Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.1808 (1cd77b505e*) started at 2026-02-26T23:53:29.577 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 13.4s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Installed DirectTrajOpt ─ v0.8.5 Updating `~/.julia/environments/v1.14/Project.toml` [c823fa1f] + DirectTrajOpt v0.8.5 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 v6.210.0 [163ba53b] + DiffResults v1.1.0 [b552c78f] + DiffRules v1.15.1 [a0c0ee7d] + DifferentiationInterface v0.7.16 [c823fa1f] + DirectTrajOpt v0.8.5 [ffbed154] + DocStringExtensions v0.9.5 [4e289a0a] + EnumX v1.0.7 [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 v2.14.0 [510215fc] + Observables v0.5.5 [bac558e1] + OrderedCollections v1.8.1 [bbf590c4] + OrdinaryDiffEqCore v3.9.0 [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 v1.5.2 [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 v2.144.2 [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 6.45s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling packages... 25020.9 ms ✓ DirectTrajOpt 1 dependency successfully precompiled in 29 seconds. 225 already precompiled. Precompilation completed after 50.78s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_Moag1Z/Project.toml` [c823fa1f] DirectTrajOpt v0.8.5 [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_Moag1Z/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 v6.210.0 [163ba53b] DiffResults v1.1.0 [b552c78f] DiffRules v1.15.1 [a0c0ee7d] DifferentiationInterface v0.7.16 [c823fa1f] DirectTrajOpt v0.8.5 [ffbed154] DocStringExtensions v0.9.5 [4e289a0a] EnumX v1.0.7 [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 v2.14.0 [510215fc] Observables v0.5.5 [bac558e1] OrderedCollections v1.8.1 [bbf590c4] OrdinaryDiffEqCore v3.9.0 [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 v1.5.2 [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 v2.144.2 [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... initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 2.267s integrator 2 jacobian structure: 0.057s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 4.728s jacobian structure: 1600 nonzeros (7.112s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.049s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.058s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 2.109s sub-objective 2 (QuadraticRegularizer): 1.378s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.016s objective hessian structure: 3.593s hessian structure: 1749 nonzeros (7.75s) linear index maps built (0.0s) evaluator ready (total: 15.356s) evaluator created (20.021s) NL constraint bounds extracted (0.203s) NLP block data built (0.0s) Ipopt optimizer configured (0.311s) variables set (0.668s) 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 linear constraints added: 5 (3.133s) optimizer initialization complete (total: 24.337s) ****************************************************************************** This program contains Ipopt, a library for large-scale nonlinear optimization. Ipopt is released as open source code under the Eclipse Public License (EPL). For more information visit https://github.com/coin-or/Ipopt ****************************************************************************** This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 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 1.8056947e+00 3.80e+00 4.88e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8916430e+00 1.08e-01 5.46e+00 -1.1 2.20e+00 0.0 7.86e-01 1.00e+00f 1 2 4.0624000e+00 1.16e-01 2.08e+01 1.0 1.12e+01 0.4 1.60e-01 2.54e-02f 2 3 3.5759736e+00 3.61e-02 4.00e+00 0.2 7.08e-01 -0.1 8.78e-01 1.00e+00f 1 4 3.4657566e+00 3.31e-03 5.38e-01 -1.0 2.26e-01 -0.5 9.86e-01 1.00e+00h 1 5 2.5226096e+00 6.91e-02 5.29e-01 -1.3 5.23e-01 -1.0 9.63e-01 1.00e+00f 1 6 2.3028775e+00 8.19e-03 9.13e-02 -1.8 1.57e-01 -1.5 8.72e-01 1.00e+00h 1 7 2.1279703e+00 4.54e-03 6.40e-02 -2.7 1.76e-01 -2.0 9.93e-01 8.17e-01h 1 8 2.0919427e+00 6.17e-05 8.36e-04 -3.8 1.35e-02 -2.4 9.99e-01 1.00e+00h 1 9 2.0909133e+00 2.99e-06 1.64e-04 -4.0 2.09e-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 2.0909054e+00 1.31e-08 1.94e-04 -4.0 6.03e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908855e+00 1.50e-08 3.16e-04 -4.0 1.68e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908442e+00 8.39e-08 1.68e-04 -4.0 4.23e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907672e+00 3.11e-07 8.96e-04 -4.0 9.99e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905670e+00 3.17e-06 1.12e-03 -4.0 3.03e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0899731e+00 2.68e-05 8.32e-04 -4.0 8.90e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0897014e+00 4.77e-06 1.81e-03 -4.0 3.41e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0895461e+00 5.37e-06 8.08e-02 -4.0 2.16e+01 -5.8 1.00e+00 7.13e-02h 2 18 2.0876207e+00 2.51e-04 1.05e-02 -4.0 2.58e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0866953e+00 6.74e-05 6.10e-03 -4.0 1.14e+01 -5.9 1.00e+00 8.74e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0851423e+00 2.32e-04 1.52e-02 -4.0 2.56e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0837651e+00 2.45e-04 5.66e-02 -4.0 4.32e+01 -6.8 1.00e+00 4.28e-01h 1 22 2.0826002e+00 8.90e-05 1.28e-02 -4.0 6.07e+01 -7.3 1.00e+00 7.31e-01h 1 23 2.0824233e+00 6.96e-04 2.31e-02 -4.0 1.30e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.0825376e+00 1.97e-03 6.45e-02 -4.0 1.20e+02 -7.4 7.00e-01 1.00e+00h 1 25 2.0824143e+00 5.68e-06 4.16e-04 -4.0 5.88e-01 -5.1 1.00e+00 1.00e+00h 1 26 2.0823413e+00 7.59e-06 5.26e-04 -4.0 2.30e+00 -5.6 1.00e+00 1.00e+00h 1 27 2.0821504e+00 2.84e-05 6.83e-04 -4.0 7.02e+00 -6.1 1.00e+00 1.00e+00h 1 28 2.0820659e+00 7.79e-05 2.67e-03 -4.0 9.99e+01 -6.6 8.42e-02 8.16e-02h 4 29 2.0822216e+00 8.18e-05 2.50e-01 -4.0 2.07e+01 -7.0 1.00e+00 1.92e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0818846e+00 3.96e-04 1.94e-02 -4.1 2.86e+01 -7.5 1.00e+00 1.00e+00h 1 31 2.0819284e+00 8.39e-04 5.12e-03 -4.0 4.92e+01 -8.0 1.00e+00 1.00e+00h 1 32 2.0815936e+00 1.44e-03 4.44e-03 -4.1 6.11e+01 -8.5 1.00e+00 1.00e+00h 1 33 2.0818463e+00 9.46e-04 8.76e-04 -4.0 3.90e+01 -8.9 1.00e+00 1.00e+00h 1 34 2.0818435e+00 4.68e-06 6.02e-05 -4.0 9.56e+00 -9.4 1.00e+00 1.00e+00h 1 35 2.0818434e+00 1.41e-08 5.83e-07 -4.0 9.64e-01 -9.9 1.00e+00 1.00e+00h 1 36 2.0818434e+00 1.50e-11 1.00e-09 -4.0 3.46e-02 -10.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 36 (scaled) (unscaled) Objective...............: 2.0818434105563162e+00 2.0818434105563162e+00 Dual infeasibility......: 1.0000000189079681e-09 1.0000000189079681e-09 Constraint violation....: 1.4972911799304711e-11 1.4972911799304711e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000034e-04 1.0000000000000034e-04 Overall NLP error.......: 1.0000000189079681e-09 1.0000000189079681e-09 Number of objective function evaluations = 48 Number of objective gradient evaluations = 37 Number of equality constraint evaluations = 48 Number of inequality constraint evaluations = 48 Number of equality constraint Jacobian evaluations = 37 Number of inequality constraint Jacobian evaluations = 37 Number of Lagrangian Hessian evaluations = 36 Total seconds in IPOPT = 65.688 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.119s integrator 2 jacobian structure: 0.054s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 5.865s jacobian structure: 1680 nonzeros (6.04s) integrator 1 hessian structure: 0.045s integrator 2 hessian structure: 0.046s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 7.946s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.287s sub-objective 2 (QuadraticRegularizer): 0.073s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.015s sub-objective 5 (GlobalObjective): 0.632s objective hessian structure: 1.087s hessian structure: 1964 nonzeros (9.126s) linear index maps built (0.0s) evaluator ready (total: 15.166s) evaluator created (15.187s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.101s) 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 linear constraints added: 5 (4.189s) optimizer initialization complete (total: 19.478s) 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 1.2130564e+01 3.27e+00 4.83e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.7302490e+00 1.59e-01 2.54e+00 -1.1 2.03e+00 0.0 8.18e-01 9.51e-01f 1 2 3.3445274e+00 1.07e-01 8.36e+00 -0.5 4.47e-01 0.4 1.00e+00 3.22e-01f 1 3 2.6871528e+00 1.03e-02 2.24e+00 -0.7 5.80e-01 -0.1 9.67e-01 1.00e+00f 1 4 2.4533699e+00 4.76e-03 9.37e-01 -1.5 1.95e-01 -0.5 9.36e-01 1.00e+00h 1 5 2.3010886e+00 3.67e-02 5.22e-01 -1.7 6.50e-01 -1.0 9.92e-01 6.42e-01h 1 6 2.1292161e+00 6.26e-03 1.37e-01 -2.8 2.19e-01 -1.5 9.97e-01 8.52e-01h 1 7 2.0918397e+00 1.50e-04 1.17e-02 -3.9 2.94e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0908807e+00 1.97e-06 1.20e-03 -4.0 2.31e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908715e+00 3.41e-08 2.16e-05 -4.0 1.77e-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 2.0908667e+00 6.54e-10 1.73e-05 -4.0 4.26e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908553e+00 5.47e-09 1.68e-05 -4.0 1.24e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908258e+00 3.89e-08 5.47e-05 -4.0 3.48e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907512e+00 3.35e-07 2.36e-04 -4.0 9.58e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905285e+00 2.79e-06 3.78e-04 -4.0 2.80e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0904409e+00 4.66e-07 3.19e-04 -4.0 1.14e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0902755e+00 1.36e-06 9.10e-03 -4.0 4.16e+00 -5.4 1.00e+00 3.98e-01h 2 17 2.0893208e+00 3.84e-05 2.47e-03 -4.0 1.08e+01 -5.8 1.00e+00 9.81e-01h 1 18 2.0876077e+00 3.03e-04 3.32e-02 -4.0 2.93e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0863814e+00 2.55e-04 1.02e-01 -4.0 2.69e+01 -5.9 1.00e+00 3.05e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0848865e+00 2.11e-04 2.26e-02 -4.0 2.45e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0828101e+00 2.02e-04 2.61e-02 -4.0 3.65e+01 -6.8 1.00e+00 9.66e-01h 1 22 2.0829922e+00 8.95e-04 2.83e-02 -4.0 5.61e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0821294e+00 1.53e-03 8.52e-03 -4.1 1.32e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.0920403e+00 1.20e-05 4.87e-01 -4.0 4.46e+02 -8.3 1.24e-01 1.00e+00H 1 25 2.0835026e+00 5.00e-03 3.22e+00 -4.2 2.29e+01 -5.1 6.68e-02 3.31e-01f 1 26 2.0827389e+00 6.46e-03 3.21e+00 -4.2 1.17e+03 -5.6 1.12e-05 1.56e-03f 1 27 2.0827728e+00 6.51e-03 3.23e+00 -4.2 1.76e+04 -6.1 1.29e-07 4.11e-05f 2 28 2.0827993e+00 5.87e-03 3.83e+00 -4.2 4.98e-01 -2.9 1.00e+00 9.87e-02h 1 29 2.0828667e+00 1.09e-06 7.37e-04 -4.2 3.95e-02 -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 2.0831039e+00 2.23e-06 1.32e-04 -4.0 5.67e-02 -3.9 1.00e+00 1.00e+00h 1 31 2.0829175e+00 5.02e-06 4.09e-05 -4.1 1.95e-01 -4.4 1.00e+00 1.00e+00h 1 32 2.0821748e+00 9.61e-05 8.20e-03 -6.1 9.74e-01 -4.9 9.24e-01 1.00e+00h 1 33 2.0830004e+00 2.19e-04 2.28e-03 -4.0 1.58e+00 -5.3 1.00e+00 1.00e+00h 1 34 2.0824990e+00 1.67e-04 8.55e-04 -4.1 3.68e+00 -5.8 1.00e+00 1.00e+00h 1 35 2.0822824e+00 2.17e-05 1.69e-03 -4.1 8.67e+00 -6.3 1.00e+00 1.00e+00h 1 36 2.0823577e+00 4.72e-04 1.82e-03 -4.0 2.08e+01 -6.8 1.00e+00 1.00e+00h 1 37 2.0818354e+00 8.31e-04 7.38e-03 -4.1 4.57e+01 -7.2 1.00e+00 1.00e+00h 1 38 2.0817941e+00 2.25e-03 5.90e-03 -4.0 1.06e+02 -7.7 6.75e-01 1.00e+00h 1 39 2.0899116e+00 3.07e-03 6.44e-02 -4.0 3.88e+01 -6.