Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.1720 (f38c537ec6*) started at 2026-02-15T23:24:48.977 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 13.32s ################################################################################ # 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 v1.7.0 [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 v2.138.1 [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 v2.6.3 [2efcf032] + SymbolicIndexingInterface v0.3.46 [f8b46487] + TestItemRunner v1.1.4 [1c621080] + TestItems v1.0.0 [8290d209] + ThreadingUtilities v0.5.5 [a759f4b9] + TimerOutputs v0.5.29 [6dad8b7f] + TrajectoryIndexingUtils v0.1.0 [3bb67fe8] + TranscodingStreams v0.11.3 [781d530d] + TruncatedStacktraces v1.4.0 [ae81ac8f] + ASL_jll v0.1.3+0 [6e34b625] + Bzip2_jll v1.0.9+0 [e33a78d0] + Hwloc_jll v2.12.2+0 [9cc047cb] + Ipopt_jll v300.1400.1901+0 [94ce4f54] + Libiconv_jll v1.18.0+0 [d00139f3] + METIS_jll v5.1.3+0 [d7ed1dd3] + MUMPS_seq_jll v500.800.200+0 [656ef2d0] + OpenBLAS32_jll v0.3.30+0 [efe28fd5] + OpenSpecFun_jll v0.5.6+0 [319450e9] + SPRAL_jll v2025.9.18+0 ⌅ [02c8fc9c] + XML2_jll v2.13.9+0 [a65dc6b1] + Xorg_libpciaccess_jll v0.18.1+0 [0dad84c5] + ArgTools v1.1.2 [56f22d72] + Artifacts v1.11.0 [2a0f44e3] + Base64 v1.11.0 [ade2ca70] + Dates v1.11.0 [8ba89e20] + Distributed v1.11.0 [f43a241f] + Downloads v1.7.0 [7b1f6079] + FileWatching v1.11.0 [9fa8497b] + Future v1.11.0 [b77e0a4c] + InteractiveUtils v1.11.0 [ac6e5ff7] + JuliaSyntaxHighlighting v1.13.0 [b27032c2] + LibCURL v1.0.0 [76f85450] + LibGit2 v1.11.0 [8f399da3] + Libdl v1.11.0 [37e2e46d] + LinearAlgebra v1.13.0 [56ddb016] + Logging v1.11.0 [d6f4376e] + Markdown v1.11.0 [a63ad114] + Mmap v1.11.0 [ca575930] + NetworkOptions v1.3.0 [44cfe95a] + Pkg v1.14.0 [de0858da] + Printf v1.11.0 [9abbd945] + Profile v1.11.0 [9a3f8284] + Random v1.11.0 [ea8e919c] + SHA v1.0.0 [9e88b42a] + Serialization v1.11.0 [6462fe0b] + Sockets v1.11.0 [2f01184e] + SparseArrays v1.13.0 [f489334b] + StyledStrings v1.13.0 [fa267f1f] + TOML v1.0.3 [a4e569a6] + Tar v1.10.0 [8dfed614] + Test v1.11.0 [cf7118a7] + UUIDs v1.11.0 [4ec0a83e] + Unicode v1.11.0 [e66e0078] + CompilerSupportLibraries_jll v1.3.0+1 [deac9b47] + LibCURL_jll v8.18.0+0 [e37daf67] + LibGit2_jll v1.9.2+0 [29816b5a] + LibSSH2_jll v1.11.3+1 [14a3606d] + MozillaCACerts_jll v2025.12.2 [4536629a] + OpenBLAS_jll v0.3.30+0 [05823500] + OpenLibm_jll v0.8.7+0 [458c3c95] + OpenSSL_jll v3.5.5+0 [efcefdf7] + PCRE2_jll v10.47.0+0 [bea87d4a] + SuiteSparse_jll v7.10.1+0 [83775a58] + Zlib_jll v1.3.1+2 [3161d3a3] + Zstd_jll v1.5.7+1 [8e850b90] + libblastrampoline_jll v5.15.0+0 [8e850ede] + nghttp2_jll v1.68.0+1 [3f19e933] + p7zip_jll v17.7.0+0 Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. To see why use `status --outdated -m` Installation completed after 6.79s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling packages... 32566.3 ms ✓ DirectTrajOpt 1 dependency successfully precompiled in 36 seconds. 224 already precompiled. Precompilation completed after 62.12s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_CydAZ5/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_CydAZ5/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 v1.7.0 [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 v2.138.1 [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 v2.6.3 [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 3.4955994e+00 2.67e+00 5.70e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4790766e+00 4.88e-01 1.61e+00 -0.8 1.97e+00 0.0 1.00e+00 8.21e-01h 1 2 2.7148515e+00 2.75e-02 1.33e+00 -0.8 5.85e-01 -0.5 7.51e-01 1.00e+00f 1 3 2.4530459e+00 1.23e-02 1.84e-01 -1.6 1.95e-01 -1.0 9.97e-01 1.00e+00h 1 4 2.1793347e+00 1.36e-02 1.24e-01 -2.5 3.82e-01 -1.4 9.19e-01 8.24e-01f 1 5 2.0988836e+00 1.60e-03 1.64e-02 -3.1 9.95e-02 -1.9 9.83e-01 1.00e+00h 1 6 2.0908831e+00 7.42e-06 6.84e-04 -4.0 6.05e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0909228e+00 1.05e-07 2.06e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909183e+00 7.40e-10 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909050e+00 6.85e-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 2.0908652e+00 6.17e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907457e+00 5.56e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903882e+00 5.03e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0893225e+00 4.59e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861899e+00 4.31e-04 1.81e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796188e+00 2.52e-03 8.56e-02 -4.0 8.73e+01 -6.7 1.00e+00 7.61e-01h 1 16 2.0812594e+00 1.56e-04 1.97e-01 -4.0 6.91e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778291e+00 5.98e-03 2.82e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781915e+00 1.53e-02 5.57e-02 -3.7 1.56e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767534e+00 1.22e-02 1.95e-02 -3.8 2.99e+02 -8.6 1.00e+00 9.90e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0759700e+00 7.87e-03 2.15e-02 -3.9 4.32e+02 -9.1 1.00e+00 9.88e-01f 1 21 2.0757560e+00 7.30e-03 8.76e-03 -4.0 1.42e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756812e+00 4.40e-04 3.89e-04 -4.0 6.05e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 8.59e-06 6.60e-06 -4.0 2.35e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 4.15e-08 1.55e-06 -4.0 1.54e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.71e-09 1.57e-07 -4.0 5.40e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 8.25e-11 3.21e-09 -4.0 9.56e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122139884e+00 2.0756712122139884e+00 Dual infeasibility......: 3.2079488237080501e-09 3.2079488237080501e-09 Constraint violation....: 8.2530204892350412e-11 8.2530204892350412e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000028e-04 1.0000000000000028e-04 Overall NLP error.......: 3.2079488237080501e-09 3.2079488237080501e-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 = 63.236 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 2.1759994e+00 2.74e+00 5.04e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4065412e+00 1.90e-01 2.09e+00 -0.9 2.03e+00 0.0 1.00e+00 9.35e-01f 1 2 2.8735986e+00 5.31e-02 2.55e+00 -0.6 8.11e-01 -0.5 1.00e+00 8.20e-01f 1 3 2.7127930e+00 8.66e-03 3.11e-01 -1.2 1.29e-01 -0.1 9.30e-01 1.00e+00f 1 4 2.3438189e+00 5.29e-03 9.20e-02 -1.8 8.27e-02 -0.5 9.07e-01 1.00e+00f 1 5 2.1476916e+00 8.57e-03 2.08e-01 -2.6 2.87e-01 -1.0 9.94e-01 6.99e-01h 1 6 2.1045715e+00 1.63e-03 2.50e-02 -3.5 7.64e-02 -1.5 1.00e+00 8.10e-01h 1 7 2.0924546e+00 2.85e-04 8.00e-02 -4.0 1.55e-01 -2.0 1.00e+00 8.18e-01h 1 8 2.0909221e+00 3.02e-05 1.02e-03 -4.0 9.62e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908592e+00 3.75e-07 6.47e-04 -4.0 2.00e-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 2.0908537e+00 1.22e-08 2.45e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908388e+00 9.09e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0907939e+00 7.85e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906596e+00 7.08e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902577e+00 6.41e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890607e+00 5.86e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855525e+00 5.53e-04 2.31e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796254e+00 2.27e-03 1.37e-01 -4.0 9.54e+01 -6.7 1.00e+00 6.27e-01h 1 18 2.0807106e+00 1.56e-04 1.80e-01 -4.0 6.57e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775271e+00 7.34e-03 2.44e-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 2.0769534e+00 1.11e-03 5.10e-02 -4.0 1.75e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0759773e+00 9.32e-04 2.34e-02 -4.0 3.13e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0754426e+00 4.91e-04 2.83e-02 -4.0 4.58e+02 -9.1 1.00e+00 7.31e-01H 1 23 2.0757719e+00 2.11e-03 1.05e-02 -4.0 1.39e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753809e+00 1.41e-03 4.71e-04 -4.1 7.74e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756723e+00 4.06e-04 7.12e-06 -4.0 1.85e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0753425e+00 6.33e-04 8.04e-07 -4.1 2.59e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756725e+00 3.34e-04 8.17e-07 -4.0 1.36e+01 -11.5 1.00e+00 1.00e+00h 1 28 2.0753425e+00 5.01e-04 2.63e-07 -4.1 2.05e+01 -12.0 1.00e+00 1.00e+00h 1 29 2.0756725e+00 5.53e-04 1.18e-07 -4.0 2.26e+01 -12.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0753425e+00 5.53e-04 9.06e-08 -4.1 2.26e+01 -12.9 1.00e+00 1.00e+00h 1 31 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -13.4 9.28e-01 1.00e+00h 1 32 2.0757517e+00 1.59e-01 1.53e-04 -4.0 1.29e+03 -13.9 1.00e+00 1.00e+00h 1 33 2.0753574e+00 2.64e-02 8.69e-05 -4.1 1.05e+03 -14.4 1.00e+00 1.00e+00h 1 34 2.0753474e+00 1.15e-05 2.14e-06 -4.1 1.63e+02 -14.8 1.00e+00 1.00e+00h 1 35 2.0756726e+00 7.25e-04 1.64e-07 -4.0 3.02e+01 -15.3 1.00e+00 1.00e+00h 1 36 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -15.8 1.00e+00 1.00e+00h 1 37 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -16.3 9.28e-01 1.00e+00h 1 38 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -16.8 8.16e-01 1.00e+00h 1 39 2.0742914e+00 4.02e-02 1.95e-02 -4.0 1.50e+04 -17.2 1.00e+00 1.46e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0748877e+00 5.32e-02 4.44e-05 -4.3 1.16e+03 -17.7 1.00e+00 1.00e+00h 1 41 2.0748919e+00 7.80e-04 1.27e-05 -4.3 8.19e+02 -18.2 1.00e+00 1.00e+00h 1 42 2.0756799e+00 8.81e-03 2.72e-06 -4.0 1.52e+02 -18.7 1.00e+00 1.00e+00h 1 43 2.0753438e+00 1.84e-03 6.19e-07 -4.1 7.48e+01 -19.1 1.00e+00 1.00e+00h 1 44 2.0753420e+00 1.03e-06 2.13e-08 -4.1 1.76e+01 -19.6 1.00e+00 1.00e+00h 1 45 2.0756726e+00 7.23e-04 1.61e-07 -4.0 2.96e+01 -20.0 1.00e+00 1.00e+00h 1 46 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -20.0 1.00e+00 1.00e+00h 1 47 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 48 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -20.0 8.16e-01 1.00e+00h 1 49 2.0739622e+00 1.34e-06 1.83e-05 -6.1 8.40e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0741067e+00 2.44e-02 3.22e-02 -4.0 5.48e+04 -20.0 1.00e+00 5.98e-02f 1 51 2.0748071e+00 7.96e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 52 2.0748241e+00 9.52e-04 1.02e-05 -4.3 6.22e+02 -20.0 1.00e+00 1.00e+00h 1 53 2.0748237e+00 1.04e-07 2.35e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 54 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 55 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 56 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 57 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 58 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 59 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0741065e+00 2.43e-02 3.23e-02 -4.0 5.49e+04 -20.0 1.00e+00 5.97e-02f 1 61 2.0748071e+00 7.95e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 62 2.0748240e+00 9.52e-04 1.02e-05 -4.3 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 63 2.0748236e+00 