -9.0 1.11e-05 -20.0 1.00e+00 1.00e+00h 1 191 2.0805365e+00 4.44e-16 2.22e-16 -9.0 1.96e-12 -20.0 1.00e+00 1.00e+00h 1 192 2.0805365e+00 2.22e-16 2.41e-16 -9.0 8.86e-14 -20.0 1.00e+00 1.00e+00 0 193 2.0805365e+00 8.88e-16 2.03e-16 -9.0 5.87e-14 -20.0 1.00e+00 1.00e+00T 0 Number of Iterations....: 193 (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 = 218 Number of objective gradient evaluations = 194 Number of equality constraint evaluations = 218 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 194 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 194 Total seconds in IPOPT = 32.345 EXIT: Search Direction is becoming Too Small. initializing optimizer... applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 196 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 28 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.6304651e+00 9.68e-01 1.07e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.4671783e+00 2.62e-01 1.77e+00 -0.9 6.20e-01 0.0 9.96e-01 1.00e+00h 1 2 1.3767771e+00 2.49e-01 1.54e+00 -1.0 2.23e+01 - 1.83e-01 5.07e-02f 2 3 1.1579602e+00 1.74e-01 6.98e-01 -1.6 5.10e-01 -0.5 9.93e-01 3.00e-01h 1 4 1.0619780e+00 1.06e-01 1.64e+00 -2.1 2.69e-01 -1.0 1.00e+00 1.00e+00h 1 5 9.2367023e-01 8.07e-02 7.09e-01 -1.6 2.84e+00 -1.4 1.00e+00 1.87e-01h 1 6 1.0912596e+00 4.13e-02 1.22e+00 -1.7 3.22e+00 -1.9 1.00e+00 4.09e-01h 2 7 1.4616250e+00 6.69e-02 2.26e+00 -1.5 4.57e-01 -1.5 1.00e+00 1.00e+00h 1 8 1.4253240e+00 2.95e-02 1.78e+00 -1.6 6.56e-01 -1.1 1.00e+00 4.97e-01h 1 9 2.7959102e+00 6.93e-02 2.89e+01 -0.5 9.08e+00 -1.5 3.61e-01 1.41e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.9334398e+00 7.05e-02 2.73e+01 -1.0 4.51e+00 - 1.46e-01 5.95e-02f 5 11 3.1629647e+00 1.47e-01 2.91e+01 -1.0 7.12e-01 0.7 7.00e-01 3.57e-01f 2 12 2.4058311e+00 2.46e-02 2.14e+02 -1.0 1.49e-01 2.0 8.04e-01 1.00e+00f 1 13 2.0013547e+00 1.94e-02 3.69e+01 -1.0 1.76e-01 1.6 1.00e+00 1.00e+00f 1 14 1.6343466e+00 1.23e-03 8.62e+01 -1.5 8.27e-02 1.1 1.00e+00 1.00e+00f 1 15 1.1817152e+00 1.77e-04 6.77e+01 -2.5 1.18e-01 0.6 1.00e+00 8.60e-01f 1 16 1.1027523e+00 3.05e-05 6.73e+00 -3.2 3.53e-01 - 1.00e+00 8.28e-01f 1 17 1.0923744e+00 7.68e-09 4.11e-01 -4.0 2.08e+00 - 1.00e+00 1.00e+00f 1 18 1.0907961e+00 1.92e-15 8.72e-03 -4.0 7.14e-01 - 1.00e+00 1.00e+00f 1 19 1.0909005e+00 1.53e-26 7.44e-05 -4.0 6.94e-02 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.0907201e+00 3.42e-27 3.00e-08 -4.1 5.17e-04 - 1.00e+00 1.00e+00f 1 21 1.0908997e+00 1.71e-27 5.95e-09 -4.0 2.00e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 21 (scaled) (unscaled) Objective...............: 1.0908997336527433e+00 1.0908997336527433e+00 Dual infeasibility......: 5.9506160274887948e-09 5.9506160274887948e-09 Constraint violation....: 1.7102586024144244e-27 1.7102586024144244e-27 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000081413372698e-04 1.0000081413372698e-04 Overall NLP error.......: 5.9506160274887948e-09 5.9506160274887948e-09 Number of objective function evaluations = 34 Number of objective gradient evaluations = 22 Number of equality constraint evaluations = 34 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 22 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 21 Total seconds in IPOPT = 26.670 EXIT: Optimal Solution Found. ┌ Warning: Trajectory has timestep variable :Δt but no bounds on it. │ Adding default lower bound of 0 to prevent negative timesteps. │ │ Recommended: Add explicit bounds when creating the trajectory: │ NamedTrajectory(...; Δt_bounds=(min, max)) │ Example: │ NamedTrajectory(qtraj, N; Δt_bounds=(1e-3, 0.5)) │ │ Or use timesteps_all_equal=true in problem options to fix timesteps. └ @ DirectTrajOpt.Problems ~/.julia/packages/DirectTrajOpt/4TeZc/src/problems.jl:65 initializing optimizer... applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: bounds on u applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial time t₁ = 0 This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 30 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.1915238e-02 8.33e-17 9.91e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.9611966e-02 8.65e-12 1.77e-02 -4.0 3.28e-02 -2.0 9.82e-01 1.00e+00f 1 2 1.0582286e-02 1.69e-12 9.50e-02 -2.9 1.28e-01 -1.6 9.95e-01 1.00e+00f 1 3 2.4261824e-03 2.66e-11 7.56e-02 -3.2 1.51e-01 -1.1 1.00e+00 8.48e-01f 1 4 3.3154908e-04 7.83e-12 2.85e-02 -2.8 4.97e-01 -1.6 1.00e+00 4.51e-01f 2 5 4.7481218e-04 3.56e-12 2.11e-02 -2.6 1.64e+00 -2.1 1.00e+00 4.68e-01f 2 6 4.7481218e-04 3.56e-12 9.94e-03 -2.8 1.68e+00 -2.6 5.74e-01 3.46e-15h 48 7 4.7481218e-04 3.56e-12 1.82e-02 -4.2 1.75e+00 -3.1 4.14e-01 7.93e-16h 50 8 4.8518778e-04 5.35e-12 9.76e-03 -4.2 1.49e+00 -3.5 6.09e-01 6.09e-01s 64 9 3.5482660e-04 4.66e-12 9.42e-03 -4.2 1.91e+00 -4.0 2.93e-01 2.93e-01s 64 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.5832496e-05 2.61e-12 9.77e-03 -4.2 5.19e-01 -4.5 9.21e-01 0.00e+00S 64 11 7.2557277e-06 2.15e-12 4.91e-03 -4.0 5.07e-02 -5.0 1.00e+00 1.00e+00f 1 12 9.4057799e-06 2.55e-16 2.15e-03 -4.0 1.28e-02 -5.4 1.00e+00 1.00e+00f 1 13 9.4057794e-06 2.55e-16 2.92e-03 -4.1 2.87e-02 -5.9 1.00e+00 1.19e-07h 24 14 9.4057788e-06 2.55e-16 3.07e-03 -4.1 2.70e-02 -6.4 1.00e+00 1.19e-07h 24 15 9.4057786e-06 2.55e-16 3.21e-03 -4.1 2.49e-02 -6.9 1.00e+00 2.98e-08h 26 16 9.4057783e-06 2.55e-16 3.32e-03 -4.1 2.26e-02 -7.4 1.00e+00 5.96e-08h 25 17 9.4057779e-06 2.55e-16 3.43e-03 -4.1 2.03e-02 -7.8 1.00e+00 5.96e-08h 25 18 9.4057777e-06 2.55e-16 3.52e-03 -4.1 1.79e-02 -8.3 1.00e+00 2.98e-08h 26 19 9.4057773e-06 2.55e-16 3.61e-03 -4.1 1.54e-02 -8.8 1.00e+00 5.96e-08h 25 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 9.4057768e-06 2.55e-16 3.69e-03 -4.1 1.28e-02 -9.3 1.00e+00 5.96e-08h 25 21 9.4057766e-06 2.55e-16 3.76e-03 -4.1 1.00e-02 -9.7 1.00e+00 2.98e-08h 26 22 9.4057766e-06 2.55e-16 3.83e-03 -4.1 7.19e-03 -10.2 1.00e+00 3.73e-09h 29 23 9.4057763e-06 2.55e-16 3.90e-03 -4.1 4.70e-03 -10.7 1.00e+00 2.98e-08h 26 24 9.4057762e-06 2.55e-16 3.96e-03 -4.1 4.83e-03 -11.2 1.00e+00 7.45e-09h 28 25 9.4057762e-06 2.55e-16 4.02e-03 -4.1 4.95e-03 -11.6 1.00e+00 7.45e-09h 28 26 9.4057761e-06 2.55e-16 4.07e-03 -4.1 5.42e-03 -12.1 1.00e+00 3.73e-09h 29 27 9.4057760e-06 2.55e-16 4.13e-03 -4.1 8.91e-03 -12.6 1.00e+00 1.49e-08h 27 28 9.4057760e-06 2.55e-16 4.18e-03 -4.1 1.26e-02 -13.1 1.00e+00 3.73e-09h 29 29 9.4057758e-06 2.55e-16 4.23e-03 -4.1 1.64e-02 -13.6 1.00e+00 1.49e-08h 27 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 9.4057757e-06 2.55e-16 4.28e-03 -4.1 2.04e-02 -14.0 1.00e+00 1.49e-08h 27 31 9.4057756e-06 2.55e-16 4.33e-03 -4.1 2.45e-02 -14.5 1.00e+00 3.73e-09h 29 32 9.4057756e-06 2.55e-16 4.38e-03 -4.1 2.89e-02 -15.0 1.00e+00 3.73e-09h 29 33 9.4057756e-06 2.55e-16 4.43e-03 -4.1 3.35e-02 -15.5 1.00e+00 1.86e-09h 30 34 9.4057755e-06 2.55e-16 4.48e-03 -4.1 3.83e-02 -15.9 1.00e+00 3.73e-09h 29 35 9.4057755e-06 2.55e-16 4.52e-03 -4.1 4.33e-02 -16.4 1.00e+00 3.73e-09h 29 36 9.4057754e-06 2.55e-16 4.57e-03 -4.1 4.86e-02 -16.9 1.00e+00 3.73e-09h 29 37 9.4057754e-06 2.55e-16 4.62e-03 -4.1 5.42e-02 -17.4 1.00e+00 3.73e-09h 29 38 9.4057754e-06 2.55e-16 4.67e-03 -4.1 6.01e-02 -17.8 1.00e+00 3.73e-09h 29 39 9.4057753e-06 2.55e-16 4.73e-03 -4.1 6.63e-02 -18.3 1.00e+00 3.73e-09h 29 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 9.4057753e-06 2.55e-16 4.78e-03 -4.1 7.28e-02 -18.8 1.00e+00 3.73e-09h 29 41 9.4057752e-06 2.55e-16 4.83e-03 -4.1 7.97e-02 -19.3 1.00e+00 3.73e-09h 29 42 9.4057752e-06 2.55e-16 4.89e-03 -4.1 8.71e-02 -19.8 1.00e+00 1.86e-09h 30 43 9.4057752e-06 2.55e-16 4.95e-03 -4.1 9.48e-02 -20.0 1.00e+00 2.33e-10h 33 44 9.4057751e-06 2.55e-16 5.01e-03 -4.1 1.03e-01 -20.0 1.00e+00 3.73e-09h 29 45 9.4057751e-06 2.55e-16 5.07e-03 -4.1 1.12e-01 -20.0 1.00e+00 4.66e-10h 32 46 9.4057751e-06 2.55e-16 5.13e-03 -4.1 1.21e-01 -20.0 1.00e+00 1.86e-09h 30 47 9.4057751e-06 2.55e-16 5.20e-03 -4.1 1.31e-01 -20.0 1.00e+00 4.66e-10h 32 48 9.4057751e-06 2.55e-16 5.28e-03 -4.1 1.42e-01 -20.0 1.00e+00 4.66e-10h 32 49 9.4057751e-06 2.55e-16 5.35e-03 -4.1 1.54e-01 -20.0 1.00e+00 1.86e-09h 30 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 9.4057751e-06 2.55e-16 5.43e-03 -4.1 1.66e-01 -20.0 1.00e+00 2.33e-10h 33 51 9.4057751e-06 2.55e-16 5.52e-03 -4.1 1.79e-01 -20.0 1.00e+00 9.31e-10h 31 52 9.4057750e-06 2.55e-16 5.61e-03 -4.1 1.94e-01 -20.0 1.00e+00 9.31e-10h 31 53 9.4057750e-06 2.55e-16 5.71e-03 -4.1 2.09e-01 -20.0 1.00e+00 1.86e-09h 30 54 9.4057750e-06 2.55e-16 5.82e-03 -4.1 2.26e-01 -20.0 1.00e+00 4.66e-10h 32 55 9.4057750e-06 2.55e-16 5.93e-03 -4.1 2.44e-01 -20.0 1.00e+00 9.31e-10h 31 56 9.4057750e-06 2.55e-16 6.06e-03 -4.1 2.64e-01 -20.0 1.00e+00 2.33e-10h 33 57 9.4057750e-06 2.55e-16 6.19e-03 -4.1 2.86e-01 -20.0 1.00e+00 