Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.1730 (9c1e1fa299*) started at 2026-02-17T23:23:18.894 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 12.49s ################################################################################ # 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 [b964fa9f] + LaTeXStrings v1.4.0 [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 v0.8.4 [be0214bd] + NonlinearSolveBase v2.12.0 [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 v2.13.0+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 6.07s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling packages... 26584.2 ms ✓ DirectTrajOpt 1 dependency successfully precompiled in 31 seconds. 225 already precompiled. Precompilation completed after 51.72s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_dhLeOn/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 v0.8.4 [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_dhLeOn/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 [b964fa9f] LaTeXStrings v1.4.0 [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 v0.8.4 [be0214bd] NonlinearSolveBase v2.12.0 [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 v2.13.0+0 [9cc047cb] Ipopt_jll v300.1400.1901+0 [94ce4f54] Libiconv_jll v1.18.0+0 [d00139f3] METIS_jll v5.1.3+0 [d7ed1dd3] MUMPS_seq_jll v500.800.200+0 [656ef2d0] OpenBLAS32_jll v0.3.30+0 [efe28fd5] OpenSpecFun_jll v0.5.6+0 [319450e9] SPRAL_jll v2025.9.18+0 ⌅ [02c8fc9c] XML2_jll v2.13.9+0 [a65dc6b1] Xorg_libpciaccess_jll v0.18.1+0 [0dad84c5] ArgTools v1.1.2 [56f22d72] Artifacts v1.11.0 [2a0f44e3] Base64 v1.11.0 [ade2ca70] Dates v1.11.0 [8ba89e20] Distributed v1.11.0 [f43a241f] Downloads v1.7.0 [7b1f6079] FileWatching v1.11.0 [9fa8497b] Future v1.11.0 [b77e0a4c] InteractiveUtils v1.11.0 [ac6e5ff7] JuliaSyntaxHighlighting v1.13.0 [b27032c2] LibCURL v1.0.0 [76f85450] LibGit2 v1.11.0 [8f399da3] Libdl v1.11.0 [37e2e46d] LinearAlgebra v1.13.0 [56ddb016] Logging v1.11.0 [d6f4376e] Markdown v1.11.0 [a63ad114] Mmap v1.11.0 [ca575930] NetworkOptions v1.3.0 [44cfe95a] Pkg v1.14.0 [de0858da] Printf v1.11.0 [9abbd945] Profile v1.11.0 [9a3f8284] Random v1.11.0 [ea8e919c] SHA v1.0.0 [9e88b42a] Serialization v1.11.0 [6462fe0b] Sockets v1.11.0 [2f01184e] SparseArrays v1.13.0 [f489334b] StyledStrings v1.13.0 [fa267f1f] TOML v1.0.3 [a4e569a6] Tar v1.10.0 [8dfed614] Test v1.11.0 [cf7118a7] UUIDs v1.11.0 [4ec0a83e] Unicode v1.11.0 [e66e0078] CompilerSupportLibraries_jll v1.3.0+1 [deac9b47] LibCURL_jll v8.18.0+0 [e37daf67] LibGit2_jll v1.9.2+0 [29816b5a] LibSSH2_jll v1.11.3+1 [14a3606d] MozillaCACerts_jll v2025.12.2 [4536629a] OpenBLAS_jll v0.3.30+0 [05823500] OpenLibm_jll v0.8.7+0 [458c3c95] OpenSSL_jll v3.5.5+0 [efcefdf7] PCRE2_jll v10.47.0+0 [bea87d4a] SuiteSparse_jll v7.10.1+0 [83775a58] Zlib_jll v1.3.1+2 [3161d3a3] Zstd_jll v1.5.7+1 [8e850b90] libblastrampoline_jll v5.15.0+0 [8e850ede] nghttp2_jll v1.68.0+1 [3f19e933] p7zip_jll v17.7.0+0 Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. Testing Running tests... initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt ****************************************************************************** This program contains Ipopt, a library for large-scale nonlinear optimization. Ipopt is released as open source code under the Eclipse Public License (EPL). For more information visit https://github.com/coin-or/Ipopt ****************************************************************************** This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.4012255e+00 3.60e+00 3.56e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5617723e+00 1.25e-01 4.48e+00 -0.9 2.43e+00 0.0 1.66e-01 9.91e-01h 1 2 2.3701489e+00 1.05e-01 3.74e+00 -1.4 2.13e+00 -0.5 4.36e-01 1.56e-01h 1 3 2.2195953e+00 4.92e-02 1.90e+00 -1.0 3.25e-01 -0.1 8.68e-01 6.17e-01f 1 4 2.2884151e+00 1.99e-02 3.49e+00 -1.2 6.17e-01 -0.5 9.78e-01 1.00e+00f 1 5 2.2456239e+00 8.16e-04 6.59e-01 -1.7 8.26e-02 -1.0 9.97e-01 1.00e+00h 1 6 2.1523090e+00 4.66e-04 3.01e-02 -3.0 4.09e-02 -1.5 1.00e+00 1.00e+00h 1 7 2.0912581e+00 1.50e-04 7.19e-03 -4.0 2.54e-02 -2.0 1.00e+00 9.91e-01h 1 8 2.0907836e+00 1.07e-06 3.47e-04 -4.0 6.51e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0907822e+00 2.90e-09 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0907773e+00 9.77e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0907623e+00 8.78e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0907175e+00 7.91e-08 2.06e-05 -4.0 4.55e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0905833e+00 7.13e-07 2.05e-05 -4.0 1.36e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0901815e+00 6.45e-06 2.86e-05 -4.0 4.08e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0889851e+00 5.91e-05 2.56e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0854789e+00 5.58e-04 2.32e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796291e+00 2.24e-03 1.39e-01 -4.0 9.52e+01 -6.7 1.00e+00 6.20e-01h 1 18 2.0806253e+00 1.25e-04 1.66e-01 -4.0 6.86e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775460e+00 7.05e-03 2.23e-02 -4.0 1.19e+02 -7.7 1.00e+00 9.91e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0769114e+00 1.13e-03 5.04e-02 -4.0 2.05e+02 -8.2 9.87e-01 9.46e-01h 1 21 2.0763335e+00 1.43e-03 4.58e-02 -4.0 3.56e+02 -8.6 1.00e+00 6.41e-01h 1 22 2.0755430e+00 4.22e-03 3.51e-02 -4.0 6.49e+02 -9.1 1.00e+00 7.50e-01h 1 23 2.0758170e+00 3.73e-03 2.01e-02 -4.0 1.95e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0756813e+00 6.34e-04 1.02e-03 -4.0 1.04e+02 -10.1 1.00e+00 1.00e+00h 1 25 2.0756712e+00 4.64e-06 1.69e-05 -4.0 2.30e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 9.89e-08 1.28e-06 -4.0 1.40e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.61e-09 1.09e-07 -4.0 4.58e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.63e-11 1.82e-09 -4.0 7.22e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121648646e+00 2.0756712121648646e+00 Dual infeasibility......: 1.8202762807804050e-09 1.8202762807804050e-09 Constraint violation....: 4.6286197097344939e-11 4.6286197097344939e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000015e-04 1.0000000000000015e-04 Overall NLP error.......: 1.8202762807804050e-09 1.8202762807804050e-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 = 64.049 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 3.0272580e+00 1.96e+00 6.92e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6701810e+00 6.65e-02 2.89e+00 -1.0 2.13e+00 0.0 1.00e+00 1.00e+00h 1 2 2.5426586e+00 7.79e-03 3.07e-01 -1.1 9.64e-02 0.4 9.91e-01 1.00e+00h 1 3 2.3161921e+00 1.48e-03 7.61e-02 -2.0 5.09e-02 -0.1 9.83e-01 1.00e+00h 1 4 2.1249176e+00 1.19e-03 8.35e-02 -3.1 6.81e-02 -0.5 1.00e+00 7.38e-01f 1 5 2.0962012e+00 3.00e-04 2.63e-01 -3.4 6.95e-02 -1.0 1.00e+00 7.59e-01h 1 6 2.0916541e+00 1.07e-04 8.66e-02 -4.0 2.62e-01 -1.5 1.00e+00 1.00e+00h 1 7 2.0909949e+00 8.31e-05 5.89e-01 -4.0 1.46e-01 -2.0 1.00e+00 2.27e-01h 1 8 2.0908481e+00 3.62e-06 2.14e-02 -4.0 3.24e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908496e+00 3.94e-07 2.48e-05 -4.0 1.74e-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 2.0908451e+00 2.49e-08 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908301e+00 8.81e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0907853e+00 7.87e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906510e+00 7.10e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902491e+00 6.42e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890522e+00 5.87e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855443e+00 5.54e-04 2.31e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796332e+00 2.26e-03 1.37e-01 -4.0 9.54e+01 -6.7 1.00e+00 6.25e-01h 1 18 2.0807095e+00 1.58e-04 1.80e-01 -4.0 6.55e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775324e+00 7.43e-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 2.0769497e+00 1.12e-03 5.19e-02 -4.0 1.76e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0759841e+00 9.84e-04 2.36e-02 -4.0 3.14e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0754452e+00 4.94e-04 2.93e-02 -4.0 4.65e+02 -9.1 1.00e+00 7.27e-01H 1 23 2.0757714e+00 2.16e-03 1.05e-02 -4.0 1.41e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753806e+00 1.39e-03 4.85e-04 -4.1 7.85e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756723e+00 4.00e-04 6.94e-06 -4.0 1.82e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0753425e+00 6.30e-04 7.58e-07 -4.1 2.58e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756725e+00 3.34e-04 8.14e-07 -4.0 1.36e+01 -11.5 1.00e+00 1.00e+00h 1 28 2.0753425e+00 5.01e-04 2.61e-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....: 1.4164404722581736e-02 1.4164404722581736e-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 = 23.352 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 2.8559608e+00 3.13e+00 5.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6116211e+00 6.24e-02 2.33e+00 -0.9 1.97e+00 0.0 8.85e-01 1.00e+00f 1 2 2.5106304e+00 4.02e-02 2.08e+00 -1.0 6.66e-01 -0.5 9.83e-01 6.76e-01h 1 3 2.3115040e+00 1.24e-02 1.92e-01 -1.6 2.38e-01 -1.0 9.93e-01 1.00e+00h 1 4 2.1408382e+00 4.40e-03 7.26e-02 -2.7 1.29e-01 -1.4 9.84e-01 8.35e-01h 1 5 2.0929487e+00 3.11e-04 7.81e-03 -3.9 3.25e-02 -1.9 1.00e+00 9.78e-01h 1 6 2.0909142e+00 5.37e-06 1.21e-03 -4.0 1.40e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0909151e+00 1.17e-08 2.06e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909107e+00 7.87e-10 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908974e+00 6.91e-09 2.06e-05 -4.0 1.35e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908575e+00 6.22e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907381e+00 5.61e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903805e+00 5.07e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0893149e+00 4.63e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861826e+00 4.34e-04 1.81e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796334e+00 2.51e-03 8.62e-02 -4.0 8.73e+01 -6.7 1.00e+00 7.59e-01h 1 16 2.0812179e+00 1.72e-04 2.03e-01 -4.0 7.17e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778224e+00 6.57e-03 2.99e-02 -4.0 1.13e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0782490e+00 1.84e-02 8.79e-02 -3.7 1.97e+02 -8.1 9.43e-01 1.00e+00h 1 19 2.0769517e+00 7.07e-03 1.98e-02 -3.8 3.31e+02 -8.6 1.00e+00 8.45e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0760569e+00 9.34e-03 2.27e-02 -3.9 5.01e+02 -9.1 1.00e+00 9.59e-01f 1 21 2.0757587e+00 9.00e-03 1.13e-02 -4.0 1.57e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756823e+00 6.51e-04 5.14e-04 -4.0 7.16e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 9.27e-06 8.54e-06 -4.0 2.33e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 5.23e-08 1.51e-06 -4.0 1.51e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.56e-09 1.51e-07 -4.0 5.26e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.83e-11 3.06e-09 -4.0 9.27e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122085186e+00 2.0756712122085186e+00 Dual infeasibility......: 3.0613262586259675e-09 3.0613262586259675e-09 Constraint violation....: 7.8316908513897943e-11 7.8316908513897943e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000013e-04 1.0000000000000013e-04 Overall NLP error.......: 3.0613262586259675e-09 3.0613262586259675e-09 Number of objective function evaluations = 28 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 26 Total seconds in IPOPT = 34.069 EXIT: Optimal Solution Found. [test_integrator] Starting... [test_integrator] constraint_dim=8, datavec_len=75, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.8695793e+00 2.91e+00 7.95e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.7082343e+00 9.77e-02 5.49e+00 -0.9 2.09e+00 0.0 8.02e-01 1.00e+00f 1 Hello, world! 2 2.4115678e+00 3.08e-02 2.58e+00 -0.9 2.22e-01 0.4 9.80e-01 6.69e-01h 1 Hello, world! 3 2.4423589e+00 6.36e-03 7.44e-01 -1.3 2.57e-01 -0.1 9.89e-01 1.00e+00f 1 Hello, world! 4 2.2658019e+00 1.85e-03 2.91e-01 -2.1 1.04e-01 -0.5 9.95e-01 7.85e-01h 1 Hello, world! 5 2.1356960e+00 8.13e-04 9.38e-02 -3.1 8.56e-02 -1.0 1.00e+00 6.74e-01h 1 Hello, world! 6 2.0936531e+00 1.60e-04 1.76e-02 -4.0 2.77e-02 -1.5 1.00e+00 8.89e-01h 1 Hello, world! 7 2.0909880e+00 1.91e-06 2.86e-03 -4.0 1.79e-02 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0909988e+00 5.21e-08 7.95e-05 -4.0 2.16e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909932e+00 6.01e-10 2.49e-05 -4.0 2.04e-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 2.0909854e+00 1.78e-09 2.47e-05 -4.0 6.07e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0909638e+00 1.47e-08 2.87e-05 -4.0 1.77e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0909072e+00 1.15e-07 2.36e-04 -4.0 4.79e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0908211e+00 4.80e-07 3.01e-03 -4.0 1.00e+00 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0906187e+00 2.98e-06 2.08e-03 -4.0 3.06e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0900364e+00 2.83e-05 6.79e-04 -4.0 9.10e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0897382e+00 4.58e-06 1.97e-03 -4.0 3.46e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0890341e+00 2.31e-05 1.04e-02 -4.0 1.11e+01 -5.8 1.00e+00 6.93e-01h 1 Hello, world! 