1.04e-07 2.36e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 64 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 65 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 66 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 68 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 69 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0739617e+00 2.11e-08 1.94e-06 -6.1 2.49e+02 -20.0 1.00e+00 1.00e+00h 1 71 2.0740871e+00 2.06e-02 3.56e-02 -4.0 6.55e+04 -20.0 1.00e+00 5.03e-02f 1 72 2.0748016e+00 7.32e-02 4.77e-05 -4.3 1.41e+03 -20.0 1.00e+00 1.00e+00f 1 73 2.0748204e+00 9.23e-04 8.08e-06 -4.3 5.36e+02 -20.0 1.00e+00 1.00e+00h 1 74 2.0748200e+00 1.25e-07 3.57e-07 -4.3 7.03e+01 -20.0 1.00e+00 1.00e+00h 1 75 2.0740036e+00 1.08e-02 5.23e-04 -6.5 1.81e+02 -20.0 8.93e-01 1.00e+00f 1 76 2.0739632e+00 2.51e-04 3.38e-04 -6.5 7.34e+02 -20.0 7.62e-01 1.00e+00h 1 77 2.0739539e+00 4.81e-07 1.83e-05 -6.5 9.12e+02 -20.0 1.00e+00 1.00e+00h 1 78 2.0740681e+00 1.80e-02 3.75e-02 -4.0 7.10e+04 -20.0 1.00e+00 4.51e-02f 1 79 2.0747866e+00 7.58e-02 5.27e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0748068e+00 8.84e-04 6.22e-06 -4.3 4.91e+02 -20.0 1.00e+00 1.00e+00h 1 81 2.0748064e+00 1.21e-07 3.63e-07 -4.3 6.91e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 83 2.0739630e+00 2.41e-04 3.38e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 84 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 85 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 86 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 87 2.0748064e+00 8.81e-04 6.11e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 88 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0739630e+00 2.40e-04 3.37e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 91 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 92 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 93 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 94 2.0748064e+00 8.81e-04 6.10e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 95 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 97 2.0739630e+00 2.40e-04 3.37e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 98 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 99 2.0739527e+00 5.48e-08 5.24e-06 -6.5 3.94e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0740476e+00 1.42e-02 4.44e-02 -4.0 9.26e+04 -20.0 1.00e+00 3.50e-02f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0740476226011366e+00 2.0740476226011366e+00 Dual infeasibility......: 4.4440948322914557e-02 4.4440948322914557e-02 Constraint violation....: 1.4164404722585289e-02 1.4164404722585289e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.3095644031728794e-04 2.3095644031728794e-04 Overall NLP error.......: 4.4440948322914557e-02 4.4440948322914557e-02 Number of objective function evaluations = 103 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 103 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 24.071 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... applying constraint: equality constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.6743617e+00 3.94e+00 3.96e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5430345e+00 3.11e-01 2.82e+00 -0.8 2.69e+00 0.0 7.41e-01 9.19e-01f 1 2 2.7518584e+00 2.01e-01 3.79e+00 -0.2 2.32e+00 -0.5 4.60e-01 2.68e-01f 1 3 3.0534225e+00 5.17e-02 5.01e+00 -0.7 8.36e-01 -1.0 5.54e-01 1.00e+00f 1 4 2.7487983e+00 1.34e-02 7.12e-01 -1.1 2.45e-01 -0.5 9.78e-01 1.00e+00h 1 5 2.3705669e+00 1.65e-02 2.08e-01 -1.6 2.98e-01 -1.0 9.81e-01 8.36e-01f 1 6 2.1541655e+00 8.07e-03 3.30e-02 -2.3 2.10e-01 -1.5 9.81e-01 1.00e+00h 1 7 2.0946925e+00 3.85e-04 4.53e-03 -3.5 4.16e-02 -2.0 9.89e-01 9.58e-01h 1 8 2.0908584e+00 5.40e-06 1.01e-03 -4.0 8.00e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908465e+00 4.86e-08 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 2.0908415e+00 1.06e-09 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908266e+00 8.72e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0907818e+00 7.85e-08 2.06e-05 -4.0 4.55e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906475e+00 7.08e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902455e+00 6.41e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890487e+00 5.86e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855407e+00 5.54e-04 2.31e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796269e+00 2.26e-03 1.37e-01 -4.0 9.54e+01 -6.7 1.00e+00 6.25e-01h 1 18 2.0806989e+00 1.47e-04 1.79e-01 -4.0 6.58e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775269e+00 7.23e-03 2.42e-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 2.0769559e+00 1.06e-03 4.50e-02 -4.0 1.76e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0759933e+00 9.63e-04 2.23e-02 -4.0 3.18e+02 -8.6 1.00e+00 9.81e-01h 1 22 2.0754553e+00 1.61e-03 2.59e-02 -4.0 4.76e+02 -9.1 1.00e+00 7.19e-01h 1 23 2.0757657e+00 2.12e-03 1.18e-02 -4.0 1.43e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0756775e+00 2.49e-04 4.84e-04 -4.0 6.91e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756713e+00 1.18e-06 8.12e-06 -4.0 2.30e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 5.26e-08 1.30e-06 -4.0 1.41e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.69e-09 1.11e-07 -4.0 4.66e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.77e-11 1.87e-09 -4.0 7.38e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121647132e+00 2.0756712121647132e+00 Dual infeasibility......: 1.8660709079582147e-09 1.8660709079582147e-09 Constraint violation....: 4.7702508609859251e-11 4.7702508609859251e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000011e-04 1.0000000000000011e-04 Overall NLP error.......: 1.8660709079582147e-09 1.8660709079582147e-09 Number of objective function evaluations = 30 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 30 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 35.145 EXIT: Optimal Solution Found. [test_integrator] Starting... [test_integrator] constraint_dim=8, datavec_len=75, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.0740804e+00 2.62e+00 5.76e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.1013374e+00 6.22e-01 3.85e+00 -0.9 1.82e+00 0.0 9.76e-01 7.62e-01f 1 Hello, world! 2 2.3058125e+00 1.09e-01 1.88e+00 -0.8 5.51e-01 0.4 7.69e-01 8.25e-01h 1 Hello, world! 3 2.6821220e+00 1.29e-02 1.08e+00 -0.9 3.37e-01 -0.1 8.31e-01 1.00e+00f 1 Hello, world! 4 2.5602531e+00 1.99e-02 9.91e-01 -1.1 6.51e-01 -0.5 9.47e-01 3.15e-01h 1 Hello, world! 5 2.3311986e+00 3.54e-02 4.96e-01 -1.7 6.81e-01 -1.0 9.97e-01 7.85e-01f 1 Hello, world! 6 2.1662113e+00 5.08e-03 2.21e-01 -2.1 1.54e-01 -1.5 9.96e-01 9.38e-01h 1 Hello, world! 7 2.0974762e+00 8.00e-04 6.49e-02 -3.1 7.20e-02 -2.0 9.97e-01 8.40e-01h 1 Hello, world! 8 2.0909289e+00 3.31e-05 1.55e-02 -4.0 2.26e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909314e+00 5.71e-07 1.18e-04 -4.0 4.94e-02 -2.9 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 2.0909221e+00 2.43e-08 2.38e-05 -4.0 5.87e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0909012e+00 1.27e-08 2.59e-05 -4.0 1.70e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908489e+00 9.28e-08 1.95e-04 -4.0 4.53e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0907627e+00 4.06e-07 8.79e-04 -4.0 1.03e+00 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0905608e+00 2.98e-06 1.47e-03 -4.0 3.05e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0899661e+00 2.70e-05 8.37e-04 -4.0 8.87e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0896957e+00 4.56e-06 1.80e-03 -4.0 3.42e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0895453e+00 5.07e-06 7.79e-02 -4.0 2.40e+01 -5.8 8.77e-01 6.25e-02h 2 Hello, world! 18 2.0876210e+00 2.49e-04 1.06e-02 -4.0 2.58e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0866938e+00 6.65e-05 6.08e-03 -4.0 1.14e+01 -5.9 1.00e+00 8.78e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0851414e+00 2.32e-04 1.52e-02 -4.0 2.56e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0837664e+00 2.44e-04 5.67e-02 -4.0 4.32e+01 -6.8 1.00e+00 4.27e-01h 1 Hello, world! 22 2.0825937e+00 8.94e-05 1.26e-02 -4.0 6.06e+01 -7.3 1.00e+00 7.34e-01h 1 Hello, world! 23 2.0824233e+00 6.83e-04 2.28e-02 -4.0 1.29e+02 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0826369e+00 2.21e-03 8.18e-02 -4.0 1.25e+02 -7.4 6.06e-01 1.00e+00h 1 Hello, world! 25 2.0822755e+00 1.36e-05 3.95e-04 -4.1 4.59e-01 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0824718e+00 6.52e-05 3.45e-03 -4.0 2.52e+00 -5.6 1.00e+00 1.00e+00f 1 Hello, world! 27 2.0819825e+00 1.86e-04 1.81e-03 -4.1 8.39e+00 -6.1 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0819837e+00 7.14e-05 3.09e-03 -4.0 6.58e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0820328e+00 9.14e-05 5.44e-03 -4.0 4.86e+00 -6.1 9.80e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0823049e+00 4.83e-05 8.27e-01 -4.0 2.22e+01 -5.7 5.66e-01 9.63e-02h 1 Hello, world! 31 2.0821855e+00 8.48e-05 8.68e-02 -4.1 5.60e+00 -6.2 1.00e+00 1.48e-01h 2 Hello, world! 32 2.0821539e+00 7.97e-05 2.36e-03 -4.0 6.57e+00 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0818616e+00 4.69e-04 1.89e-03 -4.1 1.61e+01 -7.1 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0819972e+00 6.49e-04 2.95e-03 -4.0 2.79e+01 -7.6 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0816456e+00 1.28e-03 3.68e-03 -4.1 5.01e+01 -8.1 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0818538e+00 1.35e-03 3.06e-03 -4.0 5.69e+01 -8.6 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0818443e+00 3.57e-05 5.06e-04 -4.0 2.92e+01 -9.0 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0818435e+00 8.03e-07 2.45e-05 -4.0 6.37e+00 -9.5 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0818434e+00 4.05e-09 1.68e-07 -4.0 5.15e-01 -10.0 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 2.0818434e+00 2.61e-12 1.00e-09 -4.0 1.47e-02 -10.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 40 (scaled) (unscaled) Objective...............: 2.0818434105385721e+00 2.0818434105385721e+00 Dual infeasibility......: 1.0000000067784563e-09 1.0000000067784563e-09 Constraint violation....: 2.6139090891774686e-12 2.6139090891774686e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000061e-04 1.0000000000000061e-04 Overall NLP error.......: 1.0000000067784563e-09 1.0000000067784563e-09 Number of objective function evaluations = 47 Number of objective gradient evaluations = 41 Number of equality constraint evaluations = 47 Number of inequality constraint evaluations = 47 Number of equality constraint Jacobian evaluations = 41 Number of inequality constraint Jacobian evaluations = 41 Number of Lagrangian Hessian evaluations = 40 Total seconds in IPOPT = 24.042 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.0740804e+00 2.62e+00 5.76e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.1013374e+00 6.22e-01 3.85e+00 -0.9 1.82e+00 0.0 9.76e-01 7.62e-01f 1 Hello, world! 