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0876649e+00 2.64e-03 2.90e+00 -4.0 3.16e-01 -1.4 3.06e-01 1.41e-01h 1 41 2.0855920e+00 2.20e-03 1.32e+01 -4.0 2.97e-01 -1.9 1.00e+00 1.67e-01f 1 42 2.0822005e+00 1.53e-06 1.82e-02 -4.0 9.25e-02 -2.4 9.99e-01 1.00e+00f 1 43 2.0816282e+00 7.10e-06 8.53e-01 -4.0 1.85e-01 -2.9 1.60e-01 4.75e-01h 1 44 2.0816267e+00 7.68e-06 1.45e-03 -4.0 4.99e-02 -3.4 1.00e+00 1.00e+00h 1 45 2.0815873e+00 1.28e-05 1.61e-04 -4.0 1.26e-01 -3.8 1.00e+00 1.00e+00h 1 46 2.0816088e+00 8.98e-07 7.37e-05 -4.0 3.34e-01 -4.3 1.00e+00 1.00e+00h 1 47 2.0816665e+00 3.41e-06 3.31e-04 -4.0 7.37e-01 -4.8 1.00e+00 1.00e+00h 1 48 2.0816045e+00 1.32e-05 7.12e-04 -4.1 8.13e-01 -5.3 1.00e+00 1.00e+00h 1 49 2.0808572e+00 3.52e-04 6.08e-03 -6.1 3.76e+00 -5.7 9.79e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0808422e+00 2.69e-05 1.08e-02 -4.7 3.97e+00 -6.2 1.00e+00 8.57e-01h 1 51 2.0818286e+00 1.67e-03 5.38e-02 -4.0 1.61e+01 -6.7 3.97e-01 1.00e+00f 1 52 2.0811603e+00 5.34e-04 3.39e-03 -4.3 8.35e+00 -7.2 1.00e+00 1.00e+00h 1 53 2.1035348e+00 3.66e-04 2.40e-01 -4.3 7.78e+01 -6.7 3.83e-02 3.14e-01h 1 54 2.0825726e+00 1.19e-04 3.74e-02 -4.3 2.24e+01 -7.2 8.70e-04 1.00e+00f 1 55 2.0814514e+00 8.02e-04 1.90e+00 -4.3 4.31e+01 -5.0 3.27e-02 1.05e-01h 1 56 2.0812444e+00 9.08e-04 1.90e+00 -4.3 5.62e+02 -5.5 1.14e-05 7.25e-04f 1 57 2.0812740e+00 9.19e-04 1.91e+00 -4.3 7.90e+03 -5.9 2.17e-07 3.32e-05f 2 58 2.0812812e+00 8.78e-04 3.01e+00 -4.3 5.27e-01 -2.8 1.00e+00 4.41e-02h 1 59 2.0814340e+00 4.91e-07 6.96e-04 -4.3 1.25e-02 -3.3 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0818482e+00 1.40e-06 5.95e-04 -4.0 2.51e-02 -3.8 1.00e+00 1.00e+00h 1 61 2.0816717e+00 9.80e-07 8.80e-05 -4.1 4.14e-02 -4.2 1.00e+00 1.00e+00h 1 62 2.0810864e+00 6.46e-05 4.13e-02 -6.1 6.95e-01 -4.7 8.36e-01 1.00e+00h 1 63 2.0808877e+00 2.54e-05 4.72e-04 -6.1 1.69e+00 -5.2 1.00e+00 1.00e+00h 1 64 2.0806735e+00 1.43e-06 8.08e-04 -6.1 4.81e+00 -5.7 1.00e+00 9.51e-01h 1 65 2.0844978e+00 1.72e-03 4.95e+00 -4.0 4.22e+02 -6.2 1.00e+00 1.79e-01f 3 66 2.0867598e+00 6.74e-03 2.68e-02 -3.0 2.94e+01 -6.6 1.00e+00 1.00e+00f 1 67 2.0932345e+00 8.26e-02 5.88e-02 -3.0 1.61e+02 -7.1 6.01e-01 1.00e+00h 1 68 2.0916690e+00 7.62e-02 5.02e-01 -3.0 3.41e+01 -4.9 8.50e-02 1.17e-01h 1 69 2.0968347e+00 3.32e-05 3.72e-02 -3.0 3.82e-01 -1.7 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0947495e+00 5.59e-07 2.18e-02 -3.0 5.06e-02 -0.4 1.00e+00 1.00e+00h 1 71 2.0933855e+00 9.08e-07 1.05e-02 -3.0 6.67e-02 -0.9 1.00e+00 1.00e+00h 1 72 2.0884742e+00 1.06e-04 1.03e-01 -4.4 9.00e-02 -1.4 9.60e-01 8.69e-01h 1 73 2.0860330e+00 1.25e-04 2.02e-02 -4.4 1.80e-01 -1.8 1.00e+00 9.30e-01h 1 74 2.0855211e+00 5.58e-05 2.12e-01 -4.4 8.61e-02 -2.3 1.00e+00 5.42e-01h 1 75 2.0854509e+00 5.70e-07 7.07e-04 -4.4 1.40e-01 -2.8 1.00e+00 1.00e+00h 1 76 2.0858127e+00 2.99e-06 1.52e-03 -4.0 1.24e-01 -2.4 1.00e+00 1.00e+00h 1 77 2.0856878e+00 3.94e-06 1.27e-01 -4.1 1.98e+00 -2.8 4.91e-01 3.03e-02h 2 78 2.0848260e+00 5.52e-05 8.87e-02 -4.1 6.36e-01 -3.3 1.00e+00 6.92e-01h 1 79 2.0849366e+00 3.89e-06 2.38e-04 -4.1 8.51e-02 -3.8 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0841615e+00 2.02e-05 2.57e-03 -6.2 2.87e-01 -4.3 9.75e-01 9.28e-01h 1 81 2.0840402e+00 5.38e-06 4.77e-05 -6.2 8.52e-01 -4.8 1.00e+00 1.00e+00h 1 82 2.0838826e+00 2.45e-08 5.89e-05 -6.2 2.52e+00 -5.2 1.00e+00 1.00e+00h 1 83 2.0847313e+00 6.36e-04 4.00e-03 -4.0 6.11e+00 -5.7 1.00e+00 1.00e+00f 1 84 2.0836638e+00 2.84e-04 1.38e-01 -4.1 2.00e+01 -6.2 1.00e+00 5.72e-01h 1 85 2.0822264e+00 2.85e-04 1.98e-02 -4.1 3.24e+01 -6.7 1.00e+00 1.00e+00f 1 86 2.0816743e+00 1.72e-04 1.15e-02 -4.1 3.34e+01 -7.1 1.00e+00 1.00e+00h 1 87 2.0817197e+00 3.46e-04 1.97e-02 -4.1 8.97e+01 -7.6 5.27e-01 1.00e+00h 1 88 2.0815634e+00 9.63e-04 2.03e+00 -4.1 7.73e+01 -6.3 1.00e+00 1.59e-01h 2 89 2.0815716e+00 4.78e-05 1.12e-01 -4.1 4.20e+00 -6.8 9.53e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0815661e+00 5.20e-05 1.81e+00 -4.1 9.80e+00 -5.4 1.00e+00 8.92e-02h 2 91 2.0815709e+00 1.00e-06 8.26e-05 -4.1 5.47e-01 -5.9 1.00e+00 1.00e+00h 1 92 2.0807535e+00 6.15e-04 4.95e-03 -6.1 7.59e+00 -6.4 9.94e-01 1.00e+00h 1 93 2.0806559e+00 2.52e-04 5.51e-02 -6.1 7.85e+00 -6.9 1.00e+00 5.91e-01h 1 94 2.0806885e+00 2.45e-04 2.24e-01 -4.0 2.37e+01 -7.3 1.00e+00 2.85e-02f 1 95 2.0816049e+00 6.24e-03 2.70e-02 -4.2 8.34e+01 -7.8 7.04e-01 1.00e+00h 1 96 2.0815984e+00 6.33e-07 2.58e-04 -4.2 3.67e-02 -2.9 1.00e+00 1.00e+00h 1 97 2.0810880e+00 2.77e-06 2.56e-01 -6.3 1.81e-01 -3.4 6.38e-01 9.61e-01h 1 98 2.0810476e+00 6.27e-07 3.24e-05 -6.3 7.57e-02 -3.8 1.00e+00 1.00e+00h 1 99 2.0819635e+00 1.07e-05 7.21e-01 -4.0 1.13e+00 -4.3 1.00e+00 4.33e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0819049e+00 9.84e-05 3.62e-01 -3.9 1.75e+00 -4.8 7.78e-01 8.83e-01f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0819049147096274e+00 2.0819049147096274e+00 Dual infeasibility......: 3.6226982405108377e-01 3.6226982405108377e-01 Constraint violation....: 9.8371148943066089e-05 9.8371148943066089e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.4677489244899321e-03 1.4677489244899321e-03 Overall NLP error.......: 3.6226982405108377e-01 3.6226982405108377e-01 Number of objective function evaluations = 122 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 122 Number of inequality constraint evaluations = 122 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 45.889 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 1 integrator 1 jacobian structure: 0.056s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) jacobian structure: 4.228s jacobian structure: 1594 nonzeros (4.284s) integrator 1 hessian structure: 0.045s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) hessian structure: 15.454s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s sub-objective 5 (GlobalObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1804 nonzeros (15.5s) linear index maps built (0.0s) evaluator ready (total: 19.785s) evaluator created (19.808s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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 linear constraints added: 5 (0.001s) optimizer initialization complete (total: 19.811s) 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 4.9632928e+01 3.15e+00 2.23e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7907832e+01 2.33e+00 3.08e+01 -0.3 1.93e+00 0.0 1.00e+00 2.61e-01f 1 2 3.5761840e+00 2.44e-01 1.77e+01 0.2 2.26e+00 -0.5 6.81e-01 9.00e-01f 1 3 3.5264085e+00 1.55e-01 3.85e+00 -0.2 1.53e+00 -1.0 9.39e-01 1.00e+00f 1 4 3.2478570e+00 5.71e-02 2.25e+00 -0.9 1.05e+00 -1.4 7.90e-01 1.00e+00h 1 5 2.8398219e+00 3.44e-02 1.49e-01 -1.4 5.95e-01 -1.9 9.98e-01 1.00e+00h 1 6 2.1711095e+00 1.02e-01 7.07e-02 -2.1 1.09e+00 -2.4 9.50e-01 9.80e-01f 1 7 2.1062307e+00 9.37e-03 1.15e-01 -2.8 5.91e-01 -2.9 7.10e-01 1.00e+00h 1 8 2.0909924e+00 9.26e-05 1.79e-03 -4.0 4.39e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908643e+00 2.07e-06 3.16e-04 -4.0 1.08e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908408e+00 4.12e-08 3.16e-04 -4.0 3.08e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907763e+00 2.25e-07 3.16e-04 -4.0 8.59e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905873e+00 2.25e-06 3.16e-04 -4.0 2.54e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0905239e+00 2.19e-06 7.48e-03 -4.0 3.32e+03 -5.7 1.50e-03 3.19e-04h 2 14 2.0889060e+00 1.21e-04 6.95e-03 -4.0 2.09e+01 -6.2 1.00e+00 9.52e-01h 1 15 2.0865506e+00 9.46e-04 8.61e-02 -4.0 5.40e+01 -6.7 1.00e+00 1.00e+00h 1 16 2.0846897e+00 3.72e-04 5.41e-02 -4.0 5.96e+00 -5.4 1.00e+00 6.51e-01h 1 17 2.0844441e+00 6.60e-05 6.62e-03 -4.0 6.25e+00 -5.8 1.00e+00 1.00e+00h 1 18 2.0835060e+00 5.27e-05 4.21e-03 -4.0 1.43e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0827188e+00 9.32e-05 1.07e-02 -4.0 2.00e+01 -6.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827720e+00 2.80e-04 1.11e-02 -4.0 5.12e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0820671e+00 2.10e-03 8.22e-03 -4.1 1.19e+02 -7.7 1.00e+00 1.00e+00h 1 22 1.8302285e+02 4.14e-03 8.67e+02 -4.0 3.33e+03 -8.2 9.36e-03 1.00e+00H 1 23 2.1950468e+00 4.87e-05 2.10e+01 -4.1 4.12e-01 1.6 1.00e+00 9.88e-01f 1 24 2.1947204e+00 4.86e-05 1.84e+01 -4.1 8.76e-03 1.2 1.00e+00 1.77e-03f 2 25 2.1943919e+00 4.08e-05 1.73e-01 -4.1 1.05e-03 0.7 1.00e+00 1.59e-01h 1 26 2.1944234e+00 1.88e-08 5.05e-03 -4.1 3.19e-03 0.2 1.00e+00 1.00e+00f 1 27 2.1943832e+00 6.53e-09 4.98e-03 -4.0 9.44e-03 -0.3 1.00e+00 1.00e+00h 1 28 2.1942178e+00 3.34e-08 4.96e-03 -4.0 2.82e-02 -0.8 1.00e+00 1.00e+00h 1 29 2.1937614e+00 2.51e-07 4.93e-03 -4.0 8.40e-02 -1.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.1923452e+00 1.54e-06 4.90e-03 -4.1 2.50e-01 -1.7 1.00e+00 1.00e+00h 1 31 2.1888618e+00 8.61e-07 5.21e-03 -4.0 7.27e-01 -2.2 1.00e+00 1.00e+00h 1 32 2.1873043e+00 6.36e-07 2.92e+00 -4.1 1.68e+00 -2.7 1.00e+00 1.86e-01h 1 33 2.1872454e+00 6.15e-07 1.23e+01 -4.1 9.93e-02 -3.1 1.00e+00 3.01e-01f 2 34 2.1871014e+00 3.62e-05 1.56e-03 -4.1 2.09e-01 -3.6 1.00e+00 1.00e+00h 1 35 2.1869594e+00 1.25e-05 2.50e-04 -4.1 6.27e-01 -4.1 1.00e+00 1.00e+00h 1 36 2.1859988e+00 1.65e-04 2.67e-02 -6.2 1.94e+00 -4.6 8.77e-01 9.98e-01h 1 37 2.1859494e+00 3.19e-04 1.69e+00 -6.2 1.18e+01 -5.0 6.27e-01 2.86e-02h 1 38 2.1837392e+00 6.76e-03 1.46e-01 -6.2 1.71e+01 -5.5 1.00e+00 5.75e-01h 1 39 2.1835850e+00 6.56e-03 8.00e-01 -6.2 4.31e+01 -6.0 7.63e-01 2.93e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.1716448e+00 1.41e-03 4.78e-01 -6.2 1.24e+02 -6.5 1.00e+00 8.42e-01h 1 41 2.1660693e+00 1.17e-03 2.73e+00 -6.2 3.14e+02 -7.0 6.31e-01 1.76e-01h 1 42 2.1212582e+00 2.30e-04 3.76e-01 -6.2 7.44e+02 -7.4 7.11e-01 9.28e-01h 1 43 2.1197095e+00 2.22e-04 5.34e+00 -6.2 1.04e+03 -7.9 6.41e-01 3.43e-02h 1 44 2.0863160e+00 7.57e-04 1.13e+00 -6.2 1.67e+03 -8.4 3.76e-01 8.17e-01f 1 45 2.0810037e+00 5.51e-04 6.79e-01 -6.2 3.91e+03 -8.9 3.26e-05 2.18e-01h 2 46 2.0809565e+00 3.02e-04 8.74e-01 -4.7 1.87e+01 -6.6 8.69e-01 2.02e-01h 1 47 2.0837898e+00 1.87e-02 9.53e-01 -4.0 1.56e+02 -7.1 1.65e-01 1.00e+00f 1 48 2.0825899e+00 5.73e-03 4.97e-01 -4.3 7.67e+00 -5.8 8.70e-01 6.92e-01h 1 49 2.0824171e+00 5.61e-03 4.56e-01 -4.3 2.02e+01 -6.3 1.15e-01 2.03e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0820321e+00 8.01e-03 2.99e+00 -4.3 1.34e+03 -6.7 1.92e-01 4.53e-02f 1 51 2.0831006e+00 1.24e-03 4.62e-01 -4.3 3.03e+01 -7.2 8.69e-01 1.00e+00H 1 52 2.0815984e+00 3.74e-02 1.91e-01 -4.3 1.70e+02 -7.7 5.77e-01 9.53e-01h 1 53 2.0814725e+00 5.16e-03 3.40e-02 -4.3 7.29e+01 -8.2 1.00e+00 1.00e+00h 1 54 2.0836133e+00 2.41e-04 3.10e-02 -4.3 7.12e+01 -8.6 1.00e+00 1.00e+00h 1 55 2.0819519e+00 1.67e-06 7.60e-01 -4.3 7.16e-02 -0.8 5.46e-01 1.00e+00h 1 56 2.0817056e+00 1.69e-06 3.26e-03 -4.0 5.46e-02 -1.3 1.00e+00 1.00e+00h 1 57 2.0816600e+00 4.41e-08 5.91e-04 -4.0 2.97e-02 -1.8 1.00e+00 1.00e+00h 1 58 2.0816569e+00 3.90e-09 3.52e-04 -4.0 5.99e-02 -2.2 1.00e+00 1.00e+00h 1 59 2.0816550e+00 5.84e-08 3.16e-04 -4.0 6.66e-02 -2.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0816528e+00 3.39e-07 3.16e-04 -4.0 5.94e-02 -3.2 1.00e+00 1.00e+00h 1 61 2.0816549e+00 1.23e-06 3.16e-04 -4.0 9.52e-02 -3.7 1.00e+00 1.00e+00h 1 62 2.0815746e+00 5.06e-06 2.53e-04 -4.1 1.70e-01 -4.1 1.00e+00 1.00e+00h 1 63 2.0826553e+00 3.27e-06 5.67e-02 -4.0 7.88e-01 -4.6 5.72e-01 9.65e-01H 1 64 2.0819977e+00 1.73e-04 7.30e-02 -4.0 1.46e+00 -5.1 3.33e-01 1.00e+00f 1 65 2.0817186e+00 1.27e-07 3.33e-03 -4.1 3.78e-02 -1.1 1.00e+00 1.00e+00h 1 66 2.0817218e+00 4.39e-07 8.47e-04 -4.0 3.38e-02 -1.5 1.00e+00 1.00e+00h 1 67 2.0816219e+00 1.43e-07 2.53e-04 -4.1 9.29e-03 -2.0 1.00e+00 1.00e+00h 1 68 2.0817320e+00 1.04e-07 3.16e-04 -4.0 1.14e-02 -2.5 1.00e+00 1.00e+00h 1 69 2.0816158e+00 1.47e-07 2.53e-04 -4.1 8.22e-03 -3.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0817344e+00 4.14e-07 3.16e-04 -4.0 1.83e-02 -3.4 1.00e+00 1.00e+00h 1 71 2.0816156e+00 8.96e-07 2.53e-04 -4.1 4.60e-02 -3.9 1.00e+00 1.00e+00h 1 72 2.0817400e+00 3.26e-06 3.16e-04 -4.0 1.42e-01 -4.4 1.00e+00 1.00e+00h 1 73 2.0816230e+00 8.08e-06 2.53e-04 -4.1 2.83e-01 -4.9 1.00e+00 1.00e+00h 1 74 2.0810228e+00 1.63e-04 1.26e-02 -6.1 1.80e+00 -5.3 9.60e-01 1.00e+00h 1 75 2.0810002e+00 1.59e-04 2.69e-02 -6.1 9.40e+00 -4.0 2.70e-02 2.48e-02h 1 76 2.0809255e+00 3.37e-05 4.06e-02 -6.1 3.25e-01 -4.5 1.00e+00 7.95e-01h 1 77 2.0811851e+00 3.83e-05 2.71e-01 -4.0 3.36e+00 -5.0 4.02e-01 2.37e-01f 1 78 2.0812908e+00 3.31e-04 1.34e-03 -4.4 2.10e+00 -5.5 1.00e+00 1.00e+00h 1 79 2.0812072e+00 2.01e-04 2.21e-03 -4.4 2.41e+00 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0817668e+00 2.21e-07 1.77e-02 -4.4 8.21e+00 -6.4 5.57e-01 1.00e+00H 1 81 2.0814910e+00 2.27e-06 8.19e-02 -4.0 7.26e-02 -1.5 1.00e+00 9.49e-01f 1 82 2.0816391e+00 5.61e-07 9.39e-04 -4.0 5.44e-02 -1.9 1.00e+00 1.00e+00f 1 83 2.0815180e+00 1.37e-07 4.61e-04 -4.1 8.02e-02 -2.4 1.00e+00 1.00e+00h 1 84 2.0814616e+00 2.53e-07 3.67e-04 -4.0 1.85e-01 -2.9 1.00e+00 1.00e+00h 1 85 2.0815173e+00 3.25e-07 3.16e-04 -4.0 6.27e-02 -3.4 1.00e+00 1.00e+00h 1 86 2.0815235e+00 2.03e-07 3.16e-04 -4.0 9.30e-02 -3.9 1.00e+00 1.00e+00h 1 87 2.0814449e+00 1.56e-06 2.53e-04 -4.1 2.21e-01 -4.3 1.00e+00 1.00e+00h 1 88 2.0815667e+00 1.16e-05 3.16e-04 -4.0 8.27e-01 -4.8 1.00e+00 1.00e+00h 1 89 2.0814462e+00 2.05e-05 1.33e-03 -4.1 2.42e+00 -5.