9.31e-10h 31 58 9.4057750e-06 2.55e-16 6.34e-03 -4.1 3.10e-01 -20.0 1.00e+00 1.16e-10h 34 59 9.4057750e-06 2.55e-16 6.50e-03 -4.1 3.36e-01 -20.0 1.00e+00 9.31e-10h 31 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 9.4057749e-06 2.55e-16 6.67e-03 -4.1 3.65e-01 -20.0 1.00e+00 9.31e-10h 31 61 9.4057749e-06 2.55e-16 6.87e-03 -4.1 3.97e-01 -20.0 1.00e+00 1.16e-10h 34 62 9.4057749e-06 2.55e-16 7.08e-03 -4.1 4.33e-01 -20.0 1.00e+00 9.31e-10h 31 63 9.4057749e-06 2.55e-16 7.31e-03 -4.1 4.72e-01 -20.0 1.00e+00 2.33e-10h 33 64 9.4057749e-06 2.55e-16 7.57e-03 -4.1 5.15e-01 -20.0 1.00e+00 2.33e-10h 33 65 9.4057749e-06 2.55e-16 7.85e-03 -4.1 5.62e-01 -20.0 1.00e+00 4.66e-10h 32 66 9.4057749e-06 2.55e-16 8.16e-03 -4.1 6.14e-01 -20.0 1.00e+00 4.66e-10h 32 67 9.4057749e-06 2.55e-16 8.49e-03 -4.1 6.70e-01 -20.0 1.00e+00 1.16e-10h 34 68 9.4057749e-06 2.55e-16 8.85e-03 -4.1 7.31e-01 -20.0 1.00e+00 7.28e-12h 38 69 9.4057749e-06 2.55e-16 9.24e-03 -4.1 7.96e-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 70 9.4057749e-06 2.55e-16 9.63e-03 -4.1 8.64e-01 -20.0 1.00e+00 2.33e-10h 33 71 9.4057749e-06 2.55e-16 1.00e-02 -4.1 9.32e-01 -20.0 1.00e+00 2.33e-10h 33 72 9.4057749e-06 2.55e-16 1.04e-02 -4.1 1.00e+00 -20.0 1.00e+00 2.33e-10h 33 73 9.4057749e-06 2.55e-16 1.08e-02 -4.1 1.07e+00 -20.0 1.00e+00 1.16e-10h 34 74 9.4057749e-06 2.55e-16 1.12e-02 -4.1 1.13e+00 -20.0 1.00e+00 2.33e-10h 33 75 9.4057749e-06 2.55e-16 1.15e-02 -4.1 1.18e+00 -20.0 1.00e+00 5.82e-11h 35 76 9.3548166e-06 2.55e-16 1.18e-02 -4.1 1.23e+00 -20.0 1.00e+00 1.95e-03f 10 77 9.2519609e-06 2.54e-16 1.20e-02 -4.1 1.28e+00 -20.0 1.00e+00 3.91e-03f 9 78 9.1488280e-06 2.53e-16 1.21e-02 -4.1 1.32e+00 -20.0 1.00e+00 3.91e-03f 9 79 9.0971454e-06 2.52e-16 1.21e-02 -4.1 1.35e+00 -20.0 1.00e+00 1.95e-03f 10 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 9.0452169e-06 2.52e-16 1.22e-02 -4.1 1.37e+00 -20.0 1.00e+00 1.95e-03f 10 81 9.0191465e-06 2.51e-16 1.23e-02 -4.1 1.40e+00 -20.0 1.00e+00 9.77e-04f 11 82 8.9667136e-06 2.51e-16 1.24e-02 -4.1 1.42e+00 -20.0 1.00e+00 1.95e-03f 10 83 8.9404798e-06 2.51e-16 1.24e-02 -4.1 1.43e+00 -20.0 1.00e+00 9.77e-04f 11 84 8.8876789e-06 2.50e-16 1.25e-02 -4.1 1.46e+00 -20.0 1.00e+00 1.95e-03f 10 85 8.8876789e-06 2.50e-16 1.24e-02 -4.1 1.46e+00 -20.0 1.00e+00 2.91e-11h 36 86 8.7810736e-06 2.49e-16 1.27e-02 -4.1 1.51e+00 -20.0 1.00e+00 3.91e-03f 9 87 8.7810736e-06 2.49e-16 1.21e-02 -4.1 1.44e+00 -20.0 1.00e+00 1.16e-10h 34 88 8.5633378e-06 2.47e-16 1.31e-02 -4.1 1.63e+00 -20.0 1.00e+00 7.81e-03f 8 89 8.5633378e-06 2.47e-16 1.09e-02 -4.1 1.28e+00 -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 7.1043999e-06 2.35e-16 1.59e-02 -4.1 2.33e+00 -20.0 1.00e+00 4.82e-02f 5 91 7.1043999e-06 2.35e-16 8.45e-03 -4.1 6.92e-01 -20.0 7.84e-01 1.16e-10h 34 92 4.4208430e-06 2.06e-16 1.73e-02 -4.0 3.58e+00 -20.0 1.00e+00 1.16e-01f 3 93 4.4208430e-06 2.06e-16 2.68e-03 -3.9 3.70e-01 -20.0 9.95e-01 4.66e-10h 32 94 4.4208430e-06 2.06e-16 2.74e-03 -3.9 1.53e+00 -20.0 1.00e+00 7.53e-13h 41 95 4.4208430e-06 2.06e-16 2.67e-03 -3.9 6.00e-01 -20.0 1.00e+00 4.66e-10h 32 96 4.4208430e-06 2.06e-16 2.68e-03 -3.9 1.15e+00 -20.0 1.00e+00 1.16e-10h 34 97 4.4208430e-06 2.06e-16 2.68e-03 -3.9 7.48e-01 -20.0 1.00e+00 4.66e-10h 32 98 4.4208430e-06 2.06e-16 2.69e-03 -3.9 1.01e+00 -20.0 1.00e+00 1.16e-10h 34 99 4.4208430e-06 2.06e-16 2.69e-03 -3.9 8.26e-01 -20.0 1.00e+00 4.66e-10h 32 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 4.4208430e-06 2.06e-16 2.69e-03 -3.9 9.58e-01 -20.0 1.00e+00 5.82e-11h 35 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 4.4208429739697528e-06 4.4208429739697528e-06 Dual infeasibility......: 2.6932149587314547e-03 2.6932149587314547e-03 Constraint violation....: 2.0610683298949439e-16 2.0610683298949439e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 6.4906978595466913e-04 6.4906978595466913e-04 Overall NLP error.......: 2.6932149587314547e-03 2.6932149587314547e-03 Number of objective function evaluations = 2602 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 2602 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 = 4.064 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 1.7810094e+00 4.63e-01 9.94e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.3706040e+00 3.31e-09 2.23e-01 -0.3 5.05e-01 -2.0 1.00e+00 1.00e+00f 1 2 3.2001606e-01 2.81e-09 3.82e-01 -4.0 1.42e+00 -1.6 7.64e-01 1.00e+00f 1 3 1.6314782e-01 2.80e-11 4.73e-02 -2.2 4.89e-01 -1.1 9.97e-01 1.00e+00f 1 4 4.4388413e-02 2.50e-11 4.29e-02 -3.0 8.59e-01 -1.6 1.00e+00 1.00e+00f 1 5 8.8983419e-03 2.58e-11 1.87e-02 -4.0 7.68e-01 -2.1 1.00e+00 1.00e+00f 1 6 1.7324423e-03 7.21e-12 5.93e-03 -4.0 5.07e-01 -2.6 1.00e+00 1.00e+00f 1 7 5.7015338e-04 1.88e-12 1.53e-03 -4.0 2.38e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.4944429e-04 2.52e-13 1.70e-04 -4.0 1.11e-01 -3.5 1.00e+00 1.00e+00f 1 9 4.5752935e-04 2.70e-14 1.32e-04 -4.0 2.13e-02 -4.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 3.0424181e-04 1.10e-14 4.13e-04 -4.1 7.56e-02 -4.5 1.00e+00 1.00e+00f 1 11 4.5938039e-04 5.77e-15 3.59e-04 -4.0 1.95e-01 -5.0 1.00e+00 5.00e-01f 2 12 2.7523221e-04 3.66e-15 5.35e-04 -4.1 1.02e-01 -5.4 1.00e+00 1.00e+00f 1 13 4.6565194e-04 2.66e-15 4.68e-04 -4.0 2.49e-01 -5.9 1.00e+00 5.00e-01f 2 14 2.6386264e-04 2.11e-15 6.07e-04 -4.1 1.17e-01 -6.4 1.00e+00 1.00e+00f 1 15 4.6661374e-04 1.89e-15 5.12e-04 -4.0 2.73e-01 -6.9 1.00e+00 5.00e-01f 2 16 2.6004580e-04 1.58e-15 6.38e-04 -4.1 1.23e-01 -7.4 1.00e+00 1.00e+00f 1 17 4.6658242e-04 1.55e-15 5.31e-04 -4.0 2.84e-01 -7.8 1.00e+00 5.00e-01f 2 18 2.5879656e-04 1.33e-15 6.57e-04 -4.1 1.27e-01 -8.3 1.00e+00 1.00e+00f 1 19 4.6613800e-04 1.33e-15 5.40e-04 -4.0 2.90e-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 2.5840725e-04 1.22e-15 6.71e-04 -4.1 1.30e-01 -9.3 1.00e+00 1.00e+00f 1 21 4.6558729e-04 1.22e-15 5.46e-04 -4.0 2.94e-01 -9.7 1.00e+00 5.00e-01f 2 22 2.5829362e-04 1.04e-15 6.84e-04 -4.1 1.32e-01 -10.2 1.00e+00 1.00e+00f 1 23 4.6501594e-04 1.11e-15 5.50e-04 -4.0 2.97e-01 -10.7 1.00e+00 5.00e-01f 2 24 2.5826645e-04 9.51e-16 6.96e-04 -4.1 1.35e-01 -11.2 1.00e+00 1.00e+00f 1 25 4.6445397e-04 8.88e-16 5.54e-04 -4.0 3.00e-01 -11.6 1.00e+00 5.00e-01f 2 26 2.5826490e-04 9.58e-16 7.07e-04 -4.1 1.37e-01 -12.1 1.00e+00 1.00e+00f 1 27 3.0962144e-05 9.27e-15 8.85e-04 -6.2 3.76e-01 -12.6 9.68e-01 1.00e+00f 1 28 1.7415626e-03 2.44e-15 7.63e-03 -4.0 1.98e+00 -13.1 1.00e+00 5.00e-01f 2 29 2.4505795e-05 2.40e-14 2.86e-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 1.5769347e-03 3.13e-14 7.95e-03 -4.0 9.77e-01 -14.0 1.00e+00 1.00e+00f 1 31 1.0177202e-05 1.84e-14 2.27e-03 -4.2 1.08e+00 -14.5 1.00e+00 1.00e+00f 1 32 4.6614367e-04 1.55e-15 2.75e-03 -4.0 1.37e+00 -15.0 1.00e+00 5.00e-01f 2 33 2.1970666e-04 3.00e-15 2.37e-04 -4.2 3.71e-01 -15.5 1.00e+00 5.00e-01f 2 34 2.0218543e-05 4.55e-15 8.01e-04 -6.4 4.09e-01 -15.9 9.64e-01 1.00e+00f 1 35 8.1335491e-06 3.33e-15 9.87e-05 -6.4 1.04e-01 -16.4 1.00e+00 1.00e+00f 1 36 1.5473441e-03 1.11e-15 5.47e-03 -4.0 9.60e+00 -16.9 1.00e+00 1.25e-01f 4 37 9.7953335e-05 5.40e-14 3.48e-03 -4.0 7.94e-01 -17.4 1.00e+00 1.00e+00f 1 38 7.5057228e-04 3.62e-14 3.55e-03 -4.0 5.36e-01 -17.8 1.00e+00 1.00e+00f 1 39 3.8034784e-04 6.77e-15 4.36e-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 3.5524455e-05 5.44e-15 1.32e-03 -6.0 5.02e-01 -18.8 9.55e-01 1.00e+00f 1 41 1.4632313e-05 5.33e-15 1.59e-04 -6.0 1.25e-01 -19.3 1.00e+00 1.00e+00f 1 42 4.0255071e-06 8.88e-16 1.01e-04 -6.0 1.42e-01 -19.8 1.00e+00 1.00e+00f 1 43 1.0573891e-03 5.00e-16 3.12e-03 -4.0 1.56e+01 -20.0 1.00e+00 7.71e-02f 4 44 1.6280044e-04 4.80e-14 2.86e-03 -4.0 5.81e-01 -20.0 1.00e+00 1.00e+00f 1 45 6.7324761e-04 2.26e-14 2.78e-03 -4.0 4.18e-01 -20.0 1.00e+00 1.00e+00f 1 46 3.9048485e-04 4.00e-15 4.18e-04 -4.0 3.59e-01 -20.0 1.00e+00 5.00e-01f 2 47 3.5415665e-05 5.77e-15 1.45e-03 -6.1 5.45e-01 -20.0 9.50e-01 1.00e+00f 1 48 1.4728241e-05 4.88e-15 1.69e-04 -6.1 1.33e-01 -20.0 1.00e+00 1.00e+00f 1 49 3.9223745e-06 8.33e-16 1.10e-04 -6.1 1.56e-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 8.5618886e-04 5.48e-16 2.13e-03 -4.0 1.68e+01 -20.0 1.00e+00 7.15e-02f 4 51 1.9781628e-04 4.13e-14 2.48e-03 -4.0 4.85e-01 -20.0 1.00e+00 1.00e+00f 1 52 6.1107194e-04 1.58e-14 2.32e-03 -4.0 3.55e-01 -20.0 1.00e+00 1.00e+00f 1 53 3.8688946e-04 2.66e-15 3.98e-04 -4.0 3.19e-01 -20.0 1.00e+00 5.00e-01f 2 54 3.4460009e-05 5.55e-15 1.53e-03 -6.1 5.80e-01 -20.0 9.46e-01 1.00e+00f 1 55 1.4437294e-05 4.33e-15 1.75e-04 -6.1 1.39e-01 -20.0 1.00e+00 1.00e+00f 1 56 3.7821225e-06 6.66e-16 1.16e-04 -6.1 1.67e-01 -20.0 1.00e+00 1.00e+00f 1 57 7.0805742e-04 5.62e-16 1.25e-03 -4.0 1.81e+01 -20.0 1.00e+00 6.59e-02f 4 58 2.3336298e-04 3.62e-14 2.07e-03 -4.1 3.91e-01 -20.0 1.00e+00 