Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.1741 (f7ebeb5678*) started at 2026-02-19T23:18:59.305 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 12.73s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Installed DirectTrajOpt ─ v0.8.3 Updating `~/.julia/environments/v1.14/Project.toml` [c823fa1f] + DirectTrajOpt v0.8.3 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 v1.8.0 [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 v6.205.1 [163ba53b] + DiffResults v1.1.0 [b552c78f] + DiffRules v1.15.1 [a0c0ee7d] + DifferentiationInterface v0.7.16 [c823fa1f] + DirectTrajOpt v0.8.3 [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 v3.5.2 [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 v2.139.0 [19f34311] + SciMLJacobianOperators v0.1.12 [a6db7da4] + SciMLLogging v1.9.0 [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 6.51s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling packages... 26675.4 ms ✓ DirectTrajOpt 1 dependency successfully precompiled in 30 seconds. 225 already precompiled. Precompilation completed after 51.37s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_t6Kh2K/Project.toml` [c823fa1f] DirectTrajOpt v0.8.3 [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_t6Kh2K/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 v1.8.0 [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 v6.205.1 [163ba53b] DiffResults v1.1.0 [b552c78f] DiffRules v1.15.1 [a0c0ee7d] DifferentiationInterface v0.7.16 [c823fa1f] DirectTrajOpt v0.8.3 [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 v3.5.2 [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 v2.139.0 [19f34311] SciMLJacobianOperators v0.1.12 [a6db7da4] SciMLLogging v1.9.0 [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... Difference in Jacobian 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 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...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 81 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.9248092e+00 3.50e+00 1.44e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.3803691e+00 4.70e+00 1.14e+01 -1.0 8.17e+01 -4.0 9.36e-01 1.00e+00f 1 2 2.2206650e+00 3.06e-01 1.91e+00 -1.7 1.82e+01 -4.5 1.00e+00 1.00e+00h 1 3 2.1588759e+00 1.92e-01 1.09e+00 -2.2 1.97e+01 -5.0 1.00e+00 5.00e-01h 2 4 2.1179264e+00 1.33e-01 8.12e-01 -2.4 3.32e+01 -5.4 1.00e+00 4.97e-01h 2 5 2.0850040e+00 1.60e-01 1.02e+00 -3.3 4.11e+01 -5.9 1.00e+00 1.00e+00h 1 6 2.0835462e+00 7.37e-03 2.22e-01 -3.9 2.93e+01 -6.4 1.00e+00 1.00e+00h 1 7 2.0802935e+00 4.70e-03 1.88e-02 -3.7 2.76e+01 -6.9 1.00e+00 9.86e-01h 1 8 2.0785865e+00 7.97e-03 1.45e-02 -4.0 5.09e+01 -7.3 1.00e+00 1.00e+00h 1 9 2.0772435e+00 1.14e-03 1.13e-02 -4.0 1.15e+02 -7.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0765103e+00 6.66e-05 2.22e-02 -4.0 2.13e+02 -8.3 1.00e+00 9.48e-01h 1 11 2.0761067e+00 4.84e-04 2.58e-02 -4.0 3.53e+02 -8.8 1.00e+00 1.00e+00h 1 12 2.0756144e+00 6.87e-05 2.10e-02 -4.0 3.72e+02 -9.2 1.00e+00 6.50e-01h 1 13 2.0758217e+00 4.85e-04 6.43e-03 -4.0 1.18e+02 -9.7 1.00e+00 1.00e+00h 1 14 2.0754408e+00 9.63e-04 1.46e-04 -4.1 3.94e+01 -10.2 1.00e+00 1.00e+00h 1 15 2.0757716e+00 4.54e-04 3.64e-06 -4.0 1.80e+01 -10.7 1.00e+00 1.00e+00h 1 16 2.0754220e+00 6.28e-04 3.79e-07 -4.1 2.37e+01 -11.2 1.00e+00 1.00e+00h 1 17 2.0757717e+00 3.93e-04 7.06e-07 -4.0 1.48e+01 -11.6 1.00e+00 1.00e+00h 1 18 2.0754219e+00 5.55e-04 2.35e-07 -4.1 2.10e+01 -12.1 1.00e+00 1.00e+00h 1 19 2.0757717e+00 6.03e-04 9.82e-08 -4.0 2.28e+01 -12.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0754219e+00 6.02e-04 1.03e-07 -4.1 2.27e+01 -13.1 1.00e+00 1.00e+00h 1 21 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -13.5 9.28e-01 1.00e+00h 1 22 2.0758523e+00 1.72e-01 1.56e-04 -4.0 1.29e+03 -14.0 1.00e+00 1.00e+00h 1 23 2.0754378e+00 2.85e-02 8.78e-05 -4.1 1.05e+03 -14.5 1.00e+00 1.00e+00h 1 24 2.0754277e+00 1.24e-05 2.11e-06 -4.1 1.63e+02 -15.0 1.00e+00 1.00e+00h 1 25 2.0757717e+00 7.84e-04 1.74e-07 -4.0 3.01e+01 -15.5 1.00e+00 1.00e+00h 1 26 2.0754219e+00 6.34e-04 1.30e-07 -4.1 2.39e+01 -15.9 1.00e+00 1.00e+00h 1 27 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -16.4 9.28e-01 1.00e+00h 1 28 2.0739729e+00 7.49e-04 2.53e-04 -6.1 8.48e+02 -16.9 8.16e-01 1.00e+00h 1 29 2.0743069e+00 2.58e-02 1.46e-02 -4.0 8.97e+03 -17.4 1.00e+00 1.46e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0749156e+00 3.43e-02 4.23e-05 -4.3 7.15e+02 -17.8 1.00e+00 1.00e+00h 1 31 2.0749194e+00 4.29e-04 1.42e-05 -4.3 5.34e+02 -18.3 1.00e+00 1.00e+00h 1 32 2.0757799e+00 1.06e-02 3.26e-06 -4.0 1.65e+02 -18.8 1.00e+00 1.00e+00h 1 33 2.0754236e+00 2.17e-03 7.34e-07 -4.1 8.12e+01 -19.3 1.00e+00 1.00e+00h 1 34 2.0754217e+00 1.05e-06 2.50e-08 -4.1 1.90e+01 -19.7 1.00e+00 1.00e+00h 1 35 2.0757718e+00 7.83e-04 1.70e-07 -4.0 2.96e+01 -20.0 1.00e+00 1.00e+00h 1 36 2.0754219e+00 6.34e-04 1.30e-07 -4.1 2.39e+01 -20.0 1.00e+00 1.00e+00h 1 37 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 38 2.0739729e+00 7.49e-04 2.53e-04 -6.1 8.48e+02 -20.0 8.16e-01 1.00e+00h 1 39 2.0739618e+00 7.48e-07 1.83e-05 -6.1 5.36e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0741610e+00 2.72e-02 1.81e-02 -4.0 3.03e+04 -20.0 1.00e+00 8.17e-02f 1 41 2.0748450e+00 7.42e-02 5.83e-05 -4.3 1.43e+03 -20.0 1.00e+00 1.00e+00f 1 42 2.0748594e+00 4.17e-04 5.58e-06 -4.3 3.96e+02 -20.0 1.00e+00 1.00e+00h 1 43 2.0740038e+00 1.17e-02 4.14e-04 -6.5 1.83e+02 -20.0 8.92e-01 1.00e+00h 1 44 2.0739628e+00 2.48e-04 2.84e-04 -6.5 7.31e+02 -20.0 7.61e-01 1.00e+00h 1 45 2.0739529e+00 2.78e-07 2.04e-05 -6.5 6.29e+02 -20.0 1.00e+00 1.00e+00h 1 46 2.0741325e+00 2.58e-02 1.91e-02 -4.0 3.70e+04 -20.0 1.00e+00 7.19e-02f 1 47 2.0748276e+00 8.42e-02 6.63e-05 -4.3 1.60e+03 -20.0 1.00e+00 1.00e+00f 1 48 2.0748443e+00 3.56e-04 3.40e-06 -4.3 3.15e+02 -20.0 1.00e+00 1.00e+00h 1 49 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 51 2.0739527e+00 2.69e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 52 2.0741318e+00 2.58e-02 1.92e-02 -4.0 3.72e+04 -20.0 1.00e+00 7.16e-02f 1 53 2.0748272e+00 8.45e-02 6.65e-05 -4.3 1.61e+03 -20.0 1.00e+00 1.00e+00f 1 54 2.0748440e+00 3.54e-04 3.34e-06 -4.3 3.13e+02 -20.0 1.00e+00 1.00e+00h 1 55 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 56 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 57 2.0739527e+00 2.68e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 58 2.0741318e+00 2.58e-02 1.92e-02 -4.0 3.72e+04 -20.0 1.00e+00 7.16e-02f 1 59 2.0748272e+00 8.45e-02 6.65e-05 -4.3 1.61e+03 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0748440e+00 3.54e-04 3.34e-06 -4.3 3.13e+02 -20.0 1.00e+00 1.00e+00h 1 61 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 62 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 63 2.0739527e+00 2.68e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 64 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 65 2.0741226e+00 2.63e-02 1.95e-02 -4.0 4.26e+04 -20.0 1.00e+00 6.77e-02f 1 66 2.0748234e+00 8.99e-02 7.10e-05 -4.3 1.70e+03 -20.0 1.00e+00 1.00e+00f 1 67 2.0748412e+00 3.13e-04 2.43e-06 -4.3 2.70e+02 -20.0 1.00e+00 1.00e+00h 1 68 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 69 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 71 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 72 2.0741225e+00 2.63e-02 1.95e-02 -4.0 4.27e+04 -20.0 1.00e+00 6.76e-02f 1 73 2.0748233e+00 9.00e-02 7.11e-05 -4.3 1.70e+03 -20.0 1.00e+00 1.00e+00f 1 74 2.0748411e+00 3.13e-04 2.42e-06 -4.3 2.70e+02 -20.0 1.00e+00 1.00e+00h 1 75 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 76 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 77 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 78 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 79 2.0739440e+00 6.21e-05 3.00e-06 -9.0 1.42e+02 -20.0 9.56e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0740989e+00 2.54e-02 2.06e-02 -4.0 5.21e+04 -20.0 1.00e+00 5.99e-02f 1 81 2.0748092e+00 1.02e-01 8.36e-05 -4.3 1.92e+03 -20.0 1.00e+00 1.00e+00f 1 82 2.0748293e+00 2.04e-04 1.06e-06 -4.3 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 83 2.0740026e+00 1.16e-02 4.11e-04 -6.5 1.88e+02 -20.0 8.89e-01 1.00e+00h 1 84 2.0739622e+00 2.30e-04 2.84e-04 -6.5 7.25e+02 -20.0 7.59e-01 1.00e+00h 1 85 2.0739525e+00 2.60e-07 1.99e-05 -6.5 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 86 2.0739518e+00 4.59e-09 7.61e-07 -6.5 1.66e+02 -20.0 1.00e+00 1.00e+00h 1 87 2.0741220e+00 2.63e-02 1.96e-02 -4.0 4.28e+04 -20.0 1.00e+00 6.75e-02f 1 88 2.0748230e+00 9.02e-02 7.13e-05 -4.3 1.71e+03 -20.0 1.00e+00 1.00e+00f 1 89 2.0748409e+00 3.11e-04 2.38e-06 -4.3 2.68e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 91 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 92 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 93 2.0739520e+00 4.54e-09 7.53e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 94 2.0739440e+00 6.21e-05 3.00e-06 -9.0 1.42e+02 -20.0 9.56e-01 1.00e+00h 1 95 2.0740989e+00 2.54e-02 2.06e-02 -4.0 5.21e+04 -20.0 1.00e+00 5.99e-02f 1 96 2.0748092e+00 1.02e-01 8.37e-05 -4.3 1.92e+03 -20.0 1.00e+00 1.00e+00f 1 97 2.0748293e+00 2.04e-04 1.06e-06 -4.3 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 98 2.0740026e+00 1.16e-02 4.11e-04 -6.5 1.88e+02 -20.0 8.89e-01 1.00e+00h 1 99 2.0739622e+00 2.30e-04 2.84e-04 -6.5 7.25e+02 -20.0 7.59e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0739525e+00 2.60e-07 1.99e-05 -6.5 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0739525125989102e+00 2.0739525125989102e+00 Dual infeasibility......: 1.9893600830503464e-05 1.9893600830503464e-05 Constraint violation....: 2.6030378874608573e-07 2.6030378874608573e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 6.1601907672001683e-07 6.1601907672001683e-07 Overall NLP error.......: 9.9745518747822260e-05 9.9745518747822260e-05 Number of objective function evaluations = 107 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 107 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 = 62.757 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 194 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 27 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.1468700e+00 7.65e-01 1.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8389509e+00 1.06e-01 1.79e+00 -0.8 7.65e-01 0.0 9.88e-01 1.00e+00h 1 2 1.7171847e+00 4.94e-02 7.62e-01 -0.9 5.22e-01 -0.5 6.54e-01 7.66e-01h 1 3 1.7193046e+00 9.56e-02 3.02e+00 -1.2 1.65e+01 - 8.37e-01 3.83e-01f 2 4 1.5675288e+00 1.73e-02 1.65e+00 -1.3 3.31e-01 -1.0 1.00e+00 9.74e-01h 1 5 1.2438642e+00 9.52e-03 3.33e-01 -2.0 6.85e-01 -1.4 9.97e-01 7.78e-01f 1 6 1.2630682e+00 2.67e-03 9.13e-01 -1.9 1.31e+01 - 5.84e-01 7.28e-01h 1 7 1.1771095e+00 1.53e-03 1.90e-01 -3.1 3.51e-01 -1.9 1.00e+00 4.27e-01f 1 8 1.0924662e+00 9.57e-06 2.21e-01 -3.7 3.99e+00 - 1.00e+00 1.00e+00f 1 9 1.0916754e+00 5.53e-08 1.03e-02 -3.7 8.89e-01 - 9.95e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0908986e+00 5.02e-11 1.67e-04 -4.0 1.29e-01 - 1.00e+00 1.00e+00f 1 11 1.0908997e+00 7.96e-18 9.11e-07 -4.0 1.88e-01 - 1.00e+00 1.00e+00f 1 12 1.0907198e+00 2.96e-25 5.30e-07 -4.1 4.18e-02 - 1.00e+00 1.00e+00f 1 13 1.0908997e+00 2.37e-26 6.18e-08 -4.0 1.31e-02 - 1.00e+00 1.00e+00f 1 14 1.0907198e+00 7.66e-26 3.25e-09 -4.1 2.09e-03 - 1.00e+00 1.00e+00f 1 15 1.0900065e+00 2.70e-25 5.10e-08 -6.1 7.93e-05 - 1.00e+00 1.00e+00f 1 16 1.0908999e+00 4.14e-29 8.00e-08 -4.0 7.23e-02 - 1.00e+00 1.00e+00f 1 17 1.0907198e+00 1.78e-26 3.25e-09 -4.1 5.74e-02 - 1.00e+00 1.00e+00f 1 18 1.0900065e+00 1.09e-25 5.10e-08 -6.1 1.28e-04 - 1.00e+00 1.00e+00f 1 19 1.0899999e+00 3.15e-32 4.16e-12 -9.0 1.81e-05 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.0900001e+00 3.15e-32 4.16e-12 -4.0 1.56e+03 - 1.00e+00 1.66e-04f 1 21 1.0903959e+00 1.04e-34 1.57e-08 -4.4 1.08e-01 - 1.00e+00 1.00e+00f 1 22 1.0900026e+00 4.03e-25 1.55e-08 -6.5 9.10e-04 - 1.00e+00 1.00e+00f 1 23 1.0899999e+00 1.26e-31 6.89e-13 -9.0 4.24e-04 - 1.00e+00 1.00e+00f 1 24 1.0899999e+00 6.03e-43 5.47e-16 -9.0 1.36e-01 - 1.00e+00 1.00e+00f 1 25 1.0899999e+00 2.68e-45 3.41e-16 -9.0 6.41e-16 - 1.00e+00 1.00e+00 0 26 1.0899999e+00 1.11e-46 3.11e-16 -9.0 2.79e-17 - 1.00e+00 1.00e+00T 0 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 1.0899999181818181e+00 1.0899999181818181e+00 Dual infeasibility......: 3.1130154877490046e-16 3.1130154877490046e-16 Constraint violation....: 1.1084489805694354e-46 1.1084489805694354e-46 Variable bound violation: 9.0909090932206338e-09 9.0909090932206338e-09 Complementarity.........: 9.0909090909090920e-10 9.0909090909090920e-10 Overall NLP error.......: 9.9999090909091604e-05 9.9999090909091604e-05 Number of objective function evaluations = 29 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 29 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 27 Total seconds in IPOPT = 23.529 EXIT: Search Direction is becoming Too Small. [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 3.6971221e+00 3.19e+00 4.59e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.6677485e+00 7.07e-02 5.28e+00 -1.0 2.73e+00 0.0 9.48e-01 1.00e+00f 1 Hello, world! 2 2.4168413e+00 1.93e-02 1.45e+00 -1.0 2.72e-01 0.4 9.33e-01 1.00e+00h 1 Hello, world! 3 2.4251501e+00 7.82e-04 6.14e-01 -1.6 1.03e-01 -0.1 9.90e-01 1.00e+00h 1 Hello, world! 4 2.2932616e+00 1.53e-03 3.14e-01 -1.9 1.52e-01 -0.5 9.93e-01 3.39e-01h 1 Hello, world! 5 2.1243423e+00 2.10e-03 1.24e-01 -3.0 9.22e-02 -1.0 1.00e+00 8.08e-01h 1 Hello, world! 6 2.0911439e+00 1.23e-04 2.10e-02 -4.0 1.57e-02 -1.5 1.00e+00 9.43e-01h 1 Hello, world! 7 2.0908608e+00 1.20e-07 1.33e-04 -4.0 9.12e-03 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908579e+00 2.12e-09 4.44e-05 -4.0 1.21e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908549e+00 1.77e-10 1.85e-05 -4.0 1.52e-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 2.0908500e+00 7.77e-10 1.83e-05 -4.0 4.50e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908371e+00 5.88e-09 1.77e-05 -4.0 1.30e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908048e+00 4.02e-08 7.36e-05 -4.0 3.59e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0907294e+00 3.81e-07 3.25e-04 -4.0 9.57e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0905160e+00 2.97e-06 3.09e-04 -4.0 2.84e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0904291e+00 4.12e-07 3.16e-04 -4.0 1.11e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0900863e+00 7.63e-07 2.49e-03 -4.0 4.00e+00 -5.4 1.00e+00 8.32e-01H 1 Hello, world! 17 2.0894882e+00 5.12e-05 1.22e-02 -4.0 1.18e+01 -5.8 1.00e+00 1.00e+00f 1 Hello, world! 18 2.0887016e+00 5.86e-05 2.03e-01 -4.0 3.61e+01 -5.4 1.00e+00 1.50e-01h 1 Hello, world! 19 2.0877722e+00 5.87e-05 1.59e-02 -4.0 1.21e+01 -5.9 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 20 2.0859751e+00 1.57e-04 2.30e-02 -4.0 2.89e+01 -6.4 1.00e+00 7.97e-01h 1 Hello, world! 21 2.0834040e+00 6.92e-04 3.98e-02 -4.0 4.82e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0825537e+00 3.17e-04 1.15e-02 -4.0 6.44e+01 -7.3 1.00e+00 9.23e-01h 1 Hello, world! 23 2.0823278e+00 3.27e-04 1.04e-02 -4.0 1.44e+02 -7.8 8.94e-01 1.00e+00h 1 Hello, world! 24 2.0825687e+00 5.44e-04 1.20e-02 -4.0 2.20e+01 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0824059e+00 1.83e-04 2.41e-02 -4.0 4.33e+01 -6.9 6.97e-01 1.00e+00h 1 Hello, world! 26 2.0823012e+00 7.67e-05 1.80e-01 -4.0 1.03e+00 -4.7 1.00e+00 7.85e-01h 1 Hello, world! 