Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.1786 (45ee44a91e*) started at 2026-02-22T23:29:23.822 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 12.57s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... 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 v1.10.0 [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 v6.208.0 [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 v1.14.1 [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 v2.13.0 [510215fc] + Observables v0.5.5 [bac558e1] + OrderedCollections v1.8.1 [bbf590c4] + OrdinaryDiffEqCore v3.8.0 [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 v2.142.1 [19f34311] + SciMLJacobianOperators v0.1.12 [a6db7da4] + SciMLLogging v1.9.1 [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 v1.9.17 [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 6.14s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling packages... 26514.9 ms ✓ DirectTrajOpt 1 dependency successfully precompiled in 31 seconds. 225 already precompiled. Precompilation completed after 53.11s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_0ZoZkH/Project.toml` [c823fa1f] DirectTrajOpt v0.8.3 [e24c0720] ExponentialAction v0.2.10 [6a86dc24] FiniteDiff v2.29.0 [f6369f11] ForwardDiff v1.3.2 [b6b21f68] Ipopt v1.14.1 [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_0ZoZkH/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 v1.10.0 [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 v6.208.0 [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 v1.14.1 [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 v2.13.0 [510215fc] Observables v0.5.5 [bac558e1] OrderedCollections v1.8.1 [bbf590c4] OrdinaryDiffEqCore v3.8.0 [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 v2.142.1 [19f34311] SciMLJacobianOperators v0.1.12 [a6db7da4] SciMLLogging v1.9.1 [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 v1.9.17 [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 3.4099449e+00 2.07e+00 3.24e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4464026e+00 2.71e+00 4.89e+00 -1.1 4.74e+01 -4.0 9.82e-01 1.00e+00h 1 2 2.2538264e+00 5.91e-02 1.09e+00 -1.5 3.80e+00 -3.6 1.00e+00 1.00e+00h 1 3 2.1900977e+00 5.99e-02 9.75e-01 -1.9 9.24e+00 -4.1 9.93e-01 5.00e-01h 2 4 2.1012311e+00 1.78e-01 1.53e+00 -2.7 1.81e+01 -4.5 9.98e-01 1.00e+00h 1 5 2.1120521e+00 7.14e-03 1.93e-01 -2.4 4.01e+00 -5.0 1.00e+00 1.00e+00h 1 6 2.0954548e+00 6.55e-03 1.48e-02 -3.4 4.24e+00 -5.5 9.99e-01 1.00e+00h 1 7 2.0900369e+00 7.33e-03 7.90e-03 -4.0 1.82e+01 -6.0 1.00e+00 1.00e+00h 1 8 2.0848477e+00 4.37e-04 2.00e-03 -4.0 5.36e+01 -6.4 1.00e+00 1.00e+00h 1 9 2.0797789e+00 1.67e-03 2.31e-01 -4.0 1.29e+02 -6.9 1.00e+00 3.90e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0795148e+00 6.79e-03 1.95e-01 -4.0 7.78e+01 -7.4 1.00e+00 1.00e+00h 1 11 2.0783789e+00 2.61e-02 3.33e-02 -3.7 1.40e+02 -7.9 1.00e+00 1.00e+00h 1 12 2.0766475e+00 2.82e-02 3.08e-02 -4.0 2.12e+02 -8.3 1.00e+00 1.00e+00h 1 13 2.0759427e+00 2.03e-03 2.17e-02 -4.0 3.90e+02 -8.8 1.00e+00 1.00e+00h 1 14 2.0755643e+00 9.85e-05 1.39e-02 -4.0 2.40e+02 -9.3 1.00e+00 7.78e-01h 1 15 2.0757983e+00 1.83e-04 4.09e-03 -4.0 1.01e+02 -9.8 1.00e+00 1.00e+00h 1 16 2.0754325e+00 7.34e-04 7.90e-05 -4.1 2.90e+01 -10.3 1.00e+00 1.00e+00h 1 17 2.0757716e+00 4.58e-04 2.39e-06 -4.0 1.78e+01 -10.7 1.00e+00 1.00e+00h 1 18 2.0754220e+00 6.08e-04 3.90e-07 -4.1 2.29e+01 -11.2 1.00e+00 1.00e+00h 1 19 2.0757717e+00 4.29e-04 6.43e-07 -4.0 1.62e+01 -11.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0754219e+00 5.60e-04 2.16e-07 -4.1 2.11e+01 -12.2 1.00e+00 1.00e+00h 1 21 2.0757717e+00 6.04e-04 9.83e-08 -4.0 2.28e+01 -12.6 1.00e+00 1.00e+00h 1 22 2.0754219e+00 6.02e-04 1.05e-07 -4.1 2.27e+01 -13.1 1.00e+00 1.00e+00h 1 23 2.0757717e+00 6.06e-04 1.18e-07 -4.0 2.29e+01 -13.6 1.00e+00 1.00e+00h 1 24 2.0754219e+00 6.06e-04 1.21e-07 -4.1 2.29e+01 -14.1 1.00e+00 1.00e+00h 1 25 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -14.5 9.28e-01 1.00e+00h 1 26 2.0758523e+00 1.72e-01 1.58e-04 -4.0 1.29e+03 -15.0 1.00e+00 1.00e+00h 1 27 2.0754378e+00 2.85e-02 8.92e-05 -4.1 1.05e+03 -15.5 1.00e+00 1.00e+00h 1 28 2.0754277e+00 1.25e-05 2.07e-06 -4.1 1.63e+02 -16.0 1.00e+00 1.00e+00h 1 29 2.0757717e+00 7.85e-04 1.74e-07 -4.0 3.02e+01 -16.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0754219e+00 6.34e-04 1.30e-07 -4.1 2.39e+01 -16.9 1.00e+00 1.00e+00h 1 31 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -17.4 9.28e-01 1.00e+00h 1 32 2.0739729e+00 7.49e-04 2.53e-04 -6.1 8.48e+02 -17.9 8.16e-01 1.00e+00h 1 33 2.0743069e+00 2.58e-02 1.46e-02 -4.0 8.97e+03 -18.4 1.00e+00 1.46e-01f 1 34 2.0749156e+00 3.43e-02 4.23e-05 -4.3 7.15e+02 -18.8 1.00e+00 1.00e+00h 1 35 2.0749194e+00 4.29e-04 1.42e-05 -4.3 5.34e+02 -19.3 1.00e+00 1.00e+00h 1 36 2.0757799e+00 1.06e-02 3.26e-06 -4.0 1.65e+02 -19.8 1.00e+00 1.00e+00h 1 37 2.0754236e+00 2.17e-03 7.34e-07 -4.1 8.12e+01 -20.0 1.00e+00 1.00e+00h 1 38 2.0754217e+00 1.05e-06 2.50e-08 -4.1 1.90e+01 -20.0 1.00e+00 1.00e+00h 1 39 2.0757718e+00 7.83e-04 1.70e-07 -4.0 2.96e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0754219e+00 6.34e-04 1.30e-07 -4.1 2.39e+01 -20.0 1.00e+00 1.00e+00h 1 41 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 42 2.0739729e+00 7.49e-04 2.53e-04 -6.1 8.48e+02 -20.0 8.16e-01 1.00e+00h 1 43 2.0739618e+00 7.48e-07 1.83e-05 -6.1 5.36e+02 -20.0 1.00e+00 1.00e+00h 1 44 2.0741610e+00 2.72e-02 1.81e-02 -4.0 3.03e+04 -20.0 1.00e+00 8.17e-02f 1 45 2.0748450e+00 7.42e-02 5.83e-05 -4.3 1.43e+03 -20.0 1.00e+00 1.00e+00f 1 46 2.0748594e+00 4.17e-04 5.58e-06 -4.3 3.96e+02 -20.0 1.00e+00 1.00e+00h 1 47 2.0740038e+00 1.17e-02 4.14e-04 -6.5 1.83e+02 -20.0 8.92e-01 1.00e+00h 1 48 2.0739628e+00 2.48e-04 2.84e-04 -6.5 7.31e+02 -20.0 7.61e-01 1.00e+00h 1 49 2.0739529e+00 2.78e-07 2.04e-05 -6.5 6.29e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0741325e+00 2.58e-02 1.91e-02 -4.0 3.70e+04 -20.0 1.00e+00 7.19e-02f 1 51 2.0748276e+00 8.42e-02 6.63e-05 -4.3 1.60e+03 -20.0 1.00e+00 1.00e+00f 1 52 2.0748443e+00 3.56e-04 3.40e-06 -4.3 3.15e+02 -20.0 1.00e+00 1.00e+00h 1 53 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 54 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 55 2.0739527e+00 2.69e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 56 2.0741318e+00 2.58e-02 1.92e-02 -4.0 3.72e+04 -20.0 1.00e+00 7.16e-02f 1 57 2.0748272e+00 8.45e-02 6.65e-05 -4.3 1.61e+03 -20.0 1.00e+00 1.00e+00f 1 58 2.0748440e+00 3.54e-04 3.34e-06 -4.3 3.13e+02 -20.0 1.00e+00 1.00e+00h 1 59 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 61 2.0739527e+00 2.68e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 62 2.0741318e+00 2.58e-02 1.92e-02 -4.0 3.72e+04 -20.0 1.00e+00 7.16e-02f 1 63 2.0748272e+00 8.45e-02 6.65e-05 -4.3 1.61e+03 -20.0 1.00e+00 1.00e+00f 1 64 2.0748440e+00 3.54e-04 3.34e-06 -4.3 3.13e+02 -20.0 1.00e+00 1.00e+00h 1 65 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 66 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 67 2.0739527e+00 2.68e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 68 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 69 2.0741226e+00 2.63e-02 1.95e-02 -4.0 4.26e+04 -20.0 1.00e+00 6.77e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0748234e+00 8.99e-02 7.10e-05 -4.3 1.70e+03 -20.0 1.00e+00 1.00e+00f 1 71 2.0748412e+00 3.13e-04 2.43e-06 -4.3 2.70e+02 -20.0 1.00e+00 1.00e+00h 1 72 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 73 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 74 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 75 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 76 2.0741225e+00 2.63e-02 1.95e-02 -4.0 4.27e+04 -20.0 1.00e+00 6.76e-02f 1 77 2.0748233e+00 9.00e-02 7.11e-05 -4.3 1.70e+03 -20.0 1.00e+00 1.00e+00f 1 78 2.0748411e+00 3.13e-04 2.42e-06 -4.3 2.70e+02 -20.0 1.00e+00 1.00e+00h 1 79 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 81 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 82 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 83 2.0739440e+00 6.21e-05 3.00e-06 -9.0 1.42e+02 -20.0 9.56e-01 1.00e+00h 1 84 2.0740989e+00 2.54e-02 2.06e-02 -4.0 5.21e+04 -20.0 1.00e+00 5.99e-02f 1 85 2.0748092e+00 1.02e-01 8.36e-05 -4.3 1.92e+03 -20.0 1.00e+00 1.00e+00f 1 86 2.0748293e+00 2.04e-04 1.06e-06 -4.3 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 87 2.0740026e+00 1.16e-02 4.11e-04 -6.5 1.88e+02 -20.0 8.89e-01 1.00e+00h 1 88 2.0739622e+00 2.30e-04 2.84e-04 -6.5 7.25e+02 -20.0 7.59e-01 1.00e+00h 1 89 2.0739525e+00 2.60e-07 1.99e-05 -6.5 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0739518e+00 4.59e-09 7.61e-07 -6.5 1.66e+02 -20.0 1.00e+00 1.00e+00h 1 91 2.0741220e+00 2.63e-02 1.96e-02 -4.0 4.28e+04 -20.0 1.00e+00 6.75e-02f 1 92 2.0748230e+00 9.02e-02 7.13e-05 -4.3 1.71e+03 -20.0 1.00e+00 1.00e+00f 1 93 2.0748409e+00 3.11e-04 2.38e-06 -4.3 2.68e+02 -20.0 1.00e+00 1.00e+00h 1 94 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 95 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 96 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 97 2.0739520e+00 4.54e-09 7.53e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 98 2.0739440e+00 6.21e-05 3.00e-06 -9.0 1.42e+02 -20.0 9.56e-01 1.00e+00h 1 99 2.0740989e+00 2.54e-02 2.06e-02 -4.0 5.21e+04 -20.0 1.00e+00 5.99e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0748092e+00 1.02e-01 8.37e-05 -4.3 1.92e+03 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0748092138579128e+00 2.0748092138579128e+00 Dual infeasibility......: 8.3650444729791012e-05 8.3650444729791012e-05 Constraint violation....: 1.0240270858531808e-01 1.0240270858531808e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 6.8229653538553963e-05 6.8229653538553963e-05 Overall NLP error.......: 1.0240270858531808e-01 1.0240270858531808e-01 Number of objective function evaluations = 103 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 103 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 67.164 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 1.7372554e+00 6.87e-01 1.04e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7737641e+00 1.33e-01 1.61e+00 -0.9 7.02e-01 0.0 9.92e-01 1.00e+00h 1 2 1.7229763e+00 1.08e-01 1.02e+00 -1.0 7.65e+00 - 4.48e-01 1.98e-01h 2 3 1.5520799e+00 8.30e-02 8.47e-01 -1.2 5.68e+00 - 9.54e-01 2.59e-01h 1 4 1.4600020e+00 2.16e-02 2.20e+00 -1.7 6.19e+00 - 9.81e-01 1.00e+00h 1 5 1.1215292e+00 1.08e-02 8.12e-01 -2.5 6.62e-02 -0.5 1.00e+00 7.26e-01f 1 6 1.1038967e+00 1.28e-03 9.56e-02 -3.1 6.61e-02 -1.0 1.00e+00 8.83e-01h 1 7 1.0974128e+00 4.63e-07 3.53e-03 -4.0 5.77e-02 -1.4 1.00e+00 1.00e+00h 1 8 1.0970517e+00 3.31e-10 3.52e-03 -4.0 7.39e-02 -1.9 1.00e+00 1.00e+00h 1 9 1.0967958e+00 3.02e-10 7.27e-02 -4.0 1.04e+01 - 3.65e-02 8.63e-02f 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0958688e+00 1.42e-10 1.49e-02 -4.0 1.98e-01 -2.4 1.00e+00 5.29e-01f 1 11 1.0946028e+00 3.26e-12 6.95e-01 -4.0 8.22e+00 - 1.00e+00 1.00e+00f 1 12 1.0913169e+00 9.59e-13 6.61e-03 -4.0 2.82e-01 -2.0 1.00e+00 7.06e-01f 1 13 1.0911661e+00 1.46e-17 2.51e-02 -4.0 1.80e+00 - 3.76e-01 1.00e+00f 1 14 1.0910605e+00 9.01e-18 8.96e-03 -4.0 2.84e-02 -2.4 1.00e+00 3.83e-01f 2 15 1.0910346e+00 7.80e-25 4.30e-04 -4.0 2.33e-01 -2.9 1.00e+00 1.00e+00f 1 16 1.0909184e+00 1.13e-29 1.30e-03 -4.0 7.15e-01 -3.4 8.95e-01 1.00e+00f 1 17 1.0910320e+00 4.86e-32 4.64e-03 -4.0 1.33e-01 -2.1 1.00e+00 1.00e+00f 1 18 1.0910118e+00 2.43e-32 2.43e-03 -3.9 2.75e-01 - 5.21e-01 5.00e-01f 2 19 1.0909665e+00 2.12e-32 2.08e-03 -3.9 1.72e+00 -2.5 1.00e+00 8.09e-02f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.0910131e+00 1.47e-35 1.01e-04 -3.9 2.32e-02 - 1.00e+00 1.00e+00f 1 21 1.0900109e+00 1.24e-34 5.62e-07 -5.9 9.50e-04 - 1.00e+00 1.00e+00f 1 22 1.0900543e+00 1.17e-34 3.32e-08 -4.0 6.69e+00 - 1.00e+00 4.88e-02f 1 23 1.0904143e+00 1.84e-34 4.40e-06 -4.3 1.15e-01 - 1.00e+00 1.00e+00f 1 24 1.0900028e+00 1.29e-34 6.38e-08 -6.5 8.90e-04 - 1.00e+00 1.00e+00f 1 25 1.0900108e+00 1.27e-34 5.04e-06 -4.0 4.16e+01 - 1.00e+00 9.00e-03f 1 26 1.0903999e+00 1.72e-34 1.34e-06 -4.4 1.09e-01 - 1.00e+00 1.00e+00f 1 27 1.0900026e+00 7.21e-35 6.21e-09 -6.5 9.09e-04 - 1.00e+00 1.00e+00f 1 28 1.0900101e+00 7.15e-35 5.43e-09 -4.0 4.57e+01 - 1.00e+00 8.33e-03f 1 29 1.0903995e+00 2.42e-35 3.66e-08 -4.4 1.09e-01 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.0900026e+00 5.14e-36 5.47e-09 -6.5 9.07e-04 - 1.00e+00 1.00e+00f 1 31 1.0900101e+00 2.83e-36 5.31e-08 -4.0 4.57e+01 - 1.00e+00 8.32e-03f 1 32 1.0903995e+00 4.62e-34 1.41e-08 -4.4 1.09e-01 - 1.00e+00 1.00e+00f 1 33 1.0900026e+00 1.68e-35 5.47e-09 -6.5 9.07e-04 - 1.00e+00 1.00e+00f 1 34 1.0899999e+00 1.40e-36 2.48e-13 -9.0 4.16e-04 - 1.00e+00 1.00e+00f 1 35 1.0899999e+00 1.40e-36 2.48e-13 -4.0 1.48e+04 - 1.00e+00 2.56e-05f 1 36 1.0903958e+00 2.27e-35 5.44e-09 -4.4 1.08e-01 - 1.00e+00 1.00e+00f 1 37 1.0900026e+00 3.87e-35 5.37e-09 -6.5 9.10e-04 - 1.00e+00 1.00e+00f 1 38 1.0899999e+00 6.84e-38 2.41e-13 -9.0 4.24e-04 - 1.00e+00 1.00e+00f 1 39 1.0899999e+00 6.28e-44 9.47e-16 -9.0 1.36e-01 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.0899999e+00 4.66e-47 3.80e-16 -9.0 1.46e-14 - 1.00e+00 1.00e+00h 1 41 1.0899999e+00 2.42e-47 3.80e-16 -9.0 2.79e-17 - 1.00e+00 1.00e+00 0 42 1.0899999e+00 1.97e-47 3.80e-16 -9.0 2.79e-17 - 1.00e+00 1.00e+00T 0 Number of Iterations....: 42 (scaled) (unscaled) Objective...............: 1.0899999181818181e+00 1.0899999181818181e+00 Dual infeasibility......: 3.8009417661910572e-16 3.8009417661910572e-16 Constraint violation....: 1.9658583696558570e-47 1.9658583696558570e-47 Variable bound violation: 9.0909090932206338e-09 9.0909090932206338e-09 Complementarity.........: 9.0909090909090920e-10 9.0909090909090920e-10 Overall NLP error.......: 9.9999090909091604e-05 9.9999090909091604e-05 Number of objective function evaluations = 51 Number of objective gradient evaluations = 43 Number of equality constraint evaluations = 51 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 43 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 43 Total seconds in IPOPT = 23.852 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 1.9495812e+00 1.53e+00 5.14e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.7449576e+00 2.86e-02 1.97e+00 -0.9 1.98e+00 0.0 9.64e-01 1.00e+00f 1 Hello, world! 