1.00e+00f 1 59 5.5163602e-04 1.09e-14 1.81e-03 -4.1 2.84e-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 3.8351897e-04 1.78e-15 3.60e-04 -4.1 2.68e-01 -20.0 1.00e+00 5.00e-01f 2 61 3.3418601e-05 5.33e-15 1.61e-03 -6.1 6.14e-01 -20.0 9.42e-01 1.00e+00f 1 62 1.4142463e-05 4.00e-15 1.79e-04 -6.1 1.44e-01 -20.0 1.00e+00 1.00e+00f 1 63 3.6634818e-06 6.66e-16 1.20e-04 -6.1 1.77e-01 -20.0 1.00e+00 1.00e+00f 1 64 5.9971615e-04 4.44e-16 4.84e-04 -4.0 1.95e+01 -20.0 1.00e+00 6.12e-02f 4 65 2.6537399e-04 3.24e-14 1.65e-03 -4.1 3.05e-01 -20.0 1.00e+00 1.00e+00f 1 66 4.9968786e-04 7.33e-15 1.34e-03 -4.1 2.15e-01 -20.0 1.00e+00 1.00e+00f 1 67 3.7926013e-04 1.11e-15 3.12e-04 -4.1 2.15e-01 -20.0 1.00e+00 5.00e-01f 2 68 3.2324252e-05 5.11e-15 1.67e-03 -6.1 6.45e-01 -20.0 9.38e-01 1.00e+00f 1 69 1.3824953e-05 3.66e-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 3.5558044e-06 5.57e-16 1.24e-04 -6.1 1.85e-01 -20.0 1.00e+00 1.00e+00f 1 71 5.1913534e-04 4.44e-16 1.90e-04 -4.0 2.08e+01 -20.0 1.00e+00 5.73e-02f 4 72 2.9322181e-04 2.93e-14 1.26e-03 -4.1 2.27e-01 -20.0 1.00e+00 1.00e+00f 1 73 4.5627366e-04 4.66e-15 9.17e-04 -4.1 1.50e-01 -20.0 1.00e+00 1.00e+00f 1 74 3.0451742e-04 3.33e-15 9.07e-04 -4.1 1.64e-01 -20.0 1.00e+00 1.00e+00f 1 75 4.5000021e-04 2.44e-15 7.97e-04 -4.1 1.31e-01 -20.0 1.00e+00 1.00e+00f 1 76 2.3751471e-05 4.44e-15 1.86e-03 -6.1 7.84e-01 -20.0 9.23e-01 1.00e+00f 1 77 1.2305587e-05 3.77e-15 1.25e-04 -6.1 1.11e-01 -20.0 1.00e+00 1.00e+00f 1 78 3.0711639e-06 4.44e-16 1.18e-04 -6.1 1.89e-01 -20.0 1.00e+00 1.00e+00f 1 79 4.5889084e-04 4.44e-16 8.62e-04 -4.0 2.36e+01 -20.0 1.00e+00 5.04e-02f 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 3.2234318e-04 2.78e-14 8.54e-04 -4.1 1.51e-01 -20.0 1.00e+00 1.00e+00f 1 81 3.4207044e-05 5.66e-15 1.63e-03 -6.1 6.24e-01 -20.0 9.40e-01 1.00e+00f 1 82 1.3352453e-05 3.00e-15 2.19e-04 -6.1 1.78e-01 -20.0 1.00e+00 1.00e+00f 1 83 3.6067352e-06 5.55e-16 1.30e-04 -6.1 1.93e-01 -20.0 1.00e+00 1.00e+00f 1 84 3.6805592e-06 2.24e-16 4.74e-06 -6.1 8.37e-03 -20.0 1.00e+00 1.00e+00h 1 85 2.3815542e-07 4.47e-17 5.61e-05 -9.0 2.54e-01 -20.0 9.75e-01 1.00e+00f 1 86 2.3252348e-03 8.99e-16 1.18e-02 -4.0 1.06e+02 -20.0 1.00e+00 2.29e-02f 3 87 8.2626128e-05 4.62e-14 6.89e-03 -4.0 1.53e+00 -20.0 1.00e+00 1.00e+00f 1 88 7.5732928e-04 2.75e-14 5.35e-03 -4.0 8.16e-01 -20.0 1.00e+00 1.00e+00f 1 89 4.2567157e-04 5.33e-15 7.85e-04 -4.0 5.53e-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 4.2247743e-05 4.11e-15 2.12e-03 -5.9 7.18e-01 -20.0 9.30e-01 1.00e+00f 1 91 1.7380532e-05 3.77e-15 2.61e-04 -5.9 1.88e-01 -20.0 1.00e+00 1.00e+00f 1 92 4.9326366e-06 6.66e-16 1.65e-04 -5.9 2.11e-01 -20.0 1.00e+00 1.00e+00f 1 93 5.5534585e-06 2.78e-16 1.61e-05 -5.9 2.34e-02 -20.0 1.00e+00 1.00e+00h 1 94 5.1664408e-06 6.94e-17 2.00e-06 -5.9 2.93e-03 -20.0 1.00e+00 1.00e+00h 1 95 3.6914863e-07 5.55e-17 7.81e-05 -8.9 2.88e-01 -20.0 9.71e-01 1.00e+00f 1 96 1.4883721e-07 2.78e-17 8.16e-06 -8.9 6.33e-02 -20.0 1.00e+00 1.00e+00f 1 97 1.5060750e-03 5.07e-16 2.33e-03 -4.0 3.30e+02 -20.0 1.00e+00 7.39e-03f 3 98 4.9562104e-04 6.17e-14 5.35e-03 -3.8 6.86e-01 -20.0 1.00e+00 1.00e+00f 1 99 8.7310771e-04 1.73e-14 1.94e-03 -3.8 2.31e-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 5.7336743e-04 7.55e-15 2.20e-03 -3.8 2.85e-01 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 5.7336742807783368e-04 5.7336742807783368e-04 Dual infeasibility......: 2.1966739501455427e-03 2.1966739501455427e-03 Constraint violation....: 7.5495165674510645e-15 7.5495165674510645e-15 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.7066892352218102e-04 1.7066892352218102e-04 Overall NLP error.......: 2.1966739501455427e-03 2.1966739501455427e-03 Number of objective function evaluations = 171 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 171 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 1 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 3.693 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 2.3085851e+00 3.30e+00 3.51e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6232159e+00 2.84e-02 9.99e-01 -1.1 2.20e+00 - 9.97e-01 1.00e+00f 1 2 2.2620765e+00 3.91e-03 1.67e-01 -2.0 7.94e-02 - 8.78e-01 1.00e+00h 1 3 2.1068073e+00 1.20e-03 1.21e-02 -2.9 4.34e-02 - 9.77e-01 9.77e-01h 1 4 2.0907318e+00 1.48e-04 8.39e-03 -4.0 6.45e-02 - 1.00e+00 1.00e+00h 1 5 2.0909011e+00 1.77e-05 3.61e-04 -4.0 3.85e-01 - 1.00e+00 1.00e+00h 1 6 2.0908971e+00 4.41e-08 2.02e-07 -4.0 1.50e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 2.39e-12 1.06e-11 -4.0 3.52e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971978434732e+00 2.0908971978434732e+00 Dual infeasibility......: 1.0644187191811288e-11 1.0644187191811288e-11 Constraint violation....: 2.3909638012970950e-12 2.3909638012970950e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000024123045462e-04 1.0000024123045462e-04 Overall NLP error.......: 2.4123045461134016e-10 2.4123045461134016e-10 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 = 27.632 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 1.6504542e+00 1.72e+00 4.91e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.3406584e+00 7.15e-01 5.16e+00 -0.8 8.26e+00 -4.0 6.64e-01 8.78e-01f 1 2 2.8655927e+00 3.38e+00 7.04e+00 -0.9 1.30e+01 -1.8 4.43e-01 8.91e-01f 1 3 2.9959600e+00 2.89e+00 5.72e+00 -0.5 2.13e+00 -0.4 1.07e-01 1.49e-01h 1 4 2.6121432e+00 7.35e-01 1.20e+00 -0.9 1.15e+00 -0.9 9.69e-01 8.82e-01f 1 5 2.4984554e+00 3.69e-01 2.01e+00 -1.1 1.74e+00 -1.4 6.95e-01 5.69e-01f 1 6 2.3264415e+00 5.65e-02 1.88e+00 -2.2 1.67e+00 -1.9 7.05e-01 1.00e+00h 1 7 2.3141589e+00 5.32e-02 6.28e+00 -0.6 1.22e+02 -2.3 7.71e-02 7.76e-03h 2 8 2.2402389e+00 3.06e-02 4.22e-01 -1.7 1.33e+00 -2.8 1.00e+00 1.00e+00h 1 9 2.1818490e+00 2.70e-02 1.68e-01 -2.0 1.72e+00 -3.3 9.92e-01 6.91e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.1287300e+00 2.75e-02 1.15e-01 -2.4 2.84e+00 -3.8 9.55e-01 9.05e-01h 1 11 2.1071192e+00 8.01e-03 1.07e-01 -2.8 1.03e+00 -4.3 1.00e+00 7.64e-01h 1 12 2.0909575e+00 2.42e-03 2.10e-02 -3.8 1.12e+00 -4.7 9.97e-01 1.00e+00h 1 13 2.0904352e+00 2.00e-04 3.29e-03 -4.0 1.93e+00 -5.2 1.00e+00 1.00e+00h 1 14 2.0901305e+00 8.58e-06 1.83e-03 -4.0 3.51e+00 -5.7 1.00e+00 1.00e+00h 1 15 2.0899331e+00 3.58e-06 2.31e-03 -4.0 4.87e+00 -6.2 1.00e+00 1.00e+00h 1 16 2.0898576e+00 8.29e-07 1.27e-03 -4.0 7.01e+00 -6.6 1.00e+00 1.00e+00h 1 17 2.0898284e+00 1.28e-06 9.45e-04 -4.0 9.70e+00 -7.1 1.00e+00 1.00e+00h 1 18 2.0898239e+00 1.35e-06 5.09e-04 -4.0 7.81e+00 -7.6 1.00e+00 1.00e+00h 1 19 2.0898221e+00 2.63e-07 6.21e-05 -4.0 2.45e+00 -8.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0898219e+00 5.32e-09 1.06e-06 -4.0 4.27e-01 -8.5 1.00e+00 1.00e+00h 1 21 2.0898219e+00 1.42e-11 4.01e-09 -4.0 3.63e-02 -9.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 21 (scaled) (unscaled) Objective...............: 2.0898218500864743e+00 2.0898218500864743e+00 Dual infeasibility......: 4.0105190956944183e-09 4.0105190956944183e-09 Constraint violation....: 1.4190065789065898e-11 1.4190065789065898e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 4.0105190956944183e-09 4.0105190956944183e-09 Number of objective function evaluations = 25 Number of objective gradient evaluations = 22 Number of equality constraint evaluations = 25 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 22 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 21 Total seconds in IPOPT = 26.795 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 2.3287149e+00 4.76e+00 6.92e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.1693559e+00 4.54e+00 7.09e+00 -1.0 2.57e+00 0.0 5.87e-03 4.73e-02f 1 2 2.1674259e+00 4.53e+00 2.31e+03 -0.0 2.37e+00 -0.5 1.90e-01 4.96e-04h 1 3 2.2412915e+00 4.54e+00 9.55e+01 1.7 9.04e+02 -1.0 7.20e-04 1.02e-03f 1 4 2.4777763e+00 4.52e+00 1.81e+03 -4.0 3.24e+02 -1.4 3.88e-03 2.91e-03h 1 5 2.4800450e+00 4.52e+00 3.62e+05 -0.6 7.37e+01 -1.9 6.05e-02 1.53e-04h 1 6 2.4799981e+00 4.52e+00 1.61e+09 -1.0 7.41e+00 -1.5 1.70e-01 3.83e-05h 1 7r 2.4799981e+00 4.52e+00 1.00e+03 0.7 0.00e+00 -1.1 0.00e+00 1.93e-07R 2 8r 2.3713354e+00 1.33e+00 9.96e+02 1.8 2.43e+03 - 4.24e-03 1.80e-03f 1 9 2.3700547e+00 1.33e+00 2.76e+02 -4.0 1.64e+00 -1.5 1.68e-01 5.99e-04h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10r 2.3700547e+00 1.33e+00 9.95e+02 0.9 0.00e+00 -2.0 0.00e+00 4.79e-07R 5 11r 2.7778743e+00 6.34e-01 1.51e+03 1.7 1.30e+02 - 7.42e-01 7.47e-03f 1 12 2.7722391e+00 6.30e-01 4.88e+01 -4.0 3.93e+00 -2.5 3.13e-01 6.23e-03h 1 13 2.7864223e+00 6.30e-01 6.04e+02 -4.0 2.88e+02 -3.0 5.93e-03 2.55e-04h 2 14 2.8699184e+00 6.29e-01 1.93e+05 -0.3 2.96e+02 -3.4 1.00e+00 1.34e-03f 2 15 2.9126327e+00 6.29e-01 1.00e+06 0.0 1.21e+02 -3.9 9.39e-03 