27 2.0822638e+00 5.56e-05 7.93e-04 -4.0 1.12e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0822425e+00 5.36e-06 5.09e-04 -4.0 1.13e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0822367e+00 2.67e-05 3.23e-04 -4.0 1.89e+00 -6.1 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0822125e+00 5.86e-06 4.98e-05 -4.0 5.65e+00 -6.6 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0821503e+00 9.24e-06 5.94e-04 -4.0 1.47e+01 -7.1 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0820376e+00 4.48e-05 2.48e-03 -4.0 3.14e+01 -7.6 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0819174e+00 1.27e-04 5.07e-03 -4.0 4.92e+01 -8.0 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0818578e+00 1.46e-04 3.78e-03 -4.0 5.91e+01 -8.5 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0818448e+00 3.76e-05 7.54e-04 -4.0 3.45e+01 -9.0 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0818435e+00 1.54e-06 4.07e-05 -4.0 8.28e+00 -9.5 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0818434e+00 8.91e-09 3.46e-07 -4.0 7.42e-01 -10.0 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0818434e+00 7.01e-12 1.00e-09 -4.0 2.36e-02 -10.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 38 (scaled) (unscaled) Objective...............: 2.0818434105459911e+00 2.0818434105459911e+00 Dual infeasibility......: 1.0000000112101327e-09 1.0000000112101327e-09 Constraint violation....: 7.0086159098536882e-12 7.0086159098536882e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000038e-04 1.0000000000000038e-04 Overall NLP error.......: 1.0000000112101327e-09 1.0000000112101327e-09 Number of objective function evaluations = 40 Number of objective gradient evaluations = 39 Number of equality constraint evaluations = 40 Number of inequality constraint evaluations = 40 Number of equality constraint Jacobian evaluations = 39 Number of inequality constraint Jacobian evaluations = 39 Number of Lagrangian Hessian evaluations = 38 Total seconds in IPOPT = 23.498 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.6971221e+00 3.19e+00 4.59e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.6677485e+00 7.07e-02 5.28e+00 -1.0 2.73e+00 0.0 9.48e-01 1.00e+00f 1 Hello, world! 2 2.4168413e+00 1.93e-02 1.45e+00 -1.0 2.72e-01 0.4 9.33e-01 1.00e+00h 1 Hello, world! 3 2.4251501e+00 7.82e-04 6.14e-01 -1.6 1.03e-01 -0.1 9.90e-01 1.00e+00h 1 Hello, world! 4 2.2932616e+00 1.53e-03 3.14e-01 -1.9 1.52e-01 -0.5 9.93e-01 3.39e-01h 1 Hello, world! 5 2.1243423e+00 2.10e-03 1.24e-01 -3.0 9.22e-02 -1.0 1.00e+00 8.08e-01h 1 Hello, world! 6 2.0911439e+00 1.23e-04 2.10e-02 -4.0 1.57e-02 -1.5 1.00e+00 9.43e-01h 1 Hello, world! 7 2.0908608e+00 1.20e-07 1.33e-04 -4.0 9.12e-03 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908579e+00 2.12e-09 4.44e-05 -4.0 1.21e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908549e+00 1.77e-10 1.85e-05 -4.0 1.52e-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 2.0908500e+00 7.77e-10 1.83e-05 -4.0 4.50e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908371e+00 5.88e-09 1.77e-05 -4.0 1.30e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908048e+00 4.02e-08 7.36e-05 -4.0 3.59e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0907294e+00 3.81e-07 3.25e-04 -4.0 9.57e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0905160e+00 2.97e-06 3.09e-04 -4.0 2.84e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0904291e+00 4.12e-07 3.16e-04 -4.0 1.11e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0900863e+00 7.63e-07 2.49e-03 -4.0 4.00e+00 -5.4 1.00e+00 8.32e-01H 1 Hello, world! 17 2.0894882e+00 5.12e-05 1.22e-02 -4.0 1.18e+01 -5.8 1.00e+00 1.00e+00f 1 Hello, world! 18 2.0887016e+00 5.86e-05 2.03e-01 -4.0 3.61e+01 -5.4 1.00e+00 1.50e-01h 1 Hello, world! 19 2.0877722e+00 5.87e-05 1.59e-02 -4.0 1.21e+01 -5.9 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 20 2.0859751e+00 1.57e-04 2.30e-02 -4.0 2.89e+01 -6.4 1.00e+00 7.97e-01h 1 Hello, world! 21 2.0834040e+00 6.92e-04 3.98e-02 -4.0 4.82e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0825537e+00 3.17e-04 1.15e-02 -4.0 6.44e+01 -7.3 1.00e+00 9.23e-01h 1 Hello, world! 23 2.0823278e+00 3.27e-04 1.04e-02 -4.0 1.44e+02 -7.8 8.94e-01 1.00e+00h 1 Hello, world! 24 2.0825687e+00 5.44e-04 1.20e-02 -4.0 2.20e+01 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0824059e+00 1.83e-04 2.41e-02 -4.0 4.33e+01 -6.9 6.97e-01 1.00e+00h 1 Hello, world! 26 2.0823012e+00 7.67e-05 1.80e-01 -4.0 1.03e+00 -4.7 1.00e+00 7.85e-01h 1 Hello, world! 27 2.0822638e+00 5.56e-05 7.93e-04 -4.0 1.12e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0822425e+00 5.36e-06 5.09e-04 -4.0 1.13e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0822367e+00 2.67e-05 3.23e-04 -4.0 1.89e+00 -6.1 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0822125e+00 5.86e-06 4.98e-05 -4.0 5.65e+00 -6.6 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0821503e+00 9.24e-06 5.94e-04 -4.0 1.47e+01 -7.1 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0820376e+00 4.48e-05 2.48e-03 -4.0 3.14e+01 -7.6 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0819174e+00 1.27e-04 5.07e-03 -4.0 4.92e+01 -8.0 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0818578e+00 1.46e-04 3.78e-03 -4.0 5.91e+01 -8.5 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0818448e+00 3.76e-05 7.54e-04 -4.0 3.45e+01 -9.0 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0818435e+00 1.54e-06 4.07e-05 -4.0 8.28e+00 -9.5 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0818434e+00 8.91e-09 3.46e-07 -4.0 7.42e-01 -10.0 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0818434e+00 7.01e-12 1.00e-09 -4.0 2.36e-02 -10.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 38 (scaled) (unscaled) Objective...............: 2.0818434105459911e+00 2.0818434105459911e+00 Dual infeasibility......: 1.0000000112101327e-09 1.0000000112101327e-09 Constraint violation....: 7.0086159098536882e-12 7.0086159098536882e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000038e-04 1.0000000000000038e-04 Overall NLP error.......: 1.0000000112101327e-09 1.0000000112101327e-09 Number of objective function evaluations = 40 Number of objective gradient evaluations = 39 Number of equality constraint evaluations = 40 Number of inequality constraint evaluations = 40 Number of equality constraint Jacobian evaluations = 39 Number of inequality constraint Jacobian evaluations = 39 Number of Lagrangian Hessian evaluations = 38 Total seconds in IPOPT = 0.766 EXIT: Optimal Solution Found. [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! [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! Difference in Hessian 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 4.5759811e+00 2.47e+00 7.22e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7672057e+00 2.12e-02 4.62e-01 -1.1 2.67e+00 - 9.99e-01 1.00e+00f 1 2 2.2908630e+00 7.37e-03 8.56e-02 -1.7 9.44e-02 - 9.65e-01 1.00e+00f 1 3 2.1046826e+00 9.07e-04 1.06e-02 -3.0 3.15e-02 - 9.42e-01 9.64e-01h 1 4 2.0909596e+00 5.98e-05 8.85e-04 -4.0 4.13e-02 - 1.00e+00 1.00e+00h 1 5 2.0908929e+00 3.35e-06 6.13e-05 -4.0 3.86e-01 - 1.00e+00 1.00e+00h 1 6 2.0908971e+00 2.90e-09 2.53e-08 -4.0 1.20e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 3.26e-12 2.83e-12 -4.0 4.51e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971978435149e+00 2.0908971978435149e+00 Dual infeasibility......: 2.8348510062829735e-12 2.8348510062829735e-12 Constraint violation....: 3.2564349166427226e-12 3.2564349166427226e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000029415380715e-04 1.0000029415380715e-04 Overall NLP error.......: 2.9415380714710709e-10 2.9415380714710709e-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 = 23.532 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 1.7809912e+00 1.93e+00 7.12e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.0747708e+00 7.93e-01 2.19e+00 -0.8 5.83e+00 -2.0 8.32e-01 5.89e-01f 1 2 2.0491145e+00 4.33e-01 6.47e+00 -1.2 9.47e+00 -2.5 1.80e-01 4.72e-01h 1 3 2.6487616e+00 2.33e-01 3.33e+00 -0.9 3.69e+00 -2.1 5.72e-01 1.00e+00f 1 4 2.5993037e+00 3.26e-03 8.10e-01 -1.3 1.49e-01 0.2 9.80e-01 1.00e+00h 1 5 2.2978994e+00 5.06e-03 2.09e-01 -1.7 1.18e-01 -0.3 9.55e-01 1.00e+00f 1 6 2.1765205e+00 8.50e-03 2.84e-01 -2.1 2.18e-01 -0.8 9.61e-01 6.98e-01h 1 7 2.1170451e+00 2.06e-03 1.60e-01 -2.6 1.19e-01 -1.3 9.96e-01 7.69e-01h 1 8 2.0973304e+00 5.73e-04 1.06e-01 -3.3 3.07e-02 -1.7 9.99e-01 7.78e-01h 1 9 2.0909350e+00 1.68e-05 1.18e-02 -4.0 1.81e-02 -2.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908162e+00 5.43e-07 3.11e-05 -4.0 8.90e-03 -2.7 1.00e+00 1.00e+00h 1 11 2.0908133e+00 4.75e-09 1.85e-05 -4.0 2.66e-02 -3.2 1.00e+00 1.00e+00h 1 12 2.0908056e+00 2.11e-09 1.84e-05 -4.0 7.94e-02 -3.6 1.00e+00 1.00e+00h 1 13 2.0907831e+00 1.82e-08 1.80e-05 -4.0 2.34e-01 -4.1 1.00e+00 1.00e+00h 1 14 2.0907192e+00 1.44e-07 6.54e-05 -4.0 6.66e-01 -4.6 1.00e+00 1.00e+00h 1 15 2.0905574e+00 8.97e-07 4.47e-04 -4.0 1.71e+00 -5.1 1.00e+00 1.00e+00h 1 16 2.0902608e+00 3.10e-06 1.84e-03 -4.0 3.43e+00 -5.5 1.00e+00 1.00e+00h 1 17 2.0900036e+00 3.89e-06 2.93e-03 -4.0 4.94e+00 -6.0 1.00e+00 1.00e+00h 1 18 2.0898882e+00 5.75e-07 1.90e-03 -4.0 6.62e+00 -6.5 1.00e+00 1.00e+00h 1 19 2.0898334e+00 2.86e-06 1.15e-03 -4.0 1.07e+01 -7.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0898249e+00 1.56e-06 8.94e-04 -4.0 1.01e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0898224e+00 7.86e-07 1.76e-04 -4.0 4.70e+00 -7.9 1.00e+00 1.00e+00h 1 22 2.0898219e+00 2.44e-08 5.01e-06 -4.0 6.51e-01 -8.4 1.00e+00 1.00e+00h 1 23 2.0898219e+00 7.67e-11 2.04e-08 -4.0 5.80e-02 -8.9 1.00e+00 1.00e+00h 1 24 2.0898218e+00 3.51e-14 1.61e-11 -4.0 1.89e-03 -9.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 24 (scaled) (unscaled) Objective...............: 2.0898218497898426e+00 2.0898218497898426e+00 Dual infeasibility......: 1.6069226461620789e-11 1.6069226461620789e-11 Constraint violation....: 3.5062014056008728e-14 3.5062014056008728e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000051e-04 1.0000000000000051e-04 Overall NLP error.......: 1.6069226461620789e-11 1.6069226461620789e-11 Number of objective function evaluations = 25 Number of objective gradient evaluations = 25 Number of equality constraint evaluations = 25 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 25 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 24 Total seconds in IPOPT = 24.464 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 2.3171572e+00 3.03e+00 5.45e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.2664709e+00 2.84e+00 9.31e+00 -1.2 1.38e+01 -2.0 5.97e-03 6.20e-02h 1 2 2.2638276e+00 2.84e+00 6.17e+01 -4.0 2.24e+01 -1.6 6.33e-02 1.10e-03h 1 3 2.2613292e+00 2.81e+00 4.10e+02 0.5 2.31e+02 -2.1 1.19e-01 1.31e-02f 1 4 2.2590626e+00 2.58e+00 2.17e+04 0.7 4.79e+02 -2.5 1.00e+00 2.47e-02h 1 5 2.3176713e+00 2.57e+00 4.53e+04 -4.0 1.90e+03 -3.0 9.38e-03 2.14e-03h 1 6 2.6509552e+00 2.76e+00 8.14e+04 2.5 9.64e+03 -3.5 1.00e-02 4.38e-03f 1 7 2.6511196e+00 2.75e+00 1.01e+05 0.8 3.62e+04 -3.1 2.56e-03 2.01e-03h 1 8 2.6513233e+00 2.75e+00 2.31e+05 0.8 8.13e+04 -3.5 3.53e-03 4.63e-04h 3 9 2.6522814e+00 2.75e+00 4.11e+05 0.8 6.69e+04 -3.1 1.76e-03 1.93e-04h 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.6526184e+00 2.75e+00 4.72e+05 0.8 1.17e+05 -3.6 6.67e-04 1.33e-04h 5 11 2.6531937e+00 2.75e+00 1.50e+06 0.8 7.04e+04 -3.2 5.39e-03 1.15e-04h 5 12 2.6540847e+00 2.75e+00 1.60e+06 0.8 1.92e+05 -3.6 5.71e-04 1.36e-04h 5 13 2.6550273e+00 2.75e+00 3.82e+06 0.8 1.50e+05 -3.2 5.49e-03 9.35e-05h 5 14 2.6585898e+00 2.75e+00 3.86e+06 0.8 3.60e+05 -3.7 5.78e-04 4.75e-04h 3 15 2.6597796e+00 2.75e+00 1.92e+07 0.8 2.73e+05 -3.3 1.73e-02 9.60e-05h 5 16 2.6626133e+00 2.75e+00 1.92e+07 0.8 1.02e+06 -3.7 6.76e-04 6.94e-04f 3 17 2.6664703e+00 2.75e+00 5.76e+07 0.8 8.33e+05 -3.3 1.21e-02 6.05e-04h 3 18 2.6698877e+00 2.75e+00 6.15e+07 0.8 9.50e+05 -2.9 4.48e-04 5.46e-05f 6 19 2.6742769e+00 2.75e+00 6.30e+07 0.8 1.06e+06 -3.4 4.58e-04 9.79e-05f 5 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.6777874e+00 2.75e+00 7.45e+07 0.8 9.75e+05 -2.9 1.28e-03 4.92e-05f 6 21 2.6862739e+00 2.74e+00 7.79e+07 0.8 9.86e+05 -3.4 9.24e-04 1.98e-04f 4 22 2.6926211e+00 2.74e+00 9.31e+07 0.8 9.52e+05 -3.0 1.53e-03 9.30e-05f 5 23 2.6982271e+00 2.74e+00 8.75e+07 0.8 1.20e+06 -3.5 1.13e-04 1.63e-03h 1 24 2.6985216e+00 2.74e+00 1.10e+08 0.8 1.09e+06 -3.0 2.51e-03 2.05e-05h 1 25 2.7002708e+00 2.74e+00 1.31e+08 0.8 1.50e+06 -3.5 2.07e-03 6.60e-05h 1 26 2.7032765e+00 2.74e+00 2.59e+08 0.8 1.01e+06 -3.1 3.35e-03 4.82e-05h 3 27r 2.7032765e+00 2.74e+00 1.00e+03 0.8 0.00e+00 -3.6 0.00e+00 4.07e-07R 10 28r 2.5999344e+00 1.37e+00 4.94e+03 2.5 1.15e+05 - 6.77e-02 2.57e-03f 1 29 2.5983310e+00 1.36e+00 4.63e+01 -1.1 2.69e+01 -4.0 1.49e-01 4.36e-03h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.5994498e+00 1.36e+00 1.75e+03 -0.2 1.90e+03 -4.5 7.00e-03 2.26e-04h 1 31 2.6363008e+00 1.38e+00 2.06e+05 1.4 1.66e+04 -5.0 8.58e-02 6.34e-04f 1 32r 2.6363008e+00 1.38e+00 9.99e+02 0.1 0.00e+00 -5.5 0.00e+00 3.46e-07R 12 33r 2.6087776e+00 1.21e+00 1.11e+03 2.2 1.12e+05 - 9.10e-03 2.05e-03f 1 34 2.6080394e+00 1.21e+00 1.22e+02 -2.2 3.98e+02 -6.0 2.17e-01 1.80e-03h 1 35 2.6094960e+00 1.21e+00 5.72e+03 1.0 7.45e+05 -6.4 2.86e-03 7.79e-05f 2 36r 2.6094960e+00 1.21e+00 9.99e+02 0.1 0.00e+00 -6.9 0.00e+00 4.07e-07R 11 37r 2.6297435e+00 7.54e-01 9.92e+02 1.5 1.42e+05 - 2.50e-02 2.28e-03f 1 38 2.6321167e+00 7.54e-01 1.83e+05 0.5 5.40e+04 -7.4 1.00e+00 4.07e-04h 1 39 2.7341039e+00 4.72e+02 8.87e+04 2.5 1.20e+07 -7.9 8.61e-05 1.28e-03f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.7510416e+00 3.74e+02 1.16e+05 0.4 4.95e+06 -8.3 3.33e-03 1.11e-03h 1 41 2.7908528e+00 1.72e+02 1.94e+05 0.4 2.24e+06 -8.8 3.31e-02 2.17e-03h 2 42 2.8857364e+00 7.72e+00 1.93e+05 0.4 3.10e+05 -9.3 5.52e-03 5.54e-03f 3 43 3.0299638e+00 8.99e+00 5.64e+04 0.4 1.65e+04 -9.8 6.64e-02 9.73e-03f 2 44 3.1037042e+00 9.62e+00 5.91e+04 0.4 4.28e+04 -10.2 2.18e-03 5.89e-03f 2 45 3.1224195e+00 9.65e+00 5.59e+04 0.4 6.28e+04 -10.7 4.68e-02 1.62e-03h 3 46 3.1784407e+00 9.02e+00 1.69e+05 0.4 6.60e+04 -11.2 1.75e-02 5.28e-03h 1 47r 3.1784407e+00 9.02e+00 1.00e+03 1.0 0.00e+00 -11.7 0.00e+00 4.04e-07R 8 48r 3.2495538e+00 2.91e+00 3.92e+04 2.6 4.44e+05 - 2.41e-01 1.79e-03f 1 49 3.2502814e+00 2.91e+00 5.32e+02 -0.3 1.18e+04 -12.2 5.42e-01 2.80e-03h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 3.2506107e+00 2.91e+00 1.11e+04 -0.3 2.33e+04 -12.6 3.53e-02 2.46e-04h 4 51 3.2506338e+00 2.91e+00 2.90e+04 -0.3 2.98e+05 -13.1 3.42e-03 3.30e-05h 7 52 3.2506673e+00 2.91e+00 8.80e+04 -0.3 3.02e+05 -13.6 4.39e-03 6.61e-05h 6 53 3.2507197e+00 2.90e+00 2.87e+05 -0.3 3.06e+05 -14.1 4.80e-03 1.29e-04h 5 54 3.2507733e+00 2.90e+00 1.14e+07 -0.3 3.21e+05 -14.5 7.43e-02 1.20e-04h 5 55 3.2508225e+00 2.90e+00 2.70e+07 -0.3 3.39e+05 -15.0 2.60e-03 1.13e-04h 5 56 3.2508731e+00 2.90e+00 4.46e+09 -0.3 3.51e+05 -15.5 2.73e-01 1.05e-04h 5 57 3.2509176e+00 2.90e+00 1.18e+10 -0.3 3.70e+05 -16.0 2.75e-03 9.90e-05h 5 58 3.2509628e+00 2.90e+00 4.82e+10 -0.3 3.82e+05 -16.5 4.59e-03 9.22e-05h 5 59 3.2510057e+00 2.90e+00 7.27e+11 -0.3 3.98e+05 -16.9 1.94e-02 8.64e-05h 5 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 3.2510459e+00 2.90e+00 3.60e+12 -0.3 4.14e+05 -17.4 5.24e-03 8.11e-05h 5 61 3.2510851e+00 2.90e+00 2.44e+13 -0.3 4.28e+05 -17.9 7.10e-03 7.58e-05h 5 62 3.2511223e+00 2.90e+00 2.50e+14 -0.3 4.42e+05 -18.4 1.06e-02 7.10e-05h 5 63 3.2511065e+00 2.90e+00 1.37e+15 -0.3 2.49e+05 -18.8 1.16e-02 1.81e-04h 3 64 3.2516050e+00 2.89e+00 1.52e+15 -0.3 5.84e+04 -19.3 1.00e+00 3.43e-03h 1 65 3.2475334e+00 2.89e+00 3.88e+10 -0.3 1.14e-02 12.5 1.00e+00 1.00e+00h 1 66 3.2499408e+00 2.89e+00 4.42e+15 -1.0 5.72e+01 12.1 6.07e-03 1.51e-04h 1 67 3.2618773e+00 2.89e+00 5.84e+15 -1.0 1.04e+03 11.6 2.77e-04 6.75e-05h 1 68r 3.2618773e+00 2.89e+00 1.00e+03 0.5 0.00e+00 11.1 0.00e+00 