Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.1699 (9484a92029*) started at 2026-02-11T01:43:10.033 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 11.49s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Installed ChunkCodecLibZstd ──────────────── v1.0.0 Installed Bzip2_jll ──────────────────────── v1.0.9+0 Installed CommonWorldInvalidations ───────── v1.0.0 Installed OrderedCollections ─────────────── v1.8.1 Installed FastPower ──────────────────────── v1.3.1 Installed MUMPS_seq_jll ──────────────────── v500.800.200+0 Installed SIMDTypes ──────────────────────── v0.1.0 Installed Xorg_libpciaccess_jll ──────────── v0.18.1+0 Installed EnzymeCore ─────────────────────── v0.8.18 Installed CpuId ──────────────────────────── v0.3.1 Installed TrajectoryIndexingUtils ────────── v0.1.0 Installed PreallocationTools ─────────────── v1.1.2 Installed OpenSpecFun_jll ────────────────── v0.5.6+0 Installed NaNMath ────────────────────────── v1.1.3 Installed StaticArrayInterface ───────────── v1.9.0 Installed FileIO ─────────────────────────── v1.18.0 Installed Ipopt_jll ──────────────────────── v300.1400.1901+0 Installed NonlinearSolveBase ─────────────── v2.11.2 Installed AbstractDifferentiation ────────── v0.4.4 Installed ScopedValues ───────────────────── v1.5.0 Installed BracketingNonlinearSolve ───────── v1.6.2 Installed EnumX ──────────────────────────── v1.0.6 Installed Reexport ───────────────────────── v1.2.2 Installed InverseFunctions ───────────────── v0.1.17 Installed Jieko ──────────────────────────── v0.2.1 Installed FastBroadcast ──────────────────── v0.3.5 Installed Preferences ────────────────────── v1.5.1 Installed DiffEqBase ─────────────────────── v6.200.0 Installed MaybeInplace ───────────────────── v0.1.4 Installed Static ─────────────────────────── v1.3.1 Installed ADTypes ────────────────────────── v1.21.0 Installed DataStructures ─────────────────── v0.19.3 Installed RecursiveArrayTools ────────────── v3.47.0 Installed DiffResults ────────────────────── v1.1.0 Installed MacroTools ─────────────────────── v0.5.16 Installed CodecZlib ──────────────────────── v0.7.8 Installed FillArrays ─────────────────────── v1.16.0 Installed SciMLJacobianOperators ─────────── v0.1.12 Installed ExprTools ──────────────────────── v0.1.10 Installed Observables ────────────────────── v0.5.5 Installed CommonSubexpressions ───────────── v0.3.1 Installed ArrayInterface ─────────────────── v7.22.0 Installed ManualMemory ───────────────────── v0.1.8 Installed LoggingExtras ──────────────────── v1.2.0 Installed LayoutPointers ─────────────────── v0.1.17 Installed ConcreteStructs ────────────────── v0.2.3 Installed GPUArraysCore ──────────────────── v0.2.0 Installed Hwloc_jll ──────────────────────── v2.12.2+0 Installed IrrationalConstants ────────────── v0.2.6 Installed StructUtils ────────────────────── v2.6.2 Installed ArrayLayouts ───────────────────── v1.12.2 Installed Setfield ───────────────────────── v1.1.2 Installed TruncatedStacktraces ───────────── v1.4.0 Installed CompositionsBase ───────────────── v0.1.2 Installed CommonSolve ────────────────────── v0.2.6 Installed BenchmarkTools ─────────────────── v1.6.3 Installed SPRAL_jll ──────────────────────── v2025.9.18+0 Installed DocStringExtensions ────────────── v0.9.5 Installed Moshi ──────────────────────────── v0.3.7 Installed DifferentiationInterface ───────── v0.7.16 Installed MathOptInterface ───────────────── v1.49.0 Installed IteratorInterfaceExtensions ────── v1.0.0 Installed HashArrayMappedTries ───────────── v0.2.0 Installed ForwardDiff ────────────────────── v1.3.2 Installed FunctionWrappersWrappers ───────── v0.1.3 Installed BitTwiddlingConvenienceFunctions ─ v0.1.6 Installed RecipesBase ────────────────────── v1.3.4 Installed SciMLOperators ─────────────────── v1.15.1 Installed SciMLStructures ────────────────── v1.10.0 Installed StaticArraysCore ───────────────── v1.4.4 Installed SciMLPublic ────────────────────── v1.0.1 Installed ComputePipeline ────────────────── v0.1.6 Installed Requires ───────────────────────── v1.3.1 Installed LogExpFunctions ────────────────── v0.3.29 Installed FunctionWrappers ───────────────── v1.1.3 Installed StaticArrays ───────────────────── v1.9.16 Installed DiffRules ──────────────────────── v1.15.1 Installed OpenBLAS32_jll ─────────────────── v0.3.30+0 Installed Parsers ────────────────────────── v2.8.3 Installed FastClosures ───────────────────── v0.3.2 Installed OrdinaryDiffEqCore ─────────────── v3.4.2 Installed JSON ───────────────────────────── v1.4.0 Installed FiniteDiff ─────────────────────── v2.29.0 Installed CloseOpenIntervals ─────────────── v0.1.13 Installed SciMLBase ──────────────────────── v2.138.0 Installed ChunkCodecCore ─────────────────── v1.0.1 Installed JLLWrappers ────────────────────── v1.7.1 Installed Accessors ──────────────────────── v0.1.43 Installed MutableArithmetics ─────────────── v1.6.7 Installed TestItems ──────────────────────── v1.0.0 Installed Polyester ──────────────────────── v0.7.18 Installed ThreadingUtilities ─────────────── v0.5.5 Installed JLD2 ───────────────────────────── v0.6.3 Installed Adapt ──────────────────────────── v4.4.0 Installed ConstructionBase ───────────────── v1.6.0 Installed RuntimeGeneratedFunctions ──────── v0.5.17 Installed Compat ─────────────────────────── v4.18.1 Installed SymbolicIndexingInterface ──────── v0.3.46 Installed TranscodingStreams ─────────────── v0.11.3 Installed StrideArraysCore ───────────────── v0.5.8 Installed Statistics ─────────────────────── v1.11.1 Installed CodecBzip2 ─────────────────────── v0.8.5 Installed TimerOutputs ───────────────────── v0.5.29 Installed LazyArrays ─────────────────────── v2.9.5 Installed ExproniconLite ─────────────────── v0.10.14 Installed PrecompileTools ────────────────── v1.3.3 Installed ChainRulesCore ─────────────────── v1.26.0 Installed ExponentialAction ──────────────── v0.2.10 Installed ChunkCodecLibZlib ──────────────── v1.0.0 Installed CPUSummary ─────────────────────── v0.2.7 Installed IfElse ─────────────────────────── v0.1.1 Installed SciMLLogging ───────────────────── v1.8.0 Installed MuladdMacro ────────────────────── v0.2.4 Installed TestItemRunner ─────────────────── v1.1.4 Installed XML2_jll ───────────────────────── v2.13.9+0 Installed Libiconv_jll ───────────────────── v1.18.0+0 Installed Ipopt ──────────────────────────── v1.14.0 Installed SpecialFunctions ───────────────── v2.6.1 Installed METIS_jll ──────────────────────── v5.1.3+0 Installed OrdinaryDiffEqTsit5 ────────────── v1.9.0 Installed PolyesterWeave ─────────────────── v0.2.2 Installed NamedTrajectories ──────────────── v0.8.2 Installed DirectTrajOpt ──────────────────── v0.8.1 Installed ASL_jll ────────────────────────── v0.1.3+0 Installing 12 artifacts Installed artifact Xorg_libpciaccess 24.8 KiB Installed artifact Bzip2 503.5 KiB Installed artifact OpenSpecFun 194.9 KiB Installed artifact ASL 276.3 KiB Installed artifact SPRAL 691.9 KiB Installed artifact METIS 1.1 MiB Installed artifact Libiconv 1.9 MiB Installed artifact Ipopt 1.3 MiB Installed artifact XML2 2.5 MiB Installed artifact Hwloc 3.5 MiB Installed artifact MUMPS_seq 8.6 MiB Installed artifact OpenBLAS32 10.0 MiB Updating `~/.julia/environments/v1.14/Project.toml` [c823fa1f] + DirectTrajOpt v0.8.1 Updating `~/.julia/environments/v1.14/Manifest.toml` [47edcb42] + ADTypes v1.21.0 ⌃ [c29ec348] + AbstractDifferentiation v0.4.4 [7d9f7c33] + Accessors v0.1.43 [79e6a3ab] + Adapt v4.4.0 [4fba245c] + ArrayInterface v7.22.0 [4c555306] + ArrayLayouts v1.12.2 [6e4b80f9] + BenchmarkTools v1.6.3 [62783981] + BitTwiddlingConvenienceFunctions v0.1.6 [70df07ce] + BracketingNonlinearSolve v1.6.2 [2a0fbf3d] + CPUSummary v0.2.7 [d360d2e6] + ChainRulesCore v1.26.0 [0b6fb165] + ChunkCodecCore v1.0.1 [4c0bbee4] + ChunkCodecLibZlib v1.0.0 [55437552] + ChunkCodecLibZstd v1.0.0 [fb6a15b2] + CloseOpenIntervals v0.1.13 [523fee87] + CodecBzip2 v0.8.5 [944b1d66] + CodecZlib v0.7.8 [38540f10] + CommonSolve v0.2.6 [bbf7d656] + CommonSubexpressions v0.3.1 [f70d9fcc] + CommonWorldInvalidations v1.0.0 [34da2185] + Compat v4.18.1 [a33af91c] + CompositionsBase v0.1.2 [95dc2771] + ComputePipeline v0.1.6 [2569d6c7] + ConcreteStructs v0.2.3 [187b0558] + ConstructionBase v1.6.0 [adafc99b] + CpuId v0.3.1 [864edb3b] + DataStructures v0.19.3 [2b5f629d] + DiffEqBase v6.200.0 [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 13.71s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling packages... 4838.2 ms ✓ TestEnv 1 dependency successfully precompiled in 5 seconds. 27 already precompiled. Precompiling package dependencies... Precompiling packages... 4773.4 ms ✓ MacroTools 888.9 ms ✓ Reexport 1236.9 ms ✓ ConstructionBase 2257.3 ms ✓ IrrationalConstants 1192.9 ms ✓ Observables 867.0 ms ✓ CommonSolve 1368.5 ms ✓ TranscodingStreams 1119.4 ms ✓ ChunkCodecCore 855.2 ms ✓ TestItems 1204.3 ms ✓ Statistics 1081.0 ms ✓ StaticArraysCore 1446.1 ms ✓ EnzymeCore 879.4 ms ✓ IfElse 1012.0 ms ✓ ManualMemory 935.4 ms ✓ SciMLPublic 3710.2 ms ✓ ExproniconLite 906.9 ms ✓ TrajectoryIndexingUtils 927.2 ms ✓ CommonWorldInvalidations 915.5 ms ✓ FastPower 1052.6 ms ✓ InverseFunctions 925.9 ms ✓ CompositionsBase 908.2 ms ✓ MuladdMacro 926.6 ms ✓ EnumX 2173.2 ms ✓ FillArrays 902.5 ms ✓ ExprTools 899.4 ms ✓ ConcreteStructs 1422.5 ms ✓ OrderedCollections 1637.6 ms ✓ FunctionWrappers 1015.4 ms ✓ HashArrayMappedTries 1535.3 ms ✓ ADTypes 1224.1 ms ✓ DocStringExtensions 919.5 ms ✓ FastClosures 853.8 ms ✓ SIMDTypes 1165.2 ms ✓ IteratorInterfaceExtensions 1267.7 ms ✓ NaNMath 1414.9 ms ✓ Requires 1983.2 ms ✓ CpuId 1098.3 ms ✓ LoggingExtras 1344.2 ms ✓ StructUtils 1258.0 ms ✓ Compat 1101.7 ms ✓ Preferences 10171.6 ms ✓ MutableArithmetics 1532.2 ms ✓ CommonSubexpressions 746.4 ms ✓ ConstructionBase → ConstructionBaseLinearAlgebraExt 856.0 ms ✓ CodecZlib 855.5 ms ✓ ChunkCodecLibZlib 936.1 ms ✓ ChunkCodecLibZstd 25780.6 ms ✓ TestItemRunner 1408.7 ms ✓ Statistics → SparseArraysExt 888.9 ms ✓ DiffResults 1934.5 ms ✓ ThreadingUtilities 3327.0 ms ✓ Jieko 918.0 ms ✓ InverseFunctions → InverseFunctionsDatesExt 1800.2 ms ✓ InverseFunctions → InverseFunctionsTestExt 901.3 ms ✓ CompositionsBase → CompositionsBaseInverseFunctionsExt 1685.2 ms ✓ FillArrays → FillArraysSparseArraysExt 1048.1 ms ✓ FillArrays → FillArraysStatisticsExt 3507.1 ms ✓ TimerOutputs 1020.9 ms ✓ RuntimeGeneratedFunctions 3738.6 ms ✓ DataStructures 872.9 ms ✓ FunctionWrappersWrappers 970.7 ms ✓ ScopedValues 864.0 ms ✓ ADTypes → ADTypesConstructionBaseExt 2100.2 ms ✓ DifferentiationInterface 918.7 ms ✓ ADTypes → ADTypesEnzymeCoreExt 1507.6 ms ✓ LogExpFunctions 1025.4 ms ✓ Adapt 9000.6 ms ✓ FileIO 902.6 ms ✓ Compat → CompatLinearAlgebraExt 947.8 ms ✓ PrecompileTools 1323.0 ms ✓ JLLWrappers 1568.4 ms ✓ TruncatedStacktraces 1721.9 ms ✓ ComputePipeline 1352.8 ms ✓ SciMLLogging 2783.6 ms ✓ Setfield 14849.8 ms ✓ Moshi 5227.4 ms ✓ Accessors 1408.2 ms ✓ DifferentiationInterface → DifferentiationInterfaceSparseArraysExt 909.4 ms ✓ LogExpFunctions → LogExpFunctionsInverseFunctionsExt 1101.4 ms ✓ ArrayInterface 1217.3 ms ✓ Adapt → AdaptSparseArraysExt 1141.5 ms ✓ GPUArraysCore 799.2 ms ✓ EnzymeCore → AdaptExt 2773.7 ms ✓ ChainRulesCore 14969.9 ms ✓ StaticArrays 3340.0 ms ✓ RecipesBase 17592.1 ms ✓ Parsers 6305.8 ms ✓ Static 48672.2 ms ✓ JLD2 1457.9 ms ✓ OpenBLAS32_jll 1465.9 ms ✓ Bzip2_jll 1645.2 ms ✓ OpenSpecFun_jll 1501.0 ms ✓ ASL_jll 1499.0 ms ✓ METIS_jll 1488.6 ms ✓ Xorg_libpciaccess_jll 1485.2 ms ✓ Libiconv_jll 1834.6 ms ✓ Accessors → TestExt 2567.7 ms ✓ Accessors → LinearAlgebraExt 825.5 ms ✓ ArrayInterface → ArrayInterfaceStaticArraysCoreExt 2242.4 ms ✓ MaybeInplace 1358.8 ms ✓ ArrayInterface → ArrayInterfaceSparseArraysExt 1412.6 ms ✓ SciMLStructures 2479.9 ms ✓ PreallocationTools 902.4 ms ✓ DifferentiationInterface → DifferentiationInterfaceGPUArraysCoreExt 903.9 ms ✓ ArrayInterface → ArrayInterfaceGPUArraysCoreExt 2503.6 ms ✓ AbstractDifferentiation 1430.1 ms ✓ ChainRulesCore → ChainRulesCoreSparseArraysExt 1389.9 ms ✓ EnzymeCore → EnzymeCoreChainRulesCoreExt 963.4 ms ✓ ADTypes → ADTypesChainRulesCoreExt 974.2 ms ✓ DifferentiationInterface → DifferentiationInterfaceChainRulesCoreExt 3619.9 ms ✓ LogExpFunctions → LogExpFunctionsChainRulesCoreExt 927.2 ms ✓ ArrayInterface → ArrayInterfaceChainRulesCoreExt 1560.8 ms ✓ StaticArrays → StaticArraysStatisticsExt 1646.2 ms ✓ StaticArrays → StaticArraysChainRulesCoreExt 1525.2 ms ✓ ConstructionBase → ConstructionBaseStaticArraysExt 1659.3 ms ✓ FillArrays → FillArraysStaticArraysExt 1565.6 ms ✓ DifferentiationInterface → DifferentiationInterfaceStaticArraysExt 1457.5 ms ✓ Adapt → AdaptStaticArraysExt 1612.5 ms ✓ Accessors → StaticArraysExt 7149.8 ms ✓ JSON 1069.6 ms ✓ BitTwiddlingConvenienceFunctions 2401.7 ms ✓ CPUSummary 5028.3 ms ✓ StaticArrayInterface 1160.2 ms ✓ CodecBzip2 5336.0 ms ✓ SpecialFunctions 1555.6 ms ✓ MUMPS_seq_jll 1564.9 ms ✓ XML2_jll 4705.5 ms ✓ SciMLOperators 1517.8 ms ✓ FiniteDiff 3878.1 ms ✓ SymbolicIndexingInterface 1464.0 ms ✓ MaybeInplace → MaybeInplaceSparseArraysExt 2232.1 ms ✓ ExponentialAction 24552.3 ms ✓ ArrayLayouts 3423.4 ms ✓ BenchmarkTools 1865.3 ms ✓ PolyesterWeave 1747.5 ms ✓ StaticArrayInterface → StaticArrayInterfaceStaticArraysExt 1209.5 ms ✓ CloseOpenIntervals 1403.4 ms ✓ LayoutPointers 4631.7 ms ✓ SpecialFunctions → SpecialFunctionsChainRulesCoreExt 1421.9 ms ✓ DiffRules 1608.8 ms ✓ Hwloc_jll 1117.1 ms ✓ SciMLOperators → SciMLOperatorsStaticArraysCoreExt 1721.5 ms ✓ SciMLOperators → SciMLOperatorsSparseArraysExt 1869.2 ms ✓ FiniteDiff → FiniteDiffStaticArraysExt 1569.8 ms ✓ FiniteDiff → FiniteDiffSparseArraysExt 1041.5 ms ✓ DifferentiationInterface → DifferentiationInterfaceFiniteDiffExt 8361.3 ms ✓ RecursiveArrayTools 3616.1 ms ✓ ArrayLayouts → ArrayLayoutsSparseArraysExt 2248.3 ms ✓ StrideArraysCore 6894.4 ms ✓ ForwardDiff 1506.4 ms ✓ SPRAL_jll 1943.9 ms ✓ RecursiveArrayTools → RecursiveArrayToolsSparseArraysExt 1364.8 ms ✓ RecursiveArrayTools → RecursiveArrayToolsStatisticsExt 7392.9 ms ✓ LazyArrays 2022.8 ms ✓ Polyester 1793.4 ms ✓ ForwardDiff → ForwardDiffStaticArraysExt 1162.4 ms ✓ FastPower → FastPowerForwardDiffExt 1496.5 ms ✓ DifferentiationInterface → DifferentiationInterfaceForwardDiffExt 2522.0 ms ✓ PreallocationTools → PreallocationToolsForwardDiffExt 77313.8 ms ✓ MathOptInterface 1574.8 ms ✓ RecursiveArrayTools → RecursiveArrayToolsForwardDiffExt 1588.6 ms ✓ Ipopt_jll 31065.2 ms ✓ SciMLBase 3862.1 ms ✓ LazyArrays → LazyArraysStaticArraysExt 2222.8 ms ✓ FastBroadcast 1315.6 ms ✓ Ipopt 3628.2 ms ✓ SciMLBase → SciMLBaseChainRulesCoreExt 4059.9 ms ✓ SciMLBase → SciMLBaseForwardDiffExt 3574.2 ms ✓ SciMLBase → SciMLBaseDifferentiationInterfaceExt 10626.0 ms ✓ NamedTrajectories 2334.0 ms ✓ RecursiveArrayTools → RecursiveArrayToolsFastBroadcastExt 44942.7 ms ✓ Ipopt → IpoptMathOptInterfaceExt 8899.8 ms ✓ SciMLJacobianOperators 19883.1 ms ✓ NonlinearSolveBase 4650.3 ms ✓ NonlinearSolveBase → NonlinearSolveBaseSparseArraysExt 3658.5 ms ✓ NonlinearSolveBase → NonlinearSolveBaseChainRulesCoreExt 4764.5 ms ✓ NonlinearSolveBase → NonlinearSolveBaseForwardDiffExt 9516.9 ms ✓ BracketingNonlinearSolve 3842.4 ms ✓ BracketingNonlinearSolve → BracketingNonlinearSolveForwardDiffExt 8448.7 ms ✓ DiffEqBase 3690.3 ms ✓ BracketingNonlinearSolve → BracketingNonlinearSolveChainRulesCoreExt 4420.0 ms ✓ DiffEqBase → DiffEqBaseSparseArraysExt 4765.4 ms ✓ DiffEqBase → DiffEqBaseChainRulesCoreExt 4586.6 ms ✓ DiffEqBase → DiffEqBaseForwardDiffExt 13085.8 ms ✓ OrdinaryDiffEqCore 5403.2 ms ✓ OrdinaryDiffEqCore → OrdinaryDiffEqCoreSparseArraysExt 14830.3 ms ✓ OrdinaryDiffEqTsit5 25109.2 ms ✓ DirectTrajOpt 188 dependencies successfully precompiled in 772 seconds. 