Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.1687 (b1350e5378*) started at 2026-02-11T01:18:45.533 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 11.12s ################################################################################ # 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 v2.138.0 [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 v1.9.0 [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 5.89s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling packages... 27149.5 ms ✓ DirectTrajOpt 1 dependency successfully precompiled in 30 seconds. 224 already precompiled. Precompilation completed after 50.49s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_ql4bmU/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_ql4bmU/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 v2.138.0 [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 v1.9.0 [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 4.8491487e+00 2.51e+00 7.67e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6738924e+00 1.96e-01 8.99e-01 -1.1 2.48e+00 -2.0 9.92e-01 1.00e+00f 1 2 2.3682773e+00 1.47e-01 6.55e-01 -1.2 4.80e+00 -2.5 9.59e-01 8.98e-01H 1 3 2.2281308e+00 2.71e-02 1.07e-01 -1.9 9.84e-01 -3.0 9.76e-01 1.00e+00h 1 4 2.1091756e+00 1.17e-02 1.33e-02 -2.7 6.40e-01 -3.4 9.25e-01 1.00e+00h 1 5 2.0905852e+00 1.74e-04 1.37e-03 -4.0 8.66e-02 -3.9 9.90e-01 1.00e+00h 1 6 2.0906788e+00 3.87e-05 3.17e-04 -4.0 4.99e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0905321e+00 1.60e-06 2.05e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0900915e+00 7.96e-06 3.44e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0887803e+00 7.29e-05 3.08e-04 -4.0 1.33e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0849479e+00 6.91e-04 2.82e-03 -4.0 3.89e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0796743e+00 2.08e-03 1.78e-01 -4.0 1.01e+02 -6.8 1.00e+00 5.24e-01h 1 12 2.0801585e+00 1.68e-04 1.62e-01 -4.0 7.23e+01 -7.2 1.00e+00 1.00e+00H 1 13 2.0776064e+00 7.91e-03 2.47e-02 -4.0 1.23e+02 -7.7 1.00e+00 8.97e-01h 1 14 2.0782004e+00 2.30e-02 5.92e-02 -3.7 2.32e+02 -8.2 9.55e-01 1.00e+00h 1 15 2.0768093e+00 9.29e-03 2.89e-02 -3.8 3.66e+02 -8.7 1.00e+00 8.67e-01h 1 16 2.0762143e+00 6.07e-03 2.43e-02 -3.8 4.48e+02 -9.2 1.00e+00 8.94e-01f 1 17 2.0757087e+00 9.49e-03 8.34e-03 -4.0 1.24e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0756733e+00 3.22e-04 1.80e-04 -4.0 3.93e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0756713e+00 2.16e-06 5.19e-06 -4.0 2.30e+01 -10.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0756712e+00 3.10e-08 1.14e-06 -4.0 1.33e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0756712e+00 2.14e-09 8.64e-08 -4.0 4.22e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0756712e+00 3.20e-11 1.25e-09 -4.0 6.16e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0756712121397403e+00 2.0756712121397403e+00 Dual infeasibility......: 1.2522067828718390e-09 1.2522067828718390e-09 Constraint violation....: 3.2001290506400437e-11 3.2001290506400437e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000015e-04 1.0000000000000015e-04 Overall NLP error.......: 1.2522067828718390e-09 1.2522067828718390e-09 Number of objective function evaluations = 26 Number of objective gradient evaluations = 23 Number of equality constraint evaluations = 26 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 23 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 22 Total seconds in IPOPT = 62.644 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 4.9278762e+00 4.01e+00 3.96e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6968608e+00 9.36e-02 4.29e+00 -1.0 2.42e+00 0.0 4.87e-01 1.00e+00f 1 2 2.5843393e+00 1.08e-01 3.27e+00 -1.3 1.68e+00 -0.5 4.93e-01 3.75e-01h 1 3 2.3051955e+00 8.01e-03 1.77e+00 -1.3 1.22e-01 0.9 9.83e-01 9.85e-01h 1 4 2.1880073e+00 2.70e-03 2.43e-01 -2.2 7.96e-02 0.4 9.99e-01 1.00e+00h 1 5 2.1256831e+00 1.05e-03 1.87e-01 -3.5 3.59e-02 -0.1 1.00e+00 7.42e-01h 1 6 2.1027729e+00 2.80e-04 9.88e-02 -4.0 4.01e-02 -0.6 1.00e+00 9.05e-01h 1 7 2.0998983e+00 1.58e-04 2.07e-01 -4.0 8.36e-02 -1.1 1.00e+00 4.84e-01h 1 8 2.0966893e+00 6.85e-04 8.71e-02 -4.0 2.26e-01 -1.5 1.00e+00 1.00e+00h 1 9 2.0908431e+00 1.07e-03 7.35e-02 -4.0 3.58e-01 -2.0 1.00e+00 7.60e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0919118e+00 5.88e-05 4.32e-02 -4.0 6.25e-02 -2.5 1.00e+00 1.00e+00h 1 11 2.0909687e+00 3.32e-05 2.15e-03 -4.0 5.82e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0909485e+00 8.68e-07 3.28e-04 -4.0 5.78e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0909319e+00 4.76e-08 2.06e-05 -4.0 1.71e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0908815e+00 9.96e-08 2.06e-05 -4.0 5.13e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0907303e+00 8.95e-07 2.06e-05 -4.0 1.54e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0902780e+00 8.10e-06 3.62e-05 -4.0 4.60e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0889326e+00 7.43e-05 3.22e-04 -4.0 1.37e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0850012e+00 7.05e-04 2.93e-03 -4.0 3.99e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0796360e+00 2.10e-03 1.85e-01 -4.0 1.04e+02 -6.8 1.00e+00 5.20e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0802085e+00 3.99e-04 1.78e-01 -4.0 6.54e+01 -7.3 1.00e+00 9.72e-01H 1 21 2.0773592e+00 8.63e-03 1.74e-02 -4.0 1.26e+02 -7.7 1.00e+00 9.71e-01h 1 22 2.0771263e+00 1.85e-03 7.73e-02 -4.0 2.12e+02 -8.2 1.00e+00 1.00e+00h 1 23 2.0760686e+00 5.58e-03 2.06e-02 -4.0 3.52e+02 -8.7 1.00e+00 9.05e-01h 1 24 2.0769165e+00 2.60e-02 2.44e-02 -3.7 2.75e+02 -9.2 1.00e+00 1.00e+00h 1 25 2.0764711e+00 5.28e-03 2.39e-03 -3.8 8.14e+01 -9.6 1.00e+00 1.00e+00h 1 26 2.0764601e+00 8.37e-05 4.53e-05 -3.8 1.79e+01 -10.1 1.00e+00 1.00e+00h 1 27 2.0756782e+00 1.83e-03 4.56e-06 -4.0 3.14e+01 -10.6 1.00e+00 1.00e+00h 1 28 2.0756713e+00 6.91e-06 1.38e-06 -4.0 2.17e+01 -11.1 1.00e+00 1.00e+00h 1 29 2.0756713e+00 4.04e-09 1.60e-07 -4.0 5.37e+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 2.0756713e+00 5.64e-11 2.02e-09 -4.0 7.97e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 2.0756712527940184e+00 2.0756712527940184e+00 Dual infeasibility......: 2.0201967390067431e-09 2.0201967390067431e-09 Constraint violation....: 5.6447513330226684e-11 5.6447513330226684e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000013e-04 1.0000000000000013e-04 Overall NLP error.......: 2.0201967390067431e-09 2.0201967390067431e-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 = 23.088 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 5.7905636e+00 2.51e+00 5.91e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7744964e+00 1.35e-01 4.18e+00 -0.8 1.98e+00 0.0 7.19e-01 1.00e+00f 1 2 2.4433518e+00 2.65e-02 2.65e+00 -1.2 2.15e-01 0.4 6.06e-01 1.00e+00h 1 3 2.3392863e+00 1.35e-02 1.20e+00 -1.7 1.53e-01 -0.1 1.00e+00 6.55e-01h 1 4 2.1885310e+00 1.17e-02 1.26e+00 -2.0 6.16e-01 -0.5 9.96e-01 2.72e-01f 1 5 2.1648127e+00 3.87e-04 5.19e-01 -2.8 1.01e-01 -1.0 1.00e+00 1.00e+00h 1 6 2.1006868e+00 3.52e-04 6.46e-02 -3.9 7.48e-02 -1.5 1.00e+00 4.62e-01f 1 7 2.0910845e+00 2.95e-05 1.81e-02 -4.0 1.49e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0909138e+00 2.67e-07 1.59e-04 -4.0 1.32e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909141e+00 9.70e-09 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909091e+00 9.68e-10 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908941e+00 8.73e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908493e+00 7.86e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907150e+00 7.09e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903129e+00 6.41e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891155e+00 5.87e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856057e+00 5.53e-04 2.30e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796250e+00 2.29e-03 1.35e-01 -4.0 9.56e+01 -6.7 1.00e+00 6.31e-01h 1 18 2.0807314e+00 1.59e-04 1.83e-01 -4.0 6.61e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775276e+00 7.49e-03 2.50e-02 -4.0 1.19e+02 -7.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0769345e+00 1.13e-03 5.34e-02 -4.0 1.76e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0759991e+00 1.14e-03 2.36e-02 -4.0 3.16e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0754523e+00 1.74e-03 3.17e-02 -4.0 4.80e+02 -9.1 1.00e+00 7.19e-01h 1 23 2.0757700e+00 2.26e-03 1.10e-02 -4.0 1.45e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753799e+00 1.34e-03 5.11e-04 -4.1 7.98e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756723e+00 4.70e-04 6.61e-06 -4.0 2.13e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 6.17e-07 1.12e-06 -4.0 1.20e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.29e-09 8.59e-08 -4.0 4.41e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 3.95e-11 1.56e-09 -4.0 6.98e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121564944e+00 2.0756712121564944e+00 Dual infeasibility......: 1.5641323294619640e-09 1.5641323294619640e-09 Constraint violation....: 3.9491854231243906e-11 3.9491854231243906e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000010e-04 1.0000000000000010e-04 Overall NLP error.......: 1.5641323294619640e-09 1.5641323294619640e-09 Number of objective function evaluations = 30 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 30 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 33.791 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 2.7302182e+00 2.98e+00 5.55e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.6483028e+00 6.13e-02 5.19e-01 -1.0 2.25e+00 -2.0 9.72e-01 1.00e+00h 1 Hello, world! 2 2.2955155e+00 1.76e-01 4.23e-01 -1.7 1.79e+00 -2.5 9.32e-01 9.82e-01h 1 Hello, world! 3 2.1603694e+00 1.14e-02 4.46e-02 -2.2 7.06e-01 -3.0 9.72e-01 9.61e-01h 1 Hello, world! 4 2.0946302e+00 3.20e-03 6.54e-03 -3.4 3.40e-01 -3.4 9.63e-01 1.00e+00h 1 Hello, world! 5 2.0908974e+00 1.56e-04 1.41e-03 -4.0 1.83e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 6 2.0908540e+00 1.49e-06 2.21e-04 -4.0 4.40e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0907735e+00 4.20e-07 8.80e-04 -4.0 1.06e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0905532e+00 3.70e-06 8.62e-04 -4.0 3.33e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0899201e+00 3.59e-06 6.48e-03 -4.0 8.87e+00 -5.8 1.00e+00 8.52e-01H 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0889192e+00 7.32e-05 4.91e-02 -4.0 2.99e+01 -6.3 1.00e+00 5.00e-01f 2 Hello, world! 11 2.0884387e+00 1.37e-05 2.92e-03 -4.0 2.06e+00 -5.0 1.00e+00 8.99e-01h 1 Hello, world! 12 2.0882177e+00 2.93e-06 2.67e-03 -4.0 4.43e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0871686e+00 4.85e-05 7.57e-03 -4.0 1.30e+01 -5.9 1.00e+00 8.47e-01h 1 Hello, world! 14 2.0853468e+00 2.97e-04 1.70e-02 -4.0 2.91e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0838122e+00 3.06e-04 5.90e-02 -4.0 4.60e+01 -6.9 1.00e+00 4.59e-01h 1 Hello, world! 16 2.0826106e+00 8.30e-05 1.36e-02 -4.0 6.91e+01 -7.4 1.00e+00 7.07e-01h 1 Hello, world! 17 2.0824133e+00 7.78e-04 2.51e-02 -4.0 1.40e+02 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 18 2.5205104e+00 1.93e-03 6.78e+00 -4.0 5.19e+02 -7.4 3.05e-02 1.00e+00H 1 Hello, world! 19 2.0868838e+00 7.62e-05 5.32e-01 -4.1 1.24e-01 0.4 1.00e+00 9.60e-01f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0871930e+00 7.56e-05 3.88e+00 -4.0 7.23e-02 -0.0 1.00e+00 7.81e-03f 8 Hello, world! 21 2.0871996e+00 2.91e-08 1.54e-03 -3.9 4.99e-03 -0.5 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0869684e+00 2.71e-08 1.51e-03 -4.0 1.47e-02 -1.0 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0868757e+00 1.13e-07 1.39e-03 -4.0 4.06e-02 -1.5 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0867059e+00 5.05e-07 9.78e-04 -4.0 8.57e-02 -1.9 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0866632e+00 2.23e-07 1.09e-04 -4.0 2.88e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0866858e+00 5.38e-08 1.45e-05 -4.0 1.14e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0866827e+00 4.43e-09 1.44e-05 -4.0 3.41e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0866741e+00 4.21e-09 1.44e-05 -4.0 1.02e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0866485e+00 3.79e-08 1.43e-05 -4.0 3.05e-01 -4.3 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 2.0865737e+00 3.30e-07 2.62e-05 -4.0 9.03e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0863655e+00 2.64e-06 2.20e-04 -4.0 2.60e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0858744e+00 1.63e-05 1.53e-03 -4.0 6.85e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0851781e+00 7.21e-05 5.33e-03 -4.0 1.68e+01 -6.2 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0842930e+00 2.14e-04 8.29e-03 -4.0 4.10e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0827167e+00 8.32e-04 2.95e-02 -4.1 8.42e+01 -7.2 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0817855e+00 9.55e-04 2.42e-02 -4.1 1.20e+02 -7.7 8.61e-01 1.00e+00h 1 Hello, world! 