3.90e-07R 7 69r 3.3347024e+00 9.75e-01 1.02e+03 2.3 3.56e+04 - 6.13e-02 1.26e-03f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 3.3341972e+00 9.74e-01 5.62e+07 -1.0 1.02e+00 10.6 9.27e-03 1.32e-03h 1 71 3.3341922e+00 9.74e-01 5.64e+07 -1.0 1.01e+00 10.1 2.19e-02 1.32e-05h 1 72r 3.3341922e+00 9.74e-01 9.99e+02 -0.0 0.00e+00 9.7 0.00e+00 7.52e-08R 2 73r 3.2992858e+00 6.84e-01 9.98e+02 -0.1 3.56e+04 - 3.25e-03 5.92e-04f 1 74r 3.2992858e+00 6.84e-01 9.99e+02 -0.2 0.00e+00 9.2 0.00e+00 2.90e-07R 4 75r 3.3919503e+00 3.99e+00 9.97e+02 1.8 1.05e+05 - 2.97e-03 1.94e-03f 1 76r 3.3460618e+00 4.53e+00 9.98e+02 1.9 7.48e+03 - 4.25e-02 1.50e-03f 1 77r 3.2676417e+00 4.42e+00 3.12e+03 1.4 1.07e+03 - 8.11e-01 1.66e-02f 1 78r 3.4086646e+00 1.71e+00 3.48e+02 0.7 2.65e+02 - 1.00e+00 6.30e-01f 1 79r 3.5318584e+00 3.13e-01 4.34e+01 -0.1 7.16e+01 - 9.96e-01 8.91e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 3.5330301e+00 3.12e-01 3.67e+05 -1.7 2.09e-01 8.7 8.82e-01 3.38e-03h 1 81 3.5330418e+00 3.11e-01 7.97e+06 -2.3 2.09e-01 8.2 1.00e+00 3.39e-05h 1 82r 3.5330418e+00 3.11e-01 1.00e+03 1.6 0.00e+00 7.8 0.00e+00 2.96e-07R 6 83r 3.5291104e+00 1.99e-01 8.69e+02 -0.2 6.30e+01 - 9.49e-01 1.07e-01f 1 84 3.5292426e+00 1.99e-01 1.48e+03 -4.0 2.09e-01 7.3 8.74e-01 3.72e-04h 1 85r 3.5292426e+00 1.99e-01 1.00e+03 -0.7 0.00e+00 6.8 0.00e+00 4.68e-07R 4 86r 3.5515445e+00 1.99e-01 9.94e+02 -0.6 3.06e+02 - 1.00e+00 4.53e-03f 1 87r 3.8927057e+00 2.71e-01 6.70e+01 -0.5 9.93e+01 - 1.00e+00 9.33e-01f 1 88r 3.8819168e+00 1.99e-01 1.42e+02 -1.5 7.09e+01 - 1.00e+00 6.20e-01f 1 89r 3.9200259e+00 1.99e-01 1.56e+00 -1.9 5.52e-02 0.0 1.00e+00 9.99e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90r 3.8429070e+00 1.99e-01 1.80e-01 -2.6 2.53e+01 - 9.97e-01 1.00e+00f 1 91r 3.7317170e+00 1.99e-01 1.77e-02 -3.5 1.42e+01 - 1.00e+00 1.00e+00f 1 92r 3.7020249e+00 1.99e-01 1.60e-03 -4.0 5.83e+00 - 1.00e+00 1.00e+00h 1 93r 3.7090305e+00 1.99e-01 3.41e-05 -4.0 1.42e+00 - 1.00e+00 1.00e+00h 1 94r 3.7090773e+00 1.99e-01 1.74e-08 -4.0 3.63e-02 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 94 (scaled) (unscaled) Objective...............: 3.7090772905577216e+00 3.7090772905577216e+00 Dual infeasibility......: 2.0102904246730890e+00 2.0102904246730890e+00 Constraint violation....: 1.9875045036406347e-01 1.9875045036406347e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000013014e-04 1.0000000000013014e-04 Overall NLP error.......: 2.0102904246730890e+00 2.0102904246730890e+00 Number of objective function evaluations = 324 Number of objective gradient evaluations = 83 Number of equality constraint evaluations = 324 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 105 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 95 Total seconds in IPOPT = 24.867 EXIT: Converged to a point of local infeasibility. Problem may be infeasible. initializing optimizer... applying constraint: bounds constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 36 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.7684046e+00 2.62e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.6271782e+00 9.44e-01 1.74e+00 -0.9 2.18e+00 0.0 5.97e-01 6.44e-01f 1 2 2.6219277e+00 2.30e-01 8.96e-01 -1.4 1.09e+00 -0.5 5.69e-01 7.56e-01h 1 3 2.4902788e+00 1.33e-01 3.02e+00 -1.2 2.69e-01 0.9 7.41e-01 4.21e-01h 1 4 2.4361409e+00 1.00e-01 1.70e+01 -1.4 1.46e-01 1.3 9.87e-01 2.48e-01h 1 5 2.3267008e+00 7.58e-02 1.65e+01 -1.5 3.39e-01 0.8 1.00e+00 2.44e-01h 1 6 2.1755852e+00 7.40e-04 1.16e+01 -1.9 3.46e-01 0.3 1.00e+00 1.00e+00h 1 7 2.1149269e+00 2.88e-06 8.96e-01 -2.9 6.94e-02 -0.2 9.81e-01 1.00e+00f 1 8 2.0997996e+00 6.38e-06 4.87e-02 -4.0 2.41e-02 -0.6 1.00e+00 1.05e-01f 1 9 2.0908552e+00 3.12e-06 1.84e-03 -4.0 2.36e-02 -1.1 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908880e+00 6.45e-09 1.87e-04 -4.0 7.17e-03 -1.6 1.00e+00 1.00e+00h 1 11 2.0908877e+00 1.36e-11 1.30e-04 -4.0 1.50e-02 -2.1 1.00e+00 1.00e+00h 1 12 2.0908870e+00 1.92e-11 5.89e-05 -4.0 2.04e-02 -2.5 1.00e+00 1.00e+00h 1 13 2.0908849e+00 1.73e-10 2.06e-05 -4.0 2.14e-02 -3.0 1.00e+00 1.00e+00h 1 14 2.0908786e+00 1.55e-09 2.06e-05 -4.0 6.41e-02 -3.5 1.00e+00 1.00e+00h 1 15 2.0908597e+00 1.40e-08 2.06e-05 -4.0 1.92e-01 -4.0 1.00e+00 1.00e+00h 1 16 2.0908030e+00 1.26e-07 2.06e-05 -4.0 5.77e-01 -4.4 1.00e+00 1.00e+00h 1 17 2.0906330e+00 1.14e-06 2.06e-05 -4.0 1.73e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0901247e+00 1.03e-05 4.58e-05 -4.0 5.17e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0886141e+00 9.47e-05 4.08e-04 -4.0 1.54e+01 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0842176e+00 9.04e-04 3.75e-03 -4.0 4.47e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0796343e+00 1.88e-03 2.32e-01 -4.0 1.10e+02 -6.8 1.00e+00 4.16e-01h 1 22 2.0793855e+00 8.16e-03 1.89e-01 -4.1 6.27e+01 -7.3 1.00e+00 7.90e-01h 1 23 2.0772884e+00 7.67e-03 3.50e-02 -4.0 1.30e+02 -7.8 1.00e+00 9.05e-01h 1 24 2.0768348e+00 2.87e-03 6.42e-02 -4.0 2.10e+02 -8.3 1.00e+00 1.00e+00h 1 25 2.0759306e+00 1.44e-03 2.63e-02 -4.0 3.62e+02 -8.7 1.00e+00 1.00e+00h 1 26 2.0754671e+00 1.78e-03 2.84e-02 -4.0 3.57e+02 -9.2 1.00e+00 6.87e-01h 1 27 2.0757167e+00 1.23e-03 6.32e-03 -4.0 1.10e+02 -9.7 1.00e+00 1.00e+00h 1 28 2.0756734e+00 6.40e-05 1.13e-04 -4.0 3.38e+01 -10.2 1.00e+00 1.00e+00h 1 29 2.0756713e+00 3.17e-07 3.99e-06 -4.0 2.19e+01 -10.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0756712e+00 2.04e-08 8.71e-07 -4.0 1.17e+01 -11.1 1.00e+00 1.00e+00h 1 31 2.0756712e+00 1.35e-09 5.38e-08 -4.0 3.40e+00 -11.6 1.00e+00 1.00e+00h 1 32 2.0756712e+00 1.53e-11 6.09e-10 -4.0 4.35e-01 -12.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 32 (scaled) (unscaled) Objective...............: 2.0756712121118119e+00 2.0756712121118119e+00 Dual infeasibility......: 6.0921587327796012e-10 6.0921587327796012e-10 Constraint violation....: 1.5345169579461526e-11 1.5345169579461526e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000055e-04 1.0000000000000055e-04 Overall NLP error.......: 6.0921587327796012e-10 6.0921587327796012e-10 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 = 37.562 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/XjPJd/src/problems.jl:65 initializing optimizer... applying constraint: L1 slack constraint: |du| ≤ s_du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on s_du 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...: 1808 Number of nonzeros in inequality constraint Jacobian.: 80 Number of nonzeros in Lagrangian Hessian.............: 2239 Total number of variables............................: 122 variables with only lower bounds: 30 variables with lower and upper bounds: 0 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 40 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 40 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.0819573e+00 3.37e+00 1.04e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.6706924e+00 7.54e+00 3.99e+00 -0.5 3.64e+01 -4.0 6.88e-01 1.00e+00f 1 2 3.0652321e+00 5.71e-01 7.42e-01 -1.3 1.26e+00 -0.9 7.76e-01 1.00e+00h 1 3 2.6650110e+00 1.12e-02 1.75e-01 -1.6 6.90e-01 -1.3 9.36e-01 1.00e+00h 1 4 2.4415146e+00 4.83e-02 1.24e-01 -1.8 1.44e+00 -1.8 7.92e-01 8.29e-01f 1 5 2.2607024e+00 1.18e-02 1.46e-01 -2.7 5.40e-01 -1.4 8.89e-01 1.00e+00h 1 6 2.1419308e+00 2.19e-02 4.28e-01 -2.4 2.16e+00 -1.9 7.50e-01 2.81e-01h 1 7 2.0697313e+00 1.94e-02 9.53e-01 -2.7 1.41e+00 -2.3 1.00e+00 3.31e-01h 1 8 2.0298072e+00 1.12e-02 4.52e-01 -3.2 1.13e+00 -2.8 1.00e+00 4.22e-01h 1 9 2.0036136e+00 1.33e-03 6.65e-02 -4.0 4.77e-01 -3.3 1.00e+00 8.81e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0010487e+00 9.74e-06 6.74e-03 -4.0 3.43e-01 -3.8 1.00e+00 1.00e+00h 1 11 2.0010360e+00 1.63e-07 1.51e-02 -4.0 6.59e-01 -4.3 1.00e+00 1.00e+00h 1 12 2.0010501e+00 7.87e-10 2.39e-02 -4.0 1.22e+00 -4.7 1.00e+00 1.00e+00f 1 13 2.0010668e+00 9.49e-11 4.29e-02 -4.0 2.17e+00 -5.2 1.00e+00 1.00e+00f 1 14 2.0006720e+00 2.21e-08 5.10e-02 -4.2 2.57e+00 -5.7 1.00e+00 1.00e+00f 1 15 2.0012928e+00 1.48e-08 1.72e-01 -4.0 8.66e+00 -6.2 1.00e+00 1.00e+00f 1 16 2.0008628e+00 1.26e-08 1.11e-01 -4.1 7.76e+00 -6.6 1.00e+00 7.14e-01f 1 17 2.0011307e+00 1.98e-09 4.10e-01 -4.1 2.05e+01 -7.1 1.00e+00 1.00e+00f 1 18 2.0008889e+00 6.31e-09 4.73e-01 -4.1 2.60e+01 -7.6 1.00e+00 9.12e-01f 1 19 2.0012555e+00 6.72e-09 1.04e+00 -4.1 5.19e+01 -8.1 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0009283e+00 1.68e-08 1.35e+00 -4.1 7.57e+01 -8.5 1.00e+00 8.91e-01f 1 21 2.0012860e+00 1.18e-08 2.75e+00 -4.1 1.37e+02 -9.0 1.00e+00 1.00e+00f 1 22 2.0009116e+00 2.67e-08 4.40e+00 -4.1 2.37e+02 -9.5 1.00e+00 9.27e-01f 1 23 2.0013281e+00 1.05e-08 7.62e+00 -4.1 3.81e+02 -10.0 1.00e+00 1.00e+00f 1 24 2.0008870e+00 2.47e-08 1.27e+01 -4.1 6.83e+02 -10.5 1.00e+00 9.27e-01f 1 25 2.0013513e+00 6.13e-09 2.16e+01 -4.1 1.08e+03 -10.9 1.00e+00 1.00e+00f 1 26 2.0008346e+00 2.01e-08 3.86e+01 -4.1 2.05e+03 -11.4 1.00e+00 9.42e-01f 1 27 2.0013856e+00 2.32e-09 6.19e+01 -4.1 3.03e+03 -11.9 9.64e-01 1.00e+00f 1 28 2.0007506e+00 1.22e-08 8.96e+01 -4.1 4.78e+03 -12.4 1.00e+00 9.37e-01f 1 29 2.0013966e+00 2.59e-10 1.61e+02 -4.1 7.93e+03 -12.8 9.72e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0006218e+00 7.05e-09 2.06e+02 -4.1 1.07e+04 -13.3 1.00e+00 9.61e-01f 1 31 2.0018534e+00 1.91e-10 4.01e+02 -4.0 2.00e+04 -13.8 1.00e+00 1.00e+00f 1 32 2.0010133e+00 1.78e-09 2.76e+01 -4.2 3.36e+03 -14.3 1.00e+00 4.10e-01f 2 33 2.0007399e+00 8.52e-10 2.53e+02 -4.2 1.27e+04 -14.8 1.00e+00 1.00e+00f 1 34 2.0006392e+00 2.01e-11 2.90e+02 -4.2 1.45e+04 -15.2 1.00e+00 1.00e+00f 1 35 2.0005830e+00 2.50e-12 1.79e+02 -4.2 8.94e+03 -15.7 1.00e+00 1.00e+00f 1 36 2.0009527e+00 2.32e-12 2.17e+02 -4.0 1.09e+04 -16.2 1.00e+00 1.00e+00f 1 37 2.0005487e+00 1.26e-12 1.70e+02 -4.1 8.48e+03 -16.7 1.00e+00 1.00e+00f 1 38 2.0008784e+00 3.38e-12 1.60e+02 -4.0 7.98e+03 -17.1 1.00e+00 1.00e+00f 1 39 2.0005551e+00 1.12e-12 1.37e+02 -4.1 6.83e+03 -17.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0006545e+00 5.22e-12 7.18e+01 -4.1 3.59e+03 -18.1 1.00e+00 1.00e+00h 1 41 2.0006177e+00 5.38e-12 2.53e+01 -4.1 1.27e+03 -18.6 1.00e+00 1.00e+00h 1 42 2.0006333e+00 7.29e-12 1.06e+01 -4.1 5.32e+02 -19.0 1.00e+00 1.00e+00h 1 43 2.0006271e+00 8.40e-12 4.50e+00 -4.1 2.25e+02 -19.5 1.00e+00 1.00e+00h 1 44 2.0006297e+00 1.08e-11 1.73e+00 -4.1 8.65e+01 -20.0 1.00e+00 1.00e+00h 1 45 2.0006287e+00 4.21e-12 7.57e-01 -4.1 3.78e+01 -20.0 1.00e+00 1.00e+00h 1 46 2.0006291e+00 1.79e-12 2.87e-01 -4.1 1.44e+01 -20.0 1.00e+00 1.00e+00h 1 47 2.0006289e+00 7.02e-13 1.26e-01 -4.1 6.32e+00 -20.0 1.00e+00 1.00e+00h 1 48 2.0006290e+00 2.98e-13 4.78e-02 -4.1 2.39e+00 -20.0 1.00e+00 1.00e+00h 1 49 2.0006290e+00 1.17e-13 2.11e-02 -4.1 1.05e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0006290e+00 4.96e-14 7.97e-03 -4.1 3.98e-01 -20.0 1.00e+00 1.00e+00h 1 51 2.0006290e+00 1.95e-14 3.51e-03 -4.1 1.75e-01 -20.0 1.00e+00 1.00e+00h 1 52 2.0006290e+00 8.26e-15 1.33e-03 -4.1 9.45e-02 -20.0 1.00e+00 1.00e+00h 1 53 2.0006290e+00 3.24e-15 5.85e-04 -4.1 9.45e-02 -20.0 1.00e+00 1.00e+00h 1 54 1.9998548e+00 1.21e-08 2.25e+02 -6.1 1.13e+04 -20.0 1.00e+00 1.00e+00f 1 55 2.0006842e+00 3.05e-09 2.09e+03 -4.0 2.09e+05 -20.0 1.00e+00 5.00e-01f 2 56 2.0004208e+00 9.61e-11 2.30e+03 -3.9 1.15e+05 -20.0 1.00e+00 1.00e+00f 1 57 2.0009599e+00 3.50e-09 5.58e+02 -3.9 2.79e+04 -20.0 1.00e+00 1.00e+00f 1 58 2.0010410e+00 3.05e-09 1.07e+02 -3.9 5.33e+03 -20.0 1.00e+00 1.00e+00h 1 59 2.0010533e+00 7.46e-10 2.72e+01 -3.9 1.36e+03 -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 2.0010702e+00 5.76e-10 6.08e+00 -3.9 3.04e+02 -20.0 1.00e+00 1.00e+00h 1 61 2.0010720e+00 1.33e-10 4.72e+00 -3.9 2.36e+02 -20.0 1.00e+00 1.00e+00h 1 62 2.0010747e+00 9.82e-11 1.06e+00 -3.9 5.31e+01 -20.0 1.00e+00 1.00e+00h 1 63 2.0010750e+00 2.24e-11 7.85e-01 -3.9 3.92e+01 -20.0 1.00e+00 1.00e+00h 1 64 2.0010755e+00 1.64e-11 1.78e-01 -3.9 8.92e+00 -20.0 1.00e+00 1.00e+00h 1 65 2.0010755e+00 3.74e-12 1.31e-01 -3.9 6.54e+00 -20.0 1.00e+00 1.00e+00h 1 66 2.0010756e+00 2.73e-12 2.98e-02 -3.9 1.49e+00 -20.0 1.00e+00 1.00e+00h 1 67 2.0010756e+00 6.22e-13 2.18e-02 -3.9 1.09e+00 -20.0 1.00e+00 1.00e+00h 1 68 2.0010756e+00 4.55e-13 4.96e-03 -3.9 4.95e-01 -20.0 1.00e+00 1.00e+00h 1 69 2.0010756e+00 1.04e-13 3.63e-03 -3.9 4.95e-01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0010756e+00 7.57e-14 8.27e-04 -3.9 4.95e-01 -20.0 1.00e+00 1.00e+00h 1 71 1.9998649e+00 8.68e-08 2.43e+02 -5.9 1.22e+04 -20.0 1.00e+00 1.00e+00f 1 72 1.9998453e+00 3.10e-13 2.18e+02 -5.9 1.17e+04 -20.0 9.30e-01 1.00e+00h 1 73 1.8270702e+00 2.01e-13 1.94e+06 -5.9 9.70e+07 -20.0 1.81e-03 1.00e+00f 1 74 1.8123085e+00 5.22e-13 2.03e+03 -5.5 1.34e+08 -20.0 1.00e+00 7.60e-04f 1 75 1.9420523e+00 5.22e-13 1.31e+06 -4.0 9.40e+10 -20.0 1.00e+00 6.95e-04f 1 76 1.9999566e+00 5.19e-13 6.43e+05 -3.2 6.33e+09 -20.0 1.00e+00 5.08e-03f 1 77 1.9999073e+00 2.00e-11 1.64e+03 -3.2 8.20e+04 -20.0 1.00e+00 1.00e+00f 1 78 2.0290629e+00 5.93e-06 5.13e+01 -3.2 2.57e+03 -20.0 1.00e+00 1.00e+00f 1 79 2.0102941e+00 1.34e-03 8.61e+02 -3.2 8.61e+04 -20.0 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0086284e+00 2.57e-04 1.45e+02 -3.2 7.26e+03 -20.0 1.00e+00 1.00e+00h 1 81 2.0061460e+00 1.61e-05 1.42e+02 -3.2 7.11e+03 -20.0 1.00e+00 1.00e+00h 1 82 2.0064804e+00 2.60e-06 1.63e+02 -3.2 8.15e+03 -20.0 1.00e+00 1.00e+00h 1 83 2.0059315e+00 4.15e-06 3.24e+01 -3.2 1.62e+03 -20.0 1.00e+00 1.00e+00h 1 84 2.0059942e+00 5.08e-06 3.37e+01 -3.2 1.75e+03 -20.0 1.00e+00 1.00e+00h 1 85 2.0058905e+00 1.24e-06 3.59e+00 -3.2 2.13e+02 -20.0 1.00e+00 1.00e+00h 1 86 2.0059007e+00 4.99e-08 5.83e+00 -3.2 2.92e+02 -20.0 1.00e+00 1.00e+00h 1 87 2.0058831e+00 1.09e-07 5.09e-01 -3.2 8.65e+01 -20.0 1.00e+00 1.00e+00h 1 88 2.0058848e+00 8.22e-09 9.77e-01 -3.2 8.65e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0058818e+00 1.82e-08 8.22e-02 -3.2 8.63e+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 2.0058821e+00 1.37e-09 1.63e-01 -3.2 8.63e+01 -20.0 1.00e+00 1.00e+00h 1 91 2.0058816e+00 3.02e-09 1.36e-02 -3.2 8.63e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0058817e+00 2.27e-10 2.71e-02 -3.2 8.63e+01 -20.0 1.00e+00 1.00e+00h 1 93 2.0058816e+00 5.03e-10 2.26e-03 -3.2 8.63e+01 -20.0 1.00e+00 1.00e+00h 1 94 1.9999841e+00 6.10e-05 2.65e+02 -4.8 1.32e+04 -20.0 1.00e+00 1.00e+00f 1 95 2.0000040e+00 4.86e-10 7.05e+01 -4.8 3.52e+03 -20.0 1.00e+00 1.00e+00h 1 96 2.0000005e+00 4.68e-16 5.22e+02 -4.8 2.61e+04 -20.0 1.00e+00 1.00e+00h 1 97 1.9999301e+00 2.14e-14 5.17e+00 -4.8 2.59e+02 -20.0 1.00e+00 1.00e+00h 1 98 1.9999447e+00 3.75e-14 1.58e+02 -4.8 7.88e+03 -20.0 1.00e+00 1.00e+00h 1 99 1.9999332e+00 3.25e-14 3.55e+01 -4.8 1.78e+03 -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 1.9999356e+00 8.25e-15 3.03e+01 -4.8 1.51e+03 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.9999356316102341e+00 1.9999356316102341e+00 Dual infeasibility......: 3.0263031009557380e+01 3.0263031009557380e+01 Constraint violation....: 8.2535868703513104e-15 8.2535868703513104e-15 Variable bound violation: 2.9913240566698960e-09 2.9913240566698960e-09 Complementarity.........: 1.4875470865089114e-05 1.4875470865089114e-05 Overall NLP error.......: 2.5912767574896005e+01 3.0263031009557380e+01 Number of objective function evaluations = 110 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 110 Number of inequality constraint evaluations = 110 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 40.752 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... applying constraint: duration constraint of 4.0 applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1529 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 73 