37 already precompiled. Precompilation completed after 792.34s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_nYnpOP/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_nYnpOP/Manifest.toml` [47edcb42] ADTypes v1.21.0 ⌃ [c29ec348] AbstractDifferentiation v0.4.4 [7d9f7c33] Accessors v0.1.43 [79e6a3ab] Adapt v4.4.0 [4fba245c] ArrayInterface v7.22.0 [4c555306] ArrayLayouts v1.12.2 [6e4b80f9] BenchmarkTools v1.6.3 [62783981] 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MutableArithmetics v1.6.7 [77ba4419] NaNMath v1.1.3 [538bc3a1] NamedTrajectories v0.8.2 [be0214bd] NonlinearSolveBase v2.11.2 [510215fc] Observables v0.5.5 [bac558e1] OrderedCollections v1.8.1 [bbf590c4] OrdinaryDiffEqCore v3.4.2 [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] 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OpenBLAS_jll v0.3.30+0 [05823500] OpenLibm_jll v0.8.7+0 [458c3c95] OpenSSL_jll v3.5.5+0 [efcefdf7] PCRE2_jll v10.47.0+0 [bea87d4a] SuiteSparse_jll v7.10.1+0 [83775a58] Zlib_jll v1.3.1+2 [3161d3a3] Zstd_jll v1.5.7+1 [8e850b90] libblastrampoline_jll v5.15.0+0 [8e850ede] nghttp2_jll v1.68.0+1 [3f19e933] p7zip_jll v17.7.0+0 Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. Testing Running tests... initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt ****************************************************************************** This program contains Ipopt, a library for large-scale nonlinear optimization. Ipopt is released as open source code under the Eclipse Public License (EPL). For more information visit https://github.com/coin-or/Ipopt ****************************************************************************** This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.9579986e+00 4.24e+00 6.64e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6307906e+00 4.43e-02 5.06e-01 -1.1 3.36e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.2708964e+00 1.40e-01 4.02e-01 -1.7 2.01e+00 -2.5 8.69e-01 1.00e+00h 1 3 2.1490910e+00 2.05e-02 4.63e-02 -2.3 9.41e-01 -3.0 9.76e-01 1.00e+00h 1 4 2.0935713e+00 2.00e-03 1.18e-02 -3.7 2.79e-01 -3.4 9.97e-01 9.71e-01h 1 5 2.0908936e+00 8.01e-05 6.95e-04 -4.0 1.71e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0908403e+00 6.25e-07 2.06e-05 -4.0 5.00e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0906929e+00 8.51e-07 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0902518e+00 7.72e-06 3.45e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0889393e+00 7.07e-05 3.07e-04 -4.0 1.33e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0851017e+00 6.70e-04 2.79e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0796403e+00 2.12e-03 1.76e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.39e-01h 1 12 2.0802736e+00 3.16e-04 1.83e-01 -4.0 6.73e+01 -7.2 1.00e+00 9.80e-01H 1 13 2.0774365e+00 8.42e-03 2.17e-02 -4.0 1.24e+02 -7.7 1.00e+00 9.63e-01h 1 14 2.0769738e+00 1.58e-03 7.56e-02 -4.0 2.09e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0761977e+00 3.28e-03 1.62e-02 -4.0 3.52e+02 -8.7 1.00e+00 8.11e-01h 1 16 2.0755521e+00 1.88e-03 3.20e-02 -4.0 5.38e+02 -9.2 1.00e+00 7.13e-01h 1 17 2.0757573e+00 3.31e-03 1.15e-02 -4.0 1.49e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0753743e+00 1.16e-03 4.58e-04 -4.1 7.76e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0756723e+00 4.66e-04 6.21e-06 -4.0 2.08e+01 -10.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0756712e+00 5.61e-07 8.92e-07 -4.0 1.06e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0756712e+00 1.57e-09 5.81e-08 -4.0 3.69e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0756712e+00 2.26e-11 9.06e-10 -4.0 5.38e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0756712121307190e+00 2.0756712121307190e+00 Dual infeasibility......: 9.0574486815873587e-10 9.0574486815873587e-10 Constraint violation....: 2.2569168756092495e-11 2.2569168756092495e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000049e-04 1.0000000000000049e-04 Overall NLP error.......: 9.0574486815873587e-10 9.0574486815873587e-10 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 = 66.415 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 1.3502596e+00 1.91e+00 5.72e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.1293043e+00 1.00e+00 9.35e-01 -1.0 1.90e+00 0.0 8.01e-01 4.75e-01h 1 2 2.7049593e+00 3.85e-02 1.00e+00 -1.1 1.00e+00 -0.5 9.36e-01 1.00e+00h 1 3 2.4636209e+00 8.44e-02 3.30e-01 -1.2 4.39e-01 -1.0 7.40e-01 8.36e-01h 1 4 2.2379286e+00 2.66e-02 1.03e-01 -2.0 5.39e-01 -1.4 9.85e-01 8.34e-01h 1 5 2.1091812e+00 3.73e-03 8.21e-02 -3.1 1.61e-01 -1.9 9.94e-01 9.36e-01h 1 6 2.0924902e+00 7.21e-04 6.15e-02 -4.0 2.24e-01 -2.4 1.00e+00 8.19e-01h 1 7 2.0909830e+00 1.06e-04 4.57e-03 -4.0 3.08e-01 -2.9 1.00e+00 1.00e+00h 1 8 2.0909118e+00 9.64e-07 6.82e-04 -4.0 4.59e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908975e+00 5.64e-08 2.06e-05 -4.0 1.35e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908577e+00 6.21e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907382e+00 5.57e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903807e+00 5.04e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0893150e+00 4.60e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861827e+00 4.32e-04 1.81e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796227e+00 2.52e-03 8.59e-02 -4.0 8.73e+01 -6.7 1.00e+00 7.60e-01h 1 16 2.0812863e+00 1.53e-04 1.92e-01 -4.0 6.74e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778372e+00 5.72e-03 2.69e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781668e+00 1.60e-02 3.65e-02 -3.7 1.49e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767371e+00 1.29e-02 1.83e-02 -3.8 2.82e+02 -8.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0757900e+00 2.24e-04 2.15e-02 -3.9 4.16e+02 -9.1 1.00e+00 9.95e-01H 1 21 2.0757829e+00 6.26e-03 9.74e-03 -4.0 1.44e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756784e+00 3.50e-04 4.33e-04 -4.0 6.25e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 1.53e-06 7.56e-06 -4.0 2.09e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756713e+00 5.74e-08 1.37e-06 -4.0 1.48e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756713e+00 3.94e-09 1.65e-07 -4.0 6.26e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756713e+00 1.03e-10 4.08e-09 -4.0 1.14e+00 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712528837591e+00 2.0756712528837591e+00 Dual infeasibility......: 4.0779666486895957e-09 4.0779666486895957e-09 Constraint violation....: 1.0307843467671773e-10 1.0307843467671773e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000022e-04 1.0000000000000022e-04 Overall NLP error.......: 4.0779666486895957e-09 4.0779666486895957e-09 Number of objective function evaluations = 29 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 29 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 26 Total seconds in IPOPT = 23.382 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 1.4922781e+00 3.30e+00 3.70e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9278820e+00 5.16e-01 6.86e-01 -1.0 5.21e+00 -2.0 9.85e-01 1.00e+00h 1 2 2.4239550e+00 1.22e-01 4.27e-01 -1.4 1.96e+00 -2.5 6.84e-01 8.73e-01h 1 3 2.1902567e+00 8.75e-02 3.16e-01 -2.5 2.57e+00 -3.0 6.03e-01 7.91e-01h 1 4 2.1546403e+00 8.84e-03 8.18e-02 -2.2 8.16e-01 -3.4 9.80e-01 1.00e+00h 1 5 2.0957793e+00 4.90e-03 7.47e-03 -3.6 7.54e-01 -3.9 9.98e-01 9.54e-01h 1 6 2.0908401e+00 4.39e-04 7.55e-04 -4.0 5.18e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0906744e+00 9.37e-06 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0902333e+00 7.86e-06 3.44e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0889210e+00 7.06e-05 3.07e-04 -4.0 1.33e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0850839e+00 6.69e-04 2.79e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0796283e+00 2.11e-03 1.76e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.39e-01h 1 12 2.0802780e+00 1.35e-04 1.80e-01 -4.0 6.68e+01 -7.2 1.00e+00 9.96e-01H 1 13 2.0774195e+00 8.38e-03 2.56e-02 -4.0 1.24e+02 -7.7 1.00e+00 9.64e-01h 1 14 2.0770214e+00 1.62e-03 7.60e-02 -4.0 2.09e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0761726e+00 3.74e-03 1.69e-02 -4.0 3.51e+02 -8.7 1.00e+00 8.29e-01h 1 16 2.0755522e+00 1.80e-03 2.97e-02 -4.0 5.13e+02 -9.2 1.00e+00 7.21e-01h 1 17 2.0757515e+00 3.18e-03 1.07e-02 -4.0 1.42e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0753723e+00 1.16e-03 4.21e-04 -4.1 7.48e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0756723e+00 4.66e-04 6.09e-06 -4.0 2.07e+01 -10.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0756712e+00 5.71e-07 9.00e-07 -4.0 1.07e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0756712e+00 1.67e-09 6.13e-08 -4.0 3.97e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0756712e+00 2.56e-11 1.10e-09 -4.0 5.90e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0756712121348193e+00 2.0756712121348193e+00 Dual infeasibility......: 1.0996237824923046e-09 1.0996237824923046e-09 Constraint violation....: 2.5601187836343797e-11 2.5601187836343797e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000060e-04 1.0000000000000060e-04 Overall NLP error.......: 1.0996237824923046e-09 1.0996237824923046e-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 = 36.680 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 5.5435809e+00 2.16e+00 3.85e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 3.0969128e+00 5.19e-01 2.61e+00 -0.9 1.97e+00 0.0 8.71e-01 7.62e-01f 1 Hello, world! 2 2.7800604e+00 1.96e-02 3.07e+00 -0.8 5.33e-01 -0.5 5.98e-01 1.00e+00f 1 Hello, world! 3 2.4682314e+00 1.17e-02 2.28e-01 -1.5 2.39e-01 -1.0 9.97e-01 1.00e+00h 1 Hello, world! 4 2.2165094e+00 9.79e-03 1.33e-01 -2.1 2.51e-01 -1.4 9.52e-01 8.01e-01h 1 Hello, world! 5 2.1046956e+00 1.58e-03 1.15e-02 -2.9 1.13e-01 -1.9 9.79e-01 9.46e-01h 1 Hello, world! 6 2.0909998e+00 2.43e-05 9.67e-04 -4.0 1.06e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0909225e+00 4.93e-07 3.50e-05 -4.0 2.51e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0909138e+00 1.82e-09 2.69e-05 -4.0 5.87e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908916e+00 1.44e-08 3.70e-05 -4.0 1.70e-01 -3.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908406e+00 9.77e-08 2.09e-04 -4.0 4.40e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0907640e+00 3.25e-07 1.08e-03 -4.0 9.41e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0905852e+00 2.61e-06 1.59e-03 -4.0 2.67e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0900788e+00 2.26e-05 6.36e-04 -4.0 8.25e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0898185e+00 3.50e-06 1.63e-03 -4.0 2.99e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0890866e+00 2.45e-05 5.59e-03 -4.0 9.53e+00 -5.8 1.00e+00 8.55e-01h 1 Hello, world! 16 2.0877594e+00 2.47e-04 3.30e-02 -4.0 2.61e+01 -6.3 1.00e+00 1.00e+00f 1 Hello, world! 17 2.0864405e+00 2.79e-04 6.81e-01 -4.0 1.44e+02 -5.8 1.00e+00 8.12e-02h 1 Hello, world! 18 2.0850619e+00 9.23e-04 2.82e-02 -4.0 2.24e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0830710e+00 9.63e-04 2.44e-02 -4.0 3.45e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827298e+00 3.77e-04 1.06e-02 -4.0 5.52e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0823201e+00 5.51e-04 9.48e-03 -4.0 1.27e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0823324e+00 1.03e-03 1.97e-02 -4.0 9.01e+01 -7.3 9.56e-01 1.00e+00h 1 Hello, world! 23 2.0821985e+00 1.06e-03 1.46e+00 -4.1 3.95e+01 -6.0 1.00e+00 1.04e-01h 3 Hello, world! 24 2.0821917e+00 1.87e-05 5.07e-04 -4.0 3.36e+00 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0822191e+00 1.63e-04 3.40e-03 -4.0 1.25e+01 -6.9 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0818313e+00 6.73e-04 2.10e-03 -4.1 2.64e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0819447e+00 1.00e-03 4.83e-03 -4.0 4.22e+01 -7.9 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0816015e+00 1.49e-03 4.40e-03 -4.1 5.87e+01 -8.4 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0818474e+00 1.10e-03 1.34e-03 -4.0 4.51e+01 -8.8 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 30 2.0815838e+00 3.82e-04 1.39e-04 -4.1 1.65e+01 -9.3 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0818444e+00 1.86e-04 2.87e-05 -4.0 8.47e+00 -9.8 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0818434e+00 2.61e-08 5.57e-08 -4.0 3.44e-01 -10.3 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0818434e+00 2.07e-13 1.00e-09 -4.0 2.74e-03 -10.8 1.00e+00 1.00e+00h 1 Number of Iterations....: 33 (scaled) (unscaled) Objective...............: 2.0818434105339509e+00 2.0818434105339509e+00 Dual infeasibility......: 1.0000000007611342e-09 1.0000000007611342e-09 Constraint violation....: 2.0655699373151037e-13 2.0655699373151037e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000457367e-04 1.0000000000457367e-04 Overall NLP error.......: 1.0000000007611342e-09 1.0000000007611342e-09 Number of objective function evaluations = 38 Number of objective gradient evaluations = 34 Number of equality constraint evaluations = 38 Number of inequality constraint evaluations = 38 Number of equality constraint Jacobian evaluations = 34 Number of inequality constraint Jacobian evaluations = 34 Number of Lagrangian Hessian evaluations = 33 Total seconds in IPOPT = 24.414 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.5435809e+00 2.16e+00 3.85e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 3.0969128e+00 5.19e-01 2.61e+00 -0.9 1.97e+00 0.0 8.71e-01 7.62e-01f 1 Hello, world! 2 2.7800604e+00 1.96e-02 3.07e+00 -0.8 5.33e-01 -0.5 5.98e-01 1.00e+00f 1 Hello, world! 3 2.4682314e+00 1.17e-02 2.28e-01 -1.5 2.39e-01 -1.0 9.97e-01 1.00e+00h 1 Hello, world! 4 2.2165094e+00 9.79e-03 1.33e-01 -2.1 2.51e-01 -1.4 9.52e-01 8.01e-01h 1 Hello, world! 5 2.1046956e+00 1.58e-03 1.15e-02 -2.9 1.13e-01 -1.9 9.79e-01 9.46e-01h 1 Hello, world! 