37 2.0826083e+00 8.68e-04 4.05e-02 -4.0 2.74e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0852283e+00 2.04e-02 2.14e-02 -3.3 9.31e+01 -6.8 7.52e-01 1.00e+00h 1 Hello, world! 39 2.0867065e+00 2.43e-03 2.59e-02 -3.5 1.25e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0865127e+00 2.31e-08 2.25e-02 -3.5 6.31e-03 0.6 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0856940e+00 3.87e-07 2.12e-02 -4.0 1.78e-02 0.1 1.00e+00 1.00e+00f 1 Hello, world! 42 2.0846535e+00 9.84e-07 1.49e-02 -4.0 3.68e-02 -0.4 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0837151e+00 1.12e-06 6.93e-03 -4.0 5.05e-02 -0.9 1.00e+00 1.00e+00h 1 Hello, world! 44 2.0838180e+00 2.14e-06 2.02e-03 -4.0 4.23e-02 -1.4 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0834811e+00 1.11e-06 1.40e-03 -4.0 1.10e-01 -1.8 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0833783e+00 1.06e-07 1.30e-03 -4.0 3.46e-02 -1.4 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0829830e+00 2.99e-06 9.97e-04 -4.0 1.08e-01 -1.9 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0829374e+00 1.63e-07 3.90e-05 -4.0 1.64e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0829405e+00 6.79e-08 1.20e-05 -4.0 8.33e-03 -2.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0829390e+00 6.15e-09 1.20e-05 -4.0 2.50e-02 -3.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0829389739167157e+00 2.0829389739167157e+00 Dual infeasibility......: 1.2022389743328342e-05 1.2022389743328342e-05 Constraint violation....: 6.1479852320189821e-09 6.1479852320189821e-09 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000002449922400e-04 1.0000002449922400e-04 Overall NLP error.......: 1.2022389743328342e-05 1.2022389743328342e-05 Number of objective function evaluations = 65 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 65 Number of inequality constraint evaluations = 65 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 25.347 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 2.7302182e+00 2.98e+00 5.55e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.6483028e+00 6.13e-02 5.19e-01 -1.0 2.25e+00 -2.0 9.72e-01 1.00e+00h 1 Hello, world! 2 2.2955155e+00 1.76e-01 4.23e-01 -1.7 1.79e+00 -2.5 9.32e-01 9.82e-01h 1 Hello, world! 3 2.1603694e+00 1.14e-02 4.46e-02 -2.2 7.06e-01 -3.0 9.72e-01 9.61e-01h 1 Hello, world! 4 2.0946302e+00 3.20e-03 6.54e-03 -3.4 3.40e-01 -3.4 9.63e-01 1.00e+00h 1 Hello, world! 5 2.0908974e+00 1.56e-04 1.41e-03 -4.0 1.83e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 6 2.0908540e+00 1.49e-06 2.21e-04 -4.0 4.40e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0907735e+00 4.20e-07 8.80e-04 -4.0 1.06e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0905532e+00 3.70e-06 8.62e-04 -4.0 3.33e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0899201e+00 3.59e-06 6.48e-03 -4.0 8.87e+00 -5.8 1.00e+00 8.52e-01H 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0889192e+00 7.32e-05 4.91e-02 -4.0 2.99e+01 -6.3 1.00e+00 5.00e-01f 2 Hello, world! 11 2.0884387e+00 1.37e-05 2.92e-03 -4.0 2.06e+00 -5.0 1.00e+00 8.99e-01h 1 Hello, world! 12 2.0882177e+00 2.93e-06 2.67e-03 -4.0 4.43e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0871686e+00 4.85e-05 7.57e-03 -4.0 1.30e+01 -5.9 1.00e+00 8.47e-01h 1 Hello, world! 14 2.0853468e+00 2.97e-04 1.70e-02 -4.0 2.91e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0838122e+00 3.06e-04 5.90e-02 -4.0 4.60e+01 -6.9 1.00e+00 4.59e-01h 1 Hello, world! 16 2.0826106e+00 8.30e-05 1.36e-02 -4.0 6.91e+01 -7.4 1.00e+00 7.07e-01h 1 Hello, world! 17 2.0824133e+00 7.78e-04 2.51e-02 -4.0 1.40e+02 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 18 2.5205104e+00 1.93e-03 6.78e+00 -4.0 5.19e+02 -7.4 3.05e-02 1.00e+00H 1 Hello, world! 19 2.0868838e+00 7.62e-05 5.32e-01 -4.1 1.24e-01 0.4 1.00e+00 9.60e-01f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0871930e+00 7.56e-05 3.88e+00 -4.0 7.23e-02 -0.0 1.00e+00 7.81e-03f 8 Hello, world! 21 2.0871996e+00 2.91e-08 1.54e-03 -3.9 4.99e-03 -0.5 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0869684e+00 2.71e-08 1.51e-03 -4.0 1.47e-02 -1.0 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0868757e+00 1.13e-07 1.39e-03 -4.0 4.06e-02 -1.5 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0867059e+00 5.05e-07 9.78e-04 -4.0 8.57e-02 -1.9 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0866632e+00 2.23e-07 1.09e-04 -4.0 2.88e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0866858e+00 5.38e-08 1.45e-05 -4.0 1.14e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0866827e+00 4.43e-09 1.44e-05 -4.0 3.41e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0866741e+00 4.21e-09 1.44e-05 -4.0 1.02e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0866485e+00 3.79e-08 1.43e-05 -4.0 3.05e-01 -4.3 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 2.0865737e+00 3.30e-07 2.62e-05 -4.0 9.03e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0863655e+00 2.64e-06 2.20e-04 -4.0 2.60e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0858744e+00 1.63e-05 1.53e-03 -4.0 6.85e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0851781e+00 7.21e-05 5.33e-03 -4.0 1.68e+01 -6.2 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0842930e+00 2.14e-04 8.29e-03 -4.0 4.10e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0827167e+00 8.32e-04 2.95e-02 -4.1 8.42e+01 -7.2 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0817855e+00 9.55e-04 2.42e-02 -4.1 1.20e+02 -7.7 8.61e-01 1.00e+00h 1 Hello, world! 37 2.0826083e+00 8.68e-04 4.05e-02 -4.0 2.74e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0852283e+00 2.04e-02 2.14e-02 -3.3 9.31e+01 -6.8 7.52e-01 1.00e+00h 1 Hello, world! 39 2.0867065e+00 2.43e-03 2.59e-02 -3.5 1.25e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0865127e+00 2.31e-08 2.25e-02 -3.5 6.31e-03 0.6 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0856940e+00 3.87e-07 2.12e-02 -4.0 1.78e-02 0.1 1.00e+00 1.00e+00f 1 Hello, world! 42 2.0846535e+00 9.84e-07 1.49e-02 -4.0 3.68e-02 -0.4 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0837151e+00 1.12e-06 6.93e-03 -4.0 5.05e-02 -0.9 1.00e+00 1.00e+00h 1 Hello, world! 44 2.0838180e+00 2.14e-06 2.02e-03 -4.0 4.23e-02 -1.4 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0834811e+00 1.11e-06 1.40e-03 -4.0 1.10e-01 -1.8 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0833783e+00 1.06e-07 1.30e-03 -4.0 3.46e-02 -1.4 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0829830e+00 2.99e-06 9.97e-04 -4.0 1.08e-01 -1.9 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0829374e+00 1.63e-07 3.90e-05 -4.0 1.64e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0829405e+00 6.79e-08 1.20e-05 -4.0 8.33e-03 -2.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0829390e+00 6.15e-09 1.20e-05 -4.0 2.50e-02 -3.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0829389739167157e+00 2.0829389739167157e+00 Dual infeasibility......: 1.2022389743328342e-05 1.2022389743328342e-05 Constraint violation....: 6.1479852320189821e-09 6.1479852320189821e-09 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000002449922400e-04 1.0000002449922400e-04 Overall NLP error.......: 1.2022389743328342e-05 1.2022389743328342e-05 Number of objective function evaluations = 65 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 65 Number of inequality constraint evaluations = 65 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 0.990 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 3.4435995e+00 3.10e+00 6.07e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.2892726e+00 3.92e+00 7.16e+00 -4.0 1.88e+01 -2.0 9.97e-02 5.00e-01h 1 2 2.1392534e+00 3.50e+00 7.18e+00 -0.4 4.83e+00 -0.7 2.62e-01 1.09e-01h 1 3 2.2529247e+00 2.45e+00 6.91e+00 -0.0 1.59e+01 -1.1 4.94e-01 2.75e-01f 1 4 2.2259320e+00 2.18e+00 6.09e+00 -1.6 8.34e+00 -0.7 8.58e-02 1.10e-01h 1 5 2.0287161e+00 1.40e+00 4.98e+00 -0.4 5.68e+00 -1.2 4.13e-01 4.22e-01f 1 6 1.9398793e+00 8.86e-01 2.68e+00 -0.4 1.19e+01 -1.7 6.81e-01 3.65e-01f 1 7 1.9070241e+00 2.28e-01 5.99e-01 -0.8 2.08e+00 -1.3 9.58e-01 9.02e-01h 1 8 1.8049032e+00 3.40e-03 4.74e-01 -1.4 3.65e-01 -0.8 8.58e-01 1.00e+00h 1 9 1.5750302e+00 9.13e-03 1.11e-01 -1.7 5.11e-01 -1.3 9.87e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.3680735e+00 3.77e-03 5.66e-02 -2.4 1.29e+00 -1.8 9.43e-01 1.00e+00f 1 11 1.2793657e+00 2.58e-02 2.28e-02 -2.8 5.15e-01 -1.4 9.89e-01 1.00e+00h 1 12 1.2645055e+00 2.68e-02 7.01e-01 -3.0 2.05e+00 -1.8 9.33e-01 2.17e-01h 1 13 1.2349387e+00 1.09e-02 1.50e-02 -3.5 3.57e-01 -1.4 1.00e+00 1.00e+00h 1 14 1.2169918e+00 1.98e-02 1.24e-02 -4.0 6.32e-01 -1.9 1.00e+00 1.00e+00h 1 15 1.2084782e+00 3.86e-02 1.60e-02 -4.0 2.07e+00 -2.4 1.97e-01 2.37e-01h 1 16 1.1968826e+00 4.38e-02 1.06e-01 -4.0 1.15e+00 -2.8 5.32e-01 8.88e-01h 1 17 1.1943252e+00 3.75e-02 1.43e-01 -4.0 2.26e+00 -3.3 1.00e+00 2.64e-01h 1 18 1.1823386e+00 1.13e-01 3.10e-02 -4.0 2.43e+00 -3.8 1.00e+00 1.00e+00h 1 19 1.1764566e+00 1.35e-01 1.88e-02 -4.0 4.57e+00 -4.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.1727117e+00 1.30e-01 1.69e-02 -4.0 7.10e+00 -4.7 1.00e+00 1.00e+00h 1 21 1.1695256e+00 1.60e-01 8.63e-03 -4.0 1.07e+01 -5.2 1.00e+00 1.00e+00h 1 22 1.1672955e+00 1.76e-01 7.18e-03 -4.0 1.62e+01 -5.7 1.00e+00 1.00e+00h 1 23 1.1653883e+00 2.16e-01 9.00e-04 -4.0 2.46e+01 -6.2 1.00e+00 1.00e+00h 1 24 1.1639683e+00 2.52e-01 2.53e-03 -4.0 3.71e+01 -6.7 1.00e+00 1.00e+00h 1 25 1.1627920e+00 3.05e-01 8.99e-03 -4.0 5.57e+01 -7.1 1.00e+00 1.00e+00h 1 26 1.1619008e+00 3.55e-01 1.42e-02 -4.0 8.26e+01 -7.6 1.00e+00 1.00e+00h 1 27 1.1611955e+00 4.12e-01 2.08e-02 -4.0 1.21e+02 -8.1 1.00e+00 1.00e+00h 1 28 1.1607071e+00 4.45e-01 2.45e-02 -4.0 1.69e+02 -8.6 1.00e+00 1.00e+00h 1 29 1.1604762e+00 3.92e-01 2.03e-02 -4.0 2.11e+02 -9.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.1607385e+00 8.32e-02 2.60e-03 -4.0 1.37e+02 -9.5 1.00e+00 1.00e+00h 1 31 1.1608524e+00 2.43e-03 6.96e-04 -4.0 1.52e+01 -10.0 1.00e+00 1.00e+00h 1 32 1.1608491e+00 1.53e-04 1.86e-05 -4.0 5.16e+00 -10.5 1.00e+00 1.00e+00h 1 33 1.1608491e+00 6.76e-08 1.47e-10 -4.0 1.16e-01 -10.9 1.00e+00 1.00e+00h 1 34 1.1608491e+00 6.04e-13 5.93e-14 -4.0 3.19e-04 -11.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 34 (scaled) (unscaled) Objective...............: 1.1608491307790207e+00 1.1608491307790207e+00 Dual infeasibility......: 5.9346299575990802e-14 5.9346299575990802e-14 Constraint violation....: 6.0396132539608516e-13 6.0396132539608516e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000570e-04 1.0000000000000570e-04 Overall NLP error.......: 6.0396132539608516e-13 6.0396132539608516e-13 Number of objective function evaluations = 35 Number of objective gradient evaluations = 35 Number of equality constraint evaluations = 35 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 35 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 34 Total seconds in IPOPT = 23.525 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 186 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 19 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.9820138e+00 2.19e+00 1.08e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5596965e+00 1.69e-01 2.03e+00 -0.9 8.75e-01 0.0 1.00e+00 1.00e+00h 1 2 1.5357672e+00 5.33e-02 6.52e-01 -0.9 3.80e-01 -0.5 6.48e-01 6.84e-01h 1 3 1.9559714e+00 2.96e-02 7.65e+00 -2.8 1.60e+01 - 2.09e-01 4.44e-01h 2 4 2.7742137e+00 2.50e-02 3.90e+00 -1.2 8.98e-01 -1.0 7.23e-01 1.00e+00H 1 5 3.1816487e+00 2.62e-02 7.22e+00 0.4 2.41e+01 -0.5 2.84e-01 4.38e-03f 3 6 3.1470351e+00 6.00e-02 5.17e+00 -4.0 2.13e+01 - 5.83e-01 2.50e-01f 3 7 2.5175209e+00 8.81e-03 2.54e+00 -0.6 5.27e-01 -1.0 8.50e-01 1.00e+00f 1 8 1.7781989e+00 4.21e-03 5.02e-01 -1.2 3.08e-01 -1.5 9.98e-01 1.00e+00f 1 9 1.1936859e+00 4.56e-04 3.91e-01 -2.2 9.29e-01 -2.0 1.00e+00 9.91e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0957508e+00 8.94e-06 9.80e-02 -3.7 2.92e+00 - 1.00e+00 1.00e+00f 1 11 1.0911753e+00 2.18e-09 3.33e-02 -4.0 1.46e+00 - 1.00e+00 1.00e+00h 1 12 1.0910351e+00 1.58e-14 1.28e-03 -4.0 3.19e-01 - 1.00e+00 1.00e+00f 1 13 1.0910386e+00 8.88e-16 7.21e-07 -4.0 7.88e-03 - 1.00e+00 1.00e+00h 1 14 1.0908587e+00 1.78e-15 6.43e-09 -4.1 1.99e-05 - 1.00e+00 1.00e+00f 1 15 1.0910386e+00 7.15e-27 6.50e-09 -4.0 1.99e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 15 (scaled) (unscaled) Objective...............: 1.0910385864122525e+00 1.0910385864122525e+00 Dual infeasibility......: 6.5018403070347952e-09 6.5018403070347952e-09 Constraint violation....: 7.1531402710781781e-27 7.1531402710781781e-27 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000114089431138e-04 1.0000114089431138e-04 Overall NLP error.......: 6.5018403070347952e-09 6.5018403070347952e-09 Number of objective function evaluations = 27 Number of objective gradient evaluations = 16 Number of equality constraint evaluations = 27 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 16 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 15 Total seconds in IPOPT = 24.106 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 82 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.1726939e+00 1.86e+00 3.09e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7747133e+00 1.36e-02 7.45e-01 -1.0 1.98e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3593233e+00 1.40e-02 3.99e-02 -1.8 2.02e-01 -1.6 9.76e-01 1.00e+00h 1 3 2.1152527e+00 3.00e-03 9.05e-02 -2.8 5.79e-02 -1.1 9.99e-01 1.00e+00h 1 4 2.0935952e+00 8.86e-04 4.14e-02 -4.0 7.28e-02 -1.6 1.00e+00 8.87e-01h 1 5 2.0909334e+00 1.11e-04 6.05e-02 -4.0 1.34e-01 -2.1 1.00e+00 8.53e-01h 1 6 2.0909781e+00 1.71e-05 1.82e-03 -4.0 1.06e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0909944e+00 1.64e-07 5.56e-05 -4.0 2.35e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0909878e+00 8.10e-09 2.06e-05 -4.0 7.05e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909670e+00 1.64e-08 2.06e-05 -4.0 2.11e-01 -4.