2 2.3272452e+00 3.00e-02 7.77e-01 -1.5 3.95e-01 -0.5 9.96e-01 9.51e-01h 1 Hello, world! 3 2.1609940e+00 2.45e-03 6.01e-02 -2.3 7.86e-02 -1.0 9.90e-01 1.00e+00h 1 Hello, world! 4 2.0961792e+00 3.09e-04 1.22e-02 -3.5 2.84e-02 -1.4 9.80e-01 9.46e-01h 1 Hello, world! 5 2.0908825e+00 1.73e-05 2.94e-03 -4.0 1.56e-02 -1.9 1.00e+00 1.00e+00h 1 Hello, world! 6 2.0908895e+00 2.02e-08 6.71e-05 -4.0 1.63e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0908878e+00 1.61e-10 2.33e-05 -4.0 1.70e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908821e+00 1.10e-09 2.74e-05 -4.0 5.00e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908671e+00 8.76e-09 5.61e-05 -4.0 1.40e-01 -3.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908344e+00 5.35e-08 1.21e-04 -4.0 3.62e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0907664e+00 2.57e-07 6.47e-04 -4.0 8.92e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0905872e+00 2.37e-06 9.76e-04 -4.0 2.66e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0900500e+00 2.10e-05 8.08e-04 -4.0 7.83e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0898118e+00 3.58e-06 1.54e-03 -4.0 3.04e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0896747e+00 4.04e-06 6.66e-02 -4.0 2.75e+01 -5.8 6.46e-01 5.10e-02h 2 Hello, world! 16 2.0878980e+00 2.01e-04 9.17e-03 -4.0 2.35e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0876103e+00 2.04e-04 7.89e-01 -3.7 5.52e+02 -6.7 9.44e-01 1.19e-02h 2 Hello, world! 18 2.0838685e+00 9.91e-03 9.02e-02 -4.0 8.68e+01 -7.2 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0825469e+00 1.53e-03 8.55e-03 -4.0 1.33e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0825800e+00 1.45e-04 3.93e-03 -4.0 4.51e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0822409e+00 6.37e-04 5.04e-03 -4.0 1.27e+02 -7.7 7.84e-01 1.00e+00h 1 Hello, world! 22 2.3584655e+00 6.75e-04 1.10e+00 -4.0 8.02e+01 -6.4 6.09e-01 9.45e-01H 1 Hello, world! 23 2.3144442e+00 1.03e-08 1.04e+00 -4.0 3.80e-02 1.4 1.00e+00 1.00e+00f 1 Hello, world! 24 2.2360090e+00 2.46e-08 8.06e-01 -4.0 8.03e-02 1.0 3.43e-01 1.00e+00f 1 Hello, world! 25 2.1363295e+00 1.81e-08 4.72e-01 -4.0 1.53e-01 0.5 1.00e+00 1.00e+00f 1 Hello, world! 26 2.0881438e+00 9.39e-08 1.48e-01 -4.0 1.57e-01 0.0 8.84e-01 1.00e+00f 1 Hello, world! 27 2.0831984e+00 6.42e-09 2.10e-02 -4.0 5.93e-02 -0.5 1.00e+00 9.77e-01f 1 Hello, world! 28 2.0833582e+00 4.82e-09 4.59e-02 -4.0 2.27e-02 -0.9 1.00e+00 2.50e-01f 3 Hello, world! 29 2.0831620e+00 6.56e-08 1.19e-03 -4.1 3.16e-02 -1.4 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0831603e+00 4.48e-07 4.02e-04 -4.0 3.19e-02 -1.9 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0831808e+00 1.26e-08 1.46e-05 -4.0 2.14e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0831820e+00 3.33e-09 9.05e-06 -4.0 6.51e-03 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0831807e+00 2.15e-10 9.05e-06 -4.0 1.95e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0831769e+00 1.33e-09 9.04e-06 -4.0 5.85e-02 -3.8 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0831654e+00 1.20e-08 8.99e-06 -4.0 1.74e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0831317e+00 1.05e-07 1.06e-05 -4.0 5.14e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0830366e+00 8.73e-07 8.71e-05 -4.0 1.46e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0828022e+00 6.06e-06 5.82e-04 -4.0 3.75e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0824315e+00 2.71e-05 2.35e-03 -4.0 8.08e+00 -6.2 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0822166e+00 4.91e-05 2.84e-03 -4.0 1.92e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0855277e+00 5.46e-07 1.03e-01 -4.0 8.18e+01 -7.2 2.46e-01 1.00e+00H 1 Hello, world! 42 2.0833137e+00 2.32e-04 2.41e+00 -4.1 1.20e+01 -4.9 7.61e-01 2.18e-01f 1 Hello, world! 43 2.0831585e+00 2.25e-04 1.88e-01 -4.1 5.81e+00 -5.4 7.63e-01 3.26e-02f 2 Hello, world! 44 2.0829023e+00 2.17e-04 2.80e+00 -4.1 1.26e+02 -5.9 6.55e-01 2.34e-02h 2 Hello, world! 45 2.0827326e+00 1.82e-04 5.75e-01 -4.1 4.21e+00 -5.4 9.69e-01 1.57e-01h 2 Hello, world! 46 2.0817334e+00 3.04e-04 9.30e-03 -4.1 3.22e+00 -5.9 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0821141e+00 3.37e-04 3.66e-03 -4.0 7.36e+00 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0818948e+00 1.49e-04 1.46e-03 -4.1 1.74e+01 -6.9 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0818087e+00 8.49e-05 1.81e-03 -4.1 5.34e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0821407e+00 6.11e-04 5.46e-03 -4.0 9.89e+00 -6.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0821406932109934e+00 2.0821406932109934e+00 Dual infeasibility......: 5.4616452074659231e-03 5.4616452074659231e-03 Constraint violation....: 6.1061095072600935e-04 6.1061095072600935e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 4.6176019495388065e-04 4.6176019495388065e-04 Overall NLP error.......: 5.4616452074659231e-03 5.4616452074659231e-03 Number of objective function evaluations = 70 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 70 Number of inequality constraint evaluations = 70 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 27.481 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.9495812e+00 1.53e+00 5.14e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.7449576e+00 2.86e-02 1.97e+00 -0.9 1.98e+00 0.0 9.64e-01 1.00e+00f 1 Hello, world! 2 2.3272452e+00 3.00e-02 7.77e-01 -1.5 3.95e-01 -0.5 9.96e-01 9.51e-01h 1 Hello, world! 3 2.1609940e+00 2.45e-03 6.01e-02 -2.3 7.86e-02 -1.0 9.90e-01 1.00e+00h 1 Hello, world! 4 2.0961792e+00 3.09e-04 1.22e-02 -3.5 2.84e-02 -1.4 9.80e-01 9.46e-01h 1 Hello, world! 5 2.0908825e+00 1.73e-05 2.94e-03 -4.0 1.56e-02 -1.9 1.00e+00 1.00e+00h 1 Hello, world! 6 2.0908895e+00 2.02e-08 6.71e-05 -4.0 1.63e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0908878e+00 1.61e-10 2.33e-05 -4.0 1.70e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908821e+00 1.10e-09 2.74e-05 -4.0 5.00e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908671e+00 8.76e-09 5.61e-05 -4.0 1.40e-01 -3.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908344e+00 5.35e-08 1.21e-04 -4.0 3.62e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0907664e+00 2.57e-07 6.47e-04 -4.0 8.92e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0905872e+00 2.37e-06 9.76e-04 -4.0 2.66e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0900500e+00 2.10e-05 8.08e-04 -4.0 7.83e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0898118e+00 3.58e-06 1.54e-03 -4.0 3.04e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0896747e+00 4.04e-06 6.66e-02 -4.0 2.75e+01 -5.8 6.46e-01 5.10e-02h 2 Hello, world! 16 2.0878980e+00 2.01e-04 9.17e-03 -4.0 2.35e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0876103e+00 2.04e-04 7.89e-01 -3.7 5.52e+02 -6.7 9.44e-01 1.19e-02h 2 Hello, world! 18 2.0838685e+00 9.91e-03 9.02e-02 -4.0 8.68e+01 -7.2 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0825469e+00 1.53e-03 8.55e-03 -4.0 1.33e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0825800e+00 1.45e-04 3.93e-03 -4.0 4.51e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0822409e+00 6.37e-04 5.04e-03 -4.0 1.27e+02 -7.7 7.84e-01 1.00e+00h 1 Hello, world! 22 2.3584655e+00 6.75e-04 1.10e+00 -4.0 8.02e+01 -6.4 6.09e-01 9.45e-01H 1 Hello, world! 23 2.3144442e+00 1.03e-08 1.04e+00 -4.0 3.80e-02 1.4 1.00e+00 1.00e+00f 1 Hello, world! 24 2.2360090e+00 2.46e-08 8.06e-01 -4.0 8.03e-02 1.0 3.43e-01 1.00e+00f 1 Hello, world! 25 2.1363295e+00 1.81e-08 4.72e-01 -4.0 1.53e-01 0.5 1.00e+00 1.00e+00f 1 Hello, world! 26 2.0881438e+00 9.39e-08 1.48e-01 -4.0 1.57e-01 0.0 8.84e-01 1.00e+00f 1 Hello, world! 27 2.0831984e+00 6.42e-09 2.10e-02 -4.0 5.93e-02 -0.5 1.00e+00 9.77e-01f 1 Hello, world! 28 2.0833582e+00 4.82e-09 4.59e-02 -4.0 2.27e-02 -0.9 1.00e+00 2.50e-01f 3 Hello, world! 29 2.0831620e+00 6.56e-08 1.19e-03 -4.1 3.16e-02 -1.4 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0831603e+00 4.48e-07 4.02e-04 -4.0 3.19e-02 -1.9 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0831808e+00 1.26e-08 1.46e-05 -4.0 2.14e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0831820e+00 3.33e-09 9.05e-06 -4.0 6.51e-03 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0831807e+00 2.15e-10 9.05e-06 -4.0 1.95e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0831769e+00 1.33e-09 9.04e-06 -4.0 5.85e-02 -3.8 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0831654e+00 1.20e-08 8.99e-06 -4.0 1.74e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0831317e+00 1.05e-07 1.06e-05 -4.0 5.14e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0830366e+00 8.73e-07 8.71e-05 -4.0 1.46e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0828022e+00 6.06e-06 5.82e-04 -4.0 3.75e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0824315e+00 2.71e-05 2.35e-03 -4.0 8.08e+00 -6.2 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0822166e+00 4.91e-05 2.84e-03 -4.0 1.92e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0855277e+00 5.46e-07 1.03e-01 -4.0 8.18e+01 -7.2 2.46e-01 1.00e+00H 1 Hello, world! 42 2.0833137e+00 2.32e-04 2.41e+00 -4.1 1.20e+01 -4.9 7.61e-01 2.18e-01f 1 Hello, world! 43 2.0831585e+00 2.25e-04 1.88e-01 -4.1 5.81e+00 -5.4 7.63e-01 3.26e-02f 2 Hello, world! 44 2.0829023e+00 2.17e-04 2.80e+00 -4.1 1.26e+02 -5.9 6.55e-01 2.34e-02h 2 Hello, world! 45 2.0827326e+00 1.82e-04 5.75e-01 -4.1 4.21e+00 -5.4 9.69e-01 1.57e-01h 2 Hello, world! 46 2.0817334e+00 3.04e-04 9.30e-03 -4.1 3.22e+00 -5.9 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0821141e+00 3.37e-04 3.66e-03 -4.0 7.36e+00 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0818948e+00 1.49e-04 1.46e-03 -4.1 1.74e+01 -6.9 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0818087e+00 8.49e-05 1.81e-03 -4.1 5.34e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0821407e+00 6.11e-04 5.46e-03 -4.0 9.89e+00 -6.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0821406932109934e+00 2.0821406932109934e+00 Dual infeasibility......: 5.4616452074659231e-03 5.4616452074659231e-03 Constraint violation....: 6.1061095072600935e-04 6.1061095072600935e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 4.6176019495388065e-04 4.6176019495388065e-04 Overall NLP error.......: 5.4616452074659231e-03 5.4616452074659231e-03 Number of objective function evaluations = 70 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 70 Number of inequality constraint evaluations = 70 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 1.018 EXIT: Stopping optimization at current point as requested by user. [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 2.8546286e+00 2.77e+00 8.50e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7521607e+00 2.17e-02 3.25e-01 -1.0 2.21e+00 - 1.00e+00 1.00e+00f 1 2 2.3871821e+00 5.25e-03 2.01e-01 -1.7 9.67e-02 - 8.40e-01 1.00e+00h 1 3 2.1283185e+00 2.07e-03 3.76e-02 -2.4 5.85e-02 - 9.65e-01 9.62e-01h 1 4 2.0922795e+00 8.80e-05 6.70e-04 -3.8 1.55e-02 - 9.81e-01 1.00e+00h 1 5 2.0908994e+00 2.54e-05 1.25e-04 -4.0 2.03e-01 - 1.00e+00 1.00e+00h 1 6 2.0908974e+00 2.36e-08 1.45e-06 -4.0 1.75e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 1.84e-11 1.12e-10 -4.0 1.60e-02 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971977997601e+00 2.0908971977997601e+00 Dual infeasibility......: 1.1187596796235003e-10 1.1187596796235003e-10 Constraint violation....: 1.8366354208957260e-11 1.8366354208957260e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000029428076597e-04 1.0000029428076597e-04 Overall NLP error.......: 2.9428076596112011e-10 2.9428076596112011e-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 = 26.382 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: bounds constraint on trajectory variable du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.7127681e+00 1.83e+00 7.59e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.5244233e+00 1.26e+00 4.34e+01 -0.3 1.89e+00 0.0 4.06e-02 3.11e-01f 1 2 2.6327626e+00 9.88e-01 3.45e+01 -1.0 2.23e+00 0.4 2.53e-01 2.13e-01f 1 3 3.4768553e+00 9.29e-01 5.76e+01 0.7 6.08e+00 0.9 4.78e-01 5.97e-02f 1 4 3.3631140e+00 6.05e-02 2.23e+01 0.4 7.60e-01 0.4 7.70e-01 1.00e+00f 1 5 3.2623077e+00 1.13e-02 5.38e+00 -0.5 3.74e-01 -0.1 9.87e-01 1.00e+00h 1 6 2.9937909e+00 3.65e-03 3.21e-01 -1.3 1.17e-01 -0.6 9.74e-01 1.00e+00f 1 7 2.2852769e+00 3.04e-02 5.57e-02 -1.7 2.22e-01 -1.1 9.70e-01 9.88e-01f 1 8 2.1226491e+00 3.86e-03 6.22e-02 -4.0 1.22e-01 -1.5 7.54e-01 8.73e-01h 1 9 2.0963018e+00 2.23e-04 2.17e-02 -3.1 3.29e-02 -2.0 9.74e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909122e+00 4.90e-06 8.57e-04 -4.0 6.74e-03 -2.5 1.00e+00 1.00e+00h 1 11 2.0908834e+00 1.52e-07 1.96e-05 -4.0 1.81e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0908781e+00 1.01e-09 1.96e-05 -4.0 5.41e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908625e+00 9.24e-09 1.94e-05 -4.0 1.61e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0908173e+00 7.69e-08 2.92e-05 -4.0 4.67e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0906939e+00 5.49e-07 2.22e-04 -4.0 1.28e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0904155e+00 2.47e-06 1.25e-03 -4.0 2.94e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0900596e+00 4.87e-06 3.21e-03 -4.0 4.57e+00 -5.8 1.00e+00 1.00e+00h 1 18 2.0899185e+00 3.15e-06 2.41e-03 -4.0 5.87e+00 -6.3 1.00e+00 1.00e+00h 1 19 2.0898433e+00 1.54e-06 1.41e-03 -4.0 9.68e+00 -6.