2 2.3058125e+00 1.09e-01 1.88e+00 -0.8 5.51e-01 0.4 7.69e-01 8.25e-01h 1 Hello, world! 3 2.6821220e+00 1.29e-02 1.08e+00 -0.9 3.37e-01 -0.1 8.31e-01 1.00e+00f 1 Hello, world! 4 2.5602531e+00 1.99e-02 9.91e-01 -1.1 6.51e-01 -0.5 9.47e-01 3.15e-01h 1 Hello, world! 5 2.3311986e+00 3.54e-02 4.96e-01 -1.7 6.81e-01 -1.0 9.97e-01 7.85e-01f 1 Hello, world! 6 2.1662113e+00 5.08e-03 2.21e-01 -2.1 1.54e-01 -1.5 9.96e-01 9.38e-01h 1 Hello, world! 7 2.0974762e+00 8.00e-04 6.49e-02 -3.1 7.20e-02 -2.0 9.97e-01 8.40e-01h 1 Hello, world! 8 2.0909289e+00 3.31e-05 1.55e-02 -4.0 2.26e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909314e+00 5.71e-07 1.18e-04 -4.0 4.94e-02 -2.9 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 2.0909221e+00 2.43e-08 2.38e-05 -4.0 5.87e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0909012e+00 1.27e-08 2.59e-05 -4.0 1.70e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908489e+00 9.28e-08 1.95e-04 -4.0 4.53e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0907627e+00 4.06e-07 8.79e-04 -4.0 1.03e+00 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0905608e+00 2.98e-06 1.47e-03 -4.0 3.05e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0899661e+00 2.70e-05 8.37e-04 -4.0 8.87e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0896957e+00 4.56e-06 1.80e-03 -4.0 3.42e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0895453e+00 5.07e-06 7.79e-02 -4.0 2.40e+01 -5.8 8.77e-01 6.25e-02h 2 Hello, world! 18 2.0876210e+00 2.49e-04 1.06e-02 -4.0 2.58e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0866938e+00 6.65e-05 6.08e-03 -4.0 1.14e+01 -5.9 1.00e+00 8.78e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0851414e+00 2.32e-04 1.52e-02 -4.0 2.56e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0837664e+00 2.44e-04 5.67e-02 -4.0 4.32e+01 -6.8 1.00e+00 4.27e-01h 1 Hello, world! 22 2.0825937e+00 8.94e-05 1.26e-02 -4.0 6.06e+01 -7.3 1.00e+00 7.34e-01h 1 Hello, world! 23 2.0824233e+00 6.83e-04 2.28e-02 -4.0 1.29e+02 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0826369e+00 2.21e-03 8.18e-02 -4.0 1.25e+02 -7.4 6.06e-01 1.00e+00h 1 Hello, world! 25 2.0822755e+00 1.36e-05 3.95e-04 -4.1 4.59e-01 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0824718e+00 6.52e-05 3.45e-03 -4.0 2.52e+00 -5.6 1.00e+00 1.00e+00f 1 Hello, world! 27 2.0819825e+00 1.86e-04 1.81e-03 -4.1 8.39e+00 -6.1 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0819837e+00 7.14e-05 3.09e-03 -4.0 6.58e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0820328e+00 9.14e-05 5.44e-03 -4.0 4.86e+00 -6.1 9.80e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0823049e+00 4.83e-05 8.27e-01 -4.0 2.22e+01 -5.7 5.66e-01 9.63e-02h 1 Hello, world! 31 2.0821855e+00 8.48e-05 8.68e-02 -4.1 5.60e+00 -6.2 1.00e+00 1.48e-01h 2 Hello, world! 32 2.0821539e+00 7.97e-05 2.36e-03 -4.0 6.57e+00 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0818616e+00 4.69e-04 1.89e-03 -4.1 1.61e+01 -7.1 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0819972e+00 6.49e-04 2.95e-03 -4.0 2.79e+01 -7.6 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0816456e+00 1.28e-03 3.68e-03 -4.1 5.01e+01 -8.1 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0818538e+00 1.35e-03 3.06e-03 -4.0 5.69e+01 -8.6 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0818443e+00 3.57e-05 5.06e-04 -4.0 2.92e+01 -9.0 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0818435e+00 8.03e-07 2.45e-05 -4.0 6.37e+00 -9.5 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0818434e+00 4.05e-09 1.68e-07 -4.0 5.15e-01 -10.0 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 2.0818434e+00 2.61e-12 1.00e-09 -4.0 1.47e-02 -10.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 40 (scaled) (unscaled) Objective...............: 2.0818434105385721e+00 2.0818434105385721e+00 Dual infeasibility......: 1.0000000067784563e-09 1.0000000067784563e-09 Constraint violation....: 2.6139090891774686e-12 2.6139090891774686e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000061e-04 1.0000000000000061e-04 Overall NLP error.......: 1.0000000067784563e-09 1.0000000067784563e-09 Number of objective function evaluations = 47 Number of objective gradient evaluations = 41 Number of equality constraint evaluations = 47 Number of inequality constraint evaluations = 47 Number of equality constraint Jacobian evaluations = 41 Number of inequality constraint Jacobian evaluations = 41 Number of Lagrangian Hessian evaluations = 40 Total seconds in IPOPT = 0.830 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: duration constraint of 4.0 applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1529 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 73 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 9.0567964e-01 3.10e+00 2.61e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7349653e+00 2.74e+00 1.93e+01 -0.9 1.65e+01 -2.0 8.23e-02 5.97e-01h 1 2 1.6708942e+00 2.47e+00 2.30e+01 0.3 9.74e+00 -0.7 4.72e-01 8.15e-02f 1 3 1.5567124e+00 1.26e+00 1.93e+01 0.2 1.31e+01 -1.1 7.50e-01 4.65e-01h 1 4 1.7162091e+00 4.33e-01 9.71e+00 -0.6 1.16e+01 -1.6 5.75e-01 6.20e-01h 1 5 1.9196508e+00 2.06e-01 2.60e+00 -0.6 1.08e+00 -0.3 9.91e-01 8.56e-01h 1 6 1.8575165e+00 1.85e-02 3.14e-01 -1.5 4.97e-01 -0.8 9.32e-01 1.00e+00h 1 7 1.5029671e+00 2.76e-02 8.62e-02 -1.8 5.97e-01 -1.3 9.96e-01 1.00e+00f 1 8 1.3344729e+00 2.02e-02 1.68e-02 -2.2 2.94e-01 -1.7 1.00e+00 1.00e+00h 1 9 1.2108707e+00 2.19e-01 5.63e-02 -3.2 9.14e-01 -2.2 8.41e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.3286355e+00 2.15e-01 4.86e+00 -0.8 1.24e+01 -1.8 3.41e-01 6.43e-02f 1 11 1.3598565e+00 1.02e-01 1.28e+00 -1.8 3.18e+00 -2.3 9.03e-01 1.00e+00h 1 12 1.3466957e+00 9.37e-02 1.76e+00 -1.9 9.72e-01 -1.8 8.09e-01 9.45e-02h 1 13 1.3277024e+00 6.12e-03 2.50e-01 -1.9 1.06e+00 -2.3 1.00e+00 1.00e+00f 1 14 1.2360446e+00 2.70e-02 5.64e-02 -2.7 9.25e-01 -2.8 9.96e-01 1.00e+00h 1 15 1.1898811e+00 7.40e-02 3.81e-02 -3.8 2.21e+00 -3.3 9.98e-01 1.00e+00h 1 16 1.1819647e+00 3.84e-02 2.32e-02 -4.0 3.14e+00 -3.7 1.00e+00 1.00e+00h 1 17 1.1758275e+00 9.89e-02 6.78e-03 -4.0 4.36e+00 -4.2 1.00e+00 1.00e+00h 1 18 1.1727862e+00 9.60e-02 1.41e-02 -4.0 6.47e+00 -4.7 1.00e+00 1.00e+00h 1 19 1.1696519e+00 1.37e-01 6.71e-03 -4.0 9.98e+00 -5.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.1674696e+00 1.58e-01 6.84e-03 -4.0 1.53e+01 -5.6 1.00e+00 1.00e+00h 1 21 1.1655479e+00 2.02e-01 1.03e-03 -4.0 2.33e+01 -6.1 1.00e+00 1.00e+00h 1 22 1.1641051e+00 2.40e-01 2.06e-03 -4.0 3.53e+01 -6.6 1.00e+00 1.00e+00h 1 23 1.1629038e+00 2.94e-01 8.32e-03 -4.0 5.32e+01 -7.1 1.00e+00 1.00e+00h 1 24 1.1619888e+00 3.46e-01 1.35e-02 -4.0 7.91e+01 -7.6 1.00e+00 1.00e+00h 1 25 1.1612625e+00 4.04e-01 2.01e-02 -4.0 1.16e+02 -8.0 1.00e+00 1.00e+00h 1 26 1.1607509e+00 4.41e-01 2.41e-02 -4.0 1.63e+02 -8.5 1.00e+00 1.00e+00h 1 27 1.1604831e+00 4.06e-01 2.16e-02 -4.0 2.08e+02 -9.0 1.00e+00 1.00e+00h 1 28 1.1606938e+00 1.21e-01 7.12e-04 -4.0 1.57e+02 -9.5 1.00e+00 1.00e+00h 1 29 1.1608549e+00 2.98e-03 9.66e-04 -4.0 1.54e+01 -9.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.1608490e+00 3.58e-04 4.30e-05 -4.0 7.82e+00 -10.4 1.00e+00 1.00e+00h 1 31 1.1608491e+00 2.72e-07 2.87e-09 -4.0 2.37e-01 -10.9 1.00e+00 1.00e+00h 1 32 1.1608491e+00 3.15e-12 3.27e-13 -4.0 7.35e-04 -11.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 32 (scaled) (unscaled) Objective...............: 1.1608491307796713e+00 1.1608491307796713e+00 Dual infeasibility......: 3.2727686121065969e-13 3.2727686121065969e-13 Constraint violation....: 3.1477043194172438e-12 3.1477043194172438e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000568e-04 1.0000000000000568e-04 Overall NLP error.......: 3.1477043194172438e-12 3.1477043194172438e-12 Number of objective function evaluations = 33 Number of objective gradient evaluations = 33 Number of equality constraint evaluations = 33 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 33 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 32 Total seconds in IPOPT = 23.226 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 186 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 19 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.3514186e+00 8.68e-01 1.05e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8855665e+00 1.71e-01 2.10e+00 -0.8 7.24e-01 0.0 9.87e-01 1.00e+00h 1 2 1.8519009e+00 3.58e-02 6.18e-01 -0.8 3.80e-01 -0.5 6.69e-01 7.73e-01h 1 3 2.1929764e+00 2.10e-02 1.72e+01 -1.5 1.60e+01 - 9.13e-01 1.00e+00H 1 4 1.2315692e+00 5.01e-03 2.41e+00 -2.2 1.05e+00 -1.0 1.00e+00 7.60e-01f 1 5 1.0986878e+00 5.79e-05 1.43e+00 -4.0 2.10e+01 - 2.64e-01 9.99e-01f 1 6 1.0947089e+00 5.36e-05 1.17e+00 -4.0 1.25e-01 -1.4 1.00e+00 7.40e-02f 1 7 1.0914999e+00 1.28e-08 4.03e-01 -4.0 6.40e+00 - 1.00e+00 1.00e+00h 1 8 1.0909552e+00 3.25e-09 3.03e-03 -4.0 4.83e-01 - 1.00e+00 7.46e-01f 1 9 1.0910388e+00 1.68e-13 3.89e-04 -4.0 1.97e-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 1.0910386e+00 9.19e-22 1.38e-07 -4.0 3.66e-03 - 1.00e+00 1.00e+00h 1 11 1.0910386e+00 8.88e-16 6.57e-16 -4.0 1.63e-07 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 11 (scaled) (unscaled) Objective...............: 1.0910385779862031e+00 1.0910385779862031e+00 Dual infeasibility......: 6.5704261015221352e-16 6.5704261015221352e-16 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000001029e-04 1.0000000000001029e-04 Overall NLP error.......: 8.8817841970012523e-16 8.8817841970012523e-16 Number of objective function evaluations = 14 Number of objective gradient evaluations = 12 Number of equality constraint evaluations = 14 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 = 24.306 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 82 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.4199401e+00 2.17e+00 2.84e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8781324e+00 1.32e-02 1.32e+00 -1.0 1.97e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3301403e+00 1.96e-02 9.81e-02 -1.7 3.11e-01 -1.6 9.93e-01 1.00e+00h 1 3 2.1473118e+00 4.41e-03 4.68e-01 -3.0 1.84e-01 -1.1 9.89e-01 1.00e+00h 1 4 2.0968872e+00 1.03e-03 1.65e-01 -4.0 1.03e-01 -1.6 1.00e+00 8.72e-01h 1 5 2.0916822e+00 4.47e-04 1.09e+00 -4.0 8.98e-01 -2.1 1.00e+00 5.26e-01h 1 6 2.0906276e+00 6.29e-04 2.63e-01 -4.0 8.21e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0909391e+00 1.24e-05 3.01e-02 -4.0 1.15e-01 -3.1 1.00e+00 1.00e+00h 1 8 2.0909935e+00 2.15e-06 5.74e-05 -4.0 7.05e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909715e+00 8.61e-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 2.0909096e+00 1.47e-07 2.05e-05 -4.0 6.31e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907272e+00 1.29e-06 4.96e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0902072e+00 1.09e-05 4.20e-04 -4.0 5.45e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888631e+00 8.20e-05 3.16e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861731e+00 4.40e-04 1.74e-02 -4.0 