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0814711e+00 2.75e-05 1.98e-03 -4.1 1.73e+00 -5.8 1.00e+00 1.00e+00h 1 91 2.0815330e+00 3.57e-05 4.71e-04 -4.1 2.35e+00 -6.2 1.00e+00 1.00e+00h 1 92 2.0806949e+00 6.90e-04 5.00e-03 -6.1 8.12e+00 -6.7 9.93e-01 1.00e+00h 1 93 2.0806669e+00 7.60e-05 1.94e-03 -5.3 1.03e+01 -7.2 1.00e+00 1.00e+00h 1 94 2.0813937e+00 1.73e-03 3.79e-02 -4.0 3.81e+01 -7.7 9.15e-01 6.36e-01f 1 95 2.0815856e+00 3.88e-04 6.42e-03 -4.1 6.63e+01 -8.1 1.00e+00 1.00e+00h 1 96 2.0814703e+00 7.02e-06 5.75e-04 -4.1 1.69e+01 -8.6 1.00e+00 1.00e+00h 1 97 2.0806346e+00 2.04e-03 7.37e-04 -6.2 3.17e+01 -9.1 9.80e-01 9.15e-01h 1 98 2.0809713e+00 1.95e-03 1.53e-02 -4.0 6.69e+01 -9.6 1.00e+00 2.74e-01f 1 99 2.0814309e+00 4.09e-04 1.07e-03 -4.2 9.86e+00 -10.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0818398e+00 3.46e-04 7.54e-02 -4.2 2.14e+01 -6.0 9.39e-02 1.55e-01h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0818398466893164e+00 2.0818398466893164e+00 Dual infeasibility......: 7.5359282324512319e-02 7.5359282324512319e-02 Constraint violation....: 3.4582300048069392e-04 3.4582300048069392e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 7.5027428895299537e-05 7.5027428895299537e-05 Overall NLP error.......: 7.5359282324512319e-02 7.5359282324512319e-02 Number of objective function evaluations = 114 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 114 Number of inequality constraint evaluations = 114 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 31.382 EXIT: Maximum Number of Iterations Exceeded. [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=110, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.053s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.507s jacobian structure: 1600 nonzeros (2.56s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.232s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (3.283s) linear index maps built (0.0s) evaluator ready (total: 5.844s) evaluator created (5.865s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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 linear constraints added: 5 (0.0s) optimizer initialization complete (total: 5.88s) 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 1.8255490e+00 2.97e+00 4.06e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.2623209e+00 4.97e-01 8.66e-01 -1.3 3.21e+00 -2.0 5.10e-01 8.47e-01h 1 Hello, world! 2 2.2809577e+00 5.76e-01 1.33e+00 -0.8 1.76e+01 -2.5 6.02e-01 2.48e-01h 1 Hello, world! 3 2.2227782e+00 3.39e-01 1.01e+00 -1.7 9.89e+00 -3.0 7.10e-01 5.56e-01h 1 Hello, world! 4 2.2234236e+00 2.26e-01 7.72e-01 -1.3 3.75e-01 -0.7 8.57e-01 3.31e-01h 1 Hello, world! 5 2.2361690e+00 7.14e-03 3.58e-01 -1.8 4.36e-01 -1.2 9.58e-01 1.00e+00h 1 Hello, world! 6 2.1638508e+00 2.22e-03 2.10e-01 -2.7 1.20e-01 -1.7 9.99e-01 6.05e-01h 1 Hello, world! 7 2.0944399e+00 7.04e-04 4.37e-02 -4.0 9.12e-02 -2.2 1.00e+00 8.88e-01h 1 Hello, world! 8 2.0907299e+00 1.82e-05 7.44e-03 -4.0 1.87e-01 -2.6 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908174e+00 9.06e-08 8.86e-04 -4.0 1.03e-01 -3.1 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0907637e+00 2.02e-08 1.14e-04 -4.0 6.82e-02 -3.6 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0907345e+00 4.62e-08 1.77e-05 -4.0 2.04e-01 -4.1 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0906803e+00 1.20e-07 2.38e-05 -4.0 6.01e-01 -4.5 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0905212e+00 1.04e-06 8.61e-05 -4.0 1.77e+00 -5.0 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0899643e+00 1.11e-05 1.74e-03 -4.0 5.59e+00 -5.5 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0888718e+00 8.53e-05 9.66e-03 -4.0 1.53e+01 -6.0 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0881698e+00 3.45e-05 5.93e-03 -4.0 6.82e+00 -5.5 1.00e+00 7.67e-01h 1 Hello, world! 17 2.0871358e+00 8.16e-05 8.32e-03 -4.0 1.53e+01 -6.0 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0856423e+00 1.63e-04 5.38e-02 -4.0 3.63e+01 -6.5 1.00e+00 5.00e-01h 1 Hello, world! 19 2.0829460e+00 8.03e-04 5.17e-02 -4.0 5.24e+01 -7.0 1.00e+00 9.66e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0832555e+00 2.21e-03 5.16e-02 -4.0 8.00e+01 -7.5 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0822345e+00 4.51e-04 5.17e-02 -4.1 2.35e+02 -7.9 4.14e-01 1.00e+00h 1 Hello, world! 22 2.0821693e+00 3.33e-04 6.46e-03 -4.0 5.46e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0829106e+00 1.24e-03 7.54e-03 -3.7 1.27e+01 -6.2 9.38e-01 1.00e+00h 1 Hello, world! 24 2.0852069e+00 1.02e-03 3.54e-02 -3.8 5.72e+01 -6.7 2.31e-01 1.39e-01h 1 Hello, world! 25 2.0829587e+00 2.20e-04 1.10e-02 -3.8 1.01e+01 -7.1 1.00e+00 1.00e+00f 1 Hello, world! 26 2.0828712e+00 2.82e-04 1.10e-02 -3.8 2.62e+01 -7.6 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0819136e+00 2.76e-03 2.94e-03 -4.0 4.60e+01 -8.1 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0818549e+00 9.62e-05 2.98e-03 -4.0 5.34e+01 -8.6 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0818445e+00 2.66e-05 5.28e-04 -4.0 2.91e+01 -9.0 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0818435e+00 8.35e-07 8.56e-05 -4.0 6.44e+00 -9.5 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0818434e+00 6.20e-09 4.37e-07 -4.0 5.21e-01 -10.0 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0818434e+00 4.42e-12 1.00e-09 -4.0 1.64e-02 -10.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 32 (scaled) (unscaled) Objective...............: 2.0818434105416972e+00 2.0818434105416972e+00 Dual infeasibility......: 1.0000000055045187e-09 1.0000000055045187e-09 Constraint violation....: 4.4186876380081230e-12 4.4186876380081230e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000055e-04 1.0000000000000055e-04 Overall NLP error.......: 1.0000000055045187e-09 1.0000000055045187e-09 Number of objective function evaluations = 33 Number of objective gradient evaluations = 33 Number of equality constraint evaluations = 33 Number of inequality constraint evaluations = 33 Number of equality constraint Jacobian evaluations = 33 Number of inequality constraint Jacobian evaluations = 33 Number of Lagrangian Hessian evaluations = 32 Total seconds in IPOPT = 24.308 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) evaluator created (0.002s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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 linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.003s) 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 1.8255490e+00 2.97e+00 4.06e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.2623209e+00 4.97e-01 8.66e-01 -1.3 3.21e+00 -2.0 5.10e-01 8.47e-01h 1 Hello, world! 2 2.2809577e+00 5.76e-01 1.33e+00 -0.8 1.76e+01 -2.5 6.02e-01 2.48e-01h 1 Hello, world! 3 2.2227782e+00 3.39e-01 1.01e+00 -1.7 9.89e+00 -3.0 7.10e-01 5.56e-01h 1 Hello, world! 4 2.2234236e+00 2.26e-01 7.72e-01 -1.3 3.75e-01 -0.7 8.57e-01 3.31e-01h 1 Hello, world! 5 2.2361690e+00 7.14e-03 3.58e-01 -1.8 4.36e-01 -1.2 9.58e-01 1.00e+00h 1 Hello, world! 6 2.1638508e+00 2.22e-03 2.10e-01 -2.7 1.20e-01 -1.7 9.99e-01 6.05e-01h 1 Hello, world! 7 2.0944399e+00 7.04e-04 4.37e-02 -4.0 9.12e-02 -2.2 1.00e+00 8.88e-01h 1 Hello, world! 8 2.0907299e+00 1.82e-05 7.44e-03 -4.0 1.87e-01 -2.6 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908174e+00 9.06e-08 8.86e-04 -4.0 1.03e-01 -3.1 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0907637e+00 2.02e-08 1.14e-04 -4.0 6.82e-02 -3.6 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0907345e+00 4.62e-08 1.77e-05 -4.0 2.04e-01 -4.1 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0906803e+00 1.20e-07 2.38e-05 -4.0 6.01e-01 -4.5 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0905212e+00 1.04e-06 8.61e-05 -4.0 1.77e+00 -5.0 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0899643e+00 1.11e-05 1.74e-03 -4.0 5.59e+00 -5.5 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0888718e+00 8.53e-05 9.66e-03 -4.0 1.53e+01 -6.0 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0881698e+00 3.45e-05 5.93e-03 -4.0 6.82e+00 -5.5 1.00e+00 7.67e-01h 1 Hello, world! 17 2.0871358e+00 8.16e-05 8.32e-03 -4.0 1.53e+01 -6.0 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0856423e+00 1.63e-04 5.38e-02 -4.0 3.63e+01 -6.5 1.00e+00 5.00e-01h 1 Hello, world! 19 2.0829460e+00 8.03e-04 5.17e-02 -4.0 5.24e+01 -7.0 1.00e+00 9.66e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0832555e+00 2.21e-03 5.16e-02 -4.0 8.00e+01 -7.5 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0822345e+00 4.51e-04 5.17e-02 -4.1 2.35e+02 -7.9 4.14e-01 1.00e+00h 1 Hello, world! 22 2.0821693e+00 3.33e-04 6.46e-03 -4.0 5.46e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0829106e+00 1.24e-03 7.54e-03 -3.7 1.27e+01 -6.2 9.38e-01 1.00e+00h 1 Hello, world! 24 2.0852069e+00 1.02e-03 3.54e-02 -3.8 5.72e+01 -6.7 2.31e-01 1.39e-01h 1 Hello, world! 25 2.0829587e+00 2.20e-04 1.10e-02 -3.8 1.01e+01 -7.1 1.00e+00 1.00e+00f 1 Hello, world! 26 2.0828712e+00 2.82e-04 1.10e-02 -3.8 2.62e+01 -7.6 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0819136e+00 2.76e-03 2.94e-03 -4.0 4.60e+01 -8.1 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0818549e+00 9.62e-05 2.98e-03 -4.0 5.34e+01 -8.6 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0818445e+00 2.66e-05 5.28e-04 -4.0 2.91e+01 -9.0 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0818435e+00 8.35e-07 8.56e-05 -4.0 6.44e+00 -9.5 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0818434e+00 6.20e-09 4.37e-07 -4.0 5.21e-01 -10.0 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0818434e+00 4.42e-12 1.00e-09 -4.0 1.64e-02 -10.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 32 (scaled) (unscaled) Objective...............: 2.0818434105416972e+00 2.0818434105416972e+00 Dual infeasibility......: 1.0000000055045187e-09 1.0000000055045187e-09 Constraint violation....: 4.4186876380081230e-12 4.4186876380081230e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000055e-04 1.0000000000000055e-04 Overall NLP error.......: 1.0000000055045187e-09 1.0000000055045187e-09 Number of objective function evaluations = 33 Number of objective gradient evaluations = 33 Number of equality constraint evaluations = 33 Number of inequality constraint evaluations = 33 Number of equality constraint Jacobian evaluations = 33 Number of inequality constraint Jacobian evaluations = 33 Number of Lagrangian Hessian evaluations = 32 Total seconds in IPOPT = 0.681 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.053s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.053s) integrator 1 hessian structure: 0.043s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.044s) linear index maps built (0.0s) evaluator ready (total: 0.097s) evaluator created (0.108s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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 linear constraints added: 6 (1.768s) optimizer initialization complete (total: 1.876s) 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 2.9423630e+00 3.43e+00 1.81e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8759300e+00 2.07e-02 1.26e+00 -1.1 2.14e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.3097844e+00 3.60e-02 7.47e-02 -1.7 4.55e-01 -1.6 9.84e-01 1.00e+00h 1 3 2.1429693e+00 7.40e-03 2.28e-01 -4.0 1.50e-01 -1.1 8.76e-01 1.00e+00h 1 4 2.1014552e+00 2.46e-03 1.58e-01 -3.8 8.75e-02 -1.6 1.00e+00 6.91e-01h 1 5 2.0921460e+00 2.57e-04 7.32e-01 -4.0 7.20e-01 -2.1 1.00e+00 6.44e-01h 1 6 2.0908585e+00 1.22e-04 4.00e-01 -4.0 9.05e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0909449e+00 8.23e-07 6.45e-03 -4.0 2.34e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0909649e+00 7.19e-07 2.06e-05 -4.0 7.03e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909441e+00 1.64e-08 2.06e-05 -4.0 2.11e-01 -4.