6 2.0909998e+00 2.43e-05 9.67e-04 -4.0 1.06e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0909225e+00 4.93e-07 3.50e-05 -4.0 2.51e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0909138e+00 1.82e-09 2.69e-05 -4.0 5.87e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908916e+00 1.44e-08 3.70e-05 -4.0 1.70e-01 -3.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908406e+00 9.77e-08 2.09e-04 -4.0 4.40e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0907640e+00 3.25e-07 1.08e-03 -4.0 9.41e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0905852e+00 2.61e-06 1.59e-03 -4.0 2.67e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0900788e+00 2.26e-05 6.36e-04 -4.0 8.25e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0898185e+00 3.50e-06 1.63e-03 -4.0 2.99e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0890866e+00 2.45e-05 5.59e-03 -4.0 9.53e+00 -5.8 1.00e+00 8.55e-01h 1 Hello, world! 16 2.0877594e+00 2.47e-04 3.30e-02 -4.0 2.61e+01 -6.3 1.00e+00 1.00e+00f 1 Hello, world! 17 2.0864405e+00 2.79e-04 6.81e-01 -4.0 1.44e+02 -5.8 1.00e+00 8.12e-02h 1 Hello, world! 18 2.0850619e+00 9.23e-04 2.82e-02 -4.0 2.24e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0830710e+00 9.63e-04 2.44e-02 -4.0 3.45e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827298e+00 3.77e-04 1.06e-02 -4.0 5.52e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0823201e+00 5.51e-04 9.48e-03 -4.0 1.27e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0823324e+00 1.03e-03 1.97e-02 -4.0 9.01e+01 -7.3 9.56e-01 1.00e+00h 1 Hello, world! 23 2.0821985e+00 1.06e-03 1.46e+00 -4.1 3.95e+01 -6.0 1.00e+00 1.04e-01h 3 Hello, world! 24 2.0821917e+00 1.87e-05 5.07e-04 -4.0 3.36e+00 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0822191e+00 1.63e-04 3.40e-03 -4.0 1.25e+01 -6.9 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0818313e+00 6.73e-04 2.10e-03 -4.1 2.64e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0819447e+00 1.00e-03 4.83e-03 -4.0 4.22e+01 -7.9 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0816015e+00 1.49e-03 4.40e-03 -4.1 5.87e+01 -8.4 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0818474e+00 1.10e-03 1.34e-03 -4.0 4.51e+01 -8.8 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 30 2.0815838e+00 3.82e-04 1.39e-04 -4.1 1.65e+01 -9.3 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0818444e+00 1.86e-04 2.87e-05 -4.0 8.47e+00 -9.8 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0818434e+00 2.61e-08 5.57e-08 -4.0 3.44e-01 -10.3 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0818434e+00 2.07e-13 1.00e-09 -4.0 2.74e-03 -10.8 1.00e+00 1.00e+00h 1 Number of Iterations....: 33 (scaled) (unscaled) Objective...............: 2.0818434105339509e+00 2.0818434105339509e+00 Dual infeasibility......: 1.0000000007611342e-09 1.0000000007611342e-09 Constraint violation....: 2.0655699373151037e-13 2.0655699373151037e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000457367e-04 1.0000000000457367e-04 Overall NLP error.......: 1.0000000007611342e-09 1.0000000007611342e-09 Number of objective function evaluations = 38 Number of objective gradient evaluations = 34 Number of equality constraint evaluations = 38 Number of inequality constraint evaluations = 38 Number of equality constraint Jacobian evaluations = 34 Number of inequality constraint Jacobian evaluations = 34 Number of Lagrangian Hessian evaluations = 33 Total seconds in IPOPT = 0.725 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: duration constraint of 4.0 applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1529 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 73 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.4090777e-01 3.10e+00 9.12e-02 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.2352146e+00 2.85e+00 1.56e+01 -0.6 2.29e+01 -2.0 7.20e-02 4.62e-01f 1 2 1.4331263e+00 2.49e+00 1.86e+01 0.1 4.72e+00 0.2 3.12e-01 1.24e-01h 1 3 1.4206774e+00 2.29e+00 1.80e+01 -1.0 7.39e+00 -0.2 6.47e-02 8.03e-02h 1 4 1.4309058e+00 2.09e+00 4.13e+01 -0.4 1.93e+01 -0.7 4.70e-01 9.08e-02f 1 5 1.3781507e+00 2.05e+00 9.81e+01 1.6 9.65e+01 -0.3 1.23e-01 1.33e-02f 1 6 1.4194622e+00 1.78e+00 4.73e+01 1.0 1.21e+01 -0.8 7.56e-01 1.31e-01f 1 7 1.7200352e+00 1.21e+00 3.64e+01 0.7 1.56e+01 -1.3 6.65e-01 6.39e-01f 1 8 1.9473700e+00 2.78e-01 1.87e+01 -4.0 3.14e+01 -1.7 7.13e-01 8.90e-01H 1 9 1.9853247e+00 8.60e-01 1.12e+01 -0.3 9.74e+00 -1.3 9.49e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.9339201e+00 3.49e-03 3.75e+01 -4.0 1.22e+00 0.0 3.94e-01 1.00e+00h 1 11 1.8721659e+00 1.19e-03 8.69e-01 -2.0 6.49e-02 0.5 9.12e-01 1.00e+00h 1 12 1.6023027e+00 3.42e-03 1.40e-01 -2.1 1.47e-01 -0.0 1.00e+00 1.00e+00f 1 13 1.3952754e+00 1.02e-02 7.12e-02 -2.3 1.46e-01 -0.5 9.83e-01 8.19e-01f 1 14 1.3115934e+00 3.13e-02 1.37e-01 -2.6 3.41e-01 -1.0 9.87e-01 6.08e-01h 1 15 1.2553342e+00 1.19e-02 7.04e-02 -3.2 6.40e-01 -1.5 1.00e+00 7.77e-01h 1 16 1.2360166e+00 9.24e-03 1.71e-02 -3.3 1.79e-01 -1.0 9.98e-01 1.00e+00h 1 17 1.2239170e+00 6.24e-03 1.36e-02 -4.0 3.96e-01 -1.5 1.00e+00 7.72e-01h 1 18 1.2191473e+00 3.40e-03 1.57e-02 -4.0 1.34e+00 -2.0 3.78e-01 2.94e-01h 1 19 1.2184872e+00 3.27e-03 1.48e-01 -3.3 5.93e-01 -2.5 1.00e+00 1.15e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.2183554e+00 4.48e-03 3.34e-01 -3.0 7.07e-01 -2.0 9.25e-01 1.86e-01h 1 21 1.2029585e+00 4.72e-02 2.51e-02 -3.7 8.55e-01 -2.5 9.79e-01 1.00e+00h 1 22 1.2019750e+00 4.03e-02 4.20e-02 -4.0 1.84e+00 -3.0 4.81e-01 2.05e-01h 1 23 1.1951463e+00 4.74e-02 1.98e-02 -4.0 3.25e+00 -3.5 4.37e-01 4.58e-01h 1 24 1.1814511e+00 1.25e-01 3.13e-02 -4.0 2.53e+00 -3.9 1.00e+00 1.00e+00h 1 25 1.1754565e+00 1.47e-01 2.26e-02 -4.0 5.11e+00 -4.4 1.00e+00 1.00e+00h 1 26 1.1716485e+00 1.54e-01 1.48e-02 -4.0 8.17e+00 -4.9 1.00e+00 1.00e+00h 1 27 1.1688214e+00 1.70e-01 9.58e-03 -4.0 1.23e+01 -5.4 1.00e+00 1.00e+00h 1 28 1.1666283e+00 1.96e-01 4.96e-03 -4.0 1.87e+01 -5.9 1.00e+00 1.00e+00h 1 29 1.1649100e+00 2.30e-01 3.17e-04 -4.0 2.82e+01 -6.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.1635534e+00 2.72e-01 4.79e-03 -4.0 4.24e+01 -6.8 1.00e+00 1.00e+00h 1 31 1.1624841e+00 3.22e-01 1.04e-02 -4.0 6.34e+01 -7.3 1.00e+00 1.00e+00h 1 32 1.1616487e+00 3.76e-01 1.65e-02 -4.0 9.36e+01 -7.8 1.00e+00 1.00e+00h 1 33 1.1610168e+00 4.27e-01 2.23e-02 -4.0 1.35e+02 -8.2 1.00e+00 1.00e+00h 1 34 1.1605940e+00 4.45e-01 2.48e-02 -4.0 1.85e+02 -8.7 1.00e+00 1.00e+00h 1 35 1.1604996e+00 3.25e-01 1.43e-02 -4.0 2.11e+02 -9.2 1.00e+00 1.00e+00h 1 36 1.1608408e+00 7.32e-03 3.26e-03 -4.0 6.39e+01 -9.7 1.00e+00 1.00e+00h 1 37 1.1608492e+00 8.90e-06 6.33e-06 -4.0 8.18e-01 -10.1 1.00e+00 1.00e+00h 1 38 1.1608491e+00 5.06e-08 7.08e-09 -4.0 9.15e-02 -10.6 1.00e+00 1.00e+00h 1 39 1.1608491e+00 1.99e-12 1.51e-13 -4.0 5.74e-04 -11.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 39 (scaled) (unscaled) Objective...............: 1.1608491307801687e+00 1.1608491307801687e+00 Dual infeasibility......: 1.5118440353789619e-13 1.5118440353789619e-13 Constraint violation....: 1.9948487306464813e-12 1.9948487306464813e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000445e-04 1.0000000000000445e-04 Overall NLP error.......: 1.9948487306464813e-12 1.9948487306464813e-12 Number of objective function evaluations = 42 Number of objective gradient evaluations = 40 Number of equality constraint evaluations = 42 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 40 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 39 Total seconds in IPOPT = 24.697 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 1.7448979e+00 9.65e-01 1.07e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7879196e+00 3.15e-01 1.91e+00 -0.8 9.65e-01 0.0 9.87e-01 1.00e+00h 1 2 1.7113448e+00 3.95e-02 6.17e-01 -0.8 4.37e-01 -0.5 6.90e-01 9.44e-01f 1 3 2.1619734e+00 6.64e-02 4.56e+00 -1.5 7.16e+00 - 7.52e-01 1.00e+00H 1 4 1.7204353e+00 7.86e-02 2.19e+00 -1.6 6.35e-01 -1.0 8.74e-01 5.58e-01F 1 5 1.4207258e+00 4.72e-02 7.37e-01 -2.3 2.43e-01 -1.4 1.00e+00 4.35e-01h 1 6 1.1078576e+00 4.92e-04 1.08e-01 -3.6 8.16e-02 -1.9 1.00e+00 9.94e-01h 1 7 1.0917254e+00 6.85e-05 7.44e-01 -4.0 8.52e+00 - 1.00e+00 1.00e+00h 1 8 1.0909095e+00 3.81e-07 4.70e-03 -4.0 6.62e-01 - 1.00e+00 1.00e+00h 1 9 1.0910388e+00 6.53e-13 1.73e-05 -4.0 4.14e-02 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0910386e+00 2.52e-19 2.54e-05 -4.0 3.28e-04 - 1.00e+00 1.00e+00h 1 11 1.0910386e+00 8.88e-16 2.54e-05 -4.0 8.01e-09 - 1.00e+00 1.00e+00h 1 12 1.0908587e+00 1.78e-15 3.05e-09 -4.1 1.99e-05 - 1.00e+00 1.00e+00f 1 13 1.0910386e+00 8.88e-16 3.24e-09 -4.0 1.99e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 13 (scaled) (unscaled) Objective...............: 1.0910385864123910e+00 1.0910385864123910e+00 Dual infeasibility......: 3.2360047072521603e-09 3.2360047072521603e-09 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000114091619609e-04 1.0000114091619609e-04 Overall NLP error.......: 3.2360047072521603e-09 3.2360047072521603e-09 Number of objective function evaluations = 16 Number of objective gradient evaluations = 14 Number of equality constraint evaluations = 16 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 14 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 13 Total seconds in IPOPT = 24.831 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 82 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.4634705e+00 3.02e+00 2.51e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8533042e+00 3.82e-02 5.88e-01 -1.0 1.90e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3548845e+00 1.58e-02 5.64e-02 -1.9 2.68e-01 -1.6 9.44e-01 1.00e+00h 1 3 2.1584187e+00 3.82e-03 3.48e-01 -3.3 1.67e-01 -1.1 9.65e-01 1.00e+00h 1 4 2.1004696e+00 1.74e-03 1.04e-01 -4.0 9.56e-02 -1.6 1.00e+00 8.37e-01h 1 5 2.0938565e+00 9.75e-04 6.48e-01 -4.0 6.85e-01 -2.1 1.00e+00 5.22e-01h 1 6 2.0907585e+00 2.17e-04 1.32e-01 -4.0 4.68e-01 -2.6 1.00e+00 5.86e-01h 1 7 2.0909404e+00 1.25e-04 2.06e-01 -4.0 9.24e-01 -3.1 1.00e+00 1.00e+00h 1 8 2.0909667e+00 8.63e-07 2.72e-03 -4.0 7.04e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909561e+00 6.82e-07 2.06e-05 -4.0 2.11e-01 -4.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908943e+00 1.47e-07 2.05e-05 -4.0 6.31e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907121e+00 1.29e-06 4.95e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0901930e+00 1.09e-05 4.19e-04 -4.0 5.44e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888510e+00 8.19e-05 3.15e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861651e+00 4.39e-04 1.74e-02 -4.0 3.47e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830955e+00 9.11e-04 4.70e-02 -4.0 5.32e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828512e+00 9.32e-04 2.26e-02 -4.0 5.43e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823458e+00 3.91e-04 1.02e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820407e+00 9.26e-05 1.86e-02 -4.0 1.46e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.70e-04 8.73e-03 -4.0 9.95e+01 -8.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0819393e+00 3.71e-05 8.50e-04 -4.0 3.11e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.36e-07 1.39e-05 -4.0 4.46e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.88e-10 3.28e-08 -4.0 2.45e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.53e-13 1.22e-11 -4.0 4.61e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907191035e+00 2.0819382907191035e+00 Dual infeasibility......: 1.2244847226016570e-11 1.2244847226016570e-11 Constraint violation....: 2.5313084961453569e-13 2.5313084961453569e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000066e-04 1.0000000000000066e-04 Overall NLP error.......: 1.2244847226016570e-11 1.2244847226016570e-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 = 24.288 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 3.7519482e+00 3.08e+00 2.64e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8511444e+00 2.10e-02 4.86e-01 -1.1 2.22e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.2717427e+00 3.65e-02 4.82e-02 -1.7 3.47e-01 -1.6 9.40e-01 1.00e+00h 1 3 2.1208159e+00 5.47e-03 9.69e-02 -2.7 1.71e-01 -1.1 8.93e-01 1.00e+00h 1 4 2.0991617e+00 1.61e-03 3.03e-01 -3.4 1.34e-01 -1.6 9.93e-01 6.99e-01h 1 5 2.0914264e+00 3.18e-04 3.40e-01 -4.0 2.48e-01 -2.1 1.00e+00 9.20e-01h 1 6 2.0907419e+00 8.56e-06 5.67e-02 -4.0 1.31e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0908429e+00 4.16e-07 3.54e-05 -4.0 2.24e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0908390e+00 2.70e-08 1.91e-05 -4.0 6.54e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908235e+00 1.01e-08 2.86e-05 -4.0 1.84e-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 2.0907857e+00 6.83e-08 1.83e-04 -4.0 4.90e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0906877e+00 5.60e-07 5.59e-04 -4.0 1.31e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904037e+00 5.75e-06 4.24e-04 -4.0 4.13e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0902795e+00 8.83e-07 5.89e-04 -4.0 1.55e+00 -5.0 1.00e+00 1.00e+00h 1 14 2.0901364e+00 1.51e-06 1.96e-02 -4.0 6.43e+00 -5.5 1.00e+00 2.19e-01h 2 15 2.0889812e+00 6.27e-05 2.48e-03 -4.0 1.37e+01 -6.0 1.00e+00 1.00e+00h 1 16 2.0870849e+00 2.03e-04 4.72e-02 -4.0 3.71e+01 -6.4 1.00e+00 6.18e-01h 1 17 2.0836199e+00 1.45e-03 5.38e-02 -4.0 6.35e+01 -6.9 1.00e+00 1.00e+00h 1 18 2.0826825e+00 2.33e-04 9.28e-03 -4.0 8.90e+00 -6.5 1.00e+00 7.96e-01h 1 19 2.0827939e+00 7.32e-05 6.85e-03 -4.0 2.84e+01 -7.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0825067e+00 2.73e-04 2.99e-03 -4.0 7.38e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0821291e+00 8.51e-04 8.67e-03 -4.0 1.74e+02 -7.9 6.38e-01 1.00e+00h 1 22 2.0821508e+00 8.56e-04 8.72e-03 -4.0 2.05e+03 -8.4 2.62e-03 7.51e-03h 5 23 2.0819544e+00 8.10e-04 6.07e-01 -4.1 6.01e+00 -5.3 1.00e+00 5.37e-01h 1 24 2.0820263e+00 8.15e-05 1.78e-01 -4.0 1.71e+00 -5.7 8.68e-01 1.00e+00f 1 25 2.0820542e+00 7.32e-05 1.86e-03 -4.0 3.42e+00 -6.2 1.00e+00 1.00e+00h 1 26 2.0820598e+00 3.99e-05 7.85e-04 -4.0 4.22e+00 -6.7 1.00e+00 1.00e+00h 1 27 2.0820262e+00 1.12e-05 1.74e-04 -4.0 1.24e+01 -7.2 1.00e+00 1.00e+00h 1 28 2.0819533e+00 3.64e-05 1.54e-03 -4.0 2.64e+01 -7.7 1.00e+00 1.00e+00h 1 29 2.0818795e+00 9.35e-05 3.08e-03 -4.0 4.52e+01 -8.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0818457e+00 8.25e-05 2.02e-03 -4.0 4.85e+01 -8.6 1.00e+00 1.00e+00h 1 31 2.0818390e+00 1.61e-05 3.33e-04 -4.0 2.43e+01 -9.1 1.00e+00 1.00e+00h 1 32 2.0818383e+00 4.82e-07 1.45e-05 -4.0 4.90e+00 -9.6 1.00e+00 1.00e+00h 1 33 2.0818383e+00 1.96e-09 8.35e-08 -4.0 3.63e-01 -10.0 1.00e+00 1.00e+00h 1 34 2.0818383e+00 1.07e-12 5.87e-11 -4.0 9.46e-03 -10.