8.38e-04h 2 16 2.9558185e+00 6.28e-01 1.02e+09 0.0 8.47e+01 -4.4 1.00e+00 9.27e-04h 1 17 2.9562487e+00 6.28e-01 1.15e+12 0.0 5.31e+01 -4.9 1.42e-02 1.16e-05h 1 18r 2.9562487e+00 6.28e-01 1.00e+03 0.0 0.00e+00 -5.4 0.00e+00 1.24e-07R 2 19r 3.1597843e+00 5.39e-01 9.90e+02 1.7 1.63e+02 - 5.96e-01 3.93e-03f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 3.1589728e+00 5.39e-01 3.86e+02 -4.0 7.73e+00 -5.8 3.73e-01 9.55e-04h 1 21 3.1593494e+00 5.39e-01 3.27e+07 0.8 4.02e+02 -6.3 1.00e+00 1.32e-05h 1 22r 3.1593494e+00 5.39e-01 1.00e+03 0.8 0.00e+00 -6.8 0.00e+00 3.41e-07R 3 23r 3.3043444e+00 3.34e-01 7.95e+02 1.7 9.07e+00 - 9.40e-01 8.61e-02f 1 24 3.2959976e+00 3.27e-01 2.76e+01 -4.0 1.79e+00 -7.3 5.72e-01 1.99e-02h 1 25 3.2991137e+00 3.27e-01 9.02e+04 0.5 1.17e+02 -7.7 4.85e-01 2.47e-04h 1 26 3.3015499e+00 3.27e-01 1.45e+09 -0.4 7.29e+01 -8.2 1.00e+00 6.13e-05h 1 27r 3.3015499e+00 3.27e-01 1.00e+03 1.2 0.00e+00 -8.7 0.00e+00 3.13e-07R 2 28r 3.7288563e+00 1.99e-01 9.08e+02 0.4 4.87e+00 - 1.00e+00 7.91e-02f 1 29 3.7288503e+00 1.99e-01 1.12e+03 -1.3 1.06e+00 -9.2 8.21e-01 9.15e-04h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 3.7293955e+00 1.99e-01 2.62e+07 0.7 1.04e+02 -9.6 3.37e-01 1.49e-05h 1 31r 3.7293955e+00 1.99e-01 1.00e+03 1.0 0.00e+00 -10.1 0.00e+00 4.02e-07R 2 32r 3.9197362e+00 1.99e-01 7.71e+02 0.3 6.70e-01 - 8.34e-01 2.15e-01f 1 33r 4.1914886e+00 2.06e-01 4.10e+02 0.1 3.53e-01 - 1.00e+00 4.75e-01f 1 34r 4.5837911e+00 1.99e-01 1.96e+02 -0.5 4.61e-01 - 1.00e+00 5.26e-01f 1 35r 4.5970020e+00 2.01e-01 1.80e+02 -0.3 2.72e-02 2.0 1.00e+00 5.87e-01f 1 36r 4.6521450e+00 1.99e-01 1.01e+00 -0.5 1.06e-01 - 1.00e+00 9.98e-01f 1 37r 4.5858632e+00 1.99e-01 1.78e+01 -2.1 1.86e-01 - 8.28e-01 7.55e-01f 1 38r 4.6042164e+00 1.99e-01 4.72e-01 -2.1 1.42e-02 1.5 1.00e+00 1.00e+00f 1 39r 4.5313421e+00 1.99e-01 6.12e-02 -2.2 2.49e-01 - 9.80e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40r 4.3633094e+00 1.99e-01 4.80e-01 -2.8 2.05e-01 - 8.71e-01 1.00e+00f 1 41r 4.2243566e+00 1.99e-01 6.21e-03 -3.3 8.64e-02 - 1.00e+00 1.00e+00h 1 42r 4.0896518e+00 1.99e-01 1.66e-03 -4.0 3.33e-02 - 1.00e+00 1.00e+00h 1 43r 4.0937304e+00 1.99e-01 5.68e-05 -4.0 1.39e-02 - 1.00e+00 1.00e+00h 1 44r 4.0904538e+00 1.99e-01 4.24e-07 -4.0 2.23e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 44 (scaled) (unscaled) Objective...............: 4.0904749342281903e+00 4.0904749342281903e+00 Dual infeasibility......: 2.0086149807747713e+00 2.0086149807747713e+00 Constraint violation....: 1.9875045031783534e-01 1.9875045031783534e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000284353599e-04 1.0000000284353599e-04 Overall NLP error.......: 2.0086149807747713e+00 2.0086149807747713e+00 Number of objective function evaluations = 68 Number of objective gradient evaluations = 33 Number of equality constraint evaluations = 68 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 52 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 45 Total seconds in IPOPT = 28.479 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 5.6464006e+00 2.94e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.6757393e+00 7.75e-01 1.95e+00 -0.7 2.71e+00 0.0 9.82e-01 7.40e-01f 1 2 2.7314985e+00 3.84e-02 1.94e+00 -0.9 7.80e-01 -0.5 7.20e-01 1.00e+00f 1 3 2.5045756e+00 5.70e-03 4.57e-01 -1.4 1.86e-01 -1.0 1.00e+00 1.00e+00h 1 4 2.2296667e+00 5.23e-03 7.11e-02 -1.9 1.87e-01 -1.4 9.94e-01 8.31e-01f 1 5 2.1091981e+00 2.28e-03 4.23e-02 -3.2 1.40e-01 -1.9 9.79e-01 8.61e-01h 1 6 2.0911227e+00 4.71e-05 1.22e-03 -4.0 1.30e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0908951e+00 1.02e-06 3.15e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908904e+00 2.06e-09 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908772e+00 6.90e-09 2.06e-05 -4.0 1.35e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908373e+00 6.21e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907179e+00 5.60e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903604e+00 5.06e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892949e+00 4.62e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861629e+00 4.34e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796271e+00 2.51e-03 8.65e-02 -4.0 8.73e+01 -6.7 1.00e+00 7.58e-01h 1 16 2.0812706e+00 1.48e-04 1.91e-01 -4.0 6.75e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778359e+00 5.69e-03 2.66e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781427e+00 1.62e-02 3.11e-02 -3.7 1.51e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767332e+00 1.30e-02 1.79e-02 -3.8 2.82e+02 -8.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0758506e+00 1.05e-02 2.17e-02 -3.9 4.09e+02 -9.1 1.00e+00 9.91e-01h 1 21 2.0757725e+00 6.87e-03 9.56e-03 -4.0 1.37e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756810e+00 3.78e-04 4.11e-04 -4.0 5.85e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 4.52e-06 7.84e-06 -4.0 2.28e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 5.60e-08 1.46e-06 -4.0 1.49e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.46e-09 1.48e-07 -4.0 5.23e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.67e-11 3.01e-09 -4.0 9.22e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122105951e+00 2.0756712122105951e+00 Dual infeasibility......: 3.0070664220932693e-09 3.0070664220932693e-09 Constraint violation....: 7.6722406205931293e-11 7.6722406205931293e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000011e-04 1.0000000000000011e-04 Overall NLP error.......: 3.0070664220932693e-09 3.0070664220932693e-09 Number of objective function evaluations = 28 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 26 Total seconds in IPOPT = 29.831 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.3872428e+00 3.89e+00 4.16e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8322760e+00 1.19e-01 4.21e+00 -0.9 2.58e+00 0.0 9.53e-01 1.00e+00h 1 2 2.5814470e+00 2.28e-02 1.19e+00 -1.0 2.05e-01 0.4 9.49e-01 7.84e-01h 1 3 2.4601450e+00 3.70e-03 2.44e-01 -1.5 1.37e-01 -0.1 9.80e-01 1.00e+00h 1 4 2.2277150e+00 3.06e-03 1.78e-01 -2.2 9.92e-02 -0.5 9.95e-01 7.22e-01h 1 5 2.1062996e+00 8.35e-04 4.86e-02 -3.2 6.85e-02 -1.0 1.00e+00 8.73e-01h 1 6 2.0909714e+00 3.84e-05 1.70e-02 -4.0 1.36e-02 -1.5 1.00e+00 1.00e+00h 1 7 2.0909724e+00 6.09e-08 5.02e-04 -4.0 1.37e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0909659e+00 2.84e-09 6.05e-05 -4.0 1.65e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909611e+00 3.27e-10 2.48e-05 -4.0 2.04e-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 2.0909534e+00 1.85e-09 2.46e-05 -4.0 6.04e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909318e+00 1.56e-08 2.95e-05 -4.0 1.76e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908767e+00 1.12e-07 2.27e-04 -4.0 4.70e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907890e+00 4.05e-07 9.46e-04 -4.0 1.04e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0905868e+00 3.19e-06 1.62e-03 -4.0 3.06e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0899989e+00 2.76e-05 7.55e-04 -4.0 8.99e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0897141e+00 4.68e-06 1.88e-03 -4.0 3.43e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0894914e+00 5.97e-06 3.77e-02 -4.0 1.28e+01 -5.8 1.00e+00 1.81e-01h 2 18 2.0873191e+00 2.55e-04 9.01e-03 -4.0 2.70e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0841229e+00 9.60e-04 3.85e-02 -4.0 5.39e+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 2.0833908e+00 8.93e-04 3.05e-01 -4.0 3.79e+02 -7.3 1.00e+00 8.52e-02h 1 21 2.0824352e+00 7.72e-04 3.73e-02 -4.0 1.17e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0820178e+00 9.61e-04 2.99e-02 -4.0 2.28e+02 -8.2 5.70e-01 1.00e+00h 1 23 2.4530694e+00 6.82e-04 2.15e+00 -4.0 3.05e+02 -8.7 1.14e-01 1.00e+00h 1 24 2.2612206e+00 5.62e-09 1.49e+00 -4.1 1.04e-01 1.2 1.00e+00 1.00e+00f 1 25 2.1154588e+00 2.82e-09 6.46e-01 -4.1 1.37e-01 0.7 1.00e+00 1.00e+00f 1 26 2.0831927e+00 1.77e-08 1.28e-01 -4.1 8.33e-02 0.2 1.00e+00 1.00e+00f 1 27 2.0822034e+00 6.93e-09 8.71e-02 -4.0 1.73e-02 -0.3 1.00e+00 6.04e-01f 1 28 2.0824949e+00 4.21e-09 5.22e-02 -4.0 7.66e-03 -0.8 1.00e+00 5.00e-01f 2 29 2.0822754e+00 4.96e-08 4.93e-04 -4.1 8.25e-03 -1.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0816176e+00 2.63e-06 5.40e-02 -6.1 3.48e-02 -1.7 8.15e-01 1.00e+00f 1 31 2.0824834e+00 5.48e-06 2.13e-03 -4.0 5.34e-02 -2.2 1.00e+00 1.00e+00h 1 32 2.0821829e+00 8.95e-07 7.80e-05 -4.1 1.98e-02 -2.7 1.00e+00 1.00e+00h 1 33 2.0822899e+00 8.11e-08 4.44e-05 -4.0 6.46e-03 -3.1 1.00e+00 1.00e+00h 1 34 2.0821401e+00 4.56e-07 6.12e-05 -4.1 1.93e-02 -3.6 1.00e+00 1.00e+00h 1 35 2.0822888e+00 9.01e-07 7.64e-05 -4.0 4.40e-02 -4.1 1.00e+00 1.00e+00h 1 36 2.0821256e+00 3.89e-06 3.74e-05 -4.1 1.64e-01 -4.6 1.00e+00 1.00e+00h 1 37 2.0814186e+00 1.35e-04 8.11e-03 -6.1 1.40e+00 -5.0 9.51e-01 1.00e+00h 1 38 2.0822590e+00 1.56e-04 2.92e-03 -4.0 1.23e+00 -5.5 1.00e+00 1.00e+00h 1 39 2.0818994e+00 1.32e-04 2.22e-04 -4.1 2.99e+00 -6.