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.6189901e+00 3.11e+00 2.26e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.2202562e+00 5.18e+00 2.42e+00 -0.3 2.88e+01 -2.0 9.51e-02 2.93e-01f 1 2 3.3324787e+00 3.47e+00 9.90e+00 -1.7 3.87e+00 0.2 3.83e-02 3.39e-01h 1 3 3.2016465e+00 3.35e+00 9.70e+00 -4.0 8.89e+00 -0.2 2.06e-02 3.39e-02h 1 4 3.1593826e+00 2.90e+00 8.40e+00 -1.1 1.74e+00 0.2 1.54e-01 1.33e-01f 1 5 2.9369281e+00 2.49e+00 2.50e+01 -0.2 1.73e+00 0.6 7.64e-01 1.42e-01f 1 6 2.6317176e+00 1.71e+00 3.35e+01 0.4 3.05e+00 0.1 8.02e-01 3.23e-01f 1 7 2.5874639e+00 1.60e+00 2.78e+01 0.3 1.60e+01 -0.3 2.56e-01 6.05e-02h 1 8 2.3163894e+00 7.36e-01 1.48e+01 -0.1 2.89e+00 0.1 4.54e-01 5.50e-01h 1 9 2.3114458e+00 6.75e-01 2.11e+01 -4.0 4.64e+01 -0.4 2.97e-02 5.30e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.1983392e+00 3.75e-01 1.18e+01 -0.5 6.54e-01 0.9 4.91e-01 4.50e-01h 1 11 2.1371786e+00 2.61e-01 1.27e+01 -0.4 1.53e+00 0.5 9.31e-01 3.06e-01f 1 12 2.0016382e+00 2.17e-02 1.16e+00 -1.0 5.47e-01 -0.0 9.97e-01 1.00e+00f 1 13 1.7995159e+00 1.20e-03 2.62e-01 -1.4 1.56e-01 -0.5 9.83e-01 1.00e+00f 1 14 1.5188725e+00 3.60e-03 9.92e-02 -1.9 3.91e-01 -1.0 9.48e-01 1.00e+00f 1 15 1.3749199e+00 1.45e-03 7.17e-02 -2.5 4.88e-01 -1.5 9.54e-01 8.08e-01f 1 16 1.3119324e+00 5.25e-03 2.27e-02 -2.5 4.42e-01 -1.9 9.58e-01 1.00e+00h 1 17 1.2829587e+00 1.76e-03 1.48e-02 -2.8 1.03e+00 -2.4 9.07e-01 1.00e+00h 1 18 1.2687805e+00 4.65e-03 2.80e-01 -3.6 1.53e+00 -2.9 9.97e-01 4.82e-01h 1 19 1.2356037e+00 3.42e+00 8.09e-01 -3.1 3.04e+01 -3.4 3.63e-01 6.22e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.4149479e+00 1.34e+00 6.37e-01 -2.3 3.42e+00 -2.0 1.00e+00 6.18e-01h 1 21 1.3543050e+00 4.12e-01 2.24e-01 -2.3 4.24e+00 -2.5 3.38e-01 6.78e-01h 1 22 1.3394296e+00 4.04e-02 2.77e-02 -2.3 2.33e+00 -3.0 1.00e+00 1.00e+00h 1 23 1.2813266e+00 1.77e-02 1.07e-01 -3.5 2.36e+00 -3.5 5.39e-01 9.81e-01h 1 24 1.2632932e+00 5.67e-03 7.83e-02 -3.5 1.36e+00 -3.0 4.70e-01 1.00e+00h 1 25 1.2590175e+00 4.32e-02 2.56e-02 -3.2 1.09e+00 -2.6 9.98e-01 1.00e+00h 1 26 1.2795616e+00 7.21e-02 8.11e-02 -2.6 1.30e+00 -2.2 1.00e+00 7.27e-01h 1 27 1.2718669e+00 8.34e-03 3.75e-02 -2.7 4.61e-01 -1.8 1.00e+00 1.00e+00h 1 28 1.2303875e+00 7.36e-01 1.76e-01 -2.7 7.77e+00 -2.2 3.56e-01 4.39e-01h 1 29 1.2201969e+00 3.37e-02 1.30e-01 -2.7 1.40e+00 -2.7 5.17e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.1878666e+00 1.06e-01 1.06e-02 -3.8 1.76e+00 -3.2 1.00e+00 1.00e+00h 1 31 1.1830015e+00 3.68e-02 2.96e-02 -4.0 3.06e+00 -3.7 1.00e+00 1.00e+00h 1 32 1.1762788e+00 1.08e-01 5.93e-03 -4.0 4.03e+00 -4.1 1.00e+00 1.00e+00h 1 33 1.1734034e+00 9.16e-02 1.70e-02 -4.0 6.12e+00 -4.6 1.00e+00 1.00e+00h 1 34 1.1699900e+00 1.40e-01 6.22e-03 -4.0 9.45e+00 -5.1 1.00e+00 1.00e+00h 1 35 1.1678073e+00 1.52e-01 8.23e-03 -4.0 1.44e+01 -5.6 1.00e+00 1.00e+00h 1 36 1.1657732e+00 2.00e-01 1.14e-03 -4.0 2.20e+01 -6.1 1.00e+00 1.00e+00h 1 37 1.1643063e+00 2.33e-01 9.94e-04 -4.0 3.33e+01 -6.5 1.00e+00 1.00e+00h 1 38 1.1630493e+00 2.89e-01 7.80e-03 -4.0 5.03e+01 -7.0 1.00e+00 1.00e+00h 1 39 1.1621109e+00 3.37e-01 1.24e-02 -4.0 7.49e+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 40 1.1613498e+00 3.98e-01 1.94e-02 -4.0 1.10e+02 -8.0 1.00e+00 1.00e+00h 1 41 1.1608131e+00 4.37e-01 2.36e-02 -4.0 1.56e+02 -8.4 1.00e+00 1.00e+00h 1 42 1.1604974e+00 4.22e-01 2.31e-02 -4.0 2.04e+02 -8.9 1.00e+00 1.00e+00h 1 43 1.1606329e+00 1.76e-01 2.70e-03 -4.0 1.79e+02 -9.4 1.00e+00 1.00e+00h 1 44 1.1608594e+00 1.82e-03 9.08e-04 -4.0 8.90e+00 -9.9 1.00e+00 1.00e+00h 1 45 1.1608488e+00 6.54e-04 7.77e-05 -4.0 1.04e+01 -10.4 1.00e+00 1.00e+00h 1 46 1.1608491e+00 6.94e-07 5.55e-09 -4.0 3.85e-01 -10.8 1.00e+00 1.00e+00h 1 47 1.1608491e+00 1.12e-11 1.23e-12 -4.0 1.40e-03 -11.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 47 (scaled) (unscaled) Objective...............: 1.1608491307809587e+00 1.1608491307809587e+00 Dual infeasibility......: 1.2267696624171376e-12 1.2267696624171376e-12 Constraint violation....: 1.1160850021951774e-11 1.1160850021951774e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000278e-04 1.0000000000000278e-04 Overall NLP error.......: 1.1160850021951774e-11 1.1160850021951774e-11 Number of objective function evaluations = 48 Number of objective gradient evaluations = 48 Number of equality constraint evaluations = 48 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 48 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 47 Total seconds in IPOPT = 25.642 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 1.8289208e+00 1.76e+00 1.31e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.9764574e+00 2.29e-01 2.06e+00 -0.8 9.25e-01 0.0 9.89e-01 1.00e+00h 1 2 1.9267537e+00 5.83e-02 5.83e-01 -0.8 3.77e-01 -0.5 6.88e-01 7.46e-01h 1 3 4.3875536e+00 1.52e-02 4.68e+01 -1.3 2.14e+01 - 8.79e-01 1.00e+00H 1 4 1.5320746e+00 6.99e-03 1.16e+01 -1.4 3.52e+00 -1.0 1.00e+00 5.87e-01f 1 5 1.2491249e+00 2.78e-03 3.83e+00 -2.5 2.82e-01 -1.4 1.00e+00 6.28e-01f 1 6 1.1217156e+00 6.63e-05 8.75e-03 -3.2 7.85e-02 -1.0 1.00e+00 1.00e+00h 1 7 1.1237350e+00 4.50e-05 2.11e-02 -2.9 7.87e-01 -1.5 4.14e-01 3.22e-01h 1 8 1.0912763e+00 2.81e-06 9.44e-01 -4.0 2.27e+01 - 5.87e-01 1.00e+00f 1 9 1.0910891e+00 2.33e-06 6.78e-03 -4.0 2.72e-01 - 1.00e+00 1.71e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0910398e+00 1.71e-09 7.83e-04 -4.0 3.19e-01 - 1.00e+00 1.00e+00f 1 11 1.0910679e+00 4.92e-15 2.08e-03 -4.0 1.50e-01 - 1.00e+00 1.00e+00h 1 12 1.0908690e+00 8.88e-16 2.12e-03 -4.1 8.82e-02 - 1.00e+00 1.00e+00f 1 13 1.0910415e+00 8.88e-16 6.05e-04 -4.0 1.07e-01 - 1.00e+00 1.00e+00f 1 14 1.0908445e+00 8.88e-16 3.94e-05 -4.1 9.54e-03 - 1.00e+00 1.00e+00f 1 15 1.0910386e+00 6.92e-35 2.37e-06 -4.0 9.29e-03 - 1.00e+00 1.00e+00f 1 16 1.0908586e+00 9.69e-35 3.90e-08 -4.1 1.57e-03 - 1.00e+00 1.00e+00f 1 17 1.0901453e+00 1.29e-34 2.31e-08 -6.1 7.90e-05 - 1.00e+00 1.00e+00f 1 18 1.0910388e+00 1.01e-34 1.53e-05 -4.0 7.24e-02 - 1.00e+00 1.00e+00f 1 19 1.0908587e+00 4.94e-35 8.23e-06 -4.1 5.75e-02 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.0901453e+00 2.12e-34 2.31e-08 -6.1 1.86e-04 - 1.00e+00 1.00e+00f 1 21 1.0901388e+00 1.17e-36 1.17e-07 -9.0 7.19e-03 - 9.71e-01 1.00e+00f 1 22 1.0910388e+00 8.88e-16 2.34e-05 -4.0 2.13e-03 -2.0 1.00e+00 1.00e+00f 1 23 1.0908587e+00 1.62e-34 4.18e-08 -4.1 3.92e-03 - 1.00e+00 1.00e+00f 1 24 1.0901453e+00 8.08e-34 2.31e-08 -6.1 7.90e-05 - 1.00e+00 1.00e+00f 1 25 1.0901388e+00 8.88e-16 1.80e-07 -9.0 8.50e-03 - 9.68e-01 1.00e+00f 1 26 1.0910388e+00 8.88e-16 2.54e-05 -4.0 6.93e-03 -2.4 1.00e+00 1.00e+00f 1 27 1.0908587e+00 8.88e-16 1.88e-09 -4.1 5.27e-04 - 1.00e+00 1.00e+00f 1 28 1.0901453e+00 8.88e-16 2.31e-08 -6.1 7.90e-05 - 1.00e+00 1.00e+00f 1 29 1.0901388e+00 3.28e-37 1.86e-07 -9.0 8.62e-03 - 9.67e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.0901388e+00 2.52e-37 2.07e-07 -9.0 1.70e-04 -2.9 1.00e+00 1.00e+00f 1 31 1.0901388e+00 1.78e-15 2.08e-07 -9.0 5.13e-04 -3.4 1.00e+00 1.00e+00f 1 32 1.0901388e+00 1.78e-15 2.12e-07 -9.0 1.57e-03 -3.9 1.00e+00 1.00e+00h 1 33 1.0901388e+00 2.95e-38 2.25e-07 -9.0 4.99e-03 -4.3 1.00e+00 1.00e+00h 1 34 1.0901926e+00 8.88e-16 3.43e-04 -4.0 4.39e+00 -4.8 1.00e+00 5.95e-02f 1 35 1.0905591e+00 1.78e-15 1.04e-04 -4.3 1.22e-01 - 1.00e+00 1.00e+00f 1 36 1.0901417e+00 8.88e-16 3.95e-07 -6.5 7.25e-04 - 1.00e+00 1.00e+00f 1 37 1.0901388e+00 1.78e-15 3.03e-08 -9.0 4.31e-03 - 9.71e-01 1.00e+00f 1 38 1.0901388e+00 1.78e-15 2.21e-07 -9.0 1.37e-02 -5.3 1.00e+00 1.00e+00h 1 39 1.0901388e+00 1.78e-15 4.10e-06 -9.0 5.93e-02 -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 40 1.0901388e+00 8.88e-16 2.56e-06 -9.0 3.28e-02 -5.4 1.00e+00 1.00e+00h 1 41 1.0901388e+00 8.88e-16 8.24e-07 -9.0 1.57e-02 -4.9 1.00e+00 1.00e+00h 1 42 1.0901387e+00 3.23e-35 2.31e-05 -9.0 1.11e-01 -5.4 1.00e+00 1.00e+00h 1 43 1.0901466e+00 5.78e-29 5.53e-03 -4.0 1.91e+02 -5.0 1.00e+00 1.88e-03f 1 44 1.0905959e+00 3.24e-33 5.30e-04 -4.3 1.82e-01 - 1.00e+00 1.00e+00f 1 45 1.0905971e+00 1.13e-36 8.75e-05 -4.3 3.18e-02 - 1.00e+00 1.00e+00f 1 46 1.0901421e+00 8.88e-16 3.24e-07 -6.4 1.06e-03 - 1.00e+00 1.00e+00f 1 47 1.0901388e+00 8.88e-16 2.90e-07 -9.0 1.20e-02 - 9.49e-01 1.00e+00f 1 48 1.0901388e+00 8.88e-16 7.58e-06 -9.0 6.31e-02 -5.5 1.00e+00 1.00e+00h 1 49 1.0901387e+00 8.88e-16 1.09e-05 -9.0 5.31e-02 -5.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 1.0901387e+00 8.88e-16 1.59e-05 -9.0 4.87e-02 -4.6 1.00e+00 1.00e+00h 1 51 1.0902083e+00 1.13e-28 5.19e-03 -4.0 2.24e+01 -4.2 1.00e+00 1.74e-02f 1 52 1.0906592e+00 8.88e-16 1.45e-03 -4.2 2.21e-01 - 1.00e+00 1.00e+00f 1 53 1.0906467e+00 2.78e-37 1.67e-04 -4.2 2.05e-02 - 1.00e+00 1.00e+00f 1 54 1.0901427e+00 8.88e-16 1.11e-06 -6.4 1.94e-03 - 1.00e+00 1.00e+00f 1 55 1.0901388e+00 8.88e-16 1.38e-07 -9.0 8.17e-03 - 9.64e-01 1.00e+00f 1 56 1.0901388e+00 2.56e-34 1.39e-07 -9.0 6.26e-03 -4.7 1.00e+00 1.00e+00h 1 57 1.0901388e+00 1.85e-35 1.15e-06 -9.0 2.38e-02 -5.1 1.00e+00 1.00e+00f 1 58 1.0901387e+00 6.90e-35 5.53e-05 -9.0 4.18e-01 -5.6 5.88e-01 5.88e-01f 1 59 1.0905027e+00 6.90e-35 6.88e-03 -4.0 1.32e+04 - 3.75e-08 1.86e-05f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 1.0902770e+00 8.88e-16 6.92e-03 -8.9 1.48e-01 -1.6 1.00e+00 1.00e+00f 1 61 1.0901468e+00 7.29e-37 1.92e-03 -8.9 1.59e-01 -2.0 1.00e+00 6.96e-01f 1 62 1.0901392e+00 1.78e-15 4.05e-04 -8.9 6.71e-02 - 1.00e+00 1.00e+00f 1 63 1.0901388e+00 1.78e-15 1.33e-05 -8.9 6.91e-03 - 1.00e+00 1.00e+00f 1 64 1.0901388e+00 8.88e-16 9.22e-08 -8.9 1.57e-03 - 9.85e-01 1.00e+00h 1 65 1.0901388e+00 8.88e-16 5.50e-08 -8.9 1.83e-05 -2.5 1.00e+00 1.00e+00h 1 66 1.0901388e+00 1.78e-15 5.55e-05 -8.9 5.30e-01 - 1.17e-01 8.08e-01h 1 67 1.0901377e+00 7.53e-43 5.11e-04 -8.9 4.42e-01 - 1.00e+00 6.25e-02f 5 68 1.0911927e+00 1.19e-30 1.21e-02 -4.0 7.53e+00 -3.0 1.00e+00 3.10e-02f 2 69 1.0911687e+00 8.88e-16 7.21e-03 -4.2 3.95e-02 -0.8 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 1.0907885e+00 8.88e-16 3.65e-03 -4.2 6.37e-02 -1.2 1.00e+00 1.00e+00f 1 71 1.0906529e+00 1.59e-35 2.24e-04 -4.2 6.76e-02 -1.7 1.00e+00 1.00e+00f 1 72 1.0901427e+00 2.62e-35 2.70e-07 -6.4 9.63e-04 - 1.00e+00 1.00e+00f 1 73 1.0901388e+00 2.86e-36 1.65e-07 -9.0 9.45e-03 - 9.59e-01 1.00e+00f 1 74 1.0901388e+00 4.61e-38 1.39e-07 -9.0 2.19e-05 -2.2 1.00e+00 1.00e+00f 1 75 1.0901388e+00 8.88e-16 1.39e-07 -9.0 6.59e-05 -2.7 1.00e+00 1.00e+00f 1 76 1.0901388e+00 8.88e-16 1.39e-07 -9.0 1.98e-04 -3.2 1.00e+00 1.00e+00h 1 77 1.0901388e+00 8.88e-16 1.40e-07 -9.0 5.98e-04 -3.6 1.00e+00 1.00e+00h 1 78 1.0901388e+00 1.38e-39 1.43e-07 -9.0 1.83e-03 -4.1 1.00e+00 1.00e+00h 1 79 1.0901388e+00 8.88e-16 1.52e-07 -9.0 5.82e-03 -4.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 1.0901388e+00 8.88e-16 9.94e-07 -9.0 2.16e-02 -5.1 1.00e+00 1.00e+00h 1 81 1.0901387e+00 1.39e-35 5.53e-05 -9.0 2.79e-01 -5.5 8.98e-01 8.65e-01h 1 82 1.0901366e+00 1.78e-15 4.79e-04 -9.0 4.43e-01 - 1.00e+00 1.25e-01f 4 83 1.0962622e+00 1.42e-30 5.32e-02 -4.0 8.90e-01 -2.4 1.00e+00 5.33e-01f 1 84 1.0912145e+00 6.02e-31 2.78e-03 -3.8 8.49e-01 - 2.54e-03 5.77e-01f 1 85 1.0919037e+00 3.01e-31 4.72e-02 -3.8 3.75e+00 - 1.63e-01 5.00e-01f 2 86 1.0916776e+00 3.07e-31 2.37e-02 -3.8 5.37e-02 -2.0 1.00e+00 3.52e-01f 2 87 1.0916983e+00 8.88e-16 5.41e-04 -3.8 5.54e-02 -2.5 1.00e+00 1.00e+00f 1 88 1.0912942e+00 8.88e-16 2.91e-02 -5.7 4.80e+00 - 1.73e-01 5.00e-01f 2 89 1.0906125e+00 1.78e-15 1.22e-02 -5.7 6.91e-02 -2.0 9.58e-01 5.40e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 1.0905418e+00 1.38e-30 3.14e-02 -5.7 4.85e+00 - 1.80e-03 5.00e-01f 2 91 1.0902924e+00 8.88e-16 1.88e-02 -5.7 1.86e-01 -2.5 1.00e+00 3.52e-01f 1 92 1.0902166e+00 8.88e-16 1.69e-03 -5.7 2.96e+00 - 5.28e-03 5.00e-01f 2 93 1.0901833e+00 3.13e-31 4.32e-04 -5.7 2.54e-01 -3.0 1.00e+00 5.00e-01f 2 94 1.0901566e+00 8.88e-16 1.23e-05 -5.7 1.60e-02 - 9.98e-01 1.00e+00f 1 95 1.0901505e+00 8.88e-16 5.18e-05 -8.5 2.06e-01 -3.5 6.79e-01 2.72e-01f 1 96 1.0901395e+00 8.88e-16 6.19e-04 -8.5 4.15e-01 - 1.00e+00 5.00e-01f 2 97 1.0901320e+00 8.88e-16 7.24e-05 -8.5 7.93e-02 -3.0 1.00e+00 3.91e-01f 1 98 1.0933859e+00 8.88e-16 1.19e-01 -4.0 7.28e+00 - 2.33e-02 2.50e-01f 3 99 1.0905383e+00 8.20e-32 2.88e-02 -5.0 2.45e-01 -1.7 1.00e+00 6.12e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 1.0902719e+00 7.17e-32 2.71e-03 -5.0 1.44e+01 - 7.42e-04 1.25e-01f 4 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.0902718899608261e+00 1.0902718899608261e+00 Dual infeasibility......: 2.7090675143077083e-03 2.7090675143077083e-03 Constraint violation....: 7.1707610869483537e-32 7.1707610869483537e-32 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.5292842460421379e-05 1.5292842460421379e-05 Overall NLP error.......: 2.7090675143077083e-03 2.7090675143077083e-03 Number of objective function evaluations = 130 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 130 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 = 20.657 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.: 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 1.8547209e+00 5.42e+00 5.03e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.4425695e+00 4.14e+00 1.22e+01 -0.2 2.53e+00 0.0 4.57e-01 2.37e-01f 1 2 2.7355298e+00 7.57e-02 4.15e+01 -2.4 2.56e+00 -0.5 3.93e-01 1.00e+00h 1 3 2.9074174e+00 4.35e-02 7.38e+00 -0.8 3.06e-01 -0.1 8.50e-01 1.00e+00f 1 4 2.6674989e+00 3.67e-02 5.80e-01 -1.1 2.69e-01 -0.5 9.97e-01 1.00e+00h 1 5 2.3121581e+00 2.43e-02 1.58e-01 -1.8 2.01e-01 -1.0 9.62e-01 1.00e+00h 1 6 2.1535741e+00 1.08e-02 2.44e-01 -2.5 4.59e-01 -1.5 9.89e-01 6.56e-01h 1 7 2.0948790e+00 1.22e-03 1.12e-02 -3.4 7.18e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0908992e+00 1.14e-05 1.83e-03 -4.0 9.73e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908839e+00 9.63e-08 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908789e+00 8.51e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908639e+00 8.69e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908191e+00 7.83e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906848e+00 7.06e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902827e+00 6.38e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890856e+00 5.84e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855767e+00 5.51e-04 2.31e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796290e+00 2.28e-03 1.36e-01 -4.0 9.55e+01 -6.7 1.00e+00 6.28e-01h 1 18 2.0806781e+00 1.26e-04 1.70e-01 -4.0 6.88e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775265e+00 6.98e-03 2.23e-02 -4.0 1.19e+02 -7.7 1.00e+00 9.99e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0769863e+00 1.37e-03 5.61e-02 -4.0 2.09e+02 -8.2 9.80e-01 1.00e+00h 1 21 2.0763342e+00 1.41e-03 3.88e-02 -4.0 3.56e+02 -8.6 1.00e+00 6.32e-01h 1 22 2.0755453e+00 3.61e-03 3.38e-02 -4.0 6.31e+02 -9.1 1.00e+00 7.55e-01h 1 23 2.0758087e+00 3.57e-03 1.90e-02 -4.0 1.89e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0756809e+00 5.86e-04 9.57e-04 -4.0 1.01e+02 -10.1 1.00e+00 1.00e+00h 1 25 2.0756712e+00 4.13e-06 1.57e-05 -4.0 2.30e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 9.38e-08 1.30e-06 -4.0 1.42e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.69e-09 1.12e-07 -4.0 4.65e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.78e-11 1.87e-09 -4.0 7.33e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121659833e+00 2.0756712121659833e+00 Dual infeasibility......: 1.8727029245358372e-09 1.8727029245358372e-09 Constraint violation....: 4.7761683497071772e-11 4.7761683497071772e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000051e-04 1.0000000000000051e-04 Overall NLP error.......: 1.8727029245358372e-09 