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909051e+00 1.47e-07 2.05e-05 -4.0 6.31e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907227e+00 1.29e-06 4.96e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0902026e+00 1.09e-05 4.20e-04 -4.0 5.45e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888582e+00 8.20e-05 3.16e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861678e+00 4.39e-04 1.74e-02 -4.0 3.47e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830938e+00 9.13e-04 4.71e-02 -4.0 5.32e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828596e+00 9.29e-04 2.32e-02 -4.0 5.40e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823465e+00 3.96e-04 1.01e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820404e+00 9.25e-05 1.85e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.70e-04 8.70e-03 -4.0 9.94e+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 3.70e-05 8.49e-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 3.28e-08 -4.0 2.45e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.52e-13 1.22e-11 -4.0 4.60e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907191022e+00 2.0819382907191022e+00 Dual infeasibility......: 1.2207432737191756e-11 1.2207432737191756e-11 Constraint violation....: 2.5224267119483557e-13 2.5224267119483557e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000038e-04 1.0000000000000038e-04 Overall NLP error.......: 1.2207432737191756e-11 1.2207432737191756e-11 Number of objective function evaluations = 24 Number of objective gradient evaluations = 24 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 24 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 23 Total seconds in IPOPT = 24.541 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1528 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 77 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.1726982e+00 2.71e+00 2.12e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9504806e+00 1.82e-02 5.31e-01 -1.0 1.88e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3505907e+00 2.69e-02 7.32e-02 -1.6 2.97e-01 -1.6 9.33e-01 1.00e+00h 1 3 2.1512064e+00 2.70e-03 2.57e-01 -2.9 1.07e-01 -1.1 9.88e-01 1.00e+00h 1 4 2.0981302e+00 9.52e-04 1.47e-01 -3.7 9.87e-02 -1.6 1.00e+00 8.90e-01h 1 5 2.0932307e+00 5.64e-04 1.54e+00 -3.9 7.65e-01 -2.1 1.00e+00 2.72e-01h 1 6 2.0910498e+00 8.38e-04 6.91e-01 -4.0 1.45e+00 -2.6 1.00e+00 7.79e-01h 1 7 2.0909299e+00 2.68e-05 1.63e-01 -4.0 4.35e-01 -3.1 1.00e+00 1.00e+00h 1 8 2.0909261e+00 2.75e-06 2.63e-04 -4.0 8.65e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908947e+00 5.51e-07 6.16e-05 -4.0 2.40e-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 2.0908403e+00 1.47e-07 2.92e-04 -4.0 5.73e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907385e+00 4.83e-07 1.34e-03 -4.0 1.33e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904638e+00 6.19e-06 1.01e-03 -4.0 4.31e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0898284e+00 2.34e-05 1.40e-02 -4.0 1.11e+01 -5.9 1.00e+00 6.89e-01h 1 14 2.0886066e+00 1.14e-04 6.15e-02 -4.0 3.62e+01 -6.4 1.00e+00 5.00e-01f 2 15 2.0880626e+00 2.96e-05 6.73e-03 -4.0 2.65e+00 -5.1 1.00e+00 8.18e-01h 1 16 2.0877876e+00 4.68e-06 3.30e-03 -4.0 5.42e+00 -5.5 1.00e+00 1.00e+00h 1 17 2.0866377e+00 6.49e-05 1.02e-02 -4.0 1.56e+01 -6.0 1.00e+00 8.00e-01h 1 18 2.0846702e+00 3.65e-04 1.86e-02 -4.0 3.28e+01 -6.5 1.00e+00 1.00e+00h 1 19 2.0830283e+00 2.82e-04 3.46e-02 -4.0 3.99e+01 -7.0 1.00e+00 6.14e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0825085e+00 4.81e-04 1.73e-02 -4.0 7.53e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0821596e+00 7.13e-04 9.62e-03 -4.0 1.61e+02 -7.9 8.61e-01 1.00e+00h 1 22 2.0827639e+00 6.10e-06 3.64e-02 -4.0 4.82e+01 -6.6 1.00e+00 1.00e+00H 1 23 2.1132326e+00 1.72e-01 2.56e-01 -2.9 3.45e+02 -7.1 2.14e-01 5.00e-01f 2 24 2.1119748e+00 1.27e-01 3.38e-01 -3.4 4.02e-02 0.8 3.55e-01 2.64e-01h 1 25 2.1071827e+00 3.54e-05 8.47e-01 -3.4 6.18e-02 0.3 9.67e-01 1.00e+00h 1 26 2.0973838e+00 8.07e-05 5.10e-01 -3.4 9.44e-02 -0.2 1.00e+00 1.00e+00h 1 27 2.0934486e+00 1.62e-04 3.68e-01 -3.4 8.26e-02 -0.7 1.00e+00 6.66e-01h 1 28 2.0920709e+00 3.99e-05 6.07e-02 -3.4 8.19e-02 -1.1 1.00e+00 1.00e+00f 1 29 2.0896231e+00 8.44e-05 4.68e-03 -3.4 1.33e-01 -1.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0893099e+00 4.20e-06 7.26e-04 -3.4 2.98e-02 -2.1 1.00e+00 1.00e+00h 1 31 2.0862536e+00 4.53e-05 1.11e-02 -5.1 9.39e-02 -2.6 9.52e-01 8.83e-01h 1 32 2.0856739e+00 1.74e-06 2.67e-04 -5.1 2.68e-02 -3.1 1.00e+00 1.00e+00h 1 33 2.0856606e+00 1.75e-07 1.62e-05 -5.1 5.45e-02 -3.5 1.00e+00 1.00e+00h 1 34 2.0865936e+00 1.42e-05 2.19e-04 -4.0 1.52e-01 -4.0 1.00e+00 1.00e+00f 1 35 2.0863330e+00 8.77e-06 5.53e-05 -4.1 4.65e-01 -4.5 1.00e+00 1.00e+00h 1 36 2.0854680e+00 1.16e-04 2.18e-04 -6.1 1.46e+00 -5.0 9.99e-01 9.88e-01h 1 37 2.0851525e+00 1.03e-05 5.39e-04 -6.1 4.28e+00 -5.4 1.00e+00 9.73e-01h 1 38 2.0843704e+00 6.49e-07 1.55e-03 -6.1 1.20e+01 -5.9 1.00e+00 1.00e+00h 1 39 2.0840544e+00 2.87e-03 1.30e-02 -4.0 2.68e+01 -6.4 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0822647e+00 7.29e-04 3.92e-02 -4.1 4.16e+01 -6.9 1.00e+00 7.26e-01h 1 41 2.0818350e+00 8.50e-04 1.03e-02 -4.1 5.24e+01 -7.3 1.00e+00 1.00e+00f 1 42 2.0820156e+00 3.31e-03 8.50e-03 -4.0 1.18e+02 -7.8 7.73e-01 1.00e+00h 1 43 2.0821428e+00 8.69e-04 1.94e-02 -4.1 3.14e+01 -6.5 1.00e+00 1.00e+00h 1 44 2.1203713e+00 2.57e-04 5.94e-01 -3.2 1.40e+02 -7.0 3.37e-01 1.00e+00H 1 45 2.1157774e+00 1.92e-07 1.62e-01 -3.5 2.16e-02 0.9 1.00e+00 1.00e+00h 1 46 2.1068741e+00 5.04e-07 1.29e-01 -3.5 5.12e-02 0.4 1.00e+00 1.00e+00f 1 47 2.0960549e+00 8.24e-07 8.04e-02 -3.5 9.44e-02 -0.1 1.00e+00 1.00e+00f 1 48 2.0892642e+00 1.38e-06 2.83e-02 -3.5 1.16e-01 -0.6 1.00e+00 1.00e+00f 1 49 2.0879866e+00 3.99e-06 2.89e-03 -3.5 4.32e-02 -1.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0854274e+00 4.99e-05 1.12e-02 -5.3 1.07e-01 -1.5 9.15e-01 9.57e-01h 1 51 2.0845955e+00 4.06e-05 2.04e-01 -5.3 1.28e-01 -2.0 1.00e+00 4.56e-01h 1 52 2.0844002e+00 2.05e-05 2.30e-01 -5.3 4.48e-02 -2.5 1.00e+00 4.93e-01h 1 53 2.0843273e+00 2.59e-07 1.05e-04 -5.3 1.32e-02 -2.9 1.00e+00 1.00e+00h 1 54 2.0853299e+00 4.94e-06 2.40e-04 -4.0 3.95e-02 -3.4 1.00e+00 1.00e+00f 1 55 2.0850748e+00 2.04e-06 3.00e-05 -4.1 1.07e-01 -3.9 1.00e+00 1.00e+00h 1 56 2.0843049e+00 2.85e-05 7.07e-04 -6.1 3.53e-01 -4.4 9.90e-01 9.66e-01h 1 57 2.0841880e+00 4.07e-06 9.67e-05 -6.1 1.05e+00 -4.9 1.00e+00 1.00e+00h 1 58 2.0839894e+00 4.11e-08 9.85e-05 -6.1 3.11e+00 -5.3 1.00e+00 1.00e+00h 1 59 2.0846829e+00 8.15e-04 4.58e-03 -4.0 7.68e+00 -5.8 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0834282e+00 8.91e-05 1.78e-02 -4.1 2.09e+01 -6.3 1.00e+00 7.50e-01h 1 61 2.0820267e+00 2.08e-04 2.03e-02 -4.1 3.36e+01 -6.8 1.00e+00 1.00e+00f 1 62 2.0822392e+00 5.96e-04 6.04e-03 -4.0 4.39e+01 -7.2 1.00e+00 1.00e+00h 1 63 2.0828152e+00 1.79e-06 9.70e-02 -4.1 1.82e+02 -7.7 2.54e-01 1.00e+00H 1 64 2.0821659e+00 3.56e-04 1.16e-01 -4.0 7.57e+00 -5.5 6.20e-01 4.83e-01h 1 65 2.0821023e+00 3.89e-04 4.10e+00 -3.2 9.45e+01 -6.0 1.00e+00 3.42e-03f 2 66 2.0821326e+00 1.60e-04 9.92e-03 -4.0 8.93e+00 -6.4 1.00e+00 1.00e+00h 1 67 2.0819136e+00 1.94e-04 1.45e-03 -4.0 2.26e+01 -6.9 1.00e+00 1.00e+00h 1 68 2.1157368e+00 2.99e-05 7.14e-01 -4.0 2.02e+02 -7.4 1.26e-01 1.00e+00H 1 69 2.1103221e+00 2.74e-05 7.00e-01 -4.1 1.00e+01 -4.3 1.06e-01 5.80e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.1093592e+00 3.21e-05 6.05e+01 -4.1 1.21e+01 -3.8 7.27e-01 5.27e-03f 1 71 2.0822089e+00 6.84e-05 1.80e+00 -4.1 4.14e+00 -4.3 9.88e-01 8.45e-01f 1 72 2.0826849e+00 6.22e-05 5.16e+00 -4.0 1.81e+00 -4.8 7.21e-01 1.25e-01f 4 73 2.0822754e+00 6.13e-04 3.70e+00 -4.0 7.20e+00 -5.3 1.43e-01 2.59e-01f 1 74 2.0823177e+00 3.83e-04 1.40e-02 -4.0 2.55e+00 -5.7 1.00e+00 1.00e+00f 1 75 2.0822210e+00 3.77e-04 2.28e-03 -4.0 5.97e+00 -6.2 1.00e+00 1.00e+00h 1 76 2.0821263e+00 5.26e-05 2.13e-03 -4.0 1.48e+01 -6.7 1.00e+00 1.00e+00h 1 77 2.0820833e+00 4.08e-04 3.17e-03 -4.0 3.80e+01 -7.2 1.00e+00 1.00e+00h 1 78 2.0816633e+00 2.17e-03 2.74e-03 -4.1 8.98e+01 -7.6 7.37e-01 1.00e+00h 1 79 2.3108170e+00 1.86e-04 9.81e-01 -4.0 6.92e+01 -6.3 4.89e-01 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.2824333e+00 2.00e-08 9.21e-01 -3.9 2.73e-02 1.5 1.00e+00 1.00e+00f 1 81 2.2222633e+00 4.46e-08 7.59e-01 -3.9 6.71e-02 1.1 7.11e-01 1.00e+00f 1 82 2.1407203e+00 3.93e-08 4.85e-01 -3.9 1.28e-01 0.6 1.00e+00 1.00e+00f 1 83 2.0907671e+00 3.85e-08 1.82e-01 -3.9 1.51e-01 0.1 9.33e-01 1.00e+00f 1 84 2.0829351e+00 5.22e-08 2.76e-02 -3.9 7.44e-02 -0.4 1.00e+00 1.00e+00f 1 85 2.0828632e+00 1.17e-08 1.13e-03 -4.0 8.14e-03 -0.9 1.00e+00 1.00e+00h 1 86 2.0828589e+00 8.54e-08 1.06e-03 -4.0 2.30e-02 -1.3 1.00e+00 1.00e+00h 1 87 2.0827833e+00 4.51e-07 7.93e-04 -4.0 5.14e-02 -1.8 1.00e+00 1.00e+00h 1 88 2.0827395e+00 4.18e-07 2.23e-04 -4.0 4.34e-02 -2.3 1.00e+00 1.00e+00h 1 89 2.0827669e+00 2.64e-08 1.64e-05 -4.0 7.06e-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 90 2.0827648e+00 7.05e-09 8.85e-06 -4.0 1.55e-02 -3.2 1.00e+00 1.00e+00h 1 91 2.0827620e+00 7.02e-10 8.83e-06 -4.0 4.64e-02 -3.7 1.00e+00 1.00e+00h 1 92 2.0827536e+00 7.60e-09 8.79e-06 -4.0 1.38e-01 -4.2 1.00e+00 1.00e+00h 1 93 2.0827289e+00 6.68e-08 8.65e-06 -4.0 4.09e-01 -4.7 1.00e+00 1.00e+00h 1 94 2.0826585e+00 5.57e-07 5.32e-05 -4.0 1.17e+00 -5.2 1.00e+00 1.00e+00h 1 95 2.0824778e+00 3.88e-06 3.79e-04 -4.0 3.01e+00 -5.6 1.00e+00 1.00e+00h 1 96 2.0821476e+00 2.03e-05 1.61e-03 -4.0 5.97e+00 -6.1 1.00e+00 1.00e+00h 1 97 2.0819208e+00 5.37e-05 2.32e-03 -4.0 1.21e+01 -6.6 1.00e+00 1.00e+00h 1 98 2.0818533e+00 3.89e-04 4.19e-02 -4.0 4.74e+01 -7.1 5.13e-01 1.00e+00h 1 99 2.0820824e+00 1.58e-03 3.47e-01 -4.0 1.32e+01 -5.7 7.66e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0818505e+00 1.48e-03 3.41e-01 -4.1 1.48e+00 -2.6 9.86e-02 6.67e-02h 1 101 2.0821035e+00 1.32e-03 3.32e+00 -4.1 7.15e-01 -3.1 3.87e-01 1.02e-01f 3 102 2.0824674e+00 9.81e-04 2.16e+00 -4.1 8.50e-01 -2.6 4.42e-01 2.58e-01h 1 103 2.0820098e+00 2.79e-05 1.70e-03 -4.1 6.01e-02 -3.1 1.00e+00 1.00e+00f 1 104 2.0820461e+00 2.07e-06 1.57e-04 -4.0 1.15e-01 -3.6 1.00e+00 1.00e+00h 1 105 2.0820357e+00 2.81e-06 1.85e-04 -4.0 1.25e-01 -4.1 1.00e+00 1.00e+00h 1 106 2.0820164e+00 1.23e-06 8.47e-05 -4.0 2.15e-01 -4.6 1.00e+00 1.00e+00h 1 107 2.0819861e+00 2.52e-06 8.77e-05 -4.0 3.52e-01 -5.0 1.00e+00 1.00e+00h 1 108 2.0819591e+00 2.89e-06 8.93e-05 -4.0 5.07e-01 -5.5 1.00e+00 1.00e+00h 1 109 2.0819266e+00 3.73e-06 6.54e-05 -4.0 1.05e+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 110 2.0818912e+00 7.49e-06 1.19e-04 -4.0 1.94e+00 -6.5 1.00e+00 1.00e+00h 1 111 2.0818721e+00 7.94e-06 1.44e-04 -4.0 3.00e+00 -6.9 1.00e+00 1.00e+00h 1 112 2.0818624e+00 6.27e-06 1.37e-04 -4.0 5.97e+00 -7.4 1.00e+00 1.00e+00h 1 113 2.0818517e+00 1.00e-05 2.41e-04 -4.0 1.35e+01 -7.9 1.00e+00 1.00e+00h 1 114 2.0818427e+00 1.24e-05 3.06e-04 -4.0 2.03e+01 -8.4 1.00e+00 1.00e+00h 1 115 2.0818390e+00 5.59e-06 1.48e-04 -4.0 1.61e+01 -8.8 1.00e+00 1.00e+00h 1 116 2.0818384e+00 5.08e-07 1.79e-05 -4.0 5.41e+00 -9.3 1.00e+00 1.00e+00h 1 117 2.0818383e+00 6.66e-09 3.02e-07 -4.0 6.88e-01 -9.8 1.00e+00 1.00e+00h 1 118 2.0818383e+00 1.14e-11 6.36e-10 -4.0 3.11e-02 -10.