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908824e+00 1.46e-07 2.05e-05 -4.0 6.30e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907005e+00 1.29e-06 4.95e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0901821e+00 1.09e-05 4.19e-04 -4.0 5.44e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888420e+00 8.17e-05 3.15e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861598e+00 4.38e-04 1.74e-02 -4.0 3.46e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830944e+00 9.08e-04 4.70e-02 -4.0 5.31e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828708e+00 9.32e-04 2.38e-02 -4.0 5.41e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823482e+00 4.05e-04 1.01e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820402e+00 9.36e-05 1.86e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.71e-04 8.70e-03 -4.0 9.93e+01 -8.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0819393e+00 3.69e-05 8.46e-04 -4.0 3.11e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.32e-07 1.39e-05 -4.0 4.44e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.80e-10 3.25e-08 -4.0 2.44e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.51e-13 1.21e-11 -4.0 4.59e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907190933e+00 2.0819382907190933e+00 Dual infeasibility......: 1.2117505295613368e-11 1.2117505295613368e-11 Constraint violation....: 2.5135449277513544e-13 2.5135449277513544e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000034e-04 1.0000000000000034e-04 Overall NLP error.......: 1.2117505295613368e-11 1.2117505295613368e-11 Number of objective function evaluations = 24 Number of objective gradient evaluations = 24 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 24 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 23 Total seconds in IPOPT = 23.335 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.052s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.052s) integrator 1 hessian structure: 0.043s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.044s) linear index maps built (0.0s) evaluator ready (total: 0.096s) evaluator created (0.096s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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 linear constraints added: 6 (0.055s) optimizer initialization complete (total: 0.151s) 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 2.4693890e+00 1.80e+00 1.96e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8056629e+00 1.85e-02 2.98e-01 -1.0 1.93e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3072602e+00 1.41e-02 5.47e-02 -1.9 2.19e-01 -1.6 9.62e-01 1.00e+00h 1 3 2.1316166e+00 2.40e-03 1.46e-01 -3.1 1.18e-01 -1.1 9.16e-01 9.81e-01h 1 4 2.0953832e+00 4.77e-04 1.13e-01 -3.9 5.37e-02 -1.6 1.00e+00 8.79e-01h 1 5 2.0923991e+00 2.86e-04 1.18e+00 -4.0 4.37e-01 -2.1 1.00e+00 2.84e-01h 1 6 2.0907974e+00 1.67e-04 4.72e-01 -4.0 1.06e+00 -2.6 1.00e+00 1.00e+00h 1 7 2.0908181e+00 3.79e-06 6.51e-03 -4.0 4.59e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0908275e+00 1.48e-06 6.86e-05 -4.0 6.34e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908125e+00 1.35e-08 2.41e-05 -4.0 1.80e-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 2.0907749e+00 6.58e-08 1.54e-04 -4.0 4.85e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0906764e+00 6.30e-07 4.88e-04 -4.0 1.31e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0903876e+00 5.70e-06 4.16e-04 -4.0 4.05e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0902626e+00 8.99e-07 5.98e-04 -4.0 1.57e+00 -5.0 1.00e+00 1.00e+00h 1 14 2.0901152e+00 1.55e-06 1.96e-02 -4.0 6.51e+00 -5.5 1.00e+00 2.22e-01h 2 15 2.0889437e+00 6.45e-05 2.57e-03 -4.0 1.39e+01 -6.0 1.00e+00 1.00e+00h 1 16 2.0867805e+00 2.60e-04 3.92e-02 -4.0 3.69e+01 -6.4 1.00e+00 7.20e-01h 1 17 2.0835301e+00 1.32e-03 5.26e-02 -4.0 6.12e+01 -6.9 1.00e+00 1.00e+00h 1 18 2.0824412e+00 7.36e-04 1.55e-02 -4.0 5.69e+01 -7.4 1.00e+00 9.25e-01h 1 19 2.0822100e+00 1.15e-03 1.52e-02 -4.0 1.70e+02 -7.9 7.31e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0828189e+00 4.39e-06 2.78e-02 -4.0 4.05e+01 -6.5 1.00e+00 1.00e+00H 1 21 2.0831322e+00 4.23e-04 3.49e-02 -3.7 3.09e+00 -5.2 9.66e-01 1.00e+00h 1 22 2.0827263e+00 1.15e-05 9.93e-04 -3.8 1.56e-01 -4.8 1.00e+00 1.00e+00h 1 23 2.0823832e+00 7.76e-05 7.24e-04 -4.0 1.23e+00 -5.3 1.00e+00 1.00e+00h 1 24 2.0824044e+00 1.42e-04 1.12e-01 -4.0 6.45e+00 -5.7 5.58e-01 1.00e+00h 1 25 2.0824023e+00 6.92e-05 1.31e+00 -3.8 3.38e-01 -2.6 1.00e+00 5.19e-01h 1 26 2.0820781e+00 2.61e-06 3.27e-03 -4.0 9.62e-02 -3.1 1.00e+00 1.00e+00h 1 27 2.0821475e+00 4.41e-06 1.81e-04 -4.0 3.95e-02 -3.6 1.00e+00 1.00e+00h 1 28 2.0821615e+00 4.12e-06 2.17e-05 -4.0 1.18e-01 -4.0 1.00e+00 1.00e+00h 1 29 2.0821815e+00 5.80e-06 6.70e-05 -4.0 3.93e-01 -4.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0820768e+00 2.05e-05 3.48e-04 -4.1 1.23e+00 -5.0 1.00e+00 1.00e+00h 1 31 2.0823017e+00 2.83e-08 5.02e-03 -4.0 2.49e+00 -5.5 1.00e+00 1.00e+00H 1 32 2.0822117e+00 9.26e-05 1.27e-03 -4.0 1.64e+00 -6.0 1.00e+00 1.00e+00h 1 33 2.0819702e+00 7.38e-05 1.10e-04 -4.1 4.89e+00 -6.4 1.00e+00 1.00e+00h 1 34 2.0821335e+00 1.75e-04 1.16e-03 -4.0 8.21e+00 -6.9 1.00e+00 1.00e+00h 1 35 2.0818157e+00 6.17e-04 4.85e-04 -4.1 2.62e+01 -7.4 1.00e+00 1.00e+00h 1 36 2.0819366e+00 9.14e-04 4.72e-03 -4.0 3.94e+01 -7.9 1.00e+00 1.00e+00h 1 37 2.0816065e+00 1.39e-03 4.14e-03 -4.1 5.63e+01 -8.3 1.00e+00 1.00e+00h 1 38 2.0818424e+00 1.07e-03 1.40e-03 -4.0 4.53e+01 -8.8 1.00e+00 1.00e+00h 1 39 2.0815805e+00 3.89e-04 1.54e-04 -4.1 1.67e+01 -9.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818394e+00 1.78e-04 2.90e-05 -4.0 8.10e+00 -9.8 1.00e+00 1.00e+00h 1 41 2.0818383e+00 2.49e-08 5.70e-08 -4.0 3.36e-01 -10.2 1.00e+00 1.00e+00h 1 42 2.0818383e+00 2.25e-13 1.49e-11 -4.0 2.98e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 42 (scaled) (unscaled) Objective...............: 2.0818383021815099e+00 2.0818383021815099e+00 Dual infeasibility......: 1.4931755620362433e-11 1.4931755620362433e-11 Constraint violation....: 2.2487567363782546e-13 2.2487567363782546e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000449176e-04 1.0000000000449176e-04 Overall NLP error.......: 1.4931755620362433e-11 1.4931755620362433e-11 Number of objective function evaluations = 48 Number of objective gradient evaluations = 43 Number of equality constraint evaluations = 48 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 = 42 Total seconds in IPOPT = 23.935 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.051s jacobian structure: 180 nonzeros (0.088s) integrator 1 hessian structure: 0.049s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.34s sub-objective 2 (QuadraticRegularizer): 0.087s sub-objective 3 (MinimumTimeObjective): 0.016s objective hessian structure: 0.537s hessian structure: 375 nonzeros (0.587s) linear index maps built (0.0s) evaluator ready (total: 0.797s) evaluator created (0.797s) NL constraint bounds extracted (0.011s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.12s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.479s) optimizer initialization complete (total: 4.408s) 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 1.2460620e+00 8.09e-01 1.01e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6602513e+00 2.29e-01 2.14e+00 -1.1 2.08e+00 - 9.99e-01 1.00e+00h 1 2 1.6460617e+00 7.66e-02 1.56e+00 -1.2 3.11e-01 0.0 8.19e-01 6.66e-01h 1 3 1.6101177e+00 5.72e-02 1.23e+00 -1.0 5.44e-01 -0.5 8.94e-01 2.52e-01h 1 4 1.3571750e+00 1.34e-02 2.55e-01 -1.8 1.02e-01 -1.0 9.91e-01 9.52e-01h 1 5 1.1229047e+00 5.65e-04 2.10e-01 -2.9 9.71e-01 - 1.00e+00 9.51e-01h 1 6 1.0932093e+00 2.19e-05 1.20e-01 -4.0 2.08e+00 - 1.00e+00 1.00e+00h 1 7 1.0907943e+00 2.61e-08 1.00e-02 -4.0 9.27e-01 - 1.00e+00 1.00e+00h 1 8 1.0909002e+00 2.78e-12 5.86e-05 -4.0 7.59e-02 - 1.00e+00 1.00e+00h 1 9 1.0908997e+00 6.37e-18 4.71e-05 -4.0 2.55e-04 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0908997e+00 5.71e-27 1.32e-15 -4.0 5.97e-09 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 1.0908997263265459e+00 1.0908997263265459e+00 Dual infeasibility......: 1.3208835067390901e-15 1.3208835067390901e-15 Constraint violation....: 5.7134289767462485e-27 5.7134289767462485e-27 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000003e-04 1.0000000000000003e-04 Overall NLP error.......: 1.3208835067390901e-15 1.3208835067390901e-15 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 26.638 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/gTLhf/src/problems.jl:66 initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.058s integrator 2 jacobian structure: 0.051s integrator 3 jacobian structure: 0.0s jacobian structure: 1872 nonzeros (0.108s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.047s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.341s sub-objective 2 (QuadraticRegularizer): 0.086s sub-objective 3 (LinearRegularizer): 0.076s sub-objective 4 (MinimumTimeObjective): 0.016s objective hessian structure: 0.611s hessian structure: 2431 nonzeros (0.706s) linear index maps built (0.0s) evaluator ready (total: 0.814s) evaluator created (0.814s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.12s) 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 linear constraints added: 6 (3.045s) optimizer initialization complete (total: 3.98s) 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 3.3140349e+00 3.44e+00 1.04e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9028118e+00 1.62e+00 2.72e+01 -0.8 1.49e+01 -2.0 4.18e-01 1.00e+00f 1 2 2.5193814e+00 4.29e-01 2.99e+00 -1.2 3.18e+00 -1.6 4.12e-01 1.00e+00f 1 3 2.4163774e+00 2.06e-01 1.49e+00 -1.1 3.73e+00 -2.1 6.70e-01 5.91e-01f 1 4 2.4403913e+00 3.55e-01 6.98e-01 -1.1 5.76e+00 -2.5 4.66e-01 6.97e-01f 1 5 2.1957992e+00 8.47e-02 2.47e-01 -1.9 1.13e+00 -2.1 8.36e-01 9.68e-01h 1 6 2.0531209e+00 1.90e-02 4.43e-02 -2.5 6.62e-01 -2.6 8.78e-01 8.57e-01h 1 7 2.0089580e+00 2.64e-03 1.46e-02 -4.0 4.28e-01 -3.1 9.37e-01 8.61e-01h 1 8 2.0010681e+00 4.14e-05 3.34e-03 -4.0 3.06e-01 -3.5 1.00e+00 1.00e+00h 1 9 2.0009167e+00 4.13e-06 1.29e-01 -4.0 6.46e-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 2.0010443e+00 1.25e-07 2.46e-02 -4.0 9.74e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0010519e+00 1.50e-09 3.28e-02 -4.0 1.67e+00 -5.0 1.00e+00 1.00e+00f 1 12 2.0010857e+00 4.65e-10 5.76e-02 -4.0 2.93e+00 -5.4 1.00e+00 1.00e+00f 1 13 2.0006375e+00 1.40e-08 6.53e-02 -4.2 3.29e+00 -5.9 1.00e+00 1.00e+00f 1 14 2.0013717e+00 6.18e-09 2.31e-01 -4.0 1.16e+01 -6.4 1.00e+00 1.00e+00f 1 15 2.0009067e+00 2.15e-08 1.25e-01 -4.1 9.93e+00 -6.9 1.00e+00 6.28e-01f 1 16 2.0011744e+00 2.13e-08 5.37e-01 -4.1 2.69e+01 -7.4 1.00e+00 1.00e+00f 1 17 2.0008910e+00 5.93e-08 6.72e-01 -4.1 3.53e+01 -7.8 9.53e-01 9.27e-01f 1 18 2.0012997e+00 3.60e-08 1.29e+00 -4.1 6.47e+01 -8.3 1.00e+00 1.00e+00f 1 19 2.0009526e+00 8.17e-08 1.83e+00 -4.1 9.93e+01 -8.8 9.18e-01 8.69e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0012722e+00 5.17e-08 3.37e+00 -4.1 1.68e+02 -9.3 1.00e+00 1.00e+00f 1 21 2.0009786e+00 6.34e-08 5.82e+00 -4.1 3.06e+02 -9.7 8.90e-01 8.99e-01f 1 22 2.0012516e+00 4.06e-08 9.22e+00 -4.1 4.61e+02 -10.2 1.00e+00 1.00e+00f 1 23 2.0010371e+00 2.19e-08 1.59e+01 -4.1 8.36e+02 -10.7 8.66e-01 8.76e-01f 1 24 2.0011500e+00 2.80e-08 2.57e+01 -4.1 1.29e+03 -11.2 1.00e+00 1.00e+00f 1 25 2.0011102e+00 2.99e-09 4.68e+01 -4.1 2.46e+03 -11.6 8.53e-01 8.80e-01f 1 26 2.0010100e+00 1.77e-08 7.02e+01 -4.1 3.51e+03 -12.1 1.00e+00 1.00e+00f 1 27 2.0011870e+00 1.87e-09 1.23e+02 -4.1 6.47e+03 -12.6 8.77e-01 8.81e-01f 1 28 2.0008359e+00 9.63e-09 1.81e+02 -4.1 9.03e+03 -13.1 1.00e+00 1.00e+00f 1 29 2.0011845e+00 7.27e-10 2.66e+02 -4.1 1.41e+04 -13.6 1.00e+00 9.41e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0007291e+00 3.78e-09 3.56e+02 -4.1 1.78e+04 -14.0 1.00e+00 1.00e+00f 1 31 2.0009552e+00 1.28e-11 3.47e+02 -4.1 1.74e+04 -14.5 1.00e+00 1.00e+00f 1 32 2.0006813e+00 3.01e-10 3.86e+02 -4.1 1.93e+04 -15.0 1.00e+00 1.00e+00f 1 33 2.0007341e+00 2.79e-13 1.62e+02 -4.1 8.09e+03 -15.5 1.00e+00 1.00e+00h 1 34 2.0006641e+00 7.61e-13 1.58e+02 -4.1 7.88e+03 -15.9 1.00e+00 1.00e+00h 1 35 2.0006717e+00 1.10e-14 3.49e+01 -4.1 1.75e+03 -16.4 1.00e+00 1.00e+00h 1 36 2.0006590e+00 8.64e-14 3.05e+01 -4.1 1.53e+03 -16.9 1.00e+00 1.00e+00h 1 37 2.0006602e+00 1.43e-14 7.37e+00 -4.1 3.69e+02 -17.4 1.00e+00 1.00e+00h 1 38 2.0006580e+00 1.29e-13 5.11e+00 -4.1 2.55e+02 -17.8 1.00e+00 1.00e+00h 1 39 2.0006582e+00 2.11e-14 1.30e+00 -4.1 6.49e+01 -18.