3.47e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830980e+00 9.21e-04 4.71e-02 -4.0 5.32e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828459e+00 9.37e-04 2.28e-02 -4.0 5.44e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823443e+00 3.89e-04 1.02e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820401e+00 9.52e-05 1.85e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.69e-04 8.67e-03 -4.0 9.92e+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 3.68e-05 8.44e-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 4.44e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.76e-10 3.26e-08 -4.0 2.44e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.50e-13 1.21e-11 -4.0 4.59e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907190920e+00 2.0819382907190920e+00 Dual infeasibility......: 1.2144262022872540e-11 1.2144262022872540e-11 Constraint violation....: 2.4957813593573519e-13 2.4957813593573519e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000019e-04 1.0000000000000019e-04 Overall NLP error.......: 1.2144262022872540e-11 1.2144262022872540e-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 = 23.344 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 1.8809340e+00 1.98e+00 1.31e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8420725e+00 2.57e-02 4.41e-01 -1.1 2.16e+00 -2.0 9.88e-01 1.00e+00h 1 2 2.2521919e+00 2.04e-02 1.17e-01 -1.8 3.35e-01 -1.6 9.53e-01 1.00e+00h 1 3 2.1281123e+00 1.03e-03 2.43e-01 -2.8 6.19e-02 -1.1 9.72e-01 9.83e-01h 1 4 2.0968339e+00 3.96e-04 2.56e-01 -4.0 1.63e-01 -1.6 1.00e+00 6.68e-01h 1 5 2.0936618e+00 2.03e-04 1.20e+00 -4.0 7.53e-01 -2.1 1.00e+00 3.54e-01h 1 6 2.0911455e+00 2.16e-04 1.02e-01 -4.0 6.94e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0909004e+00 2.38e-06 6.48e-03 -4.0 6.77e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0908972e+00 9.80e-07 3.53e-05 -4.0 8.27e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908719e+00 2.78e-08 5.02e-05 -4.0 2.25e-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 2.0908236e+00 1.04e-07 2.91e-04 -4.0 5.47e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907236e+00 6.02e-07 1.12e-03 -4.0 1.33e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904484e+00 6.23e-06 9.10e-04 -4.0 4.29e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0902338e+00 6.58e-06 2.45e-02 -4.0 1.18e+01 -5.9 8.33e-01 2.16e-01h 2 14 2.0886908e+00 1.55e-04 4.03e-02 -4.0 3.02e+01 -6.4 1.00e+00 6.65e-01h 1 15 2.0859692e+00 1.56e-03 1.19e-01 -4.0 6.96e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0835576e+00 8.56e-04 1.73e-01 -4.0 1.31e+01 -5.5 1.00e+00 5.07e-01h 1 17 2.0833587e+00 1.45e-04 1.04e-02 -4.0 4.97e+00 -6.0 1.00e+00 1.00e+00h 1 18 2.0828991e+00 6.55e-05 3.01e-03 -4.0 1.01e+01 -6.5 1.00e+00 1.00e+00h 1 19 2.0827650e+00 6.25e-05 2.50e-03 -4.0 2.82e+01 -7.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0824959e+00 1.83e-04 3.09e-03 -4.0 7.33e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0821498e+00 1.00e-03 9.89e-03 -4.0 1.82e+02 -7.9 5.52e-01 1.00e+00h 1 22 2.0821018e+00 1.34e-03 2.64e+00 -4.0 2.53e+02 -6.6 1.00e+00 5.85e-02h 3 23 2.0820892e+00 5.07e-05 2.83e-03 -4.0 2.67e+00 -5.3 1.00e+00 1.00e+00h 1 24 2.0827330e+00 1.36e-06 1.02e-01 -4.0 1.52e+00 -4.8 5.48e-01 1.00e+00H 1 25 2.0820956e+00 2.50e-06 6.05e-01 -4.0 8.53e-01 -1.7 1.00e+00 1.97e-01h 1 26 2.0821308e+00 4.26e-08 2.63e-04 -4.0 4.02e-02 -2.2 1.00e+00 1.00e+00h 1 27 2.0821344e+00 1.41e-08 3.27e-04 -4.0 1.51e-01 -2.7 1.00e+00 1.00e+00h 1 28 2.0821330e+00 4.77e-08 4.61e-05 -4.0 3.91e-02 -3.1 1.00e+00 1.00e+00h 1 29 2.0821326e+00 7.65e-08 6.48e-06 -4.0 2.16e-02 -3.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0821329e+00 1.49e-07 4.86e-06 -4.0 6.07e-02 -4.1 1.00e+00 1.00e+00h 1 31 2.0819990e+00 4.36e-06 4.79e-05 -4.1 1.82e-01 -4.6 1.00e+00 1.00e+00h 1 32 2.0821346e+00 4.82e-06 1.03e-04 -4.0 3.53e-01 -5.1 1.00e+00 1.00e+00h 1 33 2.0819704e+00 2.64e-05 9.35e-05 -4.1 1.08e+00 -5.5 1.00e+00 1.00e+00h 1 34 2.0820996e+00 1.82e-05 3.93e-04 -4.0 1.40e+00 -6.0 1.00e+00 1.00e+00h 1 35 2.0818711e+00 1.17e-04 2.61e-04 -4.1 5.13e+00 -6.5 1.00e+00 1.00e+00h 1 36 2.0820442e+00 1.57e-04 1.03e-03 -4.0 7.19e+00 -7.0 1.00e+00 1.00e+00h 1 37 2.0817493e+00 5.27e-04 3.18e-04 -4.1 2.27e+01 -7.4 1.00e+00 1.00e+00h 1 38 2.0819062e+00 8.71e-04 3.25e-03 -4.0 3.75e+01 -7.9 1.00e+00 1.00e+00h 1 39 2.0815987e+00 1.15e-03 2.74e-03 -4.1 5.10e+01 -8.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818413e+00 8.92e-04 8.34e-04 -4.0 3.79e+01 -8.9 1.00e+00 1.00e+00h 1 41 2.0815805e+00 3.36e-04 8.73e-05 -4.1 1.47e+01 -9.3 1.00e+00 1.00e+00h 1 42 2.0818394e+00 1.86e-04 2.55e-05 -4.0 8.49e+00 -9.8 1.00e+00 1.00e+00h 1 43 2.0818383e+00 2.52e-08 5.43e-08 -4.0 3.41e-01 -10.3 1.00e+00 1.00e+00h 1 44 2.0818383e+00 1.89e-13 1.22e-11 -4.0 2.62e-03 -10.8 1.00e+00 1.00e+00h 1 Number of Iterations....: 44 (scaled) (unscaled) Objective...............: 2.0818383021807363e+00 2.0818383021807363e+00 Dual infeasibility......: 1.2178951017171105e-11 1.2178951017171105e-11 Constraint violation....: 1.8901546994243290e-13 1.8901546994243290e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000469659e-04 1.0000000000469659e-04 Overall NLP error.......: 1.2178951017171105e-11 1.2178951017171105e-11 Number of objective function evaluations = 53 Number of objective gradient evaluations = 45 Number of equality constraint evaluations = 53 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 45 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 44 Total seconds in IPOPT = 25.611 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 196 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 28 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.2707675e+00 7.84e-01 1.08e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5198799e+00 5.02e-01 4.09e+00 -1.0 2.58e+00 -2.0 1.00e+00 9.42e-01h 1 2 1.2727111e+00 2.26e-01 5.09e-01 -0.8 5.22e-01 -0.7 1.00e+00 8.63e-01f 1 3 1.3225319e+00 3.98e-02 9.88e-01 -2.0 6.85e-01 -1.1 7.03e-01 1.00e+00h 1 4 1.2358662e+00 1.67e-02 7.92e-01 -1.7 8.92e-01 -1.6 9.94e-01 5.97e-01h 1 5 1.1586785e+00 8.39e-03 2.07e-01 -2.6 4.04e-01 -2.1 9.99e-01 5.01e-01h 1 6 1.1020671e+00 8.84e-04 1.48e-01 -3.8 2.12e+00 - 1.00e+00 9.98e-01h 1 7 1.0913988e+00 4.21e-05 3.13e-02 -4.0 1.46e+00 - 1.00e+00 9.46e-01h 1 8 1.0908950e+00 4.46e-07 2.66e-03 -4.0 5.04e-01 - 1.00e+00 1.00e+00h 1 9 1.0908997e+00 5.78e-12 8.05e-05 -4.0 4.81e-03 - 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 1.16e-20 4.01e-14 -4.0 1.88e-06 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 1.0908997263265450e+00 1.0908997263265450e+00 Dual infeasibility......: 4.0089052954009330e-14 4.0089052954009330e-14 Constraint violation....: 1.1629095599999707e-20 1.1629095599999707e-20 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000072199e-04 1.0000000000072199e-04 Overall NLP error.......: 4.0089052954009330e-14 4.0089052954009330e-14 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 22.317 EXIT: Optimal Solution Found. ┌ Warning: Trajectory has timestep variable :Δt but no bounds on it. │ Adding default lower bound of 0 to prevent negative timesteps. │ │ Recommended: Add explicit bounds when creating the trajectory: │ NamedTrajectory(...; Δt_bounds=(min, max)) │ Example: │ NamedTrajectory(qtraj, N; Δt_bounds=(1e-3, 0.5)) │ │ Or use timesteps_all_equal=true in problem options to fix timesteps. └ @ DirectTrajOpt.Problems ~/.julia/packages/DirectTrajOpt/4TeZc/src/problems.jl:65 initializing optimizer... applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: bounds on u applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial time t₁ = 0 This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 30 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.8485517e-02 8.33e-17 1.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Number of Iterations....: 1 Number of objective function evaluations = 2 Number of objective gradient evaluations = 2 Number of equality constraint evaluations = 2 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 = 1 Total seconds in IPOPT = 2.607 EXIT: Invalid number in NLP function or derivative detected. 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 1.6329216e+00 4.28e-01 7.17e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 8.4962128e-01 1.79e-09 2.22e-01 -1.2 5.46e-01 -2.0 8.63e-01 1.00e+00h 1 2 3.8029994e-01 7.90e-10 1.09e-01 -1.6 6.32e-01 -0.7 9.78e-01 1.00e+00f 1 3 2.5707350e-01 2.09e-10 1.03e-01 -2.6 1.96e-01 -0.2 9.55e-01 1.00e+00f 1 4 1.3723722e-01 6.33e-11 6.32e-02 -3.2 3.48e-01 -0.7 9.95e-01 1.00e+00f 1 5 5.9526498e-02 4.88e-11 3.13e-02 -3.9 5.06e-01 -1.2 1.00e+00 1.00e+00f 1 6 1.7907742e-02 2.46e-11 1.52e-02 -4.0 6.23e-01 -1.7 1.00e+00 1.00e+00f 1 7 4.0520666e-03 1.64e-11 7.75e-03 -4.0 5.80e-01 -2.2 1.00e+00 1.00e+00f 1 8 9.7491062e-04 6.47e-12 2.98e-03 -4.0 3.96e-01 -2.6 1.00e+00 1.00e+00f 1 9 4.5981583e-04 1.97e-12 1.17e-03 -4.0 3.05e-01 -3.1 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 6.0435460e-04 4.65e-13 4.83e-03 -4.0 4.46e-01 -3.6 1.00e+00 1.00e+00f 1 11 4.1130768e-04 8.73e-14 2.19e-04 -4.1 5.10e-02 -2.3 1.00e+00 1.00e+00f 1 12 4.9468090e-04 1.22e-13 5.97e-04 -4.0 1.32e-01 -2.7 1.00e+00 1.00e+00f 1 13 3.4716459e-04 4.82e-14 3.15e-04 -4.1 7.67e-02 -3.2 1.00e+00 1.00e+00f 1 14 5.6079592e-04 7.79e-14 6.41e-04 -4.0 9.38e-02 -3.7 1.00e+00 1.00e+00f 1 15 2.5313722e-04 2.36e-14 7.15e-04 -4.1 1.38e-01 -4.2 1.00e+00 1.00e+00f 1 16 7.6304452e-04 3.04e-14 1.65e-03 -4.0 2.26e-01 -4.6 1.00e+00 1.00e+00f 1 17 1.5706852e-04 1.13e-14 1.31e-03 -4.1 2.84e-01 -5.1 1.00e+00 1.00e+00f 1 18 1.0111965e-03 4.71e-14 2.94e-03 -4.0 3.78e-01 -5.6 1.00e+00 1.00e+00f 1 19 8.3052074e-05 2.78e-14 1.75e-03 -4.1 4.55e-01 -6.1 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.3243256e-03 5.20e-14 4.54e-03 -4.0 5.52e-01 -6.5 1.00e+00 1.00e+00f 1 21 3.5390337e-05 3.39e-14 1.96e-03 -4.1 6.46e-01 -7.0 1.00e+00 1.00e+00f 1 22 1.7897551e-03 5.21e-14 6.65e-03 -4.0 7.56e-01 -7.5 1.00e+00 1.00e+00f 1 23 1.0790850e-05 3.46e-14 1.90e-03 -4.2 8.66e-01 -8.0 1.00e+00 1.00e+00f 1 24 4.1136409e-04 6.83e-15 1.92e-03 -4.0 1.01e+00 -8.5 1.00e+00 5.00e-01f 2 25 2.2297205e-04 1.72e-15 1.34e-04 -4.2 2.25e-01 -8.9 1.00e+00 5.00e-01f 2 26 1.9277172e-05 8.08e-15 6.27e-04 -6.4 3.29e-01 -9.4 9.73e-01 1.00e+00f 1 27 7.9109839e-06 5.58e-15 7.35e-05 -6.4 7.88e-02 -9.9 1.00e+00 1.00e+00f 1 28 1.7076728e-03 1.89e-15 4.84e-03 -4.0 7.76e+00 -10.4 1.00e+00 1.25e-01f 4 29 9.0443274e-05 8.85e-14 2.84e-03 -4.0 6.59e-01 -10.8 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 7.8820730e-04 6.64e-14 3.05e-03 -4.0 4.54e-01 -11.3 1.00e+00 1.00e+00f 1 31 3.8770030e-04 1.38e-14 3.18e-04 -4.0 3.43e-01 -11.8 1.00e+00 5.00e-01f 2 32 3.5368381e-05 7.94e-15 1.05e-03 -6.0 4.06e-01 -12.3 9.66e-01 1.00e+00f 1 33 1.4657302e-05 8.27e-15 1.26e-04 -6.0 9.88e-02 -12.8 1.00e+00 1.00e+00f 1 34 4.1022933e-06 1.33e-15 7.94e-05 -6.0 1.12e-01 -13.2 1.00e+00 1.00e+00f 1 35 2.1938414e-03 1.33e-15 7.00e-03 -4.0 1.24e+01 -13.7 1.00e+00 9.78e-02f 