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0898271e+00 7.32e-07 1.31e-03 -4.0 1.13e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0898232e+00 1.63e-06 4.72e-04 -4.0 7.68e+00 -7.7 1.00e+00 1.00e+00h 1 22 2.0898220e+00 1.57e-07 3.31e-05 -4.0 1.67e+00 -8.2 1.00e+00 1.00e+00h 1 23 2.0898219e+00 1.42e-09 2.80e-07 -4.0 1.93e-01 -8.7 1.00e+00 1.00e+00h 1 24 2.0898218e+00 9.37e-13 4.18e-10 -4.0 9.08e-03 -9.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 24 (scaled) (unscaled) Objective...............: 2.0898218498315382e+00 2.0898218498315382e+00 Dual infeasibility......: 4.1771448078915460e-10 4.1771448078915460e-10 Constraint violation....: 9.3661189914939769e-13 9.3661189914939769e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000049e-04 1.0000000000000049e-04 Overall NLP error.......: 4.1771448078915460e-10 4.1771448078915460e-10 Number of objective function evaluations = 25 Number of objective gradient evaluations = 25 Number of equality constraint evaluations = 25 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 25 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 24 Total seconds in IPOPT = 26.903 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 1.3888293e+00 2.87e+00 4.51e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.4105072e+00 2.64e+00 9.07e+00 -0.2 2.49e+00 0.0 8.12e-03 8.10e-02f 1 2 1.3717336e+00 2.60e+00 3.11e+01 -1.4 2.86e+00 -0.5 8.94e-02 1.57e-02h 1 3 1.3284840e+00 2.53e+00 1.43e+03 0.5 2.82e+01 -1.0 4.14e-01 2.71e-02f 1 4 1.8551930e+00 2.51e+00 1.95e+04 1.2 1.95e+02 -1.4 1.00e+00 8.84e-02h 1 5 1.8716165e+00 2.48e+00 2.99e+04 -4.0 3.11e+02 -1.9 5.85e-02 1.21e-02h 1 6 2.2381712e+00 2.45e+00 2.22e+05 2.2 1.22e+03 -2.4 3.53e-01 1.87e-02f 1 7 2.2556148e+00 2.44e+00 2.23e+05 2.5 6.66e+04 -2.9 6.79e-04 1.54e-03f 2 8 2.2679697e+00 2.42e+00 3.94e+05 1.7 5.66e+03 -3.3 5.88e-02 8.58e-03h 1 9 2.2860486e+00 2.40e+00 3.54e+05 1.7 5.93e+04 -3.8 3.96e-03 7.24e-03h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.4076865e+00 8.59e+00 3.07e+05 2.5 6.76e+03 -2.5 2.89e-02 1.28e-02f 2 11 2.7466808e+00 1.37e+01 2.83e+05 1.7 1.16e+03 -3.0 2.65e-02 5.51e-02H 1 12 2.7511632e+00 1.37e+01 4.01e+05 1.7 3.61e+04 -3.4 1.56e-02 1.29e-03h 1 13 2.7523193e+00 1.37e+01 3.61e+05 1.7 2.01e+05 -3.9 1.36e-03 4.60e-04f 3 14 2.7577627e+00 1.37e+01 3.77e+05 1.7 5.46e+03 0.1 7.46e-04 1.05e-03h 1 15 2.7585926e+00 1.37e+01 7.99e+06 1.7 1.30e+02 -0.4 2.84e-01 5.49e-04h 1 16 2.8116866e+00 1.35e+01 1.11e+07 1.7 1.05e+04 -0.8 1.47e-02 1.04e-02h 1 17 2.8295793e+00 1.35e+01 1.15e+07 1.7 7.14e+04 -1.3 1.11e-03 2.29e-03f 2 18 2.8321200e+00 1.35e+01 1.68e+06 1.7 5.81e+04 -1.8 7.24e-03 8.46e-04f 3 19 2.8327811e+00 1.35e+01 3.97e+06 1.7 5.17e+04 -2.3 5.61e-03 7.19e-04f 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.8317122e+00 1.35e+01 3.61e+06 1.7 5.62e+04 -2.7 8.00e-05 5.21e-04f 3 21 2.8318330e+00 1.35e+01 2.95e+06 1.7 2.90e+03 -0.5 6.88e-03 1.15e-05h 1 22 2.8480568e+00 1.34e+01 6.93e+06 1.7 2.28e+04 -1.0 2.88e-02 1.86e-03h 1 23 2.7852112e+00 1.34e+01 5.08e+06 1.7 5.42e+04 -1.5 7.11e-05 1.30e-03h 1 24 2.7845475e+00 1.34e+01 6.70e+06 1.7 4.04e+04 -1.9 1.04e-02 1.31e-04h 1 25 2.7913418e+00 1.34e+01 7.41e+06 1.7 4.00e+04 -2.4 2.51e-02 2.08e-03f 5 26 2.7892918e+00 1.34e+01 9.64e+06 1.7 2.15e+04 -1.1 9.93e-03 2.96e-03h 3 27 2.7540709e+00 1.33e+01 7.94e+06 1.7 1.50e+04 -1.6 1.31e-02 1.17e-03h 1 28 2.7717025e+00 1.33e+01 4.77e+06 1.7 8.21e+03 -2.0 1.30e-01 4.07e-03f 6 29 2.7915831e+00 1.32e+01 4.72e+06 1.7 3.77e+03 -2.5 3.74e-03 4.57e-03f 6 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.8123619e+00 1.31e+01 4.55e+06 1.7 2.72e+03 -3.0 4.57e-05 6.06e-03f 5 31 2.8376800e+00 1.31e+01 2.61e+06 1.7 2.87e+02 1.0 1.60e-01 4.91e-03h 1 32 2.9712793e+00 1.27e+01 2.21e+06 1.7 4.35e+02 0.6 1.65e-03 3.20e-02f 3 33 3.2059292e+00 1.19e+01 2.30e+06 1.7 1.42e+02 1.9 8.37e-02 6.11e-02h 1 34 3.3726876e+00 1.14e+01 1.93e+06 1.7 1.83e+01 1.4 2.30e-03 4.29e-02f 1 35 3.3757031e+00 1.14e+01 1.93e+06 1.0 9.98e+02 0.9 2.46e-04 2.49e-04h 1 36 3.3777346e+00 1.14e+01 1.93e+06 1.0 9.26e+01 0.5 3.11e-05 6.71e-04h 1 37 3.3778520e+00 1.13e+01 3.14e+06 1.0 2.22e+02 1.8 1.41e-01 2.20e-05h 1 38 3.3793343e+00 1.13e+01 6.47e+07 1.0 3.59e+02 1.3 3.59e-01 2.24e-04h 1 39 3.3796917e+00 1.13e+01 1.09e+11 1.0 2.14e+01 0.8 4.94e-01 2.84e-04h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 3.3797827e+00 1.13e+01 9.39e+14 1.0 1.95e+01 0.4 4.85e-01 5.58e-05h 1 41 4.2151656e+00 4.73e+00 4.81e+14 1.0 2.22e+01 -0.1 4.88e-01 5.83e-01h 1 42 4.2339595e+00 4.67e+00 4.59e+14 0.5 3.20e+01 0.3 4.44e-02 1.45e-02h 1 43 4.4037907e+00 4.43e+00 4.61e+12 2.5 1.66e+01 0.7 9.90e-01 4.95e-02f 1 44r 4.4037907e+00 4.43e+00 9.30e+02 2.5 0.00e+00 0.3 0.00e+00 2.75e-07R 3 45r 4.4338986e+00 5.39e-01 8.21e+02 -3.6 1.26e+02 - 5.52e-01 7.22e-02f 1 46 4.4338986e+00 5.39e-01 4.90e+06 -1.3 1.07e+00 -0.2 7.40e-01 2.96e-09h 7 47r 4.4338986e+00 5.39e-01 1.00e+03 -0.3 0.00e+00 -0.7 0.00e+00 2.55e-07R 2 48r 4.4099627e+00 3.34e-01 1.00e+03 1.6 1.20e+03 - 4.97e-02 1.22e-03f 1 49 4.4100820e+00 3.34e-01 3.86e+02 -4.0 5.54e-01 -1.2 1.19e-01 3.03e-04h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 4.4082044e+00 3.33e-01 1.28e+05 -0.1 6.92e+02 -1.7 7.53e-01 2.29e-03f 1 51 4.4107784e+00 3.33e-01 9.98e+05 2.1 1.62e+03 -2.1 5.59e-02 5.00e-04h 1 52 4.4132100e+00 3.33e-01 2.64e+09 2.3 9.53e+02 -2.6 1.00e+00 3.64e-04h 1 53 4.4132817e+00 3.33e-01 8.12e+13 2.5 1.01e+02 -3.1 6.31e-01 2.03e-05h 1 54 4.7556572e+00 2.00e-01 8.11e+11 1.7 1.52e+01 -3.6 9.90e-01 5.62e-01h 1 55r 4.7556572e+00 2.00e-01 9.96e+02 2.5 0.00e+00 -4.0 0.00e+00 3.81e-07R 5 56r 4.8162064e+00 2.09e-01 2.61e+02 1.1 5.86e-01 - 7.39e-01 7.62e-01f 1 57r 4.7805026e+00 2.02e-01 1.12e+02 0.2 9.45e-01 - 6.39e-01 7.80e-01f 1 58r 4.8253860e+00 2.00e-01 3.60e+01 -0.7 4.41e-01 - 9.85e-01 8.20e-01f 1 59r 5.1849545e+00 1.99e-01 5.33e+00 -0.5 3.40e+00 - 1.00e+00 9.22e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60r 4.9328064e+00 1.99e-01 7.67e+00 -0.8 4.00e+00 - 9.46e-01 1.00e+00f 1 61r 4.8085467e+00 1.99e-01 3.09e-01 -1.3 9.87e-01 - 1.00e+00 1.00e+00f 1 62r 4.7779507e+00 1.99e-01 1.67e+00 -2.5 1.58e-01 - 9.50e-01 1.00e+00f 1 63r 4.7596287e+00 1.99e-01 4.54e-03 -3.3 1.88e-01 - 1.00e+00 1.00e+00f 1 64r 4.7541326e+00 1.99e-01 1.50e-03 -4.0 1.59e-01 - 1.00e+00 1.00e+00h 1 65r 4.7515440e+00 1.99e-01 3.15e-05 -4.0 4.03e-02 - 1.00e+00 1.00e+00h 1 66r 4.7573420e+00 1.99e-01 1.73e-06 -4.0 7.84e-03 - 1.00e+00 1.00e+00h 1 67r 4.7575660e+00 1.99e-01 3.66e-09 -4.0 3.45e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 67 (scaled) (unscaled) Objective...............: 4.7575662939181793e+00 4.7575662939181793e+00 Dual infeasibility......: 2.1922155766835654e+00 2.1922155766835654e+00 Constraint violation....: 1.9875045034985173e-01 1.9875045034985173e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000003726459e-04 1.0000000003726459e-04 Overall NLP error.......: 2.1922155766835654e+00 2.1922155766835654e+00 Number of objective function evaluations = 142 Number of objective gradient evaluations = 57 Number of equality constraint evaluations = 142 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 72 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 68 Total seconds in IPOPT = 26.712 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 3.2648967e+00 5.79e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.5090171e+00 1.52e-01 5.38e+00 -0.9 3.95e+00 0.0 7.15e-01 1.00e+00f 1 2 2.4489124e+00 2.28e-02 1.07e+00 -1.0 2.95e-01 0.4 1.00e+00 8.89e-01f 1 3 2.3229114e+00 4.65e-03 5.52e-01 -1.6 2.19e-01 -0.1 9.28e-01 1.00e+00h 1 4 2.2261416e+00 2.18e-03 5.69e-01 -2.3 8.33e-02 -0.5 9.97e-01 5.51e-01h 1 5 2.1125497e+00 7.61e-04 7.01e-02 -3.3 6.28e-02 -1.0 1.00e+00 6.56e-01f 1 6 2.0916538e+00 1.32e-04 5.65e-02 -4.0 2.29e-02 -1.5 1.00e+00 9.44e-01h 1 7 2.0908091e+00 4.65e-07 1.56e-03 -4.0 8.64e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908311e+00 3.52e-08 4.87e-05 -4.0 1.33e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908294e+00 1.23e-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 2.0908244e+00 9.74e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908095e+00 8.77e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0907647e+00 7.89e-08 2.06e-05 -4.0 4.55e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906304e+00 7.12e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902285e+00 6.44e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890318e+00 5.89e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855244e+00 5.56e-04 2.32e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796417e+00 2.25e-03 1.38e-01 -4.0 9.53e+01 -6.7 1.00e+00 6.23e-01h 1 18 2.0806728e+00 1.65e-04 1.85e-01 -4.0 6.72e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775327e+00 7.77e-03 2.55e-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 2.0769457e+00 1.36e-03 6.92e-02 -4.0 1.89e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0762706e+00 1.83e-03 1.98e-02 -4.0 3.36e+02 -8.6 1.00e+00 7.44e-01h 1 22 2.0755081e+00 1.76e-03 2.74e-02 -4.0 5.85e+02 -9.1 1.00e+00 7.51e-01h 1 23 2.0758038e+00 3.57e-03 1.52e-02 -4.0 1.75e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753819e+00 1.45e-03 7.82e-04 -4.1 1.01e+02 -10.1 1.00e+00 1.00e+00h 1 25 2.0756722e+00 4.88e-04 7.70e-06 -4.0 2.21e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 6.40e-07 1.17e-06 -4.0 1.22e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.39e-09 8.88e-08 -4.0 4.47e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.08e-11 1.61e-09 -4.0 7.09e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121580057e+00 2.0756712121580057e+00 Dual infeasibility......: 1.6128925731074498e-09 1.6128925731074498e-09 Constraint violation....: 4.0844660986749659e-11 4.0844660986749659e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000057e-04 1.0000000000000057e-04 Overall NLP error.......: 1.6128925731074498e-09 1.6128925731074498e-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 = 41.829 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 4.2166539e+00 1.81e+00 1.07e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.3857033e+00 1.72e+00 2.19e+00 -4.0 2.00e+01 -4.0 4.96e-01 1.47e-01h 1 2 2.8651100e+00 5.59e-01 5.19e+00 -1.2 4.06e+00 -1.8 3.18e-01 8.60e-01f 1 3 2.7055314e+00 1.09e-01 1.12e+00 -2.1 1.53e+00 -1.3 4.81e-01 1.00e+00h 1 4 2.6603450e+00 1.06e-01 1.27e+00 -4.0 1.18e+02 -1.8 1.53e-02 7.88e-03f 1 5 2.5206055e+00 8.25e-02 1.36e+00 -1.2 1.80e+00 -1.4 5.22e-01 2.34e-01f 1 6 2.2879113e+00 5.54e-02 2.92e-01 -1.8 9.27e-01 -1.9 6.32e-01 8.38e-01f 1 7 2.1920141e+00 1.90e-01 4.89e-01 -1.6 3.00e+00 -2.3 4.96e-01 6.46e-01f 1 8 2.0909220e+00 8.57e-02 3.97e-01 -3.6 1.80e+00 -2.8 8.35e-01 5.48e-01h 1 9 2.0068226e+00 1.09e-02 5.61e-02 -4.0 1.09e+00 -3.3 9.39e-01 9.22e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0011683e+00 5.81e-05 5.95e-03 -4.0 3.01e-01 -3.8 9.12e-01 1.00e+00h 1 11 2.0009560e+00 1.66e-06 7.51e-02 -4.0 8.79e-01 -4.3 1.00e+00 1.00e+00h 1 12 2.0010865e+00 7.51e-08 2.45e-02 -4.0 1.27e+00 -4.7 1.00e+00 1.00e+00h 1 13 2.0010071e+00 1.10e-09 4.66e-02 -4.0 2.35e+00 -5.2 1.00e+00 1.00e+00f 1 14 2.0011748e+00 4.51e-09 8.12e-02 -4.0 3.84e+00 -5.7 8.89e-01 1.00e+00f 1 15 2.0007076e+00 4.34e-08 6.57e-02 -4.2 4.28e+00 -6.2 1.00e+00 7.68e-01f 1 16 2.0014342e+00 4.64e-08 3.31e-01 -4.0 1.60e+01 -6.6 8.30e-01 1.00e+00f 1 17 2.0009320e+00 1.15e-07 1.43e-01 -4.1 1.26e+01 -7.1 1.00e+00 5.67e-01f 1 18 2.0012135e+00 8.81e-08 7.20e-01 -4.1 3.52e+01 -7.6 8.90e-01 1.00e+00f 1 19 2.0008759e+00 1.88e-07 7.29e-01 -4.1 4.18e+01 -8.1 1.00e+00 8.73e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0013486e+00 8.54e-08 1.89e+00 -4.1 8.77e+01 -8.5 8.17e-01 1.00e+00f 1 21 2.0009007e+00 1.63e-07 1.77e+00 -4.1 1.17e+02 -9.0 1.00e+00 7.54e-01f 1 22 2.0013977e+00 5.81e-08 5.10e+00 -4.1 2.41e+02 -9.5 8.36e-01 1.00e+00f 1 23 2.0007997e+00 1.76e-07 5.14e+00 -4.1 3.23e+02 -10.0 1.00e+00 7.95e-01f 1 24 2.0015423e+00 1.25e-08 1.46e+01 -4.1 6.80e+02 -10.5 7.99e-01 1.00e+00f 1 25 2.0007118e+00 1.38e-07 1.31e+01 -4.1 8.87e+02 -10.9 1.00e+00 7.39e-01f 1 26 2.0016425e+00 1.88e-09 4.10e+01 -4.1 1.93e+03 -11.4 8.07e-01 1.00e+00f 1 27 2.0010257e+00 1.43e-09 1.15e+00 -4.1 1.52e+02 -10.1 1.00e+00 3.79e-01f 2 28 2.0009078e+00 5.26e-11 1.02e+01 -4.1 5.12e+02 -10.6 1.00e+00 1.00e+00f 1 29 2.0009937e+00 7.73e-13 2.25e+01 -4.1 1.13e+03 -11.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0010403e+00 1.62e-12 4.00e+01 -4.1 2.00e+03 -11.5 1.00e+00 1.00e+00f 1 31 2.0010488e+00 2.00e-12 6.75e+01 -4.1 3.37e+03 -12.0 1.00e+00 1.00e+00f 1 32 2.0010375e+00 1.78e-12 1.09e+02 -4.1 5.47e+03 -12.5 1.00e+00 1.00e+00f 1 33 2.0010104e+00 1.32e-12 1.69e+02 -4.1 8.43e+03 -12.9 1.00e+00 1.00e+00f 1 34 2.0009675e+00 8.30e-13 2.40e+02 -4.1 1.20e+04 -13.4 1.00e+00 1.00e+00f 1 35 2.0009058e+00 4.26e-13 2.99e+02 -4.1 1.50e+04 -13.9 1.00e+00 1.00e+00f 1 36 2.0008305e+00 1.57e-13 2.99e+02 -4.1 1.50e+04 -14.4 1.00e+00 1.00e+00f 1 37 2.0007561e+00 3.48e-14 2.19e+02 -4.1 1.09e+04 -14.9 1.00e+00 1.00e+00f 1 38 2.0007022e+00 2.03e-14 1.14e+02 -4.1 5.69e+03 -15.3 1.00e+00 1.00e+00f 1 39 2.0006730e+00 2.23e-14 4.77e+01 -4.1 2.39e+03 -15.