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0006578e+00 1.92e-13 8.50e-01 -4.1 4.25e+01 -18.8 1.00e+00 1.00e+00h 1 41 2.0006579e+00 3.15e-14 2.18e-01 -4.1 1.09e+01 -19.3 1.00e+00 1.00e+00h 1 42 2.0006578e+00 2.88e-13 1.42e-01 -4.1 7.08e+00 -19.8 1.00e+00 1.00e+00h 1 43 2.0006578e+00 2.76e-14 3.65e-02 -4.1 1.82e+00 -20.0 1.00e+00 1.00e+00h 1 44 2.0006578e+00 8.42e-14 2.36e-02 -4.1 1.18e+00 -20.0 1.00e+00 1.00e+00h 1 45 2.0006578e+00 4.59e-15 6.08e-03 -4.1 3.04e-01 -20.0 1.00e+00 1.00e+00h 1 46 2.0008483e+00 1.86e-09 4.64e+01 -4.0 2.32e+03 -20.0 1.00e+00 1.00e+00f 1 47 2.0005850e+00 5.49e-10 9.62e+01 -4.1 4.81e+03 -20.0 1.00e+00 1.00e+00h 1 48 2.0008777e+00 2.46e-09 1.23e+02 -4.0 6.17e+03 -20.0 1.00e+00 1.00e+00f 1 49 2.0005636e+00 3.23e-10 1.25e+02 -4.1 6.25e+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 50 2.0008764e+00 2.47e-09 1.32e+02 -4.0 6.59e+03 -20.0 1.00e+00 1.00e+00f 1 51 2.0005597e+00 3.14e-10 1.30e+02 -4.1 6.50e+03 -20.0 1.00e+00 1.00e+00h 1 52 2.0006556e+00 4.12e-10 6.80e+01 -4.1 3.40e+03 -20.0 1.00e+00 1.00e+00h 1 53 2.0006196e+00 1.44e-10 2.30e+01 -4.1 1.15e+03 -20.0 1.00e+00 1.00e+00h 1 54 2.0006347e+00 6.37e-11 1.02e+01 -4.1 5.11e+02 -20.0 1.00e+00 1.00e+00h 1 55 2.0006287e+00 2.50e-11 4.10e+00 -4.1 2.05e+02 -20.0 1.00e+00 1.00e+00h 1 56 2.0006312e+00 1.05e-11 1.67e+00 -4.1 8.34e+01 -20.0 1.00e+00 1.00e+00h 1 57 2.0006302e+00 4.18e-12 6.90e-01 -4.1 3.45e+01 -20.0 1.00e+00 1.00e+00h 1 58 2.0006306e+00 1.74e-12 2.77e-01 -4.1 1.39e+01 -20.0 1.00e+00 1.00e+00h 1 59 2.0006304e+00 6.97e-13 1.15e-01 -4.1 5.76e+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 60 2.0006305e+00 2.90e-13 4.61e-02 -4.1 2.31e+00 -20.0 1.00e+00 1.00e+00h 1 61 2.0006304e+00 1.16e-13 1.92e-02 -4.1 9.60e-01 -20.0 1.00e+00 1.00e+00h 1 62 2.0006305e+00 4.82e-14 7.69e-03 -4.1 3.85e-01 -20.0 1.00e+00 1.00e+00h 1 63 2.0006304e+00 1.93e-14 3.20e-03 -4.1 1.60e-01 -20.0 1.00e+00 1.00e+00h 1 64 2.0006305e+00 8.03e-15 1.28e-03 -4.1 9.51e-02 -20.0 1.00e+00 1.00e+00h 1 65 2.0006304e+00 3.22e-15 5.34e-04 -4.1 9.51e-02 -20.0 1.00e+00 1.00e+00h 1 66 1.9998548e+00 1.22e-08 2.25e+02 -6.1 1.13e+04 -20.0 1.00e+00 1.00e+00f 1 67 2.0006835e+00 3.09e-09 2.09e+03 -4.0 2.09e+05 -20.0 1.00e+00 5.00e-01f 2 68 2.0004219e+00 9.68e-11 2.30e+03 -3.9 1.15e+05 -20.0 1.00e+00 1.00e+00f 1 69 2.0009584e+00 3.48e-09 5.53e+02 -3.9 2.77e+04 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0010394e+00 3.03e-09 1.06e+02 -3.9 5.31e+03 -20.0 1.00e+00 1.00e+00h 1 71 2.0010519e+00 7.46e-10 2.71e+01 -3.9 1.36e+03 -20.0 1.00e+00 1.00e+00h 1 72 2.0010687e+00 5.72e-10 6.12e+00 -3.9 3.06e+02 -20.0 1.00e+00 1.00e+00h 1 73 2.0010705e+00 1.33e-10 4.72e+00 -3.9 2.36e+02 -20.0 1.00e+00 1.00e+00h 1 74 2.0010733e+00 9.76e-11 1.07e+00 -3.9 5.34e+01 -20.0 1.00e+00 1.00e+00h 1 75 2.0010736e+00 2.24e-11 7.84e-01 -3.9 3.92e+01 -20.0 1.00e+00 1.00e+00h 1 76 2.0010740e+00 1.63e-11 1.79e-01 -3.9 8.97e+00 -20.0 1.00e+00 1.00e+00h 1 77 2.0010741e+00 3.74e-12 1.31e-01 -3.9 6.53e+00 -20.0 1.00e+00 1.00e+00h 1 78 2.0010741e+00 2.72e-12 2.99e-02 -3.9 1.50e+00 -20.0 1.00e+00 1.00e+00h 1 79 2.0010742e+00 6.22e-13 2.18e-02 -3.9 1.09e+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 2.0010742e+00 4.52e-13 4.99e-03 -3.9 4.93e-01 -20.0 1.00e+00 1.00e+00h 1 81 2.0010742e+00 1.04e-13 3.63e-03 -3.9 4.93e-01 -20.0 1.00e+00 1.00e+00h 1 82 2.0010742e+00 7.53e-14 8.32e-04 -3.9 4.93e-01 -20.0 1.00e+00 1.00e+00h 1 83 1.9998649e+00 8.64e-08 2.43e+02 -5.9 1.22e+04 -20.0 1.00e+00 1.00e+00f 1 84 1.9998453e+00 3.09e-13 2.18e+02 -5.9 1.18e+04 -20.0 9.30e-01 1.00e+00h 1 85 1.8265950e+00 2.07e-13 1.95e+06 -5.9 9.73e+07 -20.0 1.80e-03 1.00e+00f 1 86 1.8118236e+00 5.10e-13 2.06e+03 -5.5 1.36e+08 -20.0 1.00e+00 7.58e-04f 1 87 1.9416401e+00 5.10e-13 1.31e+06 -4.0 9.41e+10 -20.0 1.00e+00 6.95e-04f 1 88 1.9995661e+00 5.08e-13 6.49e+05 -3.2 6.55e+09 -20.0 1.00e+00 5.01e-03f 1 89 1.9999110e+00 2.69e-12 3.03e+03 -3.2 1.51e+05 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0037613e+00 2.27e-08 5.13e+01 -3.2 2.56e+03 -20.0 1.00e+00 1.00e+00f 1 91 2.0052918e+00 2.14e-06 7.90e+02 -3.2 3.95e+04 -20.0 1.00e+00 1.00e+00f 1 92 2.0055100e+00 2.04e-06 4.40e+02 -3.2 2.20e+04 -20.0 1.00e+00 1.00e+00h 1 93 2.0058014e+00 2.36e-06 2.88e+01 -3.2 1.44e+03 -20.0 1.00e+00 1.00e+00h 1 94 2.0058382e+00 4.57e-07 6.13e+01 -3.2 3.07e+03 -20.0 1.00e+00 1.00e+00h 1 95 2.0058735e+00 4.29e-07 1.42e+01 -3.2 7.12e+02 -20.0 1.00e+00 1.00e+00h 1 96 2.0058800e+00 7.92e-08 1.11e+01 -3.2 5.53e+02 -20.0 1.00e+00 1.00e+00h 1 97 2.0058856e+00 7.23e-08 2.69e+00 -3.2 1.35e+02 -20.0 1.00e+00 1.00e+00h 1 98 2.0058867e+00 1.33e-08 1.84e+00 -3.2 9.21e+01 -20.0 1.00e+00 1.00e+00h 1 99 2.0058876e+00 1.21e-08 4.58e-01 -3.2 8.65e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0058878e+00 2.21e-09 3.07e-01 -3.2 8.65e+01 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0058878242446618e+00 2.0058878242446618e+00 Dual infeasibility......: 3.0705620153389646e-01 3.0705620153389646e-01 Constraint violation....: 2.2109460615397578e-09 2.2109460615397578e-09 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 6.0557415195675133e-04 6.0557415195675133e-04 Overall NLP error.......: 3.0705620153389646e-01 3.0705620153389646e-01 Number of objective function evaluations = 102 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 102 Number of inequality constraint evaluations = 102 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 39.930 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.057s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.057s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.052s) linear index maps built (0.0s) evaluator ready (total: 0.11s) evaluator created (0.11s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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 linear constraints added: 6 (0.392s) optimizer initialization complete (total: 0.503s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1529 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 73 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.1208343e+00 3.10e+00 1.96e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 9.6642516e-01 2.64e+00 8.54e-01 -4.0 9.92e+00 -2.0 1.13e-01 1.49e-01h 1 2 8.8706110e-01 1.84e+00 4.00e+00 -4.0 9.81e+00 -1.6 1.32e-01 3.02e-01h 1 3 1.3789799e+00 9.26e-01 3.24e+00 -1.6 5.41e+00 -1.1 1.81e-01 4.97e-01h 1 4 1.5438506e+00 6.42e-01 2.21e+00 -0.9 2.43e+00 -0.7 2.23e-01 3.07e-01f 1 5 1.5383390e+00 4.90e-01 1.52e+00 -1.2 4.68e+00 -1.2 1.29e-01 2.36e-01h 1 6 1.5953924e+00 1.83e-01 6.45e-01 -1.7 9.85e-01 -0.8 6.01e-01 6.26e-01h 1 7 1.6128442e+00 4.94e-02 3.37e-01 -2.5 5.01e-01 -0.3 6.54e-01 7.30e-01h 1 8 1.4775092e+00 5.02e-02 2.22e-01 -2.2 7.20e-01 -0.8 9.87e-01 9.09e-01h 1 9 1.3884526e+00 1.32e-02 9.08e-02 -2.6 2.37e-01 -0.4 9.92e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.3025320e+00 1.48e-02 8.57e-02 -2.6 4.94e-01 -0.9 9.59e-01 7.29e-01h 1 11 1.2488580e+00 1.01e-02 1.12e-01 -4.0 1.05e+00 -1.4 5.18e-01 3.14e-01h 1 12 1.2449337e+00 9.78e-03 1.15e-01 -2.7 3.50e+00 -0.9 4.46e-02 2.72e-02h 1 13 1.2264227e+00 6.80e-03 3.63e-01 -3.1 3.16e-01 -1.4 9.95e-01 3.90e-01h 1 14 1.2046737e+00 9.72e-03 1.75e-01 -3.3 5.36e-01 -1.9 1.00e+00 7.34e-01h 1 15 1.1950643e+00 3.91e-03 9.23e-03 -3.6 5.46e-01 -2.4 1.00e+00 9.92e-01h 1 16 1.1892840e+00 1.04e-02 6.76e-03 -4.0 1.20e+00 -2.8 1.00e+00 1.00e+00h 1 17 1.1844937e+00 2.78e-02 1.23e-02 -4.0 2.11e+00 -3.3 1.00e+00 9.62e-01h 1 18 1.1967228e+00 7.97e-03 2.20e-01 -4.0 2.81e+00 -3.8 1.93e-01 1.00e+00H 1 19 1.1939186e+00 7.60e-03 2.08e-01 -4.1 9.30e-01 -1.6 4.03e-01 4.69e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.1922799e+00 7.43e-03 1.43e+00 -2.5 7.46e+00 -2.0 8.82e-01 2.18e-02f 1 21 1.2141972e+00 1.04e-03 1.51e-01 -3.4 2.71e-01 -1.6 8.95e-01 8.54e-01h 1 22 1.1876461e+00 7.06e-04 4.86e-03 -3.7 1.33e-01 -2.1 9.99e-01 1.00e+00h 1 23 1.1812950e+00 6.15e-04 7.42e-04 -4.0 2.71e-01 -2.6 1.00e+00 1.00e+00h 1 24 1.1800923e+00 1.41e-03 7.76e-04 -4.0 6.37e-01 -3.0 1.00e+00 1.00e+00h 1 25 1.1786570e+00 8.06e-03 1.25e-03 -4.0 1.31e+00 -3.5 1.00e+00 1.00e+00h 1 26 1.1762376e+00 2.67e-02 3.68e-03 -4.0 2.67e+00 -4.0 1.00e+00 1.00e+00h 1 27 1.1800710e+00 7.25e-03 2.02e-01 -4.0 4.71e+00 -4.5 2.00e-01 1.00e+00H 1 28 1.1744537e+00 2.84e-03 4.35e-02 -4.0 4.97e-01 -2.2 1.00e+00 6.07e-01h 1 29 1.1757821e+00 5.54e-04 8.73e-03 -4.0 1.75e-01 -2.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.1747049e+00 1.66e-03 6.67e-03 -4.0 2.88e-01 -3.2 1.00e+00 1.00e+00h 1 31 1.1740035e+00 1.20e-03 5.87e-03 -4.0 8.13e-01 -3.7 1.00e+00 1.00e+00h 1 32 1.1729678e+00 7.16e-03 6.98e-03 -4.0 2.07e+00 -4.1 9.87e-01 1.00e+00h 1 33 1.1731088e+00 9.55e-06 7.76e-04 -4.0 1.02e-01 -2.8 1.00e+00 1.00e+00h 1 34 1.1729492e+00 1.22e-04 6.31e-04 -4.0 2.89e-01 -3.3 1.00e+00 1.00e+00h 1 35 1.1728601e+00 1.28e-04 4.83e-04 -4.0 1.00e+01 -3.8 4.84e-02 6.12e-02h 5 36 1.1728858e+00 1.37e-04 2.48e-03 -4.0 3.60e+00 -4.2 1.00e+00 6.08e-02h 2 37 1.1708934e+00 3.71e-02 2.22e-03 -4.0 5.13e+00 -4.7 1.00e+00 1.00e+00h 1 38 1.1690298e+00 7.46e-02 3.78e-03 -4.0 9.07e+00 -5.2 1.00e+00 1.00e+00h 1 39 1.1670803e+00 1.21e-01 2.84e-03 -4.0 1.48e+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 40 1.1653933e+00 1.70e-01 6.72e-04 -4.0 2.33e+01 -6.2 1.00e+00 1.00e+00h 1 41 1.1639815e+00 2.23e-01 3.23e-03 -4.0 3.58e+01 -6.6 1.00e+00 1.00e+00h 1 42 1.1628396e+00 2.80e-01 8.13e-03 -4.0 5.43e+01 -7.1 1.00e+00 1.00e+00h 1 43 1.1619297e+00 3.40e-01 1.40e-02 -4.0 8.10e+01 -7.6 1.00e+00 1.00e+00h 1 44 1.1612274e+00 3.98e-01 1.99e-02 -4.0 1.18e+02 -8.1 1.00e+00 1.00e+00h 1 45 1.1607238e+00 4.37e-01 2.42e-02 -4.0 1.67e+02 -8.5 1.00e+00 1.00e+00h 1 46 1.1604857e+00 3.89e-01 2.02e-02 -4.0 2.09e+02 -9.0 1.00e+00 1.00e+00h 1 47 1.1607296e+00 9.05e-02 2.18e-03 -4.0 1.41e+02 -9.5 1.00e+00 1.00e+00h 1 48 1.1608529e+00 2.59e-03 7.60e-04 -4.0 1.54e+01 -10.0 1.00e+00 1.00e+00h 1 49 1.1608491e+00 1.87e-04 2.27e-05 -4.0 5.69e+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 50 1.1608491e+00 9.51e-08 4.05e-10 -4.0 1.38e-01 -10.9 1.00e+00 1.00e+00h 1 51 1.1608491e+00 9.24e-13 9.14e-14 -4.0 3.95e-04 -11.