1.8727029245358372e-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 = 18.420 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: equality constraint on trajectory variable du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1488 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1524 Total number of variables............................: 100 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.1460989e+00 2.64e+00 5.22e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7346640e+00 7.46e-02 4.08e+00 -1.0 2.20e+00 0.0 1.00e+00 9.86e-01f 1 2 3.0844804e+00 1.62e-02 2.24e+00 -0.7 1.95e-01 0.4 1.00e+00 1.00e+00f 1 3 2.8462990e+00 2.00e-03 5.73e-01 -1.3 7.44e-02 0.9 9.97e-01 1.00e+00h 1 4 2.4063325e+00 3.71e-03 2.42e-01 -2.0 1.21e-01 0.4 9.94e-01 1.00e+00f 1 5 2.1881783e+00 4.41e-03 3.61e-01 -2.6 1.61e-01 -0.1 9.96e-01 4.98e-01f 1 6 2.1153501e+00 1.53e-03 2.04e-01 -3.5 5.46e-02 -0.6 1.00e+00 7.50e-01h 1 7 2.0978783e+00 4.72e-04 7.15e-02 -4.0 8.69e-02 -1.1 1.00e+00 9.65e-01h 1 8 2.0909264e+00 3.02e-04 1.38e-01 -4.0 1.96e-01 -1.5 1.00e+00 7.02e-01h 1 9 2.0907163e+00 6.63e-05 1.82e-01 -4.0 3.44e-02 -2.0 1.00e+00 7.80e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908518e+00 3.37e-07 1.67e-03 -4.0 1.21e-02 -2.5 1.00e+00 1.00e+00h 1 11 2.0908557e+00 1.00e-07 5.22e-05 -4.0 1.90e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0908501e+00 1.89e-09 2.06e-05 -4.0 5.70e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908333e+00 1.10e-08 2.06e-05 -4.0 1.71e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0907829e+00 9.94e-08 2.06e-05 -4.0 5.12e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0906318e+00 8.96e-07 2.06e-05 -4.0 1.54e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0901798e+00 8.11e-06 3.62e-05 -4.0 4.59e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0888352e+00 7.44e-05 3.23e-04 -4.0 1.37e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0849068e+00 7.05e-04 2.94e-03 -4.0 3.99e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0796235e+00 2.05e-03 1.87e-01 -4.0 1.03e+02 -6.8 1.00e+00 5.14e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0801713e+00 2.49e-04 1.74e-01 -4.0 6.48e+01 -7.3 1.00e+00 9.84e-01H 1 21 2.0773642e+00 8.53e-03 2.09e-02 -4.0 1.25e+02 -7.7 1.00e+00 9.64e-01h 1 22 2.0771084e+00 1.82e-03 7.56e-02 -4.0 2.10e+02 -8.2 1.00e+00 1.00e+00h 1 23 2.0760325e+00 5.04e-03 2.10e-02 -4.0 3.51e+02 -8.7 1.00e+00 9.16e-01h 1 24 2.0768618e+00 2.54e-02 2.42e-02 -3.7 2.78e+02 -9.2 1.00e+00 1.00e+00h 1 25 2.0764320e+00 5.56e-03 2.59e-03 -3.8 8.69e+01 -9.6 1.00e+00 1.00e+00h 1 26 2.0764190e+00 8.99e-05 5.18e-05 -3.8 1.91e+01 -10.1 1.00e+00 1.00e+00h 1 27 2.0756776e+00 1.65e-03 5.23e-06 -4.0 2.99e+01 -10.6 1.00e+00 1.00e+00h 1 28 2.0756713e+00 6.14e-06 1.39e-06 -4.0 2.14e+01 -11.1 1.00e+00 1.00e+00h 1 29 2.0756713e+00 4.00e-09 1.59e-07 -4.0 5.42e+00 -11.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0756713e+00 5.70e-11 2.04e-09 -4.0 8.04e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 2.0756712527954084e+00 2.0756712527954084e+00 Dual infeasibility......: 2.0414920502784956e-09 2.0414920502784956e-09 Constraint violation....: 5.7026161570661316e-11 5.7026161570661316e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 2.0414920502784956e-09 2.0414920502784956e-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 = 17.910 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: equality constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.1552344e+00 3.16e+00 7.48e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.2919176e+00 5.06e-01 2.26e+00 -1.2 2.13e+00 0.0 8.88e-01 8.37e-01h 1 2 2.2888985e+00 2.43e-01 1.76e+00 -1.0 4.45e-01 0.4 1.00e+00 5.18e-01h 1 3 2.4780083e+00 8.15e-03 1.74e+00 -1.2 4.29e-01 -0.1 9.86e-01 1.00e+00h 1 4 2.2708794e+00 1.15e-02 2.23e-01 -1.9 2.95e-01 -0.5 9.95e-01 9.74e-01h 1 5 2.1226420e+00 2.08e-03 8.76e-02 -3.1 6.08e-02 -1.0 9.96e-01 8.19e-01h 1 6 2.0911281e+00 7.57e-05 2.23e-02 -4.0 1.60e-02 -1.5 1.00e+00 9.87e-01h 1 7 2.0908874e+00 5.07e-07 1.03e-03 -4.0 7.71e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908934e+00 1.46e-08 4.35e-05 -4.0 1.19e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908917e+00 1.13e-10 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908867e+00 9.68e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908718e+00 8.71e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908270e+00 7.85e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906926e+00 7.08e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902906e+00 6.40e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890934e+00 5.86e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855844e+00 5.53e-04 2.31e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796360e+00 2.28e-03 1.36e-01 -4.0 9.55e+01 -6.7 1.00e+00 6.28e-01h 1 18 2.0807178e+00 1.46e-04 1.78e-01 -4.0 6.65e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775342e+00 7.18e-03 2.40e-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 2.0769474e+00 1.03e-03 4.24e-02 -4.0 1.78e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0761021e+00 1.02e-03 1.95e-02 -4.0 3.23e+02 -8.6 1.00e+00 8.76e-01h 1 22 2.0754729e+00 1.86e-03 2.75e-02 -4.0 5.25e+02 -9.1 1.00e+00 7.26e-01h 1 23 2.0757816e+00 2.51e-03 1.38e-02 -4.0 1.56e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0756786e+00 3.31e-04 6.04e-04 -4.0 7.82e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756713e+00 1.85e-06 9.65e-06 -4.0 2.28e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 6.16e-08 1.28e-06 -4.0 1.40e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.65e-09 1.10e-07 -4.0 4.65e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.75e-11 1.86e-09 -4.0 7.38e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121654046e+00 2.0756712121654046e+00 Dual infeasibility......: 1.8586466229216381e-09 1.8586466229216381e-09 Constraint violation....: 4.7481130138748995e-11 4.7481130138748995e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000011e-04 1.0000000000000011e-04 Overall NLP error.......: 1.8586466229216381e-09 1.8586466229216381e-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 = 20.182 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: bounds on u applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial time t₁ = 0 This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 30 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.9004999e-02 8.33e-17 9.99e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6798071e-02 7.96e-12 1.70e-02 -4.0 3.37e-02 -2.0 9.83e-01 1.00e+00f 1 2 7.8361870e-03 1.26e-12 7.94e-02 -3.0 9.39e-02 -1.6 1.00e+00 1.00e+00f 1 3 6.5944841e-04 1.65e-11 5.91e-02 -3.4 1.33e-01 -1.1 9.98e-01 9.21e-01f 1 4 5.6030579e-05 1.69e-12 1.60e-02 -3.2 4.61e-01 -1.6 1.00e+00 6.65e-01f 1 5 1.9973056e-04 4.81e-12 1.17e-02 -3.0 1.48e+00 -2.1 1.00e+00 4.78e-01f 2 6 1.9973056e-04 4.81e-12 1.57e-02 -3.1 2.13e+00 -2.6 4.60e-01 5.04e-15h 47 7 4.7229455e-04 4.34e-12 6.81e-03 -3.1 2.48e+00 -3.1 2.94e-01 2.94e-01S 62 8 3.4627334e-04 3.55e-12 1.25e-02 -4.7 5.54e-01 -3.5 7.85e-01 2.13e-01f 2 9 1.1652376e-04 2.24e-12 1.75e-02 -4.7 6.55e-01 -4.0 1.00e+00 4.49e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.1652376e-04 2.24e-12 1.64e-02 -4.7 4.91e-01 -4.5 1.00e+00 8.08e-15h 47 11 2.2154136e-05 6.22e-13 9.31e-03 -4.7 3.25e-01 -5.0 9.12e-01 9.12e-01S 61 12 2.9662540e-05 6.19e-13 2.78e-01 -3.2 3.86e+01 -5.4 1.00e+00 6.38e-03f 2 13 3.6809302e-04 3.46e-13 8.56e-02 -3.4 1.33e+00 -5.9 6.77e-01 5.24e-01f 1 14 3.5134526e-04 4.66e-14 1.89e-02 -3.4 9.83e-02 -6.4 1.00e+00 1.00e+00f 1 15 3.5134469e-04 4.66e-14 2.49e-02 -3.4 1.32e-02 -6.9 1.00e+00 3.81e-06h 19 16 3.5134468e-04 4.66e-14 2.89e-02 -3.4 2.06e-02 -7.4 1.00e+00 1.49e-08h 27 17 3.5134466e-04 4.66e-14 3.13e-02 -3.4 3.97e-02 -7.8 1.00e+00 5.96e-08h 25 18 3.5134466e-04 4.66e-14 3.31e-02 -3.4 6.80e-02 -8.3 1.00e+00 3.73e-09h 29 19 3.5134466e-04 4.66e-14 3.48e-02 -3.4 1.09e-01 -8.8 1.00e+00 9.31e-10h 31 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 3.5134466e-04 4.66e-14 3.72e-02 -3.4 1.72e-01 -9.3 1.00e+00 1.14e-13h 44 21 3.4138387e-04 4.59e-14 4.05e-02 -3.4 2.73e-01 -9.7 1.00e+00 1.56e-02f 7 22 2.6265859e-04 4.01e-14 4.28e-02 -3.4 4.57e-01 -10.2 1.00e+00 1.25e-01f 4 23 1.4428327e-04 3.01e-14 4.20e-02 -3.4 8.90e-01 -10.7 1.00e+00 2.50e-01f 3 24 1.1246902e-04 2.75e-14 4.51e-02 -3.4 2.32e+00 -11.2 1.00e+00 8.49e-02f 4 25 1.1246902e-04 2.75e-14 1.61e-02 -3.4 1.16e+00 -11.6 1.00e+00 3.67e-09h 29 26 1.1246902e-04 2.75e-14 1.99e-02 -3.4 1.57e+00 -12.1 1.00e+00 4.10e-10h 32 27 1.1246902e-04 2.75e-14 1.29e-02 -3.4 8.37e-01 -12.6 1.00e+00 3.73e-09h 29 28 1.1246902e-04 2.75e-14 2.07e-02 -3.4 1.65e+00 -13.1 1.00e+00 7.78e-10h 31 29 1.1246901e-04 2.75e-14 1.41e-02 -3.4 7.53e-01 -13.6 8.82e-01 2.33e-10h 33 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.1246901e-04 2.75e-14 2.12e-02 -3.4 1.70e+00 -14.0 1.00e+00 1.51e-09h 30 31 1.1246901e-04 2.75e-14 1.47e-02 -3.4 7.48e-01 -14.5 8.31e-01 2.33e-10h 33 32 1.1246901e-04 2.75e-14 2.11e-02 -3.4 1.68e+00 -15.0 1.00e+00 7.62e-10h 31 33 1.1246901e-04 2.75e-14 1.52e-02 -3.4 7.73e-01 -15.5 8.04e-01 5.82e-11h 35 34 1.1246901e-04 2.75e-14 2.09e-02 -3.4 1.67e+00 -15.9 1.00e+00 3.85e-10h 32 35 1.1246901e-04 2.75e-14 1.56e-02 -3.4 7.95e-01 -16.4 7.81e-01 1.86e-09h 30 36 1.1246901e-04 2.75e-14 2.08e-02 -3.4 1.65e+00 -16.9 1.00e+00 3.89e-10h 32 37 1.1246901e-04 2.75e-14 1.59e-02 -3.4 8.16e-01 -17.4 7.61e-01 9.31e-10h 31 38 1.1246901e-04 2.75e-14 2.07e-02 -3.4 1.64e+00 -17.8 1.00e+00 7.84e-10h 31 39 1.1246901e-04 2.75e-14 1.63e-02 -3.4 8.36e-01 -18.3 7.44e-01 9.31e-10h 31 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.1246901e-04 2.75e-14 2.05e-02 -3.4 1.62e+00 -18.8 1.00e+00 6.17e-12h 38 41 1.1246901e-04 2.75e-14 1.67e-02 -3.4 8.54e-01 -19.3 7.28e-01 1.46e-11h 37 42 1.1246901e-04 2.75e-14 2.04e-02 -3.4 1.61e+00 -19.8 1.00e+00 1.99e-10h 33 43 1.1246901e-04 2.75e-14 1.70e-02 -3.4 8.71e-01 -20.0 7.14e-01 9.31e-10h 31 44 1.1246901e-04 2.75e-14 2.03e-02 -3.4 1.60e+00 -20.0 1.00e+00 4.01e-10h 32 45 1.1246901e-04 2.75e-14 1.74e-02 -3.4 8.86e-01 -20.0 7.01e-01 2.33e-10h 33 46 1.1246901e-04 2.75e-14 2.02e-02 -3.4 1.59e+00 -20.0 1.00e+00 2.02e-10h 33 47 1.1246901e-04 2.75e-14 1.78e-02 -3.4 9.01e-01 -20.0 6.90e-01 2.33e-10h 33 48 1.1246901e-04 2.75e-14 2.01e-02 -3.4 1.58e+00 -20.0 1.00e+00 4.06e-10h 32 49 1.1246901e-04 2.75e-14 1.82e-02 -3.4 9.15e-01 -20.0 6.79e-01 5.82e-11h 35 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 1.1246901e-04 2.75e-14 2.01e-02 -3.4 1.57e+00 -20.0 1.00e+00 2.04e-10h 33 51 1.1246901e-04 2.75e-14 1.86e-02 -3.4 9.29e-01 -20.0 6.69e-01 2.33e-10h 33 52 1.1246901e-04 2.75e-14 2.00e-02 -3.4 1.57e+00 -20.0 1.00e+00 2.05e-10h 33 53 1.1246901e-04 2.75e-14 1.91e-02 -3.4 9.41e-01 -20.0 6.60e-01 2.33e-10h 33 54 1.1246901e-04 2.75e-14 1.99e-02 -3.4 1.56e+00 -20.0 1.00e+00 5.15e-11h 35 55 1.1246901e-04 2.75e-14 1.96e-02 -3.4 9.53e-01 -20.0 6.52e-01 2.33e-10h 33 56 1.0412439e-04 2.68e-14 1.94e-02 -3.4 1.55e+00 -20.0 1.00e+00 2.78e-02f 6 57 1.0412439e-04 2.68e-14 1.94e-02 -3.4 9.51e-01 -20.0 6.69e-01 1.16e-10h 34 58 1.0022398e-04 2.64e-14 1.72e-02 -3.4 1.48e+00 -20.0 1.00e+00 1.41e-02f 7 59 1.0022398e-04 2.64e-14 1.94e-02 -3.4 9.66e-01 -20.0 6.95e-01 1.16e-10h 34 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 9.2811515e-05 2.56e-14 1.74e-02 -3.4 1.43e+00 -20.0 1.00e+00 2.86e-02f 6 61 9.1079209e-05 2.54e-14 1.91e-02 -3.4 9.61e-01 -20.0 7.25e-01 7.81e-03f 8 62 8.4441219e-05 2.47e-14 1.72e-02 -3.4 1.36e+00 -20.0 1.00e+00 2.91e-02f 6 63 8.1339144e-05 2.43e-14 1.84e-02 -3.4 9.53e-01 -20.0 7.80e-01 1.56e-02f 7 64 7.5507898e-05 2.36e-14 1.68e-02 -3.4 1.28e+00 -20.0 1.00e+00 2.96e-02f 6 65 7.2764481e-05 2.32e-14 1.75e-02 -3.4 9.34e-01 -20.0 8.50e-01 1.56e-02f 7 66 6.7598016e-05 2.25e-14 1.65e-02 -3.4 1.20e+00 -20.0 1.00e+00 3.01e-02f 6 67 6.6367135e-05 2.23e-14 1.67e-02 -3.4 9.09e-01 -20.0 9.28e-01 7.81e-03f 8 68 6.1629178e-05 2.17e-14 1.64e-02 -3.4 1.14e+00 -20.0 1.00e+00 3.05e-02f 6 69 6.0502850e-05 2.15e-14 1.61e-02 -3.4 8.85e-01 -20.0 9.99e-01 7.81e-03f 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 5.6150508e-05 2.08e-14 1.62e-02 -3.4 1.09e+00 -20.0 1.00e+00 3.09e-02f 6 71 5.6020385e-05 2.08e-14 1.58e-02 -3.4 8.59e-01 -20.0 1.00e+00 9.77e-04f 11 72 5.1911358e-05 2.02e-14 1.61e-02 -3.4 1.03e+00 -20.0 1.00e+00 3.12e-02f 6 73 5.1911358e-05 2.02e-14 1.56e-02 -3.4 8.47e-01 -20.0 1.00e+00 1.16e-10h 34 74 4.9945438e-05 1.98e-14 1.60e-02 -3.4 9.68e-01 -20.0 1.00e+00 1.56e-02f 7 75 4.8987997e-05 1.97e-14 1.57e-02 -3.4 8.60e-01 -20.0 1.00e+00 7.81e-03f 8 76 4.7104675e-05 1.94e-14 1.58e-02 -3.4 9.25e-01 -20.0 1.00e+00 1.56e-02f 7 77 4.6187943e-05 1.92e-14 1.55e-02 -3.4 9.31e-01 -20.0 1.00e+00 7.81e-03f 8 78 4.5279751e-05 1.91e-14 1.55e-02 -3.4 9.67e-01 -20.0 1.00e+00 7.81e-03f 8 79 4.4382020e-05 1.89e-14 1.54e-02 -3.4 9.91e-01 -20.0 1.00e+00 7.81e-03f 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 4.3936463e-05 1.89e-14 1.53e-02 -3.4 1.02e+00 -20.0 1.00e+00 3.91e-03f 9 81 4.3049201e-05 1.87e-14 1.53e-02 -3.4 1.04e+00 -20.0 1.00e+00 7.81e-03f 8 82 4.2610545e-05 1.86e-14 1.52e-02 -3.4 1.06e+00 -20.0 1.00e+00 3.91e-03f 9 83 4.2171861e-05 1.86e-14 1.52e-02 -3.4 1.08e+00 -20.0 1.00e+00 3.91e-03f 9 84 4.1735010e-05 1.85e-14 1.52e-02 -3.4 1.10e+00 -20.0 1.00e+00 3.91e-03f 9 85 4.1299358e-05 1.84e-14 1.52e-02 -3.4 1.12e+00 -20.0 1.00e+00 3.91e-03f 9 86 4.1081980e-05 1.84e-14 1.51e-02 -3.4 1.13e+00 -20.0 1.00e+00 1.95e-03f 10 87 4.0647262e-05 1.83e-14 1.51e-02 -3.4 1.15e+00 -20.0 1.00e+00 3.91e-03f 9 88 4.0430733e-05 1.83e-14 1.51e-02 -3.4 1.16e+00 -20.0 1.00e+00 1.95e-03f 10 89 4.0213721e-05 1.82e-14 1.52e-02 -3.4 1.18e+00 -20.0 1.00e+00 1.95e-03f 10 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 3.9996799e-05 1.82e-14 1.53e-02 -3.4 1.19e+00 -20.0 1.00e+00 1.95e-03f 10 91 3.9779637e-05 1.82e-14 1.53e-02 -3.4 1.20e+00 -20.0 1.00e+00 1.95e-03f 10 92 3.9562783e-05 1.81e-14 1.53e-02 -3.4 1.21e+00 -20.0 1.00e+00 1.95e-03f 10 93 3.9345942e-05 1.81e-14 1.54e-02 -3.4 1.22e+00 -20.0 1.00e+00 1.95e-03f 10 94 3.9291719e-05 1.81e-14 1.54e-02 -3.4 1.23e+00 -20.0 1.00e+00 4.88e-04f 12 95 3.9074132e-05 1.81e-14 1.55e-02 -3.4 1.25e+00 -20.0 1.00e+00 1.95e-03f 10 96 3.9019788e-05 1.80e-14 1.55e-02 -3.4 1.25e+00 -20.0 1.00e+00 4.88e-04f 12 97 3.8801676e-05 1.80e-14 1.55e-02 -3.4 1.26e+00 -20.0 1.00e+00 1.95e-03f 10 98 3.8801676e-05 1.80e-14 1.55e-02 -3.4 1.26e+00 -20.0 1.00e+00 1.16e-10h 34 99 3.8582743e-05 1.80e-14 1.56e-02 -3.4 1.28e+00 -20.0 1.00e+00 1.95e-03f 10 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 3.8582743e-05 1.80e-14 1.56e-02 -3.4 1.27e+00 -20.0 1.00e+00 1.16e-10h 34 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 3.8582743472861682e-05 3.8582743472861682e-05 Dual infeasibility......: 1.5557576001720141e-02 1.5557576001720141e-02 Constraint violation....: 1.7971735211119721e-14 1.7971735211119721e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 3.5936085925222703e-03 3.5936085925222703e-03 Overall NLP error.......: 1.5557576001720141e-02 1.5557576001720141e-02 Number of objective function evaluations = 1940 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 1940 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 1 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 2.406 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 1.6533795e+00 7.19e-01 9.07e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.2747375e+00 4.93e-09 3.59e-01 -0.3 6.48e-01 -2.0 9.65e-01 1.00e+00f 1 2 3.1909862e-01 4.14e-09 3.29e-01 -4.0 1.20e+00 -1.6 7.97e-01 1.00e+00f 1 3 1.6539145e-01 4.47e-11 5.26e-02 -2.1 4.93e-01 -1.1 9.99e-01 1.00e+00f 1 4 4.6049587e-02 1.22e-11 4.56e-02 -3.0 8.55e-01 -1.6 9.98e-01 1.00e+00f 1 5 9.2482022e-03 2.70e-11 1.96e-02 -4.0 7.74e-01 -2.1 1.00e+00 1.00e+00f 1 6 1.7985159e-03 7.82e-12 6.39e-03 -4.0 5.13e-01 -2.6 1.00e+00 1.00e+00f 1 7 5.7524031e-04 1.98e-12 1.79e-03 -4.0 2.45e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.4354119e-04 2.83e-13 2.26e-04 -4.0 8.35e-02 -3.5 1.00e+00 1.00e+00f 1 9 4.6148859e-04 1.80e-14 1.52e-04 -4.0 2.35e-02 -4.