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0008690e+00 3.83e-13 7.26e+01 -4.0 3.63e+03 -16.3 1.00e+00 1.00e+00f 1 41 2.0005826e+00 2.67e-13 9.79e+01 -4.1 4.90e+03 -16.8 1.00e+00 1.00e+00f 1 42 2.0008814e+00 4.35e-12 1.30e+02 -4.0 6.51e+03 -17.2 1.00e+00 1.00e+00f 1 43 2.0005619e+00 1.51e-12 1.26e+02 -4.1 6.31e+03 -17.7 1.00e+00 1.00e+00f 1 44 2.0008770e+00 3.88e-11 1.33e+02 -4.0 6.67e+03 -18.2 1.00e+00 1.00e+00f 1 45 2.0005592e+00 1.45e-11 1.31e+02 -4.1 6.53e+03 -18.7 1.00e+00 1.00e+00f 1 46 2.0006557e+00 5.84e-11 6.83e+01 -4.1 3.41e+03 -19.1 1.00e+00 1.00e+00h 1 47 2.0006195e+00 6.10e-11 2.32e+01 -4.1 1.16e+03 -19.6 1.00e+00 1.00e+00h 1 48 2.0006347e+00 6.41e-11 1.02e+01 -4.1 5.12e+02 -20.0 1.00e+00 1.00e+00h 1 49 2.0006286e+00 2.50e-11 4.13e+00 -4.1 2.07e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0006312e+00 1.05e-11 1.67e+00 -4.1 8.36e+01 -20.0 1.00e+00 1.00e+00h 1 51 2.0006301e+00 4.19e-12 6.95e-01 -4.1 3.47e+01 -20.0 1.00e+00 1.00e+00h 1 52 2.0006306e+00 1.75e-12 2.78e-01 -4.1 1.39e+01 -20.0 1.00e+00 1.00e+00h 1 53 2.0006304e+00 6.98e-13 1.16e-01 -4.1 5.80e+00 -20.0 1.00e+00 1.00e+00h 1 54 2.0006305e+00 2.92e-13 4.62e-02 -4.1 2.31e+00 -20.0 1.00e+00 1.00e+00h 1 55 2.0006304e+00 1.16e-13 1.93e-02 -4.1 9.66e-01 -20.0 1.00e+00 1.00e+00h 1 56 2.0006305e+00 4.85e-14 7.70e-03 -4.1 3.85e-01 -20.0 1.00e+00 1.00e+00h 1 57 2.0006304e+00 1.93e-14 3.22e-03 -4.1 1.61e-01 -20.0 1.00e+00 1.00e+00h 1 58 2.0006304e+00 8.08e-15 1.28e-03 -4.1 9.51e-02 -20.0 1.00e+00 1.00e+00h 1 59 2.0006304e+00 3.22e-15 5.37e-04 -4.1 9.51e-02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 1.9998548e+00 1.22e-08 2.25e+02 -6.1 1.13e+04 -20.0 1.00e+00 1.00e+00f 1 61 2.0006835e+00 3.09e-09 2.09e+03 -4.0 2.09e+05 -20.0 1.00e+00 5.00e-01f 2 62 2.0004219e+00 9.68e-11 2.30e+03 -3.9 1.15e+05 -20.0 1.00e+00 1.00e+00f 1 63 2.0009584e+00 3.48e-09 5.53e+02 -3.9 2.77e+04 -20.0 1.00e+00 1.00e+00f 1 64 2.0010394e+00 3.03e-09 1.06e+02 -3.9 5.31e+03 -20.0 1.00e+00 1.00e+00h 1 65 2.0010519e+00 7.46e-10 2.71e+01 -3.9 1.36e+03 -20.0 1.00e+00 1.00e+00h 1 66 2.0010687e+00 5.72e-10 6.12e+00 -3.9 3.06e+02 -20.0 1.00e+00 1.00e+00h 1 67 2.0010705e+00 1.33e-10 4.72e+00 -3.9 2.36e+02 -20.0 1.00e+00 1.00e+00h 1 68 2.0010733e+00 9.76e-11 1.07e+00 -3.9 5.34e+01 -20.0 1.00e+00 1.00e+00h 1 69 2.0010736e+00 2.24e-11 7.84e-01 -3.9 3.92e+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 2.0010740e+00 1.63e-11 1.79e-01 -3.9 8.97e+00 -20.0 1.00e+00 1.00e+00h 1 71 2.0010741e+00 3.74e-12 1.31e-01 -3.9 6.53e+00 -20.0 1.00e+00 1.00e+00h 1 72 2.0010741e+00 2.72e-12 2.99e-02 -3.9 1.50e+00 -20.0 1.00e+00 1.00e+00h 1 73 2.0010742e+00 6.22e-13 2.18e-02 -3.9 1.09e+00 -20.0 1.00e+00 1.00e+00h 1 74 2.0010742e+00 4.52e-13 4.99e-03 -3.9 4.93e-01 -20.0 1.00e+00 1.00e+00h 1 75 2.0010742e+00 1.04e-13 3.63e-03 -3.9 4.93e-01 -20.0 1.00e+00 1.00e+00h 1 76 2.0010742e+00 7.53e-14 8.32e-04 -3.9 4.93e-01 -20.0 1.00e+00 1.00e+00h 1 77 1.9998649e+00 8.64e-08 2.43e+02 -5.9 1.22e+04 -20.0 1.00e+00 1.00e+00f 1 78 1.9998453e+00 3.09e-13 2.18e+02 -5.9 1.18e+04 -20.0 9.30e-01 1.00e+00h 1 79 1.8265954e+00 2.01e-13 1.95e+06 -5.9 9.73e+07 -20.0 1.80e-03 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 1.8118238e+00 5.21e-13 2.06e+03 -5.5 1.36e+08 -20.0 1.00e+00 7.58e-04f 1 81 1.9416891e+00 5.20e-13 1.31e+06 -4.0 9.41e+10 -20.0 1.00e+00 6.95e-04f 1 82 1.9999589e+00 5.18e-13 6.47e+05 -3.2 6.41e+09 -20.0 1.00e+00 5.05e-03f 1 83 1.9999072e+00 2.09e-11 1.64e+03 -3.2 8.18e+04 -20.0 1.00e+00 1.00e+00f 1 84 2.0294145e+00 6.10e-06 5.13e+01 -3.2 2.56e+03 -20.0 1.00e+00 1.00e+00f 1 85 2.0104343e+00 1.30e-03 8.55e+02 -3.2 8.55e+04 -20.0 1.00e+00 5.00e-01f 2 86 2.0086615e+00 4.29e-04 1.43e+02 -3.2 7.13e+03 -20.0 1.00e+00 1.00e+00h 1 87 2.0061779e+00 6.20e-03 1.42e+02 -3.2 2.42e+04 -20.0 1.00e+00 1.00e+00h 1 88 2.0064855e+00 2.67e-05 1.61e+02 -3.2 8.06e+03 -20.0 1.00e+00 1.00e+00h 1 89 2.0059411e+00 4.10e-06 3.24e+01 -3.2 1.62e+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 90 2.0059982e+00 2.87e-07 3.32e+01 -3.2 1.66e+03 -20.0 1.00e+00 1.00e+00h 1 91 2.0058951e+00 6.56e-07 3.53e+00 -3.2 1.77e+02 -20.0 1.00e+00 1.00e+00h 1 92 2.0059046e+00 4.47e-08 5.73e+00 -3.2 2.87e+02 -20.0 1.00e+00 1.00e+00h 1 93 2.0058871e+00 1.08e-07 5.89e-01 -3.2 8.69e+01 -20.0 1.00e+00 1.00e+00h 1 94 2.0058887e+00 7.36e-09 9.60e-01 -3.2 8.68e+01 -20.0 1.00e+00 1.00e+00h 1 95 2.0058857e+00 1.79e-08 9.81e-02 -3.2 8.67e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0058860e+00 1.22e-09 1.60e-01 -3.2 8.67e+01 -20.0 1.00e+00 1.00e+00h 1 97 2.0058855e+00 2.98e-09 1.64e-02 -3.2 8.66e+01 -20.0 1.00e+00 1.00e+00h 1 98 2.0058856e+00 2.04e-10 2.66e-02 -3.2 8.66e+01 -20.0 1.00e+00 1.00e+00h 1 99 2.0058855e+00 4.95e-10 2.73e-03 -3.2 8.66e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 1.9999842e+00 6.13e-05 2.65e+02 -4.8 1.32e+04 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.9999841883043068e+00 1.9999841883043068e+00 Dual infeasibility......: 2.6490105429065420e+02 2.6490105429065420e+02 Constraint violation....: 6.1260922135631925e-05 6.1260922135631925e-05 Variable bound violation: 1.1202732143372772e-09 1.1202732143372772e-09 Complementarity.........: 9.3094847758156305e-05 9.3094847758156305e-05 Overall NLP error.......: 2.6490105429065420e+02 2.6490105429065420e+02 Number of objective function evaluations = 108 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 108 Number of inequality constraint evaluations = 108 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 42.100 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 4.7471042e+00 3.10e+00 3.38e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.8074813e+00 3.08e+00 1.06e+01 1.2 4.03e+02 -2.0 2.06e-02 4.90e-03f 1 2 3.6672078e+00 3.38e+00 1.89e+01 0.2 3.24e+01 -2.5 6.21e-01 4.26e-01f 1 3 3.2562893e+00 2.21e+00 3.82e+01 0.5 2.40e+01 -1.1 3.71e-01 3.70e-01f 1 4 3.0877898e+00 2.09e+00 3.14e+01 0.7 1.22e+02 -1.6 1.19e-01 5.59e-02h 1 5 2.7663997e+00 1.65e+00 2.98e+01 -0.2 6.00e+00 -0.3 3.85e-01 2.10e-01h 1 6 2.6284504e+00 1.56e+00 1.73e+02 2.1 3.50e+02 -0.8 1.42e-01 1.16e-02f 1 7 2.3414316e+00 1.23e+00 2.04e+02 1.3 2.22e+01 -0.3 8.87e-01 2.14e-01h 1 8 2.1293737e+00 2.63e+00 1.67e+02 -4.0 1.98e+01 -0.8 2.79e-01 5.28e-01h 1 9 2.1084637e+00 4.33e+00 1.57e+02 -4.0 2.16e+01 -1.3 2.92e-01 6.82e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0172805e+00 2.16e-01 6.06e+01 0.2 9.21e+00 -1.8 9.92e-01 1.00e+00f 1 11 1.9834632e+00 7.16e-04 3.95e-01 -1.2 9.72e-01 -2.3 1.00e+00 1.00e+00h 1 12 1.6087401e+00 5.59e-03 1.38e-02 -1.8 5.22e-01 -2.7 1.00e+00 1.00e+00f 1 13 1.3218668e+00 7.53e-03 1.54e-01 -4.0 2.66e-01 -3.2 5.41e-01 1.00e+00f 1 14 1.2019129e+00 3.43e-01 3.74e-02 -2.7 9.90e-01 -3.7 9.90e-01 9.12e-01h 1 15 1.2489522e+00 1.63e+00 2.55e-01 -2.5 1.28e+01 -4.2 1.00e+00 1.00e+00h 1 16 1.2094746e+00 2.61e-01 7.15e-02 -2.7 4.05e+00 -4.6 1.00e+00 1.00e+00h 1 17 1.1761090e+00 1.61e-01 3.25e-03 -3.7 4.32e+00 -5.1 9.95e-01 1.00e+00h 1 18 1.1678859e+00 2.98e-01 1.92e-03 -4.0 1.34e+01 -5.6 1.00e+00 1.00e+00h 1 19 1.1660673e+00 2.67e-01 1.02e-02 -4.0 2.31e+01 -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 1.1640922e+00 3.28e-01 7.60e-03 -4.0 3.51e+01 -6.5 1.00e+00 1.00e+00h 1 21 1.1631186e+00 3.11e-01 2.90e-03 -4.0 5.18e+01 -7.0 1.00e+00 1.00e+00h 1 22 1.1619824e+00 3.94e-01 1.80e-02 -4.0 7.73e+01 -7.5 1.00e+00 1.00e+00h 1 23 1.1613685e+00 4.03e-01 1.66e-02 -4.0 1.12e+02 -8.0 1.00e+00 1.00e+00h 1 24 1.1607462e+00 4.73e-01 2.77e-02 -4.0 1.60e+02 -8.5 1.00e+00 1.00e+00h 1 25 1.1605064e+00 4.18e-01 2.12e-02 -4.0 2.06e+02 -8.9 1.00e+00 1.00e+00h 1 26 1.1606195e+00 1.85e-01 3.62e-03 -4.0 1.81e+02 -9.4 1.00e+00 1.00e+00h 1 27 1.1608597e+00 2.92e-03 1.21e-03 -4.0 1.25e+01 -9.9 1.00e+00 1.00e+00h 1 28 1.1608487e+00 8.37e-04 9.96e-05 -4.0 1.18e+01 -10.4 1.00e+00 1.00e+00h 1 29 1.1608491e+00 1.09e-06 1.81e-08 -4.0 4.85e-01 -10.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.1608491e+00 1.67e-11 1.87e-12 -4.0 1.73e-03 -11.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 1.1608491307813940e+00 1.1608491307813940e+00 Dual infeasibility......: 1.8688898356395561e-12 1.8688898356395561e-12 Constraint violation....: 1.6701307004041155e-11 1.6701307004041155e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000585e-04 1.0000000000000585e-04 Overall NLP error.......: 1.6701307004041155e-11 1.6701307004041155e-11 Number of objective function evaluations = 31 Number of objective gradient evaluations = 31 Number of equality constraint evaluations = 31 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 = 27.551 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 1.5101361e+00 1.72e+00 1.14e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8957624e+00 1.00e-01 1.74e+00 -0.9 6.58e-01 0.0 9.94e-01 1.00e+00h 1 2 1.7432989e+00 7.91e-02 1.64e+00 -0.1 3.27e+01 - 1.81e-01 6.45e-02H 1 3 1.9734419e+00 3.98e-02 1.60e+00 -1.0 3.22e-01 -0.5 9.10e-01 1.00e+00f 1 4 1.4137621e+00 9.82e-03 2.95e-01 -1.3 4.81e-01 -1.0 9.87e-01 7.45e-01h 1 5 1.1482473e+00 4.04e-04 1.99e-01 -2.3 4.53e+00 - 9.81e-01 1.00e+00f 1 6 1.0998271e+00 2.74e-05 4.59e-02 -3.4 1.19e+00 - 1.00e+00 9.32e-01f 1 7 1.0911311e+00 3.29e-08 2.81e-02 -4.0 1.33e+00 - 1.00e+00 1.00e+00h 1 8 1.0910379e+00 2.60e-11 3.33e-03 -4.0 5.69e-01 - 1.00e+00 1.00e+00h 1 9 1.0910386e+00 8.88e-16 2.04e-05 -4.0 5.90e-03 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0908587e+00 8.88e-16 2.04e-05 -4.1 1.99e-05 - 1.00e+00 1.00e+00f 1 11 1.0910386e+00 2.54e-28 2.02e-05 -4.0 1.99e-05 - 1.00e+00 1.00e+00f 1 12 1.0908587e+00 8.88e-16 2.10e-09 -4.1 1.99e-05 - 1.00e+00 1.00e+00f 1 13 1.0910386e+00 3.20e-34 2.28e-09 -4.0 1.99e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 13 (scaled) (unscaled) Objective...............: 1.0910385864123269e+00 1.0910385864123269e+00 Dual infeasibility......: 2.2825467696496737e-09 2.2825467696496737e-09 Constraint violation....: 3.1975759587540307e-34 3.1975759587540307e-34 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000108375416122e-04 1.0000108375416122e-04 Overall NLP error.......: 2.2825467696496737e-09 2.2825467696496737e-09 Number of objective function evaluations = 15 Number of objective gradient evaluations = 14 Number of equality constraint evaluations = 15 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 = 21.883 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.: 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 5.1953264e+00 2.96e+00 9.34e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7001003e+00 1.03e-01 1.94e+00 -1.0 1.94e+00 0.0 1.00e+00 1.00e+00f 1 2 3.1384443e+00 9.67e-02 1.15e+00 -0.8 6.89e-01 -0.5 8.83e-01 1.00e+00f 1 3 2.7247712e+00 5.36e-02 3.26e-01 -0.9 3.03e-01 -0.1 8.20e-01 7.18e-01h 1 4 2.4582591e+00 4.30e-02 4.32e-01 -2.4 4.97e-01 -0.5 7.58e-01 8.13e-01h 1 5 2.2196943e+00 9.06e-03 4.20e-02 -1.8 1.62e-01 -1.0 9.22e-01 1.00e+00f 1 6 2.0980498e+00 9.10e-04 2.94e-02 -3.4 5.35e-02 -1.5 8.73e-01 9.20e-01h 1 7 2.0909679e+00 3.82e-05 2.41e-03 -4.0 2.09e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0908638e+00 1.77e-07 4.06e-05 -4.0 5.63e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908622e+00 1.33e-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 2.0908572e+00 9.68e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908422e+00 8.72e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0907974e+00 7.85e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906631e+00 7.08e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902611e+00 6.41e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890642e+00 5.86e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855558e+00 5.53e-04 2.31e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796251e+00 2.27e-03 1.37e-01 -4.0 9.55e+01 -6.7 1.00e+00 6.27e-01h 1 18 2.0806882e+00 1.37e-04 1.75e-01 -4.0 6.71e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775232e+00 6.97e-03 2.33e-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 2.0769609e+00 1.14e-03 4.71e-02 -4.0 1.87e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0762244e+00 1.08e-03 2.34e-02 -4.0 3.34e+02 -8.6 1.00e+00 7.44e-01h 1 22 2.0754989e+00 2.68e-03 3.08e-02 -4.0 5.79e+02 -9.1 1.00e+00 7.43e-01h 1 23 2.0757982e+00 3.02e-03 1.62e-02 -4.0 1.72e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0756799e+00 4.48e-04 7.72e-04 -4.0 9.00e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756713e+00 2.85e-06 1.23e-05 -4.0 2.30e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.63e-08 1.29e-06 -4.0 1.41e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.67e-09 1.11e-07 -4.0 4.64e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.74e-11 1.86e-09 -4.0 7.33e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121655903e+00 2.0756712121655903e+00 Dual infeasibility......: 1.8565901471637256e-09 1.8565901471637256e-09 Constraint violation....: 4.7366777167212604e-11 4.7366777167212604e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000024e-04 1.0000000000000024e-04 Overall NLP error.......: 1.8565901471637256e-09 1.8565901471637256e-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 = 26.718 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: equality constraint on trajectory variable du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1488 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1524 Total number of variables............................: 100 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.9848927e+00 2.74e+00 4.49e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.0574385e+00 7.47e-01 1.56e+00 -0.9 2.13e+00 0.0 9.04e-01 