18 2.0873497e+00 3.05e-04 3.24e-02 -4.0 2.88e+01 -6.3 1.00e+00 1.00e+00f 1 Hello, world! 19 2.0861871e+00 2.63e-04 1.15e-01 -4.0 2.83e+01 -5.9 1.00e+00 2.84e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0847563e+00 1.82e-04 2.21e-02 -4.0 2.38e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0827666e+00 1.77e-04 2.44e-02 -4.0 3.47e+01 -6.8 1.00e+00 9.64e-01h 1 Hello, world! 22 2.0830089e+00 9.47e-04 2.97e-02 -4.0 5.48e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0821377e+00 1.46e-03 7.87e-03 -4.1 1.31e+02 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0965744e+00 1.01e-05 6.45e-01 -4.0 4.69e+02 -8.3 1.14e-01 1.00e+00H 1 Hello, world! 25 2.0842512e+00 1.18e-02 5.43e+00 -4.2 7.03e+01 -5.1 2.09e-02 1.60e-01f 1 Hello, world! 26 2.0831422e+00 1.24e-02 5.43e+00 -4.2 1.98e+03 -4.7 1.07e-06 4.45e-04f 1 Hello, world! 27 2.0831991e+00 1.25e-02 5.46e+00 -4.2 3.14e+03 -5.2 1.43e-07 8.00e-05f 2 Hello, world! 28 2.0830207e+00 1.04e-02 4.96e+00 -4.2 6.74e-01 -2.9 1.00e+00 1.64e-01h 1 Hello, world! 29 2.0832402e+00 2.67e-06 1.57e-03 -4.2 9.61e-02 -3.4 1.00e+00 1.00e+00f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0834372e+00 2.96e-06 1.14e-04 -4.0 6.61e-02 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0832442e+00 5.85e-06 2.88e-05 -4.1 2.24e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0824807e+00 9.94e-05 5.63e-03 -6.1 9.96e-01 -4.9 9.38e-01 1.00e+00h 1 Hello, world! 33 2.0832945e+00 2.56e-04 2.18e-03 -4.0 1.82e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0827340e+00 1.88e-04 1.06e-03 -4.1 4.24e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0824126e+00 3.70e-05 2.60e-03 -4.1 9.66e+00 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0824745e+00 4.93e-04 2.46e-03 -4.0 2.22e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0818975e+00 8.57e-04 8.76e-03 -4.1 4.91e+01 -7.2 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0818158e+00 2.31e-03 4.68e-03 -4.0 1.06e+02 -7.7 7.61e-01 1.00e+00h 1 Hello, world! 39 2.0816468e+00 1.65e-03 1.99e-02 -4.0 2.88e+01 -6.4 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 2.0817434e+00 1.20e-04 1.60e-02 -4.0 6.01e+00 -6.9 9.69e-01 1.00e+00h 1 Hello, world! 41 2.0834244e+00 7.21e-05 2.83e-02 -4.0 1.84e+01 -7.3 1.00e+00 8.47e-01H 1 Hello, world! 42 2.0818143e+00 2.47e-04 8.13e-03 -4.1 9.72e+00 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0816162e+00 2.38e-04 2.85e-01 -4.1 2.74e+01 -5.6 1.20e-01 4.69e-02h 1 Hello, world! 44 2.0817878e+00 2.85e-05 3.23e-04 -4.0 1.10e+00 -6.1 1.00e+00 1.00e+00f 1 Hello, world! 45 2.0818207e+00 2.23e-06 5.98e-05 -4.0 9.69e-01 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0818334e+00 1.44e-06 1.23e-04 -4.0 1.70e+00 -7.0 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0818371e+00 6.24e-07 1.80e-05 -4.0 3.66e+00 -7.5 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0818406e+00 3.12e-07 3.52e-05 -4.0 6.21e+00 -8.0 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0815850e+00 1.82e-04 6.35e-05 -4.1 8.44e+00 -8.5 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818438e+00 2.18e-04 5.60e-05 -4.0 9.07e+00 -8.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0818437866601918e+00 2.0818437866601918e+00 Dual infeasibility......: 5.6021216860132348e-05 5.6021216860132348e-05 Constraint violation....: 2.1823413220101173e-04 2.1823413220101173e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0090436757025057e-04 1.0090436757025057e-04 Overall NLP error.......: 2.1823413220101173e-04 2.1823413220101173e-04 Number of objective function evaluations = 55 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 55 Number of inequality constraint evaluations = 55 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 24.465 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.8695793e+00 2.91e+00 7.95e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.7082343e+00 9.77e-02 5.49e+00 -0.9 2.09e+00 0.0 8.02e-01 1.00e+00f 1 Hello, world! 2 2.4115678e+00 3.08e-02 2.58e+00 -0.9 2.22e-01 0.4 9.80e-01 6.69e-01h 1 Hello, world! 3 2.4423589e+00 6.36e-03 7.44e-01 -1.3 2.57e-01 -0.1 9.89e-01 1.00e+00f 1 Hello, world! 4 2.2658019e+00 1.85e-03 2.91e-01 -2.1 1.04e-01 -0.5 9.95e-01 7.85e-01h 1 Hello, world! 5 2.1356960e+00 8.13e-04 9.38e-02 -3.1 8.56e-02 -1.0 1.00e+00 6.74e-01h 1 Hello, world! 6 2.0936531e+00 1.60e-04 1.76e-02 -4.0 2.77e-02 -1.5 1.00e+00 8.89e-01h 1 Hello, world! 7 2.0909880e+00 1.91e-06 2.86e-03 -4.0 1.79e-02 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0909988e+00 5.21e-08 7.95e-05 -4.0 2.16e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909932e+00 6.01e-10 2.49e-05 -4.0 2.04e-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 2.0909854e+00 1.78e-09 2.47e-05 -4.0 6.07e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0909638e+00 1.47e-08 2.87e-05 -4.0 1.77e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0909072e+00 1.15e-07 2.36e-04 -4.0 4.79e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0908211e+00 4.80e-07 3.01e-03 -4.0 1.00e+00 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0906187e+00 2.98e-06 2.08e-03 -4.0 3.06e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0900364e+00 2.83e-05 6.79e-04 -4.0 9.10e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0897382e+00 4.58e-06 1.97e-03 -4.0 3.46e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0890341e+00 2.31e-05 1.04e-02 -4.0 1.11e+01 -5.8 1.00e+00 6.93e-01h 1 Hello, world! 18 2.0873497e+00 3.05e-04 3.24e-02 -4.0 2.88e+01 -6.3 1.00e+00 1.00e+00f 1 Hello, world! 19 2.0861871e+00 2.63e-04 1.15e-01 -4.0 2.83e+01 -5.9 1.00e+00 2.84e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0847563e+00 1.82e-04 2.21e-02 -4.0 2.38e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0827666e+00 1.77e-04 2.44e-02 -4.0 3.47e+01 -6.8 1.00e+00 9.64e-01h 1 Hello, world! 22 2.0830089e+00 9.47e-04 2.97e-02 -4.0 5.48e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0821377e+00 1.46e-03 7.87e-03 -4.1 1.31e+02 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0965744e+00 1.01e-05 6.45e-01 -4.0 4.69e+02 -8.3 1.14e-01 1.00e+00H 1 Hello, world! 25 2.0842512e+00 1.18e-02 5.43e+00 -4.2 7.03e+01 -5.1 2.09e-02 1.60e-01f 1 Hello, world! 26 2.0831422e+00 1.24e-02 5.43e+00 -4.2 1.98e+03 -4.7 1.07e-06 4.45e-04f 1 Hello, world! 27 2.0831991e+00 1.25e-02 5.46e+00 -4.2 3.14e+03 -5.2 1.43e-07 8.00e-05f 2 Hello, world! 28 2.0830207e+00 1.04e-02 4.96e+00 -4.2 6.74e-01 -2.9 1.00e+00 1.64e-01h 1 Hello, world! 29 2.0832402e+00 2.67e-06 1.57e-03 -4.2 9.61e-02 -3.4 1.00e+00 1.00e+00f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0834372e+00 2.96e-06 1.14e-04 -4.0 6.61e-02 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0832442e+00 5.85e-06 2.88e-05 -4.1 2.24e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0824807e+00 9.94e-05 5.63e-03 -6.1 9.96e-01 -4.9 9.38e-01 1.00e+00h 1 Hello, world! 33 2.0832945e+00 2.56e-04 2.18e-03 -4.0 1.82e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0827340e+00 1.88e-04 1.06e-03 -4.1 4.24e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0824126e+00 3.70e-05 2.60e-03 -4.1 9.66e+00 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0824745e+00 4.93e-04 2.46e-03 -4.0 2.22e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0818975e+00 8.57e-04 8.76e-03 -4.1 4.91e+01 -7.2 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0818158e+00 2.31e-03 4.68e-03 -4.0 1.06e+02 -7.7 7.61e-01 1.00e+00h 1 Hello, world! 39 2.0816468e+00 1.65e-03 1.99e-02 -4.0 2.88e+01 -6.4 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 2.0817434e+00 1.20e-04 1.60e-02 -4.0 6.01e+00 -6.9 9.69e-01 1.00e+00h 1 Hello, world! 41 2.0834244e+00 7.21e-05 2.83e-02 -4.0 1.84e+01 -7.3 1.00e+00 8.47e-01H 1 Hello, world! 42 2.0818143e+00 2.47e-04 8.13e-03 -4.1 9.72e+00 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0816162e+00 2.38e-04 2.85e-01 -4.1 2.74e+01 -5.6 1.20e-01 4.69e-02h 1 Hello, world! 44 2.0817878e+00 2.85e-05 3.23e-04 -4.0 1.10e+00 -6.1 1.00e+00 1.00e+00f 1 Hello, world! 45 2.0818207e+00 2.23e-06 5.98e-05 -4.0 9.69e-01 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0818334e+00 1.44e-06 1.23e-04 -4.0 1.70e+00 -7.0 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0818371e+00 6.24e-07 1.80e-05 -4.0 3.66e+00 -7.5 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0818406e+00 3.12e-07 3.52e-05 -4.0 6.21e+00 -8.0 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0815850e+00 1.82e-04 6.35e-05 -4.1 8.44e+00 -8.5 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818438e+00 2.18e-04 5.60e-05 -4.0 9.07e+00 -8.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0818437866601918e+00 2.0818437866601918e+00 Dual infeasibility......: 5.6021216860132348e-05 5.6021216860132348e-05 Constraint violation....: 2.1823413220101173e-04 2.1823413220101173e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0090436757025057e-04 1.0090436757025057e-04 Overall NLP error.......: 2.1823413220101173e-04 2.1823413220101173e-04 Number of objective function evaluations = 55 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 55 Number of inequality constraint evaluations = 55 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 0.939 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... applying constraint: duration constraint of 4.0 applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1529 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 73 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.2393718e+00 3.10e+00 7.71e-02 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.2490939e+00 2.41e+00 1.62e+00 -0.8 7.37e+00 -2.0 1.41e-01 2.22e-01f 1 2 1.4415688e+00 1.66e+00 1.83e+00 -0.8 7.10e+00 -1.6 2.53e-01 4.12e-01f 1 3 1.5280394e+00 1.47e+00 1.89e+00 -4.0 1.17e+01 -1.1 6.90e-02 1.16e-01h 1 4 1.7380825e+00 1.07e+00 1.32e+00 -1.2 4.20e+00 -1.6 3.37e-01 5.68e-01h 1 5 1.7513985e+00 8.74e-01 2.95e+00 -2.0 4.15e+00 -1.2 3.14e-01 6.37e-01h 1 6 1.4682607e+00 6.40e-02 5.34e-01 -2.4 1.58e+00 -1.7 5.71e-01 8.95e-01h 1 7 1.4292252e+00 5.07e-02 5.08e-01 -2.3 9.61e-01 -2.2 1.00e+00 2.08e-01h 1 8 1.3069910e+00 4.28e-03 9.89e-02 -2.8 8.50e-01 -2.6 1.00e+00 1.00e+00h 1 9 1.2761329e+00 1.19e-03 1.06e-01 -4.0 2.24e+00 -3.1 3.54e-01 9.30e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.2612237e+00 4.00e-02 2.30e-01 -4.0 7.28e-01 -1.8 2.11e-01 5.65e-01h 1 11 1.2591998e+00 3.93e-02 5.45e-01 -2.5 7.17e-01 -1.4 9.59e-01 2.17e-01f 1 12 1.2519538e+00 7.50e-03 4.94e-02 -3.1 3.64e-01 -1.8 1.00e+00 9.85e-01h 1 13 1.2183484e+00 3.27e-01 1.14e-01 -4.0 2.15e+01 -2.3 1.01e-01 9.94e-02h 1 14 1.1988341e+00 1.55e-01 2.32e-02 -4.0 2.08e+00 -2.8 4.98e-01 5.56e-01h 1 15 1.1965336e+00 1.12e-01 1.19e-01 -4.0 2.21e+00 -3.3 1.00e+00 2.53e-01h 1 16 1.1892661e+00 6.08e-02 5.90e-02 -3.5 2.12e+00 -3.7 1.00e+00 1.00e+00h 1 17 1.1784992e+00 1.37e-01 1.26e-02 -4.0 4.67e+00 -4.2 1.00e+00 7.30e-01h 1 18 1.1737649e+00 1.28e-01 2.84e-02 -4.0 6.36e+00 -4.7 1.00e+00 1.00e+00h 1 19 1.1695726e+00 1.92e-01 3.96e-03 -4.0 1.04e+01 -5.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.1677276e+00 1.65e-01 1.30e-02 -4.0 1.56e+01 -5.6 1.00e+00 1.00e+00h 1 21 1.1654642e+00 2.33e-01 1.98e-03 -4.0 2.38e+01 -6.1 1.00e+00 1.00e+00h 1 22 1.1641752e+00 2.40e-01 6.65e-04 -4.0 3.55e+01 -6.6 1.00e+00 1.00e+00h 1 23 1.1628612e+00 3.12e-01 1.04e-02 -4.0 5.36e+01 -7.1 1.00e+00 1.00e+00h 1 24 1.1620125e+00 3.44e-01 1.20e-02 -4.0 7.91e+01 -7.6 1.00e+00 1.00e+00h 1 25 1.1612419e+00 4.15e-01 2.15e-02 -4.0 1.16e+02 -8.0 1.00e+00 1.00e+00h 1 26 1.1607610e+00 4.38e-01 2.33e-02 -4.0 1.63e+02 -8.5 1.00e+00 1.00e+00h 1 27 1.1604728e+00 4.13e-01 2.25e-02 -4.0 2.09e+02 -9.0 1.00e+00 1.00e+00h 1 28 1.1606945e+00 1.21e-01 8.88e-04 -4.0 1.57e+02 -9.5 1.00e+00 1.00e+00h 1 29 1.1608550e+00 2.81e-03 9.31e-04 -4.0 1.48e+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 3.50e-04 4.20e-05 -4.0 7.73e+00 -10.4 1.00e+00 1.00e+00h 1 31 1.1608491e+00 2.59e-07 2.46e-09 -4.0 2.31e-01 -10.9 1.00e+00 1.00e+00h 1 32 1.1608491e+00 3.00e-12 3.11e-13 -4.0 7.17e-04 -11.