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 3.0173938e-04 1.39e-14 4.39e-04 -4.1 8.07e-02 -4.5 1.00e+00 1.00e+00f 1 11 4.5869007e-04 7.15e-15 3.65e-04 -4.0 2.00e-01 -5.0 1.00e+00 5.00e-01f 2 12 2.7484785e-04 3.55e-15 5.45e-04 -4.1 1.03e-01 -5.4 1.00e+00 1.00e+00f 1 13 4.6528063e-04 2.44e-15 4.72e-04 -4.0 2.53e-01 -5.9 1.00e+00 5.00e-01f 2 14 2.6375830e-04 2.00e-15 6.17e-04 -4.1 1.19e-01 -6.4 1.00e+00 1.00e+00f 1 15 4.6615999e-04 1.78e-15 5.16e-04 -4.0 2.76e-01 -6.9 1.00e+00 5.00e-01f 2 16 2.6002745e-04 1.55e-15 6.47e-04 -4.1 1.25e-01 -7.4 1.00e+00 1.00e+00f 1 17 4.6613612e-04 1.44e-15 5.34e-04 -4.0 2.86e-01 -7.8 1.00e+00 5.00e-01f 2 18 2.5880054e-04 1.22e-15 6.66e-04 -4.1 1.29e-01 -8.3 1.00e+00 1.00e+00f 1 19 4.6570095e-04 1.22e-15 5.43e-04 -4.0 2.92e-01 -8.8 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.5841689e-04 1.11e-15 6.80e-04 -4.1 1.32e-01 -9.3 1.00e+00 1.00e+00f 1 21 4.6516448e-04 1.11e-15 5.48e-04 -4.0 2.96e-01 -9.7 1.00e+00 5.00e-01f 2 22 2.5830335e-04 9.71e-16 6.92e-04 -4.1 1.34e-01 -10.2 1.00e+00 1.00e+00f 1 23 4.6460878e-04 8.88e-16 5.53e-04 -4.0 2.99e-01 -10.7 1.00e+00 5.00e-01f 2 24 2.5827478e-04 9.44e-16 7.04e-04 -4.1 1.36e-01 -11.2 1.00e+00 1.00e+00f 1 25 4.6406312e-04 8.88e-16 5.56e-04 -4.0 3.03e-01 -11.6 1.00e+00 5.00e-01f 2 26 2.5827158e-04 8.88e-16 7.15e-04 -4.1 1.38e-01 -12.1 1.00e+00 1.00e+00f 1 27 3.0977462e-05 9.10e-15 8.94e-04 -6.2 3.80e-01 -12.6 9.68e-01 1.00e+00f 1 28 1.7378885e-03 2.23e-15 7.68e-03 -4.0 2.00e+00 -13.1 1.00e+00 5.00e-01f 2 29 2.4582651e-05 2.35e-14 2.89e-03 -4.1 1.02e+00 -13.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.5749218e-03 3.06e-14 8.00e-03 -4.0 9.85e-01 -14.0 1.00e+00 1.00e+00f 1 31 1.0241038e-05 1.81e-14 2.29e-03 -4.2 1.09e+00 -14.5 1.00e+00 1.00e+00f 1 32 4.6501330e-04 1.67e-15 2.76e-03 -4.0 1.38e+00 -15.0 1.00e+00 5.00e-01f 2 33 2.1995464e-04 3.00e-15 2.40e-04 -4.2 3.73e-01 -15.5 1.00e+00 5.00e-01f 2 34 2.0246381e-05 4.50e-15 8.09e-04 -6.4 4.13e-01 -15.9 9.64e-01 1.00e+00f 1 35 8.1456598e-06 3.28e-15 9.96e-05 -6.4 1.05e-01 -16.4 1.00e+00 1.00e+00f 1 36 1.5093941e-03 1.11e-15 5.34e-03 -4.0 9.66e+00 -16.9 1.00e+00 1.24e-01f 4 37 1.0090848e-04 5.30e-14 3.46e-03 -4.0 7.85e-01 -17.4 1.00e+00 1.00e+00f 1 38 7.4641516e-04 3.51e-14 3.52e-03 -4.0 5.32e-01 -17.8 1.00e+00 1.00e+00f 1 39 3.8024269e-04 6.55e-15 4.39e-04 -4.0 4.20e-01 -18.3 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 3.5498239e-05 5.55e-15 1.33e-03 -6.0 5.06e-01 -18.8 9.55e-01 1.00e+00f 1 41 1.4620495e-05 5.33e-15 1.61e-04 -6.0 1.26e-01 -19.3 1.00e+00 1.00e+00f 1 42 4.0119069e-06 8.88e-16 1.02e-04 -6.0 1.44e-01 -19.8 1.00e+00 1.00e+00f 1 43 1.0318817e-03 5.55e-16 3.00e-03 -4.0 1.57e+01 -20.0 1.00e+00 7.64e-02f 4 44 1.6682116e-04 4.71e-14 2.82e-03 -4.0 5.70e-01 -20.0 1.00e+00 1.00e+00f 1 45 6.6641823e-04 2.18e-14 2.73e-03 -4.0 4.11e-01 -20.0 1.00e+00 1.00e+00f 1 46 3.9025286e-04 3.77e-15 4.17e-04 -4.0 3.55e-01 -20.0 1.00e+00 5.00e-01f 2 47 3.5328146e-05 5.77e-15 1.46e-03 -6.1 5.49e-01 -20.0 9.50e-01 1.00e+00f 1 48 1.4702544e-05 4.83e-15 1.70e-04 -6.1 1.33e-01 -20.0 1.00e+00 1.00e+00f 1 49 3.9075785e-06 7.77e-16 1.10e-04 -6.1 1.58e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 8.3764091e-04 8.22e-16 2.03e-03 -4.0 1.69e+01 -20.0 1.00e+00 7.08e-02f 4 51 2.0179255e-04 4.06e-14 2.44e-03 -4.0 4.74e-01 -20.0 1.00e+00 1.00e+00f 1 52 6.0432132e-04 1.51e-14 2.26e-03 -4.0 3.47e-01 -20.0 1.00e+00 1.00e+00f 1 53 3.8656151e-04 2.44e-15 3.95e-04 -4.0 3.14e-01 -20.0 1.00e+00 5.00e-01f 2 54 3.4351792e-05 5.55e-15 1.54e-03 -6.1 5.84e-01 -20.0 9.45e-01 1.00e+00f 1 55 1.4406650e-05 4.44e-15 1.76e-04 -6.1 1.39e-01 -20.0 1.00e+00 1.00e+00f 1 56 3.7685723e-06 6.66e-16 1.16e-04 -6.1 1.68e-01 -20.0 1.00e+00 1.00e+00f 1 57 6.9451693e-04 5.07e-16 1.16e-03 -4.0 1.83e+01 -20.0 1.00e+00 6.53e-02f 4 58 2.3705199e-04 3.57e-14 2.02e-03 -4.1 3.81e-01 -20.0 1.00e+00 1.00e+00f 1 59 5.4554664e-04 1.02e-14 1.76e-03 -4.1 2.76e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 3.8308203e-04 1.55e-15 3.55e-04 -4.1 2.62e-01 -20.0 1.00e+00 5.00e-01f 2 61 3.3299084e-05 5.33e-15 1.62e-03 -6.1 6.18e-01 -20.0 9.41e-01 1.00e+00f 1 62 1.4108120e-05 4.00e-15 1.80e-04 -6.1 1.44e-01 -20.0 1.00e+00 1.00e+00f 1 63 3.6510687e-06 6.66e-16 1.21e-04 -6.1 1.78e-01 -20.0 1.00e+00 1.00e+00f 1 64 5.8970037e-04 3.19e-16 4.06e-04 -4.0 1.96e+01 -20.0 1.00e+00 6.08e-02f 4 65 2.6863973e-04 3.20e-14 1.61e-03 -4.1 2.96e-01 -20.0 1.00e+00 1.00e+00f 1 66 4.9451117e-04 6.88e-15 1.29e-03 -4.1 2.08e-01 -20.0 1.00e+00 1.00e+00f 1 67 3.7876687e-04 1.11e-15 3.07e-04 -4.1 2.09e-01 -20.0 1.00e+00 5.00e-01f 2 68 3.2205812e-05 5.11e-15 1.68e-03 -6.1 6.48e-01 -20.0 9.38e-01 1.00e+00f 1 69 1.3790167e-05 3.66e-15 1.82e-04 -6.1 1.48e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 3.5448177e-06 6.11e-16 1.25e-04 -6.1 1.86e-01 -20.0 1.00e+00 1.00e+00f 1 71 5.1163273e-04 2.74e-16 2.50e-04 -4.0 2.09e+01 -20.0 1.00e+00 5.69e-02f 4 72 2.9599978e-04 2.91e-14 1.22e-03 -4.1 2.20e-01 -20.0 1.00e+00 1.00e+00f 1 73 4.5203105e-04 4.22e-15 8.74e-04 -4.1 1.44e-01 -20.0 1.00e+00 1.00e+00f 1 74 3.0679803e-04 3.11e-15 8.79e-04 -4.1 1.59e-01 -20.0 1.00e+00 1.00e+00f 1 75 4.4601155e-04 2.22e-15 7.59e-04 -4.1 1.25e-01 -20.0 1.00e+00 1.00e+00f 1 76 2.3956548e-05 4.55e-15 1.86e-03 -6.1 7.82e-01 -20.0 9.23e-01 1.00e+00f 1 77 1.2333539e-05 3.77e-15 1.27e-04 -6.1 1.12e-01 -20.0 1.00e+00 1.00e+00f 1 78 3.0780519e-06 4.44e-16 1.19e-04 -6.1 1.90e-01 -20.0 1.00e+00 1.00e+00f 1 79 4.5440632e-04 2.26e-16 9.01e-04 -4.0 2.37e+01 -20.0 1.00e+00 5.03e-02f 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 3.2384695e-04 2.75e-14 8.26e-04 -4.1 1.46e-01 -20.0 1.00e+00 1.00e+00f 1 81 3.3976657e-05 5.55e-15 1.64e-03 -6.1 6.29e-01 -20.0 9.39e-01 1.00e+00f 1 82 1.3332659e-05 3.00e-15 2.18e-04 -6.1 1.78e-01 -20.0 1.00e+00 1.00e+00f 1 83 3.5913157e-06 5.55e-16 1.30e-04 -6.1 1.94e-01 -20.0 1.00e+00 1.00e+00f 1 84 3.6763563e-06 2.22e-16 4.95e-06 -6.1 8.75e-03 -20.0 1.00e+00 1.00e+00h 1 85 2.3720032e-07 3.82e-17 5.62e-05 -9.0 2.55e-01 -20.0 9.75e-01 1.00e+00f 1 86 2.2964826e-03 4.41e-16 1.16e-02 -4.0 1.07e+02 -20.0 1.00e+00 2.27e-02f 3 87 8.3882746e-05 4.60e-14 6.88e-03 -4.0 1.52e+00 -20.0 1.00e+00 1.00e+00f 1 88 7.5637584e-04 2.73e-14 5.34e-03 -4.0 8.14e-01 -20.0 1.00e+00 1.00e+00f 1 89 4.2526379e-04 5.33e-15 7.88e-04 -4.0 5.55e-01 -20.0 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 4.2224075e-05 4.00e-15 2.12e-03 -5.9 7.20e-01 -20.0 9.29e-01 1.00e+00f 1 91 1.7365026e-05 3.77e-15 2.62e-04 -5.9 1.89e-01 -20.0 1.00e+00 1.00e+00f 1 92 4.9225625e-06 6.66e-16 1.65e-04 -5.9 2.12e-01 -20.0 1.00e+00 1.00e+00f 1 93 5.5352670e-06 2.43e-16 1.60e-05 -5.9 2.32e-02 -20.0 1.00e+00 1.00e+00h 1 94 5.1539921e-06 9.45e-17 1.93e-06 -5.9 2.84e-03 -20.0 1.00e+00 1.00e+00h 1 95 3.6801081e-07 6.07e-17 7.82e-05 -8.9 2.88e-01 -20.0 9.71e-01 1.00e+00f 1 96 1.4842339e-07 3.56e-17 8.16e-06 -8.9 6.34e-02 -20.0 1.00e+00 1.00e+00f 1 97 1.4901503e-03 3.33e-16 2.48e-03 -4.0 3.31e+02 -20.0 1.00e+00 7.35e-03f 3 98 4.9826587e-04 6.15e-14 5.30e-03 -3.8 6.79e-01 -20.0 1.00e+00 1.00e+00f 1 99 8.6913116e-04 1.73e-14 1.90e-03 -3.8 2.26e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 5.7454232e-04 7.55e-15 2.18e-03 -3.8 2.83e-01 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 5.7454232247075012e-04 5.7454232247075012e-04 Dual infeasibility......: 2.1780079799966837e-03 2.1780079799966837e-03 Constraint violation....: 7.5495165674510645e-15 7.5495165674510645e-15 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.7043800889508407e-04 1.7043800889508407e-04 Overall NLP error.......: 2.1780079799966837e-03 2.1780079799966837e-03 Number of objective function evaluations = 173 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 173 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 1 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 2.334 EXIT: Maximum Number of Iterations Exceeded. 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 3.7595627e+00 4.35e+00 2.33e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7987546e+00 2.25e-02 1.09e+00 -1.0 2.87e+00 -2.0 9.95e-01 1.00e+00f 1 2 2.3778275e+00 2.08e-02 7.60e-02 -1.7 4.67e-01 -1.6 9.92e-01 1.00e+00h 1 3 2.1397438e+00 1.04e-02 1.43e-01 -2.8 2.05e-01 -1.1 9.89e-01 9.95e-01h 1 4 2.0984921e+00 2.16e-03 7.47e-02 -3.8 1.14e-01 -1.6 1.00e+00 8.87e-01h 1 5 2.0914256e+00 1.93e-04 1.28e-01 -4.0 3.83e-01 -2.1 1.00e+00 6.43e-01h 1 6 2.0908680e+00 1.04e-04 5.52e-01 -4.0 9.94e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0909691e+00 7.75e-07 1.97e-02 -4.0 2.35e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0910133e+00 7.70e-07 2.07e-05 -4.0 7.06e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909920e+00 2.29e-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 2.0909299e+00 1.47e-07 2.06e-05 -4.0 6.32e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907468e+00 1.30e-06 4.98e-05 -4.0 1.88e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0902249e+00 1.10e-05 4.21e-04 -4.0 5.45e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888758e+00 8.24e-05 3.17e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861764e+00 4.42e-04 1.75e-02 -4.0 3.47e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830933e+00 9.24e-04 4.72e-02 -4.0 5.32e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828547e+00 9.32e-04 2.34e-02 -4.0 5.40e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823457e+00 3.96e-04 1.01e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820403e+00 9.24e-05 1.85e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.70e-04 8.71e-03 -4.0 9.94e+01 -8.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0819393e+00 3.71e-05 8.51e-04 -4.0 3.11e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.37e-07 1.40e-05 -4.0 4.48e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.92e-10 3.32e-08 -4.0 2.47e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.54e-13 1.24e-11 -4.0 4.63e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907191133e+00 2.0819382907191133e+00 Dual infeasibility......: 1.2368859246287417e-11 1.2368859246287417e-11 Constraint violation....: 2.5401902803423582e-13 2.5401902803423582e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000057e-04 1.0000000000000057e-04 Overall NLP error.......: 1.2368859246287417e-11 1.2368859246287417e-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 = 25.426 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 4.6633606e+00 3.76e+00 2.93e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9361971e+00 1.97e-02 4.41e-01 -1.1 2.14e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.2704439e+00 2.17e-02 7.51e-02 -1.7 2.71e-01 -1.6 9.55e-01 1.00e+00f 1 3 2.1243566e+00 2.18e-03 2.30e-01 -3.6 1.00e-01 -1.1 9.59e-01 9.97e-01h 1 4 2.0949741e+00 6.24e-04 1.22e-01 -4.0 9.76e-02 -1.6 1.00e+00 7.50e-01h 1 5 2.0911420e+00 1.80e-04 5.66e-01 -4.0 5.39e-01 -2.1 1.00e+00 5.37e-01h 1 6 2.0909506e+00 3.22e-05 2.69e-01 -4.0 5.53e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0909183e+00 5.94e-07 1.17e-03 -4.0 3.07e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0909129e+00 4.38e-07 2.68e-05 -4.0 9.14e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908793e+00 3.08e-08 8.03e-05 -4.0 2.67e-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 2.0908044e+00 2.15e-07 4.79e-04 -4.0 6.72e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0906977e+00 8.24e-07 2.13e-03 -4.0 1.35e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904246e+00 6.85e-06 1.31e-03 -4.0 4.33e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0896129e+00 5.12e-05 1.63e-03 -4.0 1.22e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0889395e+00 4.84e-05 7.45e-02 -4.0 3.28e+01 -6.4 1.00e+00 2.35e-01h 1 15 2.0851902e+00 1.76e-03 1.04e-01 -4.0 7.20e+01 -6.9 1.00e+00 1.00e+00f 1 16 2.0836512e+00 7.69e-04 5.88e-02 -4.0 6.55e+00 -5.5 1.00e+00 5.77e-01h 1 17 2.0835070e+00 7.92e-05 5.81e-03 -4.0 5.49e+00 -6.0 1.00e+00 1.00e+00h 1 18 2.0829156e+00 2.40e-05 3.54e-03 -4.0 1.02e+01 -6.5 1.00e+00 1.00e+00h 1 19 2.0827730e+00 7.57e-05 2.97e-03 -4.0 2.87e+01 -7.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0825003e+00 1.88e-04 3.28e-03 -4.0 7.40e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0821397e+00 9.44e-04 9.58e-03 -4.0 1.80e+02 -7.9 5.81e-01 1.00e+00h 1 22 2.0820903e+00 9.56e-04 1.14e+00 -4.0 1.06e+02 -6.6 1.00e+00 5.61e-02h 4 23 2.0822604e+00 4.96e-05 2.55e-01 -4.0 1.94e+01 -7.1 7.86e-01 1.00e+00h 1 24 2.0821333e+00 1.01e-07 7.81e-04 -4.0 6.24e-02 -2.1 1.00e+00 1.00e+00h 1 25 2.0821191e+00 3.05e-08 6.21e-05 -4.0 1.83e-02 -2.6 1.00e+00 1.00e+00h 1 26 2.0821220e+00 1.70e-08 1.04e-05 -4.0 1.28e-02 -3.1 1.00e+00 1.00e+00h 1 27 2.0821204e+00 9.52e-09 1.05e-05 -4.0 3.88e-02 -3.6 1.00e+00 1.00e+00h 1 28 2.0821149e+00 9.54e-08 1.07e-05 -4.0 1.19e-01 -4.0 1.00e+00 1.00e+00h 1 29 2.0820961e+00 1.03e-06 4.24e-05 -4.0 3.86e-01 -4.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0820175e+00 1.45e-05 1.30e-03 -4.0 1.54e+00 -5.0 1.00e+00 1.00e+00h 1 31 2.0819739e+00 1.54e-05 1.10e-03 -4.0 8.78e-01 -5.5 1.00e+00 1.00e+00h 1 32 2.0820082e+00 4.64e-06 2.16e-04 -4.0 1.29e+00 -6.0 1.00e+00 1.00e+00h 1 33 2.0820304e+00 9.42e-06 1.67e-04 -4.0 2.40e+00 -6.4 1.00e+00 1.00e+00h 1 34 2.0817966e+00 1.69e-04 6.69e-04 -4.1 8.90e+00 -6.9 1.00e+00 1.00e+00h 1 35 2.0819746e+00 3.57e-04 1.38e-03 -4.0 1.58e+01 -7.4 1.00e+00 1.00e+00h 1 36 2.0816597e+00 8.51e-04 1.24e-03 -4.1 3.49e+01 -7.9 1.00e+00 1.00e+00h 1 37 2.0818568e+00 1.18e-03 2.87e-03 -4.0 4.97e+01 -8.3 1.00e+00 1.00e+00h 1 38 2.0815825e+00 8.86e-04 1.06e-03 -4.1 3.91e+01 -8.8 1.00e+00 1.00e+00h 1 39 2.0818395e+00 2.90e-04 1.22e-04 -4.0 1.24e+01 -9.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0815805e+00 2.20e-04 9.28e-06 -4.1 9.97e+00 -9.8 1.00e+00 1.00e+00h 1 41 2.0818395e+00 2.06e-04 1.36e-05 -4.0 9.42e+00 -10.2 1.00e+00 1.00e+00h 1 42 2.0815804e+00 2.10e-04 1.05e-05 -4.1 9.57e+00 -10.7 1.00e+00 1.00e+00h 1 43 2.0818395e+00 2.11e-04 9.71e-06 -4.0 9.60e+00 -11.2 1.00e+00 1.00e+00h 1 44 2.0815804e+00 2.11e-04 9.24e-06 -4.1 9.62e+00 -11.7 1.00e+00 1.00e+00h 1 45 2.0818395e+00 2.11e-04 9.30e-06 -4.0 9.62e+00 -12.2 1.00e+00 1.00e+00h 1 46 2.0815804e+00 2.11e-04 9.10e-06 -4.1 9.62e+00 -12.6 1.00e+00 1.00e+00h 1 47 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -13.1 9.78e-01 9.71e-01h 1 48 2.0818882e+00 6.56e-03 2.96e-04 -4.0 6.10e+01 -13.6 1.00e+00 1.00e+00f 1 49 2.0816141e+00 4.87e-04 1.05e-05 -4.1 2.07e+01 -14.