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0809053e+00 7.13e-04 2.14e-03 -6.1 8.10e+00 -6.5 9.90e-01 1.00e+00h 1 41 2.0820613e+00 2.32e-03 4.03e-03 -4.0 2.57e+01 -7.0 1.00e+00 1.00e+00h 1 42 2.0816506e+00 1.07e-03 6.63e-03 -4.1 5.81e+01 -7.4 1.00e+00 1.00e+00h 1 43 2.0815465e+00 4.89e-04 5.84e-03 -4.1 4.13e+01 -7.0 1.00e+00 1.00e+00h 1 44 2.0818386e+00 1.12e-03 4.71e-02 -4.0 4.04e+01 -7.5 7.17e-01 1.00e+00h 1 45 2.0816810e+00 1.89e-04 1.87e-03 -4.1 2.73e+00 -5.3 1.00e+00 1.00e+00h 1 46 2.0816633e+00 3.21e-04 2.73e-03 -4.1 3.73e+00 -5.7 1.00e+00 1.00e+00h 1 47 2.0827619e+00 2.91e-04 5.70e-02 -4.1 5.97e+00 -6.2 7.03e-01 9.93e-01h 1 48 2.0817768e+00 1.78e-04 1.76e-01 -4.1 3.44e+00 -6.7 2.94e-01 1.00e+00f 1 49 2.0815592e+00 4.48e-05 2.77e-01 -4.1 6.40e-02 -1.7 1.00e+00 7.48e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818086e+00 1.11e-06 7.14e-04 -4.0 6.31e-02 -2.2 1.00e+00 1.00e+00f 1 51 2.0817551e+00 1.64e-07 1.17e-04 -4.0 7.13e-02 -2.7 1.00e+00 1.00e+00h 1 52 2.0817337e+00 1.33e-07 3.53e-05 -4.0 3.39e-02 -3.2 1.00e+00 1.00e+00h 1 53 2.0817352e+00 3.89e-08 1.25e-05 -4.0 5.60e-02 -3.7 1.00e+00 1.00e+00h 1 54 2.0817306e+00 9.22e-08 1.27e-05 -4.0 1.71e-01 -4.1 1.00e+00 1.00e+00h 1 55 2.0817139e+00 4.23e-07 1.15e-04 -4.0 5.27e-01 -4.6 1.00e+00 1.00e+00h 1 56 2.0816776e+00 7.52e-06 3.80e-04 -4.0 1.22e+00 -5.1 1.00e+00 1.00e+00h 1 57 2.0815252e+00 2.42e-05 8.09e-04 -4.1 1.08e+00 -5.6 1.00e+00 1.00e+00h 1 58 2.0817331e+00 5.49e-05 3.06e-04 -4.0 2.50e+00 -6.0 1.00e+00 1.00e+00h 1 59 2.0815823e+00 1.65e-05 2.16e-04 -4.1 7.20e-01 -6.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0806620e+00 8.51e-04 1.09e-03 -6.1 1.22e+01 -7.0 9.84e-01 9.63e-01h 1 61 2.0818583e+00 2.67e-03 7.99e-03 -4.0 2.52e+01 -7.5 1.00e+00 1.00e+00f 1 62 2.0816143e+00 1.41e-04 3.89e-04 -4.1 6.14e+00 -7.9 1.00e+00 1.00e+00h 1 63 2.0806681e+00 2.17e-03 8.89e-04 -6.1 2.93e+01 -8.4 9.79e-01 9.04e-01h 1 64 2.0805525e+00 2.69e-04 2.08e-04 -6.1 2.50e+01 -8.9 1.00e+00 1.00e+00h 1 65 2.0819984e+00 1.14e-02 1.61e-03 -4.0 9.17e+01 -9.4 1.00e+00 1.00e+00f 1 66 2.0817035e+00 9.96e-04 6.02e-04 -4.1 4.93e+01 -9.9 1.00e+00 1.00e+00h 1 67 2.0816536e+00 2.23e-06 2.10e-05 -4.1 1.26e+01 -10.3 1.00e+00 1.00e+00h 1 68 2.0818440e+00 1.14e-04 5.43e-06 -4.0 7.08e+00 -10.8 1.00e+00 1.00e+00h 1 69 2.0815834e+00 2.13e-04 9.59e-06 -4.1 9.72e+00 -11.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0805950e+00 3.33e-03 1.58e-04 -6.1 4.09e+01 -11.8 9.77e-01 9.64e-01h 1 71 2.0805497e+00 7.61e-05 1.90e-06 -6.1 1.56e+01 -12.2 1.00e+00 1.00e+00h 1 72 2.0819883e+00 1.06e-02 4.03e-04 -4.0 8.64e+01 -12.7 1.00e+00 1.00e+00f 1 73 2.0816851e+00 9.86e-04 5.22e-05 -4.1 4.71e+01 -13.2 1.00e+00 1.00e+00h 1 74 2.0816467e+00 5.59e-07 8.20e-07 -4.1 8.79e+00 -13.7 1.00e+00 1.00e+00h 1 75 2.0818440e+00 1.24e-04 5.33e-06 -4.0 7.44e+00 -14.1 1.00e+00 1.00e+00h 1 76 2.0815834e+00 2.14e-04 9.28e-06 -4.1 9.75e+00 -14.6 1.00e+00 1.00e+00h 1 77 2.0805950e+00 3.33e-03 1.58e-04 -6.1 4.09e+01 -15.1 9.77e-01 9.64e-01h 1 78 2.0805497e+00 7.61e-05 1.82e-06 -6.1 1.56e+01 -15.6 1.00e+00 1.00e+00h 1 79 2.0819883e+00 1.06e-02 4.03e-04 -4.0 8.64e+01 -16.1 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 9.86e-04 5.24e-05 -4.1 4.71e+01 -16.5 1.00e+00 1.00e+00h 1 81 2.0816467e+00 5.59e-07 8.13e-07 -4.1 8.79e+00 -17.0 1.00e+00 1.00e+00h 1 82 2.0818440e+00 1.24e-04 5.33e-06 -4.0 7.44e+00 -17.5 1.00e+00 1.00e+00h 1 83 2.0815834e+00 2.14e-04 9.28e-06 -4.1 9.75e+00 -18.0 1.00e+00 1.00e+00h 1 84 2.0805950e+00 3.33e-03 1.58e-04 -6.1 4.09e+01 -18.4 9.77e-01 9.64e-01h 1 85 2.0805497e+00 7.61e-05 1.82e-06 -6.1 1.56e+01 -18.9 1.00e+00 1.00e+00h 1 86 2.0805459e+00 4.82e-08 2.08e-08 -6.1 2.71e+00 -19.4 1.00e+00 1.00e+00h 1 87 2.0820252e+00 1.22e-02 4.25e-04 -4.0 9.85e+01 -19.9 1.00e+00 1.00e+00f 1 88 2.0817120e+00 1.09e-03 6.91e-05 -4.1 5.48e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0816602e+00 1.23e-06 1.06e-06 -4.1 1.09e+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 2.0805974e+00 3.75e-03 1.59e-04 -6.1 4.29e+01 -20.0 9.76e-01 9.67e-01h 1 91 2.0805512e+00 8.27e-05 2.04e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0805470e+00 5.84e-08 2.51e-08 -6.1 3.00e+00 -20.0 1.00e+00 1.00e+00h 1 93 2.0805365e+00 9.24e-07 7.89e-07 -9.0 9.37e-01 -20.0 1.00e+00 9.97e-01h 1 94 2.0820411e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 95 2.0817244e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0816662e+00 1.63e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 97 2.0805979e+00 3.78e-03 1.61e-04 -6.1 4.31e+01 -20.0 9.76e-01 9.67e-01h 1 98 2.0805514e+00 8.39e-05 2.07e-06 -6.1 1.67e+01 -20.0 1.00e+00 1.00e+00h 1 99 2.0805470e+00 6.01e-08 2.58e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805365e+00 9.41e-07 8.10e-07 -9.0 9.46e-01 -20.0 1.00e+00 9.97e-01h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805365098334092e+00 2.0805365098334092e+00 Dual infeasibility......: 8.0980368750815390e-07 8.0980368750815390e-07 Constraint violation....: 9.4075932199899626e-07 9.4075932199899626e-07 Variable bound violation: 9.9677827380961759e-09 9.9677827380961759e-09 Complementarity.........: 1.6250569999637516e-08 1.6250569999637516e-08 Overall NLP error.......: 9.9999999356063535e-05 9.9999999356063535e-05 Number of objective function evaluations = 105 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 105 Number of inequality constraint evaluations = 105 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 29.054 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 96 Number of nonzeros in Lagrangian Hessian.............: 1804 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.2058236e+01 2.61e+00 3.52e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.4652371e+00 4.02e-01 4.94e+00 -0.8 1.73e+00 0.0 7.02e-01 8.48e-01f 1 2 2.9869923e+00 4.90e-02 4.01e+00 -0.7 8.95e-01 -0.5 7.95e-01 1.00e+00f 1 3 2.6304743e+00 4.94e-02 9.92e-01 -1.0 4.86e-01 -1.0 9.85e-01 1.00e+00h 1 4 2.3838742e+00 6.06e-02 3.09e-01 -1.5 5.78e-01 -1.4 9.85e-01 8.46e-01h 1 5 2.1573636e+00 1.38e-02 1.24e-01 -2.2 3.75e-01 -1.9 9.04e-01 9.97e-01h 1 6 2.0955763e+00 1.07e-03 2.72e-02 -3.3 1.08e-01 -2.4 9.96e-01 1.00e+00h 1 7 2.0909350e+00 1.29e-05 1.20e-03 -4.0 1.73e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908889e+00 3.68e-07 2.09e-05 -4.0 4.56e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908741e+00 6.03e-09 1.99e-05 -4.0 1.31e-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 2.0908405e+00 4.76e-08 9.82e-05 -4.0 3.51e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907708e+00 2.31e-07 5.07e-04 -4.0 8.85e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905891e+00 2.37e-06 8.30e-04 -4.0 2.65e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0899933e+00 1.95e-05 1.48e-03 -4.0 7.19e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0885102e+00 1.60e-04 1.50e-02 -4.0 2.27e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0879790e+00 1.84e-05 3.33e-03 -4.0 1.68e+00 -4.9 1.00e+00 9.27e-01h 1 16 2.0878308e+00 2.90e-06 2.23e-03 -4.0 3.49e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0868952e+00 4.01e-05 5.20e-03 -4.0 1.02e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0853800e+00 1.94e-04 1.09e-02 -4.0 2.38e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0838068e+00 2.50e-04 4.54e-02 -4.0 4.12e+01 -6.8 1.00e+00 5.47e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0826446e+00 8.14e-05 1.36e-02 -4.0 5.71e+01 -7.3 1.00e+00 7.01e-01h 1 21 2.0824983e+00 8.34e-04 2.67e-02 -4.0 1.21e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.2286462e+00 1.04e-04 4.27e+00 -4.0 8.05e+02 -8.2 4.89e-02 1.00e+00H 1 23 2.0857821e+00 1.65e-05 6.36e-01 -4.1 8.60e-02 -0.4 1.00e+00 8.41e-01f 1 24 2.0860596e+00 1.63e-05 3.45e+00 -4.0 6.96e-02 -0.8 1.00e+00 7.81e-03f 8 25 2.0860374e+00 4.85e-08 1.23e-03 -4.0 2.59e-02 -1.3 1.00e+00 1.00e+00h 1 26 2.0857884e+00 1.46e-07 1.03e-03 -4.0 6.53e-02 -1.8 1.00e+00 1.00e+00h 1 27 2.0856362e+00 5.08e-07 5.34e-04 -4.0 1.01e-01 -2.3 1.00e+00 1.00e+00h 1 28 2.0856816e+00 9.11e-08 3.57e-05 -4.0 1.60e-02 -2.8 1.00e+00 1.00e+00h 1 29 2.0856731e+00 7.16e-08 3.56e-05 -4.0 1.83e-02 -3.