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 32 (scaled) (unscaled) Objective...............: 1.1608491307796462e+00 1.1608491307796462e+00 Dual infeasibility......: 3.1118515967168414e-13 3.1118515967168414e-13 Constraint violation....: 3.0002667017470230e-12 3.0002667017470230e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000539e-04 1.0000000000000539e-04 Overall NLP error.......: 3.0002667017470230e-12 3.0002667017470230e-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 = 23.943 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 1.0022139e+00 9.36e-01 1.01e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6157304e+00 1.13e-01 1.31e+00 -1.0 8.87e-01 0.0 9.95e-01 9.21e-01h 1 2 1.7729319e+00 5.25e-02 6.71e-01 -0.8 5.18e-01 -0.5 9.68e-01 6.34e-01f 1 3 1.7830565e+00 4.74e-02 8.21e-01 -1.3 4.22e-01 -1.0 8.74e-01 1.00e+00h 1 4 1.2119294e+00 8.90e-03 1.30e-01 -1.9 6.11e-01 -1.4 9.93e-01 8.65e-01f 1 5 1.1045126e+00 9.79e-05 4.43e-02 -2.8 1.71e+00 - 9.84e-01 1.00e+00h 1 6 1.0911793e+00 1.48e-06 8.30e-03 -4.0 7.26e-01 - 1.00e+00 1.00e+00h 1 7 1.0910381e+00 1.99e-09 8.71e-04 -4.0 2.88e-01 - 1.00e+00 1.00e+00h 1 8 1.0910386e+00 1.95e-14 2.80e-05 -4.0 3.58e-02 - 1.00e+00 1.00e+00h 1 9 1.0910386e+00 8.66e-25 2.79e-05 -4.0 1.91e-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 1.0910386e+00 8.88e-16 2.79e-05 -4.0 1.94e-05 - 1.00e+00 1.00e+00h 1 11 1.0908587e+00 1.78e-15 2.01e-09 -4.1 1.99e-05 - 1.00e+00 1.00e+00f 1 12 1.0910386e+00 4.63e-33 2.18e-09 -4.0 1.99e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 12 (scaled) (unscaled) Objective...............: 1.0910385864123910e+00 1.0910385864123910e+00 Dual infeasibility......: 2.1802472624597030e-09 2.1802472624597030e-09 Constraint violation....: 4.6316991116446955e-33 4.6316991116446955e-33 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000114090540930e-04 1.0000114090540930e-04 Overall NLP error.......: 2.1802472624597030e-09 2.1802472624597030e-09 Number of objective function evaluations = 13 Number of objective gradient evaluations = 13 Number of equality constraint evaluations = 13 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 13 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 12 Total seconds in IPOPT = 23.294 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 3.8474980e+00 2.47e+00 1.98e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9110740e+00 2.68e-02 3.95e-01 -1.1 1.99e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.2627281e+00 3.79e-02 1.14e-01 -1.8 4.94e-01 -1.6 9.76e-01 1.00e+00h 1 3 2.1320943e+00 4.55e-03 2.90e-01 -2.8 1.43e-01 -1.1 9.33e-01 1.00e+00h 1 4 2.1008201e+00 1.78e-03 2.72e-01 -4.0 2.13e-01 -1.6 1.00e+00 6.81e-01h 1 5 2.0912362e+00 5.48e-04 2.20e-01 -4.0 4.82e-01 -2.1 1.00e+00 7.62e-01h 1 6 2.0908715e+00 1.11e-04 2.62e-01 -4.0 6.48e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0909629e+00 1.16e-06 5.96e-03 -4.0 2.35e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0909743e+00 3.53e-07 2.06e-05 -4.0 7.04e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909535e+00 1.64e-08 2.06e-05 -4.0 2.11e-01 -4.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908918e+00 1.46e-07 2.05e-05 -4.0 6.30e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907096e+00 1.29e-06 4.96e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0901906e+00 1.09e-05 4.19e-04 -4.0 5.44e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888487e+00 8.18e-05 3.16e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861631e+00 4.39e-04 1.74e-02 -4.0 3.46e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830936e+00 9.13e-04 4.71e-02 -4.0 5.31e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828639e+00 9.30e-04 2.36e-02 -4.0 5.41e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823468e+00 3.99e-04 1.01e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820401e+00 9.45e-05 1.85e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.71e-04 8.69e-03 -4.0 9.93e+01 -8.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0819393e+00 3.70e-05 8.47e-04 -4.0 3.11e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.35e-07 1.39e-05 -4.0 4.47e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.88e-10 3.29e-08 -4.0 2.46e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.54e-13 1.23e-11 -4.0 4.61e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907191049e+00 2.0819382907191049e+00 Dual infeasibility......: 1.2282705749841125e-11 1.2282705749841125e-11 Constraint violation....: 2.5401902803423582e-13 2.5401902803423582e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000025e-04 1.0000000000000025e-04 Overall NLP error.......: 1.2282705749841125e-11 1.2282705749841125e-11 Number of objective function evaluations = 24 Number of objective gradient evaluations = 24 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 24 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 23 Total seconds in IPOPT = 24.984 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1528 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 77 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.7649496e+00 2.60e+00 3.21e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9553017e+00 2.08e-02 4.82e-01 -1.0 2.35e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3399666e+00 3.15e-02 7.98e-02 -1.8 4.42e-01 -1.6 9.52e-01 1.00e+00h 1 3 2.1576890e+00 1.98e-03 1.75e-01 -3.0 9.14e-02 -1.1 9.77e-01 9.94e-01h 1 4 2.1018555e+00 1.57e-03 1.23e-01 -4.0 1.34e-01 -1.6 1.00e+00 8.55e-01h 1 5 2.0932996e+00 4.19e-04 5.42e-01 -4.0 4.37e-01 -2.1 1.00e+00 3.40e-01h 1 6 2.0911740e+00 5.04e-04 1.46e+00 -4.0 1.84e+00 -2.6 1.00e+00 5.23e-01h 1 7 2.0909161e+00 3.20e-05 1.69e-01 -4.0 9.50e-01 -3.1 1.00e+00 1.00e+00h 1 8 2.0908902e+00 2.70e-06 2.22e-03 -4.0 5.90e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908756e+00 8.92e-07 1.85e-05 -4.0 1.70e-01 -4.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908402e+00 7.45e-08 1.18e-04 -4.0 4.73e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907414e+00 5.73e-07 3.60e-04 -4.0 1.31e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904387e+00 5.45e-06 5.31e-04 -4.0 3.90e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0903148e+00 8.99e-07 5.91e-04 -4.0 1.60e+00 -5.0 1.00e+00 1.00e+00h 1 14 2.0901649e+00 1.53e-06 2.17e-02 -4.0 6.99e+00 -5.5 1.00e+00 2.05e-01h 2 15 2.0889746e+00 6.73e-05 2.93e-03 -4.0 1.41e+01 -6.0 1.00e+00 1.00e+00h 1 16 2.0872289e+00 1.79e-04 5.18e-02 -4.0 3.74e+01 -6.4 1.00e+00 5.57e-01h 1 17 2.0836129e+00 1.52e-03 5.62e-02 -4.0 6.48e+01 -6.9 1.00e+00 1.00e+00h 1 18 2.0826338e+00 8.19e-04 3.42e-02 -4.0 4.24e+01 -7.4 1.00e+00 4.73e-01h 1 19 2.0822911e+00 4.21e-04 2.13e-02 -4.0 1.54e+02 -7.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.6137693e+02 1.26e-03 1.04e+03 -4.0 4.65e+03 -8.4 3.80e-03 1.00e+00H 1 21 1.3266087e+02 1.24e-03 1.00e+03 -4.0 2.04e+02 -0.5 6.61e-03 1.88e-02f 1 22 2.3234140e+00 2.61e-04 4.56e+01 -4.0 6.80e+00 -0.1 5.63e-01 7.89e-01f 1 23 2.3223907e+00 2.60e-04 4.14e+01 -4.0 1.83e-02 -0.6 1.00e+00 2.46e-03f 1 24 2.3223814e+00 5.46e-06 4.47e-02 -4.0 8.01e-02 -1.0 1.00e+00 1.00e+00f 1 25 2.3188537e+00 3.10e-05 1.62e-02 -4.0 2.37e-01 -1.5 1.00e+00 1.00e+00h 1 26 2.3143165e+00 6.36e-06 1.32e-01 -4.0 6.91e-01 -2.0 1.00e+00 8.62e-01h 1 27 2.3005949e+00 1.47e-05 4.04e-02 -4.0 2.01e+00 -2.5 1.00e+00 1.00e+00f 1 28 2.2644088e+00 6.83e-05 3.05e-01 -4.0 5.53e+00 -2.9 1.00e+00 1.00e+00f 1 29 2.2487050e+00 7.09e-05 1.22e+01 -4.0 1.28e+01 -3.4 1.00e+00 2.00e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.2491117e+00 6.13e-05 2.62e+01 -4.0 5.01e-01 -3.9 1.00e+00 1.44e-01f 2 31 2.2487744e+00 9.95e-05 1.76e+01 -4.0 1.42e+00 -4.4 1.00e+00 3.04e-01h 2 32 2.2473393e+00 4.37e-04 1.02e-02 -4.0 4.29e+00 -4.9 1.00e+00 1.00e+00h 1 33 2.2446940e+00 1.49e-03 5.12e-03 -4.0 1.23e+01 -5.3 1.00e+00 1.00e+00h 1 34 2.2395377e+00 6.86e-04 2.60e-02 -4.0 3.57e+01 -5.8 1.00e+00 1.00e+00h 1 35 2.2259536e+00 1.07e-03 5.04e-02 -4.0 1.03e+02 -6.3 1.00e+00 1.00e+00h 1 36 2.2173676e+00 7.46e-04 1.92e+00 -4.0 2.78e+02 -6.8 6.43e-01 2.95e-01h 1 37 2.1776784e+00 8.96e-03 1.85e+00 -4.0 6.83e+02 -7.2 3.48e-01 6.43e-01f 1 38 2.1223649e+00 5.32e-02 1.21e+00 -4.0 1.34e+03 -7.7 6.52e-01 8.30e-01f 1 39 2.0929668e+00 3.62e-02 4.46e-01 -4.0 1.55e+03 -8.2 6.49e-01 7.56e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0826832e+00 2.08e-02 3.71e-01 -4.0 1.27e+03 -8.7 5.47e-01 8.70e-01f 1 41 2.0824043e+00 1.73e-02 5.42e-01 -4.0 9.69e+03 -7.3 7.61e-04 1.92e-02f 1 42 2.0822533e+00 1.37e-02 5.74e-01 -4.0 4.47e+01 -6.0 2.71e-01 2.08e-01f 1 43 2.0833540e+00 1.14e-03 8.01e-02 -4.0 5.22e+01 -6.5 1.00e+00 1.00e+00f 1 44 2.0836656e+00 3.35e-03 2.35e-01 -3.8 9.68e+01 -7.0 7.01e-01 1.00e+00h 1 45 2.0832925e+00 1.23e-07 1.34e-03 -3.8 5.75e-02 -2.0 1.00e+00 1.00e+00h 1 46 2.0827869e+00 1.57e-06 5.75e-03 -4.0 9.35e-02 -2.5 1.00e+00 1.00e+00h 1 47 2.0827432e+00 1.25e-06 2.07e-04 -4.0 6.12e-02 -3.0 1.00e+00 1.00e+00h 1 48 2.0827800e+00 1.29e-06 1.36e-04 -4.0 4.61e-02 -3.5 1.00e+00 1.00e+00h 1 49 2.0828031e+00 3.20e-06 1.08e-01 -4.0 1.08e+00 -3.9 1.02e-01 6.28e-02h 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0828140e+00 3.15e-06 3.03e-01 -4.1 2.59e+00 -3.5 4.74e-01 3.45e-02h 3 51 2.0826747e+00 3.47e-06 1.24e-04 -4.1 1.10e-01 -4.0 1.00e+00 1.00e+00h 1 52 2.0828136e+00 4.74e-06 6.16e-05 -4.0 3.55e-01 -4.5 1.00e+00 1.00e+00h 1 53 2.0826689e+00 2.56e-05 2.87e-04 -4.1 8.87e-01 -4.9 1.00e+00 1.00e+00h 1 54 2.0827702e+00 9.46e-05 1.44e-04 -4.0 2.45e+00 -5.4 1.00e+00 1.00e+00h 1 55 2.0825143e+00 2.48e-04 1.47e-03 -4.1 4.66e+00 -5.9 1.00e+00 1.00e+00h 1 56 2.0824815e+00 2.05e-04 2.78e-03 -4.0 7.95e+00 -6.4 1.00e+00 1.00e+00h 1 57 2.0823059e+00 1.35e-04 2.51e-03 -4.0 1.44e+01 -6.9 1.00e+00 1.00e+00h 1 58 2.0821745e+00 1.42e-04 3.44e-03 -4.0 3.19e+01 -7.3 1.00e+00 1.00e+00h 1 59 2.0819935e+00 4.68e-04 7.63e-03 -4.0 6.94e+01 -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 60 2.0818567e+00 7.65e-04 1.21e-02 -4.0 1.07e+02 -8.3 1.00e+00 1.00e+00h 1 61 2.0818351e+00 3.31e-04 6.22e-03 -4.0 9.07e+01 -8.8 1.00e+00 1.00e+00h 1 62 2.0818379e+00 2.51e-05 6.64e-04 -4.0 3.44e+01 -9.2 1.00e+00 1.00e+00h 1 63 2.0818383e+00 6.74e-07 1.55e-05 -4.0 5.08e+00 -9.7 1.00e+00 1.00e+00h 1 64 2.0818383e+00 1.25e-09 4.69e-08 -4.0 2.72e-01 -10.2 1.00e+00 1.00e+00h 1 65 2.0818383e+00 2.95e-13 1.71e-11 -4.0 5.09e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 65 (scaled) (unscaled) Objective...............: 2.0818383021750959e+00 2.0818383021750959e+00 Dual infeasibility......: 1.7054178219361865e-11 1.7054178219361865e-11 Constraint violation....: 2.9487523534044158e-13 2.9487523534044158e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000085e-04 1.0000000000000085e-04 Overall NLP error.......: 1.7054178219361865e-11 1.7054178219361865e-11 Number of objective function evaluations = 85 Number of objective gradient evaluations = 66 Number of equality constraint evaluations = 85 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 66 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 65 Total seconds in IPOPT = 26.778 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 2.2683934e+00 9.58e-01 1.06e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.2492120e+00 2.60e-01 1.57e+00 -1.1 9.58e-01 0.0 9.89e-01 1.00e+00h 1 2 1.2546835e+00 1.27e-01 5.81e-01 -0.9 3.33e-01 -0.5 8.77e-01 5.14e-01h 1 3 1.4110458e+00 3.28e-02 8.80e-01 -1.8 5.02e-01 -1.0 9.41e-01 1.00e+00h 1 4 1.1872815e+00 2.71e-02 3.96e-01 -1.8 1.00e+00 -1.4 9.93e-01 3.10e-01h 1 5 1.2509827e+00 2.57e-02 6.48e-01 -2.3 7.78e-01 -1.9 7.70e-01 4.67e-01h 1 6 1.2067608e+00 2.09e-02 4.50e-01 -3.0 2.29e+00 -2.4 1.00e+00 2.10e-01h 1 7 1.1195505e+00 3.21e-03 3.31e-01 -3.9 3.96e+00 - 1.00e+00 9.33e-01h 1 8 1.0916268e+00 1.74e-04 1.10e-01 -4.0 2.65e+00 - 1.00e+00 9.92e-01h 1 9 1.0908669e+00 1.08e-06 8.08e-04 -4.0 2.60e-01 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0908998e+00 1.24e-11 5.04e-05 -4.0 2.62e-02 - 1.00e+00 1.00e+00h 1 11 1.0908997e+00 7.12e-19 5.03e-05 -4.0 5.84e-03 - 1.00e+00 1.00e+00h 1 12 1.0908997e+00 1.90e-27 3.77e-12 -4.0 3.59e-06 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 12 (scaled) (unscaled) Objective...............: 1.0908997263265459e+00 1.0908997263265459e+00 Dual infeasibility......: 3.7685311685478617e-12 3.7685311685478617e-12 Constraint violation....: 1.8996841788215759e-27 1.8996841788215759e-27 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 3.7685311685478617e-12 3.7685311685478617e-12 Number of objective function evaluations = 13 Number of objective gradient evaluations = 13 Number of equality constraint evaluations = 13 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 13 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 12 Total seconds in IPOPT = 22.193 EXIT: Optimal Solution Found. ┌ Warning: Trajectory has timestep variable :Δt but no bounds on it. │ Adding default lower bound of 0 to prevent negative timesteps. │ │ Recommended: Add explicit bounds when creating the trajectory: │ NamedTrajectory(...; Δt_bounds=(min, max)) │ Example: │ NamedTrajectory(qtraj, N; Δt_bounds=(1e-3, 0.5)) │ │ Or use timesteps_all_equal=true in problem options to fix timesteps. └ @ DirectTrajOpt.Problems ~/.julia/packages/DirectTrajOpt/4TeZc/src/problems.jl:65 initializing optimizer... applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: bounds on u applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial time t₁ = 0 This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 30 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.2508277e-02 8.33e-17 9.83e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.0000346e-02 7.06e-12 1.69e-02 -4.0 3.81e-02 -2.0 9.83e-01 1.00e+00f 1 2 1.0622700e-02 1.31e-12 8.33e-02 -2.9 1.14e-01 -1.6 9.98e-01 1.00e+00f 1 3 2.1370178e-03 2.49e-11 6.03e-02 -3.5 2.15e-01 -1.1 1.00e+00 9.50e-01f 1 4 1.7823539e-03 1.92e-11 3.38e-02 -4.0 6.48e-02 -0.7 1.00e+00 2.56e-01f 2 5 7.8935777e-05 8.21e-12 2.39e-02 -4.0 2.38e-01 -1.2 1.00e+00 7.23e-01f 1 6 5.5263919e-05 6.15e-12 1.73e-02 -3.7 5.97e-01 -1.7 1.00e+00 2.43e-01f 2 7 1.0735328e-04 6.08e-12 1.65e-02 -3.5 1.76e+00 -2.2 1.00e+00 3.32e-02f 4 8 1.0735328e-04 6.08e-12 1.59e-02 -3.6 4.35e+00 -2.6 1.65e-01 7.91e-15h 45 9 1.3310748e-04 5.93e-12 1.50e-02 -3.6 1.06e+01 -3.1 2.33e-01 7.21e-03f 5 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.4817414e-04 5.82e-12 1.59e-02 -3.6 9.24e+00 -3.6 1.04e-01 4.40e-03f 6 11 1.4817414e-04 5.82e-12 6.48e-02 -3.6 6.96e+00 -4.1 1.00e+00 2.08e-14h 44 12 1.4387019e-03 1.02e-11 1.75e-02 -3.6 1.57e+00 -4.5 5.73e-01 5.73e-01s 63 13 1.4433468e-03 1.01e-11 3.70e-02 -3.6 3.60e+00 -5.0 1.42e-01 1.42e-01s 63 14 8.1662012e-04 9.57e-12 6.11e-02 -3.6 1.94e+00 -5.5 2.85e-01 2.85e-01s 63 15 9.2696088e-05 6.80e-12 3.99e-02 -3.6 3.29e-01 -6.0 7.45e-01 7.45e-01s 63 16 3.1812801e-05 1.49e-12 5.77e-03 -3.6 7.76e-02 -6.4 1.00e+00 0.00e+00S 63 17 3.1812801e-05 1.49e-12 6.92e-03 -4.0 5.37e-02 -6.9 1.00e+00 1.42e-14h 47 18 3.1812801e-05 1.49e-12 6.39e-03 -3.8 3.65e-02 -7.4 1.00e+00 2.84e-14h 46 19 1.0466392e-05 1.32e-12 4.30e-03 -3.8 3.59e-02 -7.9 1.00e+00 1.00e+00S 58 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.0465950e-05 1.32e-12 2.87e-03 -4.0 2.54e-02 -8.4 1.00e+00 6.10e-05h 15 21 1.0465171e-05 1.32e-12 2.79e-03 -4.0 2.18e-02 -8.8 1.00e+00 1.22e-04h 14 22 1.0464363e-05 1.32e-12 2.83e-03 -4.0 2.16e-02 -9.3 1.00e+00 1.22e-04h 14 23 1.0463526e-05 1.32e-12 2.87e-03 -4.0 2.16e-02 -9.8 1.00e+00 1.22e-04h 14 24 1.0462662e-05 1.32e-12 2.91e-03 -4.0 2.15e-02 -10.3 1.00e+00 1.22e-04h 14 25 1.0461771e-05 1.32e-12 2.95e-03 -4.0 2.14e-02 -10.7 1.00e+00 1.22e-04h 14 26 1.0460854e-05 1.32e-12 2.98e-03 -4.0 2.14e-02 -11.2 1.00e+00 1.22e-04h 14 27 1.0459913e-05 1.32e-12 3.02e-03 -4.0 2.13e-02 -11.7 1.00e+00 1.22e-04h 14 28 1.0459430e-05 1.32e-12 3.05e-03 -4.0 2.12e-02 -12.2 1.00e+00 6.10e-05h 15 29 1.0458936e-05 1.32e-12 3.08e-03 -4.0 2.12e-02 -12.7 1.00e+00 6.10e-05h 15 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.0458431e-05 1.32e-12 3.10e-03 -4.0 2.11e-02 -13.1 1.00e+00 6.10e-05h 15 31 1.0457915e-05 1.32e-12 3.13e-03 -4.0 2.10e-02 -13.6 1.00e+00 6.10e-05h 15 32 1.0457388e-05 1.32e-12 3.16e-03 -4.0 2.10e-02 -14.1 1.00e+00 6.10e-05h 15 33 1.0456852e-05 1.32e-12 3.18e-03 -4.0 2.09e-02 -14.6 1.00e+00 6.10e-05h 15 34 1.0456306e-05 1.32e-12 3.21e-03 -4.0 2.08e-02 -15.0 1.00e+00 6.10e-05h 15 35 1.0455750e-05 1.32e-12 3.23e-03 -4.0 2.08e-02 -15.5 1.00e+00 6.10e-05h 15 36 1.0455186e-05 1.32e-12 3.25e-03 -4.0 2.07e-02 -16.0 1.00e+00 6.10e-05h 15 37 1.0454612e-05 1.32e-12 3.27e-03 -4.0 2.06e-02 -16.5 1.00e+00 6.10e-05h 15 38 1.0454321e-05 1.32e-12 3.29e-03 -4.0 2.05e-02 -16.9 1.00e+00 3.05e-05h 16 39 1.0454025e-05 1.32e-12 3.31e-03 -4.0 2.05e-02 -17.4 1.00e+00 3.05e-05h 16 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.0453726e-05 1.32e-12 3.33e-03 -4.0 2.04e-02 -17.9 1.00e+00 3.05e-05h 16 41 1.0453423e-05 1.32e-12 3.34e-03 -4.0 2.03e-02 -18.4 1.00e+00 3.05e-05h 16 42 1.0453115e-05 1.32e-12 3.36e-03 -4.0 2.03e-02 -18.9 1.00e+00 3.05e-05h 16 43 1.0452804e-05 1.32e-12 3.38e-03 -4.0 2.02e-02 -19.3 1.00e+00 3.05e-05h 16 44 1.0452490e-05 1.32e-12 3.39e-03 -4.0 2.01e-02 -19.8 1.00e+00 3.05e-05h 16 45 1.0452171e-05 1.32e-12 3.41e-03 -4.0 2.01e-02 -20.0 1.00e+00 3.05e-05h 16 46 1.0451849e-05 1.32e-12 3.42e-03 -4.0 2.00e-02 -20.0 1.00e+00 3.05e-05h 16 47 1.0451524e-05 1.32e-12 3.44e-03 -4.0 1.99e-02 -20.0 1.00e+00 3.05e-05h 16 48 1.0451196e-05 1.32e-12 3.45e-03 -4.0 1.98e-02 -20.0 1.00e+00 3.05e-05h 16 49 1.0451030e-05 1.32e-12 3.46e-03 -4.0 1.98e-02 -20.0 1.00e+00 1.53e-05h 17 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 1.0450863e-05 1.32e-12 3.48e-03 -4.0 1.97e-02 -20.0 1.00e+00 1.53e-05h 17 51 1.0450694e-05 1.32e-12 3.49e-03 -4.0 1.96e-02 -20.0 1.00e+00 1.53e-05h 17 52 1.0450523e-05 1.32e-12 3.50e-03 -4.0 1.96e-02 -20.0 1.00e+00 1.53e-05h 17 53 1.0450351e-05 1.32e-12 3.51e-03 -4.0 1.95e-02 -20.0 1.00e+00 1.53e-05h 17 54 1.0450178e-05 1.32e-12 3.53e-03 -4.0 1.94e-02 -20.0 1.00e+00 1.53e-05h 17 55 1.0450003e-05 1.32e-12 3.54e-03 -4.0 1.93e-02 -20.0 1.00e+00 1.53e-05h 17 56 1.0449827e-05 1.32e-12 3.55e-03 -4.0 1.93e-02 -20.0 1.00e+00 1.53e-05h 17 57 1.0449649e-05 1.32e-12 3.56e-03 -4.0 1.92e-02 -20.0 1.00e+00 1.53e-05h 17 58 1.0449470e-05 1.32e-12 3.57e-03 -4.0 1.91e-02 -20.0 1.00e+00 1.53e-05h 17 59 1.0449290e-05 1.32e-12 3.58e-03 -4.0 1.90e-02 -20.0 1.00e+00 1.53e-05h 17 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 1.0449108e-05 1.32e-12 3.59e-03 -4.0 1.90e-02 -20.0 1.00e+00 1.53e-05h 17 61 1.0448926e-05 1.32e-12 3.60e-03 -4.0 1.89e-02 -20.0 1.00e+00 1.53e-05h 17 62 1.0448742e-05 1.32e-12 3.60e-03 -4.0 1.88e-02 -20.0 1.00e+00 1.53e-05h 17 63 1.0448742e-05 1.32e-12 3.61e-03 -4.0 1.87e-02 -20.0 1.00e+00 1.42e-14h 47 64 1.8533067e-06 5.42e-19 2.12e-03 -4.0 1.87e-02 -20.0 1.00e+00 1.00e+00S 58 65 1.8533067e-06 5.42e-19 6.87e-04 -4.0 4.04e-03 -20.0 1.00e+00 7.45e-09h 28 66 1.8533067e-06 4.34e-19 7.82e-04 -4.1 1.23e-02 -20.0 1.00e+00 3.64e-12h 39 67 1.8533067e-06 4.34e-19 1.28e-03 -6.1 5.57e-02 -20.0 9.81e-01 1.42e-14h 47 68 1.8533067e-06 3.25e-19 1.28e-03 -6.1 5.70e-02 -20.0 1.00e+00 1.78e-15h 50 69 1.8533067e-06 2.17e-19 1.28e-03 -6.1 5.70e-02 -20.0 1.00e+00 7.11e-15h 48 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 1.8533067e-06 2.17e-19 1.28e-03 -6.1 5.70e-02 -20.0 1.00e+00 5.55e-17h 55 71 1.8533067e-06 2.17e-19 1.28e-03 -6.1 5.70e-02 -20.0 1.00e+00 5.55e-17h 55 72 1.8533067e-06 2.17e-19 1.28e-03 -6.1 5.70e-02 -20.0 1.00e+00 5.55e-17h 55 73 1.8533067e-06 7.59e-19 1.28e-03 -6.1 5.70e-02 -20.0 1.00e+00 4.44e-16h 52 74 1.8533067e-06 1.41e-18 1.28e-03 -6.1 5.70e-02 -20.0 1.00e+00 4.44e-16h 52 75 1.8533067e-06 1.19e-18 1.28e-03 -6.1 5.70e-02 -20.0 1.00e+00 1.78e-15h 50 76 1.8533067e-06 1.08e-18 1.28e-03 -6.1 5.70e-02 -20.0 1.00e+00 2.22e-16h 53 77 1.8533067e-06 1.19e-18 1.28e-03 -6.1 5.70e-02 -20.0 1.00e+00 2.22e-16h 53 78 1.8533067e-06 4.34e-19 1.28e-03 -6.1 5.70e-02 -20.0 1.00e+00 1.14e-13h 44 79 1.8533067e-06 5.42e-19 1.28e-03 -6.1 5.70e-02 -20.0 1.00e+00 1.42e-14h 47 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 1.8533067e-06 4.34e-19 1.28e-03 -6.1 5.70e-02 -20.0 1.00e+00 7.11e-15h 48 81 1.8533067e-06 4.34e-19 1.28e-03 -6.1 5.70e-02 -20.0 1.00e+00 7.11e-15h 48 82 1.8533067e-06 4.34e-19 1.28e-03 -6.1 5.70e-02 -20.0 1.00e+00 3.55e-15h 49 83 1.8533067e-06 4.34e-19 1.28e-03 -6.1 5.70e-02 -20.0 1.00e+00 5.55e-17h 55 84 1.8533067e-06 4.34e-19 1.28e-03 -6.1 5.70e-02 -20.0 1.00e+00 5.55e-17h 55 85 1.8533067e-06 4.34e-19 1.28e-03 -6.1 5.70e-02 -20.0 1.00e+00 5.55e-17h 55 86 1.8533067e-06 4.34e-19 1.28e-03 -6.1 5.70e-02 -20.0 1.00e+00 5.55e-17h 55 87 1.8533067e-06 4.34e-19 1.28e-03 -6.1 5.70e-02 -20.0 1.00e+00 5.55e-17h 55 88 1.8533067e-06 4.34e-19 1.28e-03 -6.1 5.70e-02 -20.0 1.00e+00 5.55e-17h 55 89 1.8533067e-06 4.34e-19 1.28e-03 -6.1 5.70e-02 -20.0 1.00e+00 5.55e-17h 55 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 1.8533067e-06 4.34e-19 1.28e-03 -6.1 5.70e-02 -20.0 1.00e+00 5.55e-17h 55 91 1.8533067e-06 4.34e-19 1.28e-03 -6.1 5.70e-02 -20.0 1.00e+00 5.55e-17h 55 92 1.8533067e-06 4.34e-19 1.28e-03 -6.1 5.70e-02 -20.0 1.00e+00 5.55e-17h 55 93 1.8533067e-06 4.34e-19 1.28e-03 -6.1 5.70e-02 -20.0 1.00e+00 5.55e-17h 55 94 1.8533067e-06 4.34e-19 1.28e-03 -6.1 5.70e-02 -20.0 1.00e+00 5.55e-17h 55 95 1.8533067e-06 4.34e-19 1.28e-03 -6.1 5.70e-02 -20.0 1.00e+00 5.55e-17h 55 96 1.8533067e-06 4.34e-19 1.28e-03 -6.1 5.70e-02 -20.0 1.00e+00 5.55e-17h 55 97 1.8533067e-06 4.34e-19 1.28e-03 -6.1 5.70e-02 -20.0 1.00e+00 5.55e-17h 55 98 1.8533067e-06 4.34e-19 1.28e-03 -6.1 5.70e-02 -20.0 1.00e+00 5.55e-17h 55 99 1.8533067e-06 4.34e-19 1.28e-03 -6.1 5.70e-02 -20.0 1.00e+00 5.55e-17h 55 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 1.8533067e-06 4.34e-19 1.28e-03 -6.1 5.70e-02 -20.0 1.00e+00 5.55e-17h 55 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.8533066753777334e-06 1.8533066753777334e-06 Dual infeasibility......: 1.2759112242287651e-03 1.2759112242287651e-03 Constraint violation....: 4.3368086899420177e-19 4.3368086899420177e-19 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.2188800572938914e-04 1.2188800572938914e-04 Overall NLP error.......: 1.2759112242287651e-03 1.2759112242287651e-03 Number of objective function evaluations = 2998 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 2998 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 = 3.768 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial value of t applying constraint: bounds on u applying constraint: bounds on t applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 39 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 19 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.3316533e+00 4.94e-01 9.04e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.0150995e+00 3.87e-09 1.69e-01 -0.4 4.23e-01 -2.0 9.99e-01 1.00e+00f 1 2 2.5150011e-01 2.94e-09 2.94e-01 -4.0 1.21e+00 -1.6 8.05e-01 1.00e+00f 1 3 1.2727660e-01 3.74e-11 3.87e-02 -2.2 4.20e-01 -1.1 1.00e+00 1.00e+00f 1 4 3.6242942e-02 1.70e-11 3.54e-02 -3.1 7.55e-01 -1.6 9.98e-01 1.00e+00f 1 5 7.6354304e-03 1.81e-11 1.64e-02 -4.0 7.01e-01 -2.1 1.00e+00 1.00e+00f 1 6 1.4977096e-03 5.93e-12 5.56e-03 -4.0 4.78e-01 -2.6 1.00e+00 1.00e+00f 1 7 5.2965268e-04 1.70e-12 1.45e-03 -4.0 2.10e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.5407370e-04 1.95e-13 2.46e-04 -4.0 7.04e-02 -3.5 1.00e+00 1.00e+00f 1 9 4.5307765e-04 2.03e-14 1.15e-04 -4.0 1.83e-02 -4.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 4.5457258e-04 9.10e-15 1.23e-04 -4.0 1.99e-02 -4.5 1.00e+00 1.00e+00f 1 11 3.0254898e-04 9.77e-15 4.31e-04 -4.1 7.90e-02 -5.0 1.00e+00 1.00e+00f 1 12 4.6094002e-04 5.44e-15 3.80e-04 -4.0 2.04e-01 -5.4 1.00e+00 5.00e-01f 2 13 2.7248669e-04 3.22e-15 5.67e-04 -4.1 1.08e-01 -5.9 1.00e+00 1.00e+00f 1 14 4.6536584e-04 2.33e-15 4.83e-04 -4.0 2.58e-01 -6.4 1.00e+00 5.00e-01f 2 15 2.6277669e-04 1.89e-15 6.27e-04 -4.1 1.21e-01 -6.9 1.00e+00 1.00e+00f 1 16 4.6607800e-04 1.67e-15 5.21e-04 -4.0 2.79e-01 -7.4 1.00e+00 5.00e-01f 2 17 2.5967948e-04 1.44e-15 6.54e-04 -4.1 1.26e-01 -7.8 1.00e+00 1.00e+00f 1 18 4.6592779e-04 1.44e-15 5.37e-04 -4.0 2.88e-01 -8.3 1.00e+00 5.00e-01f 2 19 2.5869106e-04 1.13e-15 6.72e-04 -4.1 1.30e-01 -8.8 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 4.6546668e-04 1.22e-15 5.45e-04 -4.0 2.94e-01 -9.3 1.00e+00 5.00e-01f 2 21 2.5838560e-04 1.11e-15 6.85e-04 -4.1 1.33e-01 -9.7 1.00e+00 1.00e+00f 1 22 4.6492696e-04 1.11e-15 5.50e-04 -4.0 2.97e-01 -10.2 1.00e+00 5.00e-01f 2 23 2.5829675e-04 1.01e-15 6.97e-04 -4.1 1.35e-01 -10.7 1.00e+00 1.00e+00f 1 24 4.6437700e-04 8.88e-16 5.54e-04 -4.0 3.01e-01 -11.2 1.00e+00 5.00e-01f 2 25 2.5827532e-04 9.58e-16 7.09e-04 -4.1 1.37e-01 -11.6 1.00e+00 1.00e+00f 1 26 4.6383978e-04 7.77e-16 5.58e-04 -4.0 3.04e-01 -12.1 1.00e+00 5.00e-01f 2 27 2.5827378e-04 8.26e-16 7.19e-04 -4.1 1.39e-01 -12.6 1.00e+00 1.00e+00f 1 28 3.0986184e-05 9.05e-15 8.99e-04 -6.2 3.82e-01 -13.1 9.68e-01 1.00e+00f 1 29 1.7358023e-03 2.22e-15 7.71e-03 -4.0 2.01e+00 -13.6 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.4626465e-05 2.34e-14 2.90e-03 -4.1 1.02e+00 -14.0 1.00e+00 1.00e+00f 1 31 1.5737686e-03 3.02e-14 8.04e-03 -4.0 9.89e-01 -14.5 1.00e+00 1.00e+00f 1 32 1.0277639e-05 1.80e-14 2.30e-03 -4.2 1.10e+00 -15.0 1.00e+00 1.00e+00f 1 33 4.6437289e-04 1.55e-15 2.77e-03 -4.0 1.38e+00 -15.5 1.00e+00 5.00e-01f 2 34 2.2009583e-04 3.00e-15 2.41e-04 -4.2 3.74e-01 -15.9 1.00e+00 5.00e-01f 2 35 2.0262231e-05 4.44e-15 8.13e-04 -6.4 4.15e-01 -16.4 9.63e-01 1.00e+00f 1 36 8.1525596e-06 3.28e-15 1.00e-04 -6.4 1.05e-01 -16.9 1.00e+00 1.00e+00f 1 37 1.4883361e-03 1.11e-15 5.26e-03 -4.0 9.70e+00 -17.4 1.00e+00 1.23e-01f 4 38 1.0260685e-04 5.25e-14 3.45e-03 -4.0 7.79e-01 -17.8 1.00e+00 1.00e+00f 1 39 7.4397540e-04 3.42e-14 3.51e-03 -4.0 5.30e-01 -18.3 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 3.8018412e-04 6.33e-15 4.41e-04 -4.0 4.20e-01 -18.8 1.00e+00 5.00e-01f 2 41 3.5482387e-05 5.55e-15 1.34e-03 -6.0 5.08e-01 -19.3 9.55e-01 1.00e+00f 1 42 1.4613660e-05 5.27e-15 1.61e-04 -6.0 1.27e-01 -19.8 1.00e+00 1.00e+00f 1 43 4.0042158e-06 8.33e-16 1.02e-04 -6.0 1.45e-01 -20.0 1.00e+00 1.00e+00f 1 44 1.0177283e-03 5.34e-16 2.93e-03 -4.0 1.58e+01 -20.0 1.00e+00 7.60e-02f 4 45 1.6911662e-04 4.66e-14 