4 36 6.8777581e-05 8.16e-14 3.55e-03 -4.0 8.63e-01 -14.2 1.00e+00 1.00e+00f 1 37 8.0170022e-04 6.18e-14 3.58e-03 -4.0 5.42e-01 -14.7 1.00e+00 1.00e+00f 1 38 3.9463135e-04 1.24e-14 3.62e-04 -4.0 3.77e-01 -15.1 1.00e+00 5.00e-01f 2 39 3.6559366e-05 6.44e-15 1.16e-03 -6.0 4.40e-01 -15.6 9.63e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.5181867e-05 7.22e-15 1.39e-04 -6.0 1.08e-01 -16.1 1.00e+00 1.00e+00f 1 41 4.3439244e-06 1.17e-15 8.81e-05 -6.0 1.21e-01 -16.6 1.00e+00 1.00e+00f 1 42 4.9776330e-06 4.44e-16 1.11e-05 -6.0 1.70e-02 -17.0 1.00e+00 1.00e+00h 1 43 4.5691197e-06 5.55e-17 2.46e-06 -6.0 3.90e-03 -17.5 1.00e+00 1.00e+00h 1 44 3.2087209e-07 5.55e-17 4.24e-05 -9.0 1.70e-01 -18.0 9.84e-01 1.00e+00f 1 45 9.7263113e-04 3.61e-16 1.73e-03 -4.0 5.78e+01 -18.5 1.00e+00 2.12e-02f 4 46 2.1392963e-04 6.18e-14 2.35e-03 -4.0 4.39e-01 -19.0 1.00e+00 1.00e+00f 1 47 6.5805683e-04 2.29e-14 2.14e-03 -4.0 3.16e-01 -19.4 1.00e+00 1.00e+00f 1 48 4.1917155e-04 4.44e-15 3.17e-04 -4.0 2.67e-01 -19.9 1.00e+00 5.00e-01f 2 49 3.6449650e-05 7.55e-15 1.39e-03 -6.0 5.14e-01 -20.0 9.54e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 1.5430850e-05 5.94e-15 1.56e-04 -6.0 1.20e-01 -20.0 1.00e+00 1.00e+00f 1 51 4.1297794e-06 9.44e-16 1.03e-04 -6.0 1.44e-01 -20.0 1.00e+00 1.00e+00f 1 52 4.5658948e-06 3.89e-16 9.36e-06 -6.0 1.50e-02 -20.0 1.00e+00 1.00e+00h 1 53 2.6834984e-07 4.08e-17 4.67e-05 -9.0 1.98e-01 -20.0 9.81e-01 1.00e+00f 1 54 6.6566712e-04 2.64e-16 3.22e-04 -4.0 6.81e+01 -20.0 1.00e+00 1.80e-02f 4 55 2.7737134e-04 4.70e-14 1.53e-03 -4.0 2.74e-01 -20.0 1.00e+00 1.00e+00f 1 56 5.3714615e-04 1.07e-14 1.31e-03 -4.0 2.04e-01 -20.0 1.00e+00 1.00e+00f 1 57 4.0268611e-04 2.00e-15 2.42e-04 -4.0 1.85e-01 -20.0 1.00e+00 5.00e-01f 2 58 3.3517461e-05 6.66e-15 1.48e-03 -6.1 5.66e-01 -20.0 9.48e-01 1.00e+00f 1 59 1.4452053e-05 4.88e-15 1.59e-04 -6.1 1.26e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 3.7761495e-06 7.77e-16 1.09e-04 -6.1 1.58e-01 -20.0 1.00e+00 1.00e+00f 1 61 4.1693852e-06 3.11e-16 9.35e-06 -6.1 1.56e-02 -20.0 1.00e+00 1.00e+00h 1 62 3.9402410e-06 5.55e-17 2.39e-06 -6.1 4.07e-03 -20.0 1.00e+00 1.00e+00h 1 63 2.7135234e-07 5.55e-17 4.71e-05 -9.0 2.03e-01 -20.0 9.80e-01 1.00e+00f 1 64 1.1023541e-07 3.04e-17 4.83e-06 -9.0 4.36e-02 -20.0 1.00e+00 1.00e+00f 1 65 4.3003798e-03 4.72e-16 1.13e-02 -4.0 3.12e+02 -20.0 1.00e+00 7.86e-03f 3 66 2.8815012e-04 1.30e-13 9.66e-03 -3.7 1.29e+00 -20.0 1.00e+00 1.00e+00f 1 67 1.3202108e-03 7.37e-14 5.37e-03 -3.7 5.80e-01 -20.0 1.00e+00 1.00e+00f 1 68 8.9790611e-04 2.02e-14 8.70e-04 -3.7 3.77e-01 -20.0 1.00e+00 5.00e-01f 2 69 8.4987751e-05 1.21e-14 3.13e-03 -5.5 7.45e-01 -20.0 9.30e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 3.7537255e-05 1.04e-14 3.55e-04 -5.5 1.76e-01 -20.0 1.00e+00 1.00e+00f 1 71 1.2608775e-05 1.67e-15 2.31e-04 -5.5 1.90e-01 -20.0 1.00e+00 1.00e+00f 1 72 1.6597155e-05 6.30e-16 5.98e-05 -5.5 5.11e-02 -20.0 1.00e+00 1.00e+00f 1 73 1.3569113e-05 1.23e-16 2.77e-05 -5.5 2.47e-02 -20.0 1.00e+00 1.00e+00f 1 74 1.1031744e-06 1.34e-16 1.37e-04 -8.2 2.97e-01 -20.0 9.71e-01 1.00e+00f 1 75 4.2669621e-07 1.11e-16 1.60e-05 -8.2 7.29e-02 -20.0 1.00e+00 1.00e+00f 1 76 7.2304215e-08 3.56e-17 1.03e-05 -8.2 1.01e-01 -20.0 1.00e+00 1.00e+00f 1 77 2.6156621e-03 6.11e-16 6.43e-03 -4.0 3.63e+02 -20.0 1.00e+00 6.75e-03f 3 78 3.0021565e-04 8.42e-14 7.77e-03 -3.8 1.10e+00 -20.0 1.00e+00 1.00e+00f 1 79 1.0462861e-03 4.02e-14 4.32e-03 -3.8 5.09e-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 7.1888100e-04 1.07e-14 8.76e-04 -3.8 3.99e-01 -20.0 1.00e+00 5.00e-01f 2 81 6.8533491e-05 8.99e-15 2.99e-03 -5.6 7.86e-01 -20.0 9.23e-01 1.00e+00f 1 82 2.9575098e-05 6.99e-15 3.45e-04 -5.6 1.92e-01 -20.0 1.00e+00 1.00e+00f 1 83 9.1677640e-06 1.11e-15 2.25e-04 -5.6 2.14e-01 -20.0 1.00e+00 1.00e+00f 1 84 1.1419327e-05 4.44e-16 4.16e-05 -5.6 4.26e-02 -20.0 1.00e+00 1.00e+00f 1 85 9.8319285e-06 1.19e-16 1.65e-05 -5.6 1.74e-02 -20.0 1.00e+00 1.00e+00h 1 86 7.6308911e-07 6.85e-17 1.21e-04 -8.5 3.11e-01 -20.0 9.69e-01 1.00e+00f 1 87 2.9999173e-07 9.02e-17 1.35e-05 -8.5 7.34e-02 -20.0 1.00e+00 1.00e+00f 1 88 4.9039049e-08 2.78e-17 8.91e-06 -8.5 1.06e-01 -20.0 1.00e+00 1.00e+00f 1 89 1.6693951e-03 3.47e-16 6.03e-04 -4.0 5.38e+02 -20.0 1.00e+00 4.56e-03f 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 4.6244939e-04 6.71e-14 5.75e-03 -3.8 7.46e-01 -20.0 1.00e+00 1.00e+00f 1 91 9.1100237e-04 2.13e-14 2.40e-03 -3.8 2.84e-01 -20.0 1.00e+00 1.00e+00f 1 92 5.5462606e-04 9.33e-15 2.34e-03 -3.8 3.07e-01 -20.0 1.00e+00 1.00e+00f 1 93 9.0087523e-04 3.55e-15 1.60e-03 -3.8 1.86e-01 -20.0 1.00e+00 1.00e+00f 1 94 4.8700906e-05 8.66e-15 3.53e-03 -5.6 1.02e+00 -20.0 8.96e-01 1.00e+00f 1 95 2.6389051e-05 7.11e-15 2.28e-04 -5.6 1.38e-01 -20.0 1.00e+00 1.00e+00f 1 96 7.9843843e-06 7.77e-16 2.22e-04 -5.6 2.26e-01 -20.0 1.00e+00 1.00e+00f 1 97 1.1753562e-05 3.38e-16 7.14e-05 -5.6 7.34e-02 -20.0 1.00e+00 1.00e+00f 1 98 1.0231598e-05 1.52e-16 5.66e-06 -5.6 4.27e-02 -20.0 1.00e+00 5.00e-01f 2 99 7.3633852e-07 7.07e-17 1.31e-04 -8.5 3.40e-01 -20.0 9.66e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.9889014e-07 1.11e-16 1.36e-05 -8.5 7.45e-02 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.9889013658764786e-07 2.9889013658764786e-07 Dual infeasibility......: 1.3599153711711311e-05 1.3599153711711311e-05 Constraint violation....: 1.1102230246251565e-16 1.1102230246251565e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0273185345141309e-07 1.0273185345141309e-07 Overall NLP error.......: 9.9996663963147506e-05 9.9996663963147506e-05 Number of objective function evaluations = 144 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 144 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 = 3.345 EXIT: Maximum Number of Iterations Exceeded. [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=120, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! initializing optimizer... applying constraint: bounds constraint on trajectory variable ddu applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.2610042e+00 2.44e+00 7.81e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8215837e+00 2.91e-02 5.71e-01 -1.0 1.82e+00 - 1.00e+00 1.00e+00f 1 2 2.3209421e+00 5.97e-03 2.40e-01 -1.8 8.31e-02 - 8.31e-01 1.00e+00h 1 3 2.1343086e+00 1.52e-03 5.60e-02 -2.5 4.52e-02 - 9.54e-01 8.83e-01h 1 4 2.0914848e+00 2.40e-04 3.00e-03 -4.0 3.51e-02 - 9.97e-01 1.00e+00h 1 5 2.0908947e+00 2.87e-05 3.07e-04 -4.0 3.06e-01 - 1.00e+00 1.00e+00h 1 6 2.0908973e+00 2.12e-08 1.35e-07 -4.0 1.37e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 3.44e-12 8.76e-12 -4.0 3.49e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971978295461e+00 2.0908971978295461e+00 Dual infeasibility......: 8.7587397458541855e-12 8.7587397458541855e-12 Constraint violation....: 3.4407045084155347e-12 3.4407045084155347e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000023743606123e-04 1.0000023743606123e-04 Overall NLP error.......: 2.3743606122298300e-10 2.3743606122298300e-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 = 24.082 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: bounds constraint on trajectory variable du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.1494812e+00 1.84e+00 7.74e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5065634e+00 5.49e-01 1.60e+00 -0.9 7.11e+00 -4.0 6.13e-01 9.66e-01f 1 2 2.7546375e+00 2.76e-02 2.67e+00 -0.8 5.90e-01 -0.9 6.29e-01 1.00e+00f 1 3 2.5333292e+00 5.87e-02 4.52e-01 -1.4 7.55e-01 -1.3 1.00e+00 1.00e+00h 1 4 2.2923130e+00 4.39e-02 1.91e-01 -1.8 5.16e-01 -1.8 9.80e-01 8.59e-01h 1 5 2.1539795e+00 5.49e-03 7.64e-02 -2.2 2.44e-01 -2.3 9.52e-01 1.00e+00h 1 6 2.1000502e+00 1.84e-03 4.31e-02 -3.0 1.63e-01 -2.8 9.97e-01 9.64e-01h 1 7 2.0908648e+00 1.16e-04 9.52e-03 -4.0 4.82e-02 -3.3 1.00e+00 1.00e+00h 1 8 2.0909348e+00 5.95e-06 1.82e-04 -4.0 1.08e-01 -3.7 1.00e+00 1.00e+00h 1 9 2.0909061e+00 8.63e-08 1.97e-05 -4.0 3.15e-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 2.0908215e+00 3.24e-07 1.09e-04 -4.0 8.88e-01 -4.7 1.00e+00 1.00e+00h 1 11 2.0906113e+00 1.93e-06 7.08e-04 -4.0 2.23e+00 -5.2 1.00e+00 1.00e+00h 1 12 2.0902468e+00 5.37e-06 2.64e-03 -4.0 4.12e+00 -5.6 1.00e+00 1.00e+00h 1 13 2.0899895e+00 9.74e-06 3.18e-03 -4.0 7.23e+00 -6.1 1.00e+00 1.00e+00h 1 14 2.0898697e+00 8.85e-06 2.93e-03 -4.0 9.50e+00 -6.6 1.00e+00 1.00e+00h 1 15 2.0898276e+00 1.94e-06 1.82e-03 -4.0 1.30e+01 -7.1 1.00e+00 1.00e+00h 1 16 2.0898243e+00 2.54e-06 9.81e-04 -4.0 1.17e+01 -7.5 1.00e+00 1.00e+00h 1 17 2.0898222e+00 8.26e-07 1.47e-04 -4.0 4.55e+00 -8.0 1.00e+00 1.00e+00h 1 18 2.0898219e+00 1.27e-08 2.27e-06 -4.0 4.06e-01 -8.5 1.00e+00 1.00e+00h 1 19 2.0898219e+00 1.82e-11 4.58e-09 -4.0 2.51e-02 -9.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 19 (scaled) (unscaled) Objective...............: 2.0898218500741250e+00 2.0898218500741250e+00 Dual infeasibility......: 4.5750784161840714e-09 4.5750784161840714e-09 Constraint violation....: 1.8245654986870363e-11 1.8245654986870363e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 4.5750784161840714e-09 4.5750784161840714e-09 Number of objective function evaluations = 20 Number of objective gradient evaluations = 20 Number of equality constraint evaluations = 20 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 20 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 19 Total seconds in IPOPT = 24.734 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: bounds constraint on trajectory variable x applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 35 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.0204078e+00 1.90e+00 1.05e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6406981e+00 1.64e+00 2.08e+01 -0.6 2.28e+00 0.0 6.30e-03 1.37e-01f 1 2 1.6415844e+00 1.64e+00 3.34e+01 -4.0 5.17e+00 -0.5 7.17e-02 2.18e-03h 1 3 1.8333900e+00 1.59e+00 5.18e+02 0.1 8.45e+00 -1.0 1.00e+00 3.29e-02f 1 4 3.2905428e+00 3.83e+00 4.51e+02 1.2 4.89e+01 -1.4 4.10e-01 2.06e-01f 1 5 3.4982563e+00 3.13e+00 4.33e+02 0.7 3.54e+01 -1.9 2.34e-01 1.97e-01h 1 6 3.7687341e+00 2.85e+00 1.13e+03 0.6 7.07e+01 -2.4 2.07e-01 8.65e-02h 1 7 3.7716580e+00 2.83e+00 4.66e+03 0.6 1.19e+01 -0.2 2.08e-01 4.49e-03h 1 8 3.9278797e+00 2.60e+00 7.55e+04 1.2 1.46e+01 -0.6 9.87e-01 7.73e-02h 1 9 3.9582246e+00 2.56e+00 1.82e+05 0.2 3.43e+02 -1.1 3.62e-02 1.40e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 3.9966087e+00 2.55e+00 1.63e+05 2.0 1.99e+03 -1.6 4.54e-03 4.14e-03f 1 11 3.9951659e+00 2.54e+00 8.63e+05 1.9 7.76e+02 -2.1 9.02e-02 1.84e-03h 1 12 3.9948236e+00 2.54e+00 2.87e+06 2.5 2.42e+04 -2.5 2.45e-02 1.56e-03h 2 13 3.9912891e+00 2.54e+00 5.84e+06 2.0 1.15e+05 -3.0 1.74e-02 1.89e-04h 5 14 4.0032400e+00 2.54e+00 5.90e+06 2.5 1.12e+05 -3.5 2.35e-04 9.47e-04f 2 15 4.0307243e+00 2.53e+00 7.80e+06 1.9 4.82e+04 -4.0 5.18e-02 3.42e-03h 1 16 4.0627692e+00 2.52e+00 7.76e+06 1.9 2.61e+04 -4.4 5.28e-03 5.07e-03f 4 17 4.1098058e+00 2.49e+00 5.34e+06 1.9 9.00e+03 -4.9 2.74e-01 8.96e-03f 3 18 