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0805989e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -14.5 9.76e-01 9.65e-01h 1 51 2.0805508e+00 8.46e-05 2.20e-06 -6.1 1.69e+01 -15.0 1.00e+00 1.00e+00h 1 52 2.0819794e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -15.5 1.00e+00 1.00e+00f 1 53 2.0816850e+00 9.29e-04 4.93e-05 -4.1 4.57e+01 -16.0 1.00e+00 1.00e+00h 1 54 2.0816490e+00 4.77e-07 7.43e-07 -4.1 8.50e+00 -16.5 1.00e+00 1.00e+00h 1 55 2.0818389e+00 1.13e-04 4.87e-06 -4.0 7.02e+00 -16.9 1.00e+00 1.00e+00h 1 56 2.0815801e+00 2.08e-04 9.04e-06 -4.1 9.49e+00 -17.4 1.00e+00 1.00e+00h 1 57 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -17.9 9.78e-01 9.71e-01h 1 58 2.0805497e+00 6.51e-05 1.78e-06 -6.1 1.55e+01 -18.4 1.00e+00 1.00e+00h 1 59 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -18.8 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0816901e+00 9.49e-04 5.23e-05 -4.1 4.72e+01 -19.3 1.00e+00 1.00e+00h 1 61 2.0816518e+00 5.68e-07 7.86e-07 -4.1 8.91e+00 -19.8 1.00e+00 1.00e+00h 1 62 2.0805907e+00 3.69e-03 1.61e-04 -6.1 4.17e+01 -20.0 9.77e-01 9.75e-01h 1 63 2.0805511e+00 6.76e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 64 2.0805469e+00 4.72e-08 2.03e-08 -6.1 2.96e+00 -20.0 1.00e+00 1.00e+00h 1 65 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.88e+01 -20.0 1.00e+00 1.00e+00f 1 66 2.0817176e+00 1.03e-03 6.82e-05 -4.1 5.46e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0816664e+00 1.23e-06 1.00e-06 -4.1 1.09e+01 -20.0 1.00e+00 1.00e+00h 1 68 2.0805915e+00 3.77e-03 1.67e-04 -6.1 4.21e+01 -20.0 9.76e-01 9.75e-01h 1 69 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0805471e+00 5.00e-08 2.15e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 71 2.0805365e+00 9.59e-07 8.07e-07 -9.0 9.59e-01 -20.0 1.00e+00 9.97e-01h 1 72 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 73 2.0817324e+00 1.07e-03 7.73e-05 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 74 2.0816741e+00 1.68e-06 1.10e-06 -4.1 1.18e+01 -20.0 1.00e+00 1.00e+00h 1 75 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 76 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 77 2.0805472e+00 5.16e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 78 2.0805365e+00 9.80e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 79 2.0805365e+00 9.37e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 81 2.0817328e+00 1.07e-03 7.75e-05 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0816743e+00 1.69e-06 1.10e-06 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 83 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 84 2.0805516e+00 7.08e-05 2.06e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 85 2.0805472e+00 5.17e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 86 2.0805365e+00 9.81e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 87 2.0805365e+00 9.39e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 88 2.0805365e+00 4.44e-16 3.37e-16 -9.0 1.11e-05 -20.0 1.00e+00 1.00e+00h 1 89 2.0805365e+00 8.88e-16 2.22e-16 -9.0 1.96e-12 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805365e+00 8.88e-16 2.41e-16 -9.0 8.37e-14 -20.0 1.00e+00 1.00e+00 0 91 2.0805365e+00 8.88e-16 2.03e-16 -9.0 2.27e-14 -20.0 1.00e+00 1.00e+00T 0 Number of Iterations....: 91 (scaled) (unscaled) Objective...............: 2.0805364715330508e+00 2.0805364715330508e+00 Dual infeasibility......: 2.0309745975833971e-16 2.0309745975833971e-16 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 9.0909103283437487e-09 9.0909103283437487e-09 Complementarity.........: 9.0909090969342984e-10 9.0909090969342984e-10 Overall NLP error.......: 9.9999090909091523e-05 9.9999090909091523e-05 Number of objective function evaluations = 97 Number of objective gradient evaluations = 92 Number of equality constraint evaluations = 97 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 92 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 92 Total seconds in IPOPT = 21.568 EXIT: Search Direction is becoming Too Small. initializing optimizer... applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 196 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 28 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.4160471e+00 1.05e+00 1.15e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7429839e+00 4.29e-01 1.54e+00 -0.9 8.69e-01 0.0 9.51e-01 6.49e-01h 1 2 1.5173504e+00 7.31e-02 1.02e+00 -1.3 4.21e-01 -0.5 9.53e-01 1.00e+00h 1 3 1.4097004e+00 3.42e-02 3.59e-01 -1.1 3.85e-01 -1.0 9.72e-01 3.46e-01h 1 4 1.2012066e+00 5.24e-02 8.91e-01 -1.6 2.65e+00 - 9.62e-01 8.73e-01H 1 5 1.1392266e+00 1.80e-02 7.12e-01 -2.5 2.96e-01 -1.4 9.99e-01 6.97e-01h 1 6 1.1528701e+00 8.89e-03 6.74e-01 -2.2 6.17e+00 - 1.00e+00 5.01e-01h 1 7 1.1211853e+00 5.68e-03 6.75e-02 -3.3 2.29e-01 - 1.00e+00 3.61e-01h 1 8 1.0913630e+00 9.03e-05 1.31e-02 -4.0 4.85e-01 - 1.00e+00 1.00e+00h 1 9 1.0909034e+00 3.58e-07 1.04e-02 -4.0 8.20e-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 1.0908997e+00 7.30e-11 3.28e-05 -4.0 4.45e-01 - 1.00e+00 1.00e+00f 1 11 1.0908997e+00 1.77e-19 3.25e-05 -4.0 2.15e-01 - 1.00e+00 1.00e+00f 1 12 1.0907198e+00 3.86e-24 9.06e-08 -4.1 4.38e-04 - 1.00e+00 1.00e+00f 1 13 1.0908997e+00 2.71e-27 8.08e-09 -4.0 8.46e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 13 (scaled) (unscaled) Objective...............: 1.0908997336735740e+00 1.0908997336735740e+00 Dual infeasibility......: 8.0795378443188071e-09 8.0795378443188071e-09 Constraint violation....: 2.7054006692254663e-27 2.7054006692254663e-27 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000690201983612e-04 1.0000690201983612e-04 Overall NLP error.......: 8.0795378443188071e-09 8.0795378443188071e-09 Number of objective function evaluations = 16 Number of objective gradient evaluations = 14 Number of equality constraint evaluations = 16 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 14 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 13 Total seconds in IPOPT = 18.430 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.7941084e+00 3.40e+00 7.94e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9533129e+00 9.28e-02 4.07e+00 -0.9 1.82e+00 0.0 5.63e-01 1.00e+00f 1 2 3.1248392e+00 1.06e-01 3.51e+00 -0.5 1.89e+00 -0.5 6.49e-01 3.51e-01f 1 3 2.9024024e+00 3.25e-02 2.47e+00 -0.7 3.77e-01 -0.1 8.38e-01 7.39e-01h 1 4 2.6073024e+00 1.76e-02 1.27e+00 -1.2 4.56e-01 -0.5 9.97e-01 1.00e+00f 1 5 2.3542766e+00 8.25e-03 4.09e-01 -1.5 1.96e-01 -1.0 1.00e+00 9.07e-01h 1 6 2.2415354e+00 3.15e-02 3.68e-01 -2.0 7.86e-01 -1.5 9.32e-01 4.65e-01f 1 7 2.1235755e+00 9.82e-03 1.36e-01 -3.0 2.62e-01 -2.0 1.00e+00 6.88e-01h 1 8 2.0910617e+00 8.00e-04 1.31e-02 -4.0 1.03e-01 -2.4 1.00e+00 9.94e-01h 1 9 2.0909197e+00 9.18e-07 1.43e-03 -4.0 5.07e-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 2.0909101e+00 2.74e-08 1.53e-05 -4.0 3.76e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909012e+00 3.46e-09 1.51e-05 -4.0 1.12e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908755e+00 3.14e-08 2.70e-05 -4.0 3.29e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907994e+00 2.91e-07 6.43e-05 -4.0 9.68e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905152e+00 2.88e-06 8.73e-04 -4.0 3.11e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0896746e+00 3.05e-05 2.85e-03 -4.0 9.65e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0884348e+00 8.36e-05 4.42e-02 -4.0 2.75e+01 -6.3 1.00e+00 5.03e-01h 1 17 2.0849949e+00 1.18e-03 5.20e-02 -4.0 5.63e+01 -6.7 1.00e+00 1.00e+00h 1 18 2.0838625e+00 6.24e-04 2.80e-02 -4.0 2.04e+01 -6.3 1.00e+00 5.01e-01h 1 19 2.0828476e+00 1.39e-04 1.88e-02 -4.0 2.15e+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 2.0828525e+00 3.64e-04 1.36e-02 -4.0 5.40e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0821022e+00 2.04e-03 9.34e-03 -4.1 1.23e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.3967553e+00 3.82e-04 7.25e+00 -4.0 8.81e+02 -8.2 4.87e-02 1.00e+00H 1 23 2.0870013e+00 5.41e-05 8.64e-01 -4.2 1.65e-01 -0.4 7.24e-01 8.58e-01f 1 24 2.0872714e+00 5.39e-05 6.78e+00 -4.0 1.13e-01 -0.8 1.00e+00 3.91e-03f 9 25 2.0873025e+00 1.71e-07 1.41e-03 -4.0 2.97e-02 -1.3 1.00e+00 1.00e+00h 1 26 2.0869876e+00 1.14e-07 1.28e-03 -4.0 8.05e-02 -1.8 1.00e+00 1.00e+00h 1 27 2.0867109e+00 8.09e-07 8.84e-04 -4.0 1.67e-01 -2.3 1.00e+00 1.00e+00h 1 28 2.0867646e+00 1.20e-07 6.43e-05 -4.0 1.75e-02 -2.8 1.00e+00 1.00e+00h 1 29 2.0867497e+00 1.53e-07 1.18e-05 -4.0 2.02e-02 -3.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0867443e+00 1.92e-08 1.19e-05 -4.0 6.08e-02 -3.7 1.00e+00 1.00e+00h 1 31 2.0867300e+00 3.66e-08 1.18e-05 -4.0 1.82e-01 -4.2 1.00e+00 1.00e+00h 1 32 2.0866886e+00 3.15e-07 1.60e-05 -4.0 5.40e-01 -4.7 1.00e+00 1.00e+00h 1 33 2.0865766e+00 2.41e-06 1.23e-04 -4.0 1.57e+00 -5.1 1.00e+00 1.00e+00h 1 34 2.0863290e+00 1.35e-05 6.85e-04 -4.0 4.38e+00 -5.6 1.00e+00 1.00e+00h 1 35 2.0859397e+00 3.47e-05 1.89e-03 -4.0 1.16e+01 -6.1 1.00e+00 1.00e+00h 1 36 2.0852464e+00 9.95e-05 4.31e-03 -4.0 3.04e+01 -6.6 1.00e+00 1.00e+00h 1 37 2.0840192e+00 5.52e-04 2.06e-02 -4.0 7.52e+01 -7.0 1.00e+00 1.00e+00h 1 38 2.0823822e+00 1.03e-03 5.76e-02 -4.1 1.45e+02 -7.5 1.00e+00 1.00e+00h 1 39 2.0818482e+00 6.10e-03 3.22e-02 -4.0 2.19e+02 -8.0 6.66e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0817351e+00 2.31e-03 3.71e-02 -4.0 4.83e+01 -6.7 1.00e+00 1.00e+00h 1 41 2.0831074e+00 4.57e-03 1.62e-02 -3.7 4.46e+01 -7.2 9.68e-01 1.00e+00h 1 42 2.1679967e+00 3.55e-03 3.40e-01 -3.8 7.51e+02 -7.6 9.36e-03 8.47e-02h 1 43 2.0942999e+00 3.36e-03 2.10e-01 -3.8 8.20e+01 -8.1 1.26e-03 1.00e+00f 1 44 2.0834330e+00 7.21e-08 4.71e-02 -3.8 9.19e-02 -0.3 1.00e+00 1.00e+00h 1 45 2.0826230e+00 9.22e-08 5.76e-02 -4.0 2.37e-02 -0.7 1.00e+00 8.50e-01f 1 46 2.0828046e+00 2.86e-07 1.11e-03 -4.0 1.50e-02 -1.2 1.00e+00 1.00e+00f 1 47 2.0823656e+00 5.10e-07 4.47e-04 -4.1 2.20e-02 -1.7 1.00e+00 1.00e+00h 1 48 2.0823767e+00 2.73e-08 7.59e-05 -4.0 1.02e-02 -2.2 1.00e+00 1.00e+00h 1 49 2.0823717e+00 8.28e-09 8.14e-06 -4.0 3.56e-03 -2.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0823715e+00 3.30e-09 4.08e-06 -4.0 5.42e-03 -3.1 1.00e+00 1.00e+00h 1 51 2.0823708e+00 2.47e-10 4.07e-06 -4.0 1.62e-02 -3.6 1.00e+00 1.00e+00h 1 52 2.0823687e+00 1.30e-09 4.05e-06 -4.0 4.84e-02 -4.1 1.00e+00 1.00e+00h 1 53 2.0823626e+00 1.17e-08 4.00e-06 -4.0 1.43e-01 -4.6 1.00e+00 1.00e+00h 1 54 2.0823452e+00 1.01e-07 7.45e-06 -4.0 4.12e-01 -5.0 1.00e+00 1.00e+00h 1 55 2.0822998e+00 8.02e-07 5.29e-05 -4.0 1.10e+00 -5.5 1.00e+00 1.00e+00h 1 56 2.0822085e+00 4.98e-06 2.45e-04 -4.0 2.54e+00 -6.0 1.00e+00 1.00e+00h 1 57 2.0821014e+00 1.48e-05 4.49e-04 -4.0 7.58e+00 -6.5 1.00e+00 1.00e+00h 1 58 2.0820134e+00 3.26e-05 4.13e-04 -4.0 2.29e+01 -6.9 1.00e+00 1.00e+00h 1 59 2.0836178e+00 5.71e-06 1.15e-01 -4.0 1.15e+02 -7.4 2.86e-01 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0824696e+00 1.99e-03 1.25e+00 -4.1 6.44e+01 -5.2 3.03e-02 7.79e-02f 1 61 2.0820196e+00 2.53e-03 1.25e+00 -4.1 9.73e+02 -5.7 9.79e-06 1.00e-03f 1 62 2.0820584e+00 2.55e-03 1.26e+00 -4.1 1.43e+04 -6.1 1.95e-07 3.36e-05f 2 63 2.0820805e+00 2.42e-03 2.62e+00 -4.1 5.96e-01 -3.0 1.00e+00 5.17e-02h 1 64 2.0821706e+00 5.60e-07 2.93e-04 -4.1 2.40e-02 -3.5 1.00e+00 1.00e+00f 1 65 2.0823519e+00 1.41e-06 7.11e-05 -4.0 5.48e-02 -4.0 1.00e+00 1.00e+00h 1 66 2.0821756e+00 4.88e-06 2.77e-05 -4.1 1.99e-01 -4.4 1.00e+00 1.00e+00h 1 67 2.0814595e+00 9.90e-05 9.56e-03 -6.1 1.01e+00 -4.9 9.23e-01 1.00e+00h 1 68 2.0822965e+00 2.04e-04 2.29e-03 -4.0 1.58e+00 -5.4 1.00e+00 1.00e+00h 1 69 2.0818454e+00 1.22e-04 7.53e-04 -4.1 3.10e+00 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0809207e+00 6.65e-04 1.10e-02 -6.1 9.13e+00 -6.3 9.81e-01 8.50e-01h 1 71 2.0819877e+00 2.03e-03 7.48e-03 -4.0 2.34e+01 -6.8 1.00e+00 1.00e+00f 1 72 2.0863118e+00 4.14e-03 1.27e-01 -4.1 1.05e+02 -7.3 2.69e-01 1.00e+00h 1 73 2.0849817e+00 4.23e-03 1.55e+00 -4.1 1.20e+02 -5.1 5.59e-02 2.36e-02h 1 74 2.0846858e+00 4.20e-03 3.49e+01 -4.1 1.01e+02 -4.6 2.36e-01 6.26e-03h 1 75 2.0817103e+00 2.11e-03 5.27e+00 -4.1 4.32e+00 -5.1 8.47e-01 7.86e-01h 1 76 2.0816333e+00 1.09e-03 9.06e-01 -4.1 7.86e+00 -5.6 6.70e-01 3.06e-01f 1 77 2.0820194e+00 2.94e-03 1.38e+00 -4.1 5.39e+01 -6.1 1.62e-01 1.00e+00f 1 78 2.0819809e+00 4.03e-04 1.41e-02 -4.1 8.96e+00 -6.5 1.00e+00 1.00e+00h 1 79 2.0818018e+00 1.59e-03 4.21e-04 -4.1 2.91e+01 -7.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0818134e+00 2.20e-04 1.72e-03 -4.1 1.63e+01 -6.6 1.00e+00 1.00e+00h 1 81 2.0849747e+00 1.16e-06 3.69e-02 -4.0 3.51e+01 -7.1 3.48e-01 1.00e+00H 1 82 2.0821050e+00 9.02e-06 8.07e-01 -4.1 3.98e-01 -1.2 1.99e-01 4.41e-01f 1 83 2.0825912e+00 8.79e-06 9.89e-01 -4.0 1.03e+00 -1.7 1.00e+00 4.37e-02f 4 84 2.0836550e+00 3.12e-05 9.58e-03 -3.5 2.33e-01 -2.2 1.00e+00 1.00e+00f 1 85 2.0831964e+00 2.30e-06 2.12e-03 -3.5 4.13e-02 -2.7 1.00e+00 1.00e+00h 1 86 2.0821766e+00 1.63e-05 4.42e-01 -5.2 4.86e-02 -3.1 6.65e-01 1.00e+00h 1 87 2.0813519e+00 7.37e-06 5.17e-02 -5.2 6.86e-02 -3.6 7.94e-01 1.00e+00h 1 88 2.0821638e+00 8.96e-06 1.57e-03 -4.0 7.20e-02 -4.1 1.00e+00 1.00e+00h 1 89 2.0819012e+00 7.32e-06 2.44e-05 -4.1 2.19e-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 90 2.0820267e+00 1.13e-05 1.70e-04 -4.0 4.75e-01 -5.0 1.00e+00 1.00e+00h 1 91 2.0817904e+00 3.92e-05 8.14e-05 -4.1 1.58e+00 -5.5 1.00e+00 1.00e+00h 1 92 2.0808322e+00 6.50e-04 2.00e-02 -6.1 6.77e+00 -6.0 8.53e-01 1.00e+00h 1 93 2.0809899e+00 4.98e-05 1.93e-02 -4.6 2.86e+00 -5.6 1.00e+00 9.51e-01h 1 94 2.0815551e+00 3.85e-04 2.34e-03 -4.1 6.45e+00 -6.1 1.00e+00 1.00e+00f 1 95 2.0816898e+00 2.73e-04 3.78e-01 -4.2 8.94e+00 -6.5 1.00e+00 2.87e-01h 1 96 2.0814762e+00 8.54e-05 1.75e-03 -4.2 5.75e+00 -7.0 1.00e+00 1.00e+00f 1 97 2.0814473e+00 4.10e-06 4.76e-04 -4.2 7.88e+00 -7.5 1.00e+00 1.00e+00h 1 98 2.0818378e+00 2.52e-04 3.22e-04 -4.0 7.53e+00 -8.0 1.00e+00 1.00e+00h 1 99 2.0815867e+00 1.91e-04 1.77e-04 -4.1 7.91e+00 -8.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0806121e+00 3.07e-03 3.45e-04 -6.1 3.88e+01 -8.9 9.77e-01 9.50e-01h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0806120835054034e+00 2.0806120835054034e+00 Dual infeasibility......: 3.4500731822073539e-04 3.4500731822073539e-04 Constraint violation....: 3.0653210492737060e-03 3.0653210492737060e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.7783958373588685e-05 1.7783958373588685e-05 Overall NLP error.......: 3.0653210492737060e-03 3.0653210492737060e-03 Number of objective function evaluations = 119 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 119 Number of inequality constraint evaluations = 119 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 24.621 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 96 Number of nonzeros in Lagrangian Hessian.............: 1804 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.4513689e+01 3.69e+00 3.76e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5300302e+00 2.37e-01 2.44e+00 -1.1 3.66e+00 -2.0 6.71e-01 1.00e+00f 1 2 2.8459591e+00 4.59e-02 5.58e+00 -0.9 5.44e-01 -0.7 6.14e-01 8.06e-01h 1 3 2.6603332e+00 1.04e-01 8.43e-01 -1.0 9.07e-01 -1.1 6.78e-01 1.00e+00f 1 4 2.5436306e+00 6.24e-02 8.97e-01 -1.3 6.25e-01 -0.7 7.78e-01 3.90e-01h 1 5 2.3365631e+00 1.20e-02 1.22e-01 -1.5 2.73e-01 -1.2 9.92e-01 1.00e+00f 1 6 2.2047494e+00 1.26e-02 2.09e-01 -4.0 3.59e-01 -1.7 8.14e-01 5.23e-01h 1 7 2.1073610e+00 1.26e-03 2.14e-02 -2.7 8.95e-02 -2.2 9.87e-01 1.00e+00h 1 8 2.0908700e+00 6.23e-05 2.93e-03 -4.0 3.24e-02 -2.6 1.00e+00 1.00e+00h 1 9 2.0909478e+00 8.39e-07 3.79e-04 -4.0 8.58e-02 -3.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909342e+00 7.92e-09 2.65e-05 -4.0 1.02e-01 -3.6 1.00e+00 1.00e+00h 1 11 2.0908967e+00 3.73e-08 6.96e-05 -4.0 3.04e-01 -4.1 1.00e+00 1.00e+00h 1 12 2.0907930e+00 3.29e-07 9.20e-04 -4.0 8.54e-01 -4.5 1.00e+00 1.00e+00h 1 13 2.0906747e+00 7.87e-07 3.29e-03 -4.0 1.51e+00 -5.0 1.00e+00 1.00e+00h 1 14 2.0903716e+00 8.82e-06 1.52e-03 -4.0 4.90e+00 -5.5 1.00e+00 1.00e+00h 1 15 2.0894787e+00 6.41e-05 2.07e-03 -4.0 1.37e+01 -6.0 1.00e+00 1.00e+00h 1 16 2.0886140e+00 6.66e-05 7.53e-02 -4.0 3.45e+01 -6.4 1.00e+00 2.98e-01h 1 17 2.0850904e+00 1.85e-03 1.13e-01 -4.0 7.38e+01 -6.9 1.00e+00 1.00e+00h 1 18 2.0833107e+00 8.33e-04 8.53e-02 -4.0 8.02e+00 -5.6 1.00e+00 5.68e-01h 1 19 2.0832092e+00 8.20e-05 6.57e-03 -4.0 4.68e+00 -6.