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 34 (scaled) (unscaled) Objective...............: 2.0818383021817835e+00 2.0818383021817835e+00 Dual infeasibility......: 5.8697951772594681e-11 5.8697951772594681e-11 Constraint violation....: 1.0729195309977513e-12 1.0729195309977513e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000044e-04 1.0000000000000044e-04 Overall NLP error.......: 5.8697951772594681e-11 5.8697951772594681e-11 Number of objective function evaluations = 44 Number of objective gradient evaluations = 35 Number of equality constraint evaluations = 44 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 = 24.601 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 1.4130792e+00 1.15e+00 1.01e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8231971e+00 1.44e-01 1.58e+00 -0.9 8.48e-01 0.0 9.93e-01 1.00e+00h 1 2 1.9349611e+00 5.87e-02 1.13e+00 -0.6 3.03e+00 - 8.28e-01 4.67e-01h 1 3 1.6396837e+00 2.47e-02 3.24e-01 -1.3 1.09e+00 - 9.37e-01 1.00e+00f 1 4 1.2222804e+00 4.17e-03 4.58e-01 -2.0 1.87e+00 - 9.99e-01 8.21e-01f 1 5 1.1194006e+00 1.73e-03 1.35e-01 -3.5 1.66e+00 - 1.00e+00 7.99e-01h 1 6 1.0927571e+00 1.25e-04 3.71e-02 -4.0 1.42e+00 - 1.00e+00 9.66e-01h 1 7 1.0908757e+00 1.97e-06 1.05e-02 -4.0 8.01e-01 - 1.00e+00 1.00e+00h 1 8 1.0908998e+00 2.54e-10 4.45e-05 -4.0 4.15e-02 - 1.00e+00 1.00e+00h 1 9 1.0908997e+00 9.29e-17 4.40e-05 -4.0 5.50e-05 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0908997e+00 1.27e-25 7.42e-16 -4.0 5.19e-10 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 1.0908997263265459e+00 1.0908997263265459e+00 Dual infeasibility......: 7.4224480728357634e-16 7.4224480728357634e-16 Constraint violation....: 1.2651672748087086e-25 1.2651672748087086e-25 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 7.4224480728357634e-16 7.4224480728357634e-16 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 22.315 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 1.6117068e-02 8.33e-17 1.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.4239980e-02 4.32e-12 1.77e-02 -4.0 2.54e-02 -2.0 9.82e-01 1.00e+00f 1 2 6.5941970e-03 7.55e-13 9.15e-02 -3.1 7.96e-02 -1.6 9.95e-01 1.00e+00f 1 3 7.8578123e-04 8.52e-12 7.33e-02 -3.6 1.08e-01 -1.1 1.00e+00 8.12e-01f 1 4 1.0327536e-04 1.28e-12 1.45e-02 -3.1 4.94e-01 -1.6 1.00e+00 5.00e-01f 2 5 2.9816161e-04 3.05e-12 1.18e-02 -2.9 1.49e+00 -2.1 1.00e+00 5.00e-01f 2 6 2.9816161e-04 3.05e-12 8.94e-03 -3.0 2.31e+00 -2.6 4.47e-01 5.47e-15h 47 7 2.9816161e-04 3.05e-12 7.02e-03 -4.5 2.90e+00 -3.1 3.08e-01 5.21e-16h 50 8 5.4885087e-04 1.72e-12 4.37e-03 -4.5 2.12e+00 -3.5 4.17e-01 4.17e-01S 63 9 5.4885087e-04 1.72e-12 1.24e-02 -4.5 1.41e+00 -4.0 4.97e-01 2.70e-15h 48 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.5399809e-05 5.53e-13 1.08e-02 -4.5 6.53e-01 -4.5 8.24e-01 8.24e-01S 62 11 9.7546063e-04 3.44e-13 3.27e-02 -3.8 2.26e+00 -5.0 1.00e+00 4.50e-01f 1 12 1.1012529e-04 5.31e-12 3.89e-02 -4.0 3.09e-01 -1.8 1.00e+00 8.06e-01f 1 13 4.7893243e-05 3.02e-12 2.89e-02 -4.0 4.86e-02 -2.3 1.00e+00 2.10e-01f 2 14 4.7890124e-05 3.02e-12 1.03e-02 -4.0 4.79e-02 -2.8 1.00e+00 4.20e-05h 15 15 4.7886918e-05 3.02e-12 6.85e-03 -4.0 6.42e-02 -3.3 1.00e+00 6.10e-05h 15 16 4.7883595e-05 3.02e-12 6.59e-03 -4.0 7.02e-02 -3.7 1.00e+00 6.10e-05h 15 17 4.7880028e-05 3.02e-12 6.66e-03 -4.0 1.07e-01 -4.2 1.00e+00 6.10e-05h 15 18 4.7878125e-05 3.02e-12 6.75e-03 -4.0 1.43e-01 -4.7 1.00e+00 3.05e-05h 16 19 4.7876108e-05 3.02e-12 6.84e-03 -4.0 1.79e-01 -5.2 1.00e+00 3.05e-05h 16 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 4.7873980e-05 3.02e-12 6.92e-03 -4.0 2.21e-01 -5.6 1.00e+00 3.05e-05h 16 21 4.7872861e-05 3.02e-12 7.00e-03 -4.0 2.81e-01 -6.1 1.00e+00 1.53e-05h 17 22 4.7871684e-05 3.02e-12 7.08e-03 -4.0 3.51e-01 -6.6 1.00e+00 1.53e-05h 17 23 4.7870447e-05 3.02e-12 7.15e-03 -4.0 4.33e-01 -7.1 1.00e+00 1.53e-05h 17 24 4.7869797e-05 3.02e-12 7.23e-03 -4.0 5.27e-01 -7.6 1.00e+00 7.63e-06h 18 25 4.7869113e-05 3.02e-12 7.31e-03 -4.0 6.32e-01 -8.0 1.00e+00 7.63e-06h 18 26 4.7868395e-05 3.02e-12 7.40e-03 -4.0 7.44e-01 -8.5 1.00e+00 7.63e-06h 18 27 4.7868395e-05 3.02e-12 7.49e-03 -4.0 8.56e-01 -9.0 1.00e+00 2.27e-13h 43 28 3.2490747e-06 4.19e-12 9.54e-03 -4.0 9.63e-01 -9.5 1.00e+00 1.00e+00s 58 29 3.2524697e-06 4.06e-12 1.07e-03 -4.0 2.13e-01 -9.9 1.00e+00 3.12e-02h 6 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 3.2484029e-06 4.04e-12 1.24e-03 -4.1 1.97e-01 -10.4 1.00e+00 3.91e-03h 9 31 3.2442745e-06 4.03e-12 1.25e-03 -4.1 2.08e-01 -10.9 1.00e+00 3.91e-03h 9 32 3.2399731e-06 4.01e-12 1.25e-03 -4.1 2.01e-01 -11.4 1.00e+00 3.91e-03h 9 33 3.2355126e-06 4.00e-12 1.26e-03 -4.1 1.97e-01 -11.8 1.00e+00 3.91e-03h 9 34 3.2235150e-06 3.75e-12 1.10e-03 -4.0 1.54e-01 -12.3 1.00e+00 6.25e-02h 5 35 3.2075643e-06 3.51e-12 1.09e-03 -4.0 1.18e-01 -12.8 1.00e+00 6.25e-02h 5 36 3.1896627e-06 3.29e-12 1.09e-03 -4.0 1.10e-01 -13.3 1.00e+00 6.25e-02h 5 37 3.1503113e-06 2.88e-12 1.08e-03 -4.0 1.02e-01 -13.8 1.00e+00 1.25e-01h 4 38 3.1103316e-06 2.52e-12 1.06e-03 -4.0 8.88e-02 -14.2 1.00e+00 1.25e-01h 4 39 3.0298519e-06 1.89e-12 1.03e-03 -4.0 7.67e-02 -14.7 1.00e+00 2.50e-01h 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.8902664e-06 9.46e-13 9.77e-04 -4.0 5.64e-02 -15.2 1.00e+00 5.00e-01h 2 41 2.7168533e-06 1.19e-18 8.99e-04 -4.0 2.67e-02 -15.7 1.00e+00 1.00e+00h 1 42 2.7166831e-06 6.51e-19 8.61e-04 -4.0 3.84e-03 -16.1 1.00e+00 3.91e-03h 9 43 2.7166831e-06 4.34e-19 1.03e-03 -4.1 5.24e-02 -16.6 1.00e+00 5.68e-14h 45 44 2.7166831e-06 4.34e-19 1.04e-03 -4.1 5.52e-02 -17.1 1.00e+00 1.42e-14h 47 45 2.7166831e-06 2.17e-19 1.04e-03 -4.1 5.10e-02 -17.6 1.00e+00 8.88e-16h 51 46 2.7166831e-06 2.17e-19 1.04e-03 -4.1 4.70e-02 -18.1 1.00e+00 2.22e-16h 53 47 2.7166831e-06 2.17e-19 1.05e-03 -4.1 4.29e-02 -18.5 1.00e+00 4.55e-13h 42 48 2.7166831e-06 2.17e-19 1.05e-03 -4.1 3.88e-02 -19.0 1.00e+00 2.22e-16h 53 49 2.7166831e-06 5.42e-19 1.06e-03 -4.1 3.46e-02 -19.5 1.00e+00 1.42e-14h 47 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.7166831e-06 5.42e-19 1.06e-03 -4.1 3.04e-02 -20.0 1.00e+00 2.22e-16h 53 51 2.7166831e-06 5.42e-19 1.07e-03 -4.1 2.61e-02 -20.0 1.00e+00 2.22e-16h 53 52 2.7166831e-06 5.42e-19 1.07e-03 -4.1 2.22e-02 -20.0 1.00e+00 2.22e-16h 53 53 2.7166831e-06 5.42e-19 1.08e-03 -4.1 2.21e-02 -20.0 1.00e+00 1.78e-15h 50 54 2.7166831e-06 5.42e-19 1.08e-03 -4.1 2.21e-02 -20.0 1.00e+00 2.22e-16h 53 55 2.7166831e-06 5.42e-19 1.09e-03 -4.1 2.20e-02 -20.0 1.00e+00 2.22e-16h 53 56 2.7166831e-06 5.42e-19 1.09e-03 -4.1 2.20e-02 -20.0 1.00e+00 2.22e-16h 53 57 2.7166831e-06 5.42e-19 1.09e-03 -4.1 2.19e-02 -20.0 1.00e+00 2.22e-16h 53 58 2.7166831e-06 5.42e-19 1.10e-03 -4.1 2.19e-02 -20.0 1.00e+00 7.11e-15h 48 59 2.7166831e-06 6.51e-19 1.10e-03 -4.1 2.18e-02 -20.0 1.00e+00 1.46e-11h 37 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.7166831e-06 4.34e-19 1.11e-03 -4.1 2.18e-02 -20.0 1.00e+00 1.78e-15h 50 61 2.7166831e-06 4.34e-19 1.11e-03 -4.1 2.17e-02 -20.0 1.00e+00 1.11e-16h 54 62 2.7166831e-06 4.34e-19 1.11e-03 -4.1 2.53e-02 -20.0 1.00e+00 1.11e-16h 54 63 2.7166831e-06 4.34e-19 1.12e-03 -4.1 3.03e-02 -20.0 1.00e+00 1.11e-16h 54 64 2.7166831e-06 4.34e-19 1.12e-03 -4.1 3.55e-02 -20.0 1.00e+00 1.11e-16h 54 65 2.7166831e-06 8.67e-19 1.12e-03 -4.1 4.07e-02 -20.0 1.00e+00 3.55e-15h 49 66 2.7166831e-06 1.84e-18 1.13e-03 -4.1 4.59e-02 -20.0 1.00e+00 3.55e-15h 49 67 2.7166831e-06 1.73e-18 1.13e-03 -4.1 5.12e-02 -20.0 1.00e+00 8.88e-16h 51 68 2.7166831e-06 1.73e-18 1.14e-03 -4.1 5.66e-02 -20.0 1.00e+00 1.11e-16h 54 69 2.7166831e-06 1.73e-18 1.14e-03 -4.1 6.21e-02 -20.0 1.00e+00 1.11e-16h 54 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.7166831e-06 1.73e-18 1.14e-03 -4.1 6.77e-02 -20.0 1.00e+00 1.16e-10h 34 71 2.7166831e-06 1.08e-18 1.15e-03 -4.1 7.33e-02 -20.0 1.00e+00 3.64e-12h 39 72 2.7166831e-06 1.08e-18 1.15e-03 -4.1 7.90e-02 -20.0 1.00e+00 5.82e-11h 35 73 2.7166831e-06 9.76e-19 1.15e-03 -4.1 8.47e-02 -20.0 1.00e+00 2.91e-11h 36 74 2.7166831e-06 8.67e-19 1.16e-03 -4.1 9.05e-02 -20.0 1.00e+00 3.64e-12h 39 75 2.7166831e-06 8.67e-19 1.16e-03 -4.1 9.65e-02 -20.0 1.00e+00 1.78e-15h 50 76 2.7166831e-06 8.67e-19 1.16e-03 -4.1 1.02e-01 -20.0 1.00e+00 2.22e-16h 53 77 2.7166831e-06 6.51e-19 1.17e-03 -4.1 1.09e-01 -20.0 1.00e+00 4.44e-16h 52 78 2.7166831e-06 6.51e-19 1.17e-03 -4.1 1.15e-01 -20.0 1.00e+00 2.84e-14h 46 79 1.0700310e-06 4.88e-19 8.53e-04 -4.1 1.21e-01 -20.0 1.00e+00 1.00e+00S 77 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 1.5923836e-06 7.59e-19 5.34e-04 -4.0 7.29e-02 -20.0 1.00e+00 1.00e+00f 1 81 1.5923836e-06 4.34e-19 7.94e-04 -4.1 5.22e-02 -20.0 1.00e+00 1.16e-10h 34 82 1.5923836e-06 2.17e-19 1.33e-03 -6.1 2.63e-01 -20.0 8.31e-01 1.14e-13h 44 83 1.5923836e-06 3.25e-19 1.45e-03 -6.1 7.35e-01 -20.0 7.99e-01 1.11e-16h 54 84 1.5923836e-06 4.34e-19 1.31e-03 -6.1 7.86e-01 -20.0 1.00e+00 2.22e-16h 53 85 1.5923836e-06 4.34e-19 1.31e-03 -6.1 8.01e-01 -20.0 1.00e+00 5.55e-17h 55 86 1.5923836e-06 4.34e-19 1.31e-03 -6.1 8.67e-01 -20.0 1.00e+00 5.55e-17h 55 87 1.5923836e-06 4.34e-19 1.31e-03 -6.1 8.29e-01 -20.0 1.00e+00 5.55e-17h 55 88 1.5923836e-06 6.51e-19 1.31e-03 -6.1 8.59e-01 -20.0 1.00e+00 4.44e-16h 52 89 1.5923836e-06 6.51e-19 1.31e-03 -6.1 8.34e-01 -20.0 1.00e+00 1.11e-16h 54 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 1.5923836e-06 6.51e-19 1.31e-03 -6.1 8.50e-01 -20.0 1.00e+00 5.55e-17h 55 91 1.5923836e-06 6.51e-19 1.31e-03 -6.1 8.34e-01 -20.0 1.00e+00 5.55e-17h 55 92 1.5923836e-06 6.51e-19 1.31e-03 -6.1 8.43e-01 -20.0 1.00e+00 5.55e-17h 55 93 1.5923836e-06 5.42e-19 1.31e-03 -6.1 8.32e-01 -20.0 1.00e+00 5.68e-14h 45 94 1.5923836e-06 7.59e-19 1.31e-03 -6.1 8.36e-01 -20.0 1.00e+00 7.11e-15h 48 95 1.5923836e-06 7.59e-19 1.31e-03 -6.1 8.29e-01 -20.0 1.00e+00 5.55e-17h 55 96 1.5923836e-06 7.59e-19 1.31e-03 -6.1 8.30e-01 -20.0 1.00e+00 5.55e-17h 55 97 1.5923836e-06 7.59e-19 1.31e-03 -6.1 8.25e-01 -20.0 1.00e+00 5.55e-17h 55 98 1.5923836e-06 7.59e-19 1.31e-03 -6.1 8.25e-01 -20.0 1.00e+00 5.55e-17h 55 99 1.5923836e-06 8.67e-19 1.31e-03 -6.1 8.20e-01 -20.0 1.00e+00 3.55e-15h 49 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 1.5923836e-06 4.34e-19 1.31e-03 -6.1 8.19e-01 -20.0 1.00e+00 1.78e-15h 50 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.5923835814108612e-06 1.5923835814108612e-06 Dual infeasibility......: 1.3076138610774168e-03 1.3076138610774168e-03 Constraint violation....: 4.3368086899420177e-19 4.3368086899420177e-19 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0912883309367859e-04 1.0912883309367859e-04 Overall NLP error.......: 1.3076138610774168e-03 1.3076138610774168e-03 Number of objective function evaluations = 3610 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 3610 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 = 3.566 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 1.8687166e+00 8.91e-01 9.93e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7222259e+00 4.95e-09 2.79e-01 -0.2 6.68e-01 -2.0 1.00e+00 1.00e+00f 1 2 4.1034487e-01 4.31e-09 4.92e-01 -4.0 1.47e+00 -1.6 7.43e-01 1.00e+00f 1 3 2.0769343e-01 4.14e-11 6.81e-02 -2.0 5.59e-01 -1.1 1.00e+00 1.00e+00f 1 4 5.3203407e-02 2.65e-11 5.74e-02 -2.8 9.59e-01 -1.6 1.00e+00 1.00e+00f 1 5 1.0592276e-02 3.26e-11 2.34e-02 -3.7 8.11e-01 -2.1 1.00e+00 1.00e+00f 1 6 2.0961073e-03 8.22e-12 7.56e-03 -4.0 5.43e-01 -2.6 1.00e+00 1.00e+00f 1 7 6.3029642e-04 1.71e-12 2.25e-03 -4.0 2.90e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.2837311e-04 2.60e-13 4.37e-04 -4.0 7.17e-02 -3.5 1.00e+00 1.00e+00f 1 9 4.7681341e-04 2.47e-14 2.17e-04 -4.0 3.36e-02 -4.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.9459529e-04 1.03e-14 4.88e-04 -4.1 9.01e-02 -4.5 1.00e+00 1.00e+00f 1 11 4.5907894e-04 6.00e-15 3.78e-04 -4.0 2.06e-01 -5.0 1.00e+00 5.00e-01f 2 12 2.7318280e-04 4.22e-15 5.32e-04 -4.1 1.01e-01 -5.4 1.00e+00 1.00e+00f 1 13 4.6657809e-04 3.00e-15 4.72e-04 -4.0 2.51e-01 -5.9 1.00e+00 5.00e-01f 2 14 2.6316462e-04 2.11e-15 6.03e-04 -4.1 1.16e-01 -6.4 1.00e+00 1.00e+00f 1 15 4.6709324e-04 2.11e-15 5.11e-04 -4.0 2.72e-01 -6.9 1.00e+00 5.00e-01f 2 16 2.5982233e-04 1.78e-15 6.31e-04 -4.1 1.22e-01 -7.4 1.00e+00 1.00e+00f 1 17 4.6702074e-04 1.78e-15 5.28e-04 -4.0 2.82e-01 -7.8 1.00e+00 5.00e-01f 2 18 2.5871356e-04 1.44e-15 6.49e-04 -4.1 1.26e-01 -8.3 1.00e+00 1.00e+00f 1 19 4.6653954e-04 1.44e-15 5.37e-04 -4.0 2.87e-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 2.5837226e-04 1.33e-15 6.64e-04 -4.1 1.28e-01 -9.3 1.00e+00 1.00e+00f 1 21 4.6596987e-04 1.33e-15 5.43e-04 -4.0 2.92e-01 -9.7 1.00e+00 5.00e-01f 2 22 2.5827552e-04 1.11e-15 6.77e-04 -4.1 1.31e-01 -10.2 1.00e+00 1.00e+00f 1 23 4.6538256e-04 1.11e-15 5.48e-04 -4.0 2.95e-01 -10.7 1.00e+00 5.00e-01f 2 24 2.5825526e-04 9.99e-16 6.89e-04 -4.1 1.33e-01 -11.2 1.00e+00 1.00e+00f 1 25 4.6480570e-04 9.99e-16 5.52e-04 -4.0 2.99e-01 -11.6 1.00e+00 5.00e-01f 2 26 2.5825713e-04 9.44e-16 7.00e-04 -4.1 1.35e-01 -12.1 1.00e+00 1.00e+00f 1 27 3.0948259e-05 9.44e-15 8.76e-04 -6.2 3.73e-01 -12.6 9.69e-01 1.00e+00f 1 28 1.7448923e-03 2.44e-15 7.58e-03 -4.0 1.97e+00 -13.1 1.00e+00 5.00e-01f 2 29 2.4436430e-05 2.43e-14 2.84e-03 -4.1 1.00e+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 1.5787477e-03 3.15e-14 7.89e-03 -4.0 9.70e-01 -14.0 1.00e+00 1.00e+00f 1 31 1.0119876e-05 1.87e-14 2.25e-03 -4.2 1.07e+00 -14.5 1.00e+00 1.00e+00f 1 32 4.6717212e-04 1.67e-15 2.73e-03 -4.0 1.36e+00 -15.0 1.00e+00 5.00e-01f 2 33 2.1948209e-04 3.11e-15 2.35e-04 -4.2 3.70e-01 -15.5 1.00e+00 5.00e-01f 2 34 2.0193321e-05 4.61e-15 7.94e-04 -6.4 4.06e-01 -15.9 9.64e-01 1.00e+00f 1 35 8.1225877e-06 3.33e-15 9.78e-05 -6.4 1.03e-01 -16.4 1.00e+00 1.00e+00f 1 36 1.5657567e-03 1.07e-15 5.51e-03 -4.0 9.54e+00 -16.9 1.00e+00 1.25e-01f 4 37 9.6628252e-05 5.47e-14 3.47e-03 -4.0 7.95e-01 -17.4 1.00e+00 1.00e+00f 1 38 7.5287600e-04 3.69e-14 3.55e-03 -4.0 5.36e-01 -17.8 1.00e+00 1.00e+00f 1 39 3.8050704e-04 6.88e-15 4.33e-04 -4.0 4.18e-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 3.5529952e-05 5.55e-15 1.31e-03 -6.0 4.98e-01 -18.8 9.56e-01 1.00e+00f 1 41 1.4636763e-05 5.44e-15 1.58e-04 -6.0 1.24e-01 -19.3 1.00e+00 1.00e+00f 1 42 4.0321802e-06 8.88e-16 1.00e-04 -6.0 1.41e-01 -19.8 1.00e+00 1.00e+00f 1 43 1.0807906e-03 6.66e-16 3.22e-03 -4.0 1.55e+01 -20.0 1.00e+00 7.77e-02f 4 44 1.5924478e-04 4.85e-14 2.89e-03 -4.0 5.91e-01 -20.0 1.00e+00 1.00e+00f 1 45 6.7927636e-04 2.35e-14 2.82e-03 -4.0 4.24e-01 -20.0 1.00e+00 1.00e+00f 1 46 3.9068359e-04 4.22e-15 4.19e-04 -4.0 3.62e-01 -20.0 1.00e+00 5.00e-01f 2 47 3.5490552e-05 5.77e-15 1.44e-03 -6.0 5.42e-01 -20.0 9.51e-01 1.00e+00f 1 48 1.4750409e-05 4.88e-15 1.69e-04 -6.0 1.32e-01 -20.0 1.00e+00 1.00e+00f 1 49 3.9355916e-06 7.77e-16 1.09e-04 -6.0 1.55e-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 8.7341245e-04 6.66e-16 2.23e-03 -4.0 1.66e+01 -20.0 1.00e+00 7.21e-02f 4 51 1.9422933e-04 4.19e-14 2.52e-03 -4.0 4.95e-01 -20.0 