2.80e-03 -4.0 5.64e-01 -20.0 1.00e+00 1.00e+00f 1 46 6.6250615e-04 2.13e-14 2.70e-03 -4.0 4.07e-01 -20.0 1.00e+00 1.00e+00f 1 47 3.9011321e-04 4.00e-15 4.16e-04 -4.0 3.52e-01 -20.0 1.00e+00 5.00e-01f 2 48 3.5276764e-05 5.77e-15 1.47e-03 -6.1 5.51e-01 -20.0 9.49e-01 1.00e+00f 1 49 1.4687510e-05 4.77e-15 1.71e-04 -6.1 1.34e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 3.8991679e-06 7.77e-16 1.11e-04 -6.1 1.58e-01 -20.0 1.00e+00 1.00e+00f 1 51 8.2733763e-04 5.90e-16 1.97e-03 -4.0 1.70e+01 -20.0 1.00e+00 7.05e-02f 4 52 2.0405354e-04 4.03e-14 2.41e-03 -4.0 4.68e-01 -20.0 1.00e+00 1.00e+00f 1 53 6.0048894e-04 1.49e-14 2.23e-03 -4.0 3.43e-01 -20.0 1.00e+00 1.00e+00f 1 54 3.8636833e-04 2.44e-15 3.93e-04 -4.0 3.11e-01 -20.0 1.00e+00 5.00e-01f 2 55 3.4289167e-05 5.55e-15 1.55e-03 -6.1 5.86e-01 -20.0 9.45e-01 1.00e+00f 1 56 1.4388911e-05 4.33e-15 1.76e-04 -6.1 1.40e-01 -20.0 1.00e+00 1.00e+00f 1 57 3.7608877e-06 7.22e-16 1.16e-04 -6.1 1.69e-01 -20.0 1.00e+00 1.00e+00f 1 58 6.8698823e-04 3.19e-16 1.11e-03 -4.0 1.84e+01 -20.0 1.00e+00 6.50e-02f 4 59 2.3913988e-04 3.55e-14 2.00e-03 -4.1 3.75e-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 5.4211155e-04 1.02e-14 1.73e-03 -4.1 2.72e-01 -20.0 1.00e+00 1.00e+00f 1 61 3.8282868e-04 1.55e-15 3.52e-04 -4.1 2.59e-01 -20.0 1.00e+00 5.00e-01f 2 62 3.3230655e-05 5.33e-15 1.62e-03 -6.1 6.20e-01 -20.0 9.41e-01 1.00e+00f 1 63 1.4088424e-05 4.00e-15 1.80e-04 -6.1 1.44e-01 -20.0 1.00e+00 1.00e+00f 1 64 3.6440472e-06 6.66e-16 1.21e-04 -6.1 1.78e-01 -20.0 1.00e+00 1.00e+00f 1 65 5.8412556e-04 3.12e-16 3.63e-04 -4.0 1.97e+01 -20.0 1.00e+00 6.05e-02f 4 66 2.7048108e-04 3.18e-14 1.58e-03 -4.1 2.91e-01 -20.0 1.00e+00 1.00e+00f 1 67 4.9160245e-04 6.66e-15 1.26e-03 -4.1 2.04e-01 -20.0 1.00e+00 1.00e+00f 1 68 3.7848368e-04 8.88e-16 3.04e-04 -4.1 2.06e-01 -20.0 1.00e+00 5.00e-01f 2 69 3.2138493e-05 5.11e-15 1.68e-03 -6.1 6.50e-01 -20.0 9.37e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 1.3770354e-05 3.66e-15 1.82e-04 -6.1 1.48e-01 -20.0 1.00e+00 1.00e+00f 1 71 3.5386187e-06 6.11e-16 1.25e-04 -6.1 1.86e-01 -20.0 1.00e+00 1.00e+00f 1 72 5.0745193e-04 3.47e-16 2.85e-04 -4.0 2.10e+01 -20.0 1.00e+00 5.67e-02f 4 73 2.9756151e-04 2.89e-14 1.19e-03 -4.1 2.15e-01 -20.0 1.00e+00 1.00e+00f 1 74 4.4965263e-04 4.22e-15 8.49e-04 -4.1 1.40e-01 -20.0 1.00e+00 1.00e+00f 1 75 2.3400178e-05 4.33e-15 1.90e-03 -6.1 8.05e-01 -20.0 9.20e-01 1.00e+00f 1 76 1.2195858e-05 3.66e-15 1.26e-04 -6.1 1.12e-01 -20.0 1.00e+00 1.00e+00f 1 77 3.0464870e-06 3.89e-16 1.20e-04 -6.1 1.93e-01 -20.0 1.00e+00 1.00e+00f 1 78 4.2615171e-04 3.78e-16 1.20e-03 -4.0 2.43e+01 -20.0 1.00e+00 4.89e-02f 4 79 3.3523886e-04 2.64e-14 6.33e-04 -4.1 1.12e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 3.2494375e-05 5.22e-15 1.71e-03 -6.1 6.64e-01 -20.0 9.35e-01 1.00e+00f 1 81 1.3219435e-05 3.00e-15 2.10e-04 -6.1 1.73e-01 -20.0 1.00e+00 1.00e+00f 1 82 3.4991270e-06 5.55e-16 1.33e-04 -6.1 2.00e-01 -20.0 1.00e+00 1.00e+00f 1 83 3.6665343e-06 2.22e-16 6.56e-06 -6.1 1.16e-02 -20.0 1.00e+00 1.00e+00h 1 84 2.3150024e-07 3.86e-17 5.72e-05 -9.0 2.61e-01 -20.0 9.74e-01 1.00e+00f 1 85 2.1320938e-03 6.90e-16 1.08e-02 -4.0 1.10e+02 -20.0 1.00e+00 2.21e-02f 3 86 9.1334117e-05 4.42e-14 6.78e-03 -4.0 1.48e+00 -20.0 1.00e+00 1.00e+00f 1 87 7.4934219e-04 2.55e-14 5.25e-03 -4.0 7.97e-01 -20.0 1.00e+00 1.00e+00f 1 88 4.2245951e-04 5.11e-15 8.05e-04 -4.0 5.63e-01 -20.0 1.00e+00 5.00e-01f 2 89 4.2034422e-05 4.00e-15 2.16e-03 -5.9 7.30e-01 -20.0 9.28e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 1.7254188e-05 3.66e-15 2.66e-04 -5.9 1.92e-01 -20.0 1.00e+00 1.00e+00f 1 91 4.8568681e-06 6.66e-16 1.68e-04 -5.9 2.17e-01 -20.0 1.00e+00 1.00e+00f 1 92 5.4205494e-06 2.81e-16 1.52e-05 -5.9 2.23e-02 -20.0 1.00e+00 1.00e+00h 1 93 5.0736014e-06 7.46e-17 1.50e-06 -5.9 2.23e-03 -20.0 1.00e+00 1.00e+00h 1 94 3.6079444e-07 5.94e-17 7.86e-05 -8.9 2.92e-01 -20.0 9.71e-01 1.00e+00f 1 95 1.4577684e-07 2.78e-17 8.17e-06 -8.9 6.40e-02 -20.0 1.00e+00 1.00e+00f 1 96 1.3985202e-03 4.51e-16 3.35e-03 -4.0 3.41e+02 -20.0 1.00e+00 7.13e-03f 3 97 5.1379498e-04 5.91e-14 4.96e-03 -3.8 6.35e-01 -20.0 1.00e+00 1.00e+00f 1 98 8.4574120e-04 1.51e-14 1.63e-03 -3.8 1.96e-01 -20.0 1.00e+00 1.00e+00f 1 99 4.8159215e-05 7.55e-15 3.76e-03 -5.7 1.10e+00 -20.0 8.86e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.5688281e-05 6.00e-15 2.57e-04 -5.7 1.58e-01 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.5688281042725484e-05 2.5688281042725484e-05 Dual infeasibility......: 2.5660351514739609e-04 2.5660351514739609e-04 Constraint violation....: 5.9952043329758453e-15 5.9952043329758453e-15 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 7.6910148116758266e-06 7.6910148116758266e-06 Overall NLP error.......: 2.5660351514739609e-04 2.5660351514739609e-04 Number of objective function evaluations = 170 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 170 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 = 3.266 EXIT: Maximum Number of Iterations Exceeded. [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=120, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! initializing optimizer... applying constraint: bounds constraint on trajectory variable ddu applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.9516125e+00 2.40e+00 7.96e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7894853e+00 4.44e-02 4.88e-01 -1.0 1.78e+00 - 1.00e+00 1.00e+00f 1 2 2.3914744e+00 7.01e-03 1.24e-01 -1.6 1.14e-01 - 9.19e-01 1.00e+00h 1 3 2.1252329e+00 1.59e-03 2.57e-02 -2.6 4.47e-02 - 9.41e-01 9.49e-01h 1 4 2.0915531e+00 2.26e-04 3.26e-03 -3.9 2.66e-02 - 9.82e-01 1.00e+00h 1 5 2.0908996e+00 2.25e-05 1.60e-04 -4.0 2.75e-01 - 1.00e+00 1.00e+00h 1 6 2.0908971e+00 3.13e-08 2.02e-07 -4.0 1.52e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 6.95e-12 2.16e-11 -4.0 8.08e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971977961346e+00 2.0908971977961346e+00 Dual infeasibility......: 2.1618042506934762e-11 2.1618042506934762e-11 Constraint violation....: 6.9495302524799629e-12 6.9495302524799629e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000065838309884e-04 1.0000065838309884e-04 Overall NLP error.......: 6.5838309883960427e-10 6.5838309883960427e-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 = 25.499 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: bounds constraint on trajectory variable du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.0286495e+00 1.76e+00 5.34e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.2003351e+00 7.92e-01 3.21e+00 -0.9 8.08e+00 -4.0 7.74e-01 5.50e-01f 1 2 2.4638029e+00 5.20e-01 1.02e+01 -0.9 6.77e+00 -1.8 3.37e-01 8.67e-01f 1 3 2.3658616e+00 3.29e-01 5.86e+00 -1.5 9.13e-01 -0.4 5.10e-01 3.80e-01h 1 4 2.5137327e+00 4.72e-02 7.79e-01 -1.3 4.40e-01 -0.9 9.66e-01 1.00e+00f 1 5 2.4004121e+00 1.54e-03 1.55e-01 -1.8 5.80e-02 0.4 9.46e-01 1.00e+00h 1 6 2.1682032e+00 8.05e-03 1.65e-01 -2.2 1.46e-01 -0.1 9.80e-01 8.56e-01f 1 7 2.1372533e+00 4.87e-03 4.39e-01 -2.6 1.31e-01 -0.5 9.95e-01 3.99e-01h 1 8 2.1055107e+00 1.72e-03 2.46e-01 -3.3 4.08e-02 -1.0 1.00e+00 6.47e-01h 1 9 2.0919024e+00 1.34e-04 4.77e-02 -4.0 2.68e-02 -1.5 1.00e+00 9.29e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0906365e+00 1.29e-06 1.59e-03 -4.0 6.83e-03 -2.0 1.00e+00 1.00e+00h 1 11 2.0906346e+00 8.14e-09 1.60e-05 -4.0 4.49e-03 -2.4 1.00e+00 1.00e+00h 1 12 2.0906333e+00 5.03e-11 1.59e-05 -4.0 1.35e-02 -2.9 1.00e+00 1.00e+00h 1 13 2.0906294e+00 5.23e-10 1.59e-05 -4.0 4.02e-02 -3.4 1.00e+00 1.00e+00h 1 14 2.0906179e+00 4.58e-09 1.57e-05 -4.0 1.19e-01 -3.9 1.00e+00 1.00e+00h 1 15 2.0905845e+00 3.81e-08 1.95e-05 -4.0 3.46e-01 -4.4 1.00e+00 1.00e+00h 1 16 2.0904946e+00 2.70e-07 1.48e-04 -4.0 9.40e-01 -4.8 1.00e+00 1.00e+00h 1 17 2.0902996e+00 1.19e-06 7.98e-04 -4.0 2.11e+00 -5.3 1.00e+00 1.00e+00h 1 18 2.0900611e+00 3.47e-06 1.85e-03 -4.0 3.44e+00 -5.8 1.00e+00 1.00e+00h 1 19 2.0899285e+00 3.06e-06 1.73e-03 -4.0 5.84e+00 -6.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0898488e+00 2.41e-06 1.50e-03 -4.0 9.35e+00 -6.7 1.00e+00 1.00e+00h 1 21 2.0898265e+00 9.38e-07 1.32e-03 -4.0 1.14e+01 -7.2 1.00e+00 1.00e+00h 1 22 2.0898234e+00 1.78e-06 5.25e-04 -4.0 8.23e+00 -7.7 1.00e+00 1.00e+00h 1 23 2.0898220e+00 2.14e-07 4.27e-05 -4.0 2.00e+00 -8.2 1.00e+00 1.00e+00h 1 24 2.0898219e+00 2.23e-09 4.14e-07 -4.0 3.41e-01 -8.7 1.00e+00 1.00e+00h 1 25 2.0898218e+00 6.18e-12 1.65e-09 -4.0 2.36e-02 -9.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0898218499194914e+00 2.0898218499194914e+00 Dual infeasibility......: 1.6535904936456312e-09 1.6535904936456312e-09 Constraint violation....: 6.1800564665759339e-12 6.1800564665759339e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 1.6535904936456312e-09 1.6535904936456312e-09 Number of objective function evaluations = 26 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 26 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 24.737 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 2.8077622e+00 2.89e+00 7.67e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4269407e+00 1.14e+00 1.69e+01 -1.1 1.80e+00 0.0 3.58e-02 6.05e-01h 1 2 2.4466414e+00 1.13e+00 2.21e+02 -0.3 1.10e+00 0.4 8.36e-01 1.38e-02h 1 3 3.4593838e+00 1.03e+00 4.09e+02 0.7 7.48e+00 -0.1 5.62e-01 8.25e-02f 1 4 4.2731037e+00 8.84e-01 5.04e+02 1.1 1.18e+01 -0.5 2.63e-01 1.44e-01h 1 5 4.6384892e+00 7.81e-01 1.39e+03 1.2 1.91e+01 -0.1 8.93e-01 1.16e-01h 1 6 4.9763235e+00 8.42e-01 9.31e+03 2.1 3.40e+01 -0.6 1.00e+00 8.38e-02H 1 7 5.2373179e+00 6.95e-01 4.79e+04 2.1 5.90e+00 -1.1 9.84e-01 1.69e-01h 1 8 5.5495476e+00 5.98e-01 2.51e+05 2.5 1.65e+01 -1.5 5.45e-01 1.21e-01h 1 9 5.5526348e+00 5.49e-01 3.74e+05 2.5 9.39e+00 -2.0 1.43e-01 7.89e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 5.5863986e+00 5.31e-01 1.38e+07 2.4 5.20e+00 -2.5 1.00e+00 3.12e-02h 1 11 5.6027932e+00 5.25e-01 1.11e+09 2.5 1.50e+01 -3.0 1.00e+00 1.27e-02h 1 12 5.6032149e+00 5.25e-01 3.70e+12 2.5 3.62e+01 -3.4 1.00e+00 2.96e-04h 1 13r 5.6032149e+00 5.25e-01 8.22e+02 2.4 0.00e+00 -3.9 0.00e+00 3.73e-07R 5 14r 5.6870287e+00 2.26e-01 4.35e+02 -3.7 3.35e+00 - 5.90e-01 4.04e-01f 1 15r 5.6870287e+00 2.26e-01 9.99e+02 -0.6 0.00e+00 -4.4 0.00e+00 3.20e-07R 3 16r 5.0453020e+00 2.60e-01 9.96e+02 1.4 1.82e+02 - 2.75e-03 2.86e-03f 1 17r 4.9150116e+00 2.45e-01 9.52e+02 0.8 1.19e+01 - 1.00e+00 3.49e-03f 1 18r 4.9186671e+00 2.00e-01 1.03e+02 0.0 2.65e-01 - 9.99e-01 8.95e-01f 1 19 4.9175938e+00 1.99e-01 4.63e+02 -1.2 5.87e-01 -4.9 7.86e-01 2.26e-03h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 4.9304933e+00 1.99e-01 3.48e+05 0.7 1.30e+02 -5.4 1.00e+00 8.28e-04f 2 21 4.9328485e+00 1.99e-01 3.75e+06 0.6 6.21e+01 -5.8 1.07e-02 6.22e-05h 5 22 4.9350859e+00 1.99e-01 1.96e+08 0.6 6.08e+01 -6.3 4.93e-02 5.89e-05h 5 23 4.9373075e+00 1.99e-01 2.08e+10 0.6 6.00e+01 -6.8 9.46e-02 5.55e-05h 5 24 4.9394002e+00 1.99e-01 1.20e+12 0.6 5.90e+01 -7.3 4.81e-02 5.24e-05h 5 25 4.9413612e+00 1.99e-01 1.30e+15 0.6 5.81e+01 -7.7 8.67e-01 4.93e-05h 5 26 4.9431711e+00 1.99e-01 5.75e+15 0.6 5.94e+01 -8.2 1.09e-02 4.47e-05h 5 27 4.9448742e+00 1.99e-01 5.80e+15 0.6 5.92e+01 -8.7 4.64e-02 4.17e-05h 5 28 4.9464885e+00 1.99e-01 5.80e+15 0.6 5.85e+01 -9.2 2.71e-02 3.93e-05h 5 29 4.9495162e+00 1.99e-01 5.80e+15 0.6 5.77e+01 -9.6 8.60e-01 7.41e-05h 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 4.9521606e+00 1.99e-01 5.80e+15 0.6 5.63e+01 -10.1 1.12e-02 6.54e-05h 4 31 4.9544800e+00 1.99e-01 5.80e+15 0.6 5.52e+01 -10.6 4.82e-02 5.77e-05h 4 32 4.9565180e+00 1.99e-01 5.80e+15 0.6 1.10e+02 -11.1 2.58e-02 5.09e-05h 4 33 4.9583025e+00 1.99e-01 5.80e+15 0.6 3.31e+02 -11.6 9.13e-01 4.49e-05h 4 34 4.9613966e+00 1.99e-01 5.81e+15 0.6 1.16e+03 -12.0 1.17e-02 7.91e-05h 3 35 4.9637310e+00 1.99e-01 5.81e+15 0.6 3.36e+03 -12.5 4.88e-02 6.04e-05h 3 36 4.9672723e+00 1.99e-01 5.87e+15 0.6 9.13e+03 -13.0 2.90e-02 9.25e-05h 2 37 4.9708468e+00 1.99e-01 6.93e+15 0.6 2.65e+04 -13.5 1.00e+00 1.01e-04h 1 38 4.9708563e+00 1.99e-01 1.04e+18 0.6 4.86e+04 -13.9 1.00e+00 2.01e-05h 1 39r 4.9708563e+00 1.99e-01 9.98e+02 0.6 0.00e+00 -14.4 0.00e+00 4.61e-07R 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40r 5.0130444e+00 1.99e-01 3.83e+02 -0.7 7.28e-02 - 1.00e+00 6.17e-01f 1 41r 5.0617825e+00 1.99e-01 1.27e+02 -1.8 2.14e-02 2.0 1.00e+00 6.69e-01f 1 42r 4.9674973e+00 1.99e-01 1.06e+00 -0.8 1.95e-02 1.5 9.97e-01 1.00e+00f 1 43r 4.9731257e+00 1.99e-01 2.54e+00 -2.4 2.92e-02 - 9.91e-01 9.47e-01f 1 44r 4.9772438e+00 1.99e-01 5.82e-02 -3.6 5.24e-03 1.0 1.00e+00 1.00e+00f 1 45r 4.9586689e+00 1.99e-01 4.91e-04 -4.0 2.16e-02 - 1.00e+00 1.00e+00f 1 46r 4.9295886e+00 1.99e-01 3.21e-06 -4.0 9.22e-03 - 1.00e+00 1.00e+00h 1 47r 4.9286207e+00 1.99e-01 1.51e-08 -4.0 8.50e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 47 (scaled) (unscaled) Objective...............: 4.9286248844101621e+00 4.9286248844101621e+00 Dual