Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.1711 (41ad7d9eeb*) started at 2026-02-12T23:08:48.873 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 12.46s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Updating `~/.julia/environments/v1.14/Project.toml` [c823fa1f] + DirectTrajOpt v0.8.1 Updating `~/.julia/environments/v1.14/Manifest.toml` [47edcb42] + ADTypes v1.21.0 ⌃ [c29ec348] + AbstractDifferentiation v0.4.4 [7d9f7c33] + Accessors v0.1.43 [79e6a3ab] + Adapt v4.4.0 [4fba245c] + ArrayInterface v7.22.0 [4c555306] + ArrayLayouts v1.12.2 [6e4b80f9] + BenchmarkTools v1.6.3 [62783981] + BitTwiddlingConvenienceFunctions v0.1.6 [70df07ce] + BracketingNonlinearSolve v1.6.2 [2a0fbf3d] + CPUSummary v0.2.7 [d360d2e6] + ChainRulesCore v1.26.0 [0b6fb165] + ChunkCodecCore v1.0.1 [4c0bbee4] + ChunkCodecLibZlib v1.0.0 [55437552] + ChunkCodecLibZstd v1.0.0 [fb6a15b2] + CloseOpenIntervals v0.1.13 [523fee87] + CodecBzip2 v0.8.5 [944b1d66] + CodecZlib v0.7.8 [38540f10] + CommonSolve v0.2.6 [bbf7d656] + CommonSubexpressions v0.3.1 [f70d9fcc] + CommonWorldInvalidations v1.0.0 [34da2185] + Compat v4.18.1 [a33af91c] + CompositionsBase v0.1.2 [95dc2771] + ComputePipeline v0.1.6 [2569d6c7] + ConcreteStructs v0.2.3 [187b0558] + ConstructionBase v1.6.0 [adafc99b] + CpuId v0.3.1 [864edb3b] + DataStructures v0.19.3 [2b5f629d] + DiffEqBase v6.203.0 [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 v3.5.1 [b1df2697] + OrdinaryDiffEqTsit5 v1.9.0 [69de0a69] + Parsers v2.8.3 [f517fe37] + Polyester v0.7.19 [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 v3.48.0 [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 v2.7.1 [aedffcd0] + Static v1.3.1 [0d7ed370] + StaticArrayInterface v1.9.0 [90137ffa] + StaticArrays v1.9.16 [1e83bf80] + StaticArraysCore v1.4.4 [10745b16] + Statistics v1.11.1 [7792a7ef] + StrideArraysCore v0.5.8 [ec057cc2] + StructUtils v2.6.2 [2efcf032] + SymbolicIndexingInterface v0.3.46 [f8b46487] + TestItemRunner v1.1.4 [1c621080] + TestItems v1.0.0 [8290d209] + ThreadingUtilities v0.5.5 [a759f4b9] + TimerOutputs v0.5.29 [6dad8b7f] + TrajectoryIndexingUtils v0.1.0 [3bb67fe8] + TranscodingStreams v0.11.3 [781d530d] + TruncatedStacktraces v1.4.0 [ae81ac8f] + ASL_jll v0.1.3+0 [6e34b625] + Bzip2_jll v1.0.9+0 [e33a78d0] + Hwloc_jll v2.12.2+0 [9cc047cb] + Ipopt_jll v300.1400.1901+0 [94ce4f54] + Libiconv_jll v1.18.0+0 [d00139f3] + METIS_jll v5.1.3+0 [d7ed1dd3] + MUMPS_seq_jll v500.800.200+0 [656ef2d0] + OpenBLAS32_jll v0.3.30+0 [efe28fd5] + OpenSpecFun_jll v0.5.6+0 [319450e9] + SPRAL_jll v2025.9.18+0 ⌅ [02c8fc9c] + XML2_jll v2.13.9+0 [a65dc6b1] + Xorg_libpciaccess_jll v0.18.1+0 [0dad84c5] + ArgTools v1.1.2 [56f22d72] + Artifacts v1.11.0 [2a0f44e3] + Base64 v1.11.0 [ade2ca70] + Dates v1.11.0 [8ba89e20] + Distributed v1.11.0 [f43a241f] + Downloads v1.7.0 [7b1f6079] + FileWatching v1.11.0 [9fa8497b] + Future v1.11.0 [b77e0a4c] + InteractiveUtils v1.11.0 [ac6e5ff7] + JuliaSyntaxHighlighting v1.13.0 [b27032c2] + LibCURL v1.0.0 [76f85450] + LibGit2 v1.11.0 [8f399da3] + Libdl v1.11.0 [37e2e46d] + LinearAlgebra v1.13.0 [56ddb016] + Logging v1.11.0 [d6f4376e] + Markdown v1.11.0 [a63ad114] + Mmap v1.11.0 [ca575930] + NetworkOptions v1.3.0 [44cfe95a] + Pkg v1.14.0 [de0858da] + Printf v1.11.0 [9abbd945] + Profile v1.11.0 [9a3f8284] + Random v1.11.0 [ea8e919c] + SHA v1.0.0 [9e88b42a] + Serialization v1.11.0 [6462fe0b] + Sockets v1.11.0 [2f01184e] + SparseArrays v1.13.0 [f489334b] + StyledStrings v1.13.0 [fa267f1f] + TOML v1.0.3 [a4e569a6] + Tar v1.10.0 [8dfed614] + Test v1.11.0 [cf7118a7] + UUIDs v1.11.0 [4ec0a83e] + Unicode v1.11.0 [e66e0078] + CompilerSupportLibraries_jll v1.3.0+1 [deac9b47] + LibCURL_jll v8.18.0+0 [e37daf67] + LibGit2_jll v1.9.2+0 [29816b5a] + LibSSH2_jll v1.11.3+1 [14a3606d] + MozillaCACerts_jll v2025.12.2 [4536629a] + OpenBLAS_jll v0.3.30+0 [05823500] + OpenLibm_jll v0.8.7+0 [458c3c95] + OpenSSL_jll v3.5.5+0 [efcefdf7] + PCRE2_jll v10.47.0+0 [bea87d4a] + SuiteSparse_jll v7.10.1+0 [83775a58] + Zlib_jll v1.3.1+2 [3161d3a3] + Zstd_jll v1.5.7+1 [8e850b90] + libblastrampoline_jll v5.15.0+0 [8e850ede] + nghttp2_jll v1.68.0+1 [3f19e933] + p7zip_jll v17.7.0+0 Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. To see why use `status --outdated -m` Installation completed after 5.73s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling packages... 24938.3 ms ✓ DirectTrajOpt 1 dependency successfully precompiled in 28 seconds. 224 already precompiled. Precompilation completed after 50.19s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_2SmU0e/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_2SmU0e/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 v6.203.0 [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 v3.5.1 [b1df2697] OrdinaryDiffEqTsit5 v1.9.0 [69de0a69] Parsers v2.8.3 [f517fe37] Polyester v0.7.19 [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 v3.48.0 [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 v2.7.1 [aedffcd0] Static v1.3.1 [0d7ed370] StaticArrayInterface v1.9.0 [90137ffa] StaticArrays v1.9.16 [1e83bf80] StaticArraysCore v1.4.4 [10745b16] Statistics v1.11.1 [7792a7ef] StrideArraysCore v0.5.8 [ec057cc2] StructUtils v2.6.2 [2efcf032] SymbolicIndexingInterface v0.3.46 [f8b46487] TestItemRunner v1.1.4 [1c621080] TestItems v1.0.0 [8290d209] ThreadingUtilities v0.5.5 [a759f4b9] TimerOutputs v0.5.29 [6dad8b7f] TrajectoryIndexingUtils v0.1.0 [3bb67fe8] TranscodingStreams v0.11.3 [781d530d] TruncatedStacktraces v1.4.0 [ae81ac8f] ASL_jll v0.1.3+0 [6e34b625] Bzip2_jll v1.0.9+0 [e33a78d0] Hwloc_jll v2.12.2+0 [9cc047cb] Ipopt_jll v300.1400.1901+0 [94ce4f54] Libiconv_jll v1.18.0+0 [d00139f3] METIS_jll v5.1.3+0 [d7ed1dd3] MUMPS_seq_jll v500.800.200+0 [656ef2d0] OpenBLAS32_jll v0.3.30+0 [efe28fd5] OpenSpecFun_jll v0.5.6+0 [319450e9] SPRAL_jll v2025.9.18+0 ⌅ [02c8fc9c] XML2_jll v2.13.9+0 [a65dc6b1] Xorg_libpciaccess_jll v0.18.1+0 [0dad84c5] ArgTools v1.1.2 [56f22d72] Artifacts v1.11.0 [2a0f44e3] Base64 v1.11.0 [ade2ca70] Dates v1.11.0 [8ba89e20] Distributed v1.11.0 [f43a241f] Downloads v1.7.0 [7b1f6079] FileWatching v1.11.0 [9fa8497b] Future v1.11.0 [b77e0a4c] InteractiveUtils v1.11.0 [ac6e5ff7] JuliaSyntaxHighlighting v1.13.0 [b27032c2] LibCURL v1.0.0 [76f85450] LibGit2 v1.11.0 [8f399da3] Libdl v1.11.0 [37e2e46d] LinearAlgebra v1.13.0 [56ddb016] Logging v1.11.0 [d6f4376e] Markdown v1.11.0 [a63ad114] Mmap v1.11.0 [ca575930] NetworkOptions v1.3.0 [44cfe95a] Pkg v1.14.0 [de0858da] Printf v1.11.0 [9abbd945] Profile v1.11.0 [9a3f8284] Random v1.11.0 [ea8e919c] SHA v1.0.0 [9e88b42a] Serialization v1.11.0 [6462fe0b] Sockets v1.11.0 [2f01184e] SparseArrays v1.13.0 [f489334b] StyledStrings v1.13.0 [fa267f1f] TOML v1.0.3 [a4e569a6] Tar v1.10.0 [8dfed614] Test v1.11.0 [cf7118a7] UUIDs v1.11.0 [4ec0a83e] Unicode v1.11.0 [e66e0078] CompilerSupportLibraries_jll v1.3.0+1 [deac9b47] LibCURL_jll v8.18.0+0 [e37daf67] LibGit2_jll v1.9.2+0 [29816b5a] LibSSH2_jll v1.11.3+1 [14a3606d] MozillaCACerts_jll v2025.12.2 [4536629a] OpenBLAS_jll v0.3.30+0 [05823500] OpenLibm_jll v0.8.7+0 [458c3c95] OpenSSL_jll v3.5.5+0 [efcefdf7] PCRE2_jll v10.47.0+0 [bea87d4a] SuiteSparse_jll v7.10.1+0 [83775a58] Zlib_jll v1.3.1+2 [3161d3a3] Zstd_jll v1.5.7+1 [8e850b90] libblastrampoline_jll v5.15.0+0 [8e850ede] nghttp2_jll v1.68.0+1 [3f19e933] p7zip_jll v17.7.0+0 Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. Testing Running tests... initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt ****************************************************************************** This program contains Ipopt, a library for large-scale nonlinear optimization. Ipopt is released as open source code under the Eclipse Public License (EPL). For more information visit https://github.com/coin-or/Ipopt ****************************************************************************** This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.5905286e+00 2.09e+00 4.69e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.1866750e+00 2.33e-01 1.70e+00 -0.9 1.94e+00 0.0 1.00e+00 8.93e-01h 1 2 2.4160407e+00 1.08e-01 2.44e+00 -0.6 9.52e-01 -0.5 1.00e+00 5.11e-01f 1 3 2.5420974e+00 3.36e-03 2.01e-01 -1.3 1.16e-01 -0.1 9.96e-01 1.00e+00h 1 4 2.3228659e+00 4.08e-03 2.80e-01 -2.3 9.03e-02 -0.5 7.64e-01 1.00e+00f 1 5 2.1183517e+00 2.99e-03 9.55e-02 -2.6 1.29e-01 -1.0 9.97e-01 8.35e-01f 1 6 2.0950294e+00 4.14e-05 1.43e-03 -3.4 8.19e-03 -1.5 9.97e-01 1.00e+00h 1 7 2.0910347e+00 9.22e-07 7.92e-05 -4.0 2.00e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0910225e+00 1.24e-08 2.06e-05 -4.0 5.63e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0910208e+00 1.10e-10 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0910158e+00 9.61e-10 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0910009e+00 8.65e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0909560e+00 7.79e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0908216e+00 7.02e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0904192e+00 6.35e-06 2.87e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0892211e+00 5.81e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0857085e+00 5.48e-04 2.29e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796261e+00 2.35e-03 1.33e-01 -4.0 9.60e+01 -6.7 1.00e+00 6.40e-01h 1 18 2.0807880e+00 1.57e-04 1.85e-01 -4.0 6.65e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775340e+00 7.32e-03 2.51e-02 -4.0 1.19e+02 -7.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0769341e+00 1.13e-03 4.88e-02 -4.0 1.76e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0759993e+00 9.86e-04 2.34e-02 -4.0 3.09e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0754453e+00 5.00e-04 2.93e-02 -4.0 4.63e+02 -9.1 1.00e+00 7.24e-01H 1 23 2.0757747e+00 2.10e-03 1.10e-02 -4.0 1.38e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753818e+00 1.42e-03 4.91e-04 -4.1 7.71e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756723e+00 4.69e-04 6.65e-06 -4.0 2.14e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0753424e+00 6.28e-04 1.01e-06 -4.1 2.57e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756725e+00 3.34e-04 8.22e-07 -4.0 1.36e+01 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 1.11e-07 1.16e-08 -4.0 2.00e+00 -12.0 1.00e+00 1.00e+00h 1 29 2.0756712e+00 6.06e-14 3.56e-12 -4.0 1.54e-02 -12.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 29 (scaled) (unscaled) Objective...............: 2.0756712120666343e+00 2.0756712120666343e+00 Dual infeasibility......: 3.5551885599945793e-12 3.5551885599945793e-12 Constraint violation....: 6.0618177144533547e-14 6.0618177144533547e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000063e-04 1.0000000000000063e-04 Overall NLP error.......: 3.5551885599945793e-12 3.5551885599945793e-12 Number of objective function evaluations = 32 Number of objective gradient evaluations = 30 Number of equality constraint evaluations = 32 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 30 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 29 Total seconds in IPOPT = 62.399 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: equality constraint on trajectory variable du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1488 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1524 Total number of variables............................: 100 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.0495574e+00 2.63e+00 4.91e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9839094e+00 8.95e-01 1.30e+00 -0.8 1.99e+00 0.0 1.00e+00 6.60e-01h 1 2 2.8033803e+00 2.73e-02 1.12e+00 -0.8 7.39e-01 -0.5 8.91e-01 1.00e+00f 1 3 2.5195017e+00 2.19e-02 6.58e-02 -1.5 2.48e-01 -1.0 9.59e-01 1.00e+00h 1 4 2.1658048e+00 1.05e-02 4.97e-02 -3.4 2.13e-01 -1.4 8.22e-01 8.83e-01f 1 5 2.0973494e+00 9.63e-04 1.37e-02 -3.1 7.60e-02 -1.9 9.47e-01 1.00e+00h 1 6 2.0909034e+00 9.30e-05 4.03e-03 -4.0 1.26e-01 -2.4 1.00e+00 1.00e+00h 1 7 2.0909020e+00 7.36e-07 9.89e-04 -4.0 2.04e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909039e+00 1.20e-07 4.15e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908906e+00 8.11e-09 2.06e-05 -4.0 1.35e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908508e+00 6.22e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907314e+00 5.61e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903738e+00 5.07e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0893082e+00 4.64e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861761e+00 4.36e-04 1.81e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796338e+00 2.53e-03 8.64e-02 -4.0 8.73e+01 -6.7 1.00e+00 7.58e-01h 1 16 2.0812860e+00 1.53e-04 1.92e-01 -4.0 6.74e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778435e+00 5.72e-03 2.68e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781442e+00 1.62e-02 3.27e-02 -3.7 1.51e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767365e+00 1.30e-02 1.83e-02 -3.8 2.80e+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 2.0758258e+00 1.12e-02 2.15e-02 -3.9 4.13e+02 -9.1 1.00e+00 9.92e-01h 1 21 2.0757782e+00 6.60e-03 9.55e-03 -4.0 1.37e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756778e+00 3.53e-04 4.15e-04 -4.0 5.90e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 1.55e-06 7.41e-06 -4.0 2.10e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756713e+00 5.56e-08 1.36e-06 -4.0 1.47e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756713e+00 3.80e-09 1.60e-07 -4.0 6.05e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756713e+00 9.72e-11 3.77e-09 -4.0 1.10e+00 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712528757109e+00 2.0756712528757109e+00 Dual infeasibility......: 3.7742603930428567e-09 3.7742603930428567e-09 Constraint violation....: 9.7158836531718862e-11 9.7158836531718862e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000055e-04 1.0000000000000055e-04 Overall NLP error.......: 