7.27e-01f 1 2 2.7864903e+00 1.91e-02 1.46e+00 -0.9 5.40e-01 0.4 8.42e-01 9.72e-01h 1 3 2.6803156e+00 1.76e-02 5.25e-01 -1.1 2.36e-01 -0.1 9.01e-01 1.00e+00f 1 4 2.4280150e+00 1.58e-02 1.09e+00 -1.6 1.72e-01 -0.5 9.39e-01 8.46e-01h 1 5 2.3403555e+00 1.24e-02 5.57e-01 -1.9 2.84e-01 -1.0 9.98e-01 2.15e-01h 1 6 2.2041569e+00 6.39e-03 2.68e-01 -2.7 5.78e-01 -1.5 1.00e+00 4.86e-01h 1 7 2.1717511e+00 1.35e-02 8.41e-01 -2.6 2.21e+00 -2.0 9.99e-01 3.02e-01h 1 8 2.1112809e+00 5.58e-03 1.71e-01 -3.5 3.76e-01 -1.5 1.00e+00 7.06e-01h 1 9 2.1027114e+00 2.97e-03 3.24e-01 -3.3 2.88e-01 -1.1 1.00e+00 4.38e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.1000605e+00 2.70e-03 7.81e-01 -4.0 4.21e-01 -1.6 1.00e+00 1.09e-01h 1 11 2.0919560e+00 4.93e-03 2.34e-01 -4.0 1.09e+00 -2.1 1.00e+00 3.83e-01h 1 12 2.0917418e+00 4.88e-03 3.19e+00 -3.7 3.42e+00 -2.5 1.00e+00 1.09e-02h 1 13 2.0908351e+00 1.38e-03 6.95e-01 -3.8 7.06e-01 -3.0 1.00e+00 7.15e-01h 1 14 2.0909151e+00 1.87e-05 3.55e-02 -4.0 1.94e-01 -3.5 1.00e+00 1.00e+00h 1 15 2.0909331e+00 5.88e-06 3.97e-04 -4.0 1.95e-01 -4.0 1.00e+00 1.00e+00h 1 16 2.0908774e+00 7.67e-07 2.06e-05 -4.0 5.77e-01 -4.4 1.00e+00 1.00e+00h 1 17 2.0907073e+00 1.13e-06 2.06e-05 -4.0 1.73e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0901988e+00 1.02e-05 4.56e-05 -4.0 5.17e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0886875e+00 9.39e-05 4.07e-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 2.0842880e+00 8.96e-04 3.73e-03 -4.0 4.47e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0796236e+00 1.91e-03 2.32e-01 -4.0 1.11e+02 -6.8 1.00e+00 4.21e-01h 1 22 2.0792984e+00 7.72e-03 1.90e-01 -4.1 6.18e+01 -7.3 1.00e+00 7.62e-01h 1 23 2.0780742e+00 1.71e-02 4.27e-02 -3.8 1.18e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.0765437e+00 1.73e-02 2.66e-02 -4.0 2.05e+02 -8.3 1.00e+00 1.00e+00h 1 25 2.0761063e+00 1.58e-03 2.59e-02 -4.0 3.34e+02 -8.7 1.00e+00 1.00e+00h 1 26 2.0755075e+00 6.77e-04 3.83e-02 -4.0 4.47e+02 -9.2 1.00e+00 6.42e-01H 1 27 2.0757498e+00 1.67e-03 9.21e-03 -4.0 1.29e+02 -9.7 1.00e+00 1.00e+00h 1 28 2.0753696e+00 9.43e-04 2.13e-04 -4.1 4.90e+01 -10.2 1.00e+00 1.00e+00h 1 29 2.0756723e+00 4.42e-04 4.34e-06 -4.0 1.94e+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 2.0753425e+00 6.03e-04 5.23e-07 -4.1 2.47e+01 -11.1 1.00e+00 1.00e+00h 1 31 2.0756725e+00 3.35e-04 6.95e-07 -4.0 1.37e+01 -11.6 1.00e+00 1.00e+00h 1 32 2.0753425e+00 5.09e-04 2.25e-07 -4.1 2.08e+01 -12.1 1.00e+00 1.00e+00h 1 33 2.0756725e+00 5.56e-04 9.42e-08 -4.0 2.27e+01 -12.6 1.00e+00 1.00e+00h 1 34 2.0753425e+00 5.55e-04 9.42e-08 -4.1 2.27e+01 -13.0 1.00e+00 1.00e+00h 1 35 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -13.5 9.28e-01 1.00e+00h 1 36 2.0757517e+00 1.59e-01 1.54e-04 -4.0 1.29e+03 -14.0 1.00e+00 1.00e+00h 1 37 2.0753574e+00 2.65e-02 8.73e-05 -4.1 1.05e+03 -14.5 1.00e+00 1.00e+00h 1 38 2.0753474e+00 1.15e-05 2.13e-06 -4.1 1.63e+02 -14.9 1.00e+00 1.00e+00h 1 39 2.0756726e+00 7.26e-04 1.64e-07 -4.0 3.02e+01 -15.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -15.9 1.00e+00 1.00e+00h 1 41 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -16.4 9.28e-01 1.00e+00h 1 42 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -16.9 8.16e-01 1.00e+00h 1 43 2.0742914e+00 4.02e-02 1.95e-02 -4.0 1.50e+04 -17.3 1.00e+00 1.46e-01f 1 44 2.0748877e+00 5.32e-02 4.44e-05 -4.3 1.16e+03 -17.8 1.00e+00 1.00e+00h 1 45 2.0748919e+00 7.80e-04 1.27e-05 -4.3 8.19e+02 -18.3 1.00e+00 1.00e+00h 1 46 2.0756799e+00 8.81e-03 2.72e-06 -4.0 1.52e+02 -18.8 1.00e+00 1.00e+00h 1 47 2.0753438e+00 1.84e-03 6.19e-07 -4.1 7.48e+01 -19.2 1.00e+00 1.00e+00h 1 48 2.0753420e+00 1.03e-06 2.13e-08 -4.1 1.76e+01 -19.7 1.00e+00 1.00e+00h 1 49 2.0756726e+00 7.23e-04 1.61e-07 -4.0 2.96e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -20.0 1.00e+00 1.00e+00h 1 51 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 52 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -20.0 8.16e-01 1.00e+00h 1 53 2.0739622e+00 1.34e-06 1.83e-05 -6.1 8.40e+02 -20.0 1.00e+00 1.00e+00h 1 54 2.0741067e+00 2.44e-02 3.22e-02 -4.0 5.48e+04 -20.0 1.00e+00 5.98e-02f 1 55 2.0748071e+00 7.96e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 56 2.0748241e+00 9.52e-04 1.02e-05 -4.3 6.22e+02 -20.0 1.00e+00 1.00e+00h 1 57 2.0748237e+00 1.04e-07 2.35e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 58 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 59 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 61 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 62 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 63 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 64 2.0741065e+00 2.43e-02 3.23e-02 -4.0 5.49e+04 -20.0 1.00e+00 5.97e-02f 1 65 2.0748071e+00 7.95e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 66 2.0748240e+00 9.52e-04 1.02e-05 -4.3 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 67 2.0748236e+00 1.04e-07 2.36e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 68 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 69 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+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 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 71 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 72 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 73 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 74 2.0739617e+00 2.11e-08 1.94e-06 -6.1 2.49e+02 -20.0 1.00e+00 1.00e+00h 1 75 2.0740871e+00 2.06e-02 3.56e-02 -4.0 6.55e+04 -20.0 1.00e+00 5.03e-02f 1 76 2.0748016e+00 7.32e-02 4.77e-05 -4.3 1.41e+03 -20.0 1.00e+00 1.00e+00f 1 77 2.0748204e+00 9.23e-04 8.08e-06 -4.3 5.36e+02 -20.0 1.00e+00 1.00e+00h 1 78 2.0748200e+00 1.25e-07 3.57e-07 -4.3 7.03e+01 -20.0 1.00e+00 1.00e+00h 1 79 2.0740036e+00 1.08e-02 5.23e-04 -6.5 1.81e+02 -20.0 8.93e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0739632e+00 2.51e-04 3.38e-04 -6.5 7.34e+02 -20.0 7.62e-01 1.00e+00h 1 81 2.0739539e+00 4.81e-07 1.83e-05 -6.5 9.12e+02 -20.0 1.00e+00 1.00e+00h 1 82 2.0740681e+00 1.80e-02 3.75e-02 -4.0 7.10e+04 -20.0 1.00e+00 4.51e-02f 1 83 2.0747866e+00 7.58e-02 5.27e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 84 2.0748068e+00 8.84e-04 6.22e-06 -4.3 4.91e+02 -20.0 1.00e+00 1.00e+00h 1 85 2.0748064e+00 1.21e-07 3.63e-07 -4.3 6.91e+01 -20.0 1.00e+00 1.00e+00h 1 86 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 87 2.0739630e+00 2.41e-04 3.38e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 88 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 89 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 91 2.0748064e+00 8.81e-04 6.11e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 92 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 93 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 94 2.0739630e+00 2.40e-04 3.37e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 95 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 96 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 97 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 98 2.0748064e+00 8.81e-04 6.10e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 99 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0740029855935704e+00 2.0740029855935704e+00 Dual infeasibility......: 5.2112147346577758e-04 5.2112147346577758e-04 Constraint violation....: 1.0803737393221713e-02 1.0803737393221713e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0806576080383961e-05 1.0806576080383961e-05 Overall NLP error.......: 1.0803737393221713e-02 1.0803737393221713e-02 Number of objective function evaluations = 102 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 102 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 27.406 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... applying constraint: equality constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.2552897e+00 4.19e+00 3.47e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.0760251e+00 5.56e-01 2.62e+00 -0.8 2.65e+00 0.0 1.00e+00 8.67e-01h 1 2 3.1788634e+00 1.32e-01 1.35e+01 -0.6 1.26e+00 -0.5 5.27e-01 1.00e+00f 1 3 2.7237119e+00 8.67e-02 6.13e+00 -0.8 5.70e-01 -0.1 9.95e-01 6.90e-01h 1 4 2.6869234e+00 7.81e-02 6.99e+00 -4.0 3.68e-01 -0.5 2.03e-01 1.00e-01h 1 5 2.5688607e+00 2.87e-02 2.29e+00 -0.9 4.10e-01 -1.0 9.55e-01 9.26e-01f 1 6 2.4092511e+00 7.63e-03 1.01e+00 -1.5 3.70e-01 -1.5 9.47e-01 1.00e+00f 1 7 2.1919096e+00 1.68e-02 6.74e-02 -2.0 3.61e-01 -2.0 9.93e-01 1.00e+00h 1 8 2.1044641e+00 1.43e-03 1.68e-02 -3.0 1.45e-01 -2.4 9.26e-01 1.00e+00h 1 9 2.0908904e+00 9.79e-05 1.23e-03 -4.0 3.78e-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 2.0909480e+00 1.19e-06 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909331e+00 1.27e-08 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908883e+00 7.84e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907539e+00 7.07e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903517e+00 6.39e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891542e+00 5.85e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856435e+00 5.51e-04 2.30e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796444e+00 2.31e-03 1.35e-01 -4.0 9.57e+01 -6.7 1.00e+00 6.32e-01h 1 18 2.0807167e+00 1.31e-04 1.71e-01 -4.0 6.91e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775349e+00 7.05e-03 2.24e-02 -4.0 1.20e+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 2.0769726e+00 1.40e-03 5.58e-02 -4.0 2.07e+02 -8.2 9.85e-01 1.00e+00h 1 21 2.0763316e+00 1.48e-03 3.97e-02 -4.0 3.55e+02 -8.6 1.00e+00 6.38e-01h 1 22 2.0755446e+00 3.63e-03 3.39e-02 -4.0 6.32e+02 -9.1 1.00e+00 7.53e-01h 1 23 2.0758092e+00 3.58e-03 1.91e-02 -4.0 1.89e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0756809e+00 5.87e-04 9.57e-04 -4.0 1.01e+02 -10.1 1.00e+00 1.00e+00h 1 25 2.0756712e+00 4.18e-06 1.57e-05 -4.0 2.31e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 9.43e-08 1.31e-06 -4.0 1.42e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.72e-09 1.13e-07 -4.0 4.73e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.91e-11 1.92e-09 -4.0 7.52e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121674044e+00 2.0756712121674044e+00 Dual infeasibility......: 1.9159257247662771e-09 1.9159257247662771e-09 Constraint violation....: 4.9125148393613927e-11 4.9125148393613927e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000029e-04 1.0000000000000029e-04 Overall NLP error.......: 1.9159257247662771e-09 1.9159257247662771e-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 = 27.755 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 Number of Iterations....: 0 Number of objective function evaluations = 0 Number of objective gradient evaluations = 1 Number of equality constraint evaluations = 0 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 = 0 Total seconds in IPOPT = 1.683 EXIT: Invalid number in NLP function or derivative detected. initializing optimizer... applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial value of t applying constraint: bounds on u applying constraint: bounds on t applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 39 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 19 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.6067015e+00 4.31e-01 7.40e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 8.8782376e-01 1.86e-09 9.30e-02 -0.7 3.24e-01 -2.0 9.76e-01 1.00e+00f 1 2 2.3724406e-01 1.21e-09 1.57e-01 -1.9 9.69e-01 -1.6 8.99e-01 1.00e+00f 1 3 1.0323895e-01 1.32e-10 2.92e-02 -2.5 4.00e-01 -1.1 9.87e-01 1.00e+00f 1 4 3.1609513e-02 1.71e-11 2.13e-02 -3.5 6.54e-01 -1.6 1.00e+00 1.00e+00f 1 5 7.0096204e-03 1.46e-11 1.23e-02 -4.0 6.44e-01 -2.1 1.00e+00 1.00e+00f 1 6 1.3701368e-03 6.65e-12 4.23e-03 -4.0 4.34e-01 -2.6 1.00e+00 1.00e+00f 1 7 5.5058401e-04 2.06e-12 7.41e-04 -4.0 2.06e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.8769219e-04 2.00e-13 7.32e-04 -4.0 1.73e-01 -3.5 1.00e+00 1.00e+00f 1 9 4.2863997e-04 3.59e-14 8.93e-05 -4.0 2.34e-02 -4.