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 118 (scaled) (unscaled) Objective...............: 2.0818383022043330e+00 2.0818383022043330e+00 Dual infeasibility......: 6.3605264973140216e-10 6.3605264973140216e-10 Constraint violation....: 1.1351808382187301e-11 1.1351808382187301e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000005e-04 1.0000000000000005e-04 Overall NLP error.......: 6.3605264973140216e-10 6.3605264973140216e-10 Number of objective function evaluations = 144 Number of objective gradient evaluations = 119 Number of equality constraint evaluations = 144 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 119 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 118 Total seconds in IPOPT = 25.158 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 196 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 28 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 9.6336265e-01 8.71e-01 1.02e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 6.8490957e-01 3.22e-01 2.79e+00 -1.3 4.39e+00 - 9.08e-01 1.00e+00h 1 2 1.5985100e+00 4.78e-02 1.60e+00 -1.0 4.62e-01 0.0 7.85e-01 1.00e+00h 1 3 1.5443548e+00 2.85e-02 7.18e-01 -1.4 2.42e-01 -0.5 1.00e+00 4.04e-01h 1 4 1.6209920e+00 1.63e-02 1.50e+00 -2.2 4.95e-01 -1.0 1.00e+00 5.00e-01h 2 5 1.4584119e+00 6.94e-02 1.33e+00 -2.3 9.56e-01 0.4 1.00e+00 1.76e-01f 1 6 1.2308099e+00 2.91e-02 3.62e-01 -2.7 7.05e-02 -0.1 1.00e+00 5.97e-01h 1 7 1.1027938e+00 4.27e-04 1.72e-01 -3.6 2.77e+00 - 1.00e+00 9.89e-01h 1 8 1.0910812e+00 4.05e-05 8.47e-02 -4.0 2.08e+00 - 1.00e+00 1.00e+00h 1 9 1.0908908e+00 1.87e-07 8.50e-03 -4.0 9.00e-01 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0908998e+00 9.05e-13 2.20e-05 -4.0 1.07e-02 - 1.00e+00 1.00e+00h 1 11 1.0908997e+00 3.38e-22 2.20e-05 -4.0 6.19e-06 - 1.00e+00 1.00e+00h 1 12 1.0908997e+00 2.87e-26 4.44e-16 -4.0 4.84e-11 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 12 (scaled) (unscaled) Objective...............: 1.0908997263265459e+00 1.0908997263265459e+00 Dual infeasibility......: 4.4408920985008500e-16 4.4408920985008500e-16 Constraint violation....: 2.8724266768966261e-26 2.8724266768966261e-26 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000003e-04 1.0000000000000003e-04 Overall NLP error.......: 4.4408920985008500e-16 4.4408920985008500e-16 Number of objective function evaluations = 15 Number of objective gradient evaluations = 13 Number of equality constraint evaluations = 15 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 13 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 12 Total seconds in IPOPT = 21.674 EXIT: Optimal Solution Found. ┌ Warning: Trajectory has timestep variable :Δt but no bounds on it. │ Adding default lower bound of 0 to prevent negative timesteps. │ │ Recommended: Add explicit bounds when creating the trajectory: │ NamedTrajectory(...; Δt_bounds=(min, max)) │ Example: │ NamedTrajectory(qtraj, N; Δt_bounds=(1e-3, 0.5)) │ │ Or use timesteps_all_equal=true in problem options to fix timesteps. └ @ DirectTrajOpt.Problems ~/.julia/packages/DirectTrajOpt/4TeZc/src/problems.jl:65 initializing optimizer... applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: bounds on u applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial time t₁ = 0 This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 30 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.0142383e-02 8.33e-17 1.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.0160027e-02 2.17e-13 1.00e-02 -4.0 8.72e-04 -2.0 9.90e-01 1.00e+00f 1 2 2.0266916e-02 7.53e-11 2.06e-02 -2.2 7.74e-01 -1.6 1.00e+00 1.00e+00f 1 3 2.0202197e-02 3.71e-11 7.34e-04 -3.4 1.03e-02 -1.1 1.00e+00 1.00e+00h 1 4 2.0195772e-02 8.56e-13 1.71e-05 -5.1 7.22e-04 -1.6 1.00e+00 1.00e+00h 1 5 2.0195669e-02 4.66e-15 5.13e-08 -7.6 6.49e-06 -2.1 1.00e+00 1.00e+00h 1 6 2.0195525e-02 1.67e-16 3.68e-09 -11.4 1.12e-06 -2.6 1.00e+00 1.00e+00h 1 7 2.0194994e-02 5.55e-17 4.42e-09 -11.4 4.19e-06 -3.1 1.00e+00 1.00e+00h 1 8 2.0193105e-02 1.11e-16 5.15e-09 -11.4 1.51e-05 -3.5 1.00e+00 1.00e+00h 1 9 2.0186544e-02 1.67e-16 5.88e-09 -11.4 5.28e-05 -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 2.0164197e-02 1.67e-16 6.61e-09 -11.4 1.81e-04 -4.5 1.00e+00 1.00e+00h 1 11 2.0089306e-02 1.11e-16 7.34e-09 -11.4 6.10e-04 -5.0 1.00e+00 1.00e+00h 1 12 2.0058294e-02 1.11e-16 8.07e-09 -11.4 2.54e-04 -4.5 1.00e+00 1.00e+00h 1 13 1.9956631e-02 1.67e-16 8.79e-09 -11.4 8.37e-04 -5.0 1.00e+00 1.00e+00h 1 14 1.9915297e-02 1.67e-16 9.52e-09 -11.4 3.42e-04 -4.6 1.00e+00 1.00e+00h 1 15 1.9781909e-02 1.67e-16 1.02e-08 -11.4 1.11e-03 -5.1 1.00e+00 1.00e+00h 1 16 1.9728405e-02 1.67e-16 1.10e-08 -11.4 4.48e-04 -4.6 1.00e+00 1.00e+00h 1 17 1.9706999e-02 8.33e-17 1.17e-08 -11.4 1.80e-04 -4.2 1.00e+00 1.00e+00h 1 18 1.9638812e-02 1.11e-16 1.24e-08 -11.4 5.75e-04 -4.7 1.00e+00 1.00e+00h 1 19 1.9611761e-02 1.67e-16 1.31e-08 -11.4 2.29e-04 -4.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.9526247e-02 1.11e-16 1.38e-08 -11.4 7.26e-04 -4.7 1.00e+00 1.00e+00h 1 21 1.9492556e-02 5.55e-17 1.45e-08 -11.4 2.87e-04 -4.3 1.00e+00 1.00e+00h 1 22 1.9386724e-02 1.67e-16 1.52e-08 -11.4 9.05e-04 -4.8 1.00e+00 1.00e+00h 1 23 1.9057483e-02 1.11e-16 1.59e-08 -11.4 2.84e-03 -5.3 1.00e+00 1.00e+00h 1 24 1.8929766e-02 1.11e-16 1.66e-08 -11.4 1.12e-03 -4.8 1.00e+00 1.00e+00h 1 25 1.8880021e-02 1.11e-16 1.73e-08 -11.4 4.37e-04 -4.4 1.00e+00 1.00e+00h 1 26 1.8725455e-02 8.33e-17 1.80e-08 -11.4 1.36e-03 -4.9 1.00e+00 1.00e+00h 1 27 1.8665525e-02 1.67e-16 1.86e-08 -11.4 5.32e-04 -4.5 1.00e+00 1.00e+00h 1 28 1.8480131e-02 1.11e-16 1.93e-08 -11.4 1.65e-03 -4.9 1.00e+00 1.00e+00h 1 29 1.8408551e-02 5.55e-17 2.00e-08 -11.4 6.43e-04 -4.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.8188048e-02 1.67e-16 2.06e-08 -11.4 2.00e-03 -5.0 1.00e+00 1.00e+00h 1 31 1.8103257e-02 1.11e-16 2.13e-08 -11.4 7.73e-04 -4.6 1.00e+00 1.00e+00h 1 32 1.7843128e-02 1.11e-16 2.20e-08 -11.4 2.39e-03 -5.1 1.00e+00 1.00e+00h 1 33 1.7743500e-02 1.11e-16 2.26e-08 -11.4 9.25e-04 -4.6 1.00e+00 1.00e+00h 1 34 1.7439111e-02 5.55e-17 2.32e-08 -11.4 2.85e-03 -5.1 1.00e+00 1.00e+00h 1 35 1.7323003e-02 8.33e-17 2.39e-08 -11.4 1.10e-03 -4.7 1.00e+00 1.00e+00h 1 36 1.7278465e-02 1.11e-16 2.45e-08 -11.4 4.24e-04 -4.2 1.00e+00 1.00e+00h 1 37 1.7141999e-02 2.22e-16 2.51e-08 -11.4 1.31e-03 -4.7 1.00e+00 1.00e+00h 1 38 1.6728479e-02 8.33e-17 2.57e-08 -11.4 4.01e-03 -5.2 1.00e+00 1.00e+00h 1 39 1.6572037e-02 1.11e-16 2.63e-08 -11.4 1.54e-03 -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 1.6512341e-02 1.67e-16 2.69e-08 -11.4 5.92e-04 -4.4 1.00e+00 1.00e+00h 1 41 1.6330411e-02 1.11e-16 2.75e-08 -11.4 1.82e-03 -4.8 1.00e+00 1.00e+00h 1 42 1.6261157e-02 1.11e-16 2.81e-08 -11.4 6.96e-04 -4.4 1.00e+00 1.00e+00h 1 43 1.6050627e-02 1.11e-16 2.87e-08 -11.4 2.13e-03 -4.9 1.00e+00 1.00e+00h 1 44 1.5970687e-02 8.33e-17 2.93e-08 -11.4 8.16e-04 -4.5 1.00e+00 1.00e+00h 1 45 1.5728318e-02 1.11e-16 2.98e-08 -11.4 2.50e-03 -4.9 1.00e+00 1.00e+00h 1 46 1.5636533e-02 1.67e-16 3.04e-08 -11.4 9.55e-04 -4.5 1.00e+00 1.00e+00h 1 47 1.5359047e-02 1.67e-16 3.09e-08 -11.4 2.92e-03 -5.0 1.00e+00 1.00e+00h 1 48 1.5254265e-02 1.67e-16 3.15e-08 -11.4 1.11e-03 -4.6 1.00e+00 1.00e+00h 1 49 1.4938466e-02 5.55e-17 3.20e-08 -11.4 3.40e-03 -5.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 1.4819593e-02 1.11e-16 3.26e-08 -11.4 1.30e-03 -4.6 1.00e+00 1.00e+00h 1 51 1.4462543e-02 2.78e-17 3.31e-08 -11.4 3.96e-03 -5.1 1.00e+00 1.00e+00h 1 52 1.4328609e-02 1.67e-16 3.36e-08 -11.4 1.51e-03 -4.7 1.00e+00 1.00e+00h 1 53 1.4277891e-02 1.11e-16 3.41e-08 -11.4 5.74e-04 -4.2 1.00e+00 1.00e+00h 1 54 1.4124430e-02 1.11e-16 3.46e-08 -11.4 1.75e-03 -4.7 1.00e+00 1.00e+00h 1 55 1.4066415e-02 1.67e-16 3.51e-08 -11.4 6.66e-04 -4.3 1.00e+00 1.00e+00h 1 56 1.3891197e-02 1.11e-16 3.56e-08 -11.4 2.03e-03 -4.8 1.00e+00 1.00e+00h 1 57 1.3825081e-02 1.67e-16 3.61e-08 -11.4 7.71e-04 -4.3 1.00e+00 1.00e+00h 1 58 1.3625791e-02 5.55e-17 3.66e-08 -11.4 2.34e-03 -4.8 1.00e+00 1.00e+00h 1 59 1.3037023e-02 1.11e-16 3.70e-08 -11.4 7.12e-03 -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 1.2819940e-02 1.11e-16 3.75e-08 -11.4 2.70e-03 -4.9 1.00e+00 1.00e+00h 1 61 1.2738430e-02 5.55e-17 3.79e-08 -11.4 1.03e-03 -4.4 1.00e+00 1.00e+00h 1 62 1.2494045e-02 1.11e-16 3.84e-08 -11.4 3.12e-03 -4.9 1.00e+00 1.00e+00h 1 63 1.2402514e-02 1.11e-16 3.88e-08 -11.4 1.18e-03 -4.5 1.00e+00 1.00e+00h 1 64 1.2128841e-02 1.11e-16 3.92e-08 -11.4 3.59e-03 -5.0 1.00e+00 1.00e+00h 1 65 1.2026632e-02 1.11e-16 3.96e-08 -11.4 1.36e-03 -4.5 1.00e+00 1.00e+00h 1 66 1.1721989e-02 1.11e-16 4.00e-08 -11.4 4.12e-03 -5.0 1.00e+00 1.00e+00h 1 67 1.1608584e-02 1.11e-16 4.04e-08 -11.4 1.56e-03 -4.6 1.00e+00 1.00e+00h 1 68 1.1271778e-02 5.55e-17 4.08e-08 -11.4 4.73e-03 -5.1 1.00e+00 1.00e+00h 1 69 1.1146867e-02 1.11e-16 4.12e-08 -11.4 1.79e-03 -4.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 1.1099931e-02 1.11e-16 4.16e-08 -11.4 6.78e-04 -4.2 1.00e+00 1.00e+00h 1 71 1.0959009e-02 1.67e-16 4.19e-08 -11.4 2.05e-03 -4.7 1.00e+00 1.00e+00h 1 72 1.0906142e-02 1.11e-16 4.23e-08 -11.4 7.76e-04 -4.3 1.00e+00 1.00e+00h 1 73 1.0747695e-02 8.33e-17 4.26e-08 -11.4 2.35e-03 -4.7 1.00e+00 1.00e+00h 1 74 1.0688362e-02 5.55e-17 4.30e-08 -11.4 8.88e-04 -4.3 1.00e+00 1.00e+00h 1 75 1.0510892e-02 1.67e-16 4.33e-08 -11.4 2.69e-03 -4.8 1.00e+00 1.00e+00h 1 76 1.0444575e-02 1.11e-16 4.37e-08 -11.4 1.02e-03 -4.4 1.00e+00 1.00e+00h 1 77 1.0246665e-02 5.55e-17 4.40e-08 -11.4 3.07e-03 -4.8 1.00e+00 1.00e+00h 1 78 1.0172885e-02 1.11e-16 4.43e-08 -11.4 1.16e-03 -4.4 1.00e+00 1.00e+00h 1 79 9.9532802e-03 8.33e-17 4.47e-08 -11.4 3.51e-03 -4.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 9.8716346e-03 5.55e-17 4.50e-08 -11.4 1.32e-03 -4.5 1.00e+00 1.00e+00h 1 81 9.6293522e-03 2.78e-17 4.53e-08 -11.4 4.00e-03 -4.9 1.00e+00 1.00e+00h 1 82 9.5395589e-03 8.33e-17 4.56e-08 -11.4 1.51e-03 -4.5 1.00e+00 1.00e+00h 1 83 9.2740302e-03 8.33e-17 4.58e-08 -11.4 4.56e-03 -5.0 1.00e+00 1.00e+00h 1 84 9.1759825e-03 1.11e-16 4.61e-08 -11.4 1.72e-03 -4.6 1.00e+00 1.00e+00h 1 85 8.8872304e-03 5.55e-17 4.64e-08 -11.4 5.19e-03 -5.1 1.00e+00 1.00e+00h 1 86 8.7810671e-03 1.11e-16 4.66e-08 -11.4 1.96e-03 -4.6 1.00e+00 1.00e+00h 1 87 8.4699231e-03 5.55e-17 4.69e-08 -11.4 5.91e-03 -5.1 1.00e+00 1.00e+00h 1 88 8.3561128e-03 1.11e-16 4.71e-08 -11.4 2.23e-03 -4.7 1.00e+00 1.00e+00h 1 89 8.3136614e-03 1.67e-16 4.74e-08 -11.4 8.39e-04 -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 90 8.1871739e-03 5.55e-17 4.76e-08 -11.4 2.53e-03 -4.7 1.00e+00 1.00e+00h 1 91 7.8206820e-03 5.55e-17 4.78e-08 -11.4 7.62e-03 -5.2 1.00e+00 1.00e+00h 1 92 7.6882644e-03 5.55e-17 4.80e-08 -11.4 2.87e-03 -4.8 1.00e+00 1.00e+00h 1 93 7.6391247e-03 1.11e-16 4.82e-08 -11.4 1.08e-03 -4.4 1.00e+00 1.00e+00h 1 94 7.4935323e-03 5.55e-17 4.84e-08 -11.4 3.26e-03 -4.8 1.00e+00 1.00e+00h 1 95 7.0785184e-03 1.11e-16 4.85e-08 -11.4 9.80e-03 -5.3 1.00e+00 1.00e+00h 1 96 6.9312308e-03 5.55e-17 4.87e-08 -11.4 3.69e-03 -4.9 1.00e+00 1.00e+00h 1 97 6.8769732e-03 5.55e-17 4.88e-08 -11.4 1.39e-03 -4.5 1.00e+00 1.00e+00h 1 98 6.7175240e-03 8.33e-17 4.89e-08 -11.4 4.18e-03 -4.9 1.00e+00 1.00e+00h 1 99 6.6590245e-03 1.11e-16 4.91e-08 -11.4 1.57e-03 -4.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 6.4878924e-03 5.55e-17 4.92e-08 -11.4 4.72e-03 -5.