3.7742603930428567e-09 3.7742603930428567e-09 Number of objective function evaluations = 28 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 26 Total seconds in IPOPT = 22.092 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: equality constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.9763977e+00 1.87e+00 8.71e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.0707686e+00 2.74e-01 2.13e+00 -1.1 1.94e+00 0.0 9.28e-01 8.54e-01f 1 2 2.5263974e+00 2.82e-02 1.95e+00 -1.2 5.63e-01 -0.5 6.14e-01 1.00e+00h 1 3 2.3538434e+00 9.33e-03 6.70e-01 -1.6 1.49e-01 -1.0 9.97e-01 6.69e-01h 1 4 2.1268007e+00 2.26e-03 3.48e-02 -2.5 8.08e-02 -1.4 9.96e-01 1.00e+00h 1 5 2.0918972e+00 3.17e-05 4.52e-03 -3.9 1.03e-02 -1.9 9.85e-01 1.00e+00h 1 6 2.0908885e+00 1.00e-06 8.17e-05 -4.0 8.29e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0908859e+00 1.14e-08 2.06e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908814e+00 7.67e-10 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908682e+00 6.92e-09 2.06e-05 -4.0 1.35e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908283e+00 6.23e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907089e+00 5.61e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903514e+00 5.08e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892860e+00 4.64e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861542e+00 4.36e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796296e+00 2.52e-03 8.69e-02 -4.0 8.72e+01 -6.7 1.00e+00 7.56e-01h 1 16 2.0812548e+00 1.38e-04 1.87e-01 -4.0 6.82e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778346e+00 5.48e-03 2.58e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781574e+00 1.67e-02 3.46e-02 -3.7 1.55e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767353e+00 1.29e-02 1.73e-02 -3.8 2.92e+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 2.0759686e+00 7.88e-03 2.25e-02 -3.9 4.17e+02 -9.1 1.00e+00 9.90e-01h 1 21 2.0757557e+00 8.15e-03 9.65e-03 -4.0 1.36e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756811e+00 4.22e-04 3.91e-04 -4.0 5.68e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 6.76e-06 7.77e-06 -4.0 2.30e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 5.52e-08 1.47e-06 -4.0 1.49e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.44e-09 1.47e-07 -4.0 5.20e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.63e-11 2.99e-09 -4.0 9.25e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122094432e+00 2.0756712122094432e+00 Dual infeasibility......: 2.9859807422060337e-09 2.9859807422060337e-09 Constraint violation....: 7.6312400842937222e-11 7.6312400842937222e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000063e-04 1.0000000000000063e-04 Overall NLP error.......: 2.9859807422060337e-09 2.9859807422060337e-09 Number of objective function evaluations = 28 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 26 Total seconds in IPOPT = 34.754 EXIT: Optimal Solution Found. [test_integrator] Starting... [test_integrator] constraint_dim=8, datavec_len=75, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.9054831e+00 3.66e+00 8.89e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.5819854e+00 1.42e-01 7.27e-01 -1.0 2.58e+00 -2.0 9.73e-01 1.00e+00h 1 Hello, world! 2 2.4047370e+00 4.91e-02 1.53e-01 -1.4 1.08e+00 -2.5 9.15e-01 1.00e+00h 1 Hello, world! 3 2.1532535e+00 2.35e-02 4.06e-02 -2.7 9.51e-01 -3.0 9.67e-01 1.00e+00h 1 Hello, world! 4 2.0932583e+00 3.21e-03 1.77e-02 -3.5 3.93e-01 -3.4 9.95e-01 9.83e-01h 1 Hello, world! 5 2.0908335e+00 3.89e-05 3.41e-04 -4.0 1.43e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 6 2.0907921e+00 1.07e-06 1.38e-04 -4.0 3.83e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0907143e+00 3.73e-07 3.69e-04 -4.0 1.04e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0904869e+00 3.51e-06 3.47e-04 -4.0 3.18e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0903915e+00 4.94e-07 3.74e-04 -4.0 1.21e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0902363e+00 1.27e-06 1.03e-02 -4.0 4.49e+00 -5.4 1.00e+00 3.52e-01h 2 Hello, world! 11 2.0892602e+00 4.05e-05 3.00e-03 -4.0 1.14e+01 -5.9 1.00e+00 9.66e-01h 1 Hello, world! 12 2.0874994e+00 3.42e-04 3.76e-02 -4.0 3.13e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0861677e+00 3.30e-04 2.29e-01 -4.0 5.72e+01 -5.9 1.00e+00 1.86e-01h 1 Hello, world! 14 2.0846212e+00 2.72e-04 2.71e-02 -4.0 2.53e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0827871e+00 2.12e-04 2.48e-02 -4.0 3.41e+01 -6.9 1.00e+00 9.55e-01h 1 Hello, world! 16 2.0830769e+00 1.23e-03 3.55e-02 -4.0 6.15e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0821284e+00 1.38e-03 9.41e-03 -4.1 1.45e+02 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0825360e+00 4.69e-06 7.34e-02 -4.0 1.14e+02 -7.4 4.26e-01 1.00e+00H 1 Hello, world! 19 2.0823168e+00 1.96e-06 9.89e-04 -4.0 5.79e-01 -5.2 1.00e+00 9.57e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0823336e+00 1.01e-04 2.96e-03 -4.0 2.43e+00 -5.6 1.00e+00 1.00e+00f 1 Hello, world! 21 2.0819270e+00 1.54e-04 1.24e-03 -4.1 7.47e+00 -6.1 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0820455e+00 4.44e-05 4.06e-04 -4.0 2.69e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0819370e+00 1.95e-04 4.61e-02 -4.0 1.41e+01 -6.2 6.94e-01 1.00e+00h 1 Hello, world! 24 2.0819397e+00 2.61e-04 2.76e-01 -4.0 8.87e+00 -4.8 2.36e-01 1.89e-01h 2 Hello, world! 25 2.0817882e+00 1.86e-04 1.42e-02 -4.1 1.53e+00 -5.3 1.00e+00 9.47e-01h 1 Hello, world! 26 2.0820534e+00 3.08e-04 1.79e-03 -4.0 2.30e+00 -5.8 1.00e+00 1.00e+00f 1 Hello, world! 27 2.0818717e+00 1.63e-04 1.31e-03 -4.1 2.68e+00 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0818344e+00 9.34e-05 2.90e-04 -4.1 5.87e+00 -6.8 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0820182e+00 2.87e-04 8.31e-04 -4.0 1.30e+01 -7.2 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0817037e+00 7.52e-04 6.83e-04 -4.1 3.22e+01 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0818784e+00 1.18e-03 3.66e-03 -4.0 5.01e+01 -8.2 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0815894e+00 1.09e-03 1.94e-03 -4.1 4.89e+01 -8.7 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0818449e+00 5.06e-04 3.07e-04 -4.0 2.16e+01 -9.1 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0815838e+00 2.48e-04 1.07e-05 -4.1 1.12e+01 -9.6 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0818445e+00 2.08e-04 1.67e-05 -4.0 9.50e+00 -10.1 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0815837e+00 2.15e-04 1.14e-05 -4.1 9.79e+00 -10.6 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0818446e+00 2.16e-04 1.02e-05 -4.0 9.84e+00 -11.0 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0815837e+00 2.16e-04 9.56e-06 -4.1 9.86e+00 -11.5 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0818446e+00 2.16e-04 9.58e-06 -4.0 9.87e+00 -12.0 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0815837e+00 2.16e-04 9.35e-06 -4.1 9.87e+00 -12.5 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0818446e+00 2.16e-04 9.51e-06 -4.0 9.87e+00 -13.0 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0815837e+00 2.16e-04 9.33e-06 -4.1 9.87e+00 -13.4 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0805951e+00 3.33e-03 1.59e-04 -6.1 4.09e+01 -13.9 9.77e-01 9.64e-01h 1 Hello, world! 44 2.0818908e+00 6.61e-03 2.98e-04 -4.0 6.18e+01 -14.4 1.00e+00 1.00e+00f 1 Hello, world! 45 2.0816145e+00 4.96e-04 1.06e-05 -4.1 2.08e+01 -14.9 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0806042e+00 3.49e-03 2.32e-04 -6.1 4.24e+01 -15.3 9.76e-01 9.58e-01h 1 Hello, world! 47 2.0805507e+00 9.69e-05 2.24e-06 -6.1 1.71e+01 -15.8 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0819819e+00 1.02e-02 3.99e-04 -4.0 8.54e+01 -16.3 1.00e+00 1.00e+00f 1 Hello, world! 49 2.0816805e+00 9.65e-04 4.96e-05 -4.1 4.57e+01 -16.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0816444e+00 4.73e-07 7.69e-07 -4.1 8.40e+00 -17.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0816443778821871e+00 2.0816443778821871e+00 Dual infeasibility......: 7.6851039474979668e-07 7.6851039474979668e-07 Constraint violation....: 4.7261216884475488e-07 4.7261216884475488e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.5524818982229503e-05 8.5524818982229503e-05 Overall NLP error.......: 1.5509433586184470e-05 1.5509433586184470e-05 Number of objective function evaluations = 58 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 58 Number of inequality constraint evaluations = 58 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 24.278 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.9054831e+00 3.66e+00 8.89e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.5819854e+00 1.42e-01 7.27e-01 -1.0 2.58e+00 -2.0 9.73e-01 1.00e+00h 1 Hello, world! 2 2.4047370e+00 4.91e-02 1.53e-01 -1.4 1.08e+00 -2.5 9.15e-01 1.00e+00h 1 Hello, world! 3 2.1532535e+00 2.35e-02 4.06e-02 -2.7 9.51e-01 -3.0 9.67e-01 1.00e+00h 1 Hello, world! 4 2.0932583e+00 3.21e-03 1.77e-02 -3.5 3.93e-01 -3.4 9.95e-01 9.83e-01h 1 Hello, world! 5 2.0908335e+00 3.89e-05 3.41e-04 -4.0 1.43e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 6 2.0907921e+00 1.07e-06 1.38e-04 -4.0 3.83e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0907143e+00 3.73e-07 3.69e-04 -4.0 1.04e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0904869e+00 3.51e-06 3.47e-04 -4.0 3.18e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0903915e+00 4.94e-07 3.74e-04 -4.0 1.21e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0902363e+00 1.27e-06 1.03e-02 -4.0 4.49e+00 -5.4 1.00e+00 3.52e-01h 2 Hello, world! 11 2.0892602e+00 4.05e-05 3.00e-03 -4.0 1.14e+01 -5.9 1.00e+00 9.66e-01h 1 Hello, world! 12 2.0874994e+00 3.42e-04 3.76e-02 -4.0 3.13e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0861677e+00 3.30e-04 2.29e-01 -4.0 5.72e+01 -5.9 1.00e+00 1.86e-01h 1 Hello, world! 14 2.0846212e+00 2.72e-04 2.71e-02 -4.0 2.53e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0827871e+00 2.12e-04 2.48e-02 -4.0 3.41e+01 -6.9 1.00e+00 9.55e-01h 1 Hello, world! 16 2.0830769e+00 1.23e-03 3.55e-02 -4.0 6.15e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0821284e+00 1.38e-03 9.41e-03 -4.1 1.45e+02 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0825360e+00 4.69e-06 7.34e-02 -4.0 1.14e+02 -7.4 4.26e-01 1.00e+00H 1 Hello, world! 19 2.0823168e+00 1.96e-06 9.89e-04 -4.0 5.79e-01 -5.2 1.00e+00 9.57e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0823336e+00 1.01e-04 2.96e-03 -4.0 2.43e+00 -5.6 1.00e+00 1.00e+00f 1 Hello, world! 21 2.0819270e+00 1.54e-04 1.24e-03 -4.1 7.47e+00 -6.1 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0820455e+00 4.44e-05 4.06e-04 -4.0 2.69e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0819370e+00 1.95e-04 4.61e-02 -4.0 1.41e+01 -6.2 6.94e-01 1.00e+00h 1 Hello, world! 24 2.0819397e+00 2.61e-04 2.76e-01 -4.0 8.87e+00 -4.8 2.36e-01 1.89e-01h 2 Hello, world! 25 2.0817882e+00 1.86e-04 1.42e-02 -4.1 1.53e+00 -5.3 1.00e+00 9.47e-01h 1 Hello, world! 26 2.0820534e+00 3.08e-04 1.79e-03 -4.0 2.30e+00 -5.8 1.00e+00 1.00e+00f 1 Hello, world! 27 2.0818717e+00 1.63e-04 1.31e-03 -4.1 2.68e+00 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0818344e+00 9.34e-05 2.90e-04 -4.1 5.87e+00 -6.8 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0820182e+00 2.87e-04 8.31e-04 -4.0 1.30e+01 -7.2 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0817037e+00 7.52e-04 6.83e-04 -4.1 3.22e+01 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0818784e+00 1.18e-03 3.66e-03 -4.0 5.01e+01 -8.2 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0815894e+00 1.09e-03 1.94e-03 -4.1 4.89e+01 -8.7 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0818449e+00 5.06e-04 3.07e-04 -4.0 2.16e+01 -9.1 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0815838e+00 2.48e-04 1.07e-05 -4.1 1.12e+01 -9.6 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0818445e+00 2.08e-04 1.67e-05 -4.0 9.50e+00 -10.1 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0815837e+00 2.15e-04 1.14e-05 -4.1 9.79e+00 -10.6 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0818446e+00 2.16e-04 1.02e-05 -4.0 9.84e+00 -11.0 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0815837e+00 2.16e-04 9.56e-06 -4.1 9.86e+00 -11.5 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0818446e+00 2.16e-04 9.58e-06 -4.0 9.87e+00 -12.0 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0815837e+00 2.16e-04 9.35e-06 -4.1 9.87e+00 -12.5 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0818446e+00 2.16e-04 9.51e-06 -4.0 9.87e+00 -13.0 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0815837e+00 2.16e-04 9.33e-06 -4.1 9.87e+00 -13.4 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0805951e+00 3.33e-03 1.59e-04 -6.1 4.09e+01 -13.9 9.77e-01 9.64e-01h 1 Hello, world! 44 2.0818908e+00 6.61e-03 2.98e-04 -4.0 6.18e+01 -14.4 1.00e+00 1.00e+00f 1 Hello, world! 45 2.0816145e+00 4.96e-04 1.06e-05 -4.1 2.08e+01 -14.9 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0806042e+00 3.49e-03 2.32e-04 -6.1 4.24e+01 -15.3 9.76e-01 9.58e-01h 1 Hello, world! 47 2.0805507e+00 9.69e-05 2.24e-06 -6.1 1.71e+01 -15.8 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0819819e+00 1.02e-02 3.99e-04 -4.0 8.54e+01 -16.3 1.00e+00 1.00e+00f 1 Hello, world! 49 2.0816805e+00 9.65e-04 4.96e-05 -4.1 4.57e+01 -16.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0816444e+00 4.73e-07 7.69e-07 -4.1 8.40e+00 -17.