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0828925e+00 1.00e-05 1.66e-03 -4.0 1.14e+01 -6.5 1.00e+00 1.00e+00h 1 21 2.0827435e+00 2.46e-05 1.20e-03 -4.0 3.14e+01 -7.0 1.00e+00 1.00e+00h 1 22 2.0824583e+00 2.09e-04 3.65e-03 -4.0 8.06e+01 -7.5 1.00e+00 1.00e+00h 1 23 2.0822708e+00 1.50e-03 2.08e-02 -4.0 2.15e+02 -8.0 4.04e-01 1.00e+00h 1 24 2.0821533e+00 6.07e-05 6.46e-04 -4.0 2.30e+00 -5.7 1.00e+00 1.00e+00h 1 25 2.0820637e+00 2.70e-05 3.15e-04 -4.0 6.76e+00 -6.2 1.00e+00 1.00e+00h 1 26 2.0819172e+00 2.58e-04 3.41e-02 -4.0 2.73e+01 -6.7 6.33e-01 1.00e+00h 1 27 2.0851500e+00 1.89e-05 9.44e-01 -4.0 1.01e+01 -5.4 5.43e-01 1.00e+00H 1 28 2.0837045e+00 6.82e-07 1.84e-02 -4.0 4.74e-02 -0.4 1.00e+00 1.00e+00h 1 29 2.0826613e+00 1.45e-06 4.67e-02 -4.0 6.52e-02 -0.9 1.00e+00 9.37e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0826314e+00 1.18e-06 3.55e-03 -4.0 9.42e-02 -1.4 1.00e+00 1.00e+00f 1 31 2.0821467e+00 4.27e-07 1.45e-03 -4.0 1.41e-01 -1.9 1.00e+00 1.00e+00h 1 32 2.0822070e+00 2.13e-07 1.37e-04 -4.0 1.78e-02 -2.3 1.00e+00 1.00e+00h 1 33 2.0820756e+00 1.40e-07 4.65e-05 -4.1 9.08e-03 -2.8 1.00e+00 1.00e+00h 1 34 2.0822267e+00 3.82e-07 6.09e-05 -4.0 1.63e-02 -3.3 1.00e+00 1.00e+00h 1 35 2.0820705e+00 1.22e-06 5.20e-05 -4.1 4.84e-02 -3.8 1.00e+00 1.00e+00h 1 36 2.0822154e+00 3.65e-06 8.59e-05 -4.0 1.51e-01 -4.2 1.00e+00 1.00e+00h 1 37 2.0820340e+00 1.14e-05 5.93e-05 -4.1 4.57e-01 -4.7 1.00e+00 1.00e+00h 1 38 2.0820822e+00 4.62e-05 4.95e-04 -4.0 1.83e+00 -5.2 1.00e+00 1.00e+00h 1 39 2.0820732e+00 1.34e-07 6.07e-02 -4.1 3.46e+00 -5.7 6.55e-01 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0824381e+00 3.43e-06 2.76e-03 -3.7 3.54e-02 -1.6 1.00e+00 1.00e+00f 1 41 2.0822308e+00 5.96e-07 2.67e-04 -3.8 3.03e-02 -2.1 1.00e+00 1.00e+00h 1 42 2.0816556e+00 2.40e-06 2.28e-01 -5.7 3.45e-02 -2.6 6.31e-01 1.00e+00h 1 43 2.0820044e+00 9.75e-07 1.39e-03 -4.0 7.15e-02 -3.1 1.00e+00 1.00e+00h 1 44 2.0818290e+00 1.61e-06 7.92e-05 -4.1 4.01e-02 -3.6 1.00e+00 1.00e+00h 1 45 2.0812988e+00 1.50e-05 5.98e-02 -6.1 1.17e-01 -4.0 7.32e-01 1.00e+00h 1 46 2.0817255e+00 7.36e-05 3.86e-02 -4.0 1.06e+00 -4.5 4.24e-01 4.48e-01h 2 47 2.0816456e+00 4.35e-05 8.26e-02 -4.4 4.96e-01 -3.2 7.23e-01 3.96e-01h 1 48 2.0815680e+00 3.20e-07 8.40e-04 -4.4 1.06e-01 -3.7 1.00e+00 1.00e+00f 1 49 2.0816717e+00 3.25e-07 3.97e-01 -4.0 1.09e+00 -4.1 1.00e+00 3.52e-01H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0817675e+00 6.35e-07 1.05e-03 -4.1 1.47e-01 -4.6 1.00e+00 1.00e+00f 1 51 2.0817579e+00 1.69e-05 1.14e-03 -4.1 2.50e-01 -4.2 1.00e+00 1.00e+00h 1 52 2.0817648e+00 1.49e-05 2.81e-04 -4.1 3.95e-01 -4.7 1.00e+00 1.00e+00h 1 53 2.0812346e+00 1.13e-04 2.23e-02 -6.2 1.30e+00 -5.1 8.64e-01 1.00e+00h 1 54 2.0815618e+00 6.40e-05 4.19e-02 -4.0 8.63e-01 -3.8 3.18e-01 3.42e-01h 1 55 2.0814346e+00 1.21e-05 1.90e-03 -4.5 2.85e-01 -4.3 1.00e+00 1.00e+00h 1 56 2.0819456e+00 1.19e-05 1.22e-03 -4.0 1.41e-01 -4.8 1.00e+00 1.00e+00h 1 57 2.0817780e+00 1.81e-05 6.68e-05 -4.1 4.11e-01 -5.2 1.00e+00 1.00e+00h 1 58 2.0811159e+00 2.86e-04 6.76e-03 -6.1 3.63e+00 -5.7 9.84e-01 1.00e+00h 1 59 2.0819021e+00 5.60e-06 1.95e-03 -4.0 5.07e-02 -3.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0815933e+00 4.23e-06 2.06e-04 -4.1 1.08e-01 -4.0 1.00e+00 1.00e+00h 1 61 2.0811987e+00 2.70e-05 1.07e-01 -6.1 3.63e-01 -4.4 7.25e-01 1.00e+00h 1 62 2.0818967e+00 6.79e-05 1.64e-03 -4.0 6.08e-01 -4.9 1.00e+00 1.00e+00h 1 63 2.0816836e+00 2.37e-05 4.17e-04 -4.1 7.90e-01 -5.4 1.00e+00 1.00e+00h 1 64 2.0810230e+00 2.96e-04 5.73e-03 -6.1 3.83e+00 -5.9 9.91e-01 1.00e+00h 1 65 2.0810333e+00 2.64e-04 1.38e+00 -4.5 2.50e+00 -4.5 1.00e+00 1.08e-01h 1 66 2.0815381e+00 2.02e-04 1.84e-01 -4.0 2.22e+00 -5.0 1.00e+00 5.83e-01f 1 67 2.0815940e+00 4.15e-05 1.02e-03 -4.1 1.47e+00 -5.5 1.00e+00 1.00e+00h 1 68 2.0816654e+00 6.11e-06 7.15e-04 -4.1 1.92e+00 -6.0 1.00e+00 1.00e+00h 1 69 2.0809109e+00 5.01e-04 1.77e-02 -6.2 7.77e+00 -6.4 9.31e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0809821e+00 4.70e-04 1.19e-01 -4.0 1.00e+01 -6.9 1.00e+00 5.53e-02h 1 71 2.0819355e+00 2.05e-03 3.88e-03 -4.0 2.02e+01 -7.4 1.00e+00 1.00e+00h 1 72 2.0816414e+00 8.00e-04 1.19e-03 -4.1 3.21e+01 -7.9 1.00e+00 1.00e+00h 1 73 2.0815860e+00 8.44e-05 2.55e-03 -4.1 4.70e+01 -8.4 1.00e+00 1.00e+00h 1 74 2.0815714e+00 3.31e-05 9.03e-04 -4.1 3.69e+01 -8.8 1.00e+00 1.00e+00h 1 75 2.0815694e+00 2.87e-06 9.04e-05 -4.1 1.25e+01 -9.3 1.00e+00 1.00e+00h 1 76 2.0805924e+00 3.24e-03 1.39e-04 -6.2 4.01e+01 -9.8 9.78e-01 9.67e-01h 1 77 2.0818905e+00 6.55e-03 4.26e-04 -4.0 6.10e+01 -10.3 1.00e+00 1.00e+00f 1 78 2.0816136e+00 5.05e-04 3.06e-05 -4.1 2.12e+01 -10.7 1.00e+00 1.00e+00h 1 79 2.0806019e+00 3.48e-03 1.94e-04 -6.1 4.20e+01 -11.2 9.76e-01 9.61e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805508e+00 9.14e-05 2.66e-06 -6.1 1.71e+01 -11.7 1.00e+00 1.00e+00h 1 81 2.0819803e+00 1.03e-02 3.97e-04 -4.0 8.48e+01 -12.2 1.00e+00 1.00e+00f 1 82 2.0816778e+00 9.64e-04 4.85e-05 -4.1 4.56e+01 -12.7 1.00e+00 1.00e+00h 1 83 2.0816419e+00 4.54e-07 3.15e-05 -4.1 8.52e+00 -13.1 1.00e+00 1.00e+00h 1 84 2.0805932e+00 3.64e-03 1.54e-04 -6.1 4.19e+01 -13.6 9.76e-01 9.71e-01h 1 85 2.0805508e+00 7.31e-05 1.94e-06 -6.1 1.62e+01 -14.1 1.00e+00 1.00e+00h 1 86 2.0819836e+00 1.04e-02 3.98e-04 -4.0 8.53e+01 -14.6 1.00e+00 1.00e+00f 1 87 2.0816801e+00 9.75e-04 5.08e-05 -4.1 4.63e+01 -15.0 1.00e+00 1.00e+00h 1 88 2.0816431e+00 4.96e-07 3.15e-05 -4.1 8.74e+00 -15.5 1.00e+00 1.00e+00h 1 89 2.0805932e+00 3.65e-03 1.55e-04 -6.1 4.19e+01 -16.0 9.76e-01 9.71e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805509e+00 7.33e-05 1.95e-06 -6.1 1.62e+01 -16.5 1.00e+00 1.00e+00h 1 91 2.0805467e+00 5.04e-08 3.14e-07 -6.1 2.92e+00 -16.9 1.00e+00 1.00e+00h 1 92 2.0820227e+00 1.22e-02 4.21e-04 -4.0 9.85e+01 -17.4 1.00e+00 1.00e+00f 1 93 2.0817083e+00 1.09e-03 6.84e-05 -4.1 5.45e+01 -17.9 1.00e+00 1.00e+00h 1 94 2.0816573e+00 1.18e-06 3.19e-05 -4.1 1.10e+01 -18.4 1.00e+00 1.00e+00h 1 95 2.0805943e+00 3.73e-03 1.58e-04 -6.1 4.23e+01 -18.9 9.76e-01 9.71e-01h 1 96 2.0805512e+00 7.57e-05 2.02e-06 -6.1 1.64e+01 -19.3 1.00e+00 1.00e+00h 1 97 2.0805469e+00 5.37e-08 3.20e-07 -6.1 3.01e+00 -19.8 1.00e+00 1.00e+00h 1 98 2.0805365e+00 9.26e-07 7.80e-07 -9.0 9.40e-01 -20.0 1.00e+00 9.97e-01h 1 99 2.0820402e+00 1.30e-02 4.35e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0817219e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0817218866872387e+00 2.0817218866872387e+00 Dual infeasibility......: 7.7307970540298611e-05 7.7307970540298611e-05 Constraint violation....: 1.1323908718005593e-03 1.1323908718005593e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.1568166033241621e-04 1.1568166033241621e-04 Overall NLP error.......: 1.1323908718005593e-03 1.1323908718005593e-03 Number of objective function evaluations = 107 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 107 Number of inequality constraint evaluations = 107 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 30.420 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 8.7429376e+01 3.30e+00 2.96e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.8476448e+01 2.13e+00 1.87e+01 -0.5 2.06e+00 0.0 1.00e+00 3.56e-01f 1 2 2.8564757e+00 4.04e-02 6.57e+00 -0.4 1.97e+00 -0.5 8.07e-01 1.00e+00f 1 3 2.7826397e+00 1.23e-02 1.36e+00 -0.9 3.56e-01 -1.0 9.65e-01 1.00e+00h 1 4 2.4065540e+00 3.21e-02 3.12e-01 -1.6 6.33e-01 -1.4 9.88e-01 1.00e+00h 1 5 2.2286760e+00 1.14e-02 6.50e-02 -2.1 4.40e-01 -1.9 8.91e-01 1.00e+00h 1 6 2.1326429e+00 1.62e-02 2.72e-01 -3.1 1.29e+00 -2.4 9.86e-01 5.99e-01h 1 7 2.0943606e+00 6.16e-04 5.55e-03 -3.7 1.14e-01 -2.9 1.00e+00 1.00e+00h 1 8 2.0908585e+00 2.18e-05 2.22e-04 -4.0 4.32e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908391e+00 4.67e-07 2.22e-04 -4.0 1.20e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908133e+00 2.94e-08 2.22e-04 -4.0 3.28e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907481e+00 2.37e-07 3.83e-04 -4.0 8.70e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905658e+00 2.37e-06 6.13e-04 -4.0 2.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0900986e+00 3.17e-06 9.64e-03 -4.0 7.70e+00 -5.7 1.00e+00 6.84e-01H 1 14 2.0899549e+00 2.18e-04 5.03e-02 -4.0 2.56e+01 -6.2 1.00e+00 1.00e+00f 1 15 2.0876760e+00 1.41e-04 1.12e-01 -4.0 7.49e+00 -4.9 1.00e+00 5.29e-01h 1 16 2.0876043e+00 4.49e-05 1.01e-02 -4.0 3.29e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0866629e+00 5.61e-05 5.55e-03 -4.0 9.81e+00 -5.8 1.00e+00 1.00e+00h 1 18 2.0851448e+00 1.83e-04 8.92e-03 -4.0 2.32e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0829424e+00 3.88e-04 2.66e-02 -4.0 3.79e+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 2.0828123e+00 5.30e-04 1.70e-02 -4.0 5.27e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0823261e+00 7.08e-04 8.28e-03 -4.0 1.24e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.1382715e+00 2.54e-05 1.90e+00 -4.0 6.19e+02 -8.2 7.61e-02 1.00e+00H 1 23 2.0968697e+00 1.74e-04 8.67e+00 -4.1 2.34e+01 -2.4 5.72e-03 6.68e-02f 1 24 2.0863937e+00 8.09e-05 4.17e+00 -4.1 2.72e-01 -1.9 1.00e+00 5.21e-01f 1 25 2.0868420e+00 7.61e-05 3.94e+00 -4.0 9.99e-01 -2.4 1.00e+00 6.25e-02f 5 26 2.0847767e+00 8.64e-05 2.04e-02 -4.0 1.24e+00 -2.9 1.00e+00 1.00e+00h 1 27 2.0839664e+00 7.58e-05 3.14e-01 -4.0 1.99e+00 -3.4 1.00e+00 2.62e-01h 1 28 2.0839444e+00 1.90e-05 2.95e-01 -4.0 1.41e-01 -3.9 1.00e+00 7.42e-01h 1 29 2.0839677e+00 8.39e-06 2.22e-04 -4.0 1.72e-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 2.0839358e+00 4.73e-07 2.22e-04 -4.0 5.10e-01 -4.8 1.00e+00 1.00e+00h 1 31 2.0838536e+00 2.16e-06 2.22e-04 -4.0 1.47e+00 -5.3 1.00e+00 1.00e+00h 1 32 2.0836936e+00 1.04e-05 4.77e-04 -4.0 4.02e+00 -5.8 1.00e+00 1.00e+00h 1 33 2.0834724e+00 1.94e-05 1.09e-03 -4.0 1.06e+01 -6.2 1.00e+00 1.00e+00h 1 34 2.0830996e+00 7.36e-05 2.99e-03 -4.0 2.70e+01 -6.7 1.00e+00 1.00e+00h 1 35 2.0825117e+00 3.99e-04 1.25e-02 -4.0 6.18e+01 -7.2 1.00e+00 1.00e+00h 1 36 2.0819578e+00 1.19e-03 2.77e-02 -4.0 1.15e+02 -7.7 1.00e+00 1.00e+00h 1 37 2.0817056e+00 1.94e-03 3.86e-01 -4.0 3.19e+02 -7.2 5.98e-01 2.92e-01h 2 38 2.0942252e+00 1.64e-03 9.75e-01 -4.0 3.39e+01 -5.9 1.00e+00 5.84e-01h 1 39 2.0853018e+00 1.65e-06 2.65e+00 -4.0 1.60e-01 -1.0 5.81e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0834798e+00 4.07e-07 1.74e-02 -4.0 5.54e-02 -0.5 1.00e+00 1.00e+00h 1 41 2.0823621e+00 7.23e-07 1.06e-01 -4.0 5.02e-02 -1.0 9.40e-01 1.00e+00h 1 42 2.0821029e+00 1.03e-07 4.97e-03 -4.0 1.89e-02 -0.6 1.00e+00 1.00e+00h 1 43 2.0818606e+00 1.66e-07 2.65e-03 -4.0 2.80e-02 -1.1 1.00e+00 1.00e+00h 1 44 2.0817099e+00 8.20e-09 1.71e-03 -4.0 6.37e-02 -1.6 1.00e+00 1.00e+00h 1 45 2.0816168e+00 9.41e-07 6.07e-01 -4.0 1.19e+01 -2.0 1.69e-02 5.45e-03h 2 46 2.0814240e+00 3.83e-06 2.36e-01 -4.0 1.62e-01 -2.5 1.00e+00 7.33e-01h 1 47 2.0815296e+00 2.02e-07 5.31e-04 -4.0 3.69e-02 -3.0 1.00e+00 1.00e+00h 1 48 2.0814712e+00 8.34e-07 2.42e-04 -4.1 4.49e-02 -3.5 1.00e+00 1.00e+00h 1 49 2.0815797e+00 4.12e-06 2.22e-04 -4.0 2.07e-01 -3.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0815199e+00 5.44e-06 4.59e-04 -4.1 3.16e-01 -4.4 1.00e+00 1.00e+00h 1 51 2.0810100e+00 9.21e-05 9.05e-02 -6.1 1.03e+00 -4.9 8.03e-01 1.00e+00h 1 52 2.0818496e+00 3.71e-04 9.11e-03 -4.0 3.46e+00 -5.4 1.00e+00 1.00e+00h 1 53 2.0817309e+00 6.91e-05 3.05e-03 -4.1 3.88e+00 -5.8 1.00e+00 1.00e+00h 1 54 2.0817638e+00 6.84e-05 1.53e-02 -4.1 1.75e+01 -5.4 4.72e-02 4.36e-02h 3 55 2.0818469e+00 4.12e-05 2.84e-01 -4.1 9.50e-01 -5.9 1.00e+00 4.42e-01h 1 56 2.0816883e+00 6.21e-06 2.27e-03 -4.1 2.63e+00 -6.4 1.00e+00 1.00e+00f 1 57 2.0816422e+00 4.16e-06 6.58e-04 -4.1 5.20e+00 -6.9 1.00e+00 1.00e+00h 1 58 2.0806479e+00 1.37e-03 1.32e-03 -6.1 1.56e+01 -7.3 9.75e-01 9.45e-01h 1 59 2.0808782e+00 1.21e-03 7.12e-02 -4.0 3.14e+01 -7.8 1.00e+00 1.91e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0828696e+00 9.02e-03 1.22e-02 -4.0 9.78e+01 -8.3 9.25e-01 1.00e+00h 1 61 2.0824876e+00 1.65e-07 8.62e-03 -4.1 2.31e-02 -0.4 1.00e+00 1.00e+00h 1 62 2.0822626e+00 3.89e-07 3.89e-03 -4.0 2.93e-02 -0.9 1.00e+00 1.00e+00h 1 63 2.0821386e+00 1.04e-07 1.72e-03 -4.1 4.03e-02 -1.4 1.00e+00 1.00e+00h 1 64 2.0820818e+00 1.10e-07 9.94e-04 -4.0 8.88e-02 -1.9 1.00e+00 1.00e+00h 1 65 2.0818218e+00 8.36e-07 5.05e-04 -4.1 7.96e-02 -2.3 1.00e+00 1.00e+00h 1 66 2.0820313e+00 3.23e-07 2.22e-04 -4.0 3.66e-02 -2.8 1.00e+00 1.00e+00h 1 67 2.0818812e+00 3.98e-07 1.79e-04 -4.1 1.61e-02 -3.3 1.00e+00 1.00e+00h 1 68 2.0812676e+00 6.99e-06 7.19e-02 -6.1 7.72e-02 -3.8 8.08e-01 9.73e-01h 1 69 2.0821103e+00 1.65e-05 2.29e-03 -4.0 1.35e-01 -4.3 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0818436e+00 1.92e-05 1.79e-04 -4.1 4.38e-01 -4.7 1.00e+00 1.00e+00h 1 71 2.0811407e+00 1.85e-04 1.08e-03 -6.1 2.06e+00 -5.2 9.79e-01 9.78e-01h 1 72 2.0810327e+00 6.86e-06 8.37e-05 -6.1 6.94e-01 -4.8 1.00e+00 1.00e+00h 1 73 2.0809807e+00 1.63e-05 4.99e-02 -5.2 2.34e+00 -5.3 7.68e-01 1.00e+00h 1 74 2.0819160e+00 3.62e-05 9.56e-01 -4.0 3.42e-01 -3.9 4.99e-01 1.00e+00f 1 75 2.0813086e+00 2.26e-05 2.27e-01 -4.3 3.36e-01 -4.4 4.61e-01 1.00e+00h 1 76 2.0813249e+00 2.11e-05 1.33e-01 -4.3 4.86e+00 -4.9 7.13e-02 1.82e-01f 2 77 2.0813590e+00 1.36e-05 9.36e-01 -4.3 1.29e+00 -5.4 1.00e+00 2.46e-01h 1 78 2.0812922e+00 1.37e-05 1.02e-03 -4.3 1.63e+00 -5.8 1.00e+00 1.00e+00f 1 79 2.0830566e+00 2.09e-08 1.09e-01 -4.3 8.86e+00 -6.3 6.10e-01 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0823861e+00 1.20e-06 4.62e+00 -3.8 4.01e-01 -1.4 1.00e+00 1.73e-01f 1 81 2.0820039e+00 7.27e-06 9.81e-03 -4.0 8.17e-02 -1.9 1.00e+00 1.00e+00f 1 82 2.0819611e+00 2.75e-06 1.26e-02 -4.1 3.54e-02 -2.3 9.87e-01 1.00e+00h 1 83 2.0818438e+00 2.48e-06 1.58e+00 -4.1 8.01e+00 -2.8 6.98e-02 2.58e-02h 2 84 2.0816984e+00 1.95e-06 2.85e+00 -4.1 7.27e+00 -3.3 4.27e-02 1.42e-02h 2 85 2.0818196e+00 9.84e-09 2.68e-03 -4.1 1.43e-01 -2.0 1.00e+00 1.00e+00H 1 86 2.0817079e+00 1.49e-06 6.73e-04 -4.0 3.60e-02 -2.4 1.00e+00 1.00e+00f 1 87 2.0815509e+00 1.09e-06 1.82e-04 -4.1 7.26e-02 -2.9 1.00e+00 1.00e+00h 1 88 2.0816712e+00 3.22e-07 2.22e-04 -4.0 1.94e-02 -3.4 1.00e+00 1.00e+00h 1 89 2.0815585e+00 5.72e-07 1.78e-04 -4.1 4.77e-02 -3.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0810958e+00 3.02e-05 1.24e-01 -6.1 3.45e-01 -4.3 6.95e-01 9.14e-01h 1 91 2.0808925e+00 1.75e-05 2.94e-04 -6.1 7.30e-01 -4.8 1.00e+00 1.00e+00h 1 92 2.0817435e+00 2.41e-04 3.89e-02 -4.0 2.31e+00 -5.3 1.00e+00 9.49e-01f 1 93 2.0815044e+00 2.06e-04 1.73e-03 -4.1 4.30e+00 -5.8 1.00e+00 1.00e+00f 1 94 2.0815781e+00 2.18e-05 1.24e-03 -4.1 1.92e+00 -6.2 1.00e+00 1.00e+00h 1 95 2.0816261e+00 1.57e-05 1.83e-04 -4.1 3.11e+00 -6.7 1.00e+00 1.00e+00h 1 96 2.0808046e+00 1.30e-03 1.20e-02 -6.1 1.82e+01 -7.2 9.82e-01 8.47e-01h 1 97 2.0817294e+00 2.33e-03 1.80e-02 -4.0 2.77e+01 -7.7 1.00e+00 8.91e-01f 1 98 2.0816469e+00 4.83e-04 2.22e-03 -4.1 3.45e+01 -8.2 1.00e+00 1.00e+00h 1 99 2.0819223e+00 4.56e-04 6.05e-02 -4.1 4.95e+01 -5.9 3.81e-02 5.60e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0816450e+00 7.36e-06 3.83e-03 -4.1 5.90e-01 -6.4 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0816449757658924e+00 2.0816449757658924e+00 Dual infeasibility......: 3.8311053246005708e-03 3.8311053246005708e-03 Constraint violation....: 7.3611004411944236e-06 7.3611004411944236e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.0305546137040496e-05 8.0305546137040496e-05 Overall NLP error.......: 3.8311053246005708e-03 3.8311053246005708e-03 Number of objective function evaluations = 127 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 127 Number of inequality constraint evaluations = 127 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 34.879 EXIT: Maximum Number of Iterations Exceeded. Test Summary: | Pass Total Time Package | 215 215 19m33.0s Testing DirectTrajOpt tests passed Testing completed after 1245.66s PkgEval succeeded after 1336.17s