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 6.4878924360291323e-11 6.4878924360291324e-03 Dual infeasibility......: 4.9181776988795284e-08 4.9181776988795285e+00 Constraint violation....: 5.5511151231257827e-17 5.5511151231257827e-17 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 4.1784205291663348e-12 4.1784205291663345e-04 Overall NLP error.......: 9.9999995821970067e-05 9.9999995821970060e+03 Number of objective function evaluations = 101 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 101 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 1 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 2.564 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 1.5963606e+00 8.36e-01 9.60e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.2256866e+00 3.58e-09 2.48e-01 -0.3 4.74e-01 -2.0 9.99e-01 1.00e+00f 1 2 3.6670857e-01 2.52e-09 2.70e-01 -1.2 1.10e+00 -1.6 8.95e-01 1.00e+00f 1 3 1.6965105e-01 3.80e-10 5.98e-02 -2.1 5.77e-01 -1.1 1.00e+00 1.00e+00f 1 4 4.5109753e-02 2.48e-11 4.57e-02 -2.9 8.71e-01 -1.6 9.98e-01 1.00e+00f 1 5 9.0707077e-03 2.71e-11 2.02e-02 -4.0 7.60e-01 -2.1 1.00e+00 1.00e+00f 1 6 1.8373418e-03 6.72e-12 6.49e-03 -4.0 5.00e-01 -2.6 1.00e+00 1.00e+00f 1 7 5.9550856e-04 1.62e-12 1.81e-03 -4.0 2.50e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.4067636e-04 2.24e-13 2.75e-04 -4.0 9.08e-02 -3.5 1.00e+00 1.00e+00f 1 9 4.6371221e-04 1.56e-14 1.66e-04 -4.0 2.48e-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 3.0042366e-04 1.33e-14 4.49e-04 -4.1 8.26e-02 -4.5 1.00e+00 1.00e+00f 1 11 4.5861677e-04 6.94e-15 3.68e-04 -4.0 2.02e-01 -5.0 1.00e+00 5.00e-01f 2 12 2.7457934e-04 3.55e-15 5.45e-04 -4.1 1.03e-01 -5.4 1.00e+00 1.00e+00f 1 13 4.6533818e-04 2.44e-15 4.73e-04 -4.0 2.53e-01 -5.9 1.00e+00 5.00e-01f 2 14 2.6367187e-04 2.00e-15 6.18e-04 -4.1 1.19e-01 -6.4 1.00e+00 1.00e+00f 1 15 4.6616471e-04 1.89e-15 5.16e-04 -4.0 2.76e-01 -6.9 1.00e+00 5.00e-01f 2 16 2.6000152e-04 1.44e-15 6.48e-04 -4.1 1.25e-01 -7.4 1.00e+00 1.00e+00f 1 17 4.6613638e-04 1.44e-15 5.34e-04 -4.0 2.86e-01 -7.8 1.00e+00 5.00e-01f 2 18 2.5879225e-04 1.22e-15 6.66e-04 -4.1 1.29e-01 -8.3 1.00e+00 1.00e+00f 1 19 4.6569819e-04 1.33e-15 5.43e-04 -4.0 2.92e-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 2.5841434e-04 1.08e-15 6.80e-04 -4.1 1.32e-01 -9.3 1.00e+00 1.00e+00f 1 21 4.6516109e-04 1.11e-15 5.48e-04 -4.0 2.96e-01 -9.7 1.00e+00 5.00e-01f 2 22 2.5830259e-04 1.02e-15 6.93e-04 -4.1 1.34e-01 -10.2 1.00e+00 1.00e+00f 1 23 4.6460526e-04 9.99e-16 5.53e-04 -4.0 3.00e-01 -10.7 1.00e+00 5.00e-01f 2 24 2.5827458e-04 9.44e-16 7.04e-04 -4.1 1.36e-01 -11.2 1.00e+00 1.00e+00f 1 25 4.6405966e-04 7.77e-16 5.56e-04 -4.0 3.03e-01 -11.6 1.00e+00 5.00e-01f 2 26 2.5827155e-04 8.81e-16 7.15e-04 -4.1 1.38e-01 -12.1 1.00e+00 1.00e+00f 1 27 3.0977599e-05 9.10e-15 8.94e-04 -6.2 3.80e-01 -12.6 9.68e-01 1.00e+00f 1 28 1.7378563e-03 2.22e-15 7.68e-03 -4.0 2.00e+00 -13.1 1.00e+00 5.00e-01f 2 29 2.4583329e-05 2.35e-14 2.89e-03 -4.1 1.02e+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 1.5749036e-03 3.04e-14 8.01e-03 -4.0 9.85e-01 -14.0 1.00e+00 1.00e+00f 1 31 1.0241609e-05 1.82e-14 2.29e-03 -4.2 1.09e+00 -14.5 1.00e+00 1.00e+00f 1 32 4.6500334e-04 1.55e-15 2.76e-03 -4.0 1.38e+00 -15.0 1.00e+00 5.00e-01f 2 33 2.1995685e-04 3.00e-15 2.40e-04 -4.2 3.73e-01 -15.5 1.00e+00 5.00e-01f 2 34 2.0246629e-05 4.44e-15 8.09e-04 -6.4 4.13e-01 -15.9 9.64e-01 1.00e+00f 1 35 8.1457677e-06 3.28e-15 9.96e-05 -6.4 1.05e-01 -16.4 1.00e+00 1.00e+00f 1 36 1.5090618e-03 1.11e-15 5.33e-03 -4.0 9.66e+00 -16.9 1.00e+00 1.24e-01f 4 37 1.0093495e-04 5.30e-14 3.46e-03 -4.0 7.85e-01 -17.4 1.00e+00 1.00e+00f 1 38 7.4637741e-04 3.51e-14 3.52e-03 -4.0 5.32e-01 -17.8 1.00e+00 1.00e+00f 1 39 3.8024177e-04 6.55e-15 4.39e-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 3.5497996e-05 5.55e-15 1.33e-03 -6.0 5.06e-01 -18.8 9.55e-01 1.00e+00f 1 41 1.4620389e-05 5.27e-15 1.61e-04 -6.0 1.26e-01 -19.3 1.00e+00 1.00e+00f 1 42 4.0117863e-06 8.88e-16 1.02e-04 -6.0 1.44e-01 -19.8 1.00e+00 1.00e+00f 1 43 1.0316584e-03 7.84e-16 3.00e-03 -4.0 1.57e+01 -20.0 1.00e+00 7.64e-02f 4 44 1.6685702e-04 4.71e-14 2.82e-03 -4.0 5.70e-01 -20.0 1.00e+00 1.00e+00f 1 45 6.6635719e-04 2.20e-14 2.73e-03 -4.0 4.11e-01 -20.0 1.00e+00 1.00e+00f 1 46 3.9025072e-04 4.00e-15 4.17e-04 -4.0 3.55e-01 -20.0 1.00e+00 5.00e-01f 2 47 3.5327352e-05 5.77e-15 1.46e-03 -6.1 5.49e-01 -20.0 9.50e-01 1.00e+00f 1 48 1.4702311e-05 4.83e-15 1.70e-04 -6.1 1.33e-01 -20.0 1.00e+00 1.00e+00f 1 49 3.9074469e-06 7.77e-16 1.10e-04 -6.1 1.58e-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 8.3747839e-04 6.07e-16 2.03e-03 -4.0 1.69e+01 -20.0 1.00e+00 7.08e-02f 4 51 2.0182792e-04 4.06e-14 2.44e-03 -4.0 4.74e-01 -20.0 1.00e+00 1.00e+00f 1 52 6.0426132e-04 1.51e-14 2.26e-03 -4.0 3.47e-01 -20.0 1.00e+00 1.00e+00f 1 53 3.8655853e-04 2.66e-15 3.95e-04 -4.0 3.14e-01 -20.0 1.00e+00 5.00e-01f 2 54 3.4350819e-05 5.55e-15 1.54e-03 -6.1 5.84e-01 -20.0 9.45e-01 1.00e+00f 1 55 1.4406374e-05 4.33e-15 1.76e-04 -6.1 1.39e-01 -20.0 1.00e+00 1.00e+00f 1 56 3.7684520e-06 7.22e-16 1.16e-04 -6.1 1.68e-01 -20.0 1.00e+00 1.00e+00f 1 57 6.9439821e-04 3.75e-16 1.16e-03 -4.0 1.83e+01 -20.0 1.00e+00 6.53e-02f 4 58 2.3708471e-04 3.57e-14 2.02e-03 -4.1 3.81e-01 -20.0 1.00e+00 1.00e+00f 1 59 5.4549275e-04 1.04e-14 1.76e-03 -4.1 2.76e-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 3.8307809e-04 1.78e-15 3.55e-04 -4.1 2.62e-01 -20.0 1.00e+00 5.00e-01f 2 61 3.3298016e-05 5.33e-15 1.62e-03 -6.1 6.18e-01 -20.0 9.41e-01 1.00e+00f 1 62 1.4107813e-05 3.89e-15 1.80e-04 -6.1 1.44e-01 -20.0 1.00e+00 1.00e+00f 1 63 3.6509587e-06 6.11e-16 1.21e-04 -6.1 1.78e-01 -20.0 1.00e+00 1.00e+00f 1 64 5.8961250e-04 3.40e-16 4.06e-04 -4.0 1.96e+01 -20.0 1.00e+00 6.07e-02f 4 65 2.6866863e-04 3.20e-14 1.61e-03 -4.1 2.96e-01 -20.0 1.00e+00 1.00e+00f 1 66 4.9446547e-04 6.88e-15 1.29e-03 -4.1 2.08e-01 -20.0 1.00e+00 1.00e+00f 1 67 3.7876245e-04 8.92e-16 3.07e-04 -4.1 2.09e-01 -20.0 1.00e+00 5.00e-01f 2 68 3.2204759e-05 5.11e-15 1.68e-03 -6.1 6.48e-01 -20.0 9.38e-01 1.00e+00f 1 69 1.3789857e-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 3.5447205e-06 5.55e-16 1.25e-04 -6.1 1.86e-01 -20.0 1.00e+00 1.00e+00f 1 71 5.1156686e-04 3.12e-16 2.51e-04 -4.0 2.09e+01 -20.0 1.00e+00 5.69e-02f 4 72 2.9602431e-04 2.89e-14 1.22e-03 -4.1 2.20e-01 -20.0 1.00e+00 1.00e+00f 1 73 4.5199365e-04 4.22e-15 8.73e-04 -4.1 1.44e-01 -20.0 1.00e+00 1.00e+00f 1 74 3.0681820e-04 3.11e-15 8.78e-04 -4.1 1.59e-01 -20.0 1.00e+00 1.00e+00f 1 75 4.4597644e-04 2.26e-15 7.59e-04 -4.1 1.25e-01 -20.0 1.00e+00 1.00e+00f 1 76 2.3958356e-05 4.55e-15 1.86e-03 -6.1 7.82e-01 -20.0 9.23e-01 1.00e+00f 1 77 1.2333781e-05 3.77e-15 1.27e-04 -6.1 1.12e-01 -20.0 1.00e+00 1.00e+00f 1 78 3.0781128e-06 4.44e-16 1.19e-04 -6.1 1.90e-01 -20.0 1.00e+00 1.00e+00f 1 79 4.5436691e-04 5.03e-16 9.01e-04 -4.0 2.37e+01 -20.0 1.00e+00 5.03e-02f 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 3.2386024e-04 2.73e-14 8.26e-04 -4.1 1.46e-01 -20.0 1.00e+00 1.00e+00f 1 81 3.3974624e-05 5.55e-15 1.64e-03 -6.1 6.29e-01 -20.0 9.39e-01 1.00e+00f 1 82 1.3332482e-05 3.11e-15 2.18e-04 -6.1 1.78e-01 -20.0 1.00e+00 1.00e+00f 1 83 3.5911797e-06 5.00e-16 1.30e-04 -6.1 1.94e-01 -20.0 1.00e+00 1.00e+00f 1 84 3.6763197e-06 2.22e-16 4.95e-06 -6.1 8.75e-03 -20.0 1.00e+00 1.00e+00h 1 85 2.3719190e-07 5.51e-17 5.62e-05 -9.0 2.55e-01 -20.0 9.75e-01 1.00e+00f 1 86 2.2962300e-03 6.45e-16 1.16e-02 -4.0 1.07e+02 -20.0 1.00e+00 2.27e-02f 3 87 8.3893900e-05 4.60e-14 6.88e-03 -4.0 1.52e+00 -20.0 1.00e+00 1.00e+00f 1 88 7.5636720e-04 2.73e-14 5.34e-03 -4.0 8.14e-01 -20.0 1.00e+00 1.00e+00f 1 89 4.2526019e-04 5.33e-15 7.88e-04 -4.0 5.55e-01 -20.0 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 4.2223864e-05 4.11e-15 2.12e-03 -5.9 7.20e-01 -20.0 9.29e-01 1.00e+00f 1 91 1.7364889e-05 3.77e-15 2.62e-04 -5.9 1.89e-01 -20.0 1.00e+00 1.00e+00f 1 92 4.9224734e-06 6.66e-16 1.65e-04 -5.9 2.12e-01 -20.0 1.00e+00 1.00e+00f 1 93 5.5351064e-06 3.33e-16 1.60e-05 -5.9 2.32e-02 -20.0 1.00e+00 1.00e+00h 1 94 5.1538820e-06 9.37e-17 1.93e-06 -5.9 2.83e-03 -20.0 1.00e+00 1.00e+00h 1 95 3.6800076e-07 5.55e-17 7.82e-05 -8.9 2.88e-01 -20.0 9.71e-01 1.00e+00f 1 96 1.4841973e-07 4.90e-17 8.16e-06 -8.9 6.34e-02 -20.0 1.00e+00 1.00e+00f 1 97 1.4900103e-03 6.18e-16 2.48e-03 -4.0 3.31e+02 -20.0 1.00e+00 7.35e-03f 3 98 4.9828914e-04 6.13e-14 5.30e-03 -3.8 6.79e-01 -20.0 1.00e+00 1.00e+00f 1 99 8.6909608e-04 1.69e-14 1.90e-03 -3.8 2.26e-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 5.7455267e-04 7.55e-15 2.18e-03 -3.8 2.83e-01 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 5.7455267469370941e-04 5.7455267469370941e-04 Dual infeasibility......: 2.1778427084187622e-03 2.1778427084187622e-03 Constraint violation....: 7.5495165674510645e-15 7.5495165674510645e-15 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.7043597221532645e-04 1.7043597221532645e-04 Overall NLP error.......: 2.1778427084187622e-03 2.1778427084187622e-03 Number of objective function evaluations = 172 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 172 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 = 3.104 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 5.5471610e+00 2.19e+00 6.78e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7640268e+00 3.73e-02 1.20e+00 -1.0 1.77e+00 - 1.00e+00 1.00e+00f 1 2 2.4345344e+00 7.25e-03 1.93e-01 -1.4 1.57e-01 - 9.68e-01 1.00e+00f 1 3 2.1803761e+00 3.18e-03 3.86e-02 -2.4 6.22e-02 - 9.11e-01 8.77e-01h 1 4 2.0930217e+00 1.65e-04 2.89e-03 -4.0 1.67e-02 - 9.75e-01 1.00e+00h 1 5 2.0908982e+00 4.16e-05 1.04e-03 -4.0 1.77e-01 - 1.00e+00 1.00e+00h 1 6 2.0908986e+00 1.01e-07 1.24e-06 -4.0 1.49e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 2.20e-09 9.74e-10 -4.0 1.68e-02 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971975890647e+00 2.0908971975890647e+00 Dual infeasibility......: 9.7431219917096940e-10 9.7431219917096940e-10 Constraint violation....: 2.2015530323792921e-09 2.2015530323792921e-09 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000633147638484e-04 1.0000633147638484e-04 Overall NLP error.......: 6.3397052330456350e-09 6.3397052330456350e-09 Number of objective function evaluations = 8 Number of objective gradient evaluations = 8 Number of equality constraint evaluations = 8 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 8 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 7 Total seconds in IPOPT = 24.541 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: bounds constraint on trajectory variable du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.8056404e+00 1.52e+00 1.14e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8566694e+00 1.05e+00 1.59e+00 -0.8 7.68e+00 -4.0 5.10e-01 3.08e-01f 1 2 2.3827927e+00 2.24e-01 6.27e+00 -0.8 4.31e+00 -1.8 2.91e-01 9.04e-01f 1 3 3.0904799e+00 8.35e-02 3.31e+00 -0.8 3.66e-01 0.5 7.76e-01 1.00e+00f 1 4 2.8617711e+00 9.99e-03 8.45e-01 -1.1 1.38e-01 -0.0 9.89e-01 1.00e+00h 1 5 2.4342647e+00 6.07e-02 2.21e-01 -1.7 2.52e-01 -0.5 9.56e-01 1.00e+00f 1 6 2.2472656e+00 2.31e-02 2.62e-01 -2.2 1.70e-01 -1.0 9.91e-01 6.02e-01h 1 7 2.1748788e+00 1.14e-02 2.99e-01 -2.2 1.44e-01 -1.4 9.83e-01 5.05e-01h 1 8 2.1055048e+00 2.71e-03 8.66e-02 -2.9 6.83e-02 -1.9 9.98e-01 7.22e-01h 1 9 2.0918791e+00 3.41e-04 5.80e-02 -3.9 3.63e-02 -2.4 1.00e+00 8.74e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909486e+00 4.66e-06 3.88e-03 -4.0 1.42e-02 -2.9 1.00e+00 1.00e+00h 1 11 2.0909408e+00 8.56e-08 2.01e-05 -4.0 4.52e-02 -3.4 1.00e+00 1.00e+00h 1 12 2.0909275e+00 6.73e-09 1.99e-05 -4.0 1.34e-01 -3.8 1.00e+00 1.00e+00h 1 13 2.0908888e+00 5.61e-08 2.07e-05 -4.0 3.93e-01 -4.3 1.00e+00 1.00e+00h 1 14 2.0907816e+00 4.19e-07 1.61e-04 -4.0 1.09e+00 -4.8 1.00e+00 1.00e+00h 1 15 2.0905244e+00 2.22e-06 9.72e-04 -4.0 2.64e+00 -5.3 1.00e+00 1.00e+00h 1 16 2.0901267e+00 4.76e-06 3.07e-03 -4.0 4.54e+00 -5.7 1.00e+00 1.00e+00h 1 17 2.0899307e+00 3.79e-06 3.04e-03 -4.0 5.63e+00 -6.2 1.00e+00 1.00e+00h 1 18 2.0898566e+00 1.15e-06 1.60e-03 -4.0 8.40e+00 -6.7 1.00e+00 1.00e+00h 1 19 2.0898279e+00 8.98e-07 1.28e-03 -4.0 1.13e+01 -7.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0898236e+00 1.91e-06 6.05e-04 -4.0 8.53e+00 -7.6 1.00e+00 1.00e+00h 1 21 2.0898220e+00 2.99e-07 5.64e-05 -4.0 2.41e+00 -8.1 1.00e+00 1.00e+00h 1 22 2.0898219e+00 3.00e-09 5.94e-07 -4.0 2.30e-01 -8.6 1.00e+00 1.00e+00h 1 23 2.0898218e+00 2.96e-12 9.46e-10 -4.0 1.21e-02 -9.