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0816443778821871e+00 2.0816443778821871e+00 Dual infeasibility......: 7.6851039474979668e-07 7.6851039474979668e-07 Constraint violation....: 4.7261216884475488e-07 4.7261216884475488e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.5524818982229503e-05 8.5524818982229503e-05 Overall NLP error.......: 1.5509433586184470e-05 1.5509433586184470e-05 Number of objective function evaluations = 58 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 58 Number of inequality constraint evaluations = 58 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 0.905 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... applying constraint: duration constraint of 4.0 applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1529 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 73 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.0491290e+00 3.34e+00 3.49e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 8.6713390e-01 2.21e+00 4.49e+00 -0.3 1.57e+01 -2.0 1.60e-01 3.37e-01f 1 2 9.2886553e-01 1.60e+00 4.28e+00 -0.4 6.75e+00 -1.6 3.94e-01 2.89e-01f 1 3 1.1272790e+00 1.54e+00 4.76e+00 -0.1 8.21e+00 -1.1 6.13e-01 2.68e-01f 1 4 1.4103234e+00 1.17e+00 3.67e+00 -4.0 7.26e+00 -1.6 2.29e-01 4.30e-01h 1 5 1.8956932e+00 1.02e+00 3.01e+00 -4.0 8.95e+00 -2.1 4.85e-01 1.00e+00h 1 6 1.7759874e+00 1.27e-01 1.76e+00 -1.4 5.08e+00 -2.6 9.92e-01 1.00e+00h 1 7 1.4585019e+00 6.79e-03 9.03e-02 -2.1 3.47e-01 -3.1 9.47e-01 1.00e+00h 1 8 1.3511357e+00 1.85e-01 2.21e-01 -4.0 2.31e+00 -3.5 7.68e-02 4.26e-01h 1 9 1.4378617e+00 3.16e-01 9.40e-01 -0.2 1.95e+02 -4.0 7.02e-02 6.31e-03f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.6153339e+00 2.48e-01 4.93e-01 -1.5 8.37e+00 -4.5 6.07e-01 2.34e-01h 1 11 1.6634899e+00 1.19e-01 1.57e-01 -1.5 8.86e-01 -5.0 6.02e-01 1.00e+00h 1 12 1.3894564e+00 3.50e-03 3.18e-02 -2.2 9.00e-01 -5.4 9.31e-01 1.00e+00h 1 13 1.2261191e+00 2.85e-01 3.86e-02 -2.7 9.38e-01 -5.9 9.57e-01 9.04e-01h 1 14 1.1726246e+00 3.81e-01 1.84e-02 -3.7 1.55e+01 -6.4 1.00e+00 1.00e+00h 1 15 1.1604959e+00 9.15e-01 9.81e-02 -4.0 3.34e+01 -6.9 1.00e+00 1.00e+00h 1 16 1.1642066e+00 1.28e-01 8.93e-02 -4.0 7.33e+01 -7.4 1.00e+00 1.00e+00h 1 17 1.1569144e+00 1.91e+00 2.91e-01 -4.0 1.34e+02 -7.8 1.00e+00 1.00e+00h 1 18 1.1623716e+00 3.78e-01 1.49e-01 -4.0 1.90e+02 -8.3 1.00e+00 1.00e+00h 1 19 1.1605569e+00 9.75e-01 1.40e-01 -3.7 2.17e+02 -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 1.1616098e+00 4.46e-02 1.51e-02 -3.9 8.75e+01 -9.3 1.00e+00 1.00e+00h 1 21 1.1606710e+00 1.29e-01 1.50e-02 -4.0 1.27e+02 -9.7 1.00e+00 1.00e+00h 1 22 1.1608487e+00 1.02e-03 3.28e-04 -4.0 6.66e+00 -10.2 1.00e+00 1.00e+00h 1 23 1.1608491e+00 8.91e-06 1.21e-06 -4.0 1.30e+00 -10.7 1.00e+00 1.00e+00h 1 24 1.1608491e+00 9.30e-10 8.05e-12 -4.0 1.30e-02 -11.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 24 (scaled) (unscaled) Objective...............: 1.1608491308072604e+00 1.1608491308072604e+00 Dual infeasibility......: 8.0458649725362319e-12 8.0458649725362319e-12 Constraint violation....: 9.3041663262738439e-10 9.3041663262738439e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000318e-04 1.0000000000000318e-04 Overall NLP error.......: 9.3041663262738439e-10 9.3041663262738439e-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 = 23.306 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 9.5914664e-01 8.88e-01 1.04e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5562850e+00 1.41e-01 1.55e+00 -1.0 8.88e-01 0.0 9.98e-01 1.00e+00h 1 2 1.6494915e+00 5.81e-02 3.21e-01 -0.8 3.26e-01 -0.5 9.75e-01 5.88e-01h 1 3 1.5104324e+00 3.13e-02 1.13e+00 -2.9 4.97e+00 - 6.14e-01 5.00e-01h 2 4 1.7967718e+00 2.53e-02 2.25e+00 -1.8 3.72e-01 -1.0 9.91e-01 1.00e+00h 1 5 1.0838684e+00 2.74e-02 1.02e+00 -2.1 3.64e-01 -0.5 1.00e+00 6.64e-01f 1 6 1.0619210e+00 2.06e-02 5.14e-01 -2.8 7.10e-02 -1.0 1.00e+00 2.42e-01h 1 7 1.0991179e+00 4.84e-04 2.22e-02 -3.0 9.59e-02 -1.5 1.00e+00 9.69e-01h 1 8 1.0914885e+00 1.99e-05 9.45e-02 -4.0 3.10e+00 - 1.00e+00 1.00e+00h 1 9 1.0910251e+00 2.51e-08 2.17e-03 -4.0 4.52e-01 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0910386e+00 6.84e-13 4.02e-05 -4.0 1.37e-02 - 1.00e+00 1.00e+00h 1 11 1.0910386e+00 1.13e-20 4.01e-05 -4.0 9.38e-05 - 1.00e+00 1.00e+00h 1 12 1.0910386e+00 8.88e-16 4.00e-05 -4.0 8.11e-09 - 1.00e+00 1.00e+00h 1 13 1.0908587e+00 4.13e-34 2.50e-09 -4.1 1.99e-05 - 1.00e+00 1.00e+00f 1 14 1.0910386e+00 8.88e-16 2.72e-09 -4.0 1.99e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 14 (scaled) (unscaled) Objective...............: 1.0910385864123910e+00 1.0910385864123910e+00 Dual infeasibility......: 2.7159094078505960e-09 2.7159094078505960e-09 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000114091619604e-04 1.0000114091619604e-04 Overall NLP error.......: 2.7159094078505960e-09 2.7159094078505960e-09 Number of objective function evaluations = 17 Number of objective gradient evaluations = 15 Number of equality constraint evaluations = 17 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 15 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 14 Total seconds in IPOPT = 24.350 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 2.2777081e+00 3.85e+00 1.86e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9186849e+00 1.49e-02 9.46e-01 -1.0 2.16e+00 -2.0 9.94e-01 1.00e+00f 1 2 2.3335756e+00 2.57e-02 7.20e-02 -1.8 3.52e-01 -1.6 9.88e-01 1.00e+00f 1 3 2.1473937e+00 8.20e-03 3.59e-01 -2.7 1.76e-01 -1.1 9.43e-01 9.53e-01h 1 4 2.0972562e+00 1.55e-03 1.78e-01 -3.9 9.80e-02 -1.6 9.99e-01 9.13e-01h 1 5 2.0917419e+00 4.77e-04 3.15e-01 -4.0 3.45e-01 -2.1 1.00e+00 5.11e-01h 1 6 2.0910543e+00 4.60e-04 2.61e-01 -4.0 7.17e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0909685e+00 2.12e-06 8.97e-03 -4.0 5.52e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0909741e+00 4.50e-07 2.06e-05 -4.0 7.04e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909534e+00 1.63e-08 2.06e-05 -4.0 2.11e-01 -4.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908916e+00 1.46e-07 2.05e-05 -4.0 6.30e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907095e+00 1.29e-06 4.96e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0901905e+00 1.09e-05 4.19e-04 -4.0 5.44e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888487e+00 8.18e-05 3.15e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861633e+00 4.38e-04 1.74e-02 -4.0 3.46e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830945e+00 9.06e-04 4.71e-02 -4.0 5.31e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828677e+00 9.32e-04 2.35e-02 -4.0 5.40e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823479e+00 4.02e-04 1.01e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820403e+00 9.32e-05 1.85e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.70e-04 8.69e-03 -4.0 9.93e+01 -8.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0819393e+00 3.69e-05 8.45e-04 -4.0 3.10e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.30e-07 1.38e-05 -4.0 4.43e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.74e-10 3.22e-08 -4.0 2.43e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.50e-13 1.20e-11 -4.0 4.57e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907190844e+00 2.0819382907190844e+00 Dual infeasibility......: 1.2004151850059791e-11 1.2004151850059791e-11 Constraint violation....: 2.5046631435543532e-13 2.5046631435543532e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000057e-04 1.0000000000000057e-04 Overall NLP error.......: 1.2004151850059791e-11 1.2004151850059791e-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 = 23.156 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1528 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 77 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.3284849e+00 3.92e+00 3.13e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8631570e+00 2.18e-02 5.33e-01 -1.0 2.44e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3074789e+00 1.71e-02 4.18e-02 -1.7 2.06e-01 -1.6 9.57e-01 1.00e+00h 1 3 2.1346820e+00 1.94e-03 1.38e-01 -3.0 8.01e-02 -1.1 9.80e-01 9.48e-01h 1 4 2.0945628e+00 8.40e-04 8.87e-02 -4.0 7.52e-02 -1.6 1.00e+00 9.06e-01h 1 5 2.0914179e+00 1.90e-04 7.29e-01 -4.0 5.40e-01 -2.1 1.00e+00 3.83e-01h 1 6 2.0908041e+00 1.33e-04 5.66e-01 -4.0 9.03e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0908565e+00 7.71e-07 2.76e-03 -4.0 2.06e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0908884e+00 7.81e-07 1.76e-05 -4.0 6.03e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908749e+00 1.04e-08 2.27e-05 -4.0 1.73e-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 2.0908390e+00 7.21e-08 1.30e-04 -4.0 4.76e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907403e+00 5.54e-07 3.99e-04 -4.0 1.31e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904422e+00 5.54e-06 4.93e-04 -4.0 3.96e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0903170e+00 9.33e-07 6.01e-04 -4.0 1.59e+00 -5.0 1.00e+00 1.00e+00h 1 14 2.0901669e+00 1.58e-06 2.07e-02 -4.0 6.80e+00 -5.5 1.00e+00 2.13e-01h 2 15 2.0889767e+00 6.67e-05 2.80e-03 -4.0 1.40e+01 -6.0 1.00e+00 1.00e+00h 1 16 2.0870069e+00 2.20e-04 4.52e-02 -4.0 3.72e+01 -6.4 1.00e+00 6.42e-01h 1 17 2.0835725e+00 1.42e-03 5.45e-02 -4.0 6.30e+01 -6.9 1.00e+00 1.00e+00h 1 18 2.0826177e+00 6.36e-04 3.36e-02 -4.0 3.12e+01 -7.4 1.00e+00 5.98e-01h 1 19 2.0822668e+00 2.61e-04 1.61e-02 -4.0 1.64e+02 -7.9 9.01e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0825725e+00 8.42e-04 1.92e-02 -4.0 2.91e+01 -6.5 1.00e+00 1.00e+00h 1 21 2.0823205e+00 4.18e-04 3.46e-02 -4.0 4.68e+01 -7.0 7.60e-01 1.00e+00h 1 22 2.1513666e+00 3.77e-04 2.80e-01 -4.0 4.10e+03 -7.5 1.17e-03 1.20e-02h 1 23 2.1225707e+00 6.41e-07 2.27e-01 -4.1 9.39e-02 0.3 7.55e-01 1.00e+00f 1 24 2.0981223e+00 5.92e-07 1.56e-01 -4.1 1.37e-01 -0.1 4.33e-01 1.00e+00f 1 25 2.0827199e+00 4.47e-06 3.76e-02 -4.1 2.28e-01 -0.6 1.00e+00 9.37e-01f 1 26 2.0823892e+00 2.74e-06 5.67e-03 -4.0 5.19e-02 -1.1 1.00e+00 1.00e+00f 1 27 2.0823850e+00 1.70e-07 5.50e-04 -4.0 8.13e-03 -1.6 1.00e+00 1.00e+00h 1 28 2.0822774e+00 1.16e-07 1.66e-04 -4.0 1.96e-02 -2.0 1.00e+00 1.00e+00h 1 29 2.0822687e+00 1.21e-08 1.23e-05 -4.0 4.14e-03 -2.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0822695e+00 5.27e-10 2.78e-06 -4.0 2.77e-03 -3.0 1.00e+00 1.00e+00h 1 31 2.0822695e+00 4.37e-12 2.78e-06 -4.0 8.32e-03 -3.5 1.00e+00 1.00e+00h 1 32 2.0822696e+00 1.42e-10 2.78e-06 -4.0 2.50e-02 -4.0 1.00e+00 1.00e+00h 1 33 2.0821214e+00 1.53e-06 4.49e-05 -4.1 6.51e-02 -4.4 1.00e+00 1.00e+00f 1 34 2.0822721e+00 5.40e-06 6.81e-05 -4.0 2.25e-01 -4.9 1.00e+00 1.00e+00h 1 35 2.0820943e+00 1.44e-05 8.64e-05 -4.1 5.85e-01 -5.4 1.00e+00 1.00e+00h 1 36 2.0822582e+00 4.96e-05 1.49e-04 -4.0 2.04e+00 -5.9 1.00e+00 1.00e+00h 1 37 2.0820261e+00 1.36e-04 1.75e-04 -4.1 5.36e+00 -6.3 1.00e+00 1.00e+00h 1 38 2.0822302e+00 5.52e-04 1.26e-03 -4.0 2.01e+01 -6.8 1.00e+00 1.00e+00h 1 39 2.1020326e+00 4.00e-06 3.54e-01 -4.1 1.54e+02 -7.3 1.68e-01 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0830419e+00 3.64e-05 3.88e+00 -4.1 9.10e-01 -1.4 7.45e-02 4.56e-01f 1 41 2.0834964e+00 3.62e-05 3.90e+00 -4.1 3.04e+00 -1.9 6.18e-01 9.50e-03f 5 42 2.0826040e+00 4.46e-05 4.10e-01 -4.1 5.02e-01 -2.4 1.00e+00 8.98e-01h 1 43 2.0828652e+00 6.98e-06 5.12e-03 -4.1 2.59e-01 -2.9 1.00e+00 1.00e+00f 1 44 2.0825346e+00 4.56e-06 1.62e-04 -4.1 1.85e-01 -3.4 1.00e+00 1.00e+00h 1 45 2.0818429e+00 8.76e-06 3.79e-02 -6.1 9.38e-02 -3.8 7.71e-01 1.00e+00h 1 46 2.0827284e+00 1.69e-05 1.60e-03 -4.0 1.34e-01 -4.3 1.00e+00 1.00e+00h 1 47 2.0824372e+00 1.39e-05 4.37e-05 -4.1 3.85e-01 -4.8 1.00e+00 1.00e+00h 1 48 2.0816769e+00 2.04e-04 1.64e-03 -6.1 2.14e+00 -5.3 1.00e+00 1.00e+00h 1 49 2.0824762e+00 3.55e-04 2.96e-03 -4.0 2.82e+00 -5.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0821296e+00 2.30e-04 1.47e-03 -4.1 6.51e+00 -6.2 1.00e+00 1.00e+00h 1 51 2.0819717e+00 4.60e-05 9.00e-04 -4.1 1.81e+01 -6.7 1.00e+00 1.00e+00h 1 52 2.0817080e+00 8.87e-05 2.70e-03 -4.1 4.32e+01 -7.2 8.62e-01 1.00e+00h 1 53 2.0819130e+00 2.17e-07 1.58e-02 -4.0 1.37e+01 -5.8 1.00e+00 1.00e+00H 1 54 2.0819507e+00 1.87e-04 2.34e-01 -4.0 4.63e+00 -6.3 7.78e-01 1.00e+00h 1 55 2.0817745e+00 1.52e-07 4.94e-04 -4.1 3.98e-02 -2.3 1.00e+00 1.00e+00h 1 56 2.0818881e+00 2.53e-07 1.23e-04 -4.0 8.44e-02 -2.8 1.00e+00 1.00e+00h 1 57 2.0817668e+00 3.44e-07 1.12e-04 -4.1 2.33e-02 -3.2 1.00e+00 1.00e+00h 1 58 2.0818865e+00 1.03e-06 1.10e-04 -4.0 6.74e-02 -3.7 1.00e+00 1.00e+00h 1 59 2.0817564e+00 3.05e-06 6.94e-05 -4.1 1.78e-01 -4.