1.00e+00 1.00e+00f 1 52 6.1717258e-04 1.64e-14 2.36e-03 -4.0 3.61e-01 -20.0 1.00e+00 1.00e+00f 1 53 3.8717292e-04 2.66e-15 4.01e-04 -4.0 3.24e-01 -20.0 1.00e+00 5.00e-01f 2 54 3.4555528e-05 5.55e-15 1.53e-03 -6.1 5.77e-01 -20.0 9.46e-01 1.00e+00f 1 55 1.4464348e-05 4.33e-15 1.75e-04 -6.1 1.38e-01 -20.0 1.00e+00 1.00e+00f 1 56 3.7943938e-06 6.66e-16 1.15e-04 -6.1 1.66e-01 -20.0 1.00e+00 1.00e+00f 1 57 7.2062246e-04 3.85e-16 1.33e-03 -4.0 1.80e+01 -20.0 1.00e+00 6.64e-02f 4 58 2.3001416e-04 3.66e-14 2.11e-03 -4.1 4.00e-01 -20.0 1.00e+00 1.00e+00f 1 59 5.5718534e-04 1.13e-14 1.86e-03 -4.1 2.91e-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 3.8390385e-04 2.00e-15 3.64e-04 -4.1 2.73e-01 -20.0 1.00e+00 5.00e-01f 2 61 3.3525538e-05 5.33e-15 1.60e-03 -6.1 6.11e-01 -20.0 9.42e-01 1.00e+00f 1 62 1.4173133e-05 4.11e-15 1.79e-04 -6.1 1.43e-01 -20.0 1.00e+00 1.00e+00f 1 63 3.6747597e-06 6.66e-16 1.20e-04 -6.1 1.76e-01 -20.0 1.00e+00 1.00e+00f 1 64 6.0899869e-04 5.59e-16 5.54e-04 -4.0 1.94e+01 -20.0 1.00e+00 6.16e-02f 4 65 2.6239556e-04 3.29e-14 1.69e-03 -4.1 3.13e-01 -20.0 1.00e+00 1.00e+00f 1 66 5.0442905e-04 7.55e-15 1.39e-03 -4.1 2.22e-01 -20.0 1.00e+00 1.00e+00f 1 67 3.7970007e-04 1.33e-15 3.17e-04 -4.1 2.20e-01 -20.0 1.00e+00 5.00e-01f 2 68 3.2431199e-05 5.11e-15 1.67e-03 -6.1 6.42e-01 -20.0 9.38e-01 1.00e+00f 1 69 1.3856285e-05 3.66e-15 1.82e-04 -6.1 1.47e-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 3.5658173e-06 5.55e-16 1.24e-04 -6.1 1.84e-01 -20.0 1.00e+00 1.00e+00f 1 71 5.2607907e-04 4.44e-16 1.36e-04 -4.0 2.07e+01 -20.0 1.00e+00 5.76e-02f 4 72 2.9067900e-04 2.98e-14 1.30e-03 -4.1 2.35e-01 -20.0 1.00e+00 1.00e+00f 1 73 4.6017068e-04 4.66e-15 9.56e-04 -4.1 1.56e-01 -20.0 1.00e+00 1.00e+00f 1 74 3.0243551e-04 3.77e-15 9.32e-04 -4.1 1.69e-01 -20.0 1.00e+00 1.00e+00f 1 75 4.5367235e-04 2.44e-15 8.31e-04 -4.1 1.36e-01 -20.0 1.00e+00 1.00e+00f 1 76 2.3563302e-05 4.44e-15 1.86e-03 -6.1 7.86e-01 -20.0 9.23e-01 1.00e+00f 1 77 1.2278949e-05 3.77e-15 1.23e-04 -6.1 1.09e-01 -20.0 1.00e+00 1.00e+00f 1 78 3.0648744e-06 4.44e-16 1.18e-04 -6.1 1.88e-01 -20.0 1.00e+00 1.00e+00f 1 79 4.6303400e-04 4.06e-16 8.26e-04 -4.0 2.36e+01 -20.0 1.00e+00 5.05e-02f 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 3.2096866e-04 2.80e-14 8.79e-04 -4.1 1.56e-01 -20.0 1.00e+00 1.00e+00f 1 81 4.2463206e-04 2.89e-15 5.41e-04 -4.1 9.02e-02 -20.0 1.00e+00 1.00e+00f 1 82 2.5343253e-05 4.44e-15 1.89e-03 -6.1 7.80e-01 -20.0 9.23e-01 1.00e+00f 1 83 1.2564463e-05 3.55e-15 1.43e-04 -6.1 1.24e-01 -20.0 1.00e+00 1.00e+00f 1 84 3.1498251e-06 4.44e-16 1.25e-04 -6.1 1.97e-01 -20.0 1.00e+00 1.00e+00f 1 85 3.8979345e-06 1.86e-16 1.86e-05 -6.1 3.25e-02 -20.0 1.00e+00 1.00e+00h 1 86 3.4353137e-06 4.08e-17 4.52e-06 -6.1 8.11e-03 -20.0 1.00e+00 1.00e+00h 1 87 2.5590858e-07 7.07e-17 5.37e-05 -9.0 2.40e-01 -20.0 9.76e-01 1.00e+00f 1 88 2.3081117e-03 4.93e-16 1.13e-02 -4.0 1.07e+02 -20.0 1.00e+00 2.27e-02f 3 89 9.0249121e-05 4.69e-14 7.03e-03 -3.9 1.51e+00 -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 90 7.6678126e-04 2.73e-14 5.32e-03 -3.9 8.02e-01 -20.0 1.00e+00 1.00e+00f 1 91 4.3657800e-04 5.33e-15 7.89e-04 -3.9 5.45e-01 -20.0 1.00e+00 5.00e-01f 2 92 4.3243279e-05 4.22e-15 2.16e-03 -5.9 7.24e-01 -20.0 9.29e-01 1.00e+00f 1 93 1.7825134e-05 3.89e-15 2.66e-04 -5.9 1.89e-01 -20.0 1.00e+00 1.00e+00f 1 94 5.0693181e-06 6.66e-16 1.68e-04 -5.9 2.13e-01 -20.0 1.00e+00 1.00e+00f 1 95 5.7275508e-06 3.33e-16 1.69e-05 -5.9 2.41e-02 -20.0 1.00e+00 1.00e+00h 1 96 5.3156373e-06 7.37e-17 2.36e-06 -5.9 3.42e-03 -20.0 1.00e+00 1.00e+00h 1 97 3.8095733e-07 3.86e-17 8.00e-05 -8.9 2.90e-01 -20.0 9.71e-01 1.00e+00f 1 98 1.5347760e-07 5.29e-17 8.37e-06 -8.9 6.40e-02 -20.0 1.00e+00 1.00e+00f 1 99 1.4990923e-03 5.10e-16 2.25e-03 -4.0 3.23e+02 -20.0 1.00e+00 7.55e-03f 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 4.9077898e-04 6.13e-14 5.35e-03 -3.8 6.90e-01 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 4.9077897531878308e-04 4.9077897531878308e-04 Dual infeasibility......: 5.3546774744857809e-03 5.3546774744857809e-03 Constraint violation....: 6.1284310959308641e-14 6.1284310959308641e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.0369019271991253e-04 2.0369019271991253e-04 Overall NLP error.......: 5.3546774744857809e-03 5.3546774744857809e-03 Number of objective function evaluations = 169 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 169 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 = 3.070 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 3.7709365e+00 3.27e+00 6.37e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7191106e+00 3.76e-02 4.35e-01 -1.0 2.93e+00 - 1.00e+00 1.00e+00f 1 2 2.3806627e+00 1.01e-02 1.02e-01 -1.6 1.17e-01 - 9.00e-01 1.00e+00f 1 3 2.1332766e+00 1.42e-03 1.29e-02 -2.8 4.24e-02 - 9.34e-01 9.22e-01h 1 4 2.0912686e+00 1.73e-04 1.07e-03 -4.0 2.48e-02 - 9.99e-01 1.00e+00h 1 5 2.0908941e+00 3.08e-05 6.06e-04 -4.0 4.59e-01 - 1.00e+00 1.00e+00h 1 6 2.0908972e+00 6.60e-09 8.41e-08 -4.0 1.47e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 1.14e-12 2.22e-10 -4.0 3.08e-02 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971978642832e+00 2.0908971978642832e+00 Dual infeasibility......: 2.2175589606244182e-10 2.2175589606244182e-10 Constraint violation....: 1.1389685002235499e-12 1.1389685002235499e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000013619124679e-04 1.0000013619124679e-04 Overall NLP error.......: 2.2175589606244182e-10 2.2175589606244182e-10 Number of objective function evaluations = 8 Number of objective gradient evaluations = 8 Number of equality constraint evaluations = 8 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 8 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 7 Total seconds in IPOPT = 24.565 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: bounds constraint on trajectory variable du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.8116856e+00 1.96e+00 5.02e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.2335016e+00 7.31e-01 1.26e+01 -0.3 1.96e+00 0.0 1.04e-01 6.27e-01f 1 2 2.8595713e+00 4.34e-01 8.56e+00 -0.7 7.31e-01 1.3 6.74e-01 4.07e-01f 1 3 2.8724134e+00 2.28e-01 5.51e+00 -0.4 4.34e-01 0.9 9.66e-01 4.74e-01f 1 4 2.5131040e+00 2.24e-01 5.50e+00 -4.0 1.80e+01 0.4 8.82e-03 1.80e-02f 1 5 2.7555806e+00 2.40e-02 3.91e+00 -4.0 3.00e-01 -0.1 5.26e-01 1.00e+00h 1 6 2.6972633e+00 9.00e-03 6.10e-01 -1.0 1.41e-01 -0.6 9.89e-01 1.00e+00f 1 7 2.4153405e+00 1.39e-02 8.86e-02 -1.7 2.08e-01 -1.1 9.27e-01 1.00e+00f 1 8 2.2328260e+00 7.89e-03 3.78e-01 -2.2 6.69e-01 -1.5 9.34e-01 4.45e-01h 1 9 2.1185584e+00 2.61e-03 3.92e-02 -2.7 1.66e-01 -2.0 9.98e-01 8.41e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0933601e+00 2.79e-04 2.90e-02 -4.0 5.38e-02 -2.5 1.00e+00 8.98e-01h 1 11 2.0909452e+00 1.44e-05 1.98e-03 -4.0 1.92e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0909224e+00 3.18e-07 1.99e-05 -4.0 5.51e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0909064e+00 8.24e-09 1.97e-05 -4.0 1.64e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0908601e+00 7.83e-08 3.02e-05 -4.0 4.75e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0907339e+00 5.58e-07 2.28e-04 -4.0 1.30e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0904473e+00 2.51e-06 1.28e-03 -4.0 2.99e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0900704e+00 5.46e-06 3.35e-03 -4.0 4.72e+00 -5.8 1.00e+00 1.00e+00h 1 18 2.0899192e+00 4.08e-06 2.59e-03 -4.0 6.17e+00 -6.3 1.00e+00 1.00e+00h 1 19 2.0898452e+00 1.47e-06 1.53e-03 -4.0 9.91e+00 -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 2.0898266e+00 8.10e-07 1.35e-03 -4.0 1.16e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0898231e+00 1.72e-06 4.92e-04 -4.0 7.95e+00 -7.7 1.00e+00 1.00e+00h 1 22 2.0898220e+00 1.69e-07 3.43e-05 -4.0 1.73e+00 -8.2 1.00e+00 1.00e+00h 1 23 2.0898219e+00 1.44e-09 2.80e-07 -4.0 1.90e-01 -8.7 1.00e+00 1.00e+00h 1 24 2.0898218e+00 9.27e-13 4.04e-10 -4.0 8.84e-03 -9.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 24 (scaled) (unscaled) Objective...............: 2.0898218498245309e+00 2.0898218498245309e+00 Dual infeasibility......: 4.0404364416387652e-10 4.0404364416387652e-10 Constraint violation....: 9.2706398113762134e-13 9.2706398113762134e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000017e-04 1.0000000000000017e-04 Overall NLP error.......: 4.0404364416387652e-10 4.0404364416387652e-10 Number of objective function evaluations = 25 Number of objective gradient evaluations = 25 Number of equality constraint evaluations = 25 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 25 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 24 Total seconds in IPOPT = 24.624 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: bounds constraint on trajectory variable x applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 35 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.5319726e+00 2.83e+00 3.57e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.4433116e+00 2.70e+00 6.35e+00 -1.1 2.04e+00 0.0 2.73e-01 4.72e-02h 1 2 3.4427787e+00 2.70e+00 9.75e+02 -4.0 3.22e+00 -0.5 5.87e-02 4.99e-04h 1 3 3.5016980e+00 2.70e+00 2.61e+03 -0.0 2.74e+02 -1.0 1.17e-03 2.70e-04f 3 4 3.6399405e+00 2.68e+00 4.25e+03 0.1 8.64e+02 -1.4 4.68e-03 1.24e-03f 2 5 3.6565921e+00 2.66e+00 2.03e+04 1.4 6.17e+02 -1.0 4.97e-02 2.36e-03f 1 6 3.6995848e+00 2.66e+00 6.95e+05 2.0 3.08e+02 -1.5 3.08e-02 7.77e-04h 1 7 3.6998689e+00 2.66e+00 5.67e+09 -0.5 4.52e+01 -2.0 3.03e-01 3.55e-05h 1 8r 3.6998689e+00 2.66e+00 1.00e+03 1.0 0.00e+00 -2.4 0.00e+00 2.73e-07R 4 9r 3.8268703e+00 9.64e-01 9.78e+02 2.6 4.33e+02 - 3.32e-02 6.09e-03f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 3.8160616e+00 9.54e-01 2.19e+01 -4.0 9.78e+00 -2.9 2.52e-01 1.09e-02h 1 11 3.8165766e+00 9.53e-01 1.36e+05 0.1 2.50e+02 -3.4 5.18e-01 1.17e-04h 1 12 3.8187529e+00 9.53e-01 2.71e+09 0.9 1.34e+02 -3.9 1.00e+00 4.96e-05h 1 13r 3.8187529e+00 9.53e-01 9.95e+02 2.5 0.00e+00 -4.3 0.00e+00 2.57e-07R 2 14r 2.6648380e+00 2.03e-01 6.01e+02 1.2 3.63e+00 - 4.35e-01 3.11e-01f 1 15 2.6586146e+00 1.99e-01 2.40e+01 -4.0 5.85e+00 -4.8 5.68e-01 2.26e-02h 1 16 2.6625280e+00 1.99e-01 6.30e+04 0.4 3.11e+02 -5.3 4.35e-01 2.74e-04h 1 17 2.6656757e+00 1.99e-01 8.19e+08 0.7 6.47e+01 -5.8 1.00e+00 7.60e-05h 1 18r 2.6656757e+00 1.99e-01 9.97e+02 2.5 0.00e+00 -6.3 0.00e+00 4.00e-07R 2 19r 3.1291207e+00 2.01e-01 1.03e+02 0.5 6.53e-01 - 9.43e-01 8.09e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20r 3.1380582e+00 2.06e-01 5.12e+01 0.5 1.12e-01 2.0 1.00e+00 9.07e-01f 1 21r 3.3212901e+00 2.00e-01 3.82e+00 -0.3 1.03e-01 1.5 9.65e-01 9.59e-01f 1 22r 3.5807650e+00 1.99e-01 1.42e+01 -1.0 8.61e-02 1.0 9.85e-01 8.72e-01f 1 23r 3.6300282e+00 1.99e-01 2.61e+00 -1.5 2.67e-02 0.6 9.90e-01 1.00e+00f 1 24r 3.5242928e+00 1.99e-01 5.16e-02 -2.2 1.70e-01 - 1.00e+00 1.00e+00f 1 25r 3.3425024e+00 1.99e-01 3.67e-02 -2.8 3.06e-01 - 1.00e+00 1.00e+00f 1 26r 3.1757332e+00 1.99e-01 9.61e-01 -3.7 1.68e-01 - 8.04e-01 1.00e+00h 1 27r 3.1609392e+00 1.99e-01 2.54e-03 -4.0 2.88e-02 - 1.00e+00 1.00e+00h 1 28r 3.2384224e+00 1.99e-01 2.14e-04 -4.0 3.01e-02 - 1.00e+00 1.00e+00h 1 29r 3.2019867e+00 1.99e-01 5.88e-04 -4.1 1.97e-02 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30r 3.2677109e+00 1.99e-01 5.87e-04 -4.0 3.27e-02 - 1.00e+00 1.00e+00h 1 31r 3.2058515e+00 1.99e-01 5.83e-04 -4.1 3.08e-02 - 1.00e+00 1.00e+00h 1 32r 3.0404552e+00 1.99e-01 2.85e-02 -6.1 8.49e-02 - 7.43e-01 1.00e+00h 1 33r 3.0473561e+00 1.99e-01 5.36e-03 -4.0 3.09e-03 0.1 1.00e+00 1.00e+00f 1 34r 3.1613117e+00 1.99e-01 1.23e-03 -4.0 6.49e-02 - 1.00e+00 1.00e+00h 1 35r 3.1937897e+00 1.99e-01 6.09e-04 -4.1 4.52e-02 - 1.00e+00 1.00e+00h 1 36r 3.2694200e+00 1.99e-01 6.08e-04 -4.0 3.81e-02 - 1.00e+00 1.00e+00h 1 37r 3.2059824e+00 1.99e-01 5.82e-04 -4.1 3.18e-02 - 1.00e+00 1.00e+00h 1 38r 3.0404197e+00 1.99e-01 2.86e-02 -6.1 8.50e-02 - 7.42e-01 1.00e+00h 1 39r 3.0451236e+00 1.99e-01 1.02e-02 -6.1 2.76e-03 -0.4 8.84e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40r 3.0655539e+00 1.99e-01 5.11e-03 -4.0 1.18e-02 -0.9 1.00e+00 1.00e+00f 1 41r 3.1643103e+00 1.99e-01 5.71e-04 -4.1 4.78e-02 - 1.00e+00 1.00e+00h 1 42r 3.2250891e+00 1.99e-01 4.32e-05 -4.1 3.31e-02 - 1.00e+00 1.00e+00h 1 43r 3.0475415e+00 1.99e-01 2.65e-02 -6.1 9.00e-02 - 7.45e-01 1.00e+00h 1 44r 3.0536701e+00 1.99e-01 9.97e-03 -6.1 3.22e-03 -1.3 8.84e-01 1.00e+00h 1 45r 3.0405546e+00 1.99e-01 1.91e-05 -6.1 2.08e-02 - 1.00e+00 1.00e+00h 1 46r 3.0266206e+00 1.99e-01 1.32e-07 -6.1 9.31e-03 - 1.00e+00 1.00e+00h 1 47r 3.0273267e+00 1.99e-01 4.93e-10 -6.1 6.37e-04 - 1.00e+00 1.00e+00h 1 48r 3.4124793e+00 1.99e-01 2.23e-01 -4.0 2.64e+00 - 1.00e+00 1.04e-01f 1 49r 3.3305467e+00 1.99e-01 2.07e-03 -4.4 1.15e-01 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50r 3.1374196e+00 1.99e-01 6.92e-04 -4.4 1.36e-01 - 6.27e-01 6.95e-01H 1 51r 3.1514768e+00 1.99e-01 8.08e-05 -4.4 3.03e-02 - 1.00e+00 1.00e+00f 1 52r 3.1658252e+00 1.99e-01 8.35e-07 -4.4 7.65e-03 - 1.00e+00 1.00e+00h 1 53r 3.0295871e+00 1.99e-01 1.31e-02 -6.6 7.41e-02 - 7.76e-01 1.00e+00h 1 54r 3.1966130e+00 1.99e-01 5.29e-03 -4.0 1.17e-01 -1.8 1.00e+00 1.00e+00f 1 55r 3.2171340e+00 1.99e-01 4.92e-04 -4.1 2.72e-02 - 1.00e+00 1.00e+00h 1 56r 3.0406158e+00 1.99e-01 2.76e-02 -6.1 8.85e-02 - 7.52e-01 1.00e+00h 1 57r 3.0427864e+00 1.99e-01 5.45e-03 -6.1 5.15e-03 -2.3 9.37e-01 1.00e+00h 1 58r 3.0353587e+00 1.99e-01 4.97e-06 -6.1 1.62e-02 - 1.00e+00 1.00e+00h 1 59r 3.0279165e+00 1.99e-01 5.76e-08 -6.1 4.75e-03 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60r 3.0279583e+00 1.99e-01 4.39e-11 -6.1 8.27e-05 - 1.00e+00 1.00e+00h 1 61r 3.4138116e+00 1.99e-01 2.22e-01 -4.0 2.56e+00 - 1.00e+00 1.07e-01f 1 62r 3.3304902e+00 1.99e-01 2.07e-03 -4.4 1.15e-01 - 1.00e+00 1.00e+00f 1 63r 3.1365995e+00 1.99e-01 6.79e-04 -4.4 1.35e-01 - 6.31e-01 7.01e-01H 1 64r 3.1519449e+00 1.99e-01 7.81e-05 -4.4 3.04e-02 - 1.00e+00 1.00e+00f 1 65r 3.1659954e+00 1.99e-01 8.06e-07 -4.4 7.55e-03 - 1.00e+00 1.00e+00h 1 66r 3.0296366e+00 1.99e-01 1.31e-02 -6.6 7.41e-02 - 7.76e-01 1.00e+00h 1 67r 3.0244993e+00 1.99e-01 1.59e-03 -6.6 5.42e-03 -2.8 9.63e-01 1.00e+00h 1 68r 3.4033660e+00 1.99e-01 2.29e-01 -4.0 3.69e+00 - 1.00e+00 7.40e-02f 1 69r 3.3258878e+00 1.99e-01 6.68e-03 -4.4 1.32e-01 - 9.51e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70r 3.1750288e+00 1.99e-01 3.23e-03 -4.4 1.59e-01 - 5.22e-01 4.83e-01h 1 71r 3.1235838e+00 1.99e-01 2.50e-04 -4.4 4.48e-02 - 1.00e+00 1.00e+00f 1 72r 3.1594880e+00 1.99e-01 4.99e-06 -4.4 1.43e-02 - 1.00e+00 1.00e+00h 1 73r 3.0277393e+00 1.99e-01 1.20e-02 -6.7 7.24e-02 - 7.81e-01 1.00e+00h 1 74r 3.4239557e+00 1.99e-01 6.55e-02 -4.0 3.76e-01 -2.3 1.00e+00 6.66e-01f 1 75r 3.2676311e+00 1.99e-01 1.22e-03 -4.2 1.26e-01 - 1.00e+00 1.00e+00h 1 