infeasibility......: 2.0135771087825964e+00 2.0135771087825964e+00 Constraint violation....: 1.9875045033560446e-01 1.9875045033560446e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000032200272e-04 1.0000000032200272e-04 Overall NLP error.......: 2.0135771087825964e+00 2.0135771087825964e+00 Number of objective function evaluations = 130 Number of objective gradient evaluations = 39 Number of equality constraint evaluations = 130 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 52 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 48 Total seconds in IPOPT = 25.708 EXIT: Converged to a point of local infeasibility. Problem may be infeasible. initializing optimizer... applying constraint: bounds constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 36 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.1935540e+00 3.46e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9121646e+00 1.90e+00 5.87e+00 -0.8 1.96e+00 0.0 8.02e-01 4.52e-01f 1 2 2.8246585e+00 6.20e-02 1.16e+01 -1.0 1.04e+00 -0.5 5.10e-01 9.67e-01f 1 3 2.5540280e+00 6.40e-02 4.77e+00 -1.4 7.02e-01 -1.0 6.64e-01 5.83e-01f 1 4 2.3901349e+00 3.15e-02 2.29e+00 -1.6 1.49e-01 0.4 1.00e+00 5.07e-01h 1 5 2.1791005e+00 1.81e-03 1.06e-01 -2.3 8.78e-02 -0.1 9.97e-01 1.00e+00h 1 6 2.1157285e+00 6.68e-04 8.91e-02 -3.7 6.01e-02 -0.6 1.00e+00 6.67e-01h 1 7 2.0920800e+00 7.30e-05 3.05e-02 -4.0 2.02e-02 -1.1 1.00e+00 9.70e-01h 1 8 2.0908470e+00 1.47e-06 2.62e-03 -4.0 4.91e-03 -1.5 1.00e+00 1.00e+00h 1 9 2.0908697e+00 1.37e-08 8.14e-05 -4.0 8.34e-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 2.0908690e+00 8.76e-11 3.98e-05 -4.0 1.22e-02 -2.5 1.00e+00 1.00e+00h 1 11 2.0908672e+00 1.37e-10 2.06e-05 -4.0 1.90e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0908616e+00 1.23e-09 2.06e-05 -4.0 5.70e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908447e+00 1.11e-08 2.06e-05 -4.0 1.71e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0907943e+00 9.98e-08 2.06e-05 -4.0 5.12e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0906432e+00 9.00e-07 2.06e-05 -4.0 1.54e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0901912e+00 8.15e-06 3.62e-05 -4.0 4.59e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0888465e+00 7.47e-05 3.23e-04 -4.0 1.37e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0849180e+00 7.09e-04 2.94e-03 -4.0 3.99e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0796428e+00 2.06e-03 1.87e-01 -4.0 1.03e+02 -6.8 1.00e+00 5.13e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0801621e+00 1.42e-04 1.65e-01 -4.0 6.71e+01 -7.3 1.00e+00 1.00e+00H 1 21 2.0774228e+00 7.88e-03 2.49e-02 -4.0 1.25e+02 -7.7 1.00e+00 9.45e-01h 1 22 2.0769354e+00 1.73e-03 4.55e-02 -4.0 2.07e+02 -8.2 1.00e+00 1.00e+00h 1 23 2.0761097e+00 1.37e-03 2.34e-02 -4.0 3.52e+02 -8.7 1.00e+00 8.81e-01h 1 24 2.0755062e+00 1.74e-03 2.85e-02 -4.0 5.22e+02 -9.2 1.00e+00 6.76e-01h 1 25 2.0757467e+00 2.43e-03 1.21e-02 -4.0 1.44e+02 -9.6 1.00e+00 1.00e+00h 1 26 2.0756765e+00 2.49e-04 3.72e-04 -4.0 6.08e+01 -10.1 1.00e+00 1.00e+00h 1 27 2.0756713e+00 1.69e-06 6.24e-06 -4.0 2.20e+01 -10.6 1.00e+00 1.00e+00h 1 28 2.0756712e+00 3.78e-08 1.02e-06 -4.0 1.27e+01 -11.1 1.00e+00 1.00e+00h 1 29 2.0756712e+00 1.84e-09 7.50e-08 -4.0 3.93e+00 -11.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0756712e+00 2.62e-11 1.04e-09 -4.0 5.57e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 2.0756712121328404e+00 2.0756712121328404e+00 Dual infeasibility......: 1.0359497365573355e-09 1.0359497365573355e-09 Constraint violation....: 2.6175950296192241e-11 2.6175950296192241e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000013e-04 1.0000000000000013e-04 Overall NLP error.......: 1.0359497365573355e-09 1.0359497365573355e-09 Number of objective function evaluations = 32 Number of objective gradient evaluations = 31 Number of equality constraint evaluations = 32 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 31 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 30 Total seconds in IPOPT = 18.666 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.8425839e+00 2.33e+00 7.79e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8301260e+00 6.39e-02 2.85e+00 -1.1 1.95e+00 0.0 9.68e-01 1.00e+00f 1 2 2.4783865e+00 1.76e-02 8.98e-01 -0.9 1.55e-01 0.4 1.00e+00 7.96e-01h 1 3 2.4361575e+00 2.41e-03 4.60e-01 -1.5 1.44e-01 -0.1 9.76e-01 1.00e+00h 1 4 2.1708285e+00 1.30e-03 1.68e-01 -2.2 7.31e-02 -0.5 9.94e-01 7.39e-01f 1 5 2.0957012e+00 3.71e-04 5.42e-02 -3.7 3.49e-02 -1.0 9.99e-01 9.35e-01h 1 6 2.0907729e+00 1.16e-05 7.20e-03 -4.0 6.57e-03 -1.5 1.00e+00 9.95e-01h 1 7 2.0909010e+00 1.25e-07 2.98e-05 -4.0 1.89e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908997e+00 3.00e-09 1.79e-05 -4.0 4.88e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908986e+00 7.54e-11 1.77e-05 -4.0 1.45e-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 2.0908950e+00 6.58e-10 1.75e-05 -4.0 4.30e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908848e+00 5.36e-09 1.88e-05 -4.0 1.25e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908579e+00 3.91e-08 6.76e-05 -4.0 3.48e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907858e+00 2.70e-07 2.82e-04 -4.0 9.56e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905758e+00 2.83e-06 3.43e-04 -4.0 2.88e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0904886e+00 3.95e-07 3.17e-04 -4.0 1.11e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0901435e+00 6.52e-07 2.61e-03 -4.0 3.95e+00 -5.4 1.00e+00 8.56e-01H 1 17 2.0895735e+00 5.12e-05 1.27e-02 -4.0 1.18e+01 -5.8 1.00e+00 1.00e+00f 1 18 2.1004436e+00 1.34e-02 1.73e-01 -2.7 9.77e+01 -5.4 3.76e-01 2.70e-01f 2 19 2.0957219e+00 5.75e-03 2.26e-01 -3.2 9.04e-01 -3.2 5.09e-01 6.03e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0950358e+00 5.75e-03 2.29e-01 -3.2 3.43e+01 -2.7 5.52e-03 6.49e-04h 2 21 2.0943703e+00 5.78e-03 7.98e-01 -3.2 3.16e+01 -3.2 1.37e-01 1.43e-03h 1 22 2.0938722e+00 5.78e-03 3.44e-01 -3.2 3.12e+01 -2.8 3.77e-02 3.26e-04h 2 23 2.0953969e+00 5.99e-03 3.51e-01 -3.2 1.23e+02 -3.3 5.85e-05 1.02e-03f 2 24 2.0939869e+00 5.87e-03 3.05e-01 -3.2 2.32e+00 -1.9 1.93e-01 2.17e-02h 1 25 2.0934431e+00 5.83e-03 5.26e-01 -3.2 1.57e+00 -2.4 8.70e-01 7.26e-03h 1 26 2.1197728e+00 8.98e-04 6.96e-02 -3.2 2.92e-01 -2.9 1.00e+00 1.00e+00h 1 27 2.1078086e+00 1.50e-03 7.67e-01 -3.2 8.75e-01 -2.5 4.60e-01 2.49e-01h 1 28 2.0933544e+00 1.61e-04 2.72e+00 -3.2 5.43e-01 -2.9 2.66e-01 9.61e-01f 1 29 2.0952762e+00 1.45e-04 2.05e+00 -3.2 1.22e+00 -3.4 1.00e+00 1.00e-01f 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0959251e+00 9.76e-05 2.01e-02 -3.2 6.14e-01 -3.9 1.00e+00 1.00e+00h 1 31 2.0951311e+00 4.16e-05 1.90e-03 -3.2 7.90e-01 -4.4 1.00e+00 1.00e+00h 1 32 2.0896055e+00 9.58e-04 1.59e-03 -4.9 1.64e+00 -4.9 9.70e-01 1.00e+00h 1 33 2.0889657e+00 4.13e-05 1.38e-03 -4.9 4.93e+00 -5.3 9.73e-01 1.00e+00h 1 34 2.0894714e+00 2.32e-04 2.17e-03 -4.0 2.58e+00 -4.9 1.00e+00 1.00e+00h 1 35 2.0890604e+00 6.99e-05 2.59e-02 -4.1 3.86e+00 -5.4 7.94e-01 1.00e+00h 1 36 2.0889250e+00 1.95e-05 1.39e-02 -4.1 5.68e-01 -4.1 7.38e-01 7.03e-01h 1 37 2.0896775e+00 8.47e-06 1.46e-02 -4.0 5.33e-01 -4.5 1.00e+00 1.00e+00f 1 38 2.0894235e+00 8.10e-05 9.61e-01 -3.6 5.16e+00 -4.1 1.00e+00 3.22e-01h 1 39 2.0897306e+00 3.37e-05 4.92e-03 -3.7 6.93e-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 2.0897375e+00 7.40e-05 1.55e-03 -3.7 1.50e+00 -5.1 1.00e+00 1.00e+00h 1 41 2.0879100e+00 1.49e-04 3.63e-03 -5.6 7.91e-01 -4.6 8.78e-01 9.75e-01h 1 42 2.0885790e+00 2.00e-04 6.06e-04 -4.0 2.03e+00 -5.1 1.00e+00 1.00e+00f 1 43 2.0878135e+00 1.22e-04 2.08e-03 -4.1 6.33e+00 -5.6 1.00e+00 1.00e+00h 1 44 2.0868918e+00 4.40e-04 8.35e-03 -4.0 1.64e+01 -6.1 1.00e+00 1.00e+00h 1 45 2.0860046e+00 4.16e-04 2.02e-01 -4.0 7.66e+01 -6.5 1.00e+00 1.34e-01h 1 46 2.0828650e+00 1.38e-03 6.61e-02 -4.0 5.66e+01 -7.0 1.00e+00 9.67e-01h 1 47 2.0830428e+00 2.52e-03 4.79e-02 -4.0 8.40e+01 -7.5 1.00e+00 1.00e+00h 1 48 2.0823155e+00 2.73e-03 4.65e-02 -4.0 2.34e+02 -8.0 4.09e-01 1.00e+00h 1 49 2.0822044e+00 2.19e-04 2.56e-03 -4.0 4.15e+00 -5.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0819549e+00 1.78e-04 3.57e-03 -4.0 1.02e+01 -6.2 9.32e-01 1.00e+00h 1 51 2.0818949e+00 1.35e-04 2.72e-03 -4.0 2.07e+00 -4.9 1.00e+00 1.00e+00h 1 52 2.0818561e+00 4.63e-05 2.77e-03 -4.0 1.24e+00 -5.4 1.00e+00 1.00e+00h 1 53 2.0819362e+00 5.46e-05 5.42e-04 -4.0 1.74e+00 -5.8 1.00e+00 1.00e+00h 1 54 2.0819947e+00 7.36e-06 4.86e-04 -4.0 2.61e+00 -6.3 1.00e+00 1.00e+00h 1 55 2.0820178e+00 1.85e-05 3.10e-04 -4.0 5.04e+00 -6.8 1.00e+00 1.00e+00h 1 56 2.0817515e+00 3.07e-04 4.95e-04 -4.1 1.49e+01 -7.3 1.00e+00 1.00e+00h 1 57 2.0819264e+00 6.80e-04 1.95e-03 -4.0 2.93e+01 -7.8 1.00e+00 1.00e+00h 1 58 2.0816148e+00 1.05e-03 2.17e-03 -4.1 4.63e+01 -8.2 1.00e+00 1.00e+00h 1 59 2.0818482e+00 1.04e-03 1.39e-03 -4.0 4.43e+01 -8.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0815839e+00 4.55e-04 2.17e-04 -4.1 1.97e+01 -9.2 1.00e+00 1.00e+00h 1 61 2.0818444e+00 1.72e-04 3.57e-05 -4.0 7.66e+00 -9.7 1.00e+00 1.00e+00h 1 62 2.0818434e+00 2.52e-08 6.96e-08 -4.0 3.52e-01 -10.1 1.00e+00 1.00e+00h 1 63 2.0818434e+00 2.70e-13 1.00e-09 -4.0 4.41e-03 -10.6 1.00e+00 1.00e+00h 1 Number of Iterations....: 63 (scaled) (unscaled) Objective...............: 2.0818434105367798e+00 2.0818434105367798e+00 Dual infeasibility......: 1.0000000014658656e-09 1.0000000014658656e-09 Constraint violation....: 2.7033930649622562e-13 2.7033930649622562e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000383545e-04 1.0000000000383545e-04 Overall NLP error.......: 1.0000000014658656e-09 1.0000000014658656e-09 Number of objective function evaluations = 76 Number of objective gradient evaluations = 64 Number of equality constraint evaluations = 76 Number of inequality constraint evaluations = 76 Number of equality constraint Jacobian evaluations = 64 Number of inequality constraint Jacobian evaluations = 64 Number of Lagrangian Hessian evaluations = 63 Total seconds in IPOPT = 18.367 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 1.4725699e+01 2.87e+00 3.51e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 8.9153610e+00 1.53e+00 2.78e+00 -0.6 1.93e+00 0.0 6.19e-01 4.67e-01f 1 2 2.7474212e+00 6.81e-02 5.78e+00 -1.0 1.35e+00 -0.5 7.63e-01 1.00e+00f 1 3 2.9893347e+00 1.65e-01 2.93e+00 -0.6 1.15e+00 -1.0 6.58e-01 9.61e-01f 1 4 2.5900865e+00 3.33e-02 7.11e-01 -1.4 3.80e-01 -0.5 9.92e-01 1.00e+00f 1 5 2.4280850e+00 1.75e-03 3.49e-01 -1.5 8.97e-02 -1.0 8.15e-01 1.00e+00h 1 6 2.1606796e+00 3.70e-03 1.38e-02 -2.2 1.05e-01 -1.5 9.65e-01 1.00e+00f 1 7 2.0956932e+00 3.91e-04 5.05e-03 -4.0 3.59e-02 -2.0 9.41e-01 9.20e-01h 1 8 2.0909183e+00 4.56e-06 1.81e-04 -4.0 7.46e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909073e+00 4.61e-08 3.10e-05 -4.0 2.52e-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 2.0909024e+00 8.09e-10 1.79e-05 -4.0 4.42e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908906e+00 6.20e-09 1.73e-05 -4.0 1.28e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908613e+00 4.38e-08 6.52e-05 -4.0 3.54e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907876e+00 2.80e-07 3.06e-04 -4.0 9.60e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905761e+00 2.82e-06 3.53e-04 -4.0 2.89e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0904884e+00 4.01e-07 3.25e-04 -4.0 1.11e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0901442e+00 7.01e-07 2.72e-03 -4.0 3.98e+00 -5.4 1.00e+00 8.44e-01H 1 17 2.0895628e+00 5.17e-05 1.26e-02 -4.0 1.18e+01 -5.8 1.00e+00 1.00e+00f 1 18 2.1000208e+00 1.24e-02 1.78e-01 -2.5 1.84e+02 -5.4 1.61e-01 1.40e-01f 2 19 2.0950005e+00 4.92e-03 1.50e-01 -3.3 8.34e-01 -3.2 5.76e-01 6.30e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0943997e+00 4.93e-03 1.53e-01 -3.3 3.28e+01 -2.7 5.29e-03 5.78e-04h 2 21 2.0938188e+00 4.94e-03 8.31e-01 -3.3 2.85e+01 -3.2 1.69e-01 1.34e-03h 1 22 2.0933794e+00 4.94e-03 4.07e-01 -3.3 3.57e+01 -2.8 3.95e-02 2.42e-04h 2 23 2.0951457e+00 5.20e-03 4.14e-01 -3.3 9.94e+01 -3.3 8.51e-05 1.35e-03f 2 24 2.0934586e+00 5.09e-03 3.72e-01 -3.3 2.51e+00 -1.9 1.64e-01 2.26e-02h 1 25 2.0929884e+00 5.07e-03 3.50e-01 -3.3 2.15e+00 -2.4 1.42e-01 4.38e-03h 1 26 2.0942478e+00 5.12e-03 4.42e+00 -3.3 6.09e+02 -2.9 2.51e-02 6.53e-05f 7 27 2.0941351e+00 4.84e-03 1.06e+00 -3.3 1.36e+00 -3.4 9.85e-01 8.15e-02h 1 28 2.1005774e+00 3.71e-04 2.76e-02 -3.3 4.27e-01 -3.9 1.00e+00 1.00e+00h 1 29 2.0955751e+00 7.52e-05 7.36e-03 -3.3 7.95e-01 -4.