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0898218498820804e+00 2.0898218498820804e+00 Dual infeasibility......: 9.4630821196673223e-10 9.4630821196673223e-10 Constraint violation....: 2.9551916469472417e-12 2.9551916469472417e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000022e-04 1.0000000000000022e-04 Overall NLP error.......: 9.4630821196673223e-10 9.4630821196673223e-10 Number of objective function evaluations = 24 Number of objective gradient evaluations = 24 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 24 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 23 Total seconds in IPOPT = 24.875 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 2.0708670e+00 2.10e+00 6.57e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.9837165e+00 1.98e+00 1.43e+00 -4.0 1.55e+00 0.0 1.29e-01 5.28e-02h 1 2 1.8677371e+00 1.88e+00 9.15e+00 -1.5 2.77e+00 -0.5 7.21e-02 5.12e-02h 1 3 2.1838707e+00 1.86e+00 2.61e+02 1.4 1.52e+02 -1.0 3.38e-02 2.95e-03f 1 4 2.8567622e+00 1.78e+00 3.11e+03 1.3 5.69e+01 -1.4 6.19e-01 6.19e-02f 1 5 2.9596938e+00 1.68e+00 7.66e+04 2.0 7.67e+01 -1.9 8.93e-01 4.84e-02h 1 6 3.2104498e+00 1.78e+00 1.33e+06 2.5 6.64e+02 -2.4 6.19e-01 2.98e-02h 1 7 3.2068417e+00 1.83e+00 1.19e+07 2.5 7.08e+03 -2.9 7.54e-02 4.43e-03h 2 8 3.2027947e+00 1.81e+00 7.33e+07 2.5 5.32e+04 -3.3 3.02e-02 2.77e-03h 2 9 3.2006888e+00 1.77e+00 1.42e+09 2.5 1.44e+05 -3.8 4.89e-02 1.39e-03h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 3.2000311e+00 1.76e+00 2.57e+10 2.5 2.51e+05 -4.3 2.54e-02 3.74e-04h 3 11 3.1996699e+00 1.76e+00 6.00e+12 2.5 3.14e+05 -3.9 2.69e-01 2.90e-04h 3 12r 3.1996699e+00 1.76e+00 1.00e+03 1.2 0.00e+00 -4.3 0.00e+00 2.53e-07R 13 13r 4.4979786e+00 1.49e+01 1.44e+04 2.8 4.89e+04 - 1.28e-01 2.31e-02f 1 14r 4.3373055e+00 1.28e+01 8.85e+03 2.0 9.57e+02 - 4.37e-01 1.35e-01f 1 15r 3.7315709e+00 7.25e+00 4.18e+03 2.2 6.82e+02 - 5.91e-01 3.33e-01f 1 16r 2.9882790e+00 5.84e+00 6.14e+02 2.0 3.35e+02 - 9.98e-01 9.61e-01f 1 17r 2.9287103e+00 1.61e+00 1.80e+02 -4.0 4.65e+00 0.0 7.54e-01 7.24e-01f 1 18r 3.4172737e+00 2.14e-01 3.08e+01 0.5 1.76e+00 0.4 9.44e-01 9.74e-01f 1 19 3.4051976e+00 2.00e-01 1.51e+01 -1.2 5.96e+01 -4.8 8.30e-01 6.57e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 3.4273501e+00 1.99e-01 2.14e+02 -4.0 3.39e+02 -5.3 1.48e-02 1.11e-03h 1 21 3.4993105e+00 1.99e-01 1.36e+04 0.4 2.52e+03 -5.8 3.47e-01 1.17e-03f 2 22 3.5017587e+00 1.99e-01 9.03e+04 -0.1 1.80e+03 -6.3 9.40e-03 4.88e-05h 6 23 3.5714691e+00 1.99e-01 9.02e+04 -0.1 5.47e+02 -6.7 1.52e-03 1.52e-03s 13 24r 3.5714691e+00 1.99e-01 9.99e+02 -0.1 0.00e+00 -7.2 0.00e+00 0.00e+00R 1 25r 3.5863245e+00 1.99e-01 9.72e+02 0.6 5.44e+02 - 1.00e+00 6.87e-03f 1 26r 3.7561118e+00 2.05e-01 1.63e+01 0.1 1.08e+01 - 9.99e-01 9.84e-01f 1 27r 4.2971990e+00 4.24e+00 7.59e+01 -0.3 1.89e+01 - 4.40e-01 9.22e-01f 1 28r 4.1169236e+00 1.50e+00 8.62e+01 -0.5 6.11e+01 -4.0 4.47e-01 1.00e+00f 1 29r 3.7562030e+00 4.75e-01 1.10e+02 0.4 1.90e+00 0.0 8.05e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30r 3.9370256e+00 7.00e-01 2.06e+01 0.3 3.32e+00 -0.4 1.00e+00 1.00e+00f 1 31r 4.1664186e+00 6.93e-01 4.80e+01 -0.4 5.64e+00 -0.9 4.45e-01 1.00e+00f 1 32r 4.0380396e+00 2.03e-01 3.69e+00 0.1 4.52e-01 -0.5 1.00e+00 1.00e+00f 1 33r 4.1605807e+00 7.48e+00 9.35e+01 -0.0 8.25e+01 - 3.19e-01 1.00e+00f 1 34r 4.1128586e+00 1.48e+00 1.83e+01 -0.0 3.41e+00 -1.0 1.00e+00 8.47e-01h 1 35r 4.4235152e+00 7.61e-01 5.62e+01 -0.7 4.37e+00 -1.4 5.81e-01 9.14e-01f 1 36r 4.3630889e+00 1.99e-01 2.23e+00 -0.6 4.05e+00 -1.9 1.00e+00 1.00e+00f 1 37r 4.3450517e+00 1.84e+00 6.24e+01 -4.0 2.44e+02 - 2.46e-01 8.70e-01f 1 38r 4.3845907e+00 1.99e-01 3.82e+00 -1.7 1.28e+00 -2.4 9.74e-01 1.00e+00h 1 39r 4.3332498e+00 2.10e-01 5.11e-01 -2.1 6.98e+01 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40r 4.3186794e+00 2.09e-01 1.25e+01 -2.1 1.61e+02 - 5.45e-02 5.77e-03h 5 41r 4.0589547e+00 3.05e-01 5.55e-01 -2.3 1.12e+00 -2.0 1.00e+00 9.90e-01h 1 42r 4.0497361e+00 1.99e-01 1.19e-01 -2.5 3.36e+00 - 9.95e-01 1.00e+00h 1 43r 3.9664901e+00 1.99e-01 1.98e-01 -3.4 1.17e+01 - 9.94e-01 1.00e+00f 1 44r 3.8424542e+00 1.99e-01 1.55e-03 -4.0 9.75e-01 - 1.00e+00 1.00e+00h 1 45r 3.8525655e+00 1.99e-01 5.47e-05 -4.0 1.44e+00 - 1.00e+00 1.00e+00h 1 46r 3.8535956e+00 1.99e-01 5.79e-08 -4.0 3.12e-02 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 46 (scaled) (unscaled) Objective...............: 3.8535936273272973e+00 3.8535936273272973e+00 Dual infeasibility......: 2.0066010519715936e+00 2.0066010519715936e+00 Constraint violation....: 1.9875045047202733e-01 1.9875045047202733e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000004511990e-04 1.0000000004511990e-04 Overall NLP error.......: 2.0066010519715936e+00 2.0066010519715936e+00 Number of objective function evaluations = 101 Number of objective gradient evaluations = 21 Number of equality constraint evaluations = 101 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 50 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 47 Total seconds in IPOPT = 25.716 EXIT: Converged to a point of local infeasibility. Problem may be infeasible. initializing optimizer... applying constraint: bounds constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 36 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.5964534e+00 3.15e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.6581611e+00 2.05e-01 7.10e+00 -1.1 1.87e+00 0.0 1.17e-01 9.37e-01f 1 2 3.6492477e+00 5.64e-02 2.23e+00 -0.8 5.13e-01 -0.5 9.67e-01 9.93e-01f 1 3 2.6961942e+00 2.36e-02 3.93e-01 -1.1 2.11e-01 -0.1 8.86e-01 1.00e+00f 1 4 2.4627075e+00 4.52e-03 1.14e-01 -1.5 8.41e-02 -0.5 9.90e-01 1.00e+00h 1 5 2.1769282e+00 1.74e-02 9.17e-02 -2.0 2.23e-01 -1.0 8.51e-01 8.82e-01f 1 6 2.1018237e+00 5.59e-04 2.27e-02 -2.8 4.47e-02 -1.5 8.89e-01 9.86e-01h 1 7 2.0909885e+00 9.05e-06 5.11e-04 -4.0 6.37e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909177e+00 5.57e-08 2.06e-05 -4.0 5.63e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909160e+00 1.20e-10 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909110e+00 9.68e-10 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908960e+00 8.72e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908512e+00 7.85e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907168e+00 7.08e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903148e+00 6.41e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891174e+00 5.86e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856077e+00 5.53e-04 2.31e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796374e+00 2.30e-03 1.36e-01 -4.0 9.56e+01 -6.7 1.00e+00 6.30e-01h 1 18 2.0807026e+00 1.31e-04 1.72e-01 -4.0 6.85e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775300e+00 7.04e-03 2.26e-02 -4.0 1.19e+02 -7.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0769623e+00 1.34e-03 5.35e-02 -4.0 2.01e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0763013e+00 1.42e-03 3.60e-02 -4.0 3.48e+02 -8.6 1.00e+00 6.66e-01h 1 22 2.0755319e+00 3.42e-03 3.33e-02 -4.0 6.21e+02 -9.1 1.00e+00 7.50e-01h 1 23 2.0758074e+00 3.46e-03 1.85e-02 -4.0 1.86e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0756807e+00 5.56e-04 9.17e-04 -4.0 9.87e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.92e-06 1.50e-05 -4.0 2.33e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 9.10e-08 1.32e-06 -4.0 1.43e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.73e-09 1.14e-07 -4.0 4.71e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.89e-11 1.91e-09 -4.0 7.47e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121670393e+00 2.0756712121670393e+00 Dual infeasibility......: 1.9084906621095847e-09 1.9084906621095847e-09 Constraint violation....: 4.8881232395103780e-11 4.8881232395103780e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000066e-04 1.0000000000000066e-04 Overall NLP error.......: 1.9084906621095847e-09 1.9084906621095847e-09 Number of objective function evaluations = 30 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 30 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 28.018 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.1535612e+00 2.60e+00 7.61e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5090478e+00 1.03e-01 1.74e+00 -0.9 1.59e+00 0.0 9.91e-01 9.62e-01h 1 2 2.6184108e+00 6.20e-03 6.08e-01 -1.0 2.51e-01 -0.5 9.46e-01 1.00e+00f 1 3 2.3253137e+00 7.66e-03 4.70e-02 -1.9 1.23e-01 -1.0 9.85e-01 1.00e+00h 1 4 2.1466783e+00 2.68e-03 3.24e-02 -2.9 9.95e-02 -1.4 9.06e-01 7.75e-01h 1 5 2.0921983e+00 1.18e-04 1.92e-03 -3.7 1.81e-02 -1.9 9.92e-01 9.96e-01h 1 6 2.0908732e+00 1.20e-06 2.56e-04 -4.0 6.12e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0908708e+00 5.33e-09 1.67e-05 -4.0 1.22e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908673e+00 4.50e-10 1.66e-05 -4.0 3.64e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908582e+00 3.91e-09 1.63e-05 -4.0 1.07e-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 2.0908338e+00 3.00e-08 3.56e-05 -4.0 3.04e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907683e+00 2.55e-07 1.72e-04 -4.0 8.53e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905744e+00 2.21e-06 2.89e-04 -4.0 2.47e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0904967e+00 3.20e-07 2.55e-04 -4.0 9.97e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0901437e+00 4.27e-06 1.37e-03 -4.0 3.48e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0896124e+00 3.93e-05 9.55e-03 -4.0 1.03e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0889042e+00 4.07e-05 8.94e-02 -4.0 1.79e+01 -5.4 1.00e+00 2.45e-01h 1 17 2.0880672e+00 4.39e-05 1.29e-02 -4.0 1.10e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0866383e+00 1.10e-04 3.41e-02 -4.0 2.75e+01 -6.3 1.00e+00 6.23e-01h 1 19 2.0838088e+00 8.26e-04 4.09e-02 -4.0 4.99e+01 -6.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827449e+00 2.92e-04 8.65e-03 -4.0 5.41e+01 -7.3 1.00e+00 6.06e-01h 1 21 2.0825159e+00 8.49e-04 2.71e-02 -4.0 1.33e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.1045673e+00 2.75e-04 6.16e-01 -4.0 2.68e+02 -7.3 1.02e-01 1.00e+00H 1 23 2.0877957e+00 3.63e-03 6.54e+00 -4.1 2.30e+01 -4.2 1.08e-02 9.52e-02f 1 24 2.0853630e+00 1.82e-03 3.30e+00 -4.1 1.85e-01 -2.8 1.00e+00 4.99e-01f 1 25 2.0836203e+00 1.48e-03 2.62e+00 -4.1 4.33e+00 -3.3 4.61e-01 2.21e-01f 1 26 2.0835535e+00 1.31e-03 2.85e+00 -4.1 2.39e-01 -3.8 1.00e+00 1.16e-01f 2 27 2.0835134e+00 2.04e-05 2.36e-03 -4.1 1.85e-01 -4.3 1.00e+00 1.00e+00h 1 28 2.0836976e+00 1.26e-05 9.31e-05 -4.0 5.45e-01 -4.8 1.00e+00 1.00e+00h 1 29 2.0834037e+00 4.19e-05 1.22e-04 -4.1 1.65e+00 -5.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0833257e+00 9.53e-05 1.05e-03 -4.0 4.18e+00 -5.7 1.00e+00 1.00e+00h 1 31 2.0829618e+00 4.05e-05 2.50e-03 -4.0 9.25e+00 -6.2 1.00e+00 1.00e+00h 1 32 2.0826763e+00 3.44e-05 3.18e-03 -4.0 2.23e+01 -6.7 1.00e+00 1.00e+00h 1 33 2.0822253e+00 2.30e-04 6.20e-03 -4.0 4.99e+01 -7.1 1.00e+00 1.00e+00h 1 34 2.0840552e+00 9.95e-08 1.21e-01 -4.0 1.56e+02 -7.6 2.00e-01 1.00e+00H 1 35 2.0819253e+00 2.85e-04 4.62e-01 -4.0 8.58e+00 -5.4 1.00e+00 5.69e-01f 1 36 2.0830823e+00 1.64e-07 1.37e-02 -4.0 6.87e+00 -5.9 1.00e+00 1.00e+00H 1 37 2.0826180e+00 1.20e-03 1.12e-02 -4.0 1.40e+01 -6.3 1.00e+00 1.00e+00f 1 38 2.0820524e+00 1.02e-03 6.40e-03 -4.1 1.83e+01 -6.8 1.00e+00 1.00e+00h 1 39 2.0818798e+00 1.02e-03 2.16e-02 -4.1 7.34e+01 -7.3 6.77e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0819799e+00 1.08e-03 5.25e-01 -4.0 7.05e+01 -6.0 2.30e-01 5.59e-02h 3 41 2.0818350e+00 5.19e-04 1.97e-01 -4.2 1.82e+01 -6.4 6.40e-01 1.47e-01h 1 42 2.0821971e+00 2.93e-04 3.83e-01 -4.0 2.25e+01 -6.9 1.00e+00 1.66e-01f 1 43 2.0819540e+00 1.03e-03 1.17e-02 -4.0 1.75e+01 -7.4 1.00e+00 1.00e+00h 1 44 2.0816396e+00 6.19e-04 1.77e-03 -4.1 3.27e+01 -7.9 1.00e+00 1.00e+00h 1 45 2.0818585e+00 1.08e-03 2.24e-03 -4.0 4.48e+01 -8.4 1.00e+00 1.00e+00h 1 46 2.0815853e+00 7.99e-04 7.82e-04 -4.1 3.51e+01 -8.8 1.00e+00 1.00e+00h 1 47 2.0818445e+00 2.51e-04 9.72e-05 -4.0 1.07e+01 -9.3 1.00e+00 1.00e+00h 1 48 2.0815838e+00 2.24e-04 1.18e-05 -4.1 1.02e+01 -9.8 1.00e+00 1.00e+00h 1 49 2.0818445e+00 2.12e-04 1.40e-05 -4.0 9.67e+00 -10.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0815837e+00 2.15e-04 1.08e-05 -4.1 9.81e+00 -10.7 1.00e+00 1.00e+00h 1 51 2.0818446e+00 2.16e-04 9.98e-06 -4.0 9.85e+00 -11.2 1.00e+00 1.00e+00h 1 52 2.0815837e+00 2.16e-04 9.49e-06 -4.1 9.87e+00 -11.7 1.00e+00 1.00e+00h 1 53 2.0818446e+00 2.16e-04 9.55e-06 -4.0 9.87e+00 -12.2 1.00e+00 1.00e+00h 1 54 2.0815837e+00 2.16e-04 9.34e-06 -4.1 9.87e+00 -12.6 1.00e+00 1.00e+00h 1 55 2.0805951e+00 3.33e-03 1.59e-04 -6.1 4.09e+01 -13.1 9.77e-01 9.64e-01h 1 56 2.0818908e+00 6.61e-03 2.99e-04 -4.0 6.18e+01 -13.6 1.00e+00 1.00e+00f 1 57 2.0816145e+00 4.96e-04 1.06e-05 -4.1 2.08e+01 -14.1 1.00e+00 1.00e+00h 1 58 2.0806042e+00 3.49e-03 2.32e-04 -6.1 4.24e+01 -14.6 9.76e-01 9.58e-01h 1 59 2.0805507e+00 9.69e-05 2.24e-06 -6.1 1.71e+01 -15.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0819819e+00 1.02e-02 3.99e-04 -4.0 8.54e+01 -15.5 1.00e+00 1.00e+00f 1 61 2.0816805e+00 9.65e-04 4.96e-05 -4.1 4.57e+01 -16.0 1.00e+00 1.00e+00h 1 62 2.0816444e+00 4.73e-07 7.69e-07 -4.1 8.40e+00 -16.5 1.00e+00 1.00e+00h 1 63 2.0818441e+00 1.27e-04 5.47e-06 -4.0 7.55e+00 -16.9 1.00e+00 1.00e+00h 1 64 2.0815834e+00 2.14e-04 9.28e-06 -4.1 9.76e+00 -17.4 1.00e+00 1.00e+00h 1 65 2.0805950e+00 3.33e-03 1.58e-04 -6.1 4.09e+01 -17.9 9.77e-01 9.64e-01h 1 66 2.0805497e+00 7.61e-05 1.82e-06 -6.1 1.56e+01 -18.4 1.00e+00 1.00e+00h 1 67 2.0819883e+00 1.06e-02 4.03e-04 -4.0 8.64e+01 -18.8 1.00e+00 1.00e+00f 1 68 2.0816850e+00 9.86e-04 5.24e-05 -4.1 4.71e+01 -19.3 1.00e+00 1.00e+00h 1 69 2.0816467e+00 5.59e-07 8.13e-07 -4.1 8.79e+00 -19.