76r 3.1937822e+00 1.99e-01 1.13e-04 -4.2 3.30e-02 - 1.00e+00 1.00e+00h 1 77r 3.0400687e+00 1.99e-01 2.23e-02 -6.3 8.05e-02 - 7.57e-01 1.00e+00h 1 78r 3.0208840e+00 1.99e-01 3.01e-03 -6.3 1.28e-02 -2.8 9.56e-01 1.00e+00h 1 79r 3.0266318e+00 1.99e-01 1.67e-06 -6.3 1.11e-02 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80r 3.0236378e+00 1.99e-01 1.89e-08 -6.3 3.24e-03 - 1.00e+00 1.00e+00h 1 81r 3.4043723e+00 1.99e-01 2.32e-01 -4.0 3.17e+00 - 1.00e+00 8.69e-02f 1 82r 3.3308944e+00 1.99e-01 2.10e-03 -4.4 1.13e-01 - 1.00e+00 1.00e+00f 1 83r 3.1425888e+00 1.99e-01 7.60e-04 -4.4 1.41e-01 - 6.10e-01 6.61e-01H 1 84r 3.1485170e+00 1.99e-01 9.83e-05 -4.4 2.98e-02 - 1.00e+00 1.00e+00f 1 85r 3.1649405e+00 1.99e-01 1.04e-06 -4.4 8.59e-03 - 1.00e+00 1.00e+00h 1 86r 3.0293286e+00 1.99e-01 1.29e-02 -6.6 7.39e-02 - 7.77e-01 1.00e+00h 1 87r 3.0309768e+00 1.99e-01 1.93e-03 -6.6 2.72e-03 -2.4 9.55e-01 1.00e+00h 1 88r 3.4025641e+00 1.99e-01 2.30e-01 -4.0 3.75e+00 - 1.00e+00 7.17e-02f 1 89r 3.3294883e+00 1.99e-01 2.25e-03 -4.4 1.29e-01 - 9.84e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90r 3.2127179e+00 1.99e-01 3.23e-03 -4.4 2.40e-01 - 4.25e-01 3.04e-01h 1 91r 3.0777165e+00 1.99e-01 1.06e-03 -4.4 7.70e-02 - 1.00e+00 9.45e-01f 1 92r 3.1549862e+00 1.99e-01 3.86e-05 -4.4 3.26e-02 - 1.00e+00 1.00e+00f 1 93r 3.1600337e+00 1.99e-01 4.82e-07 -4.4 6.17e-03 - 1.00e+00 1.00e+00h 1 94r 3.0279403e+00 1.99e-01 1.21e-02 -6.7 7.22e-02 - 7.80e-01 1.00e+00h 1 95r 3.3491500e+00 1.99e-01 9.10e-03 -4.0 1.48e+00 -2.9 2.45e-01 1.04e-01f 1 96r 3.1528398e+00 1.99e-01 1.00e-02 -4.9 9.86e-02 - 1.03e-01 1.00e+00h 1 97r 3.1155937e+00 1.99e-01 2.04e-04 -4.9 4.77e-02 -2.4 1.00e+00 1.00e+00h 1 98r 3.0972270e+00 1.99e-01 6.91e-06 -4.9 2.66e-02 - 1.00e+00 1.00e+00h 1 99r 3.0105710e+00 1.99e-01 3.98e-03 -7.4 5.23e-02 - 8.31e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100r 3.3692171e+00 1.99e-01 1.57e-01 -4.0 2.09e+00 -2.9 1.00e+00 9.36e-02f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 3.3692170757723647e+00 3.3692170757723647e+00 Dual infeasibility......: 2.1028198267633691e+00 2.1028198267633691e+00 Constraint violation....: 1.9875026914509208e-01 1.9875026914509208e-01 Variable bound violation: 6.0061033924085905e-10 6.0061033924085905e-10 Complementarity.........: 1.3145100772162435e-04 1.3145100772162435e-04 Overall NLP error.......: 2.1028198267633691e+00 2.1028198267633691e+00 Number of objective function evaluations = 117 Number of objective gradient evaluations = 20 Number of equality constraint evaluations = 117 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 104 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 25.436 EXIT: Maximum Number of Iterations Exceeded. 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 4.4217048e+00 4.04e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.5242925e+00 1.14e-01 4.47e-01 -1.0 2.34e+00 -2.0 6.49e-01 1.00e+00f 1 2 2.3956039e+00 6.66e-02 2.68e-01 -1.5 1.26e+00 -2.5 9.32e-01 1.00e+00f 1 3 2.1704993e+00 3.51e-02 8.27e-02 -2.2 9.95e-01 -3.0 1.00e+00 1.00e+00h 1 4 2.0955756e+00 5.90e-03 1.32e-02 -3.2 5.50e-01 -3.4 9.42e-01 1.00e+00h 1 5 2.0908432e+00 8.24e-05 2.35e-03 -4.0 1.59e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0907696e+00 5.13e-06 4.81e-05 -4.0 5.00e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0906223e+00 8.55e-07 2.05e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0901814e+00 7.76e-06 3.44e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0888695e+00 7.11e-05 3.07e-04 -4.0 1.33e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0850341e+00 6.72e-04 2.80e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0796356e+00 2.09e-03 1.77e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.34e-01h 1 12 2.0802797e+00 1.79e-04 1.76e-01 -4.0 6.47e+01 -7.2 1.00e+00 9.90e-01H 1 13 2.0773668e+00 8.59e-03 2.15e-02 -4.0 1.24e+02 -7.7 1.00e+00 9.84e-01h 1 14 2.0771875e+00 1.87e-03 7.90e-02 -4.0 2.11e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0761010e+00 4.09e-03 1.90e-02 -4.0 3.52e+02 -8.7 1.00e+00 8.22e-01h 1 16 2.0755547e+00 1.62e-03 2.26e-02 -4.0 4.48e+02 -9.2 1.00e+00 7.65e-01h 1 17 2.0757489e+00 2.79e-03 9.11e-03 -4.0 1.29e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0753685e+00 1.32e-03 3.54e-04 -4.1 6.97e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0756724e+00 4.79e-04 6.54e-06 -4.0 2.11e+01 -10.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0756712e+00 5.82e-07 9.25e-07 -4.0 1.08e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0756712e+00 1.63e-09 6.02e-08 -4.0 3.74e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0756712e+00 2.32e-11 9.33e-10 -4.0 5.42e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0756712121327570e+00 2.0756712121327570e+00 Dual infeasibility......: 9.3295244611908169e-10 9.3295244611908169e-10 Constraint violation....: 2.3241741864410415e-11 2.3241741864410415e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000010e-04 1.0000000000000010e-04 Overall NLP error.......: 9.3295244611908169e-10 9.3295244611908169e-10 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 = 25.506 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 2.8375799e+00 3.96e+00 7.49e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7313911e+00 1.28e-01 1.43e+00 -1.2 2.75e+00 -2.0 9.78e-01 1.00e+00h 1 2 2.4391162e+00 1.09e-01 1.91e-01 -1.3 1.12e+00 -1.6 8.94e-01 7.91e-01h 1 3 2.1596600e+00 1.25e-02 4.01e-02 -2.4 3.11e-01 -2.1 9.64e-01 1.00e+00h 1 4 2.0936840e+00 1.18e-03 6.41e-03 -3.7 1.20e-01 -2.5 9.60e-01 9.81e-01h 1 5 2.0909194e+00 2.19e-05 4.91e-04 -4.0 2.68e-02 -3.0 1.00e+00 1.00e+00h 1 6 2.0909143e+00 1.11e-07 2.32e-05 -4.0 7.06e-02 -3.5 1.00e+00 1.00e+00h 1 7 2.0908936e+00 2.94e-08 1.96e-04 -4.0 1.93e-01 -4.0 1.00e+00 1.00e+00h 1 8 2.0908517e+00 1.46e-07 2.45e-04 -4.0 4.80e-01 -4.4 1.00e+00 1.00e+00h 1 9 2.0907621e+00 5.08e-07 8.99e-04 -4.0 1.19e+00 -4.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0905162e+00 4.86e-06 9.03e-04 -4.0 3.77e+00 -5.4 1.00e+00 1.00e+00h 1 11 2.0899487e+00 6.67e-06 1.33e-02 -4.0 1.01e+01 -5.9 1.00e+00 6.62e-01H 1 12 2.0903692e+00 3.55e-04 7.80e-02 -4.0 3.31e+01 -6.3 1.00e+00 1.00e+00f 1 13 2.0867823e+00 3.32e-04 4.80e-01 -4.1 2.33e+01 -5.0 1.00e+00 3.32e-01h 1 14 2.0866568e+00 1.60e-04 1.78e-02 -4.0 4.08e+00 -5.5 1.00e+00 1.00e+00f 1 15 2.0856768e+00 3.39e-04 6.02e-03 -4.0 1.19e+01 -6.0 1.00e+00 1.00e+00h 1 16 2.0841566e+00 2.07e-04 1.16e-02 -4.0 2.57e+01 -6.4 1.00e+00 1.00e+00h 1 17 2.0827682e+00 1.08e-04 1.73e-02 -4.0 3.02e+01 -6.9 1.00e+00 8.48e-01h 1 18 2.0829200e+00 9.68e-04 3.01e-02 -4.0 6.84e+01 -7.4 1.00e+00 1.00e+00h 1 19 2.0820247e+00 1.99e-03 9.52e-03 -4.1 1.57e+02 -7.9 9.62e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0832574e+00 2.60e-05 5.07e-02 -4.0 5.31e+01 -6.5 1.00e+00 1.00e+00H 1 21 2.0838821e+00 7.08e-04 3.44e-03 -3.5 4.09e+00 -5.2 1.00e+00 1.00e+00h 1 22 2.0834874e+00 5.02e-04 8.32e-01 -3.6 4.53e+00 -4.8 5.13e-01 2.78e-01h 1 23 2.0846631e+00 4.79e-04 1.08e+00 -3.6 1.12e+01 -5.3 1.00e+00 4.72e-02f 3 24 2.0840103e+00 7.94e-04 1.49e-03 -3.6 1.84e+00 -5.7 1.00e+00 1.00e+00h 1 25 2.0813304e+00 2.49e-03 5.81e-02 -5.5 9.82e+00 -6.2 5.64e-01 1.00e+00h 1 26 2.0849114e+00 2.09e-03 4.04e-01 -4.0 4.28e+01 -5.8 3.51e-01 1.77e-01h 1 27 2.0840027e+00 1.75e-03 2.03e-01 -4.1 8.61e+00 -6.3 1.00e+00 1.63e-01h 1 28 2.0818909e+00 4.89e-04 1.04e-02 -4.1 1.12e+01 -6.8 1.00e+00 1.00e+00f 1 29 2.0820537e+00 2.86e-04 1.66e-03 -4.0 1.38e+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 30 2.0819755e+00 3.44e-05 1.80e-03 -4.0 3.26e+01 -7.7 1.00e+00 1.00e+00h 1 31 2.0818871e+00 1.18e-04 4.19e-03 -4.0 5.24e+01 -8.2 1.00e+00 1.00e+00h 1 32 2.0818505e+00 9.86e-05 2.34e-03 -4.0 5.18e+01 -8.7 1.00e+00 1.00e+00h 1 33 2.0818440e+00 1.56e-05 3.09e-04 -4.0 2.35e+01 -9.1 1.00e+00 1.00e+00h 1 34 2.0818434e+00 3.63e-07 1.08e-05 -4.0 4.22e+00 -9.6 1.00e+00 1.00e+00h 1 35 2.0818434e+00 1.15e-09 4.91e-08 -4.0 2.78e-01 -10.1 1.00e+00 1.00e+00h 1 36 2.0818434e+00 4.97e-13 1.00e-09 -4.0 6.46e-03 -10.6 1.00e+00 1.00e+00h 1 Number of Iterations....: 36 (scaled) (unscaled) Objective...............: 2.0818434105329486e+00 2.0818434105329486e+00 Dual infeasibility......: 1.0000000024416476e-09 1.0000000024416476e-09 Constraint violation....: 4.9737991503207013e-13 4.9737991503207013e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000051e-04 1.0000000000000051e-04 Overall NLP error.......: 1.0000000024416476e-09 1.0000000024416476e-09 Number of objective function evaluations = 43 Number of objective gradient evaluations = 37 Number of equality constraint evaluations = 43 Number of inequality constraint evaluations = 43 Number of equality constraint Jacobian evaluations = 37 Number of inequality constraint Jacobian evaluations = 37 Number of Lagrangian Hessian evaluations = 36 Total seconds in IPOPT = 25.556 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.: 96 Number of nonzeros in Lagrangian Hessian.............: 1804 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.1307697e+01 3.37e+00 3.53e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.8030150e+00 1.06e-01 4.72e+00 -1.0 2.36e+00 0.0 7.69e-01 1.00e+00f 1 2 2.8890373e+00 1.11e-02 1.27e+00 -1.0 3.15e-01 0.4 9.89e-01 1.00e+00f 1 3 2.4472964e+00 1.09e-03 3.18e-01 -1.8 2.45e-01 -0.1 9.94e-01 1.00e+00h 1 4 2.1761026e+00 8.43e-03 9.09e-02 -2.4 2.02e-01 -0.5 9.95e-01 6.80e-01f 1 5 2.0979351e+00 1.53e-04 1.15e-02 -3.1 4.31e-02 -1.0 9.95e-01 1.00e+00h 1 6 2.0908607e+00 6.13e-06 1.18e-03 -4.0 5.75e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0908735e+00 1.91e-08 4.63e-05 -4.0 4.22e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908734e+00 1.17e-10 2.30e-05 -4.0 6.29e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908725e+00 6.10e-11 1.72e-05 -4.0 1.41e-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 2.0908693e+00 5.56e-10 1.69e-05 -4.0 4.17e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908600e+00 4.65e-09 1.65e-05 -4.0 1.22e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908342e+00 3.56e-08 6.41e-05 -4.0 3.44e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907624e+00 2.84e-07 2.51e-04 -4.0 9.57e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905505e+00 2.84e-06 2.98e-04 -4.0 2.86e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0904628e+00 4.23e-07 3.24e-04 -4.0 1.12e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0903000e+00 1.30e-06 8.10e-03 -4.0 4.01e+00 -5.4 1.00e+00 4.18e-01h 2 17 2.0894253e+00 3.18e-05 4.84e-03 -4.0 1.07e+01 -5.8 1.00e+00 9.04e-01h 1 18 2.0877307e+00 3.08e-04 3.49e-02 -4.0 2.95e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0864538e+00 2.89e-04 1.84e-01 -4.0 4.47e+01 -5.9 1.00e+00 2.13e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0849164e+00 2.47e-04 2.56e-02 -4.0 2.47e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0828054e+00 2.20e-04 2.73e-02 -4.0 3.67e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0830915e+00 1.11e-03 3.32e-02 -4.0 5.63e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0821711e+00 1.24e-03 8.24e-03 -4.1 1.34e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.1014253e+00 6.38e-06 8.16e-01 -4.0 5.00e+02 -8.3 1.06e-01 1.00e+00H 1 25 2.0843499e+00 2.04e-03 6.50e+00 -4.2 6.01e+00 -4.2 2.97e-02 2.70e-01f 1 26 2.0837620e+00 1.38e-03 4.44e+00 -4.2 1.00e+00 -2.9 1.00e+00 3.22e-01f 1 27 2.0827177e+00 9.64e-04 3.18e+00 -4.2 2.43e+00 -3.4 1.00e+00 3.11e-01f 1 28 2.0834987e+00 4.77e-04 2.22e+00 -4.0 2.95e-01 -3.9 1.00e+00 5.00e-01f 2 29 2.0832715e+00 1.23e-05 1.15e-03 -4.0 1.44e-01 -4.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0831404e+00 6.25e-06 1.15e-04 -4.0 4.13e-01 -4.8 1.00e+00 1.00e+00h 1 31 2.0830663e+00 2.02e-06 7.52e-05 -4.0 1.19e+00 -5.3 1.00e+00 1.00e+00h 1 32 2.0829333e+00 8.09e-06 3.72e-04 -4.0 3.23e+00 -5.8 1.00e+00 1.00e+00h 1 33 2.0827688e+00 1.82e-05 8.43e-04 -4.0 8.36e+00 -6.2 1.00e+00 1.00e+00h 1 34 2.0825478e+00 4.00e-05 1.69e-03 -4.0 2.11e+01 -6.7 1.00e+00 1.00e+00h 1 35 2.0822021e+00 2.38e-04 7.08e-03 -4.0 4.92e+01 -7.2 1.00e+00 1.00e+00h 1 36 2.0818593e+00 7.19e-04 9.62e-03 -4.0 9.89e+01 -7.7 8.79e-01 1.00e+00h 1 37 2.0819228e+00 8.27e-04 1.72e-02 -4.0 1.96e+01 -6.3 1.00e+00 1.00e+00h 1 38 2.0845369e+00 1.11e-02 7.47e-03 -3.4 6.09e+01 -6.8 8.79e-01 1.00e+00h 1 39 2.1187729e+00 1.01e-02 1.38e-01 -3.6 7.00e+02 -7.3 7.69e-03 5.22e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0904324e+00 3.39e-03 5.95e-01 -3.6 4.25e+01 -7.8 5.93e-03 1.00e+00f 1 41 2.0871701e+00 1.83e-08 5.57e-02 -3.6 4.67e-02 0.1 1.00e+00 1.00e+00h 1 42 2.0842344e+00 3.94e-07 2.43e-02 -4.0 6.24e-02 -0.4 1.00e+00 1.00e+00h 1 43 2.0832961e+00 1.21e-06 4.27e-03 -4.0 3.66e-02 -0.9 1.00e+00 1.00e+00h 1 44 2.0830047e+00 3.10e-06 1.35e-03 -4.0 3.09e-02 -1.4 1.00e+00 1.00e+00h 1 45 2.0827619e+00 7.33e-07 4.14e-04 -4.0 2.83e-02 -1.8 1.00e+00 1.00e+00h 1 46 2.0827522e+00 5.41e-08 5.16e-05 -4.0 1.06e-02 -2.3 1.00e+00 1.00e+00h 1 47 2.0827555e+00 1.45e-08 3.68e-05 -4.0 4.29e-03 -2.8 1.00e+00 1.00e+00h 1 48 2.0827551e+00 4.73e-09 3.69e-05 -4.0 1.28e-02 -3.3 1.00e+00 1.00e+00h 1 49 2.0827533e+00 4.16e-10 3.69e-05 -4.0 3.83e-02 -3.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0827479e+00 3.62e-09 3.69e-05 -4.0 1.15e-01 -4.2 1.00e+00 1.00e+00h 1 51 2.0827321e+00 3.23e-08 3.70e-05 -4.0 3.40e-01 -4.7 1.00e+00 1.00e+00h 1 52 2.0826863e+00 2.78e-07 3.73e-05 -4.0 9.86e-01 -5.2 1.00e+00 1.00e+00h 1 53 2.0825647e+00 2.22e-06 1.95e-04 -4.0 2.67e+00 -5.7 1.00e+00 1.00e+00h 1 54 2.0823137e+00 1.42e-05 1.05e-03 -4.0 5.86e+00 -6.1 1.00e+00 1.00e+00h 1 55 2.0820620e+00 4.45e-05 1.99e-03 -4.0 1.14e+01 -6.6 1.00e+00 1.00e+00h 1 56 2.0819959e+00 5.46e-04 2.55e-02 -4.0 4.66e+01 -7.1 6.55e-01 1.00e+00h 1 57 2.0818842e+00 7.74e-04 4.65e+00 -4.0 5.35e+01 -5.8 9.87e-01 6.88e-02h 2 58 2.0817965e+00 7.41e-05 1.48e-02 -4.0 1.92e+00 -6.2 1.00e+00 9.20e-01h 1 59 2.0818722e+00 1.40e-04 1.67e-03 -4.0 1.34e+00 -6.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0816262e+00 1.35e-04 3.72e-04 -4.1 6.43e+00 -7.2 1.00e+00 1.00e+00h 1 61 2.0818498e+00 1.29e-04 1.44e-04 -4.0 5.69e+00 -7.7 1.00e+00 1.00e+00h 1 62 2.0815908e+00 2.88e-04 6.73e-05 -4.1 1.29e+01 -8.1 1.00e+00 1.00e+00h 1 63 2.0818414e+00 2.34e-04 4.16e-05 -4.0 1.00e+01 -8.6 1.00e+00 1.00e+00h 1 64 2.0815826e+00 2.43e-04 3.38e-05 -4.1 1.10e+01 -9.1 1.00e+00 1.00e+00h 1 65 2.0818417e+00 1.86e-04 4.16e-05 -4.0 8.54e+00 -9.6 1.00e+00 1.00e+00h 1 66 2.0815820e+00 2.09e-04 3.39e-05 -4.1 9.52e+00 -10.0 1.00e+00 1.00e+00h 1 67 2.0818419e+00 2.12e-04 4.16e-05 -4.0 9.65e+00 -10.5 1.00e+00 1.00e+00h 1 68 2.0815819e+00 2.13e-04 3.39e-05 -4.1 9.71e+00 -11.0 1.00e+00 1.00e+00h 1 69 2.0818419e+00 2.13e-04 4.16e-05 -4.0 9.74e+00 -11.