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0818521e+00 9.38e-06 3.80e-04 -4.0 6.42e-01 -4.7 1.00e+00 1.00e+00h 1 61 2.0816879e+00 1.85e-05 5.58e-04 -4.1 7.95e-01 -5.1 1.00e+00 1.00e+00h 1 62 2.0818569e+00 3.07e-05 4.82e-04 -4.0 1.30e+00 -5.6 1.00e+00 1.00e+00h 1 63 2.0817350e+00 2.18e-05 3.07e-04 -4.1 1.28e+00 -6.1 1.00e+00 1.00e+00h 1 64 2.0808715e+00 8.19e-04 5.67e-03 -6.1 1.11e+01 -6.6 9.92e-01 1.00e+00h 1 65 2.0809717e+00 4.36e-06 8.44e-05 -4.8 2.56e-01 -5.2 1.00e+00 1.00e+00h 1 66 2.0811580e+00 2.18e-05 1.74e-01 -4.0 6.34e+00 -5.7 1.00e+00 1.78e-01h 2 67 2.0814763e+00 2.28e-04 2.14e-03 -4.2 5.32e+00 -6.2 1.00e+00 1.00e+00h 1 68 2.0815544e+00 2.07e-05 1.03e-03 -4.2 3.76e+00 -6.7 1.00e+00 1.00e+00h 1 69 2.0815561e+00 9.20e-06 2.48e-04 -4.2 8.80e+00 -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 70 2.0807204e+00 2.39e-03 6.33e-04 -6.2 3.51e+01 -7.6 9.82e-01 9.40e-01h 1 71 2.0818859e+00 5.01e-03 2.58e-03 -4.0 4.44e+01 -8.1 1.00e+00 1.00e+00f 1 72 2.0816306e+00 9.68e-04 1.23e-03 -4.1 4.22e+01 -8.6 1.00e+00 1.00e+00h 1 73 2.0816058e+00 1.40e-05 3.66e-04 -4.1 2.31e+01 -9.1 1.00e+00 1.00e+00h 1 74 2.0805904e+00 3.55e-03 1.42e-04 -6.1 4.19e+01 -9.5 9.78e-01 9.73e-01h 1 75 2.0818877e+00 6.38e-03 5.23e-04 -4.0 5.91e+01 -10.0 1.00e+00 1.00e+00f 1 76 2.0816145e+00 4.85e-04 3.37e-05 -4.1 2.06e+01 -10.5 1.00e+00 1.00e+00h 1 77 2.0805992e+00 3.47e-03 1.52e-04 -6.1 4.15e+01 -11.0 9.76e-01 9.65e-01h 1 78 2.0805508e+00 8.51e-05 2.95e-06 -6.1 1.70e+01 -11.5 1.00e+00 1.00e+00h 1 79 2.0819792e+00 1.03e-02 3.96e-04 -4.0 8.43e+01 -11.9 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0816849e+00 9.29e-04 4.77e-05 -4.1 4.57e+01 -12.4 1.00e+00 1.00e+00h 1 81 2.0816489e+00 4.76e-07 7.79e-07 -4.1 8.50e+00 -12.9 1.00e+00 1.00e+00h 1 82 2.0818389e+00 1.13e-04 4.88e-06 -4.0 7.02e+00 -13.4 1.00e+00 1.00e+00h 1 83 2.0815801e+00 2.08e-04 9.04e-06 -4.1 9.49e+00 -13.8 1.00e+00 1.00e+00h 1 84 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -14.3 9.78e-01 9.71e-01h 1 85 2.0805497e+00 6.51e-05 1.78e-06 -6.1 1.55e+01 -14.8 1.00e+00 1.00e+00h 1 86 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -15.3 1.00e+00 1.00e+00f 1 87 2.0816901e+00 9.49e-04 5.23e-05 -4.1 4.72e+01 -15.7 1.00e+00 1.00e+00h 1 88 2.0816518e+00 5.68e-07 7.86e-07 -4.1 8.91e+00 -16.2 1.00e+00 1.00e+00h 1 89 2.0805907e+00 3.69e-03 1.61e-04 -6.1 4.17e+01 -16.7 9.77e-01 9.75e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805511e+00 6.76e-05 1.95e-06 -6.1 1.62e+01 -17.2 1.00e+00 1.00e+00h 1 91 2.0805469e+00 4.72e-08 2.03e-08 -6.1 2.96e+00 -17.7 1.00e+00 1.00e+00h 1 92 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.88e+01 -18.1 1.00e+00 1.00e+00f 1 93 2.0817176e+00 1.03e-03 6.82e-05 -4.1 5.46e+01 -18.6 1.00e+00 1.00e+00h 1 94 2.0816664e+00 1.23e-06 1.00e-06 -4.1 1.09e+01 -19.1 1.00e+00 1.00e+00h 1 95 2.0805915e+00 3.77e-03 1.67e-04 -6.1 4.21e+01 -19.6 9.76e-01 9.75e-01h 1 96 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 97 2.0805471e+00 5.00e-08 2.15e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 9.59e-07 8.07e-07 -9.0 9.59e-01 -20.0 1.00e+00 9.97e-01h 1 99 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0817324e+00 1.07e-03 7.73e-05 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 101 2.0816741e+00 1.68e-06 1.10e-06 -4.1 1.18e+01 -20.0 1.00e+00 1.00e+00h 1 102 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 103 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 104 2.0805472e+00 5.16e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 105 2.0805365e+00 9.80e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 106 2.0805365e+00 9.37e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 107 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 108 2.0817328e+00 1.07e-03 7.75e-05 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 109 2.0816743e+00 1.69e-06 1.10e-06 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 110 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 111 2.0805516e+00 7.08e-05 2.06e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 112 2.0805472e+00 5.17e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 113 2.0805365e+00 9.81e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 114 2.0805365e+00 9.39e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 115 2.0805365e+00 4.44e-16 3.37e-16 -9.0 1.11e-05 -20.0 1.00e+00 1.00e+00h 1 116 2.0805365e+00 6.66e-16 2.22e-16 -9.0 1.99e-12 -20.0 1.00e+00 1.00e+00h 1 117 2.0805365e+00 2.22e-16 2.41e-16 -9.0 8.86e-14 -20.0 1.00e+00 1.00e+00 0 118 2.0805365e+00 8.88e-16 2.03e-16 -9.0 6.79e-14 -20.0 1.00e+00 1.00e+00T 0 Number of Iterations....: 118 (scaled) (unscaled) Objective...............: 2.0805364715330508e+00 2.0805364715330508e+00 Dual infeasibility......: 2.0309745975833971e-16 2.0309745975833971e-16 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 9.0909103283437487e-09 9.0909103283437487e-09 Complementarity.........: 9.0909090969342984e-10 9.0909090969342984e-10 Overall NLP error.......: 9.9999090909091523e-05 9.9999090909091523e-05 Number of objective function evaluations = 133 Number of objective gradient evaluations = 119 Number of equality constraint evaluations = 133 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 119 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 119 Total seconds in IPOPT = 24.793 EXIT: Search Direction is becoming Too Small. initializing optimizer... applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 196 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 28 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.3453467e+00 9.48e-01 1.10e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5731386e+00 1.49e-01 1.78e+00 -0.8 9.17e-01 0.0 9.97e-01 9.72e-01h 1 2 1.6574948e+00 6.44e-02 6.97e-01 -0.6 2.06e+00 - 7.49e-01 5.38e-01f 1 3 2.0264762e+00 3.27e-02 8.94e-01 -1.5 1.36e+00 - 9.49e-01 1.00e+00h 1 4 1.5166967e+00 4.24e-02 4.76e-01 -1.4 4.92e-01 -0.5 9.21e-01 4.06e-01h 1 5 1.1734345e+00 6.20e-03 1.44e-01 -2.3 8.86e-01 - 9.99e-01 8.56e-01h 1 6 1.0953632e+00 2.79e-05 5.83e-02 -4.0 1.35e+00 - 1.00e+00 9.96e-01h 1 7 1.0909433e+00 5.21e-07 1.77e-02 -4.0 9.01e-01 - 1.00e+00 1.00e+00h 1 8 1.0909004e+00 6.17e-10 2.07e-04 -4.0 1.13e-01 - 1.00e+00 1.00e+00h 1 9 1.0908997e+00 8.20e-16 4.02e-05 -4.0 3.33e-04 - 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 1.46e-27 1.25e-15 -4.0 7.27e-09 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 1.0908997263265459e+00 1.0908997263265459e+00 Dual infeasibility......: 1.2531073184315900e-15 1.2531073184315900e-15 Constraint violation....: 1.4552545421678530e-27 1.4552545421678530e-27 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 1.2531073184315900e-15 1.2531073184315900e-15 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 = 21.997 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 5.0132823e-03 8.33e-17 1.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 5.2693120e-03 9.95e-12 8.77e-03 -2.2 4.05e-02 -2.0 9.91e-01 1.00e+00f 1 2 7.9154409e-03 1.06e-10 6.76e-02 -2.1 8.83e-01 -1.6 1.00e+00 1.00e+00f 1 3 2.3945462e-03 6.54e-11 2.85e-02 -3.1 2.60e-01 -1.1 7.38e-01 1.00e+00f 1 4 2.3945462e-03 6.54e-11 4.51e-02 -3.1 4.02e+00 -1.6 9.84e-01 7.16e-16h 49 5 1.4120824e-03 3.22e-11 7.17e-02 -3.1 5.07e-01 -1.2 1.00e+00 5.00e-01f 2 6 3.3193448e-02 2.32e-11 2.98e-01 -1.5 1.97e+01 -1.7 1.46e-01 4.41e-02f 3 7 5.2678504e-03 1.49e-11 4.34e-01 -2.4 1.08e-01 -0.3 1.00e+00 1.00e+00f 1 8 8.0991020e-04 8.12e-12 4.07e-01 -2.4 3.38e-01 -0.8 1.00e+00 5.00e-01f 2 9 8.0991020e-04 8.12e-12 3.80e-01 -2.9 1.95e+00 -1.3 1.00e+00 2.18e-15h 49 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 8.0991020e-04 8.12e-12 3.55e-01 -2.9 4.72e+00 -1.8 1.00e+00 1.82e-15h 48 11 7.4118799e-04 9.87e-13 3.55e-01 -2.9 3.59e+00 -2.3 3.37e-01 3.37e-01S 63 12 5.5643381e-04 4.43e-12 1.95e-01 -1.1 6.07e+01 -2.7 6.60e-01 1.41e-02f 1 13 7.1244257e-04 3.34e-12 1.40e-02 -2.3 9.80e-01 -3.2 9.57e-01 1.38e-01f 3 14 2.4094573e-03 1.52e-11 2.52e-02 -2.3 1.40e+00 -3.7 1.00e+00 1.00e+00f 1 15 2.4094573e-03 1.52e-11 5.73e-02 -3.5 1.96e+00 -4.2 3.93e-01 3.08e-15h 47 16 1.0878936e-03 6.87e-12 5.42e-02 -3.5 9.05e-01 -4.6 5.92e-01 5.92e-01S 61 17 6.3924440e-04 5.81e-12 4.19e-02 -3.5 2.35e+00 -3.3 7.98e-01 1.43e-01f 3 18 6.3924440e-04 5.81e-12 6.77e-02 -3.5 1.02e+00 -3.8 9.58e-01 2.84e-14h 46 19 3.4913227e-04 1.33e-12 6.78e-02 -3.5 2.24e+00 -4.3 9.48e-01 9.48e-01S 61 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 5.0710608e-04 1.26e-12 6.21e-02 -2.8 9.31e+00 -4.7 2.44e-01 2.76e-02f 2 21 5.0710608e-04 1.26e-12 5.64e-02 -3.4 7.53e-01 -1.6 6.65e-01 1.84e-14h 46 22 5.7674244e-04 2.00e-12 5.18e-02 -3.4 2.56e+00 -2.1 9.31e-01 5.47e-02f 2 23 5.7674244e-04 2.00e-12 1.66e-01 -3.4 5.32e+00 -2.6 9.23e-01 2.26e-15h 46 24 9.1026094e-04 2.01e-12 1.50e-01 -3.4 1.95e+00 -3.0 6.71e-02 6.71e-02s 61 25 3.1867024e-02 4.54e-13 2.43e-01 -3.4 1.85e+00 -3.5 1.00e+00 0.00e+00S 61 26 3.0664642e-02 1.20e-12 4.82e-01 -3.4 4.50e-01 -1.3 8.16e-01 1.69e-02f 5 27 2.9967138e-02 1.51e-12 7.19e-01 -3.4 4.63e-01 -0.9 1.00e+00 6.27e-03f 8 28 2.9820778e-02 1.61e-12 9.55e-01 -3.4 9.44e-01 -1.3 1.00e+00 7.24e-04f 10 29 2.9746435e-02 1.65e-12 1.19e+00 -3.4 8.99e-01 -0.9 1.00e+00 3.55e-04f 12 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.9737334e-02 1.66e-12 1.43e+00 -3.4 1.55e+00 -1.4 6.37e-01 2.85e-05f 15 31 4.2200536e-03 3.68e-11 1.35e+00 -3.4 1.35e+00 -1.0 1.00e+00 2.04e-01f 3 32 4.2200536e-03 3.68e-11 1.28e+00 -3.4 1.44e+00 -1.4 3.56e-01 6.99e-16h 51 33 4.9269492e-03 3.44e-11 1.21e+00 -3.4 1.06e+01 -1.9 4.49e-03 6.59e-03f 5 34 1.3975074e-03 5.48e-11 1.20e+00 -3.4 4.28e+00 -1.5 3.92e-01 2.47e-01f 1 35 1.3812052e-03 5.44e-11 1.20e+00 -3.4 7.29e+01 -2.0 2.05e-02 3.63e-03f 2 36 1.3812052e-03 5.44e-11 7.24e-01 -3.4 2.59e+01 -2.4 4.28e-01 1.16e-15h 44 37 9.8490627e-05 4.76e-11 8.52e-01 -3.4 1.47e+01 -2.9 5.14e-01 6.76e-02f 2 38 4.4460363e-03 4.53e-11 9.27e-01 -0.1 1.89e+03 -3.4 1.26e-01 9.95e-04f 1 39 1.6484311e+00 3.30e-11 2.60e+01 -1.1 4.27e+01 -3.9 1.00e+00 3.34e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.5111274e-02 4.91e-11 2.37e+01 -1.1 2.77e+01 -4.4 3.83e-01 2.50e-01f 3 41 1.5111274e-02 4.91e-11 2.15e+01 -1.1 1.25e+03 -4.8 2.31e-01 4.48e-16f 46 42 6.3600283e-02 5.17e-11 1.90e+01 -1.1 3.21e+02 -4.4 2.21e-01 1.41e-02f 5 43 2.7442045e-01 1.85e-10 1.45e+01 -1.1 1.65e+01 -2.2 1.00e+00 5.00e-01f 2 44 1.7518083e-01 1.99e-10 1.17e+01 -1.1 4.71e+01 -2.6 2.19e-01 1.26e-01f 2 45 1.7518083e-01 1.99e-10 8.83e+00 -1.1 3.23e+01 -3.1 7.35e-01 5.83e-16h 49 46 5.9897015e-01 4.94e-11 4.80e+00 -1.1 3.97e+01 -3.6 4.35e-01 4.35e-01S 63 47 5.9897015e-01 4.94e-11 3.46e+00 -1.1 2.62e+01 -4.1 3.52e-02 6.55e-16h 47 48 7.4030631e-01 4.84e-11 3.37e+00 -1.1 5.89e+02 -4.6 1.46e-02 3.69e-03f 3 49 7.5632232e-01 1.39e-10 7.36e+00 -1.1 1.88e+01 -1.4 1.03e-01 1.54e-02f 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 7.5595061e-01 2.16e-10 1.11e+01 -1.1 1.55e+01 -1.0 8.45e-01 1.63e-02f 4 51 7.4341708e-01 2.20e-10 1.49e+01 -1.1 8.33e-01 -0.6 1.00e+00 4.33e-03f 7 52 7.3970190e-01 2.21e-10 1.87e+01 -1.1 1.01e+00 -0.1 1.00e+00 8.87e-04f 11 53 2.4844131e-01 2.37e-10 2.04e+01 -1.1 1.46e+00 -0.6 1.00e+00 1.08e-01f 4 54 1.0434356e-01 1.97e-10 2.10e+01 -1.1 1.39e+01 -1.1 1.22e-01 8.23e-02f 2 55 1.2071673e-01 4.07e-10 2.08e+01 -1.1 1.74e+01 -1.6 1.40e-01 7.66e-02f 2 56 1.2071673e-01 4.07e-10 2.04e+01 -1.1 2.59e+01 -1.1 7.77e-02 1.18e-14f 43 57 1.2071673e-01 4.07e-10 1.85e+01 -1.1 9.64e+00 -0.7 4.73e-01 2.92e-15f 46 58 1.3608414e-01 4.18e-10 1.70e+01 -1.1 1.25e+01 -1.2 1.24e-01 1.12e-02f 5 59 1.3608414e-01 4.18e-10 5.19e+00 -1.1 4.39e+00 -0.8 1.00e+00 5.22e-14f 43 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 1.1816606e-01 5.61e-10 4.11e+00 -1.1 9.19e+00 -1.3 2.21e-01 1.20e-01f 2 61 6.5260011e-02 4.23e-10 3.95e+00 -1.1 3.05e+00 -0.8 2.06e-01 1.08e-01f 3 62 6.5260011e-02 4.23e-10 3.86e+00 -1.1 7.79e+00 -1.3 1.00e+00 1.47e-13h 41 63 5.4606168e-02 2.11e-10 3.64e+00 -1.1 2.66e+00 -1.8 4.72e-01 4.72e-01S 63 64 5.4606168e-02 2.11e-10 3.86e-01 -1.1 3.95e+00 -2.3 1.00e+00 1.20e-14h 46 65 2.0055990e-03 3.69e-10 2.49e-01 -1.1 4.39e+00 -2.7 9.62e-01 9.62e-01s 64 66 2.0055990e-03 3.69e-10 4.53e-02 -1.8 5.80e-01 -3.2 1.00e+00 1.42e-14h 47 67 9.3489954e-04 7.97e-11 3.90e-02 -1.8 5.62e-01 -3.7 1.00e+00 1.00e+00S 60 68 9.3489954e-04 7.97e-11 1.61e-02 -2.8 3.41e-01 -4.2 9.23e-01 7.11e-15h 48 69 9.3489954e-04 7.97e-11 1.63e-02 -4.1 6.90e-01 -4.6 7.82e-01 7.86e-16h 51 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 1.3628925e-05 5.74e-12 1.17e-02 -4.1 8.28e-01 -5.1 9.29e-01 9.29e-01S 60 71 1.3628925e-05 5.74e-12 2.06e-03 -4.0 8.23e-01 -5.6 1.00e+00 1.54e-14h 46 72 1.3323026e-05 5.03e-12 2.81e-03 -3.3 3.39e-01 -6.1 1.00e+00 1.25e-01f 4 73 1.3323026e-05 5.03e-12 3.77e-03 -4.0 3.62e-01 -6.6 9.42e-01 1.42e-14h 47 74 1.3323026e-05 5.03e-12 2.99e-03 -3.3 3.03e-01 -7.0 1.00e+00 5.68e-14h 45 75 1.3323026e-05 5.03e-12 4.14e-03 -4.9 3.89e-01 -7.5 8.11e-01 7.11e-15h 48 76 3.2589891e-09 1.67e-14 1.12e-03 -4.9 4.71e-01 -8.0 9.98e-01 9.98e-01S 60 77 4.4584775e-07 1.40e-17 4.13e-05 -4.0 4.06e-02 -8.5 1.00e+00 1.00e+00f 1 78 4.4584775e-07 1.40e-17 5.18e-04 -4.1 9.83e-03 -8.9 1.00e+00 7.45e-09h 28 79 4.4584775e-07 1.40e-17 8.48e-04 -6.1 4.65e-02 -9.4 9.85e-01 7.28e-12h 38 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 4.4584775e-07 1.40e-17 8.47e-04 -6.1 4.74e-02 -9.9 1.00e+00 7.28e-12h 38 81 4.4584775e-07 1.40e-17 8.47e-04 -6.1 4.74e-02 -10.4 1.00e+00 9.09e-13h 41 82 4.4584775e-07 1.40e-17 8.47e-04 -6.1 4.74e-02 -10.8 1.00e+00 9.09e-13h 41 83 4.4584775e-07 1.40e-17 8.47e-04 -6.1 4.74e-02 -11.3 1.00e+00 7.28e-12h 38 84 4.4584775e-07 1.40e-17 8.47e-04 -6.1 4.74e-02 -11.8 1.00e+00 3.64e-12h 39 85 4.4584775e-07 1.40e-17 8.47e-04 -6.1 4.74e-02 -12.3 1.00e+00 7.28e-12h 38 86 4.4584775e-07 1.40e-17 8.47e-04 -6.1 4.74e-02 -12.8 1.00e+00 7.28e-12h 38 87 4.4584775e-07 1.40e-17 8.47e-04 -6.1 4.74e-02 -13.2 1.00e+00 1.82e-12h 40 88 4.4584775e-07 1.40e-17 8.47e-04 -6.1 4.74e-02 -13.7 1.00e+00 3.64e-12h 39 89 4.4584775e-07 1.40e-17 8.47e-04 -6.1 4.74e-02 -14.2 1.00e+00 7.28e-12h 38 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 4.4584775e-07 1.40e-17 8.47e-04 -6.1 4.74e-02 -14.7 1.00e+00 3.64e-12h 39 91 4.4584775e-07 1.40e-17 8.47e-04 -6.1 4.74e-02 -15.1 1.00e+00 3.64e-12h 39 92 4.4584775e-07 1.40e-17 8.47e-04 -6.1 4.74e-02 -15.6 1.00e+00 7.28e-12h 38 93 4.4584775e-07 1.40e-17 8.47e-04 -6.1 4.74e-02 -16.1 1.00e+00 4.55e-13h 42 94 4.4584775e-07 1.40e-17 8.47e-04 -6.1 4.74e-02 -16.6 1.00e+00 4.55e-13h 42 95 4.4584775e-07 1.40e-17 8.47e-04 -6.1 4.74e-02 -17.0 1.00e+00 7.28e-12h 38 96 4.4584775e-07 1.40e-17 8.47e-04 -6.1 4.74e-02 -17.5 1.00e+00 3.64e-12h 39 97 4.4584775e-07 1.40e-17 8.47e-04 -6.1 4.74e-02 -18.0 1.00e+00 7.28e-12h 38 98 4.4584775e-07 1.40e-17 8.47e-04 -6.1 4.74e-02 -18.5 1.00e+00 7.28e-12h 38 99 4.4584775e-07 1.40e-17 8.47e-04 -6.1 4.74e-02 -19.0 1.00e+00 1.82e-12h 40 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 4.4584775e-07 1.40e-17 8.47e-04 -6.1 4.74e-02 -19.4 1.00e+00 1.82e-12h 40 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 4.4584775165613674e-07 4.4584775165613674e-07 Dual infeasibility......: 8.4745522522325367e-04 8.4745522522325367e-04 Constraint violation....: 1.3986208025063007e-17 1.3986208025063007e-17 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0437489584481038e-04 1.0437489584481038e-04 Overall NLP error.......: 8.4745522522325367e-04 8.4745522522325367e-04 Number of objective function evaluations = 2843 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 2843 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 = 3.511 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 