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0805963e+00 3.67e-03 1.56e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.67e-01h 1 71 2.0805509e+00 8.01e-05 1.98e-06 -6.1 1.63e+01 -20.0 1.00e+00 1.00e+00h 1 72 2.0805468e+00 5.50e-08 2.37e-08 -6.1 2.91e+00 -20.0 1.00e+00 1.00e+00h 1 73 2.0820237e+00 1.21e-02 4.23e-04 -4.0 9.79e+01 -20.0 1.00e+00 1.00e+00f 1 74 2.0817108e+00 1.09e-03 6.84e-05 -4.1 5.44e+01 -20.0 1.00e+00 1.00e+00h 1 75 2.0816597e+00 1.20e-06 1.05e-06 -4.1 1.08e+01 -20.0 1.00e+00 1.00e+00h 1 76 2.0805973e+00 3.75e-03 1.59e-04 -6.1 4.29e+01 -20.0 9.76e-01 9.67e-01h 1 77 2.0805512e+00 8.26e-05 2.04e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 78 2.0805470e+00 5.83e-08 2.51e-08 -6.1 3.00e+00 -20.0 1.00e+00 1.00e+00h 1 79 2.0805365e+00 9.22e-07 7.87e-07 -9.0 9.36e-01 -20.0 1.00e+00 9.97e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0820411e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 81 2.0817244e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0816662e+00 1.63e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 83 2.0805979e+00 3.78e-03 1.61e-04 -6.1 4.31e+01 -20.0 9.76e-01 9.67e-01h 1 84 2.0805514e+00 8.39e-05 2.07e-06 -6.1 1.67e+01 -20.0 1.00e+00 1.00e+00h 1 85 2.0805470e+00 6.01e-08 2.58e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 86 2.0805365e+00 9.41e-07 8.10e-07 -9.0 9.46e-01 -20.0 1.00e+00 9.97e-01h 1 87 2.0805365e+00 8.66e-11 2.16e-12 -9.0 2.61e-02 -20.0 1.00e+00 1.00e+00h 1 88 2.0820415e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 89 2.0817247e+00 1.13e-03 7.75e-05 -4.1 5.81e+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 2.0816664e+00 1.64e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 91 2.0805979e+00 3.78e-03 1.61e-04 -6.1 4.31e+01 -20.0 9.76e-01 9.67e-01h 1 92 2.0805514e+00 8.39e-05 2.07e-06 -6.1 1.67e+01 -20.0 1.00e+00 1.00e+00h 1 93 2.0805470e+00 6.01e-08 2.58e-08 -6.1 3.05e+00 -20.0 1.00e+00 1.00e+00h 1 94 2.0805365e+00 9.41e-07 8.10e-07 -9.0 9.47e-01 -20.0 1.00e+00 9.97e-01h 1 95 2.0805365e+00 8.67e-11 2.17e-12 -9.0 2.61e-02 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 8.88e-16 9.09e-15 -9.0 9.99e-06 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 4.44e-16 9.09e-15 -9.0 1.60e-12 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 2.22e-16 9.09e-15 -9.0 9.28e-14 -20.0 1.00e+00 1.00e+00 0 99 2.0805365e+00 2.22e-16 9.09e-15 -9.0 4.31e-14 -20.0 1.00e+00 1.00e+00T 0 Number of Iterations....: 99 (scaled) (unscaled) Objective...............: 2.0805364595436484e+00 2.0805364595436484e+00 Dual infeasibility......: 9.0909090910998750e-15 9.0909090910998750e-15 Constraint violation....: 2.2204460492503131e-16 2.2204460492503131e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090978348416e-10 9.0909090978348416e-10 Overall NLP error.......: 9.9999090909091550e-05 9.9999090909091550e-05 Number of objective function evaluations = 108 Number of objective gradient evaluations = 100 Number of equality constraint evaluations = 108 Number of inequality constraint evaluations = 108 Number of equality constraint Jacobian evaluations = 100 Number of inequality constraint Jacobian evaluations = 100 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 26.849 EXIT: Search Direction is becoming Too Small. 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 7.9686887e+00 2.48e+00 3.33e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.8646087e+00 3.76e-01 6.33e+00 -0.7 1.98e+00 0.0 6.74e-01 8.48e-01f 1 2 2.9271534e+00 3.07e-02 1.75e+00 -0.7 4.97e-01 0.4 8.14e-01 9.35e-01f 1 3 2.6064651e+00 4.01e-03 1.56e+00 -1.1 3.22e-01 -0.1 9.56e-01 1.00e+00f 1 4 2.4452102e+00 2.76e-03 1.29e+00 -1.6 8.37e-02 0.4 1.00e+00 4.63e-01h 1 5 2.2232207e+00 1.65e-03 2.72e-01 -2.3 7.71e-02 -0.1 9.98e-01 7.83e-01f 1 6 2.1464264e+00 1.94e-03 1.05e-01 -3.2 1.10e-01 -0.6 1.00e+00 3.80e-01h 1 7 2.1007699e+00 5.98e-04 1.08e-01 -4.0 3.14e-02 -1.1 1.00e+00 7.74e-01h 1 8 2.0908447e+00 1.54e-05 8.37e-03 -4.0 8.33e-03 -1.5 1.00e+00 1.00e+00h 1 9 2.0908344e+00 1.86e-08 4.31e-05 -4.0 4.41e-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 2.0908333e+00 1.25e-10 1.99e-05 -4.0 6.13e-03 -2.5 1.00e+00 1.00e+00h 1 11 2.0908315e+00 1.61e-10 1.72e-05 -4.0 1.59e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0908273e+00 7.52e-10 1.70e-05 -4.0 4.71e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908158e+00 6.00e-09 1.65e-05 -4.0 1.37e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0907855e+00 4.50e-08 6.68e-05 -4.0 3.84e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0907045e+00 3.86e-07 2.65e-04 -4.0 1.07e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0904614e+00 3.53e-06 3.93e-04 -4.0 3.14e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0903624e+00 5.67e-07 4.01e-04 -4.0 1.27e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0902049e+00 1.37e-06 1.27e-02 -4.0 4.85e+00 -5.4 1.00e+00 3.20e-01h 2 19 2.0891644e+00 4.70e-05 2.18e-03 -4.0 1.18e+01 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0871168e+00 3.44e-04 2.72e-02 -4.0 3.15e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0860688e+00 2.28e-04 4.36e-02 -4.0 1.70e+01 -5.9 1.00e+00 4.54e-01h 1 22 2.0845740e+00 2.13e-04 1.83e-02 -4.0 2.57e+01 -6.4 1.00e+00 1.00e+00h 1 23 2.0827222e+00 1.65e-04 2.30e-02 -4.0 3.42e+01 -6.9 1.00e+00 8.93e-01h 1 24 2.0830318e+00 1.25e-03 3.69e-02 -4.0 5.98e+01 -7.4 1.00e+00 1.00e+00h 1 25 2.0821067e+00 1.42e-03 8.56e-03 -4.1 1.43e+02 -7.8 1.00e+00 1.00e+00h 1 26 5.2514385e+01 1.97e-03 3.33e+02 -4.0 2.72e+03 -8.3 1.16e-02 1.00e+00H 1 27 2.5043218e+01 1.76e-03 2.59e+02 -4.1 4.81e+01 -0.5 1.58e-02 1.07e-01f 1 28 2.2304252e+00 1.38e-03 2.73e+01 -4.1 6.41e+01 -0.9 8.43e-02 2.17e-01f 1 29 2.2300858e+00 1.38e-03 2.12e+01 -4.1 8.88e-02 -1.4 1.00e+00 1.59e-03h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.2279678e+00 7.45e-04 3.31e+00 -4.1 4.48e-01 -1.9 1.00e+00 4.60e-01f 1 31 2.2215229e+00 8.07e-05 3.60e-01 -4.1 1.31e+00 -2.4 1.00e+00 8.91e-01f 1 32 2.2020007e+00 6.92e-06 1.35e-01 -4.1 3.67e+00 -2.9 1.00e+00 1.00e+00f 1 33 2.1598397e+00 1.58e-04 8.17e-01 -4.1 9.05e+00 -3.3 1.00e+00 1.00e+00f 1 34 2.1373968e+00 1.73e-04 8.41e+00 -4.1 1.63e+01 -3.8 1.00e+00 3.51e-01f 1 35 2.1377703e+00 1.64e-04 1.13e+01 -4.1 1.91e+00 -4.3 1.00e+00 5.42e-02f 4 36 2.1371304e+00 1.21e-04 4.22e-03 -4.1 2.16e+00 -4.8 1.00e+00 1.00e+00h 1 37 2.1360534e+00 9.20e-05 1.52e-03 -4.1 6.27e+00 -5.2 1.00e+00 1.00e+00h 1 38 2.1346606e+00 2.46e-04 1.13e-01 -4.1 1.69e+01 -5.7 1.00e+00 6.41e-01h 1 39 2.1307601e+00 4.09e-04 2.72e-02 -4.1 4.83e+01 -6.2 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.1257710e+00 2.15e-04 8.16e-01 -4.1 1.32e+02 -6.7 1.00e+00 5.32e-01h 1 41 2.1091990e+00 3.69e-03 7.82e-01 -4.1 3.32e+02 -7.2 5.67e-01 1.00e+00f 1 42 2.1022565e+00 3.61e-03 2.97e+00 -4.1 6.06e+02 -7.6 1.00e+00 3.32e-01h 1 43 2.0844698e+00 5.10e-02 5.65e-01 -4.1 1.00e+03 -8.1 5.24e-01 1.00e+00f 1 44 2.0874515e+00 6.42e-03 1.50e-01 -4.1 1.11e+02 -6.8 1.00e+00 1.00e+00h 1 45 2.0839059e+00 2.30e-03 1.50e-01 -4.1 1.76e+02 -7.3 1.00e+00 1.00e+00h 1 46 2.0819659e+00 3.05e-03 2.34e-01 -4.1 5.37e+03 -7.7 3.23e-02 5.51e-02h 2 47 2.0830846e+00 1.41e-03 8.90e-03 -3.8 3.08e+01 -6.4 1.00e+00 1.00e+00h 1 48 2.1021449e+00 6.75e-04 1.72e-01 -3.9 9.46e+01 -6.9 2.87e-01 1.00e+00h 1 49 2.0984695e+00 6.60e-04 6.60e+00 -3.9 3.46e+00 -1.0 7.86e-02 2.14e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0833715e+00 4.84e-07 2.93e-02 -3.9 1.56e-01 -0.6 1.00e+00 1.00e+00f 1 51 2.0827883e+00 2.18e-07 7.45e-01 -4.0 2.28e-02 -1.1 1.00e+00 9.20e-01h 1 52 2.0829626e+00 7.39e-07 1.95e-03 -4.0 4.73e-02 -1.6 1.00e+00 1.00e+00f 1 53 2.0826122e+00 8.19e-07 2.76e-03 -4.1 7.82e-02 -2.0 1.00e+00 1.00e+00h 1 54 2.0825507e+00 1.87e-06 3.68e-04 -4.0 8.96e-02 -2.5 1.00e+00 1.00e+00h 1 55 2.0825916e+00 6.19e-07 4.39e-05 -4.0 2.76e-02 -3.0 1.00e+00 1.00e+00h 1 56 2.0825862e+00 2.80e-07 4.36e-05 -4.0 2.10e-02 -3.5 1.00e+00 1.00e+00h 1 57 2.0825869e+00 2.70e-08 4.36e-05 -4.0 6.32e-02 -3.9 1.00e+00 1.00e+00h 1 58 2.0825897e+00 5.00e-08 4.36e-05 -4.0 1.88e-01 -4.4 1.00e+00 1.00e+00h 1 59 2.0824457e+00 5.02e-06 1.67e-04 -4.1 4.40e-01 -4.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0826044e+00 2.55e-05 2.94e-04 -4.0 1.62e+00 -5.4 1.00e+00 1.00e+00h 1 61 2.0824136e+00 4.24e-05 6.22e-04 -4.1 3.77e+00 -5.9 1.00e+00 1.00e+00h 1 62 2.0825348e+00 1.89e-04 8.43e-04 -4.0 1.27e+01 -6.3 1.00e+00 1.00e+00h 1 63 2.0822840e+00 5.62e-04 1.27e-01 -4.1 3.74e+01 -6.8 5.00e-01 1.00e+00h 1 64 2.0822943e+00 2.39e-07 6.72e-04 -4.0 2.62e-02 -1.9 1.00e+00 1.00e+00h 1 65 2.0822949e+00 9.49e-07 3.35e-04 -4.0 5.76e-02 -2.3 1.00e+00 1.00e+00h 1 66 2.0823311e+00 8.51e-08 7.23e-05 -4.0 1.28e-02 -2.8 1.00e+00 1.00e+00h 1 67 2.0823369e+00 4.32e-08 4.34e-05 -4.0 1.14e-02 -3.3 1.00e+00 1.00e+00h 1 68 2.0823365e+00 1.68e-08 4.34e-05 -4.0 3.47e-02 -3.8 1.00e+00 1.00e+00h 1 69 2.0823328e+00 3.88e-08 4.35e-05 -4.0 1.06e-01 -4.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0823215e+00 3.74e-07 4.35e-05 -4.0 3.31e-01 -4.7 1.00e+00 1.00e+00h 1 71 2.0822864e+00 4.51e-06 4.90e-05 -4.0 1.15e+00 -5.2 1.00e+00 1.00e+00h 1 72 2.0823903e+00 4.16e-07 3.18e-01 -4.0 7.40e+00 -5.7 5.66e-01 1.00e+00H 1 73 2.0821062e+00 2.29e-06 1.35e-03 -4.0 8.76e-02 -1.6 1.00e+00 1.00e+00h 1 74 2.0820759e+00 3.33e-07 1.36e-04 -4.0 3.13e-02 -2.1 1.00e+00 1.00e+00h 1 75 2.0820670e+00 3.24e-09 4.44e-05 -4.0 4.25e-03 -2.6 1.00e+00 1.00e+00h 1 76 2.0820669e+00 2.94e-10 4.45e-05 -4.0 5.81e-03 -3.1 1.00e+00 1.00e+00h 1 77 2.0820679e+00 5.25e-09 4.45e-05 -4.0 1.72e-02 -3.6 1.00e+00 1.00e+00h 1 78 2.0819497e+00 4.12e-07 1.09e-04 -4.1 3.39e-02 -4.0 1.00e+00 1.00e+00h 1 79 2.0820802e+00 2.55e-06 7.89e-05 -4.0 1.34e-01 -4.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0819571e+00 2.63e-06 1.27e-04 -4.1 2.33e-01 -5.0 1.00e+00 1.00e+00h 1 81 2.0813109e+00 2.38e-04 8.16e-03 -6.1 2.46e+00 -5.5 9.84e-01 1.00e+00h 1 82 2.0812915e+00 1.98e-04 5.41e-02 -4.8 4.94e+00 -5.9 1.00e+00 1.55e-01h 1 83 2.0819482e+00 2.01e-04 2.45e-01 -4.0 1.40e+01 -6.4 1.00e+00 2.71e-01h 2 84 2.0818509e+00 1.51e-06 1.68e-03 -4.1 6.64e-02 -1.5 1.00e+00 1.00e+00h 1 85 2.0820760e+00 1.34e-06 1.52e-03 -4.0 3.88e-02 -2.0 1.00e+00 1.00e+00h 1 86 2.0819743e+00 6.84e-08 6.58e-05 -4.1 9.32e-03 -2.4 1.00e+00 1.00e+00h 1 87 2.0820886e+00 8.12e-08 7.79e-05 -4.0 1.09e-02 -2.9 1.00e+00 1.00e+00h 1 88 2.0819722e+00 3.24e-07 8.83e-05 -4.1 2.27e-02 -3.4 1.00e+00 1.00e+00h 1 89 2.0814763e+00 1.33e-05 7.06e-02 -6.1 1.38e-01 -3.9 8.01e-01 9.92e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0821908e+00 4.68e-06 3.00e-03 -4.0 9.44e-02 -2.5 1.00e+00 1.00e+00f 1 91 2.0819705e+00 7.05e-07 9.85e-05 -4.1 2.69e-02 -3.0 1.00e+00 1.00e+00h 1 92 2.0814846e+00 5.83e-06 8.66e-02 -6.1 6.02e-02 -3.5 7.90e-01 9.90e-01h 1 93 2.0817317e+00 2.35e-06 3.41e-01 -4.1 4.47e-01 -4.0 1.00e+00 5.38e-01f 1 94 2.0821231e+00 5.37e-06 2.32e-03 -4.0 1.96e-01 -4.4 1.00e+00 1.00e+00f 1 95 2.0819369e+00 8.94e-07 1.14e-03 -4.1 6.13e-02 -2.2 1.00e+00 1.00e+00h 1 96 2.0820744e+00 3.13e-07 1.24e-04 -4.0 1.21e-02 -2.7 1.00e+00 1.00e+00h 1 97 2.0819601e+00 1.82e-07 1.01e-04 -4.1 1.54e-02 -3.2 1.00e+00 1.00e+00h 1 98 2.0814733e+00 8.08e-06 7.80e-02 -6.1 8.39e-02 -3.6 7.95e-01 9.91e-01h 1 99 2.0814780e+00 3.45e-06 1.76e-01 -4.6 3.59e-01 -3.2 1.00e+00 5.52e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0821590e+00 5.59e-06 3.11e-03 -4.0 2.86e-01 -3.7 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0821589601094406e+00 2.0821589601094406e+00 Dual infeasibility......: 3.1066874756069682e-03 3.1066874756069682e-03 Constraint violation....: 5.5908886257699519e-06 5.5908886257699519e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 3.4444904395407750e-04 3.4444904395407750e-04 Overall NLP error.......: 3.1066874756069682e-03 3.1066874756069682e-03 Number of objective function evaluations = 118 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 118 Number of inequality constraint evaluations = 118 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 30.404 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 1.6082642e+02 3.46e+00 4.01e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 9.6464257e+01 2.72e+00 3.17e+01 -0.2 1.61e+01 -2.0 1.00e+00 2.26e-01f 1 2 3.2585389e+00 9.40e-01 4.12e+01 0.0 1.04e+01 -2.5 5.03e-01 1.00e+00f 1 3 3.1359328e+00 1.01e+00 1.82e+01 -0.2 1.44e+01 -3.0 1.00e+00 7.03e-01h 1 4 4.2280857e+00 5.16e+00 1.02e+01 0.1 2.00e+01 -2.5 6.74e-01 1.00e+00f 1 5 3.8702989e+00 2.75e+00 2.33e+01 -0.1 2.27e+01 -2.1 4.38e-01 7.42e-01h 1 6 3.6248871e+00 6.20e-01 1.94e+01 -0.1 1.11e+00 0.1 3.80e-01 8.02e-01f 1 7 3.3654761e+00 3.94e-02 5.39e+00 -0.8 4.87e-01 -0.3 9.94e-01 1.00e+00h 1 8 3.0888444e+00 