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0856686e+00 8.53e-09 3.56e-05 -4.0 5.51e-02 -3.7 1.00e+00 1.00e+00h 1 31 2.0856558e+00 2.87e-08 3.57e-05 -4.0 1.65e-01 -4.2 1.00e+00 1.00e+00h 1 32 2.0856186e+00 2.48e-07 3.58e-05 -4.0 4.89e-01 -4.7 1.00e+00 1.00e+00h 1 33 2.0855175e+00 1.94e-06 1.05e-04 -4.0 1.43e+00 -5.1 1.00e+00 1.00e+00h 1 34 2.0852902e+00 1.17e-05 6.11e-04 -4.0 3.97e+00 -5.6 1.00e+00 1.00e+00h 1 35 2.0849451e+00 3.54e-05 1.77e-03 -4.0 1.04e+01 -6.1 1.00e+00 1.00e+00h 1 36 2.0844070e+00 6.73e-05 3.46e-03 -4.0 2.69e+01 -6.6 1.00e+00 1.00e+00h 1 37 2.0834648e+00 4.13e-04 1.57e-02 -4.0 6.53e+01 -7.0 1.00e+00 1.00e+00h 1 38 2.0821575e+00 1.16e-03 4.41e-02 -4.1 1.26e+02 -7.5 1.00e+00 1.00e+00h 1 39 2.0818038e+00 5.36e-03 3.71e-02 -4.0 2.01e+02 -8.0 5.91e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0819572e+00 3.05e-03 3.80e-02 -4.0 5.41e+01 -6.7 1.00e+00 1.00e+00h 1 41 2.1557068e+00 4.18e-06 1.03e+00 -4.0 9.59e+01 -7.2 2.72e-01 1.00e+00H 1 42 2.1202615e+00 1.16e-08 3.79e-01 -4.1 7.64e-02 0.7 1.00e+00 1.00e+00f 1 43 2.1112028e+00 1.63e-09 3.31e-01 -4.0 2.51e-02 1.1 1.00e+00 1.00e+00f 1 44 2.0962888e+00 2.73e-09 2.31e-01 -4.0 5.26e-02 0.6 1.00e+00 1.00e+00f 1 45 2.0846008e+00 1.82e-09 1.02e-01 -4.0 6.99e-02 0.2 1.00e+00 1.00e+00f 1 46 2.0818957e+00 3.78e-09 2.03e-02 -4.0 4.30e-02 -0.3 1.00e+00 1.00e+00f 1 47 2.0820262e+00 1.98e-09 7.02e-04 -4.0 4.40e-03 -0.8 1.00e+00 1.00e+00h 1 48 2.0819555e+00 1.41e-09 1.50e-04 -4.0 2.95e-03 -1.3 1.00e+00 1.00e+00h 1 49 2.0819459e+00 2.36e-09 6.60e-05 -4.0 3.67e-03 -1.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818155e+00 1.05e-07 9.18e-05 -4.1 8.48e-03 -2.2 1.00e+00 1.00e+00h 1 51 2.0819504e+00 1.20e-07 7.51e-05 -4.0 8.23e-03 -2.7 1.00e+00 1.00e+00h 1 52 2.0818104e+00 1.22e-07 8.30e-05 -4.1 8.77e-03 -3.2 1.00e+00 1.00e+00h 1 53 2.0819512e+00 1.66e-07 8.57e-05 -4.0 1.19e-02 -3.7 1.00e+00 1.00e+00h 1 54 2.0818068e+00 8.40e-07 7.41e-05 -4.1 3.56e-02 -4.1 1.00e+00 1.00e+00h 1 55 2.0819485e+00 1.50e-06 9.07e-05 -4.0 1.07e-01 -4.6 1.00e+00 1.00e+00h 1 56 2.0817870e+00 6.18e-06 7.25e-05 -4.1 2.92e-01 -5.1 1.00e+00 1.00e+00h 1 57 2.0819342e+00 1.36e-05 8.76e-05 -4.0 9.58e-01 -5.6 1.00e+00 1.00e+00h 1 58 2.0817217e+00 4.55e-05 1.25e-04 -4.1 2.60e+00 -6.0 1.00e+00 1.00e+00h 1 59 2.0819122e+00 1.32e-04 2.77e-04 -4.0 8.48e+00 -6.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0816265e+00 3.67e-04 9.15e-04 -4.1 2.27e+01 -7.0 1.00e+00 1.00e+00h 1 61 2.0820145e+00 3.75e-07 4.29e-02 -4.0 1.03e+02 -7.5 4.09e-01 1.00e+00H 1 62 2.0818683e+00 1.04e-06 3.42e-02 -4.0 7.95e-01 -5.2 1.00e+00 4.51e-01h 2 63 2.0818987e+00 4.97e-05 6.00e-04 -4.0 1.94e+00 -5.7 1.00e+00 1.00e+00h 1 64 2.0817403e+00 6.24e-05 5.69e-04 -4.1 4.59e+00 -6.2 1.00e+00 1.00e+00h 1 65 2.0809481e+00 4.93e-04 4.51e-02 -6.1 1.11e+01 -6.7 9.61e-01 6.76e-01h 1 66 2.0807028e+00 2.07e-04 2.31e-03 -5.1 9.39e+00 -7.1 1.00e+00 8.85e-01h 1 67 2.0813719e+00 2.77e-03 3.51e-02 -4.0 1.05e+02 -7.6 2.29e-01 5.00e-01h 2 68 2.0811011e+00 4.74e-04 1.94e-02 -4.6 8.51e-01 -5.4 1.00e+00 8.26e-01h 1 69 2.0809918e+00 5.17e-05 1.66e-03 -4.6 2.19e+00 -5.9 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0818774e+00 7.69e-04 6.13e-03 -4.0 8.67e+00 -6.3 1.00e+00 1.00e+00h 1 71 2.0818495e+00 1.67e-03 7.23e-02 -4.1 4.32e+01 -6.8 4.38e-01 1.00e+00h 1 72 2.0815570e+00 3.01e-04 9.55e-02 -4.1 6.36e-01 -4.6 1.00e+00 8.25e-01h 1 73 2.0817650e+00 2.86e-05 2.41e-03 -4.1 6.34e-01 -5.1 1.00e+00 1.00e+00f 1 74 2.0818817e+00 3.97e-04 1.63e-03 -4.0 3.66e+00 -5.5 1.00e+00 1.00e+00h 1 75 2.0817006e+00 2.89e-04 9.20e-01 -4.1 3.22e-01 -2.4 1.00e+00 2.72e-01h 1 76 2.0816619e+00 4.47e-07 4.39e-04 -4.1 3.05e-02 -2.9 1.00e+00 1.00e+00f 1 77 2.0818615e+00 9.19e-07 1.57e-04 -4.0 2.99e-02 -3.4 1.00e+00 1.00e+00h 1 78 2.0817346e+00 5.72e-07 9.31e-05 -4.1 3.57e-02 -3.8 1.00e+00 1.00e+00h 1 79 2.0812194e+00 1.70e-05 8.48e-03 -6.1 2.64e-01 -4.3 7.99e-01 8.35e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0819720e+00 4.43e-05 1.48e-03 -4.0 3.14e-01 -4.8 1.00e+00 1.00e+00f 1 81 2.0817496e+00 4.59e-05 1.07e-04 -4.1 1.23e+00 -5.3 1.00e+00 1.00e+00h 1 82 2.0815996e+00 2.04e-04 1.28e+00 -6.1 8.05e+01 -5.7 1.83e-01 3.09e-02h 1 83 2.0809496e+00 3.20e-04 2.07e-02 -6.1 6.41e+00 -6.2 9.94e-01 7.22e-01h 1 84 2.0807115e+00 1.97e-04 1.32e-02 -6.1 8.72e+00 -6.7 1.00e+00 6.05e-01h 1 85 2.0806427e+00 1.05e-04 1.97e-03 -5.4 1.03e+01 -7.2 1.00e+00 9.60e-01h 1 86 2.0811698e+00 1.25e-03 4.59e-02 -4.0 1.89e+02 -7.7 8.52e-02 2.50e-01f 3 87 2.0809067e+00 5.21e-04 3.05e-01 -4.9 3.29e+00 -5.4 1.00e+00 5.93e-01h 1 88 2.0808661e+00 4.98e-04 6.51e-01 -4.9 4.29e+00 -5.9 1.00e+00 5.89e-02f 1 89 2.0807651e+00 4.08e-05 5.44e-02 -4.9 2.39e+00 -6.4 1.00e+00 9.00e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0817827e+00 2.68e-03 1.03e-02 -4.0 2.86e+01 -6.9 1.00e+00 1.00e+00f 1 91 2.0816717e+00 3.65e-04 5.78e-02 -4.1 2.35e+01 -7.3 7.13e-01 1.00e+00h 1 92 2.0816520e+00 6.08e-06 4.89e-05 -4.1 1.41e-01 -4.2 1.00e+00 1.00e+00h 1 93 2.0818369e+00 1.15e-04 1.47e-03 -4.0 6.73e-01 -4.7 1.00e+00 1.00e+00h 1 94 2.0818893e+00 2.35e-07 9.24e-03 -4.1 1.31e+00 -5.2 1.00e+00 1.00e+00H 1 95 2.0818636e+00 2.33e-05 2.19e-02 -4.0 8.28e-01 -5.6 9.54e-01 1.00e+00h 1 96 2.0817794e+00 2.74e-06 5.98e-02 -4.1 1.77e-01 -2.5 9.31e-01 1.00e+00h 1 97 2.0817128e+00 1.83e-07 2.24e-03 -4.1 1.39e-01 -3.0 1.00e+00 1.00e+00h 1 98 2.0818323e+00 4.29e-07 2.28e-04 -4.0 2.55e-02 -3.4 1.00e+00 1.00e+00h 1 99 2.0817071e+00 9.46e-07 7.59e-05 -4.1 5.02e-02 -3.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0811589e+00 2.17e-05 4.39e-02 -6.1 2.31e-01 -4.4 8.13e-01 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0811588811719344e+00 2.0811588811719344e+00 Dual infeasibility......: 4.3924806302354076e-02 4.3924806302354076e-02 Constraint violation....: 2.1675105609991752e-05 2.1675105609991752e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.3018755887117004e-05 2.3018755887117004e-05 Overall NLP error.......: 4.3924806302354076e-02 4.3924806302354076e-02 Number of objective function evaluations = 126 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 126 Number of inequality constraint evaluations = 126 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 33.841 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 5.3467675e+01 3.04e+00 2.27e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.3502638e+01 1.91e+00 1.38e+01 -0.5 2.20e+00 0.0 7.85e-01 3.74e-01f 1 2 8.5565341e+00 1.31e+00 2.40e+01 0.4 1.81e+00 -0.5 4.94e-01 3.16e-01f 1 3 3.4224321e+00 3.12e-01 5.04e+00 -0.0 1.80e+00 -1.0 7.87e-01 7.76e-01f 1 4 3.3938287e+00 2.91e-01 4.55e+01 -1.7 8.53e+00 -1.4 5.56e-01 7.28e-02h 1 5 3.1765727e+00 4.63e-01 1.55e+01 -0.4 4.03e+00 -1.0 5.10e-01 4.95e-01f 1 6 2.8648882e+00 2.11e-01 1.17e+01 -1.4 2.42e+00 -1.5 5.47e-01 5.54e-01h 1 7 2.8316142e+00 4.41e-02 2.87e+00 -0.9 5.44e-01 -1.1 9.69e-01 1.00e+00f 1 8 2.4350574e+00 4.60e-02 2.06e-01 -1.5 5.84e-01 -1.5 9.94e-01 8.30e-01h 1 9 2.1541171e+00 3.47e-02 1.15e-01 -2.6 7.56e-01 -2.0 9.77e-01 8.98e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0962629e+00 1.21e-03 7.51e-03 -3.3 9.36e-02 -2.5 9.97e-01 1.00e+00h 1 11 2.0908877e+00 1.67e-05 2.69e-04 -4.0 1.92e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0908974e+00 1.87e-07 2.68e-04 -4.0 5.12e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908853e+00 8.61e-09 2.68e-04 -4.0 1.47e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0908544e+00 5.70e-08 2.68e-04 -4.0 4.01e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0907734e+00 3.70e-07 4.24e-04 -4.0 1.08e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0905402e+00 3.77e-06 4.71e-04 -4.0 3.33e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0904414e+00 5.23e-07 3.99e-04 -4.0 1.25e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0901167e+00 1.39e-06 4.61e-03 -4.0 4.63e+00 -5.4 1.00e+00 6.73e-01H 1 19 2.0893895e+00 6.51e-05 1.37e-02 -4.0 1.33e+01 -5.9 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0885834e+00 7.10e-05 2.10e-01 -4.0 3.93e+01 -5.5 1.00e+00 1.45e-01h 1 21 2.0875706e+00 7.88e-05 1.69e-02 -4.0 1.34e+01 -5.9 1.00e+00 1.00e+00h 1 22 2.0858310e+00 1.60e-04 3.06e-02 -4.0 3.14e+01 -6.4 1.00e+00 7.15e-01h 1 23 2.0831805e+00 7.42e-04 4.44e-02 -4.0 5.02e+01 -6.9 1.00e+00 1.00e+00h 1 24 2.0828031e+00 6.79e-04 1.93e-02 -4.0 7.12e+01 -7.4 1.00e+00 1.00e+00h 1 25 2.0822413e+00 1.26e-03 9.44e-03 -4.0 1.66e+02 -7.8 7.70e-01 1.00e+00h 1 26 2.0829459e+00 6.20e-06 2.92e-02 -4.0 3.96e+01 -6.5 1.00e+00 1.00e+00H 1 27 2.0845116e+00 6.92e-04 2.92e-03 -3.4 3.23e+00 -5.2 1.00e+00 1.00e+00f 1 28 2.0837319e+00 7.46e-05 1.06e-03 -3.5 7.82e-01 -4.8 1.00e+00 1.00e+00h 1 29 2.0821166e+00 8.13e-04 4.85e-02 -5.3 3.19e+00 -5.2 9.01e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0829737e+00 2.04e-04 4.54e-01 -4.0 3.87e+00 -4.8 1.00e+00 7.58e-01h 1 31 2.0819520e+00 1.04e-04 8.45e-01 -4.1 8.94e-01 -5.3 5.73e-01 1.00e+00h 1 32 2.0819643e+00 5.77e-05 2.52e+00 -4.0 1.61e+00 -4.0 6.55e-01 2.87e-01h 1 33 2.0833928e+00 1.50e-05 1.26e-01 -4.0 3.74e-01 -4.4 1.00e+00 9.26e-01H 1 34 2.0824881e+00 5.40e-04 2.34e-01 -4.0 9.06e-01 -4.9 5.30e-01 1.00e+00h 1 35 2.0825188e+00 2.02e-06 9.85e-02 -4.0 3.52e+00 -5.4 5.75e-01 1.00e+00H 1 36 2.0822587e+00 1.64e-06 2.41e-03 -4.0 5.70e-02 -1.3 1.00e+00 1.00e+00h 1 37 2.0823284e+00 1.42e-07 2.86e-04 -4.0 1.82e-02 -1.8 1.00e+00 1.00e+00h 1 38 2.0823356e+00 1.21e-08 2.68e-04 -4.0 2.48e-02 -2.3 1.00e+00 1.00e+00h 1 39 2.0823263e+00 3.05e-08 2.68e-04 -4.0 1.97e-02 -2.