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0938892e+00 1.03e-04 5.99e-03 -3.3 3.70e+00 -4.8 1.00e+00 1.00e+00h 1 31 2.0935232e+00 1.68e-05 1.57e-03 -3.3 7.11e-01 -4.4 1.00e+00 1.00e+00h 1 32 2.0890141e+00 8.78e-04 7.97e-04 -5.0 1.79e+00 -4.9 1.00e+00 1.00e+00h 1 33 2.0897331e+00 6.53e-05 5.48e-05 -4.0 7.01e-01 -4.4 1.00e+00 1.00e+00h 1 34 2.0893004e+00 4.44e-05 2.60e-03 -4.1 2.29e+00 -4.9 8.44e-01 1.00e+00h 1 35 2.0891243e+00 1.73e-05 1.25e-02 -4.1 3.51e+00 -5.4 7.98e-01 5.96e-01h 1 36 2.0893113e+00 5.93e-05 2.20e-02 -4.0 1.15e+01 -5.9 1.00e+00 5.00e-01f 2 37 2.0885597e+00 8.49e-05 2.77e-01 -4.1 9.93e+00 -4.5 5.37e-01 2.46e-01h 1 38 2.0885560e+00 1.72e-05 6.98e-03 -4.0 1.74e+00 -5.0 1.00e+00 1.00e+00f 1 39 2.0881315e+00 1.31e-05 6.09e-04 -4.0 4.93e+00 -5.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0870538e+00 6.56e-05 2.38e-03 -4.0 1.35e+01 -6.0 1.00e+00 1.00e+00h 1 41 2.0848418e+00 3.48e-04 1.36e-02 -4.0 3.12e+01 -6.4 1.00e+00 1.00e+00h 1 42 2.0828763e+00 4.04e-04 3.19e-02 -4.0 4.15e+01 -6.9 1.00e+00 9.08e-01h 1 43 2.0831687e+00 1.82e-03 4.78e-02 -4.0 6.96e+01 -7.4 1.00e+00 1.00e+00h 1 44 2.0822914e+00 4.85e-04 5.57e-02 -4.1 2.24e+02 -7.9 3.96e-01 1.00e+00h 1 45 2.0822863e+00 7.80e-05 1.35e-03 -4.0 3.00e+00 -5.6 1.00e+00 1.00e+00h 1 46 2.0820799e+00 5.50e-05 1.34e-03 -4.0 7.50e+00 -6.1 1.00e+00 1.00e+00h 1 47 2.0820179e+00 3.47e-05 4.77e-04 -4.0 3.66e+00 -5.7 1.00e+00 1.00e+00h 1 48 2.0874684e+00 1.09e-06 2.13e-01 -4.0 2.20e+01 -6.2 2.93e-01 1.00e+00H 1 49 2.0858616e+00 9.93e-07 9.78e+00 -3.5 4.57e-01 -1.2 1.00e+00 1.55e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0822180e+00 7.49e-07 1.54e-02 -3.8 2.04e-01 -1.7 1.00e+00 1.00e+00f 1 51 2.0824306e+00 9.02e-07 1.27e-01 -3.8 5.15e-02 -2.2 9.79e-01 1.00e+00h 1 52 2.0818698e+00 2.86e-06 1.24e-03 -4.0 6.14e-02 -2.7 1.00e+00 1.00e+00h 1 53 2.0818691e+00 4.34e-07 1.02e-04 -4.0 2.08e-02 -3.1 1.00e+00 1.00e+00h 1 54 2.0818799e+00 1.53e-07 3.29e-05 -4.0 5.74e-02 -3.6 1.00e+00 1.00e+00h 1 55 2.0818928e+00 1.54e-07 3.28e-05 -4.0 1.61e-01 -4.1 1.00e+00 1.00e+00h 1 56 2.0818054e+00 2.97e-06 1.70e-04 -4.1 1.95e-01 -4.6 1.00e+00 1.00e+00h 1 57 2.0819743e+00 1.85e-05 3.38e-04 -4.0 9.73e-01 -5.0 1.00e+00 1.00e+00h 1 58 2.0818923e+00 2.24e-05 4.41e-04 -4.1 1.31e+00 -5.5 1.00e+00 1.00e+00h 1 59 2.0812299e+00 2.30e-04 3.19e-02 -6.1 4.88e+00 -6.0 9.28e-01 7.11e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0810775e+00 5.05e-05 8.76e-04 -4.7 3.87e+00 -6.5 1.00e+00 1.00e+00h 1 61 2.0820629e+00 3.63e-03 5.32e-02 -4.0 3.58e+01 -7.0 6.54e-01 1.00e+00h 1 62 2.0830843e+00 3.67e-03 1.65e-01 -4.2 5.45e+01 -6.5 1.37e-01 3.85e-01h 1 63 2.0830334e+00 3.49e-03 6.07e-01 -4.2 2.64e+00 -3.4 2.87e-02 5.39e-02h 1 64 2.0815129e+00 2.66e-06 5.51e-03 -4.2 1.61e-01 -1.2 1.00e+00 1.00e+00f 1 65 2.0817976e+00 1.09e-06 1.75e-03 -4.0 7.36e-02 -1.6 1.00e+00 1.00e+00h 1 66 2.0816189e+00 3.34e-07 3.76e-04 -4.1 2.44e-02 -2.1 1.00e+00 1.00e+00h 1 67 2.0813738e+00 9.71e-07 4.50e-01 -6.1 1.78e-02 -2.6 5.29e-01 1.00e+00h 1 68 2.0818276e+00 2.38e-07 7.26e-02 -4.0 2.56e-02 -3.1 1.00e+00 9.10e-01H 1 69 2.0815561e+00 4.50e-06 6.29e-04 -4.1 1.09e-01 -3.5 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0812676e+00 1.79e-05 2.36e-01 -6.1 2.75e-01 -4.0 6.78e-01 1.00e+00h 1 71 2.0819249e+00 4.85e-05 1.00e-02 -4.0 5.56e-01 -4.5 1.00e+00 9.84e-01h 1 72 2.0817553e+00 1.96e-05 7.52e-04 -4.1 7.12e-01 -5.0 1.00e+00 1.00e+00h 1 73 2.0810919e+00 1.96e-04 7.31e-03 -6.1 2.20e+00 -5.5 9.59e-01 9.83e-01h 1 74 2.0809977e+00 1.17e-04 3.34e-02 -6.1 3.06e+00 -5.9 1.00e+00 4.20e-01h 1 75 2.0820343e+00 1.30e-03 1.23e-02 -4.0 1.07e+01 -6.4 9.37e-01 1.00e+00f 1 76 2.0818151e+00 2.56e-04 2.55e-03 -4.1 8.11e+00 -6.9 1.00e+00 1.00e+00h 1 77 2.0817761e+00 1.41e-04 9.33e-03 -4.1 1.48e+01 -7.4 1.00e+00 4.29e-01h 1 78 2.0816575e+00 2.87e-05 2.65e-03 -4.1 3.51e+01 -7.8 1.00e+00 1.00e+00f 1 79 2.0815880e+00 8.89e-05 3.39e-03 -4.1 5.40e+01 -8.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0815668e+00 5.26e-05 1.47e-03 -4.1 4.44e+01 -8.8 1.00e+00 1.00e+00h 1 81 2.0815640e+00 5.29e-06 1.46e-04 -4.1 1.60e+01 -9.3 1.00e+00 1.00e+00h 1 82 2.0805928e+00 3.23e-03 1.36e-04 -6.2 4.02e+01 -9.7 9.78e-01 9.66e-01h 1 83 2.0818907e+00 6.55e-03 4.40e-04 -4.0 6.10e+01 -10.2 1.00e+00 1.00e+00f 1 84 2.0816138e+00 5.06e-04 2.81e-05 -4.1 2.13e+01 -10.7 1.00e+00 1.00e+00h 1 85 2.0806019e+00 3.48e-03 1.95e-04 -6.1 4.20e+01 -11.2 9.76e-01 9.61e-01h 1 86 2.0805508e+00 9.16e-05 2.71e-06 -6.1 1.71e+01 -11.7 1.00e+00 1.00e+00h 1 87 2.0819802e+00 1.03e-02 3.97e-04 -4.0 8.48e+01 -12.1 1.00e+00 1.00e+00f 1 88 2.0816777e+00 9.64e-04 4.84e-05 -4.1 4.56e+01 -12.6 1.00e+00 1.00e+00h 1 89 2.0816419e+00 4.54e-07 2.90e-05 -4.1 8.52e+00 -13.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805932e+00 3.64e-03 1.54e-04 -6.1 4.19e+01 -13.6 9.76e-01 9.71e-01h 1 91 2.0805508e+00 7.31e-05 1.94e-06 -6.1 1.62e+01 -14.0 1.00e+00 1.00e+00h 1 92 2.0819836e+00 1.04e-02 3.98e-04 -4.0 8.53e+01 -14.5 1.00e+00 1.00e+00f 1 93 2.0816801e+00 9.75e-04 5.08e-05 -4.1 4.63e+01 -15.0 1.00e+00 1.00e+00h 1 94 2.0816431e+00 4.96e-07 2.90e-05 -4.1 8.74e+00 -15.5 1.00e+00 1.00e+00h 1 95 2.0805932e+00 3.65e-03 1.55e-04 -6.1 4.19e+01 -16.0 9.76e-01 9.71e-01h 1 96 2.0805509e+00 7.33e-05 1.95e-06 -6.1 1.62e+01 -16.4 1.00e+00 1.00e+00h 1 97 2.0805467e+00 5.04e-08 2.89e-07 -6.1 2.92e+00 -16.9 1.00e+00 1.00e+00h 1 98 2.0820227e+00 1.22e-02 4.21e-04 -4.0 9.85e+01 -17.4 1.00e+00 1.00e+00f 1 99 2.0817083e+00 1.09e-03 6.84e-05 -4.1 5.45e+01 -17.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0816573e+00 1.18e-06 2.93e-05 -4.1 1.10e+01 -18.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0816573030074941e+00 2.0816573030074941e+00 Dual infeasibility......: 2.9346545077282968e-05 2.9346545077282968e-05 Constraint violation....: 1.1833325357368807e-06 1.1833325357368807e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.7262207032961988e-05 8.7262207032961988e-05 Overall NLP error.......: 2.9346545077282968e-05 2.9346545077282968e-05 Number of objective function evaluations = 125 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 125 Number of inequality constraint evaluations = 125 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 27.474 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 10 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 1 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.6210281e+02 3.56e+00 4.03e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 7.5362558e+01 2.37e+00 2.70e+01 -0.5 2.27e+00 0.0 1.00e+00 3.35e-01f 1 2 2.8902715e+00 2.39e-02 4.40e+00 -0.5 1.55e+00 -0.5 8.66e-01 1.00e+00f 1 3 2.7321164e+00 4.96e-03 5.68e-01 -1.1 2.51e-01 -1.0 9.23e-01 1.00e+00h 1 4 2.3952925e+00 1.82e-02 1.56e-01 -1.9 4.28e-01 -1.4 9.98e-01 1.00e+00f 1 5 2.1227259e+00 5.34e-03 2.61e-02 -2.6 1.52e-01 -1.9 9.90e-01 1.00e+00h 1 6 2.0925608e+00 2.82e-04 1.74e-03 -3.5 5.11e-02 -2.4 9.68e-01 1.00e+00h 1 7 2.0909594e+00 4.31e-06 2.04e-04 -4.0 1.83e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909506e+00 3.58e-08 2.03e-04 -4.0 5.41e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909325e+00 1.09e-08 2.03e-04 -4.0 1.53e-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 2.0908940e+00 6.35e-08 2.03e-04 -4.0 3.87e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0908229e+00 2.74e-07 8.07e-04 -4.0 9.14e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0906419e+00 2.44e-06 1.17e-03 -4.0 2.68e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0901120e+00 2.20e-05 6.86e-04 -4.0 8.06e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0898532e+00 3.72e-06 1.67e-03 -4.0 3.08e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0896254e+00 5.16e-06 3.09e-02 -4.0 1.11e+01 -5.8 1.00e+00 2.15e-01h 2 16 2.0876444e+00 2.02e-04 9.00e-03 -4.0 2.49e+01 -6.3 1.00e+00 9.65e-01h 1 17 2.0847677e+00 9.21e-04 5.23e-02 -4.0 5.22e+01 -6.7 1.00e+00 1.00e+00h 1 18 2.0835204e+00 5.56e-04 3.80e-02 -4.0 2.31e+01 -6.3 1.00e+00 4.58e-01h 1 19 2.0827635e+00 1.75e-04 1.57e-02 -4.0 2.00e+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 2.0827457e+00 1.97e-04 8.86e-03 -4.0 5.21e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0822920e+00 5.78e-04 7.60e-03 -4.0 1.25e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0830671e+00 6.66e-06 1.21e-01 -4.0 1.21e+02 -7.3 3.59e-01 1.00e+00H 1 23 2.0825336e+00 1.19e-04 1.95e-01 -4.0 2.42e+00 -5.1 1.00e+00 6.41e-01h 1 24 2.0824525e+00 1.33e-04 7.55e-01 -4.0 3.05e+00 -5.6 1.00e+00 6.58e-02h 2 25 2.0823313e+00 6.26e-05 3.91e-03 -4.0 4.52e+00 -6.0 1.00e+00 1.00e+00h 1 26 2.0821596e+00 6.00e-05 1.16e-03 -4.0 1.33e+01 -6.5 1.00e+00 1.00e+00h 1 27 2.0830578e+00 9.26e-08 5.11e-02 -4.0 4.79e+01 -7.0 3.51e-01 1.00e+00H 1 28 2.0819419e+00 1.66e-04 8.61e-01 -4.0 3.35e+00 -4.8 1.00e+00 5.43e-01f 1 29 2.0820454e+00 5.61e-05 1.82e-03 -4.0 9.09e-01 -5.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0821410e+00 2.13e-04 1.15e-03 -4.0 2.04e+00 -5.7 1.00e+00 1.00e+00h 1 31 2.0819482e+00 1.44e-04 5.82e-04 -4.1 4.17e+00 -6.2 1.00e+00 1.00e+00h 1 32 2.0821584e+00 5.50e-04 1.73e-03 -4.0 1.78e+01 -6.7 1.00e+00 1.00e+00h 1 33 2.0819693e+00 1.47e-04 3.69e-04 -4.1 7.70e+00 -6.2 1.00e+00 1.00e+00h 1 34 2.0813736e+00 2.06e-04 3.25e-02 -6.2 4.98e+00 -5.8 8.86e-01 6.58e-01h 1 35 2.0821533e+00 4.49e-04 3.97e-03 -4.0 4.74e+00 -6.3 1.00e+00 1.00e+00f 1 36 2.0819183e+00 2.21e-04 5.88e-03 -4.1 1.52e+01 -6.8 8.79e-01 1.00e+00h 1 37 2.0820428e+00 8.43e-05 2.04e+00 -4.0 2.42e+00 -4.5 1.00e+00 2.83e-01h 1 38 2.0817345e+00 6.17e-06 1.67e-03 -4.1 2.16e-01 -5.0 1.00e+00 1.00e+00h 1 39 2.0820084e+00 4.80e-05 5.78e-04 -4.0 7.88e-01 -5.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818378e+00 3.11e-05 5.03e-04 -4.1 1.44e+00 -6.0 1.00e+00 1.00e+00h 1 41 2.0809688e+00 9.59e-04 5.45e-03 -6.1 1.15e+01 -6.4 9.92e-01 1.00e+00h 1 42 2.0810111e+00 2.21e-05 2.10e-03 -5.0 2.52e-01 -4.2 1.00e+00 9.77e-01h 1 43 2.0812028e+00 2.16e-05 5.62e-01 -4.0 2.04e+00 -4.7 1.00e+00 2.39e-01f 1 44 2.0814486e+00 5.79e-05 1.32e-03 -4.1 1.47e+00 -5.2 1.00e+00 1.00e+00f 1 45 2.0815911e+00 2.29e-05 1.23e-03 -4.1 1.91e+00 -5.6 1.00e+00 1.00e+00h 1 46 2.0816673e+00 8.10e-06 6.48e-04 -4.1 2.26e+00 -6.1 1.00e+00 1.00e+00h 1 47 2.0819671e+00 1.43e-04 2.96e-04 -4.0 4.85e+00 -6.6 1.00e+00 1.00e+00h 1 48 2.0817621e+00 1.54e-04 1.49e-03 -4.1 1.03e+01 -7.1 1.00e+00 1.00e+00h 1 49 2.0816957e+00 4.66e-05 1.23e-03 -4.1 2.15e+01 -7.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0816265e+00 6.19e-05 2.56e-03 -4.1 4.01e+01 -8.0 1.00e+00 1.00e+00h 1 51 2.0815878e+00 7.28e-05 2.33e-03 -4.1 5.02e+01 -8.5 1.00e+00 1.00e+00h 1 52 2.0815786e+00 2.16e-05 5.60e-04 -4.1 3.08e+01 -9.0 1.00e+00 1.00e+00h 1 53 2.0818394e+00 2.28e-04 2.03e-04 -4.0 9.39e+00 -9.5 1.00e+00 1.00e+00h 1 54 2.0815805e+00 2.11e-04 1.63e-04 -4.1 9.59e+00 -9.9 1.00e+00 1.00e+00h 1 55 2.0805902e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -10.4 9.78e-01 9.71e-01h 1 56 2.0818881e+00 6.54e-03 3.25e-04 -4.0 6.08e+01 -10.9 1.00e+00 1.00e+00f 1 57 2.0816137e+00 4.88e-04 1.67e-04 -4.1 2.07e+01 -11.4 1.00e+00 1.00e+00h 1 58 2.0805990e+00 3.47e-03 1.51e-04 -6.1 4.15e+01 -11.8 9.76e-01 9.65e-01h 1 59 2.0805508e+00 8.47e-05 2.30e-06 -6.1 1.69e+01 -12.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0819793e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -12.8 1.00e+00 1.00e+00f 1 61 2.0816837e+00 9.34e-04 1.73e-04 -4.1 4.57e+01 -13.3 1.00e+00 1.00e+00h 1 62 2.0816477e+00 4.73e-07 1.73e-04 -4.1 8.52e+00 -13.8 1.00e+00 1.00e+00h 1 63 2.0818389e+00 1.15e-04 2.03e-04 -4.0 7.07e+00 -14.2 1.00e+00 1.00e+00h 1 64 2.0815801e+00 2.08e-04 1.63e-04 -4.1 9.50e+00 -14.7 1.00e+00 1.00e+00h 1 65 2.0805898e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -15.2 9.78e-01 9.71e-01h 1 66 2.0805497e+00 6.51e-05 1.78e-06 -6.1 1.55e+01 -15.7 1.00e+00 1.00e+00h 1 67 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -16.1 1.00e+00 1.00e+00f 1 68 2.0816887e+00 9.54e-04 1.74e-04 -4.1 4.72e+01 -16.6 1.00e+00 1.00e+00h 1 69 2.0816504e+00 5.63e-07 1.74e-04 -4.1 8.93e+00 -17.