3.23e-02 9.75e-01 -1.3 4.17e-01 -0.8 8.32e-01 1.00e+00f 1 9 2.4645285e+00 1.04e-01 1.79e+00 -4.0 3.41e+00 -1.3 3.42e-02 2.46e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.5472616e+00 8.07e-02 1.23e+00 -1.4 4.70e-01 -1.8 9.98e-01 1.00e+00h 1 11 2.3599171e+00 4.53e-02 2.39e+00 -1.2 8.15e-01 -0.4 1.00e+00 2.48e-01h 1 12 2.4226818e+00 2.16e-02 9.22e-01 -1.2 5.16e-01 -0.9 9.39e-01 1.00e+00f 1 13 2.2126406e+00 1.21e-02 6.06e-01 -2.2 2.84e-01 -1.4 9.97e-01 9.78e-01h 1 14 2.1867941e+00 1.35e-02 3.27e-01 -1.9 5.49e-01 -1.9 9.16e-01 7.93e-01h 1 15 2.1179322e+00 3.75e-03 1.70e-01 -2.9 1.94e-01 -2.4 9.98e-01 7.18e-01h 1 16 2.0924747e+00 3.47e-04 2.56e-02 -4.0 1.21e-01 -2.8 1.00e+00 9.57e-01h 1 17 2.0911465e+00 9.35e-06 6.86e-03 -4.0 1.73e-01 -3.3 1.00e+00 1.00e+00h 1 18 2.0909895e+00 1.76e-06 6.15e-04 -4.0 1.25e-01 -3.8 1.00e+00 1.00e+00h 1 19 2.0909525e+00 2.42e-07 2.54e-04 -4.0 4.71e-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 20 2.0907750e+00 9.86e-07 5.40e-04 -4.0 1.49e+00 -4.7 1.00e+00 1.00e+00h 1 21 2.0913741e+00 4.11e-10 1.86e-02 -4.0 3.56e+00 -5.2 6.51e-01 1.00e+00H 1 22 2.0903597e+00 1.31e-05 1.04e-01 -4.0 1.54e+00 -3.9 1.06e-01 7.09e-01f 1 23 2.0905307e+00 1.14e-05 1.33e-01 -4.0 8.64e-01 -4.4 1.00e+00 1.39e-01h 3 24 2.0904128e+00 9.01e-06 2.07e-02 -4.0 1.34e+00 -4.8 1.00e+00 1.00e+00h 1 25 2.0902383e+00 1.00e-05 4.90e-02 -4.1 1.67e+01 -5.3 5.09e-01 8.51e-02h 2 26 2.0894738e+00 3.93e-05 1.92e-03 -4.0 9.39e+00 -5.8 1.00e+00 1.00e+00h 1 27 2.0886555e+00 5.34e-05 1.04e-01 -4.0 3.93e+01 -6.3 1.00e+00 2.02e-01h 1 28 2.0845898e+00 1.44e-03 4.41e-02 -4.0 6.01e+01 -6.8 1.00e+00 1.00e+00h 1 29 2.0832680e+00 1.00e-03 2.93e-02 -3.8 4.91e+01 -7.2 1.00e+00 6.85e-01H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0825525e+00 8.95e-03 3.58e-02 -4.0 1.17e+02 -7.7 1.00e+00 1.00e+00h 1 31 2.0825979e+00 4.31e-03 4.39e-02 -4.0 3.14e+02 -8.2 2.45e-01 1.00e+00h 1 32 2.0822618e+00 2.16e-03 1.40e-01 -4.0 6.73e+00 -6.0 1.00e+00 5.19e-01h 1 33 2.0820490e+00 1.98e-03 3.50e-02 -4.0 1.34e+01 -6.4 1.00e+00 9.44e-01h 1 34 2.0819390e+00 2.31e-03 3.70e-03 -4.0 2.67e+01 -6.9 1.00e+00 1.00e+00h 1 35 2.0818661e+00 2.60e-05 1.47e-03 -4.0 1.47e+01 -6.5 1.00e+00 1.00e+00h 1 36 2.1072290e+00 4.35e-06 2.88e-01 -4.0 8.78e+01 -7.0 1.87e-01 1.00e+00H 1 37 2.1021781e+00 3.98e-06 3.00e+00 -4.1 4.53e-01 -1.1 2.88e-01 7.91e-02f 1 38 2.0938133e+00 1.80e-05 5.75e+00 -4.1 5.73e-01 -1.6 3.33e-01 1.62e-01f 1 39 2.0888756e+00 1.71e-05 3.37e+00 -4.1 1.42e-01 -2.1 5.63e-01 2.32e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0822835e+00 3.50e-05 1.09e-01 -4.0 7.51e-02 -2.5 1.00e+00 9.50e-01f 1 41 2.0826053e+00 5.45e-06 2.44e+00 -4.1 5.82e-02 -3.0 4.53e-01 1.00e+00h 1 42 2.0817850e+00 1.62e-06 6.41e-02 -4.0 5.85e-02 -3.5 1.00e+00 9.31e-01H 1 43 2.0818332e+00 1.99e-05 1.69e-04 -4.0 9.38e-02 -4.0 1.00e+00 1.00e+00f 1 44 2.0817288e+00 2.28e-06 1.76e-04 -4.1 1.32e-01 -4.5 1.00e+00 1.00e+00h 1 45 2.0818864e+00 1.41e-05 2.34e-04 -4.0 6.69e-01 -4.9 1.00e+00 1.00e+00h 1 46 2.0817846e+00 9.14e-06 4.00e-04 -4.1 6.46e-01 -5.4 1.00e+00 1.00e+00h 1 47 2.0809682e+00 4.52e-04 3.52e-03 -6.1 4.75e+00 -5.9 9.98e-01 1.00e+00h 1 48 2.0810197e+00 7.45e-05 2.54e-03 -4.6 4.48e+00 -6.4 1.00e+00 9.63e-01h 1 49 2.0819155e+00 1.53e-03 2.65e-02 -4.0 1.62e+01 -6.8 5.94e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0814337e+00 1.68e-03 2.93e-03 -4.2 3.70e+01 -7.3 1.00e+00 1.00e+00h 1 51 2.0819887e+00 5.58e-04 2.07e-01 -4.2 3.20e+02 -6.9 2.45e-02 1.17e-01h 4 52 2.0816728e+00 4.73e-04 9.74e-01 -4.2 4.43e+01 -4.7 1.58e-02 3.25e-02h 1 53 2.0814310e+00 4.72e-04 9.73e-01 -4.2 2.63e+02 -5.1 1.36e-05 7.10e-04f 1 54 2.0814639e+00 4.72e-04 9.79e-01 -4.2 3.61e+03 -5.6 2.87e-07 3.25e-05f 2 55 2.0814350e+00 4.70e-04 1.34e+00 -4.2 4.62e+00 -3.4 2.61e-01 4.55e-03h 1 56 2.0816797e+00 1.04e-06 6.06e-04 -4.2 6.89e-02 -3.9 1.00e+00 1.00e+00f 1 57 2.0819130e+00 6.96e-06 6.55e-04 -4.0 8.05e-02 -4.3 1.00e+00 1.00e+00h 1 58 2.0817558e+00 5.75e-06 1.36e-04 -4.1 2.59e-01 -4.8 1.00e+00 1.00e+00h 1 59 2.0810708e+00 1.98e-04 2.74e-03 -6.1 2.09e+00 -5.3 9.92e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0807147e+00 6.56e-05 5.30e-04 -6.1 5.76e+00 -5.8 9.70e-01 9.96e-01h 1 61 2.0808016e+00 6.73e-05 1.21e+00 -4.0 1.06e+02 -6.2 1.00e+00 1.71e-02f 1 62 2.0818454e+00 4.01e-03 5.51e-03 -4.2 6.46e+00 -6.7 1.00e+00 1.00e+00f 1 63 2.0813344e+00 7.08e-03 2.64e-02 -4.2 1.04e+01 -6.3 1.00e+00 8.87e-01h 1 64 2.0840837e+00 9.54e-04 2.22e-01 -4.2 1.61e+01 -6.8 4.88e-01 1.00e+00h 1 65 2.0825022e+00 2.98e-07 1.09e-02 -4.2 8.12e-02 -0.9 1.00e+00 1.00e+00h 1 66 2.0815648e+00 2.81e-07 3.62e-03 -4.2 1.28e-01 -1.4 1.00e+00 1.00e+00h 1 67 2.0817955e+00 8.19e-08 1.08e-01 -4.0 9.19e-02 -1.9 1.00e+00 9.11e-01H 1 68 2.0818126e+00 4.95e-07 1.32e-03 -4.0 5.02e-02 -2.4 1.00e+00 1.00e+00f 1 69 2.0816554e+00 2.09e-07 1.45e-04 -4.1 3.29e-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 70 2.0811283e+00 3.03e-06 9.65e-02 -6.1 3.17e-02 -3.3 7.26e-01 1.00e+00h 1 71 2.0819183e+00 4.77e-06 2.46e-03 -4.0 5.06e-02 -3.8 1.00e+00 1.00e+00h 1 72 2.0816297e+00 2.74e-06 1.36e-04 -4.1 7.28e-02 -4.3 1.00e+00 1.00e+00h 1 73 2.0810765e+00 6.89e-05 5.50e-02 -6.1 7.43e-01 -4.7 8.30e-01 1.00e+00h 1 74 2.0818779e+00 8.45e-05 2.62e-03 -4.0 8.41e-01 -5.2 1.00e+00 1.00e+00h 1 75 2.0815855e+00 1.16e-04 1.36e-04 -4.1 2.64e+00 -5.7 1.00e+00 1.00e+00h 1 76 2.0812857e+00 9.27e-04 1.38e-01 -6.1 1.74e+01 -6.2 2.92e-01 7.91e-01h 1 77 2.0810178e+00 7.92e-04 2.55e+00 -6.1 1.04e+01 -4.8 4.91e-01 1.48e-01h 1 78 2.0807832e+00 5.59e-04 1.47e+00 -6.1 1.37e+01 -5.3 8.12e-01 2.94e-01h 1 79 2.0807795e+00 1.07e-04 4.49e-01 -6.1 1.79e+00 -5.8 1.00e+00 8.08e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0807017e+00 1.13e-05 2.35e-03 -6.1 3.64e+00 -6.3 1.00e+00 1.00e+00h 1 81 2.0808964e+00 1.54e-04 1.60e-01 -4.0 5.75e+02 -6.8 1.83e-02 4.43e-02f 4 82 2.0807357e+00 4.10e-05 8.10e-02 -5.6 6.85e-01 -4.5 7.08e-01 7.50e-01h 1 83 2.0807311e+00 4.09e-05 8.13e-02 -5.6 5.78e+00 -5.0 2.56e-03 8.94e-04f 2 84 2.0807287e+00 4.10e-05 1.01e-01 -5.6 5.17e+01 -5.5 6.33e-03 9.34e-05h 2 85 2.0807162e+00 3.76e-05 8.60e-01 -5.6 3.26e+00 -6.0 1.00e+00 8.29e-02h 1 86 2.0807078e+00 3.55e-06 3.42e-03 -5.6 4.17e+00 -6.4 1.00e+00 1.00e+00f 1 87 2.0808192e+00 1.98e-04 1.01e-03 -4.8 1.41e+01 -6.9 9.96e-01 1.00e+00h 1 88 2.0807744e+00 3.02e-06 5.32e-04 -4.9 6.23e-01 -5.6 1.00e+00 9.76e-01h 1 89 2.0807855e+00 1.61e-06 2.45e-04 -4.9 1.18e+00 -6.1 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0814057e+00 2.67e-04 1.67e-01 -4.0 1.41e+02 -6.5 4.35e-02 1.13e-01f 3 91 2.0809551e+00 2.75e-04 2.90e+00 -4.9 2.67e+00 -3.4 1.35e-02 6.50e-02h 1 92 2.0808319e+00 2.76e-04 2.89e+00 -4.9 1.57e+01 -3.9 1.32e-02 5.63e-03f 1 93 2.0809124e+00 2.75e-04 4.02e+00 -4.9 6.43e+00 -4.4 8.99e-01 8.18e-03f 3 94 2.0808594e+00 6.10e-06 7.11e-04 -4.9 2.36e-01 -4.8 1.00e+00 1.00e+00h 1 95 2.0808192e+00 5.51e-06 6.40e-05 -4.9 5.84e-01 -5.3 1.00e+00 1.00e+00h 1 96 2.0807020e+00 9.84e-06 9.20e-03 -7.3 1.26e+00 -5.8 9.95e-01 6.99e-01h 1 97 2.0806541e+00 1.10e-05 1.35e-03 -7.3 2.43e+00 -6.3 1.00e+00 9.67e-01h 1 98 2.0806430e+00 2.36e-06 3.75e-03 -6.3 5.73e+00 -6.7 1.00e+00 6.68e-01h 1 99 2.0810717e+00 9.02e-05 9.31e-01 -4.0 1.42e+02 -6.3 3.00e-01 7.61e-02f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0809943e+00 1.45e-05 2.36e-03 -4.5 5.38e-01 -4.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0809942701775408e+00 2.0809942701775408e+00 Dual infeasibility......: 2.3589115161047492e-03 2.3589115161047492e-03 Constraint violation....: 1.4490471554051698e-05 1.4490471554051698e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.9907201124638746e-04 1.9907201124638746e-04 Overall NLP error.......: 2.3589115161047492e-03 2.3589115161047492e-03 Number of objective function evaluations = 135 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 135 Number of inequality constraint evaluations = 135 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 35.140 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 4.1475321e+00 3.28e+00 2.51e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8021094e+00 3.05e-02 3.36e+00 -1.0 2.29e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3410516e+00 1.02e-01 3.30e-01 -1.7 2.06e+00 -2.5 9.96e-01 1.00e+00h 1 3 2.1659026e+00 1.85e-02 5.71e-02 -2.3 9.57e-01 -3.0 9.88e-01 1.00e+00h 1 4 2.0965565e+00 2.86e-03 6.46e-03 -3.3 3.85e-01 -3.4 9.57e-01 1.00e+00h 1 5 2.0910128e+00 1.19e-04 8.70e-04 -4.0 1.86e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0909437e+00 1.38e-06 2.06e-05 -4.0 5.02e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0907957e+00 8.36e-07 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0903532e+00 7.64e-06 3.46e-05 -4.0 4.50e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0890363e+00 6.97e-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 2.0851843e+00 6.51e-04 2.81e-03 -4.0 3.91e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0797775e+00 1.94e-03 1.46e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.32e-01h 1 12 2.0803582e+00 5.17e-05 1.81e-01 -4.0 6.79e+01 -7.2 1.00e+00 1.00e+00H 1 13 2.0776208e+00 5.39e-03 1.78e-02 -4.0 1.25e+02 -7.7 1.00e+00 9.36e-01h 1 14 2.0769244e+00 1.15e-03 6.06e-02 -4.0 2.05e+02 -8.2 1.00e+00 9.14e-01h 1 15 2.0763144e+00 9.31e-04 2.30e-02 -4.0 3.60e+02 -8.7 1.00e+00 7.69e-01h 1 16 2.0756124e+00 1.34e-03 2.69e-02 -4.0 6.27e+02 -9.2 1.00e+00 6.82e-01h 1 17 2.0758881e+00 1.04e-03 1.51e-02 -4.0 1.75e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0757772e+00 1.07e-04 5.52e-04 -4.0 8.07e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0757705e+00 2.45e-07 7.38e-06 -4.0 2.23e+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 2.0757704e+00 1.25e-08 1.10e-06 -4.0 1.31e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0757704e+00 1.47e-10 8.32e-08 -4.0 4.12e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0757704e+00 2.52e-12 1.19e-09 -4.0 5.95e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0757703961178087e+00 2.0757703961178087e+00 Dual infeasibility......: 1.1917977934291883e-09 1.1917977934291883e-09 Constraint violation....: 2.5189331957081729e-12 2.5189331957081729e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000009e-04 1.0000000000000009e-04 Overall NLP error.......: 1.1917977934291883e-09 1.1917977934291883e-09 Number of objective function evaluations = 24 Number of objective gradient evaluations = 23 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 23 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 22 Total seconds in IPOPT = 25.799 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 194 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 27 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.2579916e+00 8.93e-01 1.08e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.9548841e+00 1.40e-01 1.62e+00 -0.9 7.39e-01 0.0 9.95e-01 1.00e+00h 1 2 3.4224008e+00 1.41e-01 3.12e+00 -0.0 5.18e+01 - 2.59e-01 1.22e-01f 2 3 2.7195053e+00 2.76e-01 2.67e+00 -0.6 9.91e-01 -0.5 9.70e-01 8.28e-01h 1 4 2.1926628e+00 1.22e-01 9.60e-01 -0.6 1.06e+00 -1.0 1.00e+00 6.18e-01f 1 5 1.5900656e+00 3.39e-02 1.46e+00 -2.1 8.55e+00 - 7.50e-01 1.00e+00h 1 6 1.4398742e+00 2.39e-02 3.86e-01 -1.7 8.38e-01 -1.4 9.91e-01 3.58e-01h 1 7 1.1269044e+00 9.34e-04 1.46e-01 -2.6 4.86e+00 - 1.00e+00 9.89e-01f 1 8 1.0945278e+00 8.45e-05 7.91e-02 -4.0 2.76e+00 - 1.00e+00 9.16e-01h 1 9 1.0908704e+00 5.09e-07 1.09e-02 -4.0 9.66e-01 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0909000e+00 2.69e-11 2.14e-04 -4.0 1.46e-01 - 1.00e+00 1.00e+00h 1 11 1.0908997e+00 7.50e-19 6.64e-05 -4.0 8.22e-04 - 1.00e+00 1.00e+00h 1 12 1.0908997e+00 4.19e-28 6.66e-16 -4.0 5.23e-08 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 12 (scaled) (unscaled) Objective...............: 1.0908997263265459e+00 1.0908997263265459e+00 Dual infeasibility......: 6.6602539455784537e-16 6.6602539455784537e-16 Constraint violation....: 4.1906146659320520e-28 4.1906146659320520e-28 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000091e-04 1.0000000000000091e-04 Overall NLP error.......: 6.6602539455784537e-16 6.6602539455784537e-16 Number of objective function evaluations = 15 Number of objective gradient evaluations = 13 Number of equality constraint evaluations = 15 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 13 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 12 Total seconds in IPOPT = 22.025 EXIT: Optimal Solution Found. Difference in Hessian Difference in Jacobian Test Summary: | Pass Total Time Package | 202 202 19m23.5s Testing DirectTrajOpt tests passed Testing completed after 1240.51s PkgEval succeeded after 1324.46s