1.2776762e+00 4.77e-01 9.76e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 6.6548900e-01 2.26e-09 2.82e-01 -1.5 6.32e-01 -2.0 8.35e-01 1.00e+00h 1 2 2.3136775e-01 8.02e-10 1.39e-01 -2.0 6.61e-01 -1.6 8.28e-01 1.00e+00f 1 3 1.0955850e-01 2.77e-11 2.81e-02 -2.2 4.15e-01 -1.1 9.98e-01 1.00e+00f 1 4 3.1329693e-02 5.10e-11 2.74e-02 -3.3 7.30e-01 -1.6 9.95e-01 1.00e+00f 1 5 7.0298000e-03 2.38e-11 1.29e-02 -4.0 6.59e-01 -2.1 1.00e+00 1.00e+00f 1 6 1.4279301e-03 7.24e-12 4.52e-03 -4.0 4.57e-01 -2.6 1.00e+00 1.00e+00f 1 7 1.1176387e-03 4.78e-12 6.65e-03 -4.0 1.01e+00 -3.1 4.24e-01 5.00e-01f 2 8 8.5277426e-04 4.17e-12 3.61e-03 -4.0 7.97e-01 -2.6 1.00e+00 1.46e-01f 2 9 5.6104055e-04 9.24e-13 3.86e-04 -4.0 4.25e-02 -2.2 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 4.5834563e-04 3.93e-13 2.11e-04 -4.0 1.20e-01 -2.7 1.00e+00 1.00e+00f 1 11 4.5773548e-04 1.14e-13 5.34e-04 -4.0 1.44e-01 -3.2 1.00e+00 1.00e+00f 1 12 4.4559193e-04 1.79e-14 7.71e-05 -4.0 1.32e-02 -3.6 1.00e+00 1.00e+00f 1 13 4.5780270e-04 4.93e-15 1.29e-04 -4.0 2.07e-02 -4.1 1.00e+00 1.00e+00f 1 14 3.0271088e-04 8.85e-15 4.41e-04 -4.1 8.09e-02 -4.6 1.00e+00 1.00e+00f 1 15 4.5864495e-04 4.88e-15 3.70e-04 -4.0 2.03e-01 -5.1 1.00e+00 5.00e-01f 2 16 2.7441297e-04 3.11e-15 5.62e-04 -4.1 1.07e-01 -5.5 1.00e+00 1.00e+00f 1 17 4.6460683e-04 2.11e-15 4.79e-04 -4.0 2.57e-01 -6.0 1.00e+00 5.00e-01f 2 18 2.6356904e-04 1.78e-15 6.33e-04 -4.1 1.22e-01 -6.5 1.00e+00 1.00e+00f 1 19 4.6548476e-04 1.55e-15 5.22e-04 -4.0 2.80e-01 -7.0 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.5996834e-04 1.33e-15 6.62e-04 -4.1 1.28e-01 -7.5 1.00e+00 1.00e+00f 1 21 4.6544857e-04 1.33e-15 5.39e-04 -4.0 2.90e-01 -7.9 1.00e+00 5.00e-01f 2 22 2.5879311e-04 1.14e-15 6.80e-04 -4.1 1.31e-01 -8.4 1.00e+00 1.00e+00f 1 23 4.6502937e-04 1.11e-15 5.48e-04 -4.0 2.96e-01 -8.9 1.00e+00 5.00e-01f 2 24 2.5842480e-04 9.99e-16 6.93e-04 -4.1 1.34e-01 -9.4 1.00e+00 1.00e+00f 1 25 4.6451513e-04 9.99e-16 5.53e-04 -4.0 3.00e-01 -9.8 1.00e+00 5.00e-01f 2 26 2.5831425e-04 9.16e-16 7.05e-04 -4.1 1.36e-01 -10.3 1.00e+00 1.00e+00f 1 27 4.6398455e-04 7.77e-16 5.57e-04 -4.0 3.03e-01 -10.8 1.00e+00 5.00e-01f 2 28 2.5828477e-04 8.50e-16 7.16e-04 -4.1 1.39e-01 -11.3 1.00e+00 1.00e+00f 1 29 4.6346490e-04 6.66e-16 5.60e-04 -4.0 3.06e-01 -11.7 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.5827973e-04 8.12e-16 7.27e-04 -4.1 1.41e-01 -12.2 1.00e+00 1.00e+00f 1 31 3.1000676e-05 8.88e-15 9.08e-04 -6.2 3.85e-01 -12.7 9.67e-01 1.00e+00f 1 32 1.7323118e-03 2.22e-15 7.77e-03 -4.0 2.02e+00 -13.2 1.00e+00 5.00e-01f 2 33 2.4699914e-05 2.30e-14 2.93e-03 -4.1 1.03e+00 -13.7 1.00e+00 1.00e+00f 1 34 1.5718526e-03 2.98e-14 8.09e-03 -4.0 9.96e-01 -14.1 1.00e+00 1.00e+00f 1 35 1.0338931e-05 1.77e-14 2.32e-03 -4.2 1.10e+00 -14.6 1.00e+00 1.00e+00f 1 36 4.6330826e-04 1.55e-15 2.78e-03 -4.0 1.39e+00 -15.1 1.00e+00 5.00e-01f 2 37 2.2033078e-04 3.00e-15 2.43e-04 -4.2 3.75e-01 -15.6 1.00e+00 5.00e-01f 2 38 2.0288562e-05 4.39e-15 8.21e-04 -6.4 4.18e-01 -16.0 9.63e-01 1.00e+00f 1 39 8.1640369e-06 3.22e-15 1.01e-04 -6.4 1.06e-01 -16.5 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.4541736e-03 1.33e-15 5.14e-03 -4.0 9.76e+00 -17.0 1.00e+00 1.22e-01f 4 41 1.0545566e-04 5.15e-14 3.43e-03 -4.0 7.71e-01 -17.5 1.00e+00 1.00e+00f 1 42 7.3980541e-04 3.33e-14 3.48e-03 -4.0 5.26e-01 -17.9 1.00e+00 1.00e+00f 1 43 3.8008786e-04 6.22e-15 4.43e-04 -4.0 4.19e-01 -18.4 1.00e+00 5.00e-01f 2 44 3.5454486e-05 5.44e-15 1.35e-03 -6.0 5.11e-01 -18.9 9.54e-01 1.00e+00f 1 45 1.4602096e-05 5.16e-15 1.62e-04 -6.0 1.28e-01 -19.4 1.00e+00 1.00e+00f 1 46 3.9915060e-06 8.33e-16 1.03e-04 -6.0 1.46e-01 -19.9 1.00e+00 1.00e+00f 1 47 9.9476537e-04 4.44e-16 2.82e-03 -4.0 1.59e+01 -20.0 1.00e+00 7.53e-02f 4 48 1.7294268e-04 4.60e-14 2.76e-03 -4.0 5.54e-01 -20.0 1.00e+00 1.00e+00f 1 49 6.5596780e-04 2.07e-14 2.65e-03 -4.0 4.01e-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 3.8986865e-04 3.77e-15 4.14e-04 -4.0 3.48e-01 -20.0 1.00e+00 5.00e-01f 2 51 3.5188864e-05 5.77e-15 1.47e-03 -6.1 5.55e-01 -20.0 9.49e-01 1.00e+00f 1 52 1.4661866e-05 4.72e-15 1.71e-04 -6.1 1.34e-01 -20.0 1.00e+00 1.00e+00f 1 53 3.8852031e-06 7.77e-16 1.11e-04 -6.1 1.59e-01 -20.0 1.00e+00 1.00e+00f 1 54 8.1060334e-04 6.66e-16 1.88e-03 -4.0 1.71e+01 -20.0 1.00e+00 6.99e-02f 4 55 2.0780771e-04 3.97e-14 2.37e-03 -4.0 4.58e-01 -20.0 1.00e+00 1.00e+00f 1 56 5.9413709e-04 1.44e-14 2.18e-03 -4.0 3.35e-01 -20.0 1.00e+00 1.00e+00f 1 57 3.8603678e-04 2.44e-15 3.89e-04 -4.0 3.05e-01 -20.0 1.00e+00 5.00e-01f 2 58 3.4183467e-05 5.55e-15 1.56e-03 -6.1 5.90e-01 -20.0 9.45e-01 1.00e+00f 1 59 1.4358957e-05 4.22e-15 1.77e-04 -6.1 1.40e-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 3.7481578e-06 7.22e-16 1.17e-04 -6.1 1.70e-01 -20.0 1.00e+00 1.00e+00f 1 61 6.7474923e-04 4.89e-16 1.02e-03 -4.0 1.85e+01 -20.0 1.00e+00 6.45e-02f 4 62 2.4259122e-04 3.51e-14 1.95e-03 -4.1 3.66e-01 -20.0 1.00e+00 1.00e+00f 1 63 5.3645170e-04 9.55e-15 1.68e-03 -4.1 2.65e-01 -20.0 1.00e+00 1.00e+00f 1 64 3.8240027e-04 1.55e-15 3.47e-04 -4.1 2.53e-01 -20.0 1.00e+00 5.00e-01f 2 65 3.3116314e-05 5.33e-15 1.63e-03 -6.1 6.23e-01 -20.0 9.41e-01 1.00e+00f 1 66 1.4055458e-05 3.89e-15 1.80e-04 -6.1 1.45e-01 -20.0 1.00e+00 1.00e+00f 1 67 3.6324453e-06 5.55e-16 1.22e-04 -6.1 1.79e-01 -20.0 1.00e+00 1.00e+00f 1 68 5.7505350e-04 5.00e-16 2.91e-04 -4.0 1.98e+01 -20.0 1.00e+00 6.01e-02f 4 69 2.7351398e-04 3.15e-14 1.54e-03 -4.1 2.82e-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 4.8682735e-04 6.22e-15 1.22e-03 -4.1 1.97e-01 -20.0 1.00e+00 1.00e+00f 1 71 3.7800920e-04 8.88e-16 2.98e-04 -4.1 2.01e-01 -20.0 1.00e+00 5.00e-01f 2 72 3.2026773e-05 5.11e-15 1.69e-03 -6.1 6.53e-01 -20.0 9.37e-01 1.00e+00f 1 73 1.3737406e-05 3.66e-15 1.82e-04 -6.1 1.49e-01 -20.0 1.00e+00 1.00e+00f 1 74 3.5284004e-06 5.55e-16 1.25e-04 -6.1 1.87e-01 -20.0 1.00e+00 1.00e+00f 1 75 5.0064074e-04 2.53e-16 3.44e-04 -4.0 2.11e+01 -20.0 1.00e+00 5.63e-02f 4 76 3.0012676e-04 2.86e-14 1.15e-03 -4.1 2.08e-01 -20.0 1.00e+00 1.00e+00f 1 77 4.4575622e-04 4.00e-15 8.09e-04 -4.1 1.34e-01 -20.0 1.00e+00 1.00e+00f 1 78 2.3629613e-05 4.33e-15 1.90e-03 -6.1 8.03e-01 -20.0 9.21e-01 1.00e+00f 1 79 1.2233435e-05 3.66e-15 1.28e-04 -6.1 1.14e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 3.0547996e-06 4.44e-16 1.21e-04 -6.1 1.94e-01 -20.0 1.00e+00 1.00e+00f 1 81 4.2194476e-04 4.93e-16 1.23e-03 -4.0 2.44e+01 -20.0 1.00e+00 4.88e-02f 4 82 3.3663044e-04 2.60e-14 6.05e-04 -4.1 1.07e-01 -20.0 1.00e+00 1.00e+00f 1 83 3.2263462e-05 5.22e-15 1.72e-03 -6.1 6.69e-01 -20.0 9.34e-01 1.00e+00f 1 84 1.3191900e-05 3.00e-15 2.09e-04 -6.1 1.72e-01 -20.0 1.00e+00 1.00e+00f 1 85 3.4833147e-06 5.00e-16 1.33e-04 -6.1 2.01e-01 -20.0 1.00e+00 1.00e+00f 1 86 3.6619933e-06 2.22e-16 6.80e-06 -6.1 1.20e-02 -20.0 1.00e+00 1.00e+00h 1 87 2.3051483e-07 6.81e-17 5.73e-05 -9.0 2.62e-01 -20.0 9.74e-01 1.00e+00f 1 88 2.1048863e-03 5.79e-16 1.07e-02 -4.0 1.11e+02 -20.0 1.00e+00 2.20e-02f 3 89 9.2723896e-05 4.40e-14 6.77e-03 -4.0 1.47e+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 7.4804922e-04 2.51e-14 5.23e-03 -4.0 7.94e-01 -20.0 1.00e+00 1.00e+00f 1 91 4.2208223e-04 4.66e-15 8.08e-04 -4.0 5.64e-01 -20.0 1.00e+00 5.00e-01f 2 92 4.2008927e-05 4.00e-15 2.16e-03 -5.9 7.32e-01 -20.0 9.28e-01 1.00e+00f 1 93 1.7238880e-05 3.66e-15 2.67e-04 -5.9 1.93e-01 -20.0 1.00e+00 1.00e+00f 1 94 4.8467466e-06 6.66e-16 1.68e-04 -5.9 2.17e-01 -20.0 1.00e+00 1.00e+00f 1 95 5.4024908e-06 2.91e-16 1.51e-05 -5.9 2.21e-02 -20.0 1.00e+00 1.00e+00h 1 96 5.0610637e-06 7.81e-17 1.43e-06 -5.9 2.13e-03 -20.0 1.00e+00 1.00e+00h 1 97 3.5966441e-07 6.85e-17 7.87e-05 -8.9 2.93e-01 -20.0 9.71e-01 1.00e+00f 1 98 1.4536369e-07 4.77e-17 8.17e-06 -8.9 6.42e-02 -20.0 1.00e+00 1.00e+00f 1 99 1.3833914e-03 5.69e-16 3.50e-03 -4.0 3.43e+02 -20.0 1.00e+00 7.09e-03f 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 5.1631688e-04 5.86e-14 4.91e-03 -3.8 6.27e-01 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 5.1631687937435953e-04 5.1631687937435953e-04 Dual infeasibility......: 4.9072179191872499e-03 4.9072179191872499e-03 Constraint violation....: 5.8619775700208265e-14 5.8619775700208265e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.0190656733676146e-04 2.0190656733676146e-04 Overall NLP error.......: 4.9072179191872499e-03 4.9072179191872499e-03 Number of objective function evaluations = 173 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 173 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 = 3.343 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 3.2818967e+00 3.44e+00 7.12e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6581370e+00 3.63e-02 3.63e-01 -1.0 1.90e+00 - 1.00e+00 1.00e+00f 1 2 2.3587860e+00 4.32e-03 8.66e-02 -1.8 7.86e-02 - 9.34e-01 1.00e+00h 1 3 2.1338828e+00 1.84e-03 2.15e-02 -2.7 4.89e-02 - 9.21e-01 8.68e-01h 1 4 2.0915373e+00 1.31e-04 3.47e-03 -3.9 3.11e-02 - 9.94e-01 1.00e+00h 1 5 2.0908911e+00 3.11e-05 5.77e-04 -4.0 2.53e-01 - 1.00e+00 1.00e+00h 1 6 2.0908970e+00 2.36e-08 8.66e-07 -4.0 1.34e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 8.02e-12 9.56e-11 -4.0 1.02e-02 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971977670552e+00 2.0908971977670552e+00 Dual infeasibility......: 9.5591036090381457e-11 9.5591036090381457e-11 Constraint violation....: 8.0178927016993168e-12 8.0178927016993168e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000041087867187e-04 1.0000041087867187e-04 Overall NLP error.......: 4.1087867186557787e-10 4.1087867186557787e-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 = 24.805 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: bounds constraint on trajectory variable du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.2893021e+00 1.71e+00 7.59e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.2319437e+00 8.19e-01 9.60e-01 -0.9 7.90e+00 -4.0 8.55e-01 5.62e-01f 1 2 2.2444183e+00 3.10e-01 2.76e+01 -1.2 1.72e+01 -2.7 1.86e-01 8.75e-01h 1 3 2.5020549e+00 1.85e-02 2.61e+00 -1.2 1.04e+00 -1.3 1.00e+00 1.00e+00f 1 4 2.3433034e+00 1.86e-02 3.44e-01 -1.7 3.68e-01 -1.8 9.97e-01 1.00e+00h 1 5 2.1985009e+00 6.10e-02 4.52e-02 -2.0 8.68e-01 -2.3 9.23e-01 1.00e+00h 1 6 2.1359469e+00 1.13e-02 9.81e-02 -2.3 4.58e-01 -2.8 1.00e+00 8.34e-01h 1 7 2.1025067e+00 1.35e-03 5.92e-02 -2.9 3.70e-01 -3.3 9.92e-01 9.72e-01h 1 8 2.0931371e+00 3.53e-04 4.00e-02 -3.7 1.52e-01 -3.7 1.00e+00 8.63e-01h 1 9 2.0907441e+00 1.45e-04 1.10e-03 -4.0 2.83e-01 -4.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0906685e+00 2.52e-06 9.50e-05 -4.0 8.16e-01 -4.7 1.00e+00 1.00e+00h 1 11 2.0904811e+00 1.58e-06 6.43e-04 -4.0 2.03e+00 -5.2 1.00e+00 1.00e+00h 1 12 2.0901770e+00 4.10e-06 2.23e-03 -4.0 3.65e+00 -5.6 1.00e+00 1.00e+00h 1 13 2.0899811e+00 3.62e-06 2.54e-03 -4.0 4.93e+00 -6.1 1.00e+00 1.00e+00h 1 14 2.0898676e+00 2.18e-06 1.64e-03 -4.0 7.74e+00 -6.6 1.00e+00 1.00e+00h 1 15 2.0898283e+00 1.58e-06 1.48e-03 -4.0 1.10e+01 -7.1 1.00e+00 1.00e+00h 1 16 2.0898241e+00 1.44e-06 9.04e-04 -4.0 9.63e+00 -7.5 1.00e+00 1.00e+00h 1 17 2.0898222e+00 5.87e-07 1.54e-04 -4.0 3.97e+00 -8.0 1.00e+00 1.00e+00h 1 18 2.0898219e+00 2.27e-08 4.02e-06 -4.0 8.18e-01 -8.5 1.00e+00 1.00e+00h 1 19 2.0898219e+00 7.49e-11 1.72e-08 -4.0 7.06e-02 -9.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0898218e+00 5.47e-14 1.46e-11 -4.0 2.09e-03 -9.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 20 (scaled) (unscaled) Objective...............: 2.0898218497887004e+00 2.0898218497887004e+00 Dual infeasibility......: 1.4590237682301013e-11 1.4590237682301013e-11 Constraint violation....: 5.4660919887594694e-14 5.4660919887594694e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000067e-04 1.0000000000000067e-04 Overall NLP error.......: 1.4590237682301013e-11 1.4590237682301013e-11 Number of objective function evaluations = 21 Number of objective gradient evaluations = 21 Number of equality constraint evaluations = 21 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 21 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 20 Total seconds in IPOPT = 25.705 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 4.8760009e+00 2.26e+00 3.92e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.9579878e+00 1.70e+00 7.59e+00 -0.5 1.96e+01 -2.0 2.80e-02 2.42e-01f 1 2 3.8260026e+00 1.65e+00 7.36e+00 -1.4 4.11e+00 -0.7 4.89e-02 3.07e-02h 1 3 4.0602683e+00 1.64e+00 3.03e+01 0.9 4.21e+02 -1.1 1.30e-02 7.33e-03f 1 4 3.7465154e+00 1.50e+00 2.01e+01 -0.5 1.36e+00 0.2 2.99e-02 8.44e-02h 1 5 3.9370818e+00 1.49e+00 9.35e+01 1.6 2.10e+01 0.6 2.04e-02 7.70e-03f 1 6 3.9216597e+00 1.45e+00 2.20e+02 0.3 1.35e+01 0.1 6.38e-02 2.22e-02h 1 7 3.9421590e+00 1.40e+00 3.38e+02 -4.0 3.94e+01 -0.3 1.72e-02 3.58e-02h 1 8 3.9990507e+00 1.34e+00 2.04e+02 0.9 3.01e+01 -0.8 2.25e-01 3.99e-02f 1 9 3.9926415e+00 1.36e+00 1.38e+02 -1.7 4.95e+01 -1.3 1.50e-01 1.91e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 4.0752917e+00 1.03e+00 2.49e+02 -4.0 4.88e+01 -1.8 9.25e-02 4.85e-02h 1 11 3.9992867e+00 9.67e-01 1.23e+02 -0.5 1.05e+02 -2.3 2.17e-01 6.12e-02h 1 12 4.0034647e+00 9.66e-01 1.70e+03 -0.1 4.52e+01 -0.9 9.62e-02 1.29e-03h 1 13 4.0216408e+00 9.48e-01 3.60e+04 0.6 1.35e+02 -0.5 3.31e-01 1.89e-02h 1 14 4.1344715e+00 9.37e-01 1.49e+06 1.8 7.75e+02 -1.0 1.00e+00 9.33e-03h 1 15 4.2997456e+00 1.33e+00 3.67e+05 2.4 9.83e+02 -1.5 1.00e+00 9.52e-03f 2 16 4.3431268e+00 1.31e+00 8.28e+07 2.3 5.96e+01 -1.9 1.00e+00 4.13e-03h 1 17 4.4550346e+00 1.24e+00 2.60e+08 2.3 5.71e+01 -2.4 2.76e-02 8.50e-03h 1 18 4.4561591e+00 1.24e+00 3.11e+12 2.3 2.96e+01 -2.9 1.00e+00 9.94e-05h 1 19 4.5525584e+00 4.00e+00 3.11e+10 2.3 9.28e+01 -3.4 9.90e-01 6.31e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20r 4.5525584e+00 4.00e+00 9.23e+02 2.5 0.00e+00 -3.8 0.00e+00 2.87e-07R 3 21r 4.5087984e+00 5.94e-01 7.40e+02 -3.6 1.54e+02 - 7.26e-01 7.66e-02f 1 22r 4.5087984e+00 5.94e-01 