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0815819e+00 2.14e-04 3.39e-05 -4.1 9.74e+00 -12.0 1.00e+00 1.00e+00h 1 71 2.0818419e+00 2.14e-04 4.16e-05 -4.0 9.74e+00 -12.4 1.00e+00 1.00e+00h 1 72 2.0815819e+00 2.14e-04 3.39e-05 -4.1 9.75e+00 -12.9 1.00e+00 1.00e+00h 1 73 2.0805924e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -13.4 9.77e-01 9.68e-01h 1 74 2.0818894e+00 6.59e-03 2.97e-04 -4.0 6.14e+01 -13.9 1.00e+00 1.00e+00f 1 75 2.0816124e+00 4.95e-04 3.45e-05 -4.1 2.07e+01 -14.3 1.00e+00 1.00e+00h 1 76 2.0806015e+00 3.47e-03 1.91e-04 -6.1 4.19e+01 -14.8 9.76e-01 9.61e-01h 1 77 2.0805507e+00 9.05e-05 2.22e-06 -6.1 1.70e+01 -15.3 1.00e+00 1.00e+00h 1 78 2.0819806e+00 1.03e-02 3.96e-04 -4.0 8.49e+01 -15.8 1.00e+00 1.00e+00f 1 79 2.0816780e+00 9.65e-04 4.95e-05 -4.1 4.57e+01 -16.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0816420e+00 4.58e-07 3.56e-05 -4.1 8.54e+00 -16.7 1.00e+00 1.00e+00h 1 81 2.0818414e+00 1.26e-04 4.16e-05 -4.0 7.46e+00 -17.2 1.00e+00 1.00e+00h 1 82 2.0815817e+00 2.11e-04 3.39e-05 -4.1 9.63e+00 -17.7 1.00e+00 1.00e+00h 1 83 2.0805923e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -18.2 9.77e-01 9.68e-01h 1 84 2.0805497e+00 7.03e-05 1.80e-06 -6.1 1.55e+01 -18.6 1.00e+00 1.00e+00h 1 85 2.0819871e+00 1.06e-02 4.00e-04 -4.0 8.58e+01 -19.1 1.00e+00 1.00e+00f 1 86 2.0816826e+00 9.87e-04 5.24e-05 -4.1 4.71e+01 -19.6 1.00e+00 1.00e+00h 1 87 2.0816444e+00 5.44e-07 3.57e-05 -4.1 8.94e+00 -20.0 1.00e+00 1.00e+00h 1 88 2.0805933e+00 3.65e-03 1.55e-04 -6.1 4.19e+01 -20.0 9.76e-01 9.71e-01h 1 89 2.0805509e+00 7.35e-05 1.95e-06 -6.1 1.62e+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 2.0805468e+00 5.07e-08 3.56e-07 -6.1 2.92e+00 -20.0 1.00e+00 1.00e+00h 1 91 2.0820226e+00 1.22e-02 4.21e-04 -4.0 9.85e+01 -20.0 1.00e+00 1.00e+00f 1 92 2.0817083e+00 1.09e-03 6.84e-05 -4.1 5.45e+01 -20.0 1.00e+00 1.00e+00h 1 93 2.0816573e+00 1.18e-06 3.60e-05 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 94 2.0805943e+00 3.73e-03 1.58e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.71e-01h 1 95 2.0805512e+00 7.57e-05 2.01e-06 -6.1 1.64e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0805469e+00 5.37e-08 3.62e-07 -6.1 3.01e+00 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 9.26e-07 7.80e-07 -9.0 9.40e-01 -20.0 1.00e+00 9.97e-01h 1 98 2.0820402e+00 1.30e-02 4.35e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 99 2.0817219e+00 1.13e-03 7.73e-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 100 2.0816639e+00 1.62e-06 3.62e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0816638911906304e+00 2.0816638911906304e+00 Dual infeasibility......: 3.6227864385893663e-05 3.6227864385893663e-05 Constraint violation....: 1.6177603023859177e-06 1.6177603023859177e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.8041846396843352e-05 8.8041846396843352e-05 Overall NLP error.......: 3.6227864385893663e-05 3.6227864385893663e-05 Number of objective function evaluations = 109 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 109 Number of inequality constraint evaluations = 109 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 30.967 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 10 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 1 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.8991943e+01 3.71e+00 2.43e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5956039e+01 1.69e+00 1.09e+01 -0.5 2.22e+00 0.0 8.75e-01 5.43e-01f 1 2 1.3105907e+01 1.66e+00 1.98e+01 1.4 4.66e+01 -0.5 4.94e-02 1.97e-02f 1 3 3.3422403e+00 5.11e-02 1.31e+01 -0.1 1.58e+00 -1.0 7.73e-01 1.00e+00f 1 4 3.0967044e+00 6.17e-02 4.88e+00 -0.7 1.49e+00 -1.4 9.79e-01 1.00e+00h 1 5 2.7361685e+00 7.02e-02 2.16e-01 -1.3 8.59e-01 -1.9 9.95e-01 1.00e+00h 1 6 2.2234614e+00 8.28e-02 1.29e-01 -2.4 1.39e+00 -2.4 8.99e-01 1.00e+00h 1 7 2.1023155e+00 5.73e-03 2.62e-02 -2.9 4.41e-01 -2.9 9.59e-01 1.00e+00h 1 8 2.0910060e+00 5.44e-05 6.95e-04 -4.0 5.41e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908901e+00 3.61e-06 2.29e-04 -4.0 1.56e-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 2.0908403e+00 6.80e-08 2.29e-04 -4.0 4.21e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907612e+00 3.16e-07 8.66e-04 -4.0 9.43e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905807e+00 2.71e-06 1.56e-03 -4.0 2.69e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0900641e+00 2.26e-05 5.79e-04 -4.0 8.17e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0897981e+00 3.73e-06 1.71e-03 -4.0 3.06e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891032e+00 2.23e-05 7.01e-03 -4.0 9.80e+00 -5.8 1.00e+00 7.78e-01h 1 16 2.0876517e+00 2.55e-04 3.12e-02 -4.0 2.63e+01 -6.3 1.00e+00 1.00e+00f 1 17 2.0864422e+00 2.50e-04 1.99e-01 -4.0 4.39e+01 -5.8 1.00e+00 2.06e-01h 1 18 2.0850168e+00 1.89e-04 2.39e-02 -4.0 2.26e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0829040e+00 2.06e-04 2.54e-02 -4.0 3.60e+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 2.0828411e+00 4.94e-04 1.81e-02 -4.0 5.21e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0823253e+00 7.00e-04 7.89e-03 -4.0 1.24e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.1219407e+00 1.34e-05 1.44e+00 -4.0 5.73e+02 -8.2 8.50e-02 1.00e+00H 1 23 2.0860835e+00 1.47e-04 7.86e+00 -4.1 5.03e+00 -2.4 2.47e-02 2.65e-01f 1 24 2.0852787e+00 1.20e-04 6.44e+00 -4.0 3.20e-01 -2.8 1.00e+00 1.86e-01f 1 25 2.0835343e+00 1.69e-04 3.38e+00 -4.0 2.81e+00 -3.3 1.00e+00 4.85e-01h 1 26 2.0838047e+00 4.27e-05 1.23e+00 -4.0 3.30e-01 -3.8 1.00e+00 7.29e-01h 1 27 2.0836295e+00 2.77e-05 3.03e-04 -4.0 2.20e-01 -4.3 1.00e+00 1.00e+00h 1 28 2.0836042e+00 1.46e-06 2.29e-04 -4.0 4.19e-01 -4.8 1.00e+00 1.00e+00h 1 29 2.0835378e+00 1.53e-06 2.29e-04 -4.0 1.21e+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 2.0834039e+00 7.79e-06 3.56e-04 -4.0 3.34e+00 -5.7 1.00e+00 1.00e+00h 1 31 2.0832181e+00 1.69e-05 8.64e-04 -4.0 8.85e+00 -6.2 1.00e+00 1.00e+00h 1 32 2.0829238e+00 4.96e-05 2.06e-03 -4.0 2.27e+01 -6.7 1.00e+00 1.00e+00h 1 33 2.0824437e+00 2.89e-04 9.15e-03 -4.0 5.22e+01 -7.1 1.00e+00 1.00e+00h 1 34 2.0819562e+00 9.17e-04 2.22e-02 -4.0 1.01e+02 -7.6 1.00e+00 1.00e+00h 1 35 2.0817357e+00 1.78e-03 1.97e-02 -4.0 8.71e+01 -7.2 1.00e+00 1.00e+00h 1 36 2.0817866e+00 6.22e-04 4.73e-03 -4.0 2.48e+01 -7.7 9.72e-01 1.00e+00h 1 37 2.0948214e+00 7.04e-05 8.00e-02 -4.0 2.99e+01 -8.1 1.00e+00 6.23e-01h 1 38 2.0881569e+00 9.09e-06 1.10e-01 -4.1 7.55e-02 -0.3 1.00e+00 8.71e-01h 1 39 2.0860162e+00 3.64e-06 5.52e+00 -4.1 5.65e-02 -0.8 6.08e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0838248e+00 8.98e-06 8.56e+00 -4.1 6.37e-01 -1.3 4.70e-01 2.65e-01h 1 41 2.0826612e+00 1.09e-05 1.10e-02 -4.1 6.68e-02 -0.8 1.00e+00 1.00e+00f 1 42 2.0819595e+00 1.39e-06 3.42e-03 -4.0 1.02e-01 -1.3 1.00e+00 1.00e+00h 1 43 2.0818800e+00 3.84e-07 2.29e-04 -4.0 1.31e-02 -1.8 1.00e+00 1.00e+00h 1 44 2.0818865e+00 1.06e-08 2.29e-04 -4.0 4.31e-03 -2.3 1.00e+00 1.00e+00h 1 45 2.0818855e+00 5.43e-10 2.29e-04 -4.0 2.29e-03 -2.7 1.00e+00 1.00e+00h 1 46 2.0818852e+00 9.53e-11 2.29e-04 -4.0 6.88e-03 -3.2 1.00e+00 1.00e+00h 1 47 2.0818845e+00 8.11e-10 2.29e-04 -4.0 2.07e-02 -3.7 1.00e+00 1.00e+00h 1 48 2.0818825e+00 7.29e-09 2.29e-04 -4.0 6.22e-02 -4.2 1.00e+00 1.00e+00h 1 49 2.0818766e+00 6.54e-08 2.29e-04 -4.0 1.89e-01 -4.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818607e+00 5.89e-07 2.29e-04 -4.0 5.88e-01 -5.1 1.00e+00 1.00e+00h 1 51 2.0818223e+00 5.70e-06 2.29e-04 -4.0 1.97e+00 -5.6 1.00e+00 1.00e+00h 1 52 2.0817022e+00 1.15e-04 1.52e-03 -4.0 9.21e+00 -6.1 1.00e+00 1.00e+00h 1 53 2.0897498e+00 1.26e-05 6.39e-02 -4.0 2.48e+01 -6.6 2.46e-01 7.00e-01h 1 54 2.0834402e+00 8.41e-05 4.25e-01 -4.1 6.05e+00 -7.0 1.36e-02 1.00e+00f 1 55 2.0817802e+00 2.77e-07 7.11e-03 -4.1 1.41e-01 -1.2 1.00e+00 1.00e+00h 1 56 2.0816905e+00 1.87e-07 1.14e-03 -4.0 4.26e-02 -1.7 1.00e+00 1.00e+00h 1 57 2.0817191e+00 2.01e-07 2.43e-04 -4.0 2.18e-02 -2.1 1.00e+00 1.00e+00h 1 58 2.0817207e+00 5.50e-08 2.29e-04 -4.0 1.39e-02 -2.6 1.00e+00 1.00e+00h 1 59 2.0817222e+00 2.72e-08 2.29e-04 -4.0 9.72e-03 -3.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0817243e+00 1.14e-08 2.29e-04 -4.0 2.90e-02 -3.6 1.00e+00 1.00e+00h 1 61 2.0817298e+00 5.01e-08 2.29e-04 -4.0 8.53e-02 -4.1 1.00e+00 1.00e+00h 1 62 2.0816145e+00 2.95e-06 1.84e-04 -4.1 1.31e-01 -4.5 1.00e+00 1.00e+00h 1 63 2.0817767e+00 1.50e-05 2.29e-04 -4.0 6.59e-01 -5.0 1.00e+00 1.00e+00h 1 64 2.0816791e+00 2.20e-05 5.02e-04 -4.1 1.47e+00 -5.5 1.00e+00 1.00e+00h 1 65 2.0812572e+00 1.59e-04 2.07e-01 -6.1 6.60e+00 -6.0 8.22e-01 3.94e-01h 1 66 2.0818887e+00 3.78e-04 2.22e-03 -4.0 6.11e+00 -6.4 1.00e+00 1.00e+00f 1 67 2.0816739e+00 2.01e-04 4.82e-03 -4.1 1.17e+01 -6.9 8.83e-01 1.00e+00h 1 68 2.0816194e+00 1.77e-04 2.76e+00 -4.1 3.83e+00 -4.7 8.14e-01 1.85e-01h 1 69 2.0815733e+00 1.57e-04 1.55e-01 -4.1 1.51e+00 -5.2 1.00e+00 1.13e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0817434e+00 8.88e-05 1.36e-03 -4.0 1.32e+00 -5.6 1.00e+00 1.00e+00h 1 71 2.0815780e+00 1.48e-05 1.83e-04 -4.1 6.15e-01 -6.1 1.00e+00 1.00e+00h 1 72 2.0817984e+00 6.13e-05 2.29e-04 -4.0 2.84e+00 -6.6 1.00e+00 1.00e+00h 1 73 2.0815904e+00 5.09e-05 1.84e-04 -4.1 2.11e+00 -7.1 1.00e+00 1.00e+00h 1 74 2.0806907e+00 1.32e-03 2.52e-03 -6.1 1.92e+01 -7.5 9.82e-01 8.97e-01h 1 75 2.0818554e+00 3.07e-03 4.13e-03 -4.0 3.01e+01 -8.0 1.00e+00 1.00e+00f 1 76 2.0816159e+00 2.63e-04 5.18e-04 -4.1 1.11e+01 -8.5 1.00e+00 1.00e+00h 1 77 2.0806095e+00 3.27e-03 2.57e-04 -6.1 3.94e+01 -9.0 9.76e-01 9.58e-01h 1 78 2.0818800e+00 5.72e-03 9.40e-04 -4.0 5.37e+01 -9.5 1.00e+00 1.00e+00f 1 79 2.0816102e+00 4.40e-04 1.88e-04 -4.1 1.85e+01 -9.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805982e+00 3.45e-03 1.47e-04 -6.1 4.13e+01 -10.4 9.76e-01 9.65e-01h 1 81 2.0810848e+00 3.05e-03 1.07e-02 -4.0 5.87e+01 -10.9 1.00e+00 3.86e-01f 1 82 2.0814403e+00 2.59e-04 1.59e-04 -4.2 8.33e+00 -11.4 1.00e+00 1.00e+00h 1 83 2.0805763e+00 2.57e-03 1.09e-04 -6.2 3.55e+01 -11.8 9.81e-01 9.76e-01h 1 84 2.0806804e+00 2.41e-03 1.84e-02 -4.0 6.61e+01 -12.3 1.00e+00 8.21e-02f 1 85 2.0818315e+00 4.13e-03 2.29e-04 -4.0 4.19e+01 -12.8 1.00e+00 1.00e+00h 1 86 2.0815803e+00 3.54e-04 1.83e-04 -4.1 1.43e+01 -13.3 1.00e+00 1.00e+00h 1 87 2.0805844e+00 3.30e-03 1.46e-04 -6.1 3.98e+01 -13.7 9.78e-01 9.76e-01h 1 88 2.0805493e+00 5.46e-05 1.63e-06 -6.1 1.49e+01 -14.2 1.00e+00 1.00e+00h 1 89 2.0819889e+00 1.08e-02 4.00e-04 -4.0 8.70e+01 -14.7 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0816908e+00 9.63e-04 1.96e-04 -4.1 4.78e+01 -15.2 1.00e+00 1.00e+00h 1 91 2.0816515e+00 6.03e-07 1.96e-04 -4.1 9.12e+00 -15.7 1.00e+00 1.00e+00h 1 92 2.0818389e+00 1.10e-04 2.29e-04 -4.0 6.90e+00 -16.1 1.00e+00 1.00e+00h 1 93 2.0815801e+00 2.08e-04 1.84e-04 -4.1 9.49e+00 -16.6 1.00e+00 1.00e+00h 1 94 2.0805898e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -17.1 9.78e-01 9.71e-01h 1 95 2.0805497e+00 6.50e-05 1.78e-06 -6.1 1.55e+01 -17.6 1.00e+00 1.00e+00h 1 96 2.0805459e+00 4.16e-08 1.64e-06 -6.1 2.72e+00 -18.0 1.00e+00 1.00e+00h 1 97 2.0820232e+00 1.23e-02 4.20e-04 -4.0 9.94e+01 -18.5 1.00e+00 1.00e+00f 1 98 2.0817173e+00 1.05e-03 1.99e-04 -4.1 5.49e+01 -19.0 1.00e+00 1.00e+00h 1 99 2.0816656e+00 1.26e-06 1.99e-04 -4.1 1.11e+01 -19.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805916e+00 3.77e-03 1.66e-04 -6.1 4.21e+01 -19.9 9.76e-01 9.75e-01h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805915721440420e+00 2.0805915721440420e+00 Dual infeasibility......: 1.6635011328173377e-04 1.6635011328173377e-04 Constraint violation....: 3.7684456029749569e-03 3.7684456029749569e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.9339796112632099e-05 1.9339796112632099e-05 Overall NLP error.......: 3.7684456029749569e-03 3.7684456029749569e-03 Number of objective function evaluations = 103 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 103 Number of inequality constraint evaluations = 103 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 35.286 EXIT: Maximum Number of Iterations Exceeded. [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=110, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! initializing optimizer... applying constraint: timesteps all equal constraint applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 81 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.1277466e+00 2.88e+00 1.26e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4152439e+00 2.35e+00 5.29e+00 -1.3 4.51e+01 -4.0 9.78e-01 1.00e+00h 1 2 2.2149270e+00 5.04e-01 2.01e+00 -1.7 2.11e+01 -4.5 1.00e+00 1.00e+00h 1 3 2.1980959e+00 1.27e-02 1.88e-01 -1.9 7.92e+00 -5.0 9.98e-01 1.00e+00h 1 4 2.1065486e+00 8.58e-02 4.28e-02 -3.0 8.37e+00 -5.4 9.95e-01 1.00e+00h 1 5 2.0892636e+00 3.26e-02 1.01e-02 -3.9 1.70e+01 -5.9 9.99e-01 1.00e+00h 1 6 2.0840769e+00 5.39e-03 4.23e-03 -4.0 4.66e+01 -6.4 1.00e+00 1.00e+00h 1 7 2.0798771e+00 2.45e-03 1.79e-01 -4.0 1.05e+02 -6.9 1.00e+00 3.95e-01h 1 8 2.0792454e+00 6.22e-03 1.39e-01 -4.0 5.83e+01 -7.3 1.00e+00 1.00e+00h 1 9 2.0784665e+00 2.09e-02 2.26e-02 -3.7 1.21e+02 -7.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0765797e+00 2.39e-02 2.54e-02 -4.0 2.11e+02 -8.3 1.00e+00 9.99e-01h 1 11 2.0761309e+00 5.10e-04 2.49e-02 -4.0 3.50e+02 -8.8 1.00e+00 1.00e+00h 1 12 2.0756112e+00 1.29e-04 2.00e-02 -4.0 3.94e+02 -9.2 1.00e+00 6.50e-01h 1 13 2.0758272e+00 5.14e-04 8.03e-03 -4.0 1.21e+02 -9.7 1.00e+00 1.00e+00h 1 14 2.0754428e+00 9.96e-04 1.46e-04 -4.1 4.11e+01 -10.2 1.00e+00 1.00e+00h 1 15 2.0757716e+00 4.40e-04 3.76e-06 -4.0 1.76e+01 -10.7 1.00e+00 1.00e+00h 1 16 2.0754220e+00 6.12e-04 4.38e-07 -4.1 2.31e+01 -11.2 1.00e+00 1.00e+00h 1 17 2.0757717e+00 4.10e-04 7.09e-07 -4.0 1.55e+01 -11.6 1.00e+00 1.00e+00h 1 18 2.0754219e+00 5.55e-04 2.39e-07 -4.1 2.10e+01 -12.1 1.00e+00 1.00e+00h 1 19 2.0757717e+00 6.03e-04 9.82e-08 -4.0 2.28e+01 -12.