4.2712410e+00 2.42e+00 5.22e+06 1.9 6.97e+02 -4.5 2.15e-02 2.74e-02h 1 19 4.2729991e+00 2.42e+00 5.69e+08 1.9 1.18e+02 -4.1 7.58e-01 6.35e-04h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 4.2770439e+00 2.41e+00 4.26e+10 1.9 1.59e+02 -4.5 2.99e-01 3.94e-03h 1 21 4.2770812e+00 2.41e+00 4.02e+14 2.5 3.42e+03 -5.0 4.08e-01 4.21e-05h 1 22 4.2770993e+00 2.41e+00 2.58e+19 2.0 1.63e+03 -5.5 8.24e-01 1.27e-05h 1 23 4.6472528e+00 3.14e+01 2.06e+19 2.5 5.89e+03 -6.0 2.22e-01 2.89e-01f 1 24 4.7515756e+00 5.48e+01 1.02e+20 2.5 1.27e+04 -6.5 2.03e-02 1.49e-01f 1 25 4.7633501e+00 4.05e+01 6.56e+20 1.8 6.90e+03 -6.9 2.53e-05 9.89e-02f 1 26 4.7581170e+00 4.04e+01 6.57e+20 1.8 2.59e+03 -7.4 3.01e-05 2.23e-03f 1 27 4.7533710e+00 4.04e+01 6.57e+20 1.8 3.24e+03 -7.9 3.43e-05 2.34e-04h 1 28 4.7504295e+00 4.04e+01 6.58e+20 1.8 1.25e+04 -8.4 5.97e-05 1.64e-04h 1 29 4.7466011e+00 4.04e+01 6.57e+20 1.8 7.50e+03 -8.8 5.16e-04 5.26e-04h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 4.7399262e+00 4.03e+01 6.57e+20 1.8 1.12e+04 -7.5 1.31e-04 4.68e-04h 1 31 4.7359469e+00 4.03e+01 6.58e+20 1.8 1.26e+04 -6.2 4.11e-05 1.30e-04h 1 WARNING: Problem in step computation; switching to emergency mode. 32r 4.7359469e+00 4.03e+01 9.98e+02 1.8 0.00e+00 19.7 0.00e+00 0.00e+00R 1 33r 4.7339753e+00 1.01e+01 2.40e+04 1.7 3.81e+05 - 3.75e-01 1.58e-03f 1 34r 4.7339753e+00 1.01e+01 9.99e+02 1.1 0.00e+00 21.2 0.00e+00 4.77e-07R 22 35r 4.6078336e+00 2.07e+00 9.97e+02 0.9 1.21e+05 - 1.82e-03 1.28e-03f 1 36r 4.6078336e+00 2.07e+00 9.99e+02 0.3 0.00e+00 20.7 0.00e+00 4.77e-07R 22 37r 3.8872585e+00 6.22e-01 9.96e+02 1.9 5.54e+04 - 2.64e-03 1.13e-03f 1 38r 3.8872585e+00 6.22e-01 9.99e+02 -0.2 0.00e+00 20.2 0.00e+00 4.77e-07R 22 39r 3.3321584e+00 8.42e-01 9.90e+02 1.6 1.46e+05 - 5.44e-02 1.19e-03f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40r 3.0288646e+00 2.03e+00 1.11e+04 1.2 5.72e+03 - 1.00e+00 5.10e-02f 1 41r 3.2054536e+00 9.80e-01 5.24e+02 0.6 1.05e+03 - 1.00e+00 6.98e-01f 1 42r 3.7334821e+00 7.21e-01 2.70e+01 0.2 3.44e+02 - 8.56e-01 1.00e+00f 1 43r 4.1623166e+00 2.01e-01 3.34e+01 -0.3 7.32e+00 -2.0 9.71e-01 7.76e-01f 1 44r 4.1623166e+00 2.01e-01 9.99e+02 -0.7 0.00e+00 19.3 0.00e+00 4.77e-07R 22 45r 4.1532981e+00 2.04e-01 9.98e+02 0.4 3.04e+02 - 2.28e-02 1.13e-03f 1 46r 4.1884953e+00 2.00e-01 9.72e+02 -0.3 1.63e+02 - 1.00e+00 2.37e-02f 1 47r 4.2027175e+00 1.99e-01 5.37e+02 -0.4 6.26e+01 - 1.00e+00 4.48e-01f 1 48r 4.2592995e+00 1.99e-01 2.76e+01 -1.2 4.12e+00 - 1.00e+00 9.51e-01f 1 49r 4.2703810e+00 1.99e-01 2.85e-01 -2.3 1.43e+01 - 1.00e+00 9.97e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50r 4.2520967e+00 1.99e-01 9.52e-03 -3.6 1.64e+01 - 1.00e+00 1.00e+00f 1 51r 4.2598886e+00 1.99e-01 1.00e-03 -4.0 9.45e-01 - 1.00e+00 1.00e+00h 1 52r 4.2763307e+00 1.99e-01 3.54e-06 -4.0 1.03e+00 - 1.00e+00 1.00e+00h 1 53r 4.2764436e+00 1.99e-01 1.00e-09 -4.0 8.18e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 53 (scaled) (unscaled) Objective...............: 4.2764436015801346e+00 4.2764436015801346e+00 Dual infeasibility......: 1.9987927809670145e+00 1.9987927809670145e+00 Constraint violation....: 1.9875045035400563e-01 1.9875045035400563e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000001485277e-04 1.0000000001485277e-04 Overall NLP error.......: 1.9987927809670145e+00 1.9987927809670145e+00 Number of objective function evaluations = 161 Number of objective gradient evaluations = 41 Number of equality constraint evaluations = 161 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 59 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 54 Total seconds in IPOPT = 27.187 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 5.3410530e+00 1.98e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.5484933e+00 5.82e-01 1.58e+00 -0.7 1.88e+00 0.0 5.27e-01 7.07e-01f 1 2 2.9934450e+00 3.08e-01 1.57e+00 -0.9 6.75e-01 0.4 5.84e-01 4.71e-01f 1 3 2.7226363e+00 1.90e-01 7.45e+00 -0.9 4.64e-01 0.9 9.69e-01 3.83e-01h 1 4 2.5839318e+00 1.34e-01 2.43e+01 -1.0 3.34e-01 1.3 9.88e-01 2.96e-01h 1 5 2.4334949e+00 9.43e-02 8.02e+00 -1.3 3.06e-01 0.8 1.00e+00 2.96e-01h 1 6 2.3332707e+00 6.55e-02 1.48e+01 -1.7 3.25e-01 0.3 1.00e+00 3.05e-01h 1 7 2.1341115e+00 2.43e-04 1.56e+00 -2.6 4.23e-01 -0.2 8.78e-01 1.00e+00h 1 8 2.1097252e+00 1.55e-04 7.82e-01 -3.7 4.78e-02 -0.6 1.00e+00 4.49e-01h 1 9 2.0912950e+00 1.36e-05 1.36e-01 -4.0 3.13e-02 -1.1 1.00e+00 9.94e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909238e+00 2.10e-07 1.78e-03 -4.0 4.73e-03 -1.6 1.00e+00 1.00e+00h 1 11 2.0908869e+00 5.62e-08 8.73e-05 -4.0 1.01e-02 -2.1 1.00e+00 1.00e+00h 1 12 2.0908861e+00 2.83e-10 4.01e-05 -4.0 1.39e-02 -2.5 1.00e+00 1.00e+00h 1 13 2.0908840e+00 1.73e-10 2.06e-05 -4.0 2.14e-02 -3.0 1.00e+00 1.00e+00h 1 14 2.0908777e+00 1.55e-09 2.06e-05 -4.0 6.41e-02 -3.5 1.00e+00 1.00e+00h 1 15 2.0908588e+00 1.40e-08 2.06e-05 -4.0 1.92e-01 -4.0 1.00e+00 1.00e+00h 1 16 2.0908021e+00 1.26e-07 2.06e-05 -4.0 5.77e-01 -4.4 1.00e+00 1.00e+00h 1 17 2.0906321e+00 1.14e-06 2.06e-05 -4.0 1.73e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0901238e+00 1.03e-05 4.58e-05 -4.0 5.17e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0886132e+00 9.47e-05 4.08e-04 -4.0 1.54e+01 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0842168e+00 9.04e-04 3.75e-03 -4.0 4.47e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0796384e+00 1.88e-03 2.32e-01 -4.0 1.10e+02 -6.8 1.00e+00 4.15e-01h 1 22 2.0793702e+00 1.83e-03 1.78e-01 -4.1 6.44e+01 -7.3 1.00e+00 8.13e-01H 1 23 2.0773430e+00 8.33e-03 3.22e-02 -4.0 1.30e+02 -7.8 1.00e+00 8.99e-01h 1 24 2.0767805e+00 2.01e-03 5.32e-02 -4.0 2.12e+02 -8.3 1.00e+00 1.00e+00h 1 25 2.0759797e+00 2.06e-03 2.61e-02 -4.0 3.60e+02 -8.7 1.00e+00 1.00e+00h 1 26 2.0754773e+00 1.82e-03 3.04e-02 -4.0 3.98e+02 -9.2 1.00e+00 6.49e-01h 1 27 2.0757222e+00 1.31e-03 8.16e-03 -4.0 1.19e+02 -9.7 1.00e+00 1.00e+00h 1 28 2.0756734e+00 8.70e-05 1.50e-04 -4.0 3.58e+01 -10.2 1.00e+00 1.00e+00h 1 29 2.0756713e+00 3.79e-07 4.20e-06 -4.0 2.21e+01 -10.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0756712e+00 2.26e-08 8.92e-07 -4.0 1.19e+01 -11.1 1.00e+00 1.00e+00h 1 31 2.0756712e+00 1.39e-09 5.55e-08 -4.0 3.46e+00 -11.6 1.00e+00 1.00e+00h 1 32 2.0756712e+00 1.59e-11 6.29e-10 -4.0 4.40e-01 -12.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 32 (scaled) (unscaled) Objective...............: 2.0756712121120913e+00 2.0756712121120913e+00 Dual infeasibility......: 6.2900005793091116e-10 6.2900005793091116e-10 Constraint violation....: 1.5882739567985027e-11 1.5882739567985027e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000037e-04 1.0000000000000037e-04 Overall NLP error.......: 6.2900005793091116e-10 6.2900005793091116e-10 Number of objective function evaluations = 34 Number of objective gradient evaluations = 33 Number of equality constraint evaluations = 34 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 33 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 32 Total seconds in IPOPT = 26.512 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 4.4567518e+00 2.26e+00 4.52e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6796921e+00 3.78e-02 1.94e+00 -1.0 1.98e+00 0.0 9.91e-01 1.00e+00f 1 2 2.5456695e+00 1.02e-02 2.15e-01 -1.2 1.80e-01 -0.5 9.83e-01 1.00e+00h 1 3 2.2253564e+00 2.17e-03 3.82e-02 -2.3 7.41e-02 -1.0 9.52e-01 1.00e+00f 1 4 2.1062268e+00 9.12e-04 2.17e-02 -3.7 5.09e-02 -1.4 9.86e-01 8.47e-01h 1 5 2.0910635e+00 2.73e-05 3.89e-03 -4.0 1.03e-02 -1.9 1.00e+00 1.00e+00h 1 6 2.0908875e+00 1.34e-07 9.40e-05 -4.0 4.67e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0908861e+00 1.50e-09 1.91e-05 -4.0 1.40e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908816e+00 6.50e-10 1.89e-05 -4.0 4.14e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908692e+00 5.35e-09 1.83e-05 -4.0 1.20e-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 2.0908385e+00 3.55e-08 6.97e-05 -4.0 3.30e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907692e+00 2.32e-07 3.33e-04 -4.0 8.67e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905828e+00 2.31e-06 5.08e-04 -4.0 2.58e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0908137e+00 2.39e-05 5.11e-03 -2.0 2.11e+03 -5.7 1.06e-03 1.02e-03f 2 14 2.0906357e+00 2.08e-05 7.54e-02 -4.1 2.09e+01 -6.2 1.00e+00 7.16e-02h 2 15 2.0871477e+00 4.46e-04 3.54e-02 -4.1 6.77e+01 -6.7 1.00e+00 1.00e+00h 1 16 2.0830946e+00 6.56e-03 9.64e-02 -4.0 1.30e+02 -7.2 1.00e+00 1.00e+00h 1 17 2.0836446e+00 4.33e-03 6.52e-02 -3.8 6.49e+01 -7.6 1.00e+00 1.00e+00h 1 18 2.0825665e+00 6.97e-03 1.39e-02 -3.9 1.01e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0818722e+00 4.01e-03 1.10e-02 -4.0 8.01e+01 -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 2.0818455e+00 3.89e-05 1.50e-03 -4.0 4.39e+01 -9.1 1.00e+00 1.00e+00h 1 21 2.0818435e+00 2.37e-06 4.54e-05 -4.0 8.88e+00 -9.5 1.00e+00 1.00e+00h 1 22 2.0818434e+00 8.02e-09 2.77e-07 -4.0 6.71e-01 -10.0 1.00e+00 1.00e+00h 1 23 2.0818434e+00 4.34e-12 1.00e-09 -4.0 1.81e-02 -10.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0818434105407393e+00 2.0818434105407393e+00 Dual infeasibility......: 1.0000000061279350e-09 1.0000000061279350e-09 Constraint violation....: 4.3414161154942121e-12 4.3414161154942121e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000021e-04 1.0000000000000021e-04 Overall NLP error.......: 1.0000000061279350e-09 1.0000000061279350e-09 Number of objective function evaluations = 29 Number of objective gradient evaluations = 24 Number of equality constraint evaluations = 29 Number of inequality constraint evaluations = 29 Number of equality constraint Jacobian evaluations = 24 Number of inequality constraint Jacobian evaluations = 24 Number of Lagrangian Hessian evaluations = 23 Total seconds in IPOPT = 25.729 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 96 Number of nonzeros in Lagrangian Hessian.............: 1804 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.7167898e+01 2.40e+00 4.80e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.8296199e+00 1.32e-01 6.84e+00 -1.2 1.93e+00 0.0 7.68e-01 1.00e+00f 1 2 4.1747416e+00 8.52e-02 6.67e+00 -0.4 3.97e-01 0.4 7.94e-01 3.08e-01f 1 3 3.0548607e+00 2.94e-02 1.25e+00 -0.6 5.37e-01 -0.1 9.56e-01 1.00e+00f 1 4 2.7877112e+00 2.07e-02 7.89e-01 -0.8 4.81e-01 -0.5 8.40e-01 5.45e-01h 1 5 2.3450609e+00 6.86e-02 9.11e-01 -4.0 4.80e-01 -1.0 6.70e-01 9.97e-01h 1 6 2.2380000e+00 1.48e-02 3.01e-01 -1.8 3.96e-01 -1.5 9.58e-01 7.82e-01h 1 7 2.1067702e+00 2.31e-03 2.69e-02 -3.1 1.23e-01 -2.0 9.96e-01 1.00e+00h 1 8 2.0909801e+00 6.75e-05 5.91e-03 -4.0 2.14e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908935e+00 5.05e-07 1.66e-04 -4.0 1.53e-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 2.0908895e+00 5.08e-09 1.84e-05 -4.0 4.52e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908790e+00 6.09e-09 2.79e-05 -4.0 1.30e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908517e+00 4.26e-08 9.50e-05 -4.0 3.57e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907796e+00 2.76e-07 3.67e-04 -4.0 9.64e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905729e+00 2.92e-06 5.01e-04 -4.0 2.95e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0907821e+00 1.77e-05 5.28e-03 -2.0 3.24e+03 -5.8 6.80e-04 6.79e-04f 2 16 2.0906919e+00 1.69e-05 2.00e-02 -4.1 6.39e+00 -5.4 1.00e+00 6.37e-02h 2 17 2.0898438e+00 1.95e-04 7.45e-04 -4.1 1.06e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0884370e+00 7.53e-04 4.85e-03 -4.0 3.10e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0854209e+00 1.83e-03 3.31e-02 -4.0 7.40e+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 2.0827932e+00 3.05e-03 9.81e-02 -4.0 1.25e+02 -7.3 1.00e+00 7.82e-01h 1 21 2.0828490e+00 3.22e-03 6.48e-02 -4.0 1.00e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0818593e+00 5.71e-04 1.76e-02 -4.1 1.18e+02 -8.2 1.00e+00 1.00e+00h 1 23 2.0818796e+00 1.01e-03 7.57e-03 -4.0 7.94e+01 -8.7 1.00e+00 1.00e+00h 1 24 2.0815863e+00 7.59e-04 8.09e-04 -4.1 3.35e+01 -9.2 1.00e+00 1.00e+00h 1 25 2.0818418e+00 1.82e-04 3.93e-05 -4.0 7.67e+00 -9.6 1.00e+00 1.00e+00h 1 26 2.0818407e+00 2.92e-08 3.93e-05 -4.0 4.29e-01 -10.1 1.00e+00 1.00e+00h 1 27 2.0818407e+00 6.55e-13 3.93e-05 -4.0 5.68e-03 -10.6 1.00e+00 1.00e+00h 1 28 2.0818407e+00 2.22e-16 3.93e-05 -4.0 3.75e-05 -11.1 1.00e+00 1.00e+00H 1 29 2.0818407e+00 4.44e-16 3.93e-05 -4.0 1.96e-05 -11.