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0805906e+00 3.68e-03 1.60e-04 -6.1 4.16e+01 -17.6 9.77e-01 9.75e-01h 1 71 2.0805511e+00 6.76e-05 1.95e-06 -6.1 1.62e+01 -18.0 1.00e+00 1.00e+00h 1 72 2.0805469e+00 4.72e-08 1.61e-06 -6.1 2.95e+00 -18.5 1.00e+00 1.00e+00h 1 73 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.89e+01 -19.0 1.00e+00 1.00e+00f 1 74 2.0817159e+00 1.04e-03 1.76e-04 -4.1 5.46e+01 -19.5 1.00e+00 1.00e+00h 1 75 2.0816648e+00 1.22e-06 1.76e-04 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 76 2.0805915e+00 3.76e-03 1.66e-04 -6.1 4.20e+01 -20.0 9.76e-01 9.75e-01h 1 77 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 78 2.0805471e+00 4.99e-08 1.64e-06 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 79 2.0805365e+00 9.55e-07 8.02e-07 -9.0 9.57e-01 -20.0 1.00e+00 9.97e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 81 2.0817306e+00 1.08e-03 1.77e-04 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0816723e+00 1.67e-06 1.77e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 83 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 84 2.0805516e+00 7.07e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 85 2.0805472e+00 5.15e-08 1.65e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 86 2.0805365e+00 9.76e-07 8.28e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 87 2.0805365e+00 9.27e-11 1.85e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 88 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 89 2.0817309e+00 1.08e-03 1.77e-04 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0816725e+00 1.68e-06 1.77e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 91 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 92 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 93 2.0805472e+00 5.16e-08 1.65e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 94 2.0805365e+00 9.76e-07 8.29e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 95 2.0805365e+00 9.28e-11 1.85e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 8.88e-16 1.85e-09 -9.0 1.10e-05 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 6.66e-16 1.85e-09 -9.0 9.25e-11 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 4.44e-16 1.85e-09 -9.0 9.25e-11 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 4.44e-16 1.85e-09 -9.0 9.25e-11 -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 2.22e-16 1.85e-09 -9.0 9.25e-11 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595436466e+00 2.0805364595436466e+00 Dual infeasibility......: 1.8499772276335243e-09 1.8499772276335243e-09 Constraint violation....: 2.2204460492503131e-16 2.2204460492503131e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090971179366e-10 9.0909090971179366e-10 Overall NLP error.......: 9.9999090909091550e-05 9.9999090909091550e-05 Number of objective function evaluations = 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 = 23.051 EXIT: Maximum Number of Iterations Exceeded. [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=110, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! initializing optimizer... applying constraint: timesteps all equal constraint applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 81 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.0728459e+00 2.98e+00 2.79e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8241980e+00 3.43e-02 1.66e+00 -1.0 1.95e+00 -2.0 9.22e-01 1.00e+00f 1 2 2.3468969e+00 7.62e-02 3.43e-01 -1.8 1.78e+00 -2.5 9.88e-01 1.00e+00h 1 3 2.1655377e+00 1.75e-02 3.54e-02 -2.3 8.25e-01 -3.0 9.37e-01 1.00e+00h 1 4 2.0924275e+00 4.63e-03 1.86e-02 -3.6 5.89e-01 -3.4 9.96e-01 1.00e+00h 1 5 2.0909718e+00 1.60e-05 7.69e-04 -4.0 1.68e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0909116e+00 6.57e-07 2.06e-05 -4.0 5.02e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0907637e+00 8.43e-07 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0903213e+00 7.65e-06 3.46e-05 -4.0 4.50e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0890045e+00 6.98e-05 3.08e-04 -4.0 1.34e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0851534e+00 6.53e-04 2.81e-03 -4.0 3.91e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0797556e+00 1.94e-03 1.46e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.31e-01h 1 12 2.0803774e+00 4.91e-05 1.67e-01 -4.0 6.46e+01 -7.2 1.00e+00 1.00e+00H 1 13 2.0775149e+00 5.84e-03 1.93e-02 -4.0 1.25e+02 -7.7 1.00e+00 9.70e-01h 1 14 2.0771938e+00 6.74e-04 6.11e-02 -4.0 2.11e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0761744e+00 1.04e-03 2.57e-02 -4.0 3.56e+02 -8.7 1.00e+00 7.69e-01h 1 16 2.0755856e+00 5.94e-04 2.51e-02 -4.0 5.08e+02 -9.2 1.00e+00 7.15e-01h 1 17 2.0758568e+00 7.99e-04 1.16e-02 -4.0 1.42e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0754569e+00 1.84e-03 4.73e-04 -4.1 7.94e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0757715e+00 4.95e-04 7.54e-06 -4.0 2.04e+01 -10.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0754220e+00 6.61e-04 7.83e-07 -4.1 2.50e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0757717e+00 3.71e-04 8.25e-07 -4.0 1.40e+01 -11.5 1.00e+00 1.00e+00h 1 22 2.0754219e+00 5.46e-04 2.68e-07 -4.1 2.06e+01 -12.0 1.00e+00 1.00e+00h 1 23 2.0757717e+00 6.02e-04 1.14e-07 -4.0 2.27e+01 -12.5 1.00e+00 1.00e+00h 1 24 2.0754219e+00 6.01e-04 9.83e-08 -4.1 2.27e+01 -13.0 1.00e+00 1.00e+00h 1 25 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -13.5 9.28e-01 1.00e+00h 1 26 2.0758523e+00 1.72e-01 1.56e-04 -4.0 1.29e+03 -13.9 1.00e+00 1.00e+00h 1 27 2.0754378e+00 2.84e-02 8.74e-05 -4.1 1.05e+03 -14.4 1.00e+00 1.00e+00h 1 28 2.0754277e+00 1.24e-05 2.12e-06 -4.1 1.63e+02 -14.9 1.00e+00 1.00e+00h 1 29 2.0757717e+00 7.83e-04 1.74e-07 -4.0 3.01e+01 -15.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0754219e+00 6.34e-04 1.30e-07 -4.1 2.39e+01 -15.8 1.00e+00 1.00e+00h 1 31 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -16.3 9.28e-01 1.00e+00h 1 32 2.0739729e+00 7.49e-04 2.53e-04 -6.1 8.48e+02 -16.8 8.16e-01 1.00e+00h 1 33 2.0743069e+00 2.58e-02 1.46e-02 -4.0 8.97e+03 -17.3 1.00e+00 1.46e-01f 1 34 2.0749156e+00 3.43e-02 4.23e-05 -4.3 7.15e+02 -17.7 1.00e+00 1.00e+00h 1 35 2.0749194e+00 4.29e-04 1.42e-05 -4.3 5.34e+02 -18.2 1.00e+00 1.00e+00h 1 36 2.0757799e+00 1.06e-02 3.26e-06 -4.0 1.65e+02 -18.7 1.00e+00 1.00e+00h 1 37 2.0754236e+00 2.17e-03 7.34e-07 -4.1 8.12e+01 -19.2 1.00e+00 1.00e+00h 1 38 2.0754217e+00 1.05e-06 2.50e-08 -4.1 1.90e+01 -19.7 1.00e+00 1.00e+00h 1 39 2.0757718e+00 7.83e-04 1.70e-07 -4.0 2.96e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0754219e+00 6.34e-04 1.30e-07 -4.1 2.39e+01 -20.0 1.00e+00 1.00e+00h 1 41 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 42 2.0739729e+00 7.49e-04 2.53e-04 -6.1 8.48e+02 -20.0 8.16e-01 1.00e+00h 1 43 2.0739618e+00 7.48e-07 1.83e-05 -6.1 5.36e+02 -20.0 1.00e+00 1.00e+00h 1 44 2.0741610e+00 2.72e-02 1.81e-02 -4.0 3.03e+04 -20.0 1.00e+00 8.17e-02f 1 45 2.0748450e+00 7.42e-02 5.83e-05 -4.3 1.43e+03 -20.0 1.00e+00 1.00e+00f 1 46 2.0748594e+00 4.17e-04 5.58e-06 -4.3 3.96e+02 -20.0 1.00e+00 1.00e+00h 1 47 2.0740038e+00 1.17e-02 4.14e-04 -6.5 1.83e+02 -20.0 8.92e-01 1.00e+00h 1 48 2.0739628e+00 2.48e-04 2.84e-04 -6.5 7.31e+02 -20.0 7.61e-01 1.00e+00h 1 49 2.0739529e+00 2.78e-07 2.04e-05 -6.5 6.29e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0741325e+00 2.58e-02 1.91e-02 -4.0 3.70e+04 -20.0 1.00e+00 7.19e-02f 1 51 2.0748276e+00 8.42e-02 6.63e-05 -4.3 1.60e+03 -20.0 1.00e+00 1.00e+00f 1 52 2.0748443e+00 3.56e-04 3.40e-06 -4.3 3.15e+02 -20.0 1.00e+00 1.00e+00h 1 53 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 54 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 55 2.0739527e+00 2.69e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 56 2.0741318e+00 2.58e-02 1.92e-02 -4.0 3.72e+04 -20.0 1.00e+00 7.16e-02f 1 57 2.0748272e+00 8.45e-02 6.65e-05 -4.3 1.61e+03 -20.0 1.00e+00 1.00e+00f 1 58 2.0748440e+00 3.54e-04 3.34e-06 -4.3 3.13e+02 -20.0 1.00e+00 1.00e+00h 1 59 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 61 2.0739527e+00 2.68e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 62 2.0741318e+00 2.58e-02 1.92e-02 -4.0 3.72e+04 -20.0 1.00e+00 7.16e-02f 1 63 2.0748272e+00 8.45e-02 6.65e-05 -4.3 1.61e+03 -20.0 1.00e+00 1.00e+00f 1 64 2.0748440e+00 3.54e-04 3.34e-06 -4.3 3.13e+02 -20.0 1.00e+00 1.00e+00h 1 65 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 66 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 67 2.0739527e+00 2.68e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 68 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 69 2.0741226e+00 2.63e-02 1.95e-02 -4.0 4.26e+04 -20.0 1.00e+00 6.77e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0748234e+00 8.99e-02 7.10e-05 -4.3 1.70e+03 -20.0 1.00e+00 1.00e+00f 1 71 2.0748412e+00 3.13e-04 2.43e-06 -4.3 2.70e+02 -20.0 1.00e+00 1.00e+00h 1 72 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 73 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 74 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 75 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 76 2.0741225e+00 2.63e-02 1.95e-02 -4.0 4.27e+04 -20.0 1.00e+00 6.76e-02f 1 77 2.0748233e+00 9.00e-02 7.11e-05 -4.3 1.70e+03 -20.0 1.00e+00 1.00e+00f 1 78 2.0748411e+00 3.13e-04 2.42e-06 -4.3 2.70e+02 -20.0 1.00e+00 1.00e+00h 1 79 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 81 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 82 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 83 2.0739440e+00 6.21e-05 3.00e-06 -9.0 1.42e+02 -20.0 9.56e-01 1.00e+00h 1 84 2.0740989e+00 2.54e-02 2.06e-02 -4.0 5.21e+04 -20.0 1.00e+00 5.99e-02f 1 85 2.0748092e+00 1.02e-01 8.36e-05 -4.3 1.92e+03 -20.0 1.00e+00 1.00e+00f 1 86 2.0748293e+00 2.04e-04 1.06e-06 -4.3 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 87 2.0740026e+00 1.16e-02 4.11e-04 -6.5 1.88e+02 -20.0 8.89e-01 1.00e+00h 1 88 2.0739622e+00 2.30e-04 2.84e-04 -6.5 7.25e+02 -20.0 7.59e-01 1.00e+00h 1 89 2.0739525e+00 2.60e-07 1.99e-05 -6.5 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0739518e+00 4.59e-09 7.61e-07 -6.5 1.66e+02 -20.0 1.00e+00 1.00e+00h 1 91 2.0741220e+00 2.63e-02 1.96e-02 -4.0 4.28e+04 -20.0 1.00e+00 6.75e-02f 1 92 2.0748230e+00 9.02e-02 7.13e-05 -4.3 1.71e+03 -20.0 1.00e+00 1.00e+00f 1 93 2.0748409e+00 3.11e-04 2.38e-06 -4.3 2.68e+02 -20.0 1.00e+00 1.00e+00h 1 94 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 95 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 96 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 97 2.0739520e+00 4.54e-09 7.53e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 98 2.0739440e+00 6.21e-05 3.00e-06 -9.0 1.42e+02 -20.0 9.56e-01 1.00e+00h 1 99 2.0740989e+00 2.54e-02 2.06e-02 -4.0 5.21e+04 -20.0 1.00e+00 5.99e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0748092e+00 1.02e-01 8.37e-05 -4.3 1.92e+03 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0748092138579128e+00 2.0748092138579128e+00 Dual infeasibility......: 8.3650444729902021e-05 8.3650444729902021e-05 Constraint violation....: 1.0240270858531986e-01 1.0240270858531986e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 6.8229653538553922e-05 6.8229653538553922e-05 Overall NLP error.......: 1.0240270858531986e-01 1.0240270858531986e-01 Number of objective function evaluations = 102 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 102 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 26.059 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 194 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 27 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 9.4803441e-01 9.77e-01 1.08e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7547288e+00 1.07e-01 1.76e+00 -0.9 9.77e-01 0.0 9.97e-01 1.00e+00h 1 2 1.6612531e+00 8.32e-02 8.23e-01 -0.6 9.21e+00 - 6.91e-01 2.26e-01h 2 3 1.4576092e+00 2.68e-02 6.25e-01 -1.5 2.16e+00 - 9.96e-01 6.77e-01h 1 4 1.1908026e+00 2.57e-02 6.07e-01 -1.8 6.04e+00 - 9.87e-01 5.71e-01h 1 5 1.1969683e+00 8.25e-03 4.31e-01 -2.8 9.07e+00 - 9.80e-01 6.69e-01h 1 6 1.1024317e+00 1.80e-04 2.26e-02 -3.5 2.97e-02 -0.5 1.00e+00 9.53e-01h 1 7 1.0957934e+00 1.42e-06 6.88e-03 -4.0 6.11e-02 -1.0 1.00e+00 1.00e+00h 1 8 1.0953782e+00 4.71e-11 2.53e-03 -4.0 6.80e-02 -1.4 1.00e+00 1.00e+00h 1 9 1.0952402e+00 2.71e-14 5.18e-04 -4.0 4.19e-02 -1.9 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0950368e+00 8.19e-18 5.05e-04 -4.0 1.23e-01 -2.4 1.00e+00 1.00e+00f 1 11 1.0944759e+00 3.83e-20 1.21e-03 -4.0 3.43e-01 -2.9 1.00e+00 1.00e+00f 1 12 1.0933068e+00 9.03e-23 1.52e-02 -4.0 8.43e-01 -3.3 7.07e-01 1.00e+00f 1 13 1.0932422e+00 2.30e-27 3.81e-04 -4.0 3.91e-02 -2.0 1.00e+00 1.00e+00f 1 14 1.0930770e+00 9.70e-28 3.70e-04 -4.0 1.14e-01 -2.5 1.00e+00 1.00e+00f 1 15 1.0910898e+00 5.17e-25 1.34e-01 -4.0 3.65e+00 - 1.00e+00 1.00e+00f 1 16 1.0909286e+00 5.23e-30 7.43e-04 -4.0 2.82e-02 -2.1 1.00e+00 1.00e+00f 1 17 1.0909006e+00 1.42e-31 4.07e-04 -4.0 3.06e-02 - 1.00e+00 1.00e+00f 1 18 1.0908998e+00 1.21e-32 8.50e-05 -4.0 4.30e-02 - 1.00e+00 1.00e+00f 1 19 1.0908997e+00 2.29e-31 1.62e-06 -4.0 2.54e-03 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.0908997e+00 1.27e-31 5.55e-10 -4.0 4.42e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 20 (scaled) (unscaled) Objective...............: 1.0908997263265512e+00 1.0908997263265512e+00 Dual infeasibility......: 5.5459163844042179e-10 5.5459163844042179e-10 Constraint violation....: 1.2707822139157600e-31 1.2707822139157600e-31 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000025e-04 1.0000000000000025e-04 Overall NLP error.......: 5.5459163844042179e-10 5.5459163844042179e-10 Number of objective function evaluations = 23 Number of objective gradient evaluations = 21 Number of equality constraint evaluations = 23 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 21 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 20 Total seconds in IPOPT = 21.682 EXIT: Optimal Solution Found. Difference in Hessian Difference in Jacobian Test Summary: | Pass Total Time Package | 202 202 18m50.6s Testing DirectTrajOpt tests passed Testing completed after 1208.13s PkgEval succeeded after 1293.62s