9.99e+02 -0.2 0.00e+00 -4.3 0.00e+00 1.14e-07R 2 23r 4.3779736e+00 2.61e-01 9.98e+02 0.5 1.64e+03 - 6.68e-04 1.01e-03f 1 24 4.3706952e+00 2.57e-01 2.76e+01 -1.5 4.86e+00 -4.8 7.77e-01 1.77e-02h 1 25 4.3798341e+00 2.57e-01 1.22e+04 0.1 1.70e+01 -5.3 7.96e-01 1.15e-03h 1 26 4.3926523e+00 2.56e-01 3.71e+06 0.7 1.21e+01 -5.7 1.00e+00 3.25e-03h 1 27 4.3999911e+00 2.56e-01 4.85e+08 2.5 1.50e+02 -6.2 4.58e-02 3.46e-04h 1 28r 4.3999911e+00 2.56e-01 9.88e+02 2.5 0.00e+00 -6.7 0.00e+00 2.52e-07R 6 29r 4.1017590e+00 2.07e-01 2.79e+02 -3.7 7.68e-01 - 7.15e-01 7.00e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30r 4.1017590e+00 2.07e-01 9.99e+02 -0.7 0.00e+00 -7.2 0.00e+00 3.26e-07R 3 31r 4.0837629e+00 2.17e-01 9.97e+02 0.8 1.27e+02 - 5.97e-03 2.23e-03f 1 32r 4.2052784e+00 2.07e-01 9.89e+02 -4.0 9.59e+00 - 9.93e-02 7.35e-03f 1 33r 3.9624539e+00 2.46e-01 9.41e+02 -0.1 5.12e+01 - 1.00e+00 4.61e-02f 1 34r 4.1929637e+00 3.98e-01 3.50e+02 0.5 8.31e+00 - 4.63e-01 7.64e-01f 1 35r 4.0794003e+00 2.52e-01 5.04e+00 0.4 5.14e+00 - 1.00e+00 1.00e+00f 1 36r 4.4200345e+00 1.99e-01 2.85e+00 -0.6 7.94e-01 - 8.56e-01 8.58e-01f 1 37r 4.3213218e+00 1.99e-01 1.27e+02 -1.0 1.09e+00 - 7.63e-01 1.00e+00f 1 38r 4.3324786e+00 1.99e-01 1.10e+00 -1.6 7.55e-01 - 1.00e+00 9.77e-01f 1 39r 4.2868715e+00 1.99e-01 7.06e-02 -2.3 7.35e-01 - 1.00e+00 9.95e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40r 4.2735344e+00 1.99e-01 1.72e-02 -3.5 2.73e-01 - 9.93e-01 1.00e+00f 1 41r 4.2909628e+00 1.99e-01 2.90e-03 -4.0 5.44e-02 - 1.00e+00 1.00e+00h 1 42r 4.3398005e+00 1.99e-01 5.10e-04 -4.0 5.06e-02 - 1.00e+00 1.00e+00h 1 43r 4.3560461e+00 1.99e-01 4.04e-05 -4.0 3.19e-02 - 1.00e+00 1.00e+00h 1 44r 4.3567470e+00 1.99e-01 4.75e-07 -4.0 3.42e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 44 (scaled) (unscaled) Objective...............: 4.3567421439258753e+00 4.3567421439258753e+00 Dual infeasibility......: 1.9937200550974645e+00 1.9937200550974645e+00 Constraint violation....: 1.9875045047035489e-01 1.9875045047035489e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000003310695873e-04 1.0000003310695873e-04 Overall NLP error.......: 1.9937200550974645e+00 1.9937200550974645e+00 Number of objective function evaluations = 63 Number of objective gradient evaluations = 32 Number of equality constraint evaluations = 63 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 50 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 45 Total seconds in IPOPT = 25.056 EXIT: Converged to a point of local infeasibility. Problem may be infeasible. initializing optimizer... applying constraint: bounds constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 36 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.8763560e+00 2.91e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.8944061e+00 9.78e-02 2.29e+00 -0.9 2.28e+00 0.0 7.39e-01 1.00e+00f 1 2 2.7652994e+00 1.04e-02 6.62e-01 -1.0 4.64e-01 -0.5 9.10e-01 1.00e+00f 1 3 2.4665808e+00 1.05e-02 1.53e-01 -1.5 2.30e-01 -1.0 9.98e-01 1.00e+00h 1 4 2.1940936e+00 1.24e-02 3.70e-02 -1.9 2.52e-01 -1.4 9.58e-01 9.80e-01h 1 5 2.1063395e+00 1.61e-03 9.01e-03 -3.6 8.14e-02 -1.9 8.84e-01 8.70e-01h 1 6 2.0908086e+00 4.19e-05 2.15e-03 -4.0 1.62e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0908526e+00 2.88e-07 2.75e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908482e+00 2.02e-09 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908349e+00 6.91e-09 2.06e-05 -4.0 1.35e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0907951e+00 6.23e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0906757e+00 5.61e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903183e+00 5.08e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892530e+00 4.64e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861221e+00 4.36e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796258e+00 2.50e-03 8.76e-02 -4.0 8.72e+01 -6.7 1.00e+00 7.54e-01h 1 16 2.0812283e+00 1.53e-04 1.95e-01 -4.0 6.83e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778279e+00 5.96e-03 2.77e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781659e+00 1.53e-02 4.94e-02 -3.7 1.54e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767309e+00 1.27e-02 1.96e-02 -3.8 2.95e+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 2.0759237e+00 8.55e-03 2.14e-02 -3.9 4.23e+02 -9.1 1.00e+00 9.90e-01h 1 21 2.0757608e+00 6.78e-03 8.55e-03 -4.0 1.41e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756789e+00 4.00e-04 3.84e-04 -4.0 6.00e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 3.69e-06 6.32e-06 -4.0 2.34e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 3.99e-08 1.53e-06 -4.0 1.52e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.66e-09 1.55e-07 -4.0 5.40e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 8.23e-11 3.19e-09 -4.0 9.64e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122111729e+00 2.0756712122111729e+00 Dual infeasibility......: 3.1908790522490980e-09 3.1908790522490980e-09 Constraint violation....: 8.2290951830543690e-11 8.2290951830543690e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000064e-04 1.0000000000000064e-04 Overall NLP error.......: 3.1908790522490980e-09 3.1908790522490980e-09 Number of objective function evaluations = 28 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 26 Total seconds in IPOPT = 26.309 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.3855093e+00 1.96e+00 8.19e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.0379676e+00 9.13e-02 4.39e+00 -0.8 1.98e+00 0.0 7.75e-01 9.82e-01f 1 2 2.6443001e+00 2.19e-02 1.54e+00 -0.9 2.40e-01 0.4 8.72e-01 8.42e-01f 1 3 2.4974110e+00 3.73e-03 4.22e-01 -1.4 1.31e-01 -0.1 9.88e-01 1.00e+00h 1 4 2.4475456e+00 3.29e-03 8.58e-01 -1.6 2.89e-01 -0.5 9.40e-01 1.25e-01h 2 5 2.1991545e+00 7.10e-03 2.14e-01 -2.3 2.20e-01 -1.0 9.97e-01 6.35e-01f 1 6 2.1077397e+00 2.57e-03 7.80e-02 -3.3 1.24e-01 -1.5 1.00e+00 8.77e-01h 1 7 2.0911803e+00 7.14e-05 1.48e-02 -4.0 1.60e-02 -2.0 1.00e+00 9.75e-01h 1 8 2.0909024e+00 6.67e-07 3.09e-04 -4.0 6.52e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909051e+00 3.01e-08 2.42e-05 -4.0 1.98e-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 2.0908980e+00 1.72e-09 2.36e-05 -4.0 5.81e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908794e+00 1.24e-08 4.50e-05 -4.0 1.63e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908402e+00 5.93e-08 2.05e-04 -4.0 4.12e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907640e+00 2.60e-07 8.15e-04 -4.0 9.92e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905637e+00 3.07e-06 1.05e-03 -4.0 3.03e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0899579e+00 2.63e-05 9.53e-04 -4.0 8.75e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0897050e+00 4.81e-06 1.75e-03 -4.0 3.41e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0895685e+00 1.23e-06 2.97e-04 -4.0 1.39e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0891997e+00 6.58e-06 3.96e-04 -4.0 4.18e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0881208e+00 5.52e-05 3.04e-03 -4.0 1.22e+01 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0862905e+00 3.07e-04 2.38e-02 -4.0 2.92e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0853303e+00 1.28e-04 1.21e-02 -4.0 1.19e+01 -5.9 1.00e+00 7.00e-01h 1 22 2.0841074e+00 1.29e-04 1.24e-02 -4.0 2.25e+01 -6.4 1.00e+00 1.00e+00h 1 23 2.0827324e+00 6.92e-05 1.44e-02 -4.0 2.69e+01 -6.9 1.00e+00 8.64e-01h 1 24 2.0828968e+00 8.46e-04 2.72e-02 -4.0 6.12e+01 -7.4 1.00e+00 1.00e+00h 1 25 2.0820458e+00 1.95e-03 9.59e-03 -4.1 1.43e+02 -7.8 1.00e+00 1.00e+00h 1 26 2.1293089e+00 2.40e-04 1.03e+00 -4.0 2.73e+02 -7.4 8.09e-02 1.00e+00H 1 27 2.0845000e+00 1.34e-04 5.26e+00 -4.1 1.55e+00 -1.6 6.20e-02 4.65e-01f 1 28 2.0849463e+00 1.33e-04 5.99e+00 -4.0 5.11e+00 -2.0 6.85e-01 4.73e-03f 6 29 2.0853326e+00 7.31e-05 6.55e-03 -3.5 6.01e-01 -2.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0843870e+00 4.35e-05 2.97e-01 -3.9 4.41e-01 -3.0 1.00e+00 4.82e-01h 1 31 2.0833575e+00 1.04e-05 1.69e-03 -4.0 8.60e-02 -3.5 1.00e+00 1.00e+00h 1 32 2.0834244e+00 1.59e-06 2.80e-05 -4.0 7.39e-02 -4.0 1.00e+00 1.00e+00h 1 33 2.0834114e+00 4.59e-08 8.19e-06 -4.0 2.21e-01 -4.4 1.00e+00 1.00e+00h 1 34 2.0833705e+00 3.12e-07 2.11e-05 -4.0 6.45e-01 -4.9 1.00e+00 1.00e+00h 1 35 2.0832654e+00 2.34e-06 1.54e-04 -4.0 1.79e+00 -5.4 1.00e+00 1.00e+00h 1 36 2.0830635e+00 1.14e-05 7.33e-04 -4.0 4.64e+00 -5.9 1.00e+00 1.00e+00h 1 37 2.0828312e+00 1.90e-05 1.55e-03 -4.0 1.18e+01 -6.3 1.00e+00 1.00e+00h 1 38 2.0825077e+00 7.76e-05 2.94e-03 -4.0 2.91e+01 -6.8 1.00e+00 1.00e+00h 1 39 2.0820836e+00 3.06e-04 8.74e-03 -4.0 5.98e+01 -7.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.1398592e+00 1.66e-05 1.74e+00 -4.0 4.06e+02 -7.8 7.11e-02 1.00e+00H 1 41 2.1286840e+00 5.03e-05 1.58e+00 -4.1 1.40e+01 -4.6 1.94e-01 8.82e-02f 1 42 2.1250525e+00 1.88e-04 4.02e+00 -4.1 3.04e+01 -5.1 7.06e-01 3.58e-02f 1 43 2.0839746e+00 1.34e-02 3.09e+00 -4.1 1.56e+02 -5.6 4.25e-01 4.27e-01f 1 44 2.0866542e+00 1.05e-02 6.42e-01 -4.1 1.36e+01 -5.2 4.49e-01 2.78e-01h 1 45 2.0865075e+00 1.02e-02 1.57e+00 -4.1 1.85e+01 -5.6 6.32e-01 2.75e-02h 1 46 2.0851140e+00 5.62e-03 8.48e-01 -4.1 8.17e+00 -5.2 5.24e-01 4.55e-01f 1 47 2.0837180e+00 2.30e-04 1.19e-02 -4.1 2.90e+00 -5.7 1.00e+00 1.00e+00f 1 48 2.0835106e+00 2.29e-04 1.70e-03 -4.1 8.99e+00 -6.2 1.00e+00 1.00e+00h 1 49 2.0831729e+00 1.38e-04 2.92e-03 -4.1 2.48e+01 -6.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0825660e+00 2.53e-04 1.10e-02 -4.1 6.06e+01 -7.1 1.00e+00 1.00e+00h 1 51 2.0819721e+00 3.67e-04 2.77e-02 -4.1 1.18e+02 -7.6 1.00e+00 1.00e+00h 1 52 2.0819856e+00 6.85e-03 2.12e-02 -4.0 2.17e+02 -8.1 4.06e-01 1.00e+00h 1 53 2.0819465e+00 6.86e-03 4.14e-02 -4.2 1.28e+03 -7.7 4.93e-03 1.62e-02h 5 54 2.0903904e+00 2.67e-03 5.76e-01 -4.0 9.53e+00 -5.4 5.05e-01 8.75e-01h 1 55 2.0849910e+00 1.75e-06 3.28e-02 -4.1 8.06e-02 -0.5 1.00e+00 1.00e+00h 1 56 2.0830050e+00 2.13e-06 2.25e-01 -4.1 1.11e-01 -1.0 1.00e+00 6.63e-01f 1 57 2.0854853e+00 6.99e-05 6.36e-02 -3.4 1.70e-01 -1.4 1.00e+00 1.00e+00f 1 58 2.0845981e+00 4.07e-06 1.06e-02 -3.4 3.27e-02 -1.0 1.00e+00 1.00e+00h 1 59 2.0840289e+00 1.72e-06 1.69e-03 -3.4 4.31e-02 -1.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0829122e+00 7.75e-06 3.70e-01 -5.1 4.84e-02 -2.0 6.99e-01 1.00e+00h 1 61 2.0821106e+00 8.93e-06 1.06e-01 -4.0 2.28e-01 -2.4 1.00e+00 8.07e-01h 1 62 2.0822391e+00 7.95e-07 6.06e-04 -4.0 6.64e-02 -2.9 1.00e+00 1.00e+00h 1 63 2.0822277e+00 3.74e-07 1.06e-05 -4.0 2.22e-02 -3.4 1.00e+00 1.00e+00h 1 64 2.0822267e+00 2.12e-07 8.99e-06 -4.0 6.65e-02 -3.9 1.00e+00 1.00e+00h 1 65 2.0822148e+00 2.37e-07 9.22e-06 -4.0 2.05e-01 -4.3 1.00e+00 1.00e+00h 1 66 2.0821736e+00 3.02e-06 7.26e-05 -4.0 6.91e-01 -4.8 1.00e+00 1.00e+00h 1 67 2.0821775e+00 1.46e-08 1.39e-01 -4.0 3.64e+00 -5.3 6.49e-01 1.00e+00H 1 68 2.0823670e+00 7.01e-07 1.17e-03 -3.8 3.90e-02 -2.2 1.00e+00 1.00e+00f 1 69 2.0822661e+00 5.64e-07 4.67e-04 -3.9 3.45e-02 -2.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0814698e+00 5.74e-06 9.57e-02 -5.8 5.05e-02 -3.1 7.26e-01 1.00e+00h 1 71 2.0820577e+00 2.59e-06 1.53e-03 -4.0 9.69e-02 -3.6 1.00e+00 1.00e+00h 1 72 2.0819810e+00 8.60e-07 2.26e-05 -4.0 7.08e-02 -4.1 1.00e+00 1.00e+00h 1 73 2.0819828e+00 1.45e-06 1.30e-05 -4.0 1.85e-01 -4.6 1.00e+00 1.00e+00h 1 74 2.0819830e+00 5.56e-06 5.12e-05 -4.0 4.07e-01 -5.0 1.00e+00 1.00e+00h 1 75 2.0818245e+00 2.87e-05 1.23e-04 -4.1 1.06e+00 -5.5 1.00e+00 1.00e+00h 1 76 2.0810370e+00 5.04e-04 8.31e-03 -6.1 6.54e+00 -6.0 9.77e-01 1.00e+00h 1 77 2.0811934e+00 2.03e-06 8.24e-04 -4.6 2.34e-01 -3.7 1.00e+00 9.96e-01h 1 78 2.0816246e+00 4.84e-06 8.36e-02 -4.0 7.46e-01 -4.2 1.00e+00 6.54e-01f 1 79 2.0815920e+00 7.59e-07 1.07e-03 -4.1 2.22e-01 -4.7 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0817475e+00 2.04e-05 1.74e-04 -4.0 8.82e-01 -5.2 1.00e+00 1.00e+00h 1 81 2.0816493e+00 7.51e-06 2.18e-04 -4.1 3.61e-01 -5.7 1.00e+00 1.00e+00h 1 82 2.0808930e+00 4.52e-04 4.42e-03 -6.1 6.45e+00 -6.1 9.99e-01 1.00e+00h 1 83 2.0809151e+00 5.24e-05 9.71e-03 -5.0 2.81e-01 -3.9 1.00e+00 8.83e-01h 1 84 2.0810993e+00 4.40e-05 4.21e-01 -4.0 2.25e+00 -4.4 1.00e+00 2.16e-01f 1 85 2.0814974e+00 1.05e-04 3.03e-03 -4.0 1.45e+00 -4.9 1.00e+00 1.00e+00h 1 86 2.0815249e+00 6.97e-06 1.67e-03 -4.1 8.92e-01 -5.3 1.00e+00 1.00e+00h 1 87 2.0815922e+00 3.48e-06 2.21e-04 -4.1 2.17e+00 -5.8 1.00e+00 1.00e+00h 1 88 2.0808601e+00 4.06e-04 7.67e-03 -6.1 6.31e+00 -6.3 9.92e-01 1.00e+00h 1 89 2.0811051e+00 1.73e-05 2.79e-04 -4.4 4.15e-01 -5.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0813658e+00 5.02e-05 1.12e-01 -4.0 3.71e+00 -5.4 1.00e+00 3.84e-01h 2 91 2.0814687e+00 3.83e-05 6.78e-02 -4.1 8.36e+00 -5.9 3.85e-01 3.71e-01h 1 92 2.0815213e+00 2.94e-05 1.84e-03 -4.1 2.39e+00 -6.4 1.00e+00 1.00e+00f 1 93 2.0815817e+00 1.26e-05 5.24e-04 -4.1 3.83e+00 -6.9 1.00e+00 1.00e+00h 1 94 2.0807184e+00 1.76e-03 6.43e-04 -6.2 2.46e+01 -7.3 9.84e-01 9.49e-01h 1 95 2.0818711e+00 2.85e-03 2.37e-03 -4.0 2.52e+01 -7.8 1.00e+00 1.00e+00f 1 96 2.0816279e+00 7.90e-04 8.18e-04 -4.1 2.67e+01 -8.3 1.00e+00 1.00e+00h 1 97 2.0816049e+00 2.58e-05 5.03e-04 -4.1 2.42e+01 -8.8 1.00e+00 1.00e+00h 1 98 2.0805994e+00 3.67e-03 2.06e-04 -6.1 4.43e+01 -9.3 9.77e-01 9.62e-01h 1 99 2.0818907e+00 6.20e-03 7.53e-04 -4.0 5.79e+01 -9.7 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0816157e+00 5.12e-04 5.69e-05 -4.1 2.15e+01 -10.