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 4.7510193e-04 1.17e-14 2.26e-04 -4.0 3.51e-02 -4.5 1.00e+00 1.00e+00f 1 11 2.8924533e-04 6.88e-15 5.53e-04 -4.1 1.03e-01 -5.0 1.00e+00 1.00e+00f 1 12 4.5928598e-04 4.55e-15 4.17e-04 -4.0 2.27e-01 -5.4 1.00e+00 5.00e-01f 2 13 2.6962523e-04 3.11e-15 5.93e-04 -4.1 1.13e-01 -5.9 1.00e+00 1.00e+00f 1 14 4.6502301e-04 2.11e-15 5.00e-04 -4.0 2.69e-01 -6.4 1.00e+00 5.00e-01f 2 15 2.6185900e-04 1.55e-15 6.52e-04 -4.1 1.26e-01 -6.9 1.00e+00 1.00e+00f 1 16 4.6519393e-04 1.33e-15 5.31e-04 -4.0 2.86e-01 -7.4 1.00e+00 5.00e-01f 2 17 2.5941890e-04 1.21e-15 6.75e-04 -4.1 1.30e-01 -7.8 1.00e+00 1.00e+00f 1 18 4.6502207e-04 1.11e-15 5.45e-04 -4.0 2.94e-01 -8.3 1.00e+00 5.00e-01f 2 19 2.5862210e-04 1.09e-15 6.91e-04 -4.1 1.34e-01 -8.8 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 4.6456060e-04 8.88e-16 5.51e-04 -4.0 2.99e-01 -9.3 1.00e+00 5.00e-01f 2 21 2.5837646e-04 9.16e-16 7.03e-04 -4.1 1.36e-01 -9.7 1.00e+00 1.00e+00f 1 22 4.6404802e-04 8.88e-16 5.56e-04 -4.0 3.02e-01 -10.2 1.00e+00 5.00e-01f 2 23 2.5830378e-04 8.74e-16 7.15e-04 -4.1 1.38e-01 -10.7 1.00e+00 1.00e+00f 1 24 4.6353148e-04 7.77e-16 5.59e-04 -4.0 3.05e-01 -11.2 1.00e+00 5.00e-01f 2 25 2.5828523e-04 8.19e-16 7.25e-04 -4.1 1.40e-01 -11.6 1.00e+00 1.00e+00f 1 26 4.6303001e-04 6.66e-16 5.63e-04 -4.0 3.08e-01 -12.1 1.00e+00 5.00e-01f 2 27 2.5828270e-04 8.33e-16 7.35e-04 -4.1 1.42e-01 -12.6 1.00e+00 1.00e+00f 1 28 3.1017436e-05 8.72e-15 9.18e-04 -6.2 3.89e-01 -13.1 9.67e-01 1.00e+00f 1 29 1.7282942e-03 2.22e-15 7.83e-03 -4.0 2.04e+00 -13.6 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.4784921e-05 2.26e-14 2.96e-03 -4.1 1.04e+00 -14.0 1.00e+00 1.00e+00f 1 31 1.5696214e-03 2.89e-14 8.16e-03 -4.0 1.00e+00 -14.5 1.00e+00 1.00e+00f 1 32 1.0410389e-05 1.73e-14 2.35e-03 -4.2 1.11e+00 -15.0 1.00e+00 1.00e+00f 1 33 4.6208637e-04 1.55e-15 2.79e-03 -4.0 1.40e+00 -15.5 1.00e+00 5.00e-01f 2 34 2.2060216e-04 2.78e-15 2.46e-04 -4.2 3.77e-01 -15.9 1.00e+00 5.00e-01f 2 35 2.0318985e-05 4.33e-15 8.29e-04 -6.4 4.22e-01 -16.4 9.63e-01 1.00e+00f 1 36 8.1773076e-06 3.16e-15 1.02e-04 -6.4 1.07e-01 -16.9 1.00e+00 1.00e+00f 1 37 1.4160022e-03 1.33e-15 5.00e-03 -4.0 9.84e+00 -17.4 1.00e+00 1.21e-01f 4 38 1.0878262e-04 5.05e-14 3.40e-03 -4.0 7.60e-01 -17.8 1.00e+00 1.00e+00f 1 39 7.3482038e-04 3.20e-14 3.45e-03 -4.0 5.21e-01 -18.3 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 3.7997674e-04 5.88e-15 4.46e-04 -4.0 4.19e-01 -18.8 1.00e+00 5.00e-01f 2 41 3.5419759e-05 5.55e-15 1.36e-03 -6.0 5.16e-01 -19.3 9.54e-01 1.00e+00f 1 42 1.4588378e-05 5.11e-15 1.64e-04 -6.0 1.29e-01 -19.8 1.00e+00 1.00e+00f 1 43 3.9769398e-06 8.33e-16 1.04e-04 -6.0 1.47e-01 -20.0 1.00e+00 1.00e+00f 1 44 9.6910464e-04 5.41e-16 2.70e-03 -4.0 1.61e+01 -20.0 1.00e+00 7.46e-02f 4 45 1.7737358e-04 4.51e-14 2.71e-03 -4.0 5.42e-01 -20.0 1.00e+00 1.00e+00f 1 46 6.4837366e-04 1.98e-14 2.59e-03 -4.0 3.93e-01 -20.0 1.00e+00 1.00e+00f 1 47 3.8956687e-04 3.55e-15 4.12e-04 -4.0 3.44e-01 -20.0 1.00e+00 5.00e-01f 2 48 3.5083601e-05 5.66e-15 1.49e-03 -6.1 5.60e-01 -20.0 9.48e-01 1.00e+00f 1 49 1.4631252e-05 4.66e-15 1.72e-04 -6.1 1.35e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 3.8691076e-06 7.77e-16 1.12e-04 -6.1 1.61e-01 -20.0 1.00e+00 1.00e+00f 1 51 7.9187601e-04 4.37e-16 1.77e-03 -4.0 1.73e+01 -20.0 1.00e+00 6.92e-02f 4 52 2.1213302e-04 3.91e-14 2.32e-03 -4.0 4.47e-01 -20.0 1.00e+00 1.00e+00f 1 53 5.8683893e-04 1.38e-14 2.12e-03 -4.0 3.27e-01 -20.0 1.00e+00 1.00e+00f 1 54 3.8563798e-04 2.22e-15 3.85e-04 -4.0 2.99e-01 -20.0 1.00e+00 5.00e-01f 2 55 3.4059073e-05 5.55e-15 1.57e-03 -6.1 5.94e-01 -20.0 9.44e-01 1.00e+00f 1 56 1.4323675e-05 4.22e-15 1.77e-04 -6.1 1.41e-01 -20.0 1.00e+00 1.00e+00f 1 57 3.7335325e-06 7.22e-16 1.18e-04 -6.1 1.71e-01 -20.0 1.00e+00 1.00e+00f 1 58 6.6103553e-04 4.79e-16 9.30e-04 -4.0 1.87e+01 -20.0 1.00e+00 6.39e-02f 4 59 2.4654418e-04 3.46e-14 1.90e-03 -4.1 3.55e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 5.2999817e-04 9.33e-15 1.62e-03 -4.1 2.56e-01 -20.0 1.00e+00 1.00e+00f 1 61 3.8189478e-04 1.33e-15 3.42e-04 -4.1 2.47e-01 -20.0 1.00e+00 5.00e-01f 2 62 3.2983504e-05 5.22e-15 1.64e-03 -6.1 6.27e-01 -20.0 9.40e-01 1.00e+00f 1 63 1.4017078e-05 3.89e-15 1.81e-04 -6.1 1.45e-01 -20.0 1.00e+00 1.00e+00f 1 64 3.6191624e-06 5.60e-16 1.22e-04 -6.1 1.80e-01 -20.0 1.00e+00 1.00e+00f 1 65 5.6487402e-04 4.30e-16 2.10e-04 -4.0 2.00e+01 -20.0 1.00e+00 5.96e-02f 4 66 2.7697124e-04 3.11e-14 1.49e-03 -4.1 2.73e-01 -20.0 1.00e+00 1.00e+00f 1 67 4.8140815e-04 6.00e-15 1.17e-03 -4.1 1.89e-01 -20.0 1.00e+00 1.00e+00f 1 68 3.7745602e-04 6.66e-16 2.92e-04 -4.1 1.94e-01 -20.0 1.00e+00 5.00e-01f 2 69 3.1898158e-05 5.00e-15 1.70e-03 -6.1 6.56e-01 -20.0 9.37e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 1.3699370e-05 3.55e-15 1.83e-04 -6.1 1.49e-01 -20.0 1.00e+00 1.00e+00f 1 71 3.5167389e-06 5.64e-16 1.26e-04 -6.1 1.88e-01 -20.0 1.00e+00 1.00e+00f 1 72 4.9298643e-04 4.44e-16 4.13e-04 -4.0 2.13e+01 -20.0 1.00e+00 5.59e-02f 4 73 3.0304035e-04 2.84e-14 1.11e-03 -4.1 1.99e-01 -20.0 1.00e+00 1.00e+00f 1 74 4.4134597e-04 3.55e-15 7.64e-04 -4.1 1.26e-01 -20.0 1.00e+00 1.00e+00f 1 75 2.3889006e-05 4.33e-15 1.90e-03 -6.1 8.00e-01 -20.0 9.21e-01 1.00e+00f 1 76 1.2274223e-05 3.55e-15 1.31e-04 -6.1 1.16e-01 -20.0 1.00e+00 1.00e+00f 1 77 3.0642382e-06 4.44e-16 1.22e-04 -6.1 1.95e-01 -20.0 1.00e+00 1.00e+00f 1 78 4.1720873e-04 4.44e-16 1.28e-03 -4.0 2.44e+01 -20.0 1.00e+00 4.87e-02f 4 79 3.3821792e-04 2.58e-14 5.73e-04 -4.1 1.01e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 3.2001781e-05 5.11e-15 1.74e-03 -6.1 6.75e-01 -20.0 9.34e-01 1.00e+00f 1 81 1.3160068e-05 3.00e-15 2.07e-04 -6.1 1.71e-01 -20.0 1.00e+00 1.00e+00f 1 82 3.4654418e-06 5.00e-16 1.33e-04 -6.1 2.02e-01 -20.0 1.00e+00 1.00e+00f 1 83 3.6570196e-06 2.22e-16 7.09e-06 -6.1 1.26e-02 -20.0 1.00e+00 1.00e+00h 1 84 2.2940081e-07 4.21e-17 5.74e-05 -9.0 2.64e-01 -20.0 9.74e-01 1.00e+00f 1 85 2.0743167e-03 5.27e-16 1.05e-02 -4.0 1.11e+02 -20.0 1.00e+00 2.18e-02f 3 86 9.4320342e-05 4.35e-14 6.75e-03 -4.0 1.46e+00 -20.0 1.00e+00 1.00e+00f 1 87 7.4651436e-04 2.49e-14 5.21e-03 -4.0 7.90e-01 -20.0 1.00e+00 1.00e+00f 1 88 4.2165299e-04 4.88e-15 8.11e-04 -4.0 5.65e-01 -20.0 1.00e+00 5.00e-01f 2 89 4.1979052e-05 4.11e-15 2.17e-03 -5.9 7.34e-01 -20.0 9.27e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 1.7221281e-05 3.55e-15 2.68e-04 -5.9 1.94e-01 -20.0 1.00e+00 1.00e+00f 1 91 4.8351846e-06 6.66e-16 1.69e-04 -5.9 2.18e-01 -20.0 1.00e+00 1.00e+00f 1 92 5.3819485e-06 2.57e-16 1.49e-05 -5.9 2.19e-02 -20.0 1.00e+00 1.00e+00h 1 93 5.0467503e-06 8.59e-17 1.35e-06 -5.9 2.02e-03 -20.0 1.00e+00 1.00e+00h 1 94 3.5837844e-07 5.77e-17 7.88e-05 -8.9 2.94e-01 -20.0 9.71e-01 1.00e+00f 1 95 1.4489291e-07 4.08e-17 8.17e-06 -8.9 6.43e-02 -20.0 1.00e+00 1.00e+00f 1 96 1.3663730e-03 8.53e-16 3.66e-03 -4.0 3.45e+02 -20.0 1.00e+00 7.05e-03f 3 97 5.1915458e-04 5.84e-14 4.84e-03 -3.8 6.18e-01 -20.0 1.00e+00 1.00e+00f 1 98 8.3724759e-04 1.47e-14 1.54e-03 -3.8 1.85e-01 -20.0 1.00e+00 1.00e+00f 1 99 4.8719639e-05 7.77e-15 3.77e-03 -5.7 1.10e+00 -20.0 8.86e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.5767525e-05 5.88e-15 2.63e-04 -5.7 1.61e-01 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.5767524586848213e-05 2.5767524586848213e-05 Dual infeasibility......: 2.6281394806910584e-04 2.6281394806910584e-04 Constraint violation....: 5.8841820305133297e-15 5.8841820305133297e-15 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 7.7467246334299173e-06 7.7467246334299173e-06 Overall NLP error.......: 2.6281394806910584e-04 2.6281394806910584e-04 Number of objective function evaluations = 170 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 170 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 1 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 3.270 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 2.3452914e+00 2.47e+00 1.89e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8610294e+00 1.69e-02 1.04e+00 -1.1 1.88e+00 -2.0 9.99e-01 1.00e+00h 1 2 2.2999907e+00 3.19e-02 1.57e-01 -1.8 4.95e-01 -1.6 9.85e-01 1.00e+00h 1 3 2.1460078e+00 6.29e-03 4.34e-01 -2.9 1.41e-01 -1.1 9.99e-01 1.00e+00h 1 4 2.0991348e+00 1.72e-03 1.24e-01 -4.0 6.65e-02 -1.6 1.00e+00 7.31e-01h 1 5 2.0918286e+00 8.45e-04 1.58e+00 -3.8 1.22e+00 -2.1 1.00e+00 4.21e-01h 1 6 2.0909702e+00 3.46e-04 1.48e-01 -4.0 1.04e+00 -2.6 1.00e+00 1.00e+00h 1 7 2.0909591e+00 7.34e-06 3.23e-02 -4.0 7.33e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0909917e+00 7.81e-07 2.06e-05 -4.0 7.04e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909708e+00 3.95e-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 2.0909089e+00 1.47e-07 2.05e-05 -4.0 6.31e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907264e+00 1.29e-06 4.96e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0902063e+00 1.09e-05 4.20e-04 -4.0 5.44e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888618e+00 8.20e-05 3.16e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861712e+00 4.40e-04 1.74e-02 -4.0 3.47e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830970e+00 9.15e-04 4.71e-02 -4.0 5.32e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828616e+00 9.36e-04 2.34e-02 -4.0 5.42e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823478e+00 4.01e-04 1.01e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820407e+00 9.11e-05 1.86e-02 -4.0 1.46e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.71e-04 8.74e-03 -4.0 9.96e+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 8.52e-04 -4.0 3.12e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.35e-07 1.40e-05 -4.0 4.47e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.85e-10 3.29e-08 -4.0 2.46e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.51e-13 1.23e-11 -4.0 4.61e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907191066e+00 2.0819382907191066e+00 Dual infeasibility......: 1.2255839274217042e-11 1.2255839274217042e-11 Constraint violation....: 2.5135449277513544e-13 2.5135449277513544e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000059e-04 1.0000000000000059e-04 Overall NLP error.......: 1.2255839274217042e-11 1.2255839274217042e-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 = 25.349 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1528 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 77 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.9546997e+00 2.53e+00 1.46e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8044010e+00 2.50e-02 4.50e-01 -1.1 1.70e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.2674591e+00 2.34e-02 8.74e-02 -1.8 3.21e-01 -1.6 9.56e-01 1.00e+00h 1 3 2.1504767e+00 4.92e-03 1.90e-01 -2.9 1.30e-01 -1.1 9.95e-01 8.29e-01h 1 4 2.1045802e+00 1.45e-03 3.31e-01 -3.6 1.71e-01 -1.6 1.00e+00 8.90e-01h 1 5 2.0935546e+00 7.41e-04 4.07e-01 -4.0 3.71e-01 -2.1 1.00e+00 4.82e-01h 1 6 2.0912090e+00 3.68e-04 4.16e-01 -4.0 7.17e-01 -2.6 1.00e+00 4.73e-01h 1 7 2.0909572e+00 5.42e-05 1.30e-01 -4.0 5.90e-01 -3.1 1.00e+00 1.00e+00h 1 8 2.0909181e+00 1.50e-06 1.49e-03 -4.0 7.76e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908990e+00 3.97e-07 5.25e-05 -4.0 2.12e-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 2.0908521e+00 1.18e-07 2.42e-04 -4.0 5.36e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907507e+00 5.77e-07 9.34e-04 -4.0 1.33e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904718e+00 6.07e-06 8.11e-04 -4.0 4.26e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0903517e+00 7.20e-07 5.25e-04 -4.0 1.51e+00 -5.0 1.00e+00 1.00e+00h 1 14 2.0902174e+00 1.26e-06 1.75e-02 -4.0 6.14e+00 -5.5 1.00e+00 2.18e-01h 2 15 2.0890993e+00 5.84e-05 2.23e-03 -4.0 1.34e+01 -6.0 1.00e+00 1.00e+00h 1 16 2.0875210e+00 1.46e-04 5.70e-02 -4.0 3.75e+01 -6.4 1.00e+00 4.97e-01h 1 17 2.0837651e+00 1.63e-03 5.76e-02 -4.0 6.70e+01 -6.9 1.00e+00 1.00e+00h 1 18 2.0827703e+00 5.55e-04 1.71e-02 -4.0 1.32e+01 -6.5 1.00e+00 6.28e-01h 1 19 2.0828078e+00 1.51e-04 9.13e-03 -4.0 2.88e+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 2.0825113e+00 2.96e-04 3.18e-03 -4.0 7.43e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0821282e+00 8.34e-04 8.79e-03 -4.0 1.73e+02 -7.9 6.51e-01 1.00e+00h 1 22 2.0821705e+00 8.74e-04 1.48e-02 -4.0 6.25e+05 -7.5 4.90e-06 2.09e-05f 5 23 2.0820282e+00 6.50e-04 7.06e-01 -4.1 6.58e+00 -5.3 1.00e+00 5.01e-01H 1 24 2.0820074e+00 4.54e-04 3.38e-01 -4.0 6.78e+00 -5.7 4.28e-01 3.66e-01f 2 25 2.0820517e+00 2.35e-05 1.37e-03 -4.0 2.43e+00 -6.2 1.00e+00 1.00e+00h 1 26 2.0820706e+00 1.33e-04 2.18e-04 -4.0 4.90e+00 -6.7 1.00e+00 1.00e+00h 1 27 2.0818015e+00 3.13e-04 6.87e-04 -4.1 1.60e+01 -7.2 1.00e+00 1.00e+00h 1 28 2.0819548e+00 6.17e-04 2.65e-03 -4.0 2.68e+01 -7.7 1.00e+00 1.00e+00h 1 29 2.0816264e+00 1.17e-03 2.93e-03 -4.1 4.59e+01 -8.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0818460e+00 1.20e-03 2.21e-03 -4.0 5.08e+01 -8.6 1.00e+00 1.00e+00h 1 31 2.0815807e+00 5.96e-04 4.10e-04 -4.1 2.59e+01 -9.1 1.00e+00 1.00e+00h 1 32 2.0818394e+00 1.87e-04 3.94e-05 -4.0 7.76e+00 -9.6 1.00e+00 1.00e+00h 1 33 2.0818383e+00 2.47e-08 8.53e-08 -4.0 3.57e-01 -10.0 1.00e+00 1.00e+00h 1 34 2.0818383e+00 1.01e-12 4.14e-11 -4.0 6.15e-03 -10.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 34 (scaled) (unscaled) Objective...............: 2.0818383021882392e+00 2.0818383021882392e+00 Dual infeasibility......: 4.1425076341200170e-11 4.1425076341200170e-11 Constraint violation....: 1.0089706847793423e-12 1.0089706847793423e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000358381e-04 1.0000000000358381e-04 Overall NLP error.......: 4.1425076341200170e-11 4.1425076341200170e-11 Number of objective function evaluations = 45 Number of objective gradient evaluations = 35 Number of equality constraint evaluations = 45 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 35 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 34 Total seconds in IPOPT = 21.846 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 196 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 28 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.7221349e+00 1.00e+00 1.05e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.4648680e+00 4.27e-01 1.45e+00 -0.9 8.93e-01 0.0 9.62e-01 6.38e-01h 1 2 1.3613860e+00 1.02e-01 1.23e+00 -1.4 3.87e-01 -0.5 9.40e-01 1.00e+00h 1 3 1.3042316e+00 5.03e-02 2.61e-01 -0.9 5.93e-01 -1.0 8.58e-01 5.07e-01h 1 4 1.1953271e+00 3.87e-02 6.39e-01 -3.1 8.50e-01 -1.4 8.43e-01 1.00e+00h 1 5 1.4653254e+00 4.72e-02 1.60e+00 -1.4 2.10e+00 -1.9 9.01e-01 7.55e-01h 1 6 1.9174546e+00 4.04e-02 3.54e+00 -2.0 9.41e-01 -1.5 7.90e-01 1.00e+00H 1 7 1.8090467e+00 1.37e-01 8.36e+00 -0.7 8.72e+00 -1.1 1.00e+00 1.04e-01f 1 8 1.9553061e+00 3.56e-02 7.06e+00 -0.9 3.30e-01 -1.5 1.00e+00 1.00e+00f 1 9 1.4138839e+00 1.87e-03 1.04e+01 -1.6 1.03e+00 -2.