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0823228e+00 2.63e-08 2.68e-04 -4.0 2.47e-02 -3.3 1.00e+00 1.00e+00h 1 41 2.0823177e+00 9.58e-09 2.68e-04 -4.0 7.43e-02 -3.7 1.00e+00 1.00e+00h 1 42 2.0823018e+00 7.98e-08 2.68e-04 -4.0 2.24e-01 -4.2 1.00e+00 1.00e+00h 1 43 2.0822557e+00 1.69e-06 3.94e-04 -4.0 5.96e-01 -4.7 1.00e+00 1.00e+00h 1 44 2.0822098e+00 6.47e-06 4.34e-04 -4.0 6.03e-01 -5.2 1.00e+00 1.00e+00h 1 45 2.0822041e+00 4.68e-06 2.68e-04 -4.0 6.99e-01 -5.6 1.00e+00 1.00e+00h 1 46 2.0822005e+00 7.73e-06 2.68e-04 -4.0 1.65e+00 -6.1 1.00e+00 1.00e+00h 1 47 2.0821815e+00 3.23e-06 2.68e-04 -4.0 5.19e+00 -6.6 1.00e+00 1.00e+00h 1 48 2.0821261e+00 7.27e-06 4.87e-04 -4.0 1.38e+01 -7.1 1.00e+00 1.00e+00h 1 49 2.0820229e+00 4.34e-05 2.23e-03 -4.0 2.96e+01 -7.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0819105e+00 1.21e-04 4.67e-03 -4.0 4.72e+01 -8.0 1.00e+00 1.00e+00h 1 51 2.0818527e+00 1.40e-04 3.64e-03 -4.0 5.79e+01 -8.5 1.00e+00 1.00e+00h 1 52 2.0818397e+00 3.82e-05 7.74e-04 -4.0 3.48e+01 -9.0 1.00e+00 1.00e+00h 1 53 2.0818384e+00 1.70e-06 2.68e-04 -4.0 8.65e+00 -9.5 1.00e+00 1.00e+00h 1 54 2.0818383e+00 1.06e-08 2.68e-04 -4.0 8.03e-01 -9.9 1.00e+00 1.00e+00h 1 55 2.0818383e+00 8.93e-12 2.68e-04 -4.0 2.65e-02 -10.4 1.00e+00 1.00e+00h 1 56 2.0818383e+00 4.47e-12 1.34e-04 -4.0 3.04e-04 -10.9 1.00e+00 5.00e-01h 2 57 2.0818383e+00 8.88e-16 2.68e-04 -4.0 1.53e-04 -11.8 1.00e+00 1.00e+00H 1 58 2.0818383e+00 2.22e-16 2.68e-04 -4.0 2.00e-05 -12.3 1.00e+00 1.00e+00h 1 59 2.0815797e+00 2.05e-04 2.15e-04 -4.1 9.35e+00 -12.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0818395e+00 2.13e-04 2.68e-04 -4.0 9.67e+00 -13.3 1.00e+00 1.00e+00h 1 61 2.0815804e+00 2.11e-04 2.15e-04 -4.1 9.63e+00 -13.8 1.00e+00 1.00e+00h 1 62 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -14.2 9.78e-01 9.71e-01h 1 63 2.0818882e+00 6.56e-03 2.96e-04 -4.0 6.10e+01 -14.7 1.00e+00 1.00e+00f 1 64 2.0816136e+00 4.88e-04 2.20e-04 -4.1 2.07e+01 -15.2 1.00e+00 1.00e+00h 1 65 2.0805989e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -15.7 9.76e-01 9.65e-01h 1 66 2.0805508e+00 8.46e-05 2.20e-06 -6.1 1.69e+01 -16.1 1.00e+00 1.00e+00h 1 67 2.0819794e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -16.6 1.00e+00 1.00e+00f 1 68 2.0816837e+00 9.34e-04 2.29e-04 -4.1 4.57e+01 -17.1 1.00e+00 1.00e+00h 1 69 2.0816477e+00 4.73e-07 2.29e-04 -4.1 8.53e+00 -17.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0818389e+00 1.15e-04 2.68e-04 -4.0 7.07e+00 -18.0 1.00e+00 1.00e+00h 1 71 2.0815801e+00 2.08e-04 2.15e-04 -4.1 9.50e+00 -18.5 1.00e+00 1.00e+00h 1 72 2.0805898e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -19.0 9.78e-01 9.71e-01h 1 73 2.0805497e+00 6.51e-05 1.92e-06 -6.1 1.55e+01 -19.5 1.00e+00 1.00e+00h 1 74 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -20.0 1.00e+00 1.00e+00f 1 75 2.0816887e+00 9.54e-04 2.29e-04 -4.1 4.72e+01 -20.0 1.00e+00 1.00e+00h 1 76 2.0816504e+00 5.63e-07 2.29e-04 -4.1 8.93e+00 -20.0 1.00e+00 1.00e+00h 1 77 2.0805906e+00 3.68e-03 1.60e-04 -6.1 4.16e+01 -20.0 9.77e-01 9.75e-01h 1 78 2.0805511e+00 6.76e-05 2.12e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 79 2.0805469e+00 4.72e-08 2.12e-06 -6.1 2.95e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.89e+01 -20.0 1.00e+00 1.00e+00f 1 81 2.0817159e+00 1.04e-03 2.32e-04 -4.1 5.46e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0816648e+00 1.22e-06 2.32e-04 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 83 2.0805915e+00 3.76e-03 1.66e-04 -6.1 4.20e+01 -20.0 9.76e-01 9.75e-01h 1 84 2.0805514e+00 6.96e-05 2.16e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 85 2.0805471e+00 4.99e-08 2.16e-06 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 86 2.0805365e+00 9.55e-07 8.02e-07 -9.0 9.57e-01 -20.0 1.00e+00 9.97e-01h 1 87 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 88 2.0817306e+00 1.08e-03 2.34e-04 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0816723e+00 1.67e-06 2.34e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 91 2.0805516e+00 7.07e-05 2.18e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0805472e+00 5.15e-08 2.18e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 93 2.0805365e+00 9.76e-07 8.28e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 94 2.0805365e+00 9.27e-11 2.44e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 95 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 96 2.0817309e+00 1.08e-03 2.34e-04 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 97 2.0816725e+00 1.68e-06 2.34e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 98 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 99 2.0805516e+00 7.08e-05 2.18e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805472e+00 5.16e-08 2.18e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805471888606091e+00 2.0805471888606091e+00 Dual infeasibility......: 2.1807070693481583e-06 2.1807070693481583e-06 Constraint violation....: 5.1567784264960892e-08 5.1567784264960892e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.0544269497184549e-07 9.0544269497184549e-07 Overall NLP error.......: 9.9188961448572286e-05 9.9188961448572286e-05 Number of objective function evaluations = 107 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 107 Number of inequality constraint evaluations = 107 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 36.041 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 4.4545408e+00 2.56e+00 3.95e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7906878e+00 3.95e-02 1.85e+00 -0.9 2.33e+00 -2.0 4.41e-01 1.00e+00f 1 2 2.3345266e+00 7.53e-02 8.35e-01 -1.7 2.14e+00 -2.5 9.86e-01 1.00e+00h 1 3 2.1566158e+00 2.66e-02 1.45e-01 -2.4 1.28e+00 -3.0 9.93e-01 1.00e+00h 1 4 2.0982994e+00 2.85e-03 1.39e-02 -3.1 4.51e-01 -3.4 9.96e-01 1.00e+00h 1 5 2.0909655e+00 1.29e-04 6.20e-04 -4.0 1.75e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0908564e+00 4.36e-06 4.59e-05 -4.0 5.01e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0907085e+00 8.25e-07 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0902662e+00 7.67e-06 3.45e-05 -4.0 4.50e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0889499e+00 7.00e-05 3.08e-04 -4.0 1.34e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0851005e+00 6.54e-04 2.82e-03 -4.0 3.91e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0797570e+00 1.91e-03 1.46e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.27e-01h 1 12 2.0803650e+00 4.77e-05 1.69e-01 -4.0 6.35e+01 -7.2 1.00e+00 1.00e+00H 1 13 2.0774981e+00 5.90e-03 2.03e-02 -4.0 1.24e+02 -7.7 1.00e+00 9.76e-01h 1 14 2.0772450e+00 5.31e-04 7.00e-02 -4.0 2.12e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0761542e+00 1.15e-03 2.67e-02 -4.0 3.56e+02 -8.7 1.00e+00 7.65e-01h 1 16 2.0755843e+00 5.37e-04 2.49e-02 -4.0 4.91e+02 -9.2 1.00e+00 7.24e-01h 1 17 2.0758556e+00 7.70e-04 1.11e-02 -4.0 1.38e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0754567e+00 1.81e-03 4.50e-04 -4.1 7.79e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0757715e+00 5.08e-04 7.63e-06 -4.0 2.09e+01 -10.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0754220e+00 6.67e-04 8.29e-07 -4.1 2.52e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0757717e+00 3.71e-04 8.27e-07 -4.0 1.40e+01 -11.5 1.00e+00 1.00e+00h 1 22 2.0754219e+00 5.46e-04 2.70e-07 -4.1 2.06e+01 -12.0 1.00e+00 1.00e+00h 1 23 2.0757717e+00 6.02e-04 1.14e-07 -4.0 2.27e+01 -12.5 1.00e+00 1.00e+00h 1 24 2.0754219e+00 6.01e-04 9.83e-08 -4.1 2.27e+01 -13.0 1.00e+00 1.00e+00h 1 25 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -13.5 9.28e-01 1.00e+00h 1 26 2.0758523e+00 1.72e-01 1.56e-04 -4.0 1.29e+03 -13.9 1.00e+00 1.00e+00h 1 27 2.0754378e+00 2.84e-02 8.74e-05 -4.1 1.05e+03 -14.4 1.00e+00 1.00e+00h 1 28 2.0754277e+00 1.24e-05 2.12e-06 -4.1 1.63e+02 -14.9 1.00e+00 1.00e+00h 1 29 2.0757717e+00 7.83e-04 1.74e-07 -4.0 3.01e+01 -15.