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0816156716229099e+00 2.0816156716229099e+00 Dual infeasibility......: 5.6904101478691101e-05 5.6904101478691101e-05 Constraint violation....: 5.1185763487510139e-04 5.1185763487510139e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.8144963572926163e-05 8.8144963572926163e-05 Overall NLP error.......: 5.1185763487510139e-04 5.1185763487510139e-04 Number of objective function evaluations = 123 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 123 Number of inequality constraint evaluations = 123 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 26.907 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 96 Number of nonzeros in Lagrangian Hessian.............: 1804 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.0715037e+00 3.51e+00 1.66e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9971566e+00 2.40e-01 3.41e+00 -0.9 1.99e+00 0.0 8.90e-01 9.32e-01f 1 2 3.2649849e+00 9.72e-02 1.50e+00 -0.7 8.24e-01 -0.5 1.00e+00 1.00e+00f 1 3 2.8466675e+00 3.46e-02 7.58e-01 -0.9 2.58e-01 -1.0 8.24e-01 1.00e+00h 1 4 2.4502380e+00 1.73e-02 1.93e-01 -1.6 4.20e-01 -1.4 8.86e-01 1.00e+00h 1 5 2.2380952e+00 1.22e-02 4.28e-02 -2.0 3.38e-01 -1.9 9.36e-01 1.00e+00h 1 6 2.1101101e+00 7.91e-03 1.24e-01 -3.1 6.81e-01 -2.4 9.95e-01 7.80e-01h 1 7 2.0920594e+00 7.10e-05 2.14e-03 -3.9 2.48e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908621e+00 9.11e-06 7.96e-05 -4.0 5.34e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908426e+00 1.90e-08 2.31e-05 -4.0 1.51e-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 2.0908004e+00 7.90e-08 1.32e-04 -4.0 3.92e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907273e+00 3.02e-07 7.96e-04 -4.0 9.14e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905481e+00 2.54e-06 1.24e-03 -4.0 2.67e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0900285e+00 2.19e-05 6.28e-04 -4.0 8.06e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0897697e+00 3.70e-06 1.66e-03 -4.0 3.05e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0895136e+00 5.68e-06 2.62e-02 -4.0 1.04e+01 -5.8 1.00e+00 2.66e-01h 2 16 2.0877549e+00 1.57e-04 1.56e-02 -4.0 2.49e+01 -6.3 1.00e+00 8.47e-01h 1 17 2.0848062e+00 9.61e-04 5.30e-02 -4.0 5.27e+01 -6.7 1.00e+00 1.00e+00h 1 18 2.0835759e+00 5.98e-04 4.24e-02 -4.0 2.41e+01 -6.3 1.00e+00 4.34e-01h 1 19 2.0827731e+00 1.80e-04 1.66e-02 -4.0 2.01e+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 2.0827551e+00 2.15e-04 9.38e-03 -4.0 5.22e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0822961e+00 5.82e-04 7.64e-03 -4.0 1.26e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0830481e+00 6.50e-06 1.19e-01 -4.0 1.20e+02 -7.3 3.62e-01 1.00e+00H 1 23 2.0825319e+00 1.09e-04 1.79e-01 -4.0 2.32e+00 -5.1 1.00e+00 6.49e-01h 1 24 2.0824569e+00 1.27e-04 7.17e-01 -4.0 2.84e+00 -5.6 1.00e+00 9.52e-02h 2 25 2.0823328e+00 5.79e-05 3.61e-03 -4.0 4.48e+00 -6.0 1.00e+00 1.00e+00h 1 26 2.0821586e+00 5.96e-05 1.10e-03 -4.0 1.34e+01 -6.5 1.00e+00 1.00e+00h 1 27 2.0832323e+00 8.62e-08 5.08e-02 -4.0 4.81e+01 -7.0 3.43e-01 1.00e+00H 1 28 2.0820483e+00 1.64e-04 1.36e+00 -4.0 4.19e+00 -4.8 1.00e+00 4.30e-01f 1 29 2.0818056e+00 3.43e-05 1.36e-03 -4.0 5.11e-01 -5.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0820668e+00 1.32e-04 4.24e-04 -4.0 1.86e+00 -5.7 1.00e+00 1.00e+00h 1 31 2.0819245e+00 6.47e-05 2.41e-04 -4.1 3.96e+00 -6.2 1.00e+00 1.00e+00h 1 32 2.0810185e+00 5.26e-04 7.76e-03 -6.1 8.09e+00 -6.7 9.83e-01 8.36e-01h 1 33 2.0820687e+00 3.12e-03 4.25e-03 -4.0 2.86e+01 -7.1 1.00e+00 1.00e+00f 1 34 2.0818077e+00 1.23e-03 6.60e-03 -4.1 5.94e+01 -7.6 7.01e-01 1.00e+00h 1 35 2.0816622e+00 3.08e-04 3.40e-03 -4.1 3.51e+00 -5.4 1.00e+00 1.00e+00h 1 36 2.0818183e+00 2.03e-04 3.38e-03 -4.0 3.57e+00 -5.9 1.00e+00 1.00e+00h 1 37 2.0817189e+00 6.28e-05 2.82e-03 -4.1 3.30e+00 -6.3 1.00e+00 1.00e+00h 1 38 2.0819320e+00 1.11e-04 4.22e-04 -4.0 4.59e+00 -6.8 1.00e+00 1.00e+00h 1 39 2.0816939e+00 2.21e-04 6.88e-04 -4.1 1.21e+01 -7.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0807127e+00 3.40e-03 6.04e-04 -6.1 4.24e+01 -7.8 9.79e-01 9.34e-01h 1 41 2.0811430e+00 2.10e-03 4.00e-02 -4.0 4.68e+01 -8.2 1.00e+00 3.72e-01f 1 42 2.0815015e+00 2.02e-03 3.62e-03 -4.1 5.87e+01 -8.7 1.00e+00 1.00e+00h 1 43 2.0818420e+00 1.49e-05 1.21e-02 -4.1 2.34e+01 -9.2 9.44e-01 1.00e+00h 1 44 2.0816643e+00 1.49e-07 2.39e-03 -4.0 4.10e-02 -1.4 1.00e+00 1.00e+00h 1 45 2.0816707e+00 3.40e-08 5.03e-04 -4.0 2.88e-02 -1.8 1.00e+00 1.00e+00h 1 46 2.0816713e+00 3.56e-09 2.80e-04 -4.0 5.73e-02 -2.3 1.00e+00 1.00e+00h 1 47 2.0816700e+00 2.36e-08 9.28e-05 -4.0 5.75e-02 -2.8 1.00e+00 1.00e+00h 1 48 2.0816692e+00 9.88e-08 3.82e-05 -4.0 3.39e-02 -3.3 1.00e+00 1.00e+00h 1 49 2.0816710e+00 2.33e-07 3.52e-05 -4.0 5.72e-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 2.0815681e+00 2.85e-06 1.33e-04 -4.1 1.28e-01 -4.2 1.00e+00 1.00e+00h 1 51 2.0816909e+00 8.93e-06 1.04e-04 -4.0 3.84e-01 -4.7 1.00e+00 1.00e+00h 1 52 2.0815867e+00 2.30e-05 3.20e-04 -4.1 5.57e-01 -5.2 1.00e+00 1.00e+00h 1 53 2.0809411e+00 2.80e-04 8.05e-03 -6.1 2.97e+00 -5.7 9.76e-01 1.00e+00h 1 54 2.0817472e+00 8.00e-06 2.91e-03 -4.0 2.14e-01 -3.4 1.00e+00 1.00e+00h 1 55 2.0814447e+00 3.24e-06 1.12e-03 -4.1 1.65e-01 -3.9 1.00e+00 1.00e+00h 1 56 2.0815593e+00 6.82e-06 1.93e-04 -4.0 2.92e-01 -4.4 1.00e+00 1.00e+00h 1 57 2.0814811e+00 5.79e-06 3.16e-04 -4.1 2.80e-01 -4.9 1.00e+00 1.00e+00h 1 58 2.0816437e+00 2.46e-05 3.04e-04 -4.0 1.07e+00 -5.3 1.00e+00 1.00e+00h 1 59 2.0815477e+00 5.87e-06 1.81e-04 -4.1 5.49e-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 60 2.0807554e+00 5.49e-04 5.25e-03 -6.1 6.59e+00 -6.3 9.96e-01 1.00e+00h 1 61 2.0813400e+00 1.54e-04 1.41e-01 -4.0 3.19e-01 -4.1 1.00e+00 7.61e-01h 1 62 2.0813186e+00 1.57e-05 1.53e-03 -4.0 1.11e+00 -4.5 1.00e+00 1.00e+00h 1 63 2.0814540e+00 1.62e-05 2.86e-03 -4.0 1.10e+00 -5.0 1.00e+00 1.00e+00h 1 64 2.0814188e+00 2.07e-05 8.34e-04 -4.1 1.34e+00 -5.5 1.00e+00 1.00e+00h 1 65 2.0816651e+00 6.91e-05 2.84e-04 -4.0 3.27e+00 -6.0 1.00e+00 1.00e+00h 1 66 2.0815587e+00 1.61e-05 4.47e-04 -4.1 1.11e+00 -6.4 1.00e+00 1.00e+00h 1 67 2.0806472e+00 8.70e-04 5.02e-03 -6.1 1.21e+01 -6.9 9.87e-01 1.00e+00h 1 68 2.0818597e+00 2.28e-03 7.30e-03 -4.0 2.08e+01 -7.4 1.00e+00 1.00e+00h 1 69 2.0816162e+00 1.36e-04 6.15e-04 -4.1 4.60e+00 -7.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0806914e+00 2.39e-03 1.10e-03 -6.1 3.32e+01 -8.3 9.79e-01 8.83e-01h 1 71 2.0805529e+00 3.46e-04 4.20e-04 -6.1 2.71e+01 -8.8 1.00e+00 1.00e+00h 1 72 2.0808435e+00 7.72e-04 2.25e-02 -4.0 9.38e+01 -9.3 1.00e+00 2.19e-01f 1 73 2.0814500e+00 1.12e-03 1.09e-04 -4.2 2.01e+01 -9.8 1.00e+00 1.00e+00f 1 74 2.0814333e+00 2.14e-05 2.93e-05 -4.2 2.49e+01 -10.3 1.00e+00 1.00e+00h 1 75 2.0818436e+00 5.76e-04 3.43e-05 -4.0 1.63e+01 -10.7 1.00e+00 1.00e+00h 1 76 2.0815829e+00 2.23e-04 2.79e-05 -4.1 1.02e+01 -11.2 1.00e+00 1.00e+00h 1 77 2.0805926e+00 3.32e-03 1.40e-04 -6.1 4.05e+01 -11.7 9.77e-01 9.68e-01h 1 78 2.0805497e+00 7.10e-05 1.91e-06 -6.1 1.56e+01 -12.2 1.00e+00 1.00e+00h 1 79 2.0819869e+00 1.06e-02 4.01e-04 -4.0 8.58e+01 -12.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0816825e+00 9.86e-04 5.20e-05 -4.1 4.70e+01 -13.1 1.00e+00 1.00e+00h 1 81 2.0816443e+00 5.42e-07 2.94e-05 -4.1 8.93e+00 -13.6 1.00e+00 1.00e+00h 1 82 2.0818414e+00 1.23e-04 3.43e-05 -4.0 7.36e+00 -14.1 1.00e+00 1.00e+00h 1 83 2.0815817e+00 2.11e-04 2.79e-05 -4.1 9.62e+00 -14.5 1.00e+00 1.00e+00h 1 84 2.0805923e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -15.0 9.77e-01 9.68e-01h 1 85 2.0805497e+00 7.03e-05 1.80e-06 -6.1 1.55e+01 -15.5 1.00e+00 1.00e+00h 1 86 2.0819871e+00 1.06e-02 4.00e-04 -4.0 8.58e+01 -16.0 1.00e+00 1.00e+00f 1 87 2.0816826e+00 9.87e-04 5.24e-05 -4.1 4.71e+01 -16.5 1.00e+00 1.00e+00h 1 88 2.0816444e+00 5.44e-07 2.94e-05 -4.1 8.94e+00 -16.9 1.00e+00 1.00e+00h 1 89 2.0805933e+00 3.65e-03 1.55e-04 -6.1 4.19e+01 -17.4 9.76e-01 9.71e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805509e+00 7.35e-05 1.95e-06 -6.1 1.62e+01 -17.9 1.00e+00 1.00e+00h 1 91 2.0805468e+00 5.07e-08 2.93e-07 -6.1 2.92e+00 -18.4 1.00e+00 1.00e+00h 1 92 2.0820226e+00 1.22e-02 4.21e-04 -4.0 9.85e+01 -18.8 1.00e+00 1.00e+00f 1 93 2.0817083e+00 1.09e-03 6.84e-05 -4.1 5.45e+01 -19.3 1.00e+00 1.00e+00h 1 94 2.0816573e+00 1.18e-06 2.97e-05 -4.1 1.10e+01 -19.8 1.00e+00 1.00e+00h 1 95 2.0805943e+00 3.73e-03 1.58e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.71e-01h 1 96 2.0805512e+00 7.57e-05 2.01e-06 -6.1 1.64e+01 -20.0 1.00e+00 1.00e+00h 1 97 2.0805469e+00 5.37e-08 2.98e-07 -6.1 3.01e+00 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 9.26e-07 7.80e-07 -9.0 9.40e-01 -20.0 1.00e+00 9.97e-01h 1 99 2.0820402e+00 1.30e-02 4.35e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0817219e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0817218867002429e+00 2.0817218867002429e+00 Dual infeasibility......: 7.7307979006795158e-05 7.7307979006795158e-05 Constraint violation....: 1.1323909111384256e-03 1.1323909111384256e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.1568166389183932e-04 1.1568166389183932e-04 Overall NLP error.......: 1.1323909111384256e-03 1.1323909111384256e-03 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 = 30.005 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 10 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 1 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.6001812e+02 3.58e+00 4.03e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.1909472e+01 1.47e+00 1.69e+01 -0.5 2.47e+00 0.0 1.00e+00 5.88e-01f 1 2 1.3275105e+01 9.19e-01 1.08e+01 0.1 2.05e+00 -0.5 3.75e-01 3.66e-01f 1 3 3.1351526e+00 1.47e-02 2.03e+00 -1.2 6.58e-01 -1.0 7.84e-01 1.00e+00f 1 4 2.8182828e+00 3.90e-02 1.02e+00 -1.0 4.06e-01 -0.5 9.97e-01 7.57e-01h 1 5 2.3585451e+00 1.03e-02 1.69e-01 -1.7 1.65e-01 -1.0 9.93e-01 1.00e+00f 1 6 2.1305703e+00 7.40e-03 4.70e-02 -2.8 2.15e-01 -1.5 9.96e-01 8.81e-01h 1 7 2.0922509e+00 1.77e-04 3.37e-03 -3.8 2.29e-02 -2.0 9.96e-01 9.80e-01h 1 8 2.0909196e+00 1.81e-06 2.58e-04 -4.0 5.46e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909201e+00 1.81e-08 2.58e-04 -4.0 1.61e-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 2.0909157e+00 1.11e-09 2.58e-04 -4.0 4.75e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909040e+00 8.56e-09 2.58e-04 -4.0 1.36e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908750e+00 5.49e-08 2.58e-04 -4.0 3.68e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0908020e+00 3.08e-07 4.42e-04 -4.0 9.73e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905958e+00 2.96e-06 6.06e-04 -4.0 2.98e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0908624e+00 6.12e-05 4.68e-03 -3.4 3.78e+01 -5.8 9.20e-02 7.23e-02h 2 16 2.0891268e+00 3.44e-04 1.14e-02 -4.0 2.72e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0860756e+00 1.48e-03 2.21e-02 -4.0 7.07e+01 -6.7 1.00e+00 1.00e+00h 1 18 2.0828354e+00 3.98e-03 1.00e-01 -4.0 1.25e+02 -7.2 1.00e+00 8.91e-01h 1 19 2.0858180e+00 1.44e-04 1.05e-01 -3.8 1.34e+02 -7.7 1.00e+00 9.78e-01H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0825260e+00 1.11e-02 9.92e-03 -4.0 1.32e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0818865e+00 6.10e-04 1.24e-02 -4.0 7.96e+01 -8.6 1.00e+00 1.00e+00h 1 22 2.0818498e+00 6.51e-05 9.02e-04 -4.0 4.35e+01 -9.1 1.00e+00 1.00e+00h 1 23 2.0818384e+00 1.00e-06 2.58e-04 -4.0 8.94e+00 -9.6 1.00e+00 1.00e+00h 1 24 2.0818383e+00 6.54e-09 2.58e-04 -4.0 4.69e-01 -10.1 1.00e+00 1.00e+00h 1 25 2.0818383e+00 1.10e-11 2.58e-04 -4.0 2.39e-02 -10.5 1.00e+00 1.00e+00h 1 26 2.0818383e+00 5.48e-12 1.29e-04 -4.0 8.16e-05 -11.0 1.00e+00 5.00e-01h 2 27 2.0818383e+00 4.44e-16 2.58e-04 -4.0 4.10e-05 -12.0 1.00e+00 1.00e+00H 1 28 2.0818383e+00 4.44e-16 2.58e-04 -4.0 2.00e-05 -12.5 1.00e+00 1.00e+00h 1 29 2.0815797e+00 2.05e-04 2.07e-04 -4.1 9.35e+00 -12.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0818395e+00 2.13e-04 2.58e-04 -4.0 9.67e+00 -13.4 1.00e+00 1.00e+00h 1 31 2.0815804e+00 2.11e-04 2.07e-04 -4.1 9.63e+00 -13.9 1.00e+00 1.00e+00h 1 32 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -14.4 9.78e-01 9.71e-01h 1 33 2.0818882e+00 6.56e-03 2.96e-04 -4.0 6.10e+01 -14.8 1.00e+00 1.00e+00f 1 34 2.0816136e+00 4.88e-04 2.12e-04 -4.1 2.07e+01 -15.3 1.00e+00 1.00e+00h 1 35 2.0805989e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -15.8 9.76e-01 9.65e-01h 1 36 2.0805508e+00 8.46e-05 2.20e-06 -6.1 1.69e+01 -16.3 1.00e+00 1.00e+00h 1 37 2.0819794e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -16.8 1.00e+00 1.00e+00f 1 38 2.0816837e+00 9.34e-04 2.20e-04 -4.1 4.57e+01 -17.2 1.00e+00 1.00e+00h 1 39 2.0816477e+00 4.73e-07 2.20e-04 -4.1 8.53e+00 -17.