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.1580231e+00 1.70e-04 9.22e+00 -3.1 5.29e+00 - 9.49e-01 9.02e-01f 1 11 1.1270473e+00 1.66e-04 8.99e+00 -2.5 1.62e+01 - 1.00e+00 2.46e-02f 1 12 1.0958042e+00 1.28e-08 2.81e-01 -3.5 4.37e+00 - 1.00e+00 1.00e+00f 1 13 1.0910199e+00 4.97e-10 1.96e-02 -3.9 1.13e+00 - 1.00e+00 9.61e-01f 1 14 1.0908981e+00 4.06e-14 4.30e-04 -4.0 1.93e-01 - 1.00e+00 1.00e+00f 1 15 1.0908997e+00 3.24e-19 1.44e-07 -4.0 3.60e-03 - 1.00e+00 1.00e+00h 1 16 1.0907198e+00 7.52e-27 3.66e-09 -4.1 2.00e-05 - 1.00e+00 1.00e+00f 1 17 1.0908997e+00 9.25e-27 3.66e-09 -4.0 2.00e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 17 (scaled) (unscaled) Objective...............: 1.0908997336734791e+00 1.0908997336734791e+00 Dual infeasibility......: 3.6608971680941044e-09 3.6608971680941044e-09 Constraint violation....: 9.2487777034824951e-27 9.2487777034824951e-27 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000081632608128e-04 1.0000081632608128e-04 Overall NLP error.......: 3.6608971680941044e-09 3.6608971680941044e-09 Number of objective function evaluations = 19 Number of objective gradient evaluations = 18 Number of equality constraint evaluations = 19 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 18 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 17 Total seconds in IPOPT = 18.017 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.7549862e+00 2.76e+00 5.71e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.3330178e+00 9.55e-01 1.94e+00 -0.8 2.51e+00 0.0 9.39e-01 6.54e-01f 1 2 2.7607468e+00 4.20e-02 1.40e+00 -0.9 7.88e-01 -0.5 9.45e-01 1.00e+00f 1 3 2.4905010e+00 2.68e-02 6.45e-01 -1.1 2.18e-01 -0.1 9.49e-01 7.36e-01h 1 4 2.3669915e+00 1.66e-03 2.04e-01 -1.6 7.66e-02 -0.5 9.63e-01 1.00e+00h 1 5 2.1146425e+00 2.53e-03 6.44e-02 -2.5 8.01e-02 -1.0 9.97e-01 9.42e-01f 1 6 2.0930928e+00 8.44e-05 4.11e-03 -3.5 1.29e-02 -1.5 9.85e-01 1.00e+00h 1 7 2.0909673e+00 8.51e-07 4.44e-04 -4.0 3.26e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909686e+00 6.81e-09 2.71e-05 -4.0 7.40e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909652e+00 3.46e-10 2.66e-05 -4.0 2.18e-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 2.0909567e+00 1.98e-09 2.61e-05 -4.0 6.43e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909338e+00 1.49e-08 4.02e-05 -4.0 1.83e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908858e+00 9.00e-08 1.94e-04 -4.0 4.54e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0908071e+00 3.33e-07 1.05e-03 -4.0 1.01e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0906065e+00 3.04e-06 1.35e-03 -4.0 3.04e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0900264e+00 2.76e-05 6.63e-04 -4.0 9.12e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0897267e+00 4.74e-06 1.98e-03 -4.0 3.46e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0889578e+00 2.76e-05 7.94e-03 -4.0 1.09e+01 -5.8 1.00e+00 7.78e-01h 1 18 2.0873477e+00 2.98e-04 3.31e-02 -4.0 2.85e+01 -6.3 1.00e+00 1.00e+00f 1 19 2.0861362e+00 2.68e-04 1.35e-01 -4.0 3.21e+01 -5.9 1.00e+00 2.65e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0847088e+00 1.77e-04 2.28e-02 -4.0 2.36e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0827435e+00 1.91e-04 2.47e-02 -4.0 3.40e+01 -6.8 1.00e+00 9.87e-01h 1 22 2.0831261e+00 1.29e-03 3.77e-02 -4.0 5.45e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0821849e+00 1.11e-03 7.27e-03 -4.1 1.33e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.1052511e+00 5.15e-06 9.19e-01 -4.0 5.05e+02 -8.3 1.03e-01 1.00e+00H 1 25 2.0872736e+00 2.26e-03 6.91e+00 -4.2 1.32e+01 -4.2 1.34e-02 1.28e-01f 1 26 2.0849856e+00 1.59e-03 4.88e+00 -4.2 1.15e+00 -2.9 1.00e+00 2.98e-01f 1 27 2.0833148e+00 1.05e-03 3.08e+00 -4.2 4.00e+00 -3.4 5.67e-01 3.75e-01f 1 28 2.0831118e+00 5.92e-04 2.22e+00 -4.2 4.61e-01 -3.9 1.00e+00 4.35e-01f 1 29 2.0829409e+00 2.92e-05 5.87e-04 -4.2 2.16e-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 30 2.0832102e+00 2.14e-05 2.36e-04 -4.0 4.28e-01 -4.8 1.00e+00 1.00e+00h 1 31 2.0829470e+00 3.40e-05 8.28e-05 -4.1 1.30e+00 -5.3 1.00e+00 1.00e+00h 1 32 2.0819106e+00 5.31e-04 2.82e-03 -6.1 5.38e+00 -5.8 9.93e-01 1.00e+00h 1 33 2.0819801e+00 2.24e-04 2.26e-02 -4.4 8.75e+00 -6.2 1.00e+00 8.31e-01h 1 34 2.0826560e+00 1.46e-03 3.42e-02 -4.0 2.15e+01 -6.7 5.41e-01 1.00e+00f 1 35 2.0818235e+00 1.64e-03 1.06e-02 -4.2 4.73e+01 -7.2 1.00e+00 1.00e+00h 1 36 2.0818578e+00 3.39e-03 1.18e-02 -4.0 1.00e+02 -7.7 9.24e-01 1.00e+00h 1 37 2.0817111e+00 6.25e-04 9.95e-03 -4.1 1.38e+01 -6.3 1.00e+00 1.00e+00h 1 38 2.1204864e+00 8.84e-01 7.77e-01 -2.1 8.25e+02 -6.8 5.13e-02 3.31e-01f 1 39 2.0890911e+00 9.62e-01 3.41e-01 -3.0 3.10e+02 -7.3 2.28e-01 5.37e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.8542593e+00 6.06e-01 3.03e+00 -3.0 1.81e+02 -6.0 2.42e-01 3.69e-01h 1 41 2.3343218e+00 3.48e-01 4.53e+00 -3.0 8.72e-01 -0.1 2.25e-03 4.26e-01f 1 42 2.2078821e+00 2.81e-01 4.99e+00 -3.0 1.65e+00 -0.6 3.98e-01 1.92e-01h 1 43 2.1131563e+00 1.77e-01 3.64e+00 -3.0 2.49e+00 -1.1 1.00e+00 3.72e-01h 1 44 2.1166467e+00 1.89e-03 9.03e-02 -3.0 4.18e-01 -1.6 1.00e+00 1.00e+00h 1 45 2.1057696e+00 2.76e-03 5.86e-01 -3.0 6.62e-01 -2.0 1.00e+00 7.89e-01h 1 46 2.1033550e+00 7.19e-04 3.09e-01 -3.0 8.46e-01 -2.5 1.00e+00 8.28e-01f 1 47 2.1014141e+00 1.81e-04 1.17e-01 -3.0 9.35e-01 -3.0 1.00e+00 7.91e-01f 1 48 2.1026557e+00 6.04e-05 1.12e-03 -3.0 2.90e-01 -3.5 1.00e+00 1.00e+00f 1 49 2.0949756e+00 1.72e-04 1.97e-02 -4.5 2.18e-01 -3.9 9.66e-01 9.05e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0937840e+00 7.83e-05 1.33e-03 -4.5 6.62e-01 -4.4 1.00e+00 1.00e+00h 1 51 2.0935240e+00 1.33e-06 1.88e-04 -4.5 1.97e+00 -4.9 1.00e+00 1.00e+00h 1 52 2.0926177e+00 1.23e-04 2.37e-03 -6.8 5.68e+00 -5.4 9.32e-01 1.00e+00h 1 53 2.0909385e+00 7.66e-06 2.74e-03 -6.8 1.60e+01 -5.8 1.00e+00 1.00e+00h 1 54 2.0872841e+00 4.36e-07 4.00e-02 -6.8 4.02e+01 -6.3 7.45e-01 1.00e+00h 1 55 2.0892898e+00 1.77e-06 2.40e-01 -6.8 1.05e+02 -6.8 1.00e+00 4.47e-01h 2 56 2.0857554e+00 1.58e-06 1.94e-01 -6.8 3.87e+00 -4.6 2.66e-01 3.36e-01h 1 57 2.0837956e+00 6.69e-07 7.83e-02 -6.8 4.52e-02 -2.3 1.00e+00 7.71e-01h 1 58 2.0837485e+00 3.91e-07 6.78e-01 -6.8 3.03e-02 -2.8 1.00e+00 3.53e-01h 1 59 2.0837453e+00 1.02e-09 3.19e-05 -6.8 2.77e-02 -3.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0847687e+00 8.20e-06 3.48e-04 -4.0 7.16e-02 -3.8 1.00e+00 1.00e+00f 1 61 2.0845181e+00 5.05e-06 1.27e-05 -4.1 2.23e-01 -4.2 1.00e+00 1.00e+00h 1 62 2.0837201e+00 6.32e-05 5.73e-04 -6.1 7.44e-01 -4.7 9.82e-01 9.97e-01h 1 63 2.0835709e+00 4.64e-06 5.76e-05 -6.1 2.20e+00 -5.2 1.00e+00 1.00e+00h 1 64 2.0843259e+00 6.06e-04 1.87e-03 -4.0 5.47e+00 -5.7 1.00e+00 1.00e+00f 1 65 2.0833351e+00 2.98e-04 2.33e-03 -4.1 1.43e+01 -6.2 1.00e+00 1.00e+00h 1 66 2.0822623e+00 1.93e-04 1.07e-02 -4.1 2.71e+01 -6.6 1.00e+00 1.00e+00h 1 67 2.0821062e+00 5.13e-04 7.76e-03 -4.0 3.35e+01 -7.1 1.00e+00 1.00e+00h 1 68 2.0816431e+00 1.87e-03 4.89e-03 -4.1 7.59e+01 -7.6 8.51e-01 1.00e+00h 1 69 2.0833643e+00 1.46e-05 3.11e-02 -4.0 3.05e+01 -6.3 1.00e+00 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0825819e+00 8.60e-07 3.80e-03 -4.0 5.96e-02 -1.3 1.00e+00 1.00e+00h 1 71 2.0822968e+00 4.59e-08 7.97e-04 -4.0 5.13e-02 -1.8 1.00e+00 1.00e+00h 1 72 2.0822501e+00 5.93e-08 1.51e-04 -4.0 1.22e-02 -2.3 1.00e+00 1.00e+00h 1 73 2.0822476e+00 6.56e-09 7.10e-06 -4.0 3.94e-03 -2.7 1.00e+00 1.00e+00h 1 74 2.0822470e+00 1.18e-09 7.13e-06 -4.0 1.19e-02 -3.2 1.00e+00 1.00e+00h 1 75 2.0822449e+00 2.06e-09 7.12e-06 -4.0 3.56e-02 -3.7 1.00e+00 1.00e+00h 1 76 2.0822387e+00 1.86e-08 7.08e-06 -4.0 1.06e-01 -4.2 1.00e+00 1.00e+00h 1 77 2.0822200e+00 1.77e-07 7.00e-06 -4.0 3.15e-01 -4.7 1.00e+00 1.00e+00h 1 78 2.0821642e+00 1.91e-06 4.03e-05 -4.0 9.29e-01 -5.1 1.00e+00 1.00e+00h 1 79 2.0819837e+00 3.29e-05 3.31e-04 -4.0 3.21e+00 -5.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.1099834e+00 6.09e-07 3.70e-01 -4.0 1.97e+01 -6.1 1.94e-01 1.00e+00H 1 81 2.0943090e+00 2.27e-06 1.96e+00 -4.1 1.06e-01 -0.2 4.04e-01 1.00e+00f 1 82 2.0857289e+00 8.03e-07 1.86e-01 -4.1 1.40e-01 -0.7 5.41e-01 1.00e+00f 1 83 2.0840251e+00 1.66e-07 2.46e-02 -4.1 4.66e-02 -0.3 1.00e+00 1.00e+00f 1 84 2.0823805e+00 1.04e-07 1.39e-02 -4.1 8.08e-02 -0.8 1.00e+00 1.00e+00f 1 85 2.0814290e+00 7.84e-07 1.14e-03 -4.1 1.03e-01 -1.2 1.00e+00 1.00e+00f 1 86 2.0816138e+00 3.80e-07 1.52e-01 -4.0 5.31e-02 -1.7 1.00e+00 5.00e-01h 2 87 2.0815406e+00 6.30e-08 8.73e-05 -4.1 1.65e-02 -2.2 1.00e+00 1.00e+00h 1 88 2.0816059e+00 1.42e-07 1.02e-04 -4.0 7.20e-03 -2.7 1.00e+00 1.00e+00h 1 89 2.0815031e+00 2.58e-07 1.08e-04 -4.1 1.15e-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 90 2.0816137e+00 1.41e-06 6.96e-05 -4.0 6.20e-02 -3.6 1.00e+00 1.00e+00h 1 91 2.0815151e+00 2.13e-06 1.63e-04 -4.1 9.49e-02 -4.1 1.00e+00 1.00e+00h 1 92 2.0810107e+00 5.00e-05 7.79e-02 -6.1 5.37e-01 -4.6 7.93e-01 1.00e+00h 1 93 2.0818311e+00 1.16e-04 2.31e-03 -4.0 9.70e-01 -5.1 1.00e+00 1.00e+00h 1 94 2.0816425e+00 3.42e-05 8.75e-04 -4.1 1.18e+00 -5.5 1.00e+00 1.00e+00h 1 95 2.0816991e+00 1.50e-05 2.52e-04 -4.1 4.06e+00 -6.0 1.00e+00 1.00e+00h 1 96 2.0812740e+00 2.60e-04 1.73e-01 -6.1 1.21e+01 -6.5 8.66e-01 3.59e-01h 1 97 2.0806991e+00 3.82e-04 2.04e-03 -6.1 7.24e+00 -7.0 1.00e+00 8.75e-01h 1 98 2.0826432e+00 8.18e-03 5.96e-02 -4.0 7.71e+01 -7.4 5.23e-01 1.00e+00f 1 99 2.0819040e+00 4.67e-03 5.50e-02 -4.3 5.44e+00 -5.2 4.47e-01 4.58e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0817250e+00 4.68e-03 5.36e-02 -4.3 2.41e+01 -5.7 2.55e-03 7.16e-03h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0817249837658638e+00 2.0817249837658638e+00 Dual infeasibility......: 5.3555845096953124e-02 5.3555845096953124e-02 Constraint violation....: 4.6774178427506641e-03 4.6774178427506641e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0287811777622870e-04 1.0287811777622870e-04 Overall NLP error.......: 5.3555845096953124e-02 5.3555845096953124e-02 Number of objective function evaluations = 106 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 106 Number of inequality constraint evaluations = 106 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 25.777 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 1.1003703e+01 2.52e+00 2.85e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.5431382e+00 1.41e-01 3.40e+00 -1.0 1.67e+00 0.0 7.81e-01 9.47e-01f 1 2 2.8943692e+00 6.28e-02 3.95e+00 -0.6 3.23e-01 0.4 8.71e-01 5.47e-01h 1 3 2.5211768e+00 1.32e-02 2.50e+00 -1.0 3.74e-01 -0.1 8.70e-01 1.00e+00f 1 4 2.3500295e+00 7.76e-03 9.78e-01 -1.7 1.09e-01 0.4 9.80e-01 5.92e-01h 1 5 2.1646776e+00 2.57e-03 2.28e-01 -2.7 7.50e-02 -0.1 1.00e+00 8.75e-01h 1 6 2.0950781e+00 6.78e-04 8.58e-02 -4.0 5.49e-02 -0.6 1.00e+00 8.73e-01h 1 7 2.0908898e+00 3.50e-05 3.14e-02 -4.0 2.60e-02 -1.1 1.00e+00 1.00e+00h 1 8 2.0908916e+00 1.70e-08 3.64e-04 -4.0 1.08e-03 -1.5 1.00e+00 1.00e+00h 1 9 2.0908912e+00 4.69e-10 1.96e-05 -4.0 2.01e-03 -2.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908907e+00 1.42e-11 1.89e-05 -4.0 5.82e-03 -2.5 1.00e+00 1.00e+00h 1 11 2.0908892e+00 1.09e-10 1.88e-05 -4.0 1.73e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0908848e+00 9.24e-10 1.84e-05 -4.0 5.10e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908727e+00 7.33e-09 1.76e-05 -4.0 1.46e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0908420e+00 5.08e-08 1.13e-04 -4.0 3.98e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0907613e+00 3.54e-07 4.13e-04 -4.0 1.07e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0905289e+00 3.71e-06 4.58e-04 -4.0 3.32e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0904307e+00 5.07e-07 3.93e-04 -4.0 1.24e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0902778e+00 1.25e-06 1.07e-02 -4.0 4.62e+00 -5.4 1.00e+00 3.38e-01h 2 19 2.0892837e+00 4.21e-05 3.04e-03 -4.0 1.16e+01 -5.9 1.00e+00 9.67e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0874965e+00 3.58e-04 3.92e-02 -4.0 3.21e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0861262e+00 3.58e-04 3.02e-01 -4.0 7.42e+01 -5.9 1.00e+00 1.55e-01h 1 22 2.0845603e+00 3.16e-04 2.86e-02 -4.0 2.57e+01 -6.4 1.00e+00 1.00e+00h 1 23 2.0827971e+00 2.17e-04 2.43e-02 -4.0 3.39e+01 -6.9 1.00e+00 9.43e-01h 1 24 2.0830451e+00 1.18e-03 3.42e-02 -4.0 6.37e+01 -7.4 1.00e+00 1.00e+00h 1 25 2.0821045e+00 1.51e-03 1.01e-02 -4.1 1.49e+02 -7.8 1.00e+00 1.00e+00h 1 26 2.0888192e+00 5.06e-05 2.46e-01 -4.0 1.89e+02 -7.4 1.56e-01 1.00e+00H 1 27 2.0831685e+00 8.10e-04 2.47e+00 -4.0 2.83e+00 -4.3 1.12e-01 4.56e-01f 1 28 2.0827102e+00 7.04e-04 2.21e+00 -4.2 2.67e+00 -2.9 7.04e-01 1.34e-01h 1 29 2.0835973e+00 2.70e-06 3.21e-03 -4.0 4.15e-01 -3.4 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0829109e+00 1.48e-05 1.52e-03 -4.0 3.48e-01 -3.9 1.00e+00 1.00e+00h 1 31 2.0828110e+00 6.85e-06 3.55e-05 -4.0 1.61e-01 -4.4 1.00e+00 1.00e+00h 1 32 2.0827820e+00 2.92e-07 3.55e-05 -4.0 4.71e-01 -4.9 1.00e+00 1.00e+00h 1 33 2.0827073e+00 1.39e-06 9.29e-05 -4.0 1.31e+00 -5.3 1.00e+00 1.00e+00h 1 34 2.0825583e+00 7.17e-06 4.68e-04 -4.0 3.33e+00 -5.8 1.00e+00 1.00e+00h 1 35 2.0823920e+00 1.79e-05 1.04e-03 -4.0 8.44e+00 -6.3 1.00e+00 1.00e+00h 1 36 2.0822122e+00 2.24e-05 1.59e-03 -4.0 2.15e+01 -6.8 1.00e+00 1.00e+00h 1 37 2.0819281e+00 1.56e-04 3.43e-03 -4.0 5.22e+01 -7.2 7.31e-01 1.00e+00h 1 38 2.0819141e+00 1.52e-04 4.21e-02 -4.0 2.51e+03 -6.8 7.24e-04 2.94e-03h 4 39 2.0825653e+00 5.62e-05 7.91e-01 -4.0 1.97e+00 -4.6 4.54e-01 8.13e-01H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0819888e+00 1.84e-04 1.02e-01 -4.1 1.51e+00 -5.1 6.63e-01 1.00e+00h 1 41 2.0817648e+00 7.61e-05 2.43e-01 -4.1 1.35e-01 -1.9 1.00e+00 5.87e-01h 1 42 2.0821220e+00 1.79e-06 1.02e-03 -4.0 5.76e-02 -2.4 1.00e+00 1.00e+00f 1 43 2.0820298e+00 2.08e-07 1.51e-04 -4.0 4.36e-02 -2.9 1.00e+00 1.00e+00h 1 44 2.0820148e+00 2.02e-07 3.81e-05 -4.0 2.18e-02 -3.4 1.00e+00 1.00e+00h 1 45 2.0820091e+00 5.87e-08 3.81e-05 -4.0 6.18e-02 -3.8 1.00e+00 1.00e+00h 1 46 2.0819973e+00 5.62e-07 3.82e-05 -4.0 1.59e-01 -4.3 1.00e+00 1.00e+00h 1 47 2.0819782e+00 2.36e-06 7.54e-05 -4.0 3.16e-01 -4.8 1.00e+00 1.00e+00h 1 48 2.0819667e+00 3.49e-06 1.18e-04 -4.0 4.49e-01 -5.3 1.00e+00 1.00e+00h 1 49 2.0819722e+00 1.24e-06 8.85e-05 -4.0 6.76e-01 -5.