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0754219e+00 6.34e-04 1.30e-07 -4.1 2.39e+01 -15.8 1.00e+00 1.00e+00h 1 31 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -16.3 9.28e-01 1.00e+00h 1 32 2.0739729e+00 7.49e-04 2.53e-04 -6.1 8.48e+02 -16.8 8.16e-01 1.00e+00h 1 33 2.0743069e+00 2.58e-02 1.46e-02 -4.0 8.97e+03 -17.3 1.00e+00 1.46e-01f 1 34 2.0749156e+00 3.43e-02 4.23e-05 -4.3 7.15e+02 -17.7 1.00e+00 1.00e+00h 1 35 2.0749194e+00 4.29e-04 1.42e-05 -4.3 5.34e+02 -18.2 1.00e+00 1.00e+00h 1 36 2.0757799e+00 1.06e-02 3.26e-06 -4.0 1.65e+02 -18.7 1.00e+00 1.00e+00h 1 37 2.0754236e+00 2.17e-03 7.34e-07 -4.1 8.12e+01 -19.2 1.00e+00 1.00e+00h 1 38 2.0754217e+00 1.05e-06 2.50e-08 -4.1 1.90e+01 -19.7 1.00e+00 1.00e+00h 1 39 2.0757718e+00 7.83e-04 1.70e-07 -4.0 2.96e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0754219e+00 6.34e-04 1.30e-07 -4.1 2.39e+01 -20.0 1.00e+00 1.00e+00h 1 41 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 42 2.0739729e+00 7.49e-04 2.53e-04 -6.1 8.48e+02 -20.0 8.16e-01 1.00e+00h 1 43 2.0739618e+00 7.48e-07 1.83e-05 -6.1 5.36e+02 -20.0 1.00e+00 1.00e+00h 1 44 2.0741610e+00 2.72e-02 1.81e-02 -4.0 3.03e+04 -20.0 1.00e+00 8.17e-02f 1 45 2.0748450e+00 7.42e-02 5.83e-05 -4.3 1.43e+03 -20.0 1.00e+00 1.00e+00f 1 46 2.0748594e+00 4.17e-04 5.58e-06 -4.3 3.96e+02 -20.0 1.00e+00 1.00e+00h 1 47 2.0740038e+00 1.17e-02 4.14e-04 -6.5 1.83e+02 -20.0 8.92e-01 1.00e+00h 1 48 2.0739628e+00 2.48e-04 2.84e-04 -6.5 7.31e+02 -20.0 7.61e-01 1.00e+00h 1 49 2.0739529e+00 2.78e-07 2.04e-05 -6.5 6.29e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0741325e+00 2.58e-02 1.91e-02 -4.0 3.70e+04 -20.0 1.00e+00 7.19e-02f 1 51 2.0748276e+00 8.42e-02 6.63e-05 -4.3 1.60e+03 -20.0 1.00e+00 1.00e+00f 1 52 2.0748443e+00 3.56e-04 3.40e-06 -4.3 3.15e+02 -20.0 1.00e+00 1.00e+00h 1 53 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 54 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 55 2.0739527e+00 2.69e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 56 2.0741318e+00 2.58e-02 1.92e-02 -4.0 3.72e+04 -20.0 1.00e+00 7.16e-02f 1 57 2.0748272e+00 8.45e-02 6.65e-05 -4.3 1.61e+03 -20.0 1.00e+00 1.00e+00f 1 58 2.0748440e+00 3.54e-04 3.34e-06 -4.3 3.13e+02 -20.0 1.00e+00 1.00e+00h 1 59 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 61 2.0739527e+00 2.68e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 62 2.0741318e+00 2.58e-02 1.92e-02 -4.0 3.72e+04 -20.0 1.00e+00 7.16e-02f 1 63 2.0748272e+00 8.45e-02 6.65e-05 -4.3 1.61e+03 -20.0 1.00e+00 1.00e+00f 1 64 2.0748440e+00 3.54e-04 3.34e-06 -4.3 3.13e+02 -20.0 1.00e+00 1.00e+00h 1 65 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 66 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 67 2.0739527e+00 2.68e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 68 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 69 2.0741226e+00 2.63e-02 1.95e-02 -4.0 4.26e+04 -20.0 1.00e+00 6.77e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0748234e+00 8.99e-02 7.10e-05 -4.3 1.70e+03 -20.0 1.00e+00 1.00e+00f 1 71 2.0748412e+00 3.13e-04 2.43e-06 -4.3 2.70e+02 -20.0 1.00e+00 1.00e+00h 1 72 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 73 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 74 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 75 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 76 2.0741225e+00 2.63e-02 1.95e-02 -4.0 4.27e+04 -20.0 1.00e+00 6.76e-02f 1 77 2.0748233e+00 9.00e-02 7.11e-05 -4.3 1.70e+03 -20.0 1.00e+00 1.00e+00f 1 78 2.0748411e+00 3.13e-04 2.42e-06 -4.3 2.70e+02 -20.0 1.00e+00 1.00e+00h 1 79 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 81 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 82 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 83 2.0739440e+00 6.21e-05 3.00e-06 -9.0 1.42e+02 -20.0 9.56e-01 1.00e+00h 1 84 2.0740989e+00 2.54e-02 2.06e-02 -4.0 5.21e+04 -20.0 1.00e+00 5.99e-02f 1 85 2.0748092e+00 1.02e-01 8.36e-05 -4.3 1.92e+03 -20.0 1.00e+00 1.00e+00f 1 86 2.0748293e+00 2.04e-04 1.06e-06 -4.3 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 87 2.0740026e+00 1.16e-02 4.11e-04 -6.5 1.88e+02 -20.0 8.89e-01 1.00e+00h 1 88 2.0739622e+00 2.30e-04 2.84e-04 -6.5 7.25e+02 -20.0 7.59e-01 1.00e+00h 1 89 2.0739525e+00 2.60e-07 1.99e-05 -6.5 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0739518e+00 4.59e-09 7.61e-07 -6.5 1.66e+02 -20.0 1.00e+00 1.00e+00h 1 91 2.0741220e+00 2.63e-02 1.96e-02 -4.0 4.28e+04 -20.0 1.00e+00 6.75e-02f 1 92 2.0748230e+00 9.02e-02 7.13e-05 -4.3 1.71e+03 -20.0 1.00e+00 1.00e+00f 1 93 2.0748409e+00 3.11e-04 2.38e-06 -4.3 2.68e+02 -20.0 1.00e+00 1.00e+00h 1 94 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 95 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 96 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 97 2.0739520e+00 4.54e-09 7.53e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 98 2.0739440e+00 6.21e-05 3.00e-06 -9.0 1.42e+02 -20.0 9.56e-01 1.00e+00h 1 99 2.0740989e+00 2.54e-02 2.06e-02 -4.0 5.21e+04 -20.0 1.00e+00 5.99e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0748092e+00 1.02e-01 8.37e-05 -4.3 1.92e+03 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0748092138579128e+00 2.0748092138579128e+00 Dual infeasibility......: 8.3650444729790999e-05 8.3650444729790999e-05 Constraint violation....: 1.0240270858531941e-01 1.0240270858531941e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 6.8229653538553949e-05 6.8229653538553949e-05 Overall NLP error.......: 1.0240270858531941e-01 1.0240270858531941e-01 Number of objective function evaluations = 102 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 102 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 27.852 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 194 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 27 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.8402148e+00 9.75e-01 1.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8063039e+00 3.07e-01 1.46e+00 -0.8 8.60e-01 0.0 9.89e-01 7.64e-01h 1 2 1.8305394e+00 2.17e-02 1.37e+00 -1.6 4.89e-01 -0.5 9.87e-01 1.00e+00h 1 3 1.8537447e+00 1.73e-02 3.43e-01 -0.8 3.04e+00 -1.0 9.28e-01 2.06e-01h 1 4 1.8532978e+00 1.72e-02 3.58e+00 -4.0 1.50e+02 - 2.37e-01 2.72e-03h 6 5 1.8390313e+00 1.45e-02 4.74e-01 -2.0 5.30e+00 - 1.00e+00 2.50e-01h 3 6 1.2740752e+00 7.55e-03 1.71e-02 -2.1 1.80e-01 -1.4 9.97e-01 1.00e+00f 1 7 1.0998762e+00 3.41e-04 5.30e-03 -3.6 4.80e-02 -1.9 9.55e-01 1.00e+00f 1 8 1.0914934e+00 1.01e-06 1.35e-03 -4.0 3.45e-02 -2.4 1.00e+00 1.00e+00h 1 9 1.0912644e+00 2.40e-10 1.26e-03 -4.0 8.49e-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 1.0910901e+00 7.20e-14 8.81e-04 -4.0 2.08e-01 -3.3 1.00e+00 1.00e+00f 1 11 1.0910539e+00 7.25e-18 2.36e-04 -4.0 7.21e-02 -2.9 1.00e+00 1.00e+00f 1 12 1.0909849e+00 3.62e-18 1.38e-03 -4.0 3.26e-01 -3.4 4.61e-01 5.00e-01f 2 13 1.0910006e+00 2.42e-18 1.71e-03 -4.0 5.58e-01 -3.0 1.00e+00 3.32e-01f 2 14 1.0907854e+00 3.01e-21 5.71e-03 -4.1 7.51e-01 - 1.00e+00 1.00e+00f 1 15 1.0908999e+00 3.74e-34 1.59e-05 -4.0 5.62e-02 - 1.00e+00 1.00e+00f 1 16 1.0907169e+00 1.30e-36 2.33e-07 -4.1 1.86e-03 - 1.00e+00 1.00e+00f 1 17 1.0908997e+00 9.51e-37 8.37e-10 -4.0 4.63e-04 - 1.00e+00 1.00e+00f 1 18 1.0907198e+00 5.60e-37 1.44e-11 -4.1 7.53e-05 - 1.00e+00 1.00e+00f 1 19 1.0900065e+00 5.45e-37 2.27e-10 -6.1 7.93e-05 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.0908999e+00 1.29e-35 3.55e-10 -4.0 2.61e-03 - 1.00e+00 1.00e+00f 1 21 1.0907198e+00 8.87e-37 1.44e-11 -4.1 2.07e-03 - 1.00e+00 1.00e+00f 1 22 1.0900065e+00 1.56e-36 2.27e-10 -6.1 7.93e-05 - 1.00e+00 1.00e+00f 1 23 1.0899999e+00 1.39e-38 1.86e-14 -9.0 7.27e-07 - 1.00e+00 1.00e+00f 1 24 1.0900038e+00 3.11e-38 2.54e-14 -4.0 5.63e+01 - 1.00e+00 4.36e-03f 1 25 1.0903972e+00 4.04e-36 6.89e-11 -4.4 1.08e-01 - 1.00e+00 1.00e+00f 1 26 1.0900026e+00 5.62e-37 6.93e-11 -6.5 9.09e-04 - 1.00e+00 1.00e+00f 1 27 1.0899999e+00 2.62e-38 3.20e-15 -9.0 4.21e-04 - 1.00e+00 1.00e+00f 1 28 1.0899999e+00 5.14e-45 4.34e-16 -9.0 1.35e-01 - 1.00e+00 1.00e+00f 1 29 1.0899999e+00 6.48e-46 2.67e-16 -9.0 6.41e-16 - 1.00e+00 1.00e+00 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.0899999e+00 1.24e-46 2.67e-16 -9.0 2.79e-17 - 1.00e+00 1.00e+00T 0 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 1.0899999181818181e+00 1.0899999181818181e+00 Dual infeasibility......: 2.6696403266734774e-16 2.6696403266734774e-16 Constraint violation....: 1.2368319711458696e-46 1.2368319711458696e-46 Variable bound violation: 9.0909090932206338e-09 9.0909090932206338e-09 Complementarity.........: 9.0909090909090920e-10 9.0909090909090920e-10 Overall NLP error.......: 9.9999090909091604e-05 9.9999090909091604e-05 Number of objective function evaluations = 41 Number of objective gradient evaluations = 31 Number of equality constraint evaluations = 42 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 = 31 Total seconds in IPOPT = 23.315 EXIT: Search Direction is becoming Too Small. Difference in Hessian Difference in Jacobian Test Summary: | Pass Total Time Package | 202 202 21m45.8s Testing DirectTrajOpt tests passed Testing completed after 1391.34s PkgEval succeeded after 1492.18s