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818389e+00 1.15e-04 2.58e-04 -4.0 7.07e+00 -18.2 1.00e+00 1.00e+00h 1 41 2.0815801e+00 2.08e-04 2.07e-04 -4.1 9.50e+00 -18.7 1.00e+00 1.00e+00h 1 42 2.0805898e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -19.1 9.78e-01 9.71e-01h 1 43 2.0805497e+00 6.51e-05 1.85e-06 -6.1 1.55e+01 -19.6 1.00e+00 1.00e+00h 1 44 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -20.0 1.00e+00 1.00e+00f 1 45 2.0816887e+00 9.54e-04 2.21e-04 -4.1 4.72e+01 -20.0 1.00e+00 1.00e+00h 1 46 2.0816504e+00 5.63e-07 2.21e-04 -4.1 8.93e+00 -20.0 1.00e+00 1.00e+00h 1 47 2.0805906e+00 3.68e-03 1.60e-04 -6.1 4.16e+01 -20.0 9.77e-01 9.75e-01h 1 48 2.0805511e+00 6.76e-05 2.04e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 49 2.0805469e+00 4.72e-08 2.04e-06 -6.1 2.95e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.89e+01 -20.0 1.00e+00 1.00e+00f 1 51 2.0817159e+00 1.04e-03 2.23e-04 -4.1 5.46e+01 -20.0 1.00e+00 1.00e+00h 1 52 2.0816648e+00 1.22e-06 2.23e-04 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 53 2.0805915e+00 3.76e-03 1.66e-04 -6.1 4.20e+01 -20.0 9.76e-01 9.75e-01h 1 54 2.0805514e+00 6.96e-05 2.08e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 55 2.0805471e+00 4.99e-08 2.08e-06 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 56 2.0805365e+00 9.55e-07 8.02e-07 -9.0 9.57e-01 -20.0 1.00e+00 9.97e-01h 1 57 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 58 2.0817306e+00 1.08e-03 2.25e-04 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 59 2.0816723e+00 1.67e-06 2.25e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 61 2.0805516e+00 7.07e-05 2.10e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 62 2.0805472e+00 5.15e-08 2.10e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 63 2.0805365e+00 9.76e-07 8.28e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 64 2.0805365e+00 9.27e-11 2.35e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 65 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 66 2.0817309e+00 1.08e-03 2.25e-04 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0816725e+00 1.68e-06 2.25e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 68 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 69 2.0805516e+00 7.08e-05 2.10e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0805472e+00 5.16e-08 2.10e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 71 2.0805365e+00 9.76e-07 8.29e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 72 2.0805365e+00 9.28e-11 2.35e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 73 2.0805365e+00 4.44e-16 2.35e-09 -9.0 1.10e-05 -20.0 1.00e+00 1.00e+00h 1 74 2.0805365e+00 6.66e-16 2.35e-09 -9.0 1.17e-10 -20.0 1.00e+00 1.00e+00h 1 75 2.0805365e+00 4.44e-16 2.35e-09 -9.0 1.17e-10 -20.0 1.00e+00 1.00e+00h 1 76 2.0805365e+00 4.44e-16 2.35e-09 -9.0 1.17e-10 -20.0 1.00e+00 1.00e+00h 1 77 2.0805365e+00 4.44e-16 2.35e-09 -9.0 1.17e-10 -20.0 1.00e+00 1.00e+00h 1 78 2.0805365e+00 4.44e-16 2.35e-09 -9.0 1.17e-10 -20.0 1.00e+00 1.00e+00h 1 79 2.0805365e+00 2.22e-16 2.35e-09 -9.0 1.17e-10 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805365e+00 4.44e-16 2.35e-09 -9.0 1.17e-10 -20.0 1.00e+00 1.00e+00h 1 81 2.0805365e+00 4.44e-16 2.35e-09 -9.0 1.17e-10 -20.0 1.00e+00 1.00e+00h 1 82 2.0805365e+00 4.44e-16 2.35e-09 -9.0 1.17e-10 -20.0 1.00e+00 1.00e+00h 1 83 2.0805365e+00 4.44e-16 2.35e-09 -9.0 1.17e-10 -20.0 1.00e+00 1.00e+00h 1 84 2.0805365e+00 4.44e-16 2.35e-09 -9.0 1.17e-10 -20.0 1.00e+00 1.00e+00h 1 85 2.0805365e+00 2.22e-16 2.35e-09 -9.0 1.17e-10 -20.0 1.00e+00 1.00e+00h 1 86 2.0805365e+00 4.44e-16 2.35e-09 -9.0 1.17e-10 -20.0 1.00e+00 1.00e+00h 1 87 2.0805365e+00 4.44e-16 2.35e-09 -9.0 1.17e-10 -20.0 1.00e+00 1.00e+00h 1 88 2.0805365e+00 4.44e-16 2.35e-09 -9.0 1.17e-10 -20.0 1.00e+00 1.00e+00h 1 89 2.0805365e+00 4.44e-16 2.35e-09 -9.0 1.17e-10 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805365e+00 4.44e-16 2.35e-09 -9.0 1.17e-10 -20.0 1.00e+00 1.00e+00h 1 91 2.0805365e+00 2.22e-16 2.35e-09 -9.0 1.17e-10 -20.0 1.00e+00 1.00e+00h 1 92 2.0805365e+00 4.44e-16 2.35e-09 -9.0 1.17e-10 -20.0 1.00e+00 1.00e+00h 1 93 2.0805365e+00 4.44e-16 2.35e-09 -9.0 1.17e-10 -20.0 1.00e+00 1.00e+00h 1 94 2.0805365e+00 4.44e-16 2.35e-09 -9.0 1.17e-10 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 4.44e-16 2.35e-09 -9.0 1.17e-10 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 4.44e-16 2.35e-09 -9.0 1.17e-10 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 2.22e-16 2.35e-09 -9.0 1.17e-10 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 4.44e-16 2.35e-09 -9.0 1.17e-10 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 4.44e-16 2.35e-09 -9.0 1.17e-10 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805365e+00 4.44e-16 2.35e-09 -9.0 1.17e-10 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595436466e+00 2.0805364595436466e+00 Dual infeasibility......: 2.3475091823551031e-09 2.3475091823551031e-09 Constraint violation....: 4.4408920985006262e-16 4.4408920985006262e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090971179366e-10 9.0909090971179366e-10 Overall NLP error.......: 9.9999090909091550e-05 9.9999090909091550e-05 Number of objective function evaluations = 107 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 107 Number of inequality constraint evaluations = 107 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 25.670 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 3.8602076e+00 2.00e+00 1.66e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.2279525e+00 2.67e+01 1.17e+01 -0.8 8.47e+02 -4.0 1.52e-01 2.11e-01H 1 2 1.9189783e+00 3.45e+01 5.52e+00 -1.0 1.94e+02 -3.6 3.92e-01 4.64e-01h 1 3 2.1147547e+00 3.37e-02 1.99e+01 -1.9 3.50e+01 -4.1 1.75e-01 1.00e+00h 1 4 2.1050699e+00 3.35e-04 3.26e-01 -2.6 3.10e-01 -2.7 9.76e-01 1.00e+00h 1 5 2.0951929e+00 1.59e-04 4.63e-03 -3.5 2.85e-01 -3.2 1.00e+00 1.00e+00h 1 6 2.0884253e+00 7.68e-05 1.24e-03 -4.0 1.88e-01 -3.7 1.00e+00 1.00e+00h 1 7 2.0885345e+00 6.50e-06 2.03e-05 -4.0 2.89e-01 -4.2 1.00e+00 1.00e+00h 1 8 2.0884488e+00 3.36e-07 2.03e-05 -4.0 8.68e-01 -4.6 1.00e+00 1.00e+00h 1 9 2.0881929e+00 2.95e-06 2.03e-05 -4.0 2.60e+00 -5.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0874290e+00 2.67e-05 1.18e-04 -4.0 7.76e+00 -5.6 1.00e+00 1.00e+00h 1 11 2.0851781e+00 2.44e-04 1.14e-03 -4.0 2.28e+01 -6.1 1.00e+00 1.00e+00h 1 12 2.0797494e+00 1.66e-03 3.28e-02 -4.0 6.27e+01 -6.5 1.00e+00 8.72e-01h 1 13 2.0811010e+00 5.72e-05 1.81e-01 -4.0 6.93e+01 -7.0 1.00e+00 1.00e+00H 1 14 2.0782960e+00 3.65e-03 3.51e-02 -4.0 9.67e+01 -7.5 1.00e+00 9.73e-01h 1 15 2.0775696e+00 1.76e-03 2.12e-02 -4.0 1.73e+02 -8.0 8.66e-01 5.49e-01h 1 16 2.0767689e+00 1.43e-03 2.03e-02 -4.0 3.42e+02 -8.4 9.72e-01 6.20e-01h 1 17 2.0761019e+00 7.87e-04 2.71e-02 -4.0 4.86e+02 -8.9 1.00e+00 6.34e-01h 1 18 2.0756181e+00 1.61e-04 2.97e-02 -4.0 4.78e+02 -9.4 1.00e+00 6.20e-01h 1 19 2.0758026e+00 5.46e-04 7.71e-03 -4.0 1.09e+02 -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 20 2.0754337e+00 9.74e-04 9.09e-05 -4.1 3.89e+01 -10.4 1.00e+00 1.00e+00h 1 21 2.0757716e+00 4.03e-04 2.84e-06 -4.0 1.57e+01 -10.8 1.00e+00 1.00e+00h 1 22 2.0754219e+00 5.10e-04 3.27e-07 -4.1 1.92e+01 -11.3 1.00e+00 1.00e+00h 1 23 2.0757717e+00 5.25e-04 5.26e-07 -4.0 1.98e+01 -11.8 1.00e+00 1.00e+00h 1 24 2.0754219e+00 5.73e-04 1.78e-07 -4.1 2.16e+01 -12.3 1.00e+00 1.00e+00h 1 25 2.0757717e+00 6.03e-04 9.83e-08 -4.0 2.28e+01 -12.7 1.00e+00 1.00e+00h 1 26 2.0754219e+00 6.03e-04 1.09e-07 -4.1 2.28e+01 -13.2 1.00e+00 1.00e+00h 1 27 2.0757717e+00 6.06e-04 1.19e-07 -4.0 2.29e+01 -13.7 1.00e+00 1.00e+00h 1 28 2.0754219e+00 6.06e-04 1.22e-07 -4.1 2.29e+01 -14.2 1.00e+00 1.00e+00h 1 29 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -14.7 9.28e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0758523e+00 1.72e-01 1.58e-04 -4.0 1.29e+03 -15.1 1.00e+00 1.00e+00h 1 31 2.0754378e+00 2.85e-02 8.93e-05 -4.1 1.05e+03 -15.6 1.00e+00 1.00e+00h 1 32 2.0754277e+00 1.25e-05 2.07e-06 -4.1 1.63e+02 -16.1 1.00e+00 1.00e+00h 1 33 2.0757717e+00 7.85e-04 1.74e-07 -4.0 3.02e+01 -16.6 1.00e+00 1.00e+00h 1 34 2.0754219e+00 6.34e-04 1.30e-07 -4.1 2.39e+01 -17.0 1.00e+00 1.00e+00h 1 35 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -17.5 9.28e-01 1.00e+00h 1 36 2.0739729e+00 7.49e-04 2.53e-04 -6.1 8.48e+02 -18.0 8.16e-01 1.00e+00h 1 37 2.0743069e+00 2.58e-02 1.46e-02 -4.0 8.97e+03 -18.5 1.00e+00 1.46e-01f 1 38 2.0749156e+00 3.43e-02 4.23e-05 -4.3 7.15e+02 -18.9 1.00e+00 1.00e+00h 1 39 2.0749194e+00 4.29e-04 1.42e-05 -4.3 5.34e+02 -19.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0757799e+00 1.06e-02 3.26e-06 -4.0 1.65e+02 -19.9 1.00e+00 1.00e+00h 1 41 2.0754236e+00 2.17e-03 7.34e-07 -4.1 8.12e+01 -20.0 1.00e+00 1.00e+00h 1 42 2.0754217e+00 1.05e-06 2.50e-08 -4.1 1.90e+01 -20.0 1.00e+00 1.00e+00h 1 43 2.0757718e+00 7.83e-04 1.70e-07 -4.0 2.96e+01 -20.0 1.00e+00 1.00e+00h 1 44 2.0754219e+00 6.34e-04 1.30e-07 -4.1 2.39e+01 -20.0 1.00e+00 1.00e+00h 1 45 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 46 2.0739729e+00 7.49e-04 2.53e-04 -6.1 8.48e+02 -20.0 8.16e-01 1.00e+00h 1 47 2.0739618e+00 7.48e-07 1.83e-05 -6.1 5.36e+02 -20.0 1.00e+00 1.00e+00h 1 48 2.0741610e+00 2.72e-02 1.81e-02 -4.0 3.03e+04 -20.0 1.00e+00 8.17e-02f 1 49 2.0748450e+00 7.42e-02 5.83e-05 -4.3 1.43e+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 50 2.0748594e+00 4.17e-04 5.58e-06 -4.3 3.96e+02 -20.0 1.00e+00 1.00e+00h 1 51 2.0740038e+00 1.17e-02 4.14e-04 -6.5 1.83e+02 -20.0 8.92e-01 1.00e+00h 1 52 2.0739628e+00 2.48e-04 2.84e-04 -6.5 7.31e+02 -20.0 7.61e-01 1.00e+00h 1 53 2.0739529e+00 2.78e-07 2.04e-05 -6.5 6.29e+02 -20.0 1.00e+00 1.00e+00h 1 54 2.0741325e+00 2.58e-02 1.91e-02 -4.0 3.70e+04 -20.0 1.00e+00 7.19e-02f 1 55 2.0748276e+00 8.42e-02 6.63e-05 -4.3 1.60e+03 -20.0 1.00e+00 1.00e+00f 1 56 2.0748443e+00 3.56e-04 3.40e-06 -4.3 3.15e+02 -20.0 1.00e+00 1.00e+00h 1 57 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 58 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 59 2.0739527e+00 2.69e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0741318e+00 2.58e-02 1.92e-02 -4.0 3.72e+04 -20.0 1.00e+00 7.16e-02f 1 61 2.0748272e+00 8.45e-02 6.65e-05 -4.3 1.61e+03 -20.0 1.00e+00 1.00e+00f 1 62 2.0748440e+00 3.54e-04 3.34e-06 -4.3 3.13e+02 -20.0 1.00e+00 1.00e+00h 1 63 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 64 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 65 2.0739527e+00 2.68e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 66 2.0741318e+00 2.58e-02 1.92e-02 -4.0 3.72e+04 -20.0 1.00e+00 7.16e-02f 1 67 2.0748272e+00 8.45e-02 6.65e-05 -4.3 1.61e+03 -20.0 1.00e+00 1.00e+00f 1 68 2.0748440e+00 3.54e-04 3.34e-06 -4.3 3.13e+02 -20.0 1.00e+00 1.00e+00h 1 69 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 70 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 71 2.0739527e+00 2.68e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 72 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 73 2.0741226e+00 2.63e-02 1.95e-02 -4.0 4.26e+04 -20.0 1.00e+00 6.77e-02f 1 74 2.0748234e+00 8.99e-02 7.10e-05 -4.3 1.70e+03 -20.0 1.00e+00 1.00e+00f 1 75 2.0748412e+00 3.13e-04 2.43e-06 -4.3 2.70e+02 -20.0 1.00e+00 1.00e+00h 1 76 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 77 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 78 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 79 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+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 80 2.0741225e+00 2.63e-02 1.95e-02 -4.0 4.27e+04 -20.0 1.00e+00 6.76e-02f 1 81 2.0748233e+00 9.00e-02 7.11e-05 -4.3 1.70e+03 -20.0 1.00e+00 1.00e+00f 1 82 2.0748411e+00 3.13e-04 2.42e-06 -4.3 2.70e+02 -20.0 1.00e+00 1.00e+00h 1 83 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 84 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 85 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 86 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 87 2.0739440e+00 6.21e-05 3.00e-06 -9.0 1.42e+02 -20.0 9.56e-01 1.00e+00h 1 88 2.0740989e+00 2.54e-02 2.06e-02 -4.0 5.21e+04 -20.0 1.00e+00 5.99e-02f 1 89 2.0748092e+00 1.02e-01 8.36e-05 -4.3 1.92e+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 90 2.0748293e+00 2.04e-04 1.06e-06 -4.3 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 91 2.0740026e+00 1.16e-02 4.11e-04 -6.5 1.88e+02 -20.0 8.89e-01 1.00e+00h 1 92 2.0739622e+00 2.30e-04 2.84e-04 -6.5 7.25e+02 -20.0 7.59e-01 1.00e+00h 1 93 2.0739525e+00 2.60e-07 1.99e-05 -6.5 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 94 2.0739518e+00 4.59e-09 7.61e-07 -6.5 1.66e+02 -20.0 1.00e+00 1.00e+00h 1 95 2.0741220e+00 2.63e-02 1.96e-02 -4.0 4.28e+04 -20.0 1.00e+00 6.75e-02f 1 96 2.0748230e+00 9.02e-02 7.13e-05 -4.3 1.71e+03 -20.0 1.00e+00 1.00e+00f 1 97 2.0748409e+00 3.11e-04 2.38e-06 -4.3 2.68e+02 -20.0 1.00e+00 1.00e+00h 1 98 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 99 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 100 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0739526715351331e+00 2.0739526715351331e+00 Dual infeasibility......: 2.0419464616148068e-05 2.0419464616148068e-05 Constraint violation....: 2.6626115490202551e-07 2.6626115490202551e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 6.2248763654492151e-07 6.2248763654492151e-07 Overall NLP error.......: 9.9732956147798930e-05 9.9732956147798930e-05 Number of objective function evaluations = 103 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 103 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 27.545 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 194 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 27 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.2385246e+00 8.42e-01 1.05e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7361586e+00 4.55e-01 4.49e+00 -0.9 3.04e+00 -2.0 1.00e+00 1.00e+00h 1 2 1.4488616e+00 2.42e-01 4.92e-01 -0.7 1.42e+00 -0.7 9.57e-01 6.76e-01f 1 3 1.5755446e+00 5.71e-02 1.61e+00 -4.0 6.88e+00 - 7.83e-01 1.00e+00h 1 4 1.3759078e+00 1.79e-02 3.64e-01 -1.2 2.17e+00 -1.1 1.00e+00 3.33e-01f 1 5 1.2791926e+00 9.00e-03 7.62e-01 -1.7 1.21e+01 - 9.80e-01 5.74e-01f 1 6 1.1388268e+00 7.21e-04 2.22e-01 -2.3 5.06e+00 - 1.00e+00 9.27e-01h 1 7 1.0952503e+00 1.79e-05 2.83e-01 -3.5 5.27e+00 - 1.00e+00 9.93e-01h 1 8 1.0908516e+00 4.08e-08 4.23e-02 -4.0 2.02e+00 - 1.00e+00 1.00e+00h 1 9 1.0908983e+00 4.80e-12 7.65e-04 -4.0 2.74e-01 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0908997e+00 2.02e-18 2.93e-08 -4.0 1.70e-03 - 1.00e+00 1.00e+00h 1 11 1.0908997e+00 1.31e-27 7.01e-16 -4.0 2.16e-07 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 11 (scaled) (unscaled) Objective...............: 1.0908997263265456e+00 1.0908997263265456e+00 Dual infeasibility......: 7.0115354494637572e-16 7.0115354494637572e-16 Constraint violation....: 1.3147291536136423e-27 1.3147291536136423e-27 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 7.0115354494637572e-16 7.0115354494637572e-16 Number of objective function evaluations = 12 Number of objective gradient evaluations = 12 Number of equality constraint evaluations = 12 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 12 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 11 Total seconds in IPOPT = 21.655 EXIT: Optimal Solution Found. Difference in Hessian Difference in Jacobian Test Summary: | Pass Total Time Package | 202 202 18m32.5s Testing DirectTrajOpt tests passed Testing completed after 1187.71s PkgEval succeeded after 1271.52s