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0754219e+00 6.02e-04 1.03e-07 -4.1 2.27e+01 -13.1 1.00e+00 1.00e+00h 1 21 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -13.5 9.28e-01 1.00e+00h 1 22 2.0758523e+00 1.72e-01 1.56e-04 -4.0 1.29e+03 -14.0 1.00e+00 1.00e+00h 1 23 2.0754378e+00 2.85e-02 8.78e-05 -4.1 1.05e+03 -14.5 1.00e+00 1.00e+00h 1 24 2.0754277e+00 1.24e-05 2.11e-06 -4.1 1.63e+02 -15.0 1.00e+00 1.00e+00h 1 25 2.0757717e+00 7.84e-04 1.74e-07 -4.0 3.01e+01 -15.5 1.00e+00 1.00e+00h 1 26 2.0754219e+00 6.34e-04 1.30e-07 -4.1 2.39e+01 -15.9 1.00e+00 1.00e+00h 1 27 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -16.4 9.28e-01 1.00e+00h 1 28 2.0739729e+00 7.49e-04 2.53e-04 -6.1 8.48e+02 -16.9 8.16e-01 1.00e+00h 1 29 2.0743069e+00 2.58e-02 1.46e-02 -4.0 8.97e+03 -17.4 1.00e+00 1.46e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0749156e+00 3.43e-02 4.23e-05 -4.3 7.15e+02 -17.8 1.00e+00 1.00e+00h 1 31 2.0749194e+00 4.29e-04 1.42e-05 -4.3 5.34e+02 -18.3 1.00e+00 1.00e+00h 1 32 2.0757799e+00 1.06e-02 3.26e-06 -4.0 1.65e+02 -18.8 1.00e+00 1.00e+00h 1 33 2.0754236e+00 2.17e-03 7.34e-07 -4.1 8.12e+01 -19.3 1.00e+00 1.00e+00h 1 34 2.0754217e+00 1.05e-06 2.50e-08 -4.1 1.90e+01 -19.7 1.00e+00 1.00e+00h 1 35 2.0757718e+00 7.83e-04 1.70e-07 -4.0 2.96e+01 -20.0 1.00e+00 1.00e+00h 1 36 2.0754219e+00 6.34e-04 1.30e-07 -4.1 2.39e+01 -20.0 1.00e+00 1.00e+00h 1 37 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 38 2.0739729e+00 7.49e-04 2.53e-04 -6.1 8.48e+02 -20.0 8.16e-01 1.00e+00h 1 39 2.0739618e+00 7.48e-07 1.83e-05 -6.1 5.36e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0741610e+00 2.72e-02 1.81e-02 -4.0 3.03e+04 -20.0 1.00e+00 8.17e-02f 1 41 2.0748450e+00 7.42e-02 5.83e-05 -4.3 1.43e+03 -20.0 1.00e+00 1.00e+00f 1 42 2.0748594e+00 4.17e-04 5.58e-06 -4.3 3.96e+02 -20.0 1.00e+00 1.00e+00h 1 43 2.0740038e+00 1.17e-02 4.14e-04 -6.5 1.83e+02 -20.0 8.92e-01 1.00e+00h 1 44 2.0739628e+00 2.48e-04 2.84e-04 -6.5 7.31e+02 -20.0 7.61e-01 1.00e+00h 1 45 2.0739529e+00 2.78e-07 2.04e-05 -6.5 6.29e+02 -20.0 1.00e+00 1.00e+00h 1 46 2.0741325e+00 2.58e-02 1.91e-02 -4.0 3.70e+04 -20.0 1.00e+00 7.19e-02f 1 47 2.0748276e+00 8.42e-02 6.63e-05 -4.3 1.60e+03 -20.0 1.00e+00 1.00e+00f 1 48 2.0748443e+00 3.56e-04 3.40e-06 -4.3 3.15e+02 -20.0 1.00e+00 1.00e+00h 1 49 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 51 2.0739527e+00 2.69e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 52 2.0741318e+00 2.58e-02 1.92e-02 -4.0 3.72e+04 -20.0 1.00e+00 7.16e-02f 1 53 2.0748272e+00 8.45e-02 6.65e-05 -4.3 1.61e+03 -20.0 1.00e+00 1.00e+00f 1 54 2.0748440e+00 3.54e-04 3.34e-06 -4.3 3.13e+02 -20.0 1.00e+00 1.00e+00h 1 55 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 56 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 57 2.0739527e+00 2.68e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 58 2.0741318e+00 2.58e-02 1.92e-02 -4.0 3.72e+04 -20.0 1.00e+00 7.16e-02f 1 59 2.0748272e+00 8.45e-02 6.65e-05 -4.3 1.61e+03 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0748440e+00 3.54e-04 3.34e-06 -4.3 3.13e+02 -20.0 1.00e+00 1.00e+00h 1 61 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 62 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 63 2.0739527e+00 2.68e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 64 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 65 2.0741226e+00 2.63e-02 1.95e-02 -4.0 4.26e+04 -20.0 1.00e+00 6.77e-02f 1 66 2.0748234e+00 8.99e-02 7.10e-05 -4.3 1.70e+03 -20.0 1.00e+00 1.00e+00f 1 67 2.0748412e+00 3.13e-04 2.43e-06 -4.3 2.70e+02 -20.0 1.00e+00 1.00e+00h 1 68 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 69 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 71 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 72 2.0741225e+00 2.63e-02 1.95e-02 -4.0 4.27e+04 -20.0 1.00e+00 6.76e-02f 1 73 2.0748233e+00 9.00e-02 7.11e-05 -4.3 1.70e+03 -20.0 1.00e+00 1.00e+00f 1 74 2.0748411e+00 3.13e-04 2.42e-06 -4.3 2.70e+02 -20.0 1.00e+00 1.00e+00h 1 75 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 76 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 77 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 78 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 79 2.0739440e+00 6.21e-05 3.00e-06 -9.0 1.42e+02 -20.0 9.56e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0740989e+00 2.54e-02 2.06e-02 -4.0 5.21e+04 -20.0 1.00e+00 5.99e-02f 1 81 2.0748092e+00 1.02e-01 8.36e-05 -4.3 1.92e+03 -20.0 1.00e+00 1.00e+00f 1 82 2.0748293e+00 2.04e-04 1.06e-06 -4.3 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 83 2.0740026e+00 1.16e-02 4.11e-04 -6.5 1.88e+02 -20.0 8.89e-01 1.00e+00h 1 84 2.0739622e+00 2.30e-04 2.84e-04 -6.5 7.25e+02 -20.0 7.59e-01 1.00e+00h 1 85 2.0739525e+00 2.60e-07 1.99e-05 -6.5 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 86 2.0739518e+00 4.59e-09 7.61e-07 -6.5 1.66e+02 -20.0 1.00e+00 1.00e+00h 1 87 2.0741220e+00 2.63e-02 1.96e-02 -4.0 4.28e+04 -20.0 1.00e+00 6.75e-02f 1 88 2.0748230e+00 9.02e-02 7.13e-05 -4.3 1.71e+03 -20.0 1.00e+00 1.00e+00f 1 89 2.0748409e+00 3.11e-04 2.38e-06 -4.3 2.68e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 91 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 92 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 93 2.0739520e+00 4.54e-09 7.53e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 94 2.0739440e+00 6.21e-05 3.00e-06 -9.0 1.42e+02 -20.0 9.56e-01 1.00e+00h 1 95 2.0740989e+00 2.54e-02 2.06e-02 -4.0 5.21e+04 -20.0 1.00e+00 5.99e-02f 1 96 2.0748092e+00 1.02e-01 8.37e-05 -4.3 1.92e+03 -20.0 1.00e+00 1.00e+00f 1 97 2.0748293e+00 2.04e-04 1.06e-06 -4.3 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 98 2.0740026e+00 1.16e-02 4.11e-04 -6.5 1.88e+02 -20.0 8.89e-01 1.00e+00h 1 99 2.0739622e+00 2.30e-04 2.84e-04 -6.5 7.25e+02 -20.0 7.59e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0739525e+00 2.60e-07 1.99e-05 -6.5 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0739525125989102e+00 2.0739525125989102e+00 Dual infeasibility......: 1.9893600830392442e-05 1.9893600830392442e-05 Constraint violation....: 2.6030378874608573e-07 2.6030378874608573e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 6.1601907672001736e-07 6.1601907672001736e-07 Overall NLP error.......: 9.9745518747822260e-05 9.9745518747822260e-05 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 = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 26.670 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 194 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 27 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.3021483e+00 9.78e-01 1.04e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.3447224e+00 4.34e-01 1.83e+00 -0.8 9.78e-01 0.0 1.00e+00 5.89e-01h 1 2 1.5522855e+00 1.34e-01 1.71e+00 -1.3 4.42e-01 -0.5 9.99e-01 1.00e+00h 1 3 1.4759588e+00 1.07e-01 3.94e-01 -0.6 3.55e+00 -1.0 5.29e-01 2.03e-01h 1 4 1.4218796e+00 3.25e-02 9.02e-01 -1.8 1.03e+00 -1.4 9.61e-01 1.00e+00h 1 5 1.1865074e+00 2.42e-02 1.02e+00 -1.7 4.73e+00 -1.9 1.00e+00 2.54e-01h 1 6 1.3070415e+00 1.08e-02 2.12e+00 -1.8 8.48e+00 - 6.76e-01 1.00e+00h 1 7 1.1933546e+00 5.55e-03 7.45e-01 -3.1 5.50e-01 -1.5 1.00e+00 5.10e-01h 1 8 1.1490357e+00 3.90e-03 1.37e+00 -3.2 9.00e+00 - 1.00e+00 3.12e-01h 1 9 1.0952511e+00 1.03e-05 2.38e-02 -3.5 1.79e-01 -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 1.0911554e+00 3.46e-07 2.85e-01 -4.0 5.12e+00 - 1.00e+00 1.00e+00h 1 11 1.0908043e+00 2.27e-10 5.75e-04 -4.0 2.32e-01 - 1.00e+00 1.00e+00h 1 12 1.0908998e+00 1.31e-15 3.32e-05 -4.0 3.89e-01 - 1.00e+00 1.00e+00f 1 13 1.0907197e+00 5.12e-24 4.55e-05 -4.1 1.44e-01 - 1.00e+00 1.00e+00f 1 14 1.0908997e+00 1.62e-35 2.62e-05 -4.0 4.46e-02 - 1.00e+00 1.00e+00f 1 15 1.0907198e+00 3.61e-35 1.34e-06 -4.1 7.21e-03 - 1.00e+00 1.00e+00f 1 16 1.0900065e+00 9.17e-35 3.83e-08 -6.1 7.93e-05 - 1.00e+00 1.00e+00f 1 17 1.0908837e+00 4.89e-35 5.86e-08 -4.0 2.51e-01 - 1.00e+00 9.82e-01f 1 18 1.0907139e+00 2.79e-35 2.16e-09 -4.1 1.94e-01 - 1.00e+00 1.00e+00f 1 19 1.0900064e+00 1.75e-34 3.77e-08 -6.2 4.51e-04 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.0900436e+00 1.67e-34 3.62e-08 -4.0 7.09e+00 - 1.00e+00 4.16e-02f 1 21 1.0904115e+00 4.94e-35 1.02e-08 -4.3 1.12e-01 - 1.00e+00 1.00e+00f 1 22 1.0900027e+00 1.23e-34 1.26e-08 -6.5 8.99e-04 - 1.00e+00 1.00e+00f 1 23 1.0900107e+00 1.21e-34 1.25e-08 -4.0 4.27e+01 - 1.00e+00 8.84e-03f 1 24 1.0903997e+00 5.51e-35 1.14e-08 -4.4 1.09e-01 - 1.00e+00 1.00e+00f 1 25 1.0900026e+00 5.65e-35 1.19e-08 -6.5 9.07e-04 - 1.00e+00 1.00e+00f 1 26 1.0900101e+00 5.63e-35 1.18e-08 -4.0 4.57e+01 - 1.00e+00 8.33e-03f 1 27 1.0903995e+00 8.57e-35 1.14e-08 -4.4 1.09e-01 - 1.00e+00 1.00e+00f 1 28 1.0900026e+00 1.34e-34 1.19e-08 -6.5 9.07e-04 - 1.00e+00 1.00e+00f 1 29 1.0900101e+00 1.33e-34 1.18e-08 -4.0 4.57e+01 - 1.00e+00 8.32e-03f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.0903995e+00 9.47e-36 1.14e-08 -4.4 1.09e-01 - 1.00e+00 1.00e+00f 1 31 1.0900026e+00 2.83e-35 1.19e-08 -6.5 9.07e-04 - 1.00e+00 1.00e+00f 1 32 1.0899999e+00 4.09e-37 5.31e-13 -9.0 4.16e-04 - 1.00e+00 1.00e+00f 1 33 1.0899999e+00 4.08e-37 5.31e-13 -4.0 1.48e+04 - 1.00e+00 2.56e-05f 1 34 1.0903958e+00 7.27e-35 1.18e-08 -4.4 1.08e-01 - 1.00e+00 1.00e+00f 1 35 1.0900026e+00 3.61e-35 1.16e-08 -6.5 9.10e-04 - 1.00e+00 1.00e+00f 1 36 1.0899999e+00 3.43e-37 5.16e-13 -9.0 4.24e-04 - 1.00e+00 1.00e+00f 1 37 1.0899999e+00 4.08e-43 6.00e-16 -9.0 1.36e-01 - 1.00e+00 1.00e+00f 1 38 1.0899999e+00 6.01e-46 4.10e-16 -9.0 6.41e-16 - 1.00e+00 1.00e+00 0 39 1.0899999e+00 1.66e-47 4.10e-16 -9.0 2.79e-17 - 1.00e+00 1.00e+00T 0 Number of Iterations....: 39 (scaled) (unscaled) Objective...............: 1.0899999181818181e+00 1.0899999181818181e+00 Dual infeasibility......: 4.1031631217713915e-16 4.1031631217713915e-16 Constraint violation....: 1.6624530967502754e-47 1.6624530967502754e-47 Variable bound violation: 9.0909090932206338e-09 9.0909090932206338e-09 Complementarity.........: 9.0909090909090920e-10 9.0909090909090920e-10 Overall NLP error.......: 9.9999090909091604e-05 9.9999090909091604e-05 Number of objective function evaluations = 40 Number of objective gradient evaluations = 40 Number of equality constraint evaluations = 40 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 40 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 40 Total seconds in IPOPT = 22.198 EXIT: Search Direction is becoming Too Small. Difference in Hessian Difference in Jacobian NonlinearKnotPointConstraint - single variable: Test Failed at /home/pkgeval/.julia/packages/DirectTrajOpt/4TeZc/src/constraints/_constraints.jl:202 Expression: all(isapprox.(triu(μ∂²g), triu(μ∂²g_finite_diff), atol = atol)) Evaluated: all(sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10 … 101, 102, 103, 104, 105, 106, 107, 108, 109, 110], [1, 1, 1, 1, 1, 1, 1, 1, 1, 1 … 110, 110, 110, 110, 110, 110, 110, 110, 110, 110], Bool[1, 1, 1, 1, 1, 1, 1, 1, 1, 1 … 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], 110, 110)) Stacktrace: [1] macro expansion @ /opt/julia/share/julia/stdlib/v1.14/Test/src/Test.jl:782 [inlined] [2] test_constraint(constraint::NonlinearKnotPointConstraint{DirectTrajOpt.Constraints.var"#32#33"{typeof(Main.var"##181".g)}}, traj::NamedTrajectories.StructNamedTrajectory.NamedTrajectory{Float64, (:x, :u, :du, :ddu, :Δt), NTuple{5, Int64}, (:u, :Δt), Tuple{Tuple{Vector{Float64}, Vector{Float64}}, Tuple{Vector{Float64}, Vector{Float64}}}, (:x, :u), Tuple{Vector{Float64}, Vector{Float64}}, (:u,), Tuple{Vector{Float64}}, (:x,), Tuple{Vector{Float64}}, (:x, :u, :du, :ddu, :Δt), NTuple{5, UnitRange{Int64}}, NTuple{5, Symbol}, Tuple{Symbol, Symbol, Symbol}, Tuple{Symbol, Symbol}, (), Tuple{}, (), Tuple{}, Tuple{}}; show_jacobian_diff::Bool, show_hessian_diff::Bool, test_equality::Bool, atol::Float64, rtol::Float64) @ DirectTrajOpt.Constraints ~/.julia/packages/DirectTrajOpt/4TeZc/src/constraints/_constraints.jl:202 Test Summary: | Pass Fail Total Time Package | 201 1 202 19m36.4s src/constraints/linear/equality_constraint.jl | 3 3 3m00.3s src/integrators/derivative_integrator.jl | 3 3 22.6s src/objectives/_objectives.jl | 19 19 22.9s src/solvers/ipopt_solver/callbacks.jl | 2 2 36.4s src/constraints/linear/total_constraint.jl | 2 2 58.9s src/constraints/nonlinear/global_constraint.jl | 2 2 24.4s src/objectives/global_objectives.jl | 15 15 37.0s src/constraints/linear/symmetry_constraint.jl | 20 20 1m24.7s src/objectives/knot_point_objectives.jl | 6 6 8.5s src/solvers/ipopt_solver/evaluator.jl | 5 5 1m09.6s src/objectives/regularizers.jl | 3 3 6.3s src/constraints/linear/time_consistency_constraint.jl | 19 19 19.5s src/integrators/time_dependent_bilinear_integrator.jl | 3 3 2m20.3s src/constraints/linear/bounds_constraint.jl | 60 60 1m52.0s src/solvers/ipopt_solver/solver.jl | 9 9 2m08.4s src/integrators/bilinear_integrator.jl | 3 3 36.6s src/constraints/linear/all_equal_constraint.jl | 2 2 57.3s src/constraints/nonlinear/global_knot_point_constraint.jl | 2 2 18.2s src/constraints/nonlinear/knot_point_constraint.jl | 23 1 24 1m52.3s NonlinearKnotPointConstraint - single variable | 1 1 2 20.5s NonlinearKnotPointConstraint - single variable with vector syntax | 5 5 17.4s NonlinearKnotPointConstraint - multiple variables concatenated | 2 2 14.5s NonlinearKnotPointConstraint - multiple variables separate arguments | 2 2 15.4s NonlinearKnotPointConstraint - three variables separate arguments | 2 2 10.6s NonlinearKnotPointConstraint - inequality vs equality | 7 7 20.5s NonlinearKnotPointConstraint - subset of times | 4 4 13.4s ERROR: LoadError: Some tests did not pass: 201 passed, 1 failed, 0 errored, 0 broken. in expression starting at /home/pkgeval/.julia/packages/DirectTrajOpt/4TeZc/test/runtests.jl:6 Testing failed after 1253.12s ERROR: LoadError: Package DirectTrajOpt errored during testing Stacktrace: [1] pkgerror(msg::String) @ Pkg.Types /opt/julia/share/julia/stdlib/v1.14/Pkg/src/Types.jl:68 [2] test(ctx::Pkg.Types.Context, pkgs::Vector{PackageSpec}; coverage::Bool, julia_args::Cmd, test_args::Cmd, test_fn::Nothing, force_latest_compatible_version::Bool, allow_earlier_backwards_compatible_versions::Bool, allow_reresolve::Bool) @ Pkg.Operations /opt/julia/share/julia/stdlib/v1.14/Pkg/src/Operations.jl:3122 [3] test @ /opt/julia/share/julia/stdlib/v1.14/Pkg/src/Operations.jl:2987 [inlined] [4] test(ctx::Pkg.Types.Context, pkgs::Vector{PackageSpec}; coverage::Bool, test_fn::Nothing, julia_args::Cmd, test_args::Cmd, force_latest_compatible_version::Bool, allow_earlier_backwards_compatible_versions::Bool, allow_reresolve::Bool, kwargs::@Kwargs{io::IOContext{IO}}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:572 [5] kwcall(::@NamedTuple{julia_args::Cmd, io::IOContext{IO}}, ::typeof(Pkg.API.test), ctx::Pkg.Types.Context, pkgs::Vector{PackageSpec}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:548 [6] test(pkgs::Vector{PackageSpec}; io::IOContext{IO}, kwargs::@Kwargs{julia_args::Cmd}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:172 [7] kwcall(::@NamedTuple{julia_args::Cmd}, ::typeof(Pkg.API.test), pkgs::Vector{PackageSpec}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:161 [8] test(pkgs::Vector{String}; kwargs::@Kwargs{julia_args::Cmd}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:160 [9] test @ /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:160 [inlined] [10] kwcall(::@NamedTuple{julia_args::Cmd}, ::typeof(Pkg.API.test), pkg::String) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:159 [11] top-level scope @ /PkgEval.jl/scripts/evaluate.jl:223 [12] include(mod::Module, _path::String) @ Base ./Base.jl:309 [13] exec_options(opts::Base.JLOptions) @ Base ./client.jl:344 [14] _start() @ Base ./client.jl:585 in expression starting at /PkgEval.jl/scripts/evaluate.jl:214 PkgEval failed after 2095.31s: package has test failures