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0815814e+00 2.08e-04 3.20e-05 -4.1 9.47e+00 -12.0 1.00e+00 1.00e+00h 1 31 2.0818419e+00 2.15e-04 3.93e-05 -4.0 9.79e+00 -12.5 1.00e+00 1.00e+00h 1 32 2.0815819e+00 2.14e-04 3.20e-05 -4.1 9.75e+00 -13.0 1.00e+00 1.00e+00h 1 33 2.0805924e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -13.5 9.77e-01 9.68e-01h 1 34 2.0818894e+00 6.59e-03 2.97e-04 -4.0 6.14e+01 -13.9 1.00e+00 1.00e+00f 1 35 2.0816124e+00 4.95e-04 3.26e-05 -4.1 2.07e+01 -14.4 1.00e+00 1.00e+00h 1 36 2.0806015e+00 3.47e-03 1.91e-04 -6.1 4.19e+01 -14.9 9.76e-01 9.61e-01h 1 37 2.0805507e+00 9.05e-05 2.22e-06 -6.1 1.70e+01 -15.4 1.00e+00 1.00e+00h 1 38 2.0819806e+00 1.03e-02 3.96e-04 -4.0 8.49e+01 -15.8 1.00e+00 1.00e+00f 1 39 2.0816780e+00 9.65e-04 4.95e-05 -4.1 4.57e+01 -16.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0816420e+00 4.58e-07 3.36e-05 -4.1 8.54e+00 -16.8 1.00e+00 1.00e+00h 1 41 2.0818414e+00 1.26e-04 3.93e-05 -4.0 7.46e+00 -17.3 1.00e+00 1.00e+00h 1 42 2.0815817e+00 2.11e-04 3.20e-05 -4.1 9.63e+00 -17.8 1.00e+00 1.00e+00h 1 43 2.0805923e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -18.2 9.77e-01 9.68e-01h 1 44 2.0805497e+00 7.03e-05 1.80e-06 -6.1 1.55e+01 -18.7 1.00e+00 1.00e+00h 1 45 2.0819871e+00 1.06e-02 4.00e-04 -4.0 8.58e+01 -19.2 1.00e+00 1.00e+00f 1 46 2.0816826e+00 9.87e-04 5.24e-05 -4.1 4.71e+01 -19.7 1.00e+00 1.00e+00h 1 47 2.0816444e+00 5.44e-07 3.37e-05 -4.1 8.94e+00 -20.0 1.00e+00 1.00e+00h 1 48 2.0805933e+00 3.65e-03 1.55e-04 -6.1 4.19e+01 -20.0 9.76e-01 9.71e-01h 1 49 2.0805509e+00 7.35e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0805468e+00 5.07e-08 3.36e-07 -6.1 2.92e+00 -20.0 1.00e+00 1.00e+00h 1 51 2.0820226e+00 1.22e-02 4.21e-04 -4.0 9.85e+01 -20.0 1.00e+00 1.00e+00f 1 52 2.0817083e+00 1.09e-03 6.84e-05 -4.1 5.45e+01 -20.0 1.00e+00 1.00e+00h 1 53 2.0816573e+00 1.18e-06 3.41e-05 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 54 2.0805943e+00 3.73e-03 1.58e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.71e-01h 1 55 2.0805512e+00 7.57e-05 2.01e-06 -6.1 1.64e+01 -20.0 1.00e+00 1.00e+00h 1 56 2.0805469e+00 5.37e-08 3.42e-07 -6.1 3.01e+00 -20.0 1.00e+00 1.00e+00h 1 57 2.0805365e+00 9.26e-07 7.80e-07 -9.0 9.40e-01 -20.0 1.00e+00 9.97e-01h 1 58 2.0820402e+00 1.30e-02 4.35e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 59 2.0817219e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0816639e+00 1.62e-06 3.42e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 61 2.0805948e+00 3.76e-03 1.59e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 62 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 63 2.0805470e+00 5.53e-08 3.45e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 64 2.0805365e+00 9.45e-07 8.03e-07 -9.0 9.51e-01 -20.0 1.00e+00 9.97e-01h 1 65 2.0805365e+00 8.66e-11 3.92e-10 -9.0 2.64e-02 -20.0 1.00e+00 1.00e+00h 1 66 2.0820406e+00 1.30e-02 4.36e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 67 2.0817222e+00 1.13e-03 7.75e-05 -4.1 5.82e+01 -20.0 1.00e+00 1.00e+00h 1 68 2.0816640e+00 1.63e-06 3.42e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 69 2.0805948e+00 3.76e-03 1.60e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 71 2.0805470e+00 5.54e-08 3.45e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 72 2.0805365e+00 9.45e-07 8.04e-07 -9.0 9.51e-01 -20.0 1.00e+00 9.97e-01h 1 73 2.0805365e+00 8.67e-11 3.92e-10 -9.0 2.64e-02 -20.0 1.00e+00 1.00e+00h 1 74 2.0805365e+00 4.44e-16 3.92e-10 -9.0 1.02e-05 -20.0 1.00e+00 1.00e+00h 1 75 2.0805365e+00 4.44e-16 3.92e-10 -9.0 1.96e-10 -20.0 1.00e+00 1.00e+00h 1 76 2.0805365e+00 4.44e-16 3.92e-10 -9.0 1.96e-10 -20.0 1.00e+00 1.00e+00h 1 77 2.0805365e+00 6.66e-16 3.92e-10 -9.0 1.96e-10 -20.0 1.00e+00 1.00e+00h 1 78 2.0805365e+00 6.66e-16 3.92e-10 -9.0 1.96e-10 -20.0 1.00e+00 1.00e+00h 1 79 2.0805365e+00 6.66e-16 3.92e-10 -9.0 1.96e-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 6.66e-16 3.92e-10 -9.0 1.96e-10 -20.0 1.00e+00 1.00e+00h 1 81 2.0805365e+00 6.66e-16 3.92e-10 -9.0 1.96e-10 -20.0 1.00e+00 1.00e+00h 1 82 2.0805365e+00 6.66e-16 3.92e-10 -9.0 1.96e-10 -20.0 1.00e+00 1.00e+00h 1 83 2.0805365e+00 6.66e-16 3.92e-10 -9.0 1.96e-10 -20.0 1.00e+00 1.00e+00h 1 84 2.0805365e+00 6.66e-16 3.92e-10 -9.0 1.96e-10 -20.0 1.00e+00 1.00e+00h 1 85 2.0805365e+00 6.66e-16 3.92e-10 -9.0 1.96e-10 -20.0 1.00e+00 1.00e+00h 1 86 2.0805365e+00 6.66e-16 3.92e-10 -9.0 1.96e-10 -20.0 1.00e+00 1.00e+00h 1 87 2.0805365e+00 6.66e-16 3.92e-10 -9.0 1.96e-10 -20.0 1.00e+00 1.00e+00h 1 88 2.0805365e+00 6.66e-16 3.92e-10 -9.0 1.96e-10 -20.0 1.00e+00 1.00e+00h 1 89 2.0805365e+00 6.66e-16 3.92e-10 -9.0 1.96e-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 6.66e-16 3.92e-10 -9.0 1.96e-10 -20.0 1.00e+00 1.00e+00h 1 91 2.0805365e+00 6.66e-16 3.92e-10 -9.0 1.96e-10 -20.0 1.00e+00 1.00e+00h 1 92 2.0805365e+00 6.66e-16 3.92e-10 -9.0 1.96e-10 -20.0 1.00e+00 1.00e+00h 1 93 2.0805365e+00 6.66e-16 3.92e-10 -9.0 1.96e-10 -20.0 1.00e+00 1.00e+00h 1 94 2.0805365e+00 6.66e-16 3.92e-10 -9.0 1.96e-10 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 6.66e-16 3.92e-10 -9.0 1.96e-10 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 6.66e-16 3.92e-10 -9.0 1.96e-10 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 6.66e-16 3.92e-10 -9.0 1.96e-10 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 6.66e-16 3.92e-10 -9.0 1.96e-10 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 6.66e-16 3.92e-10 -9.0 1.96e-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 6.66e-16 3.92e-10 -9.0 1.96e-10 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595436475e+00 2.0805364595436475e+00 Dual infeasibility......: 3.9172791491174740e-10 3.9172791491174740e-10 Constraint violation....: 6.6613381477509392e-16 6.6613381477509392e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090971184536e-10 9.0909090971184536e-10 Overall NLP error.......: 9.9999090909091564e-05 9.9999090909091564e-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 = 30.164 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 10 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 1 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.4980086e+01 3.59e+00 2.34e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.1676440e+01 1.34e+00 8.69e+00 -0.5 2.44e+00 0.0 8.20e-01 6.27e-01f 1 2 2.8192036e+00 3.47e-01 2.41e+01 -0.6 1.39e+00 -0.5 3.68e-01 1.00e+00f 1 3 2.8219314e+00 2.36e-01 1.64e+01 -1.5 2.35e+00 -1.0 4.06e-01 3.25e-01h 1 4 2.7297813e+00 1.62e-01 1.15e+01 -2.1 5.11e-01 0.4 5.55e-01 3.14e-01h 1 5 2.5681910e+00 2.18e-02 9.69e-01 -1.1 1.70e-01 -0.1 9.96e-01 1.00e+00f 1 6 2.3286305e+00 3.43e-03 1.27e-01 -1.7 1.22e-01 -0.6 9.75e-01 1.00e+00h 1 7 2.1751656e+00 5.33e-03 1.72e-01 -2.5 1.46e-01 -1.1 9.79e-01 6.22e-01h 1 8 2.0964525e+00 3.06e-04 4.23e-03 -3.2 1.79e-02 -1.5 9.93e-01 1.00e+00h 1 9 2.0909408e+00 2.60e-06 4.25e-04 -4.0 3.94e-03 -2.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909457e+00 2.05e-08 2.31e-04 -4.0 1.27e-02 -2.5 1.00e+00 1.00e+00h 1 11 2.0909434e+00 1.66e-10 2.31e-04 -4.0 1.63e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0909388e+00 9.51e-10 2.31e-04 -4.0 4.83e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0909267e+00 7.85e-09 2.31e-04 -4.0 1.40e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0908953e+00 5.51e-08 2.31e-04 -4.0 3.90e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0908129e+00 4.00e-07 2.92e-04 -4.0 1.08e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0905663e+00 3.64e-06 4.07e-04 -4.0 3.16e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0904656e+00 5.59e-07 4.16e-04 -4.0 1.29e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0901318e+00 1.59e-06 5.80e-03 -4.0 4.91e+00 -5.4 1.00e+00 6.32e-01H 1 19 2.0893053e+00 6.60e-05 1.23e-02 -4.0 1.33e+01 -5.9 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0885980e+00 5.42e-05 4.57e-02 -4.0 1.10e+01 -5.5 1.00e+00 3.71e-01h 1 21 2.0876806e+00 6.08e-05 1.20e-02 -4.0 1.32e+01 -5.9 1.00e+00 1.00e+00h 1 22 2.0863100e+00 1.21e-04 5.61e-02 -4.0 3.37e+01 -6.4 1.00e+00 4.66e-01h 1 23 2.0833072e+00 9.87e-04 5.16e-02 -4.0 5.43e+01 -6.9 1.00e+00 1.00e+00h 1 24 2.0825374e+00 5.18e-04 1.78e-02 -4.0 7.18e+01 -7.4 1.00e+00 1.00e+00h 1 25 2.0822461e+00 6.37e-04 1.01e-02 -4.0 1.55e+02 -7.8 8.41e-01 1.00e+00h 1 26 2.0824369e+00 1.14e-03 1.70e-02 -4.0 3.08e+01 -6.5 1.00e+00 1.00e+00h 1 27 2.0820633e+00 1.38e-03 1.88e-02 -4.0 2.33e+01 -7.0 1.00e+00 1.00e+00h 1 28 2.0881014e+00 4.51e-04 2.20e-01 -4.0 1.08e+01 -5.7 4.63e-01 7.56e-01h 1 29 2.0842877e+00 9.07e-05 1.39e-01 -4.1 8.60e-02 -0.7 1.00e+00 7.99e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0842474e+00 2.60e-05 2.06e-01 -4.0 4.48e-02 -1.2 6.80e-01 7.11e-01f 1 31 2.0836574e+00 7.64e-07 6.10e-03 -4.0 3.29e-02 -0.8 1.00e+00 1.00e+00h 1 32 2.0833540e+00 2.36e-07 3.60e-03 -4.0 5.99e-02 -1.2 1.00e+00 1.00e+00h 1 33 2.0825248e+00 2.94e-06 2.63e-03 -4.0 2.02e-01 -1.7 1.00e+00 1.00e+00h 1 34 2.0822737e+00 5.89e-07 5.97e-04 -4.0 8.86e-02 -2.2 1.00e+00 1.00e+00h 1 35 2.0824014e+00 1.05e-07 2.31e-04 -4.0 3.53e-02 -2.7 1.00e+00 1.00e+00h 1 36 2.0823853e+00 5.74e-08 2.31e-04 -4.0 1.18e-02 -3.2 1.00e+00 1.00e+00h 1 37 2.0823819e+00 3.22e-09 2.31e-04 -4.0 3.54e-02 -3.6 1.00e+00 1.00e+00h 1 38 2.0823760e+00 3.13e-08 2.31e-04 -4.0 1.07e-01 -4.1 1.00e+00 1.00e+00h 1 39 2.0823580e+00 3.17e-07 2.31e-04 -4.0 3.31e-01 -4.