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0819841e+00 1.54e-06 6.58e-05 -4.0 1.39e+00 -6.2 1.00e+00 1.00e+00h 1 51 2.0817658e+00 8.43e-05 4.92e-04 -4.1 4.82e+00 -6.7 1.00e+00 1.00e+00h 1 52 2.0808501e+00 1.72e-03 1.43e-03 -6.1 2.29e+01 -7.2 9.81e-01 9.08e-01h 1 53 2.0819351e+00 3.03e-03 3.09e-03 -4.0 2.82e+01 -7.7 1.00e+00 1.00e+00f 1 54 2.0816480e+00 1.08e-03 1.51e-03 -4.1 4.01e+01 -8.1 1.00e+00 1.00e+00h 1 55 2.0818466e+00 9.74e-04 1.41e-03 -4.0 4.44e+01 -8.6 1.00e+00 1.00e+00h 1 56 2.0815821e+00 5.42e-04 3.15e-04 -4.1 2.35e+01 -9.1 1.00e+00 1.00e+00h 1 57 2.0818418e+00 1.89e-04 4.00e-05 -4.0 7.84e+00 -9.6 1.00e+00 1.00e+00h 1 58 2.0815820e+00 2.11e-04 3.23e-05 -4.1 9.62e+00 -10.0 1.00e+00 1.00e+00h 1 59 2.0818419e+00 2.11e-04 3.97e-05 -4.0 9.65e+00 -10.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0815819e+00 2.13e-04 3.23e-05 -4.1 9.71e+00 -11.0 1.00e+00 1.00e+00h 1 61 2.0818419e+00 2.13e-04 3.97e-05 -4.0 9.74e+00 -11.5 1.00e+00 1.00e+00h 1 62 2.0815819e+00 2.14e-04 3.23e-05 -4.1 9.74e+00 -11.9 1.00e+00 1.00e+00h 1 63 2.0818419e+00 2.14e-04 3.97e-05 -4.0 9.74e+00 -12.4 1.00e+00 1.00e+00h 1 64 2.0815819e+00 2.14e-04 3.23e-05 -4.1 9.75e+00 -12.9 1.00e+00 1.00e+00h 1 65 2.0805924e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -13.4 9.77e-01 9.68e-01h 1 66 2.0818894e+00 6.59e-03 2.97e-04 -4.0 6.14e+01 -13.9 1.00e+00 1.00e+00f 1 67 2.0816124e+00 4.95e-04 3.30e-05 -4.1 2.07e+01 -14.3 1.00e+00 1.00e+00h 1 68 2.0806015e+00 3.47e-03 1.91e-04 -6.1 4.19e+01 -14.8 9.76e-01 9.61e-01h 1 69 2.0805507e+00 9.05e-05 2.22e-06 -6.1 1.70e+01 -15.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0819806e+00 1.03e-02 3.96e-04 -4.0 8.49e+01 -15.8 1.00e+00 1.00e+00f 1 71 2.0816780e+00 9.65e-04 4.95e-05 -4.1 4.57e+01 -16.2 1.00e+00 1.00e+00h 1 72 2.0816420e+00 4.58e-07 3.40e-05 -4.1 8.54e+00 -16.7 1.00e+00 1.00e+00h 1 73 2.0818414e+00 1.26e-04 3.97e-05 -4.0 7.46e+00 -17.2 1.00e+00 1.00e+00h 1 74 2.0815817e+00 2.11e-04 3.23e-05 -4.1 9.63e+00 -17.7 1.00e+00 1.00e+00h 1 75 2.0805923e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -18.1 9.77e-01 9.68e-01h 1 76 2.0805497e+00 7.03e-05 1.80e-06 -6.1 1.55e+01 -18.6 1.00e+00 1.00e+00h 1 77 2.0819871e+00 1.06e-02 4.00e-04 -4.0 8.58e+01 -19.1 1.00e+00 1.00e+00f 1 78 2.0816826e+00 9.87e-04 5.24e-05 -4.1 4.71e+01 -19.6 1.00e+00 1.00e+00h 1 79 2.0816444e+00 5.44e-07 3.41e-05 -4.1 8.94e+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 80 2.0805933e+00 3.65e-03 1.55e-04 -6.1 4.19e+01 -20.0 9.76e-01 9.71e-01h 1 81 2.0805509e+00 7.35e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0805468e+00 5.07e-08 3.40e-07 -6.1 2.92e+00 -20.0 1.00e+00 1.00e+00h 1 83 2.0820226e+00 1.22e-02 4.21e-04 -4.0 9.85e+01 -20.0 1.00e+00 1.00e+00f 1 84 2.0817083e+00 1.09e-03 6.84e-05 -4.1 5.45e+01 -20.0 1.00e+00 1.00e+00h 1 85 2.0816573e+00 1.18e-06 3.44e-05 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 86 2.0805943e+00 3.73e-03 1.58e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.71e-01h 1 87 2.0805512e+00 7.57e-05 2.01e-06 -6.1 1.64e+01 -20.0 1.00e+00 1.00e+00h 1 88 2.0805469e+00 5.37e-08 3.45e-07 -6.1 3.01e+00 -20.0 1.00e+00 1.00e+00h 1 89 2.0805365e+00 9.26e-07 7.80e-07 -9.0 9.40e-01 -20.0 1.00e+00 9.97e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0820402e+00 1.30e-02 4.35e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 91 2.0817219e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0816639e+00 1.62e-06 3.46e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 93 2.0805948e+00 3.76e-03 1.59e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 94 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 95 2.0805470e+00 5.53e-08 3.48e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 9.45e-07 8.03e-07 -9.0 9.51e-01 -20.0 1.00e+00 9.97e-01h 1 97 2.0805365e+00 8.66e-11 3.96e-10 -9.0 2.64e-02 -20.0 1.00e+00 1.00e+00h 1 98 2.0820406e+00 1.30e-02 4.36e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 99 2.0817222e+00 1.13e-03 7.75e-05 -4.1 5.82e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0816640e+00 1.63e-06 3.46e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0816640288047314e+00 2.0816640288047314e+00 Dual infeasibility......: 3.4596648206750542e-05 3.4596648206750542e-05 Constraint violation....: 1.6277555167087954e-06 1.6277555167087954e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.8058991655518771e-05 8.8058991655518771e-05 Overall NLP error.......: 3.4596648206750542e-05 3.4596648206750542e-05 Number of objective function evaluations = 111 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 111 Number of inequality constraint evaluations = 111 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 32.062 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 7.7581860e+01 2.72e+00 2.74e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.5890931e+01 1.75e+00 1.72e+01 -0.5 2.07e+00 0.0 1.00e+00 3.57e-01f 1 2 2.0900611e+01 1.50e+00 6.81e+01 0.7 4.17e+00 -0.5 5.19e-01 1.44e-01f 1 3 4.1387853e+00 1.11e+00 7.52e+01 0.4 4.12e+00 -1.0 5.31e-01 1.00e+00f 1 4 4.1975367e+00 1.62e-01 3.25e+01 0.4 7.30e-01 0.4 6.88e-01 1.00e+00f 1 5 3.9171038e+00 6.57e-02 1.14e+01 -0.2 9.37e-01 -0.1 9.94e-01 1.00e+00h 1 6 3.3881445e+00 4.97e-01 1.12e+01 -4.0 2.78e+00 -0.6 9.62e-02 4.48e-01f 1 7 3.3102763e+00 7.31e-02 3.12e+00 -0.7 7.39e-01 -1.1 1.00e+00 1.00e+00f 1 8 2.7945092e+00 2.59e-02 3.63e-01 -1.2 2.98e-01 -0.6 9.99e-01 1.00e+00h 1 9 2.2281297e+00 1.14e-02 5.35e-02 -1.8 1.49e-01 -1.1 9.42e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.1093968e+00 1.98e-03 4.35e-02 -3.1 1.29e-01 -1.6 8.58e-01 9.56e-01h 1 11 2.0911173e+00 8.56e-05 2.51e-03 -4.0 2.17e-02 -2.1 1.00e+00 9.82e-01h 1 12 2.0909339e+00 1.22e-06 2.50e-04 -4.0 1.32e-02 -2.5 1.00e+00 1.00e+00h 1 13 2.0909297e+00 1.25e-09 2.51e-04 -4.0 2.64e-02 -3.0 1.00e+00 1.00e+00h 1 14 2.0909198e+00 3.18e-09 2.51e-04 -4.0 7.70e-02 -3.5 1.00e+00 1.00e+00h 1 15 2.0908946e+00 2.42e-08 2.51e-04 -4.0 2.13e-01 -4.0 1.00e+00 1.00e+00h 1 16 2.0908455e+00 1.37e-07 2.51e-04 -4.0 5.21e-01 -4.4 1.00e+00 1.00e+00h 1 17 2.0907520e+00 5.26e-07 1.16e-03 -4.0 1.23e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0905001e+00 5.21e-06 1.02e-03 -4.0 3.91e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0897628e+00 3.29e-05 5.54e-03 -4.0 1.03e+01 -5.9 1.00e+00 9.05e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0887137e+00 1.00e-04 5.43e-02 -4.0 3.33e+01 -6.4 1.00e+00 5.00e-01f 2 21 2.0881308e+00 2.95e-05 1.03e-02 -4.0 2.62e+00 -5.0 1.00e+00 7.98e-01h 1 22 2.0878785e+00 4.36e-06 3.39e-03 -4.0 4.99e+00 -5.5 1.00e+00 1.00e+00h 1 23 2.0867759e+00 5.74e-05 8.58e-03 -4.0 1.45e+01 -6.0 1.00e+00 8.20e-01h 1 24 2.0848805e+00 3.31e-04 1.76e-02 -4.0 3.12e+01 -6.5 1.00e+00 1.00e+00h 1 25 2.0832957e+00 2.93e-04 4.29e-02 -4.0 4.23e+01 -6.9 1.00e+00 5.44e-01h 1 26 2.0824734e+00 2.32e-04 1.05e-02 -4.0 7.28e+01 -7.4 1.00e+00 8.48e-01h 1 27 2.0822513e+00 2.63e-04 1.20e-02 -4.0 1.53e+02 -7.9 9.14e-01 1.00e+00h 1 28 2.0824641e+00 1.50e-03 2.45e-02 -4.0 3.68e+01 -6.6 1.00e+00 1.00e+00h 1 29 2.0821036e+00 1.39e-03 2.37e-02 -4.0 2.68e+01 -7.0 9.97e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0825708e+00 4.80e-04 8.04e-02 -4.0 3.33e+00 -4.8 4.40e-01 4.94e-01h 1 31 2.0822209e+00 4.95e-04 4.52e-03 -4.0 2.40e+00 -5.3 1.00e+00 1.00e+00h 1 32 2.0821984e+00 3.24e-04 1.00e-01 -4.0 8.07e-01 -4.0 2.45e-01 3.07e-01h 1 33 2.0837634e+00 3.23e-05 6.73e-03 -3.8 1.62e-01 -4.4 1.00e+00 1.00e+00f 1 34 2.0828768e+00 1.19e-06 3.92e-03 -4.0 6.12e-02 -1.3 1.00e+00 1.00e+00h 1 35 2.0822908e+00 3.79e-06 1.09e-01 -4.0 2.27e-01 -1.8 7.59e-01 5.89e-01h 1 36 2.0823715e+00 3.97e-07 8.06e-04 -4.0 6.25e-02 -2.2 1.00e+00 1.00e+00f 1 37 2.0821558e+00 3.48e-07 2.97e-04 -4.1 4.37e-02 -2.7 1.00e+00 1.00e+00h 1 38 2.0823037e+00 5.54e-07 2.51e-04 -4.0 2.57e-02 -3.2 1.00e+00 1.00e+00h 1 39 2.0821541e+00 1.44e-06 2.00e-04 -4.1 5.80e-02 -3.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0822895e+00 4.72e-06 2.51e-04 -4.0 1.98e-01 -4.2 1.00e+00 1.00e+00h 1 41 2.0821006e+00 1.41e-05 2.00e-04 -4.1 5.81e-01 -4.6 1.00e+00 1.00e+00h 1 42 2.0821890e+00 2.53e-05 2.65e-03 -4.0 1.19e+00 -5.1 1.00e+00 1.00e+00h 1 43 2.0819814e+00 2.06e-05 9.43e-04 -4.1 8.58e-01 -5.6 1.00e+00 1.00e+00h 1 44 2.0821473e+00 3.11e-05 2.63e-04 -4.0 1.25e+00 -6.1 1.00e+00 1.00e+00h 1 45 2.0819311e+00 1.24e-04 6.09e-04 -4.1 6.08e+00 -6.5 1.00e+00 1.00e+00h 1 46 2.0820939e+00 1.99e-04 1.33e-03 -4.0 9.73e+00 -7.0 1.00e+00 1.00e+00h 1 47 2.0817728e+00 6.96e-04 5.69e-04 -4.1 2.92e+01 -7.5 1.00e+00 1.00e+00h 1 48 2.0819092e+00 1.03e-03 4.67e-03 -4.0 4.41e+01 -8.0 1.00e+00 1.00e+00h 1 49 2.0815961e+00 1.29e-03 3.45e-03 -4.1 5.58e+01 -8.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818410e+00 8.76e-04 7.72e-04 -4.0 3.72e+01 -8.9 1.00e+00 1.00e+00h 1 51 2.0818384e+00 4.22e-06 2.51e-04 -4.0 9.52e+00 -9.4 1.00e+00 1.00e+00h 1 52 2.0818383e+00 1.51e-08 2.51e-04 -4.0 1.00e+00 -9.9 1.00e+00 1.00e+00h 1 53 2.0818383e+00 1.74e-11 2.51e-04 -4.0 3.74e-02 -10.4 1.00e+00 1.00e+00h 1 54 2.0818383e+00 8.68e-12 1.25e-04 -4.0 4.83e-04 -10.8 1.00e+00 5.00e-01h 2 55 2.0818383e+00 4.44e-16 2.51e-04 -4.0 2.44e-04 -11.8 1.00e+00 1.00e+00H 1 56 2.0818383e+00 6.66e-16 2.51e-04 -4.0 2.00e-05 -12.3 1.00e+00 1.00e+00h 1 57 2.0815797e+00 2.05e-04 2.00e-04 -4.1 9.35e+00 -12.7 1.00e+00 1.00e+00h 1 58 2.0818395e+00 2.13e-04 2.51e-04 -4.0 9.67e+00 -13.2 1.00e+00 1.00e+00h 1 59 2.0815804e+00 2.11e-04 2.01e-04 -4.1 9.63e+00 -13.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -14.2 9.78e-01 9.71e-01h 1 61 2.0818882e+00 6.56e-03 2.96e-04 -4.0 6.10e+01 -14.7 1.00e+00 1.00e+00f 1 62 2.0816136e+00 4.88e-04 2.06e-04 -4.1 2.07e+01 -15.1 1.00e+00 1.00e+00h 1 63 2.0805989e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -15.6 9.76e-01 9.65e-01h 1 64 2.0805508e+00 8.46e-05 2.20e-06 -6.1 1.69e+01 -16.1 1.00e+00 1.00e+00h 1 65 2.0819794e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -16.6 1.00e+00 1.00e+00f 1 66 2.0816837e+00 9.34e-04 2.14e-04 -4.1 4.57e+01 -17.0 1.00e+00 1.00e+00h 1 67 2.0816477e+00 4.73e-07 2.14e-04 -4.1 8.53e+00 -17.5 1.00e+00 1.00e+00h 1 68 2.0818389e+00 1.15e-04 2.51e-04 -4.0 7.07e+00 -18.0 1.00e+00 1.00e+00h 1 69 2.0815801e+00 2.08e-04 2.00e-04 -4.1 9.50e+00 -18.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0805898e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -18.9 9.78e-01 9.71e-01h 1 71 2.0805497e+00 6.51e-05 1.79e-06 -6.1 1.55e+01 -19.4 1.00e+00 1.00e+00h 1 72 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -19.9 1.00e+00 1.00e+00f 1 73 2.0816887e+00 9.54e-04 2.14e-04 -4.1 4.72e+01 -20.0 1.00e+00 1.00e+00h 1 74 2.0816504e+00 5.63e-07 2.14e-04 -4.1 8.93e+00 -20.0 1.00e+00 1.00e+00h 1 75 2.0805906e+00 3.68e-03 1.60e-04 -6.1 4.16e+01 -20.0 9.77e-01 9.75e-01h 1 76 2.0805511e+00 6.76e-05 1.98e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 77 2.0805469e+00 4.72e-08 1.98e-06 -6.1 2.95e+00 -20.0 1.00e+00 1.00e+00h 1 78 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.89e+01 -20.0 1.00e+00 1.00e+00f 1 79 2.0817159e+00 1.04e-03 2.17e-04 -4.1 5.46e+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 80 2.0816648e+00 1.22e-06 2.17e-04 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 81 2.0805915e+00 3.76e-03 1.66e-04 -6.1 4.20e+01 -20.0 9.76e-01 9.75e-01h 1 82 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 83 2.0805471e+00 4.99e-08 2.02e-06 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 84 2.0805365e+00 9.55e-07 8.02e-07 -9.0 9.57e-01 -20.0 1.00e+00 9.97e-01h 1 85 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 86 2.0817306e+00 1.08e-03 2.18e-04 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 87 2.0816723e+00 1.67e-06 2.18e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 88 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 89 2.0805516e+00 7.07e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805472e+00 5.15e-08 2.03e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 91 2.0805365e+00 9.76e-07 8.28e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 92 2.0805365e+00 9.27e-11 2.28e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 93 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 94 2.0817309e+00 1.08e-03 2.18e-04 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 95 2.0816725e+00 1.68e-06 2.18e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 97 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 98 2.0805472e+00 5.16e-08 2.04e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 9.76e-07 8.29e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805365e+00 9.28e-11 2.28e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595553901e+00 2.0805364595553901e+00 Dual infeasibility......: 2.2777548164240208e-09 2.2777548164240208e-09 Constraint violation....: 9.2833296605476789e-11 9.2833296605476789e-11 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.1489642384505694e-10 9.1489642384505694e-10 Overall NLP error.......: 9.9999090910235221e-05 9.9999090910235221e-05 Number of objective function evaluations = 108 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 108 Number of inequality constraint evaluations = 108 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 36.947 EXIT: Maximum Number of Iterations Exceeded. Test Summary: | Pass Total Time Package | 215 215 20m47.6s Testing DirectTrajOpt tests passed Testing completed after 1320.67s PkgEval succeeded after 1410.76s