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0822985e+00 4.05e-06 2.31e-04 -4.0 1.11e+00 -5.1 1.00e+00 1.00e+00h 1 41 2.0821157e+00 7.83e-07 1.11e-01 -4.1 5.34e+00 -5.5 5.54e-01 1.00e+00H 1 42 2.0821385e+00 1.08e-06 2.08e+00 -3.8 4.00e-01 -3.3 1.00e+00 2.42e-01h 2 43 2.0819906e+00 3.95e-06 5.95e-04 -4.0 6.74e-02 -3.8 1.00e+00 1.00e+00h 1 44 2.0820786e+00 3.69e-05 6.11e-04 -4.0 2.59e-01 -4.3 1.00e+00 1.00e+00h 1 45 2.0819744e+00 3.02e-05 3.38e-04 -4.1 5.88e-01 -4.7 1.00e+00 1.00e+00h 1 46 2.0821409e+00 2.08e-05 2.01e-03 -4.0 1.20e+00 -5.2 1.00e+00 1.00e+00h 1 47 2.0819752e+00 8.60e-05 5.74e-04 -4.1 1.30e+00 -5.7 1.00e+00 1.00e+00h 1 48 2.0811719e+00 6.13e-04 4.25e-03 -6.1 8.41e+00 -6.2 9.97e-01 1.00e+00h 1 49 2.0815662e+00 3.06e-04 4.55e-01 -4.0 5.33e-01 -3.9 1.00e+00 5.06e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0817359e+00 2.92e-05 3.53e-03 -4.0 9.76e-01 -4.4 1.00e+00 1.00e+00h 1 51 2.0818424e+00 1.20e-05 2.77e-03 -4.0 9.28e-01 -4.9 1.00e+00 1.00e+00h 1 52 2.0819402e+00 1.42e-05 8.68e-04 -4.0 1.66e+00 -5.4 1.00e+00 1.00e+00h 1 53 2.0818625e+00 2.18e-05 6.69e-04 -4.1 1.36e+00 -5.8 1.00e+00 1.00e+00h 1 54 2.0810984e+00 5.70e-04 5.24e-03 -6.1 8.47e+00 -6.3 1.00e+00 1.00e+00h 1 55 2.0810738e+00 1.84e-05 3.38e-03 -5.6 2.55e-01 -4.1 1.00e+00 9.68e-01h 1 56 2.0811486e+00 1.66e-05 8.74e-01 -4.0 7.22e+00 -4.6 1.00e+00 6.74e-02f 1 57 2.0816084e+00 5.94e-04 1.01e-02 -4.1 3.41e+00 -5.0 1.00e+00 1.00e+00f 1 58 2.0817569e+00 3.02e-05 2.77e-03 -4.1 1.30e+00 -5.5 1.00e+00 1.00e+00h 1 59 2.0818333e+00 1.83e-05 2.05e-04 -4.1 3.94e+00 -6.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0810794e+00 7.02e-04 5.56e-03 -6.1 1.01e+01 -6.5 9.99e-01 1.00e+00h 1 61 2.0810404e+00 6.91e-05 2.30e-02 -6.1 2.72e-01 -4.2 7.43e-01 9.02e-01h 1 62 2.0810771e+00 6.71e-05 6.58e-01 -4.0 1.94e+01 -4.7 4.53e-01 2.51e-02f 1 63 2.0811933e+00 3.81e-04 3.93e+00 -4.4 1.63e+01 -5.2 1.00e+00 1.34e-01h 2 64 2.0814340e+00 5.60e-05 1.13e-03 -4.4 1.32e+00 -5.7 1.00e+00 1.00e+00h 1 65 2.0814199e+00 1.82e-04 3.12e-04 -4.4 2.32e+00 -6.2 1.00e+00 1.00e+00h 1 66 2.0809419e+00 5.30e-04 1.75e-03 -6.6 1.05e+01 -6.6 9.98e-01 1.00e+00h 1 67 2.0809925e+00 5.05e-04 4.64e+00 -4.0 7.54e+00 -4.4 1.00e+00 4.76e-02h 1 68 2.0811911e+00 3.35e-05 8.85e-02 -4.0 1.02e+00 -4.9 9.81e-01 1.00e+00f 1 69 2.0815200e+00 1.69e-04 1.09e-01 -4.2 4.79e+00 -5.4 5.75e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0816074e+00 1.59e-05 2.45e-03 -4.2 1.63e+00 -5.8 1.00e+00 1.00e+00h 1 71 2.0819806e+00 2.11e-04 7.38e-04 -4.0 5.71e+00 -6.3 1.00e+00 1.00e+00h 1 72 2.0818209e+00 8.90e-05 1.72e-03 -4.1 5.81e+00 -6.8 1.00e+00 1.00e+00h 1 73 2.0817672e+00 2.24e-05 5.21e-04 -4.1 1.46e+01 -7.3 1.00e+00 1.00e+00h 1 74 2.0819335e+00 7.10e-04 2.10e-03 -4.0 3.05e+01 -7.7 1.00e+00 1.00e+00h 1 75 2.0816154e+00 1.15e-03 2.75e-03 -4.1 4.89e+01 -8.2 1.00e+00 1.00e+00h 1 76 2.0815828e+00 5.94e-05 2.06e-03 -4.1 4.89e+01 -8.7 1.00e+00 1.00e+00h 1 77 2.0815779e+00 1.04e-05 2.55e-04 -4.1 2.14e+01 -9.2 1.00e+00 1.00e+00h 1 78 2.0818394e+00 1.90e-04 2.31e-04 -4.0 7.99e+00 -9.6 1.00e+00 1.00e+00h 1 79 2.0815805e+00 2.08e-04 1.85e-04 -4.1 9.50e+00 -10.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805901e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -10.6 9.78e-01 9.71e-01h 1 81 2.0818881e+00 6.55e-03 3.15e-04 -4.0 6.09e+01 -11.1 1.00e+00 1.00e+00f 1 82 2.0816136e+00 4.88e-04 1.89e-04 -4.1 2.07e+01 -11.6 1.00e+00 1.00e+00h 1 83 2.0805990e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -12.0 9.76e-01 9.65e-01h 1 84 2.0805508e+00 8.46e-05 2.26e-06 -6.1 1.69e+01 -12.5 1.00e+00 1.00e+00h 1 85 2.0819794e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -13.0 1.00e+00 1.00e+00f 1 86 2.0816837e+00 9.34e-04 1.97e-04 -4.1 4.57e+01 -13.5 1.00e+00 1.00e+00h 1 87 2.0816477e+00 4.73e-07 1.97e-04 -4.1 8.52e+00 -13.9 1.00e+00 1.00e+00h 1 88 2.0818389e+00 1.15e-04 2.31e-04 -4.0 7.07e+00 -14.4 1.00e+00 1.00e+00h 1 89 2.0815801e+00 2.08e-04 1.85e-04 -4.1 9.50e+00 -14.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805898e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -15.4 9.78e-01 9.71e-01h 1 91 2.0805497e+00 6.51e-05 1.78e-06 -6.1 1.55e+01 -15.8 1.00e+00 1.00e+00h 1 92 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -16.3 1.00e+00 1.00e+00f 1 93 2.0816887e+00 9.54e-04 1.97e-04 -4.1 4.72e+01 -16.8 1.00e+00 1.00e+00h 1 94 2.0816504e+00 5.63e-07 1.97e-04 -4.1 8.93e+00 -17.3 1.00e+00 1.00e+00h 1 95 2.0805906e+00 3.68e-03 1.60e-04 -6.1 4.16e+01 -17.8 9.77e-01 9.75e-01h 1 96 2.0805511e+00 6.76e-05 1.95e-06 -6.1 1.62e+01 -18.2 1.00e+00 1.00e+00h 1 97 2.0805469e+00 4.72e-08 1.82e-06 -6.1 2.95e+00 -18.7 1.00e+00 1.00e+00h 1 98 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.89e+01 -19.2 1.00e+00 1.00e+00f 1 99 2.0817159e+00 1.04e-03 1.99e-04 -4.1 5.46e+01 -19.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0816648e+00 1.22e-06 1.99e-04 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0816648376624123e+00 2.0816648376624123e+00 Dual infeasibility......: 1.9945469401555477e-04 1.9945469401555477e-04 Constraint violation....: 1.2178663396644751e-06 1.2178663396644751e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.7980335738279471e-05 8.7980335738279471e-05 Overall NLP error.......: 1.9945469401555477e-04 1.9945469401555477e-04 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 = 32.860 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 1.9952369e+00 2.43e+00 1.04e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.2895105e+00 2.47e+00 4.16e+00 -1.3 4.55e+01 -4.0 9.71e-01 1.00e+00h 1 2 2.2275790e+00 3.43e-01 1.29e+00 -1.7 1.65e+01 -4.5 9.96e-01 1.00e+00h 1 3 2.1874746e+00 4.42e-02 4.94e-01 -2.0 1.10e+01 -5.0 9.92e-01 1.00e+00h 1 4 2.1093863e+00 7.35e-02 4.62e-02 -2.8 8.41e+00 -5.4 9.99e-01 1.00e+00h 1 5 2.0931927e+00 2.19e-02 3.19e-02 -3.4 1.40e+01 -5.9 9.85e-01 1.00e+00h 1 6 2.0852196e+00 1.84e-02 5.78e-03 -4.0 4.42e+01 -6.4 1.00e+00 1.00e+00h 1 7 2.0854941e+00 1.95e-02 1.12e-01 -3.0 7.36e+01 -6.9 1.00e+00 5.69e-01h 1 8 2.0863190e+00 6.30e-03 8.91e-02 -3.2 5.51e+01 -7.3 1.00e+00 1.00e+00h 1 9 2.0787056e+00 5.71e-02 7.63e-03 -4.0 1.03e+02 -7.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0767644e+00 8.09e-03 1.50e-02 -3.9 2.28e+02 -8.3 1.00e+00 1.00e+00h 1 11 2.0761677e+00 9.49e-03 2.82e-02 -4.0 3.51e+02 -8.8 1.00e+00 1.00e+00h 1 12 2.0768742e+00 7.29e-04 2.37e-02 -3.7 2.78e+02 -9.2 1.00e+00 9.92e-01H 1 13 2.0758015e+00 1.11e-02 3.15e-03 -4.0 9.69e+01 -9.7 1.00e+00 1.00e+00h 1 14 2.0757709e+00 4.65e-05 1.40e-05 -4.0 2.27e+01 -10.2 1.00e+00 1.00e+00h 1 15 2.0757705e+00 6.90e-08 2.59e-06 -4.0 1.80e+01 -10.7 1.00e+00 1.00e+00h 1 16 2.0757704e+00 7.24e-10 5.36e-07 -4.0 9.28e+00 -11.2 1.00e+00 1.00e+00h 1 17 2.0757704e+00 6.69e-11 3.28e-08 -4.0 2.79e+00 -11.6 1.00e+00 1.00e+00h 1 18 2.0757704e+00 6.91e-13 4.10e-10 -4.0 3.32e-01 -12.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 18 (scaled) (unscaled) Objective...............: 2.0757703960783229e+00 2.0757703960783229e+00 Dual infeasibility......: 4.1003633713225518e-10 4.1003633713225518e-10 Constraint violation....: 6.9116435665039777e-13 6.9116435665039777e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000040e-04 1.0000000000000040e-04 Overall NLP error.......: 4.1003633713225518e-10 4.1003633713225518e-10 Number of objective function evaluations = 20 Number of objective gradient evaluations = 19 Number of equality constraint evaluations = 20 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 19 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 18 Total seconds in IPOPT = 25.205 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 194 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 27 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.7929152e+00 9.65e-01 1.11e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6956989e+00 1.56e-01 1.83e+00 -0.8 9.65e-01 0.0 9.94e-01 1.00e+00h 1 2 1.7622749e+00 2.82e-02 5.96e-01 -0.8 3.48e-01 -0.5 7.22e-01 8.28e-01h 1 3 1.9758042e+00 2.40e-02 1.87e+00 -1.4 4.56e+00 - 9.04e-01 1.00e+00H 1 4 1.7920604e+00 4.61e-02 1.46e+00 -1.4 6.60e-01 -1.0 9.93e-01 2.41e-01f 2 5 1.4020715e+00 3.40e-02 9.46e-01 -2.3 3.97e-01 -1.4 1.00e+00 5.99e-01f 1 6 1.1224746e+00 3.52e-04 6.12e-02 -2.8 7.38e-02 -1.0 1.00e+00 1.00e+00h 1 7 1.0949025e+00 8.86e-06 3.65e-03 -4.0 1.01e-01 -1.5 1.00e+00 1.00e+00h 1 8 1.0939481e+00 5.27e-09 6.09e-04 -4.0 5.92e-02 -2.0 1.00e+00 1.00e+00h 1 9 1.0937404e+00 3.35e-12 4.39e-04 -4.0 1.20e-01 -2.4 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0934138e+00 2.59e-15 2.97e-03 -4.0 3.32e-01 -2.9 8.55e-01 1.00e+00f 1 11 1.0933098e+00 1.21e-20 1.20e-03 -4.0 4.23e-02 -1.6 1.00e+00 1.00e+00f 1 12 1.0933484e+00 1.86e-29 3.87e-03 -4.0 1.67e-01 -2.1 9.86e-01 1.00e+00f 1 13 1.0929641e+00 1.87e-30 5.80e-04 -4.1 6.58e-02 -1.6 1.00e+00 1.00e+00f 1 14 1.0909219e+00 1.19e-24 1.55e-01 -4.0 3.93e+00 - 1.00e+00 1.00e+00f 1 15 1.0908986e+00 6.91e-26 2.59e-04 -4.0 6.32e-02 - 1.00e+00 1.00e+00f 1 16 1.0908997e+00 2.07e-27 1.39e-05 -4.0 7.61e-03 - 1.00e+00 1.00e+00f 1 17 1.0907198e+00 8.40e-28 6.51e-08 -4.1 6.09e-04 - 1.00e+00 1.00e+00f 1 18 1.0908997e+00 7.51e-27 4.58e-09 -4.0 1.96e-04 - 1.00e+00 1.00e+00f 1 19 1.0907198e+00 2.66e-27 4.58e-09 -4.1 3.14e-05 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.0900065e+00 1.42e-26 7.19e-08 -6.1 7.93e-05 - 1.00e+00 1.00e+00f 1 21 1.0908999e+00 1.48e-22 1.13e-07 -4.0 1.09e-03 - 1.00e+00 1.00e+00f 1 22 1.0907198e+00 7.69e-27 4.58e-09 -4.1 8.64e-04 - 1.00e+00 1.00e+00f 1 23 1.0900065e+00 2.01e-26 7.19e-08 -6.1 7.93e-05 - 1.00e+00 1.00e+00f 1 24 1.0899999e+00 2.44e-24 5.90e-12 -9.0 7.27e-07 - 1.00e+00 1.00e+00f 1 25 1.0900093e+00 2.42e-24 1.83e-11 -4.0 2.35e+01 - 1.00e+00 1.04e-02f 1 26 1.0903992e+00 6.67e-23 2.15e-08 -4.4 1.09e-01 - 1.00e+00 1.00e+00f 1 27 1.0900026e+00 1.19e-26 2.22e-08 -6.5 9.08e-04 - 1.00e+00 1.00e+00f 1 28 1.0899999e+00 5.41e-33 1.00e-12 -9.0 4.16e-04 - 1.00e+00 1.00e+00f 1 29 1.0899999e+00 2.51e-42 5.34e-16 -9.0 1.35e-01 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.0899999e+00 7.44e-46 2.59e-16 -9.0 6.41e-16 - 1.00e+00 1.00e+00 0 31 1.0899999e+00 2.25e-46 2.60e-16 -9.0 2.79e-17 - 1.00e+00 1.00e+00T 0 Number of Iterations....: 31 (scaled) (unscaled) Objective...............: 1.0899999181818181e+00 1.0899999181818181e+00 Dual infeasibility......: 2.5966642031027831e-16 2.5966642031027831e-16 Constraint violation....: 2.2501029081556225e-46 2.2501029081556225e-46 Variable bound violation: 9.0909090932206338e-09 9.0909090932206338e-09 Complementarity.........: 9.0909090909090920e-10 9.0909090909090920e-10 Overall NLP error.......: 9.9999090909091604e-05 9.9999090909091604e-05 Number of objective function evaluations = 36 Number of objective gradient evaluations = 32 Number of equality constraint evaluations = 36 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 32 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 32 Total seconds in IPOPT = 21.357 EXIT: Search Direction is becoming Too Small. Difference in Hessian Difference in Jacobian Test Summary: | Pass Total Time Package | 202 202 19m19.6s Testing DirectTrajOpt tests passed Testing completed after 1241.39s PkgEval succeeded after 1347.35s