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 51 (scaled) (unscaled) Objective...............: 1.1608491307791375e+00 1.1608491307791375e+00 Dual infeasibility......: 9.1429712108584416e-14 9.1429712108584416e-14 Constraint violation....: 9.2370555648813024e-13 9.2370555648813024e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000422e-04 1.0000000000000422e-04 Overall NLP error.......: 9.2370555648813024e-13 9.2370555648813024e-13 Number of objective function evaluations = 63 Number of objective gradient evaluations = 52 Number of equality constraint evaluations = 63 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 52 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 51 Total seconds in IPOPT = 25.072 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.053s jacobian structure: 180 nonzeros (0.092s) integrator 1 hessian structure: 0.047s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.315s sub-objective 2 (QuadraticRegularizer): 0.082s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.016s objective hessian structure: 0.504s hessian structure: 375 nonzeros (0.551s) linear index maps built (0.0s) evaluator ready (total: 0.77s) evaluator created (0.77s) NL constraint bounds extracted (0.01s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.112s) applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.642s) optimizer initialization complete (total: 3.535s) 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 1.4514611e+00 7.28e-01 1.10e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7679702e+00 1.19e-01 1.55e+00 -0.9 7.63e-01 0.0 1.00e+00 1.00e+00h 1 2 1.6086603e+00 1.11e-01 1.28e+00 -0.3 2.46e+01 - 9.25e-02 5.92e-02h 1 3 1.4068285e+00 4.21e-02 6.76e+00 -2.0 1.89e+01 - 5.14e-01 6.56e-01h 1 4 1.6128022e+00 1.04e-02 2.12e+00 -2.1 4.30e-01 -0.5 1.00e+00 8.07e-01h 1 5 1.2719764e+00 7.10e-03 5.69e+00 -1.8 1.65e+00 -1.0 1.00e+00 1.87e-01f 1 6 1.1717804e+00 2.94e-03 7.39e-01 -2.7 3.00e-01 -1.4 1.00e+00 5.92e-01h 1 7 1.2434195e+00 2.18e-04 1.08e+01 -4.0 3.26e+01 - 3.14e-01 9.79e-01h 1 8 1.1134634e+00 1.09e-04 4.93e+00 -3.9 1.62e+00 -1.9 1.00e+00 4.93e-01f 1 9 1.1125802e+00 1.06e-04 1.99e+00 -4.0 4.93e-02 -2.4 1.00e+00 3.21e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0909904e+00 2.65e-06 9.74e-01 -4.0 1.99e+01 - 4.91e-01 1.00e+00f 1 11 1.0931055e+00 1.99e-09 6.64e-04 -4.0 2.21e-01 - 1.00e+00 1.00e+00h 1 12 1.0910358e+00 2.89e-16 1.26e-04 -4.0 1.58e-01 - 1.00e+00 1.00e+00f 1 13 1.0910386e+00 8.88e-16 2.95e-05 -4.0 4.99e-02 - 1.00e+00 1.00e+00f 1 14 1.0908587e+00 1.78e-15 4.37e-09 -4.1 2.48e-05 - 1.00e+00 1.00e+00f 1 15 1.0910386e+00 1.71e-26 4.45e-09 -4.0 1.99e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 15 (scaled) (unscaled) Objective...............: 1.0910385864123713e+00 1.0910385864123713e+00 Dual infeasibility......: 4.4458621886495249e-09 4.4458621886495249e-09 Constraint violation....: 1.7117007089897633e-26 1.7117007089897633e-26 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000114074409839e-04 1.0000114074409839e-04 Overall NLP error.......: 4.4458621886495249e-09 4.4458621886495249e-09 Number of objective function evaluations = 16 Number of objective gradient evaluations = 16 Number of equality constraint evaluations = 16 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 16 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 15 Total seconds in IPOPT = 20.113 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.06s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.049s) linear index maps built (0.0s) evaluator ready (total: 0.11s) evaluator created (0.11s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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 linear constraints added: 6 (0.351s) optimizer initialization complete (total: 0.461s) 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 3.9413474e+00 2.03e+00 4.71e-02 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6144061e+00 7.63e-01 1.57e+00 -1.2 1.89e+01 -4.0 9.58e-01 1.00e+00h 1 2 2.2778071e+00 1.70e-01 2.21e-01 -1.8 6.19e+00 -4.5 9.99e-01 1.00e+00h 1 3 2.1819156e+00 2.21e-01 4.47e-01 -2.0 2.84e+01 -5.0 1.00e+00 4.66e-01h 2 4 2.1317298e+00 2.12e-01 5.74e-01 -2.4 3.72e+01 -5.4 1.00e+00 4.95e-01h 2 5 2.0803247e+00 2.61e-01 1.00e+00 -3.1 4.65e+01 -5.9 1.00e+00 1.00e+00h 1 6 2.0822337e+00 1.06e-03 6.48e-01 -4.0 4.13e+01 -6.4 7.92e-01 1.00e+00h 1 7 2.0794930e+00 1.07e-03 5.29e-02 -4.0 3.85e+01 -6.9 1.00e+00 7.69e-01h 1 8 2.0789011e+00 1.00e-03 7.83e-02 -4.0 6.67e+01 -7.3 1.00e+00 1.00e+00h 1 9 2.0773999e+00 8.73e-04 1.90e-02 -4.0 1.25e+02 -7.8 1.00e+00 9.03e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0765920e+00 1.93e-04 2.15e-02 -4.0 2.22e+02 -8.3 1.00e+00 8.92e-01h 1 11 2.0761512e+00 6.96e-04 3.06e-02 -4.0 3.68e+02 -8.8 1.00e+00 1.00e+00h 1 12 2.0756227e+00 8.48e-05 2.42e-02 -4.0 4.24e+02 -9.2 1.00e+00 6.21e-01h 1 13 2.0758279e+00 5.46e-04 7.39e-03 -4.0 1.25e+02 -9.7 1.00e+00 1.00e+00h 1 14 2.0754431e+00 1.05e-03 1.75e-04 -4.1 4.35e+01 -10.2 1.00e+00 1.00e+00h 1 15 2.0757716e+00 4.86e-04 3.42e-06 -4.0 1.94e+01 -10.7 1.00e+00 1.00e+00h 1 16 2.0754220e+00 6.33e-04 4.49e-07 -4.1 2.39e+01 -11.2 1.00e+00 1.00e+00h 1 17 2.0757717e+00 3.96e-04 7.05e-07 -4.0 1.49e+01 -11.6 1.00e+00 1.00e+00h 1 18 2.0754219e+00 5.54e-04 2.32e-07 -4.1 2.09e+01 -12.1 1.00e+00 1.00e+00h 1 19 2.0757717e+00 6.03e-04 9.83e-08 -4.0 2.28e+01 -12.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0754219e+00 6.02e-04 1.03e-07 -4.1 2.27e+01 -13.1 1.00e+00 1.00e+00h 1 21 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -13.5 9.28e-01 1.00e+00h 1 22 2.0758523e+00 1.72e-01 1.56e-04 -4.0 1.29e+03 -14.0 1.00e+00 1.00e+00h 1 23 2.0754378e+00 2.85e-02 8.78e-05 -4.1 1.05e+03 -14.5 1.00e+00 1.00e+00h 1 24 2.0754277e+00 1.24e-05 2.11e-06 -4.1 1.63e+02 -15.0 1.00e+00 1.00e+00h 1 25 2.0757717e+00 7.84e-04 1.74e-07 -4.0 3.01e+01 -15.5 1.00e+00 1.00e+00h 1 26 2.0754219e+00 6.34e-04 1.30e-07 -4.1 2.39e+01 -15.9 1.00e+00 1.00e+00h 1 27 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -16.4 9.28e-01 1.00e+00h 1 28 2.0739729e+00 7.49e-04 2.53e-04 -6.1 8.48e+02 -16.9 8.16e-01 1.00e+00h 1 29 2.0743069e+00 2.58e-02 1.46e-02 -4.0 8.97e+03 -17.4 1.00e+00 1.46e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0749156e+00 3.43e-02 4.23e-05 -4.3 7.15e+02 -17.8 1.00e+00 1.00e+00h 1 31 2.0749194e+00 4.29e-04 1.42e-05 -4.3 5.34e+02 -18.3 1.00e+00 1.00e+00h 1 32 2.0757799e+00 1.06e-02 3.26e-06 -4.0 1.65e+02 -18.8 1.00e+00 1.00e+00h 1 33 2.0754236e+00 2.17e-03 7.34e-07 -4.1 8.12e+01 -19.3 1.00e+00 1.00e+00h 1 34 2.0754217e+00 1.05e-06 2.50e-08 -4.1 1.90e+01 -19.7 1.00e+00 1.00e+00h 1 35 2.0757718e+00 7.83e-04 1.70e-07 -4.0 2.96e+01 -20.0 1.00e+00 1.00e+00h 1 36 2.0754219e+00 6.34e-04 1.30e-07 -4.1 2.39e+01 -20.0 1.00e+00 1.00e+00h 1 37 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 38 2.0739729e+00 7.49e-04 2.53e-04 -6.1 8.48e+02 -20.0 8.16e-01 1.00e+00h 1 39 2.0739618e+00 7.48e-07 1.83e-05 -6.1 5.36e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0741610e+00 2.72e-02 1.81e-02 -4.0 3.03e+04 -20.0 1.00e+00 8.17e-02f 1 41 2.0748450e+00 7.42e-02 5.83e-05 -4.3 1.43e+03 -20.0 1.00e+00 1.00e+00f 1 42 2.0748594e+00 4.17e-04 5.58e-06 -4.3 3.96e+02 -20.0 1.00e+00 1.00e+00h 1 43 2.0740038e+00 1.17e-02 4.14e-04 -6.5 1.83e+02 -20.0 8.92e-01 1.00e+00h 1 44 2.0739628e+00 2.48e-04 2.84e-04 -6.5 7.31e+02 -20.0 7.61e-01 1.00e+00h 1 45 2.0739529e+00 2.78e-07 2.04e-05 -6.5 6.29e+02 -20.0 1.00e+00 1.00e+00h 1 46 2.0741325e+00 2.58e-02 1.91e-02 -4.0 3.70e+04 -20.0 1.00e+00 7.19e-02f 1 47 2.0748276e+00 8.42e-02 6.63e-05 -4.3 1.60e+03 -20.0 1.00e+00 1.00e+00f 1 48 2.0748443e+00 3.56e-04 3.40e-06 -4.3 3.15e+02 -20.0 1.00e+00 1.00e+00h 1 49 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 51 2.0739527e+00 2.69e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 52 2.0741318e+00 2.58e-02 1.92e-02 -4.0 3.72e+04 -20.0 1.00e+00 7.16e-02f 1 53 2.0748272e+00 8.45e-02 6.65e-05 -4.3 1.61e+03 -20.0 1.00e+00 1.00e+00f 1 54 2.0748440e+00 3.54e-04 3.34e-06 -4.3 3.13e+02 -20.0 1.00e+00 1.00e+00h 1 55 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 56 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 57 2.0739527e+00 2.68e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 58 2.0741318e+00 2.58e-02 1.92e-02 -4.0 3.72e+04 -20.0 1.00e+00 7.16e-02f 1 59 2.0748272e+00 8.45e-02 6.65e-05 -4.3 1.61e+03 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0748440e+00 3.54e-04 3.34e-06 -4.3 3.13e+02 -20.0 1.00e+00 1.00e+00h 1 61 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 62 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 63 2.0739527e+00 2.68e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 64 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 65 2.0741226e+00 2.63e-02 1.95e-02 -4.0 4.26e+04 -20.0 1.00e+00 6.77e-02f 1 66 2.0748234e+00 8.99e-02 7.10e-05 -4.3 1.70e+03 -20.0 1.00e+00 1.00e+00f 1 67 2.0748412e+00 3.13e-04 2.43e-06 -4.3 2.70e+02 -20.0 1.00e+00 1.00e+00h 1 68 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 69 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 71 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 72 2.0741225e+00 2.63e-02 1.95e-02 -4.0 4.27e+04 -20.0 1.00e+00 6.76e-02f 1 73 2.0748233e+00 9.00e-02 7.11e-05 -4.3 1.70e+03 -20.0 1.00e+00 1.00e+00f 1 74 2.0748411e+00 3.13e-04 2.42e-06 -4.3 2.70e+02 -20.0 1.00e+00 1.00e+00h 1 75 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 76 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 77 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 78 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 79 2.0739440e+00 6.21e-05 3.00e-06 -9.0 1.42e+02 -20.0 9.56e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0740989e+00 2.54e-02 2.06e-02 -4.0 5.21e+04 -20.0 1.00e+00 5.99e-02f 1 81 2.0748092e+00 1.02e-01 8.36e-05 -4.3 1.92e+03 -20.0 1.00e+00 1.00e+00f 1 82 2.0748293e+00 2.04e-04 1.06e-06 -4.3 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 83 2.0740026e+00 1.16e-02 4.11e-04 -6.5 1.88e+02 -20.0 8.89e-01 1.00e+00h 1 84 2.0739622e+00 2.30e-04 2.84e-04 -6.5 7.25e+02 -20.0 7.59e-01 1.00e+00h 1 85 2.0739525e+00 2.60e-07 1.99e-05 -6.5 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 86 2.0739518e+00 4.59e-09 7.61e-07 -6.5 1.66e+02 -20.0 1.00e+00 1.00e+00h 1 87 2.0741220e+00 2.63e-02 1.96e-02 -4.0 4.28e+04 -20.0 1.00e+00 6.75e-02f 1 88 2.0748230e+00 9.02e-02 7.13e-05 -4.3 1.71e+03 -20.0 1.00e+00 1.00e+00f 1 89 2.0748409e+00 3.11e-04 2.38e-06 -4.3 2.68e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 91 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 92 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 93 2.0739520e+00 4.54e-09 7.53e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 94 2.0739440e+00 6.21e-05 3.00e-06 -9.0 1.42e+02 -20.0 9.56e-01 1.00e+00h 1 95 2.0740989e+00 2.54e-02 2.06e-02 -4.0 5.21e+04 -20.0 1.00e+00 5.99e-02f 1 96 2.0748092e+00 1.02e-01 8.37e-05 -4.3 1.92e+03 -20.0 1.00e+00 1.00e+00f 1 97 2.0748293e+00 2.04e-04 1.06e-06 -4.3 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 98 2.0740026e+00 1.16e-02 4.11e-04 -6.5 1.88e+02 -20.0 8.89e-01 1.00e+00h 1 99 2.0739622e+00 2.30e-04 2.84e-04 -6.5 7.25e+02 -20.0 7.59e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0739525e+00 2.60e-07 1.99e-05 -6.5 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0739525125989102e+00 2.0739525125989102e+00 Dual infeasibility......: 1.9893600830281419e-05 1.9893600830281419e-05 Constraint violation....: 2.6030378874608573e-07 2.6030378874608573e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 6.1601907672001704e-07 6.1601907672001704e-07 Overall NLP error.......: 9.9745518747822260e-05 9.9745518747822260e-05 Number of objective function evaluations = 111 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 111 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 = 25.586 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.045s jacobian structure: 180 nonzeros (0.077s) integrator 1 hessian structure: 0.041s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.285s sub-objective 2 (QuadraticRegularizer): 0.073s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.016s objective hessian structure: 0.453s hessian structure: 375 nonzeros (0.495s) linear index maps built (0.0s) evaluator ready (total: 0.69s) evaluator created (0.69s) NL constraint bounds extracted (0.009s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.098s) applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.475s) optimizer initialization complete (total: 3.273s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 194 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 27 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.2441750e+00 1.03e+00 1.04e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7838737e+00 1.80e-01 1.73e+00 -0.9 9.41e-01 0.0 9.90e-01 1.00e+00h 1 2 1.9132493e+00 5.31e-02 1.34e+00 -0.7 3.63e+00 - 1.00e+00 7.05e-01H 1 3 2.1750021e+00 1.36e-02 2.03e+00 -1.4 2.89e-01 -0.5 9.98e-01 1.00e+00h 1 4 1.4934291e+00 1.39e-02 2.75e+00 -1.2 2.11e+00 -1.0 9.87e-01 2.84e-01f 1 5 1.4111050e+00 1.19e-02 4.85e+00 -1.7 2.70e+01 - 7.92e-01 1.47e-01f 1 6 1.2193760e+00 3.62e-03 8.38e-01 -2.1 2.44e-01 -1.4 1.00e+00 6.84e-01h 1 7 1.0995694e+00 8.96e-05 4.78e-02 -3.5 2.00e-01 -1.9 1.00e+00 1.00e+00h 1 8 1.0948210e+00 1.92e-07 4.11e-03 -3.7 1.25e-01 -1.5 9.98e-01 1.00e+00h 1 9 1.0937465e+00 1.62e-10 1.05e-03 -4.0 7.49e-02 -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 1.0936021e+00 1.90e-14 6.37e-04 -4.0 1.74e-01 -2.4 1.00e+00 1.00e+00f 1 11 1.0931854e+00 2.83e-19 2.38e-03 -4.0 4.83e-01 -2.9 1.00e+00 1.00e+00f 1 12 1.0928357e+00 1.42e-19 1.87e-02 -4.0 1.16e+00 -3.4 3.23e-01 5.00e-01f 2 13 1.0927276e+00 3.57e-25 5.24e-04 -4.0 6.04e-02 -2.1 1.00e+00 1.00e+00f 1 14 1.0925597e+00 2.17e-27 8.50e-04 -4.0 1.75e-01 -2.5 1.00e+00 1.00e+00f 1 15 1.0909262e+00 9.63e-25 2.53e-01 -4.0 5.02e+00 - 1.00e+00 1.00e+00f 1 16 1.0908955e+00 2.27e-26 1.47e-04 -4.0 3.17e-02 - 1.00e+00 1.00e+00f 1 17 1.0908997e+00 5.48e-27 8.59e-06 -4.0 8.28e-03 - 1.00e+00 1.00e+00f 1 18 1.0907197e+00 7.28e-28 1.40e-08 -4.1 2.11e-04 - 1.00e+00 1.00e+00f 1 19 1.0908997e+00 2.94e-27 3.67e-09 -4.0 6.75e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 19 (scaled) (unscaled) Objective...............: 1.0908997336816064e+00 1.0908997336816064e+00 Dual infeasibility......: 3.6678703060899487e-09 3.6678703060899487e-09 Constraint violation....: 2.9359295413744981e-27 2.9359295413744981e-27 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000551539199278e-04 1.0000551539199278e-04 Overall NLP error.......: 5.5156877391989139e-09 5.5156877391989139e-09 Number of objective function evaluations = 22 Number of objective gradient evaluations = 20 Number of equality constraint evaluations = 22 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 20 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 19 Total seconds in IPOPT = 19.284 EXIT: Optimal Solution Found. Difference in Hessian Difference in Jacobian [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... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.046s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.046s) integrator 1 hessian structure: 0.037s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.038s) linear index maps built (0.0s) evaluator ready (total: 0.085s) evaluator created (0.085s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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 linear constraints added: 6 (0.092s) optimizer initialization complete (total: 0.177s) 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 2.3139652e+00 2.38e+00 4.68e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7151725e+00 2.60e-02 5.31e-01 -1.0 1.86e+00 - 1.00e+00 1.00e+00f 1 2 2.3540744e+00 4.97e-03 6.10e-02 -1.7 8.37e-02 - 9.73e-01 1.00e+00h 1 3 2.1161637e+00 9.38e-04 9.78e-03 -4.0 3.71e-02 - 8.92e-01 9.25e-01h 1 4 2.0910234e+00 1.12e-04 8.48e-04 -4.0 3.23e-02 - 1.00e+00 1.00e+00h 1 5 2.0908841e+00 1.36e-05 3.18e-04 -4.0 5.98e-01 - 1.00e+00 1.00e+00h 1 6 2.0908961e+00 1.23e-08 5.87e-08 -4.0 2.11e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 4.16e-10 5.81e-10 -4.0 4.34e-02 - 1.00e+00 1.00e+00h 1 8 2.0908972e+00 6.25e-15 7.26e-15 -4.0 1.73e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 8 (scaled) (unscaled) Objective...............: 2.0908971978678594e+00 2.0908971978678594e+00 Dual infeasibility......: 7.2640732404899433e-15 7.2640732404899433e-15 Constraint violation....: 6.2538136561679503e-15 6.2538136561679503e-15 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000055841187e-04 1.0000000055841187e-04 Overall NLP error.......: 5.5841186438320561e-13 5.5841186438320561e-13 Number of objective function evaluations = 9 Number of objective gradient evaluations = 9 Number of equality constraint evaluations = 9 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 9 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 8 Total seconds in IPOPT = 25.837 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.063s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.064s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.103s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.155s) linear index maps built (0.0s) evaluator ready (total: 0.219s) evaluator created (0.219s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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 linear constraints added: 6 (0.0s) optimizer initialization complete (total: 0.219s) 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 6.3688712e+00 1.54e+00 7.41e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6157320e+00 7.54e-01 1.37e+00 -1.0 7.80e+00 -4.0 6.97e-01 7.95e-01f 1 2 2.4944289e+00 1.85e-01 1.24e+01 -1.5 9.30e+00 -2.7 1.59e-01 8.36e-01h 1 3 2.6592469e+00 1.63e-01 3.42e+00 -0.9 5.58e+00 -2.2 7.11e-01 5.86e-01f 1 4 2.4990586e+00 5.52e-02 1.08e+00 -1.3 2.71e+00 -2.7 9.90e-01 1.00e+00f 1 5 2.3962034e+00 8.26e-01 1.81e-01 -1.4 3.67e+00 -3.2 1.00e+00 1.00e+00H 1 6 2.2193080e+00 4.17e-01 3.94e-02 -2.0 3.87e+00 -3.7 8.64e-01 8.53e-01h 1 7 2.1419699e+00 1.20e-01 1.16e+00 -2.2 1.17e+01 -4.2 6.35e-01 9.26e-01h 1 8 2.1383936e+00 6.06e-02 3.01e-01 -2.1 1.15e+00 -2.8 1.00e+00 4.86e-01h 1 9 2.1471767e+00 1.52e-02 1.28e-01 -2.2 1.45e+00 -3.3 9.26e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.1095277e+00 1.07e-02 1.54e-01 -2.8 1.75e+00 -3.8 9.81e-01 1.00e+00h 1 11 2.0920407e+00 2.74e-03 1.00e-02 -3.7 7.44e-01 -4.3 1.00e+00 1.00e+00h 1 12 2.0905803e+00 5.79e-04 2.07e-03 -4.0 7.91e-01 -4.7 1.00e+00 1.00e+00h 1 13 2.0903867e+00 1.79e-05 5.57e-04 -4.0 2.02e+00 -5.2 1.00e+00 1.00e+00h 1 14 2.0900716e+00 2.83e-06 2.17e-03 -4.0 3.46e+00 -5.7 1.00e+00 1.00e+00h 1 15 2.0899361e+00 4.02e-06 1.96e-03 -4.0 4.97e+00 -6.2 1.00e+00 1.00e+00h 1 16 2.0898622e+00 2.61e-06 1.32e-03 -4.0 7.82e+00 -6.6 1.00e+00 1.00e+00h 1 17 2.0898282e+00 6.43e-07 1.22e-03 -4.0 1.07e+01 -7.1 1.00e+00 1.00e+00h 1 18 2.0898238e+00 1.68e-06 6.43e-04 -4.0 8.73e+00 -7.6 1.00e+00 1.00e+00h 1 19 2.0898221e+00 3.61e-07 7.70e-05 -4.0 2.80e+00 -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 20 2.0898219e+00 5.89e-09 1.15e-06 -4.0 3.49e-01 -8.5 1.00e+00 1.00e+00h 1 21 2.0898218e+00 7.94e-12 2.65e-09 -4.0 2.13e-02 -9.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 21 (scaled) (unscaled) Objective...............: 2.0898218498887431e+00 2.0898218498887431e+00 Dual infeasibility......: 2.6479190019833895e-09 2.6479190019833895e-09 Constraint violation....: 7.9443118750077701e-12 7.9443118750077701e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000048e-04 1.0000000000000048e-04 Overall NLP error.......: 2.6479190019833895e-09 2.6479190019833895e-09 Number of objective function evaluations = 23 Number of objective gradient evaluations = 22 Number of equality constraint evaluations = 23 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 22 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 21 Total seconds in IPOPT = 25.915 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.045s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.045s) integrator 1 hessian structure: 0.036s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.037s) linear index maps built (0.0s) evaluator ready (total: 0.083s) evaluator created (0.083s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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 linear constraints added: 6 (0.0s) optimizer initialization complete (total: 0.083s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 35 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.9531696e+00 2.20e+00 5.10e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7410597e+00 2.09e+00 4.87e-01 -4.0 1.90e+00 0.0 4.42e-02 5.10e-02h 1 2 2.7344251e+00 2.09e+00 1.22e+02 -1.6 7.13e+00 -0.5 8.71e-02 1.51e-03h 1 3 2.7191416e+00 2.02e+00 1.95e+02 -1.2 2.47e+01 -1.0 6.21e-02 3.09e-02h 1 4 2.7197034e+00 2.02e+00 3.19e+04 0.5 8.05e+01 -0.5 5.29e-02 3.40e-04h 1 5 2.7717386e+00 2.12e+00 3.98e+04 1.6 3.21e+03 -1.0 1.20e-03 7.09e-04f 2 6 2.8437763e+00 2.30e+00 3.36e+04 -0.4 3.54e+03 -1.5 1.42e-03 6.77e-04f 2 7 2.8809501e+00 2.30e+00 2.66e+04 -0.4 1.28e+03 -2.0 3.04e-03 3.80e-04h 2 8 3.0191688e+00 2.23e+00 1.94e+04 -0.4 2.95e+02 -1.5 1.50e-02 1.98e-03h 1 9 3.0611222e+00 2.23e+00 2.16e+04 -0.4 1.70e+03 -2.0 1.62e-03 8.27e-04h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 3.0625098e+00 2.23e+00 6.59e+04 -0.4 4.40e+02 -1.6 5.14e-03 3.41e-05h 1 11 3.1206540e+00 2.21e+00 1.27e+05 -0.4 1.75e+02 -2.1 2.85e-03 1.42e-03h 1 12 3.0801846e+00 2.21e+00 4.72e+04 1.7 1.69e+04 -1.6 4.72e-07 2.33e-05f 2 13 3.0028573e+00 2.21e+00 9.60e+04 1.0 5.23e+04 -2.1 1.63e-04 3.11e-05f 2 14r 3.0028573e+00 2.21e+00 1.00e+03 0.3 0.00e+00 -0.8 0.00e+00 3.70e-07R 9 15r 2.9698750e+00 1.84e+00 9.99e+02 1.9 1.77e+03 - 2.18e-03 5.76e-04f 1 16 2.9693412e+00 1.84e+00 5.03e+02 -4.0 2.95e+00 -1.3 1.18e-01 2.31e-04h 1 17 2.9674243e+00 1.84e+00 3.36e+04 0.5 1.97e+03 -1.7 1.54e-03 2.81e-05h 1 18 2.9239606e+00 1.84e+00 5.61e+04 1.5 4.13e+04 -2.2 1.12e-04 3.29e-05f 2 19 2.9013855e+00 1.84e+00 6.62e+04 1.5 6.28e+04 -2.7 8.84e-05 4.83e-05f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.8577451e+00 1.84e+00 8.57e+04 1.5 1.33e+05 -3.2 2.51e-04 1.49e-04h 1 21r 2.8577451e+00 1.84e+00 9.99e+02 1.5 0.00e+00 -2.7 0.00e+00 4.41e-07R 9 22r 3.2990854e+00 6.89e-01 9.24e+02 1.3 1.04e+02 - 7.67e-02 1.77e-02f 1 23 3.2927971e+00 6.87e-01 9.79e+01 -4.0 8.01e+00 -3.2 1.76e-01 1.76e-03h 1 24 3.2925288e+00 6.87e-01 1.15e+04 -4.0 4.53e+03 -3.7 5.18e-03 4.44e-05h 1 25 3.2847898e+00 6.87e-01 4.30e+04 -0.2 1.88e+05 -4.2 7.11e-04 2.70e-05h 3 26 3.2868889e+00 3.01e+00 3.53e+04 0.4 4.38e+05 -4.7 9.58e-05 3.05e-04f 2 27 3.2887749e+00 3.02e+00 4.56e+04 -0.7 3.52e+05 -4.2 1.68e-04 2.66e-05h 4 28 3.2908791e+00 3.02e+00 4.71e+04 -0.7 6.49e+05 -3.8 2.76e-05 3.75e-06f 5 29r 3.2908791e+00 3.02e+00 9.99e+02 0.5 0.00e+00 -2.5 0.00e+00 3.97e-07R 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30r 3.2224949e+00 6.56e-01 9.89e+02 1.6 3.01e+04 - 2.26e-02 1.05e-03f 1 31 3.2219105e+00 6.56e-01 5.89e+05 -0.3 7.70e+02 -2.9 2.10e-01 2.19e-04h 1 32 3.2330682e+00 6.56e-01 5.05e+05 1.6 3.90e+05 -3.4 1.69e-05 1.93e-04f 2 33 3.2193621e+00 6.55e-01 4.52e+05 1.6 1.69e+05 -3.9 3.81e-04 1.54e-04f 2 34 3.2366221e+00 6.55e-01 1.03e+05 1.6 2.46e+03 -1.7 7.90e-03 3.45e-04h 1 35r 3.2366221e+00 6.55e-01 9.99e+02 -0.2 0.00e+00 -2.1 0.00e+00 3.55e-07R 7 36r 3.0462407e+00 5.95e-01 9.95e+02 1.8 1.28e+04 - 1.57e-02 1.89e-03f 1 37r 3.7423900e+00 1.96e+00 3.56e+03 2.1 3.43e+03 - 5.36e-01 3.02e-02f 1 38r 3.5977278e+00 1.78e+00 3.17e+03 1.6 2.32e+02 - 1.52e-01 9.55e-02f 1 39r 3.1820151e+00 1.39e+00 8.57e+02 1.6 2.56e+02 - 8.32e-01 4.85e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40r 3.0869337e+00 3.17e-01 1.71e+02 1.1 5.39e+01 - 9.11e-01 8.91e-01f 1 41 3.0579046e+00 2.08e-01 1.73e+00 -1.1 1.73e+00 -2.6 7.77e-01 3.44e-01h 1 42 3.0625771e+00 2.07e-01 2.80e+02 -0.8 9.37e+00 -3.1 3.87e-01 5.33e-03h 1 43 3.1439285e+00 2.06e-01 5.98e+04 0.5 4.65e+02 -3.6 9.52e-01 1.17e-03f 2 44 3.1484220e+00 2.06e-01 3.80e+05 0.4 2.18e+02 -4.1 9.60e-03 9.85e-05h 5 45 3.1526197e+00 2.06e-01 8.51e+06 0.4 2.10e+02 -4.5 3.33e-02 9.38e-05h 5 46 3.1565281e+00 2.06e-01 3.18e+09 0.4 2.04e+02 -5.0 5.40e-01 8.89e-05h 5 47 3.1638024e+00 2.06e-01 2.67e+10 0.4 2.03e+02 -5.5 1.03e-02 1.68e-04h 4 48 3.1701799e+00 2.06e-01 2.21e+13 0.4 1.93e+02 -6.0 1.00e+00 1.49e-04h 4 49 3.1759186e+00 2.06e-01 2.42e+14 0.4 8.40e+02 -6.4 1.10e-02 1.33e-04h 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 3.1809371e+00 2.06e-01 2.18e+15 0.4 8.03e+02 -6.9 2.94e-01 1.15e-04h 4 51 3.1852792e+00 2.06e-01 2.18e+15 0.4 4.38e+02 -7.4 1.13e-02 9.79e-05h 4 52 3.1928875e+00 2.06e-01 2.18e+15 0.4 4.20e+02 -7.9 1.00e+00 1.73e-04h 3 53 3.1985319e+00 2.06e-01 2.18e+15 0.4 1.65e+02 -8.4 1.13e-02 1.33e-04h 3 54 3.2070331e+00 2.06e-01 2.19e+15 0.4 1.67e+02 -8.8 2.64e-01 2.04e-04h 2 55 3.2156589e+00 2.06e-01 2.39e+15 0.4 3.22e+03 -9.3 1.48e-02 2.18e-04h 1 56 3.2157177e+00 2.06e-01 3.25e+17 0.4 1.67e+04 -9.8 1.00e+00 3.87e-05h 1 57r 3.2157177e+00 2.06e-01 9.99e+02 0.4 0.00e+00 -9.4 0.00e+00 2.51e-07R 4 58r 3.2201143e+00 1.99e-01 9.17e+02 1.2 1.62e+02 - 1.00e+00 1.33e-02f 1 59r 3.3368925e+00 2.01e-01 5.31e+01 0.0 1.57e+00 - 9.99e-01 9.46e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60r 4.0226076e+00 2.01e-01 5.56e+00 -0.2 5.29e-01 0.0 9.52e-01 1.00e+00f 1 61r 4.1790859e+00 1.99e-01 5.20e+01 -0.7 1.04e+00 -0.5 7.12e-01 1.00e+00f 1 62r 4.1449853e+00 1.99e-01 7.16e-01 -1.2 2.22e-01 -0.1 1.00e+00 1.00e+00f 1 63r 3.9840235e+00 1.99e-01 7.74e+00 -1.8 9.27e-01 - 8.93e-01 1.00e+00f 1 64r 3.9097338e+00 1.99e-01 4.80e-02 -2.5 1.24e-01 -0.5 1.00e+00 1.00e+00f 1 65r 3.6402121e+00 1.99e-01 4.18e-01 -3.0 2.35e+00 - 9.24e-01 1.00e+00f 1 66r 3.4817046e+00 1.99e-01 1.37e-02 -3.5 5.96e-01 - 1.00e+00 1.00e+00h 1 67r 3.4105740e+00 1.99e-01 1.70e-03 -4.0 1.58e-01 - 1.00e+00 1.00e+00h 1 68r 3.4309855e+00 1.99e-01 4.86e-05 -4.0 1.78e-01 - 1.00e+00 1.00e+00h 1 69r 3.4305739e+00 1.99e-01 4.03e-07 -4.0 3.38e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 69 (scaled) (unscaled) Objective...............: 3.4306038382476518e+00 3.4306038382476518e+00 Dual infeasibility......: 1.9817453216967056e+00 1.9817453216967056e+00 Constraint violation....: 1.9875045040124517e-01 1.9875045040124517e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 1.9817453216967056e+00 1.9817453216967056e+00 Number of objective function evaluations = 189 Number of objective gradient evaluations = 55 Number of equality constraint evaluations = 189 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 76 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 70 Total seconds in IPOPT = 20.497 EXIT: Converged to a point of local infeasibility. Problem may be infeasible. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.047s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.048s) integrator 1 hessian structure: 0.041s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s sub-objective 4 (GlobalObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1804 nonzeros (0.042s) linear index maps built (0.0s) evaluator ready (total: 0.09s) evaluator created (0.09s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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 linear constraints added: 6 (0.0s) optimizer initialization complete (total: 0.09s) 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 3.5817170e+00 2.54e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.2262157e+00 9.16e-01 1.51e+00 -0.9 2.46e+00 0.0 7.34e-01 6.39e-01f 1 2 2.5020171e+00 5.53e-02 2.38e+00 -1.3 9.84e-01 -0.5 7.53e-01 1.00e+00h 1 3 2.4159417e+00 4.95e-02 1.82e+00 -1.2 9.83e-01 -1.0 9.78e-01 4.05e-01h 1 4 2.3050859e+00 3.13e-02 1.06e+00 -1.7 1.28e+00 -1.4 1.00e+00 3.69e-01h 1 5 2.1304645e+00 1.83e-02 2.25e-01 -2.4 5.87e-01 -1.9 1.00e+00 9.75e-01h 1 6 2.0946800e+00 4.58e-04 1.36e-02 -3.9 9.37e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0908609e+00 2.17e-05 2.19e-03 -4.0 2.09e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908763e+00 2.82e-07 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908630e+00 6.81e-09 2.06e-05 -4.0 1.35e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908232e+00 6.22e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907038e+00 5.60e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903463e+00 5.07e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892809e+00 4.63e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861493e+00 4.35e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796365e+00 2.50e-03 8.72e-02 -4.0 8.72e+01 -6.7 1.00e+00 7.55e-01h 1 16 2.0812131e+00 1.24e-04 1.77e-01 -4.0 7.08e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778249e+00 5.71e-03 2.35e-02 -4.0 1.13e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0782241e+00 1.82e-02 5.16e-02 -3.7 1.83e+02 -8.1 9.94e-01 1.00e+00h 1 19 2.0768992e+00 8.47e-03 2.86e-02 -3.8 3.19e+02 -8.6 1.00e+00 8.89e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0761406e+00 7.46e-03 2.58e-02 -3.9 4.72e+02 -9.1 1.00e+00 9.74e-01f 1 21 2.0757461e+00 1.06e-02 1.16e-02 -4.0 1.46e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756766e+00 5.79e-04 4.58e-04 -4.0 6.30e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 1.74e-06 8.96e-06 -4.0 2.36e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 6.52e-08 1.56e-06 -4.0 1.54e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.75e-09 1.58e-07 -4.0 5.45e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 8.38e-11 3.25e-09 -4.0 9.66e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122137291e+00 2.0756712122137291e+00 Dual infeasibility......: 3.2500670459480012e-09 3.2500670459480012e-09 Constraint violation....: 8.3804629902317629e-11 8.3804629902317629e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000026e-04 1.0000000000000026e-04 Overall NLP error.......: 3.2500670459480012e-09 3.2500670459480012e-09 Number of objective function evaluations = 28 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 26 Total seconds in IPOPT = 25.783 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 0 integrators, 0 nonlinear constraints dynamics constraints: 0, nonlinear constraints: 0 jacobian structure: 0 nonzeros (0.0s) computing objective hessian structure (QuadraticRegularizer)... objective hessian structure: 0.081s hessian structure: 30 nonzeros (0.082s) linear index maps built (0.0s) evaluator ready (total: 0.082s) evaluator created (0.082s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.104s) 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 linear constraints added: 5 (2.496s) optimizer initialization complete (total: 2.683s) 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 = 1.588 EXIT: Invalid number in NLP function or derivative detected. initializing optimizer... building evaluator: 0 integrators, 0 nonlinear constraints dynamics constraints: 0, nonlinear constraints: 0 jacobian structure: 0 nonzeros (0.0s) computing objective hessian structure (CompositeObjective)... sub-objective 1 (QuadraticRegularizer): 0.081s sub-objective 2 (QuadraticRegularizer): 0.0s objective hessian structure: 0.176s hessian structure: 40 nonzeros (0.176s) linear index maps built (0.0s) evaluator ready (total: 0.176s) evaluator created (0.176s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.101s) 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) linear constraints added: 6 (2.535s) optimizer initialization complete (total: 2.812s) 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 1.7518460e+00 5.79e-01 9.41e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.1620461e+00 3.97e-09 2.10e-01 -0.4 5.54e-01 -2.0 9.49e-01 1.00e+00f 1 2 3.0917933e-01 3.15e-09 2.96e-01 -2.4 1.19e+00 -1.6 8.07e-01 1.00e+00f 1 3 1.5327398e-01 8.31e-11 4.41e-02 -2.1 4.71e-01 -1.1 9.94e-01 1.00e+00f 1 4 4.4237264e-02 2.66e-11 3.88e-02 -3.0 7.97e-01 -1.6 1.00e+00 1.00e+00f 1 5 9.1723850e-03 2.19e-11 1.81e-02 -4.0 7.45e-01 -2.1 1.00e+00 1.00e+00f 1 6 1.8218493e-03 7.43e-12 5.91e-03 -4.0 4.93e-01 -2.6 1.00e+00 1.00e+00f 1 7 5.9958542e-04 1.98e-12 1.56e-03 -4.0 2.23e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.5546491e-04 2.58e-13 2.27e-04 -4.0 1.00e-01 -3.5 1.00e+00 1.00e+00f 1 9 4.5299945e-04 1.58e-14 1.30e-04 -4.0 2.11e-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 4.5374893e-04 1.22e-14 1.14e-04 -4.0 1.84e-02 -4.5 1.00e+00 1.00e+00f 1 11 3.0267966e-04 9.48e-15 4.39e-04 -4.1 8.05e-02 -5.0 1.00e+00 1.00e+00f 1 12 4.6031318e-04 5.11e-15 3.82e-04 -4.0 2.06e-01 -5.4 1.00e+00 5.00e-01f 2 13 2.7255601e-04 3.00e-15 5.78e-04 -4.1 1.10e-01 -5.9 1.00e+00 1.00e+00f 1 14 4.6475042e-04 2.11e-15 4.87e-04 -4.0 2.61e-01 -6.4 1.00e+00 5.00e-01f 2 15 2.6281046e-04 1.67e-15 6.39e-04 -4.1 1.23e-01 -6.9 1.00e+00 1.00e+00f 1 16 4.6548435e-04 1.55e-15 5.25e-04 -4.0 2.82e-01 -7.4 1.00e+00 5.00e-01f 2 17 2.5970064e-04 1.24e-15 6.66e-04 -4.1 1.29e-01 -7.8 1.00e+00 1.00e+00f 1 18 4.6535306e-04 1.22e-15 5.41e-04 -4.0 2.92e-01 -8.3 1.00e+00 5.00e-01f 2 19 2.5870745e-04 1.16e-15 6.83e-04 -4.1 1.32e-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 4.6491235e-04 9.99e-16 5.49e-04 -4.0 2.97e-01 -9.3 1.00e+00 5.00e-01f 2 21 2.5839888e-04 9.99e-16 6.96e-04 -4.1 1.35e-01 -9.7 1.00e+00 1.00e+00f 1 22 4.6439385e-04 8.88e-16 5.54e-04 -4.0 3.00e-01 -10.2 1.00e+00 5.00e-01f 2 23 2.5830738e-04 9.16e-16 7.08e-04 -4.1 1.37e-01 -10.7 1.00e+00 1.00e+00f 1 24 4.6386560e-04 7.77e-16 5.57e-04 -4.0 3.04e-01 -11.2 1.00e+00 5.00e-01f 2 25 2.5828366e-04 8.67e-16 7.19e-04 -4.1 1.39e-01 -11.6 1.00e+00 1.00e+00f 1 26 4.6335025e-04 7.77e-16 5.61e-04 -4.0 3.06e-01 -12.1 1.00e+00 5.00e-01f 2 27 2.5828019e-04 8.05e-16 7.29e-04 -4.1 1.41e-01 -12.6 1.00e+00 1.00e+00f 1 28 3.1005115e-05 8.88e-15 9.11e-04 -6.2 3.86e-01 -13.1 9.67e-01 1.00e+00f 1 29 1.7312509e-03 2.22e-15 7.78e-03 -4.0 2.03e+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 2.4722337e-05 2.29e-14 2.94e-03 -4.1 1.03e+00 -14.0 1.00e+00 1.00e+00f 1 31 1.5712615e-03 2.98e-14 8.11e-03 -4.0 9.98e-01 -14.5 1.00e+00 1.00e+00f 1 32 1.0357787e-05 1.75e-14 2.33e-03 -4.2 1.11e+00 -15.0 1.00e+00 1.00e+00f 1 33 4.6298451e-04 1.55e-15 2.78e-03 -4.0 1.39e+00 -15.5 1.00e+00 5.00e-01f 2 34 2.2040263e-04 2.89e-15 2.44e-04 -4.2 3.75e-01 -15.9 1.00e+00 5.00e-01f 2 35 2.0296623e-05 4.39e-15 8.23e-04 -6.4 4.19e-01 -16.4 9.63e-01 1.00e+00f 1 36 8.1675512e-06 3.22e-15 1.01e-04 -6.4 1.06e-01 -16.9 1.00e+00 1.00e+00f 1 37 1.4439310e-03 1.33e-15 5.10e-03 -4.0 9.78e+00 -17.4 1.00e+00 1.22e-01f 4 38 1.0633311e-04 5.14e-14 3.42e-03 -4.0 7.68e-01 -17.8 1.00e+00 1.00e+00f 1 39 7.3850229e-04 3.29e-14 3.48e-03 -4.0 5.25e-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 3.8005848e-04 6.00e-15 4.44e-04 -4.0 4.19e-01 -18.8 1.00e+00 5.00e-01f 2 41 3.5445552e-05 5.55e-15 1.35e-03 -6.0 5.13e-01 -19.3 9.54e-01 1.00e+00f 1 42 1.4598502e-05 5.11e-15 1.63e-04 -6.0 1.28e-01 -19.8 1.00e+00 1.00e+00f 1 43 3.9876363e-06 8.88e-16 1.03e-04 -6.0 1.46e-01 -20.0 1.00e+00 1.00e+00f 1 44 9.8788012e-04 7.36e-16 2.79e-03 -4.0 1.60e+01 -20.0 1.00e+00 7.51e-02f 4 45 1.7411517e-04 4.57e-14 2.75e-03 -4.0 5.50e-01 -20.0 1.00e+00 1.00e+00f 1 46 6.5396032e-04 2.04e-14 2.64e-03 -4.0 3.98e-01 -20.0 1.00e+00 1.00e+00f 1 47 3.8979074e-04 3.77e-15 4.14e-04 -4.0 3.47e-01 -20.0 1.00e+00 5.00e-01f 2 48 3.5161369e-05 5.77e-15 1.48e-03 -6.1 5.56e-01 -20.0 9.49e-01 1.00e+00f 1 49 1.4653860e-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 3.8809363e-06 7.77e-16 1.12e-04 -6.1 1.60e-01 -20.0 1.00e+00 1.00e+00f 1 51 8.0558130e-04 4.44e-16 1.85e-03 -4.0 1.72e+01 -20.0 1.00e+00 6.97e-02f 4 52 2.0895457e-04 3.95e-14 2.36e-03 -4.0 4.55e-01 -20.0 1.00e+00 1.00e+00f 1 53 5.9219978e-04 1.42e-14 2.16e-03 -4.0 3.33e-01 -20.0 1.00e+00 1.00e+00f 1 54 3.8593279e-04 2.22e-15 3.88e-04 -4.0 3.04e-01 -20.0 1.00e+00 5.00e-01f 2 55 3.4150754e-05 5.55e-15 1.56e-03 -6.1 5.91e-01 -20.0 9.45e-01 1.00e+00f 1 56 1.4349682e-05 4.22e-15 1.77e-04 -6.1 1.40e-01 -20.0 1.00e+00 1.00e+00f 1 57 3.7442758e-06 7.22e-16 1.17e-04 -6.1 1.70e-01 -20.0 1.00e+00 1.00e+00f 1 58 6.7107348e-04 4.96e-16 9.99e-04 -4.0 1.86e+01 -20.0 1.00e+00 6.43e-02f 4 59 2.4364178e-04 3.51e-14 1.94e-03 -4.1 3.63e-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 5.3473353e-04 9.55e-15 1.66e-03 -4.1 2.62e-01 -20.0 1.00e+00 1.00e+00f 1 61 3.8226748e-04 1.55e-15 3.46e-04 -4.1 2.52e-01 -20.0 1.00e+00 5.00e-01f 2 62 3.3081209e-05 5.22e-15 1.63e-03 -6.1 6.24e-01 -20.0 9.41e-01 1.00e+00f 1 63 1.4045323e-05 3.89e-15 1.80e-04 -6.1 1.45e-01 -20.0 1.00e+00 1.00e+00f 1 64 3.6289148e-06 6.11e-16 1.22e-04 -6.1 1.80e-01 -20.0 1.00e+00 1.00e+00f 1 65 5.7232655e-04 3.54e-16 2.70e-04 -4.0 1.99e+01 -20.0 1.00e+00 5.99e-02f 4 66 2.7443450e-04 3.15e-14 1.53e-03 -4.1 2.80e-01 -20.0 1.00e+00 1.00e+00f 1 67 4.8538195e-04 6.22e-15 1.20e-03 -4.1 1.94e-01 -20.0 1.00e+00 1.00e+00f 1 68 3.7786320e-04 8.88e-16 2.97e-04 -4.1 1.99e-01 -20.0 1.00e+00 5.00e-01f 2 69 3.1992659e-05 5.11e-15 1.69e-03 -6.1 6.53e-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 1.3727328e-05 3.55e-15 1.82e-04 -6.1 1.49e-01 -20.0 1.00e+00 1.00e+00f 1 71 3.5252970e-06 5.55e-16 1.26e-04 -6.1 1.87e-01 -20.0 1.00e+00 1.00e+00f 1 72 4.9859149e-04 3.47e-16 3.62e-04 -4.0 2.12e+01 -20.0 1.00e+00 5.62e-02f 4 73 3.0090362e-04 2.86e-14 1.14e-03 -4.1 2.06e-01 -20.0 1.00e+00 1.00e+00f 1 74 4.4457874e-04 4.00e-15 7.97e-04 -4.1 1.32e-01 -20.0 1.00e+00 1.00e+00f 1 75 2.3698902e-05 4.33e-15 1.90e-03 -6.1 8.02e-01 -20.0 9.21e-01 1.00e+00f 1 76 1.2244507e-05 3.66e-15 1.29e-04 -6.1 1.14e-01 -20.0 1.00e+00 1.00e+00f 1 77 3.0573169e-06 4.44e-16 1.21e-04 -6.1 1.94e-01 -20.0 1.00e+00 1.00e+00f 1 78 4.2067771e-04 5.79e-16 1.25e-03 -4.0 2.44e+01 -20.0 1.00e+00 4.88e-02f 4 79 3.3705299e-04 2.60e-14 5.97e-04 -4.1 1.05e-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 3.2193632e-05 5.11e-15 1.73e-03 -6.1 6.70e-01 -20.0 9.34e-01 1.00e+00f 1 81 1.3183471e-05 3.00e-15 2.08e-04 -6.1 1.72e-01 -20.0 1.00e+00 1.00e+00f 1 82 3.4785405e-06 5.00e-16 1.33e-04 -6.1 2.01e-01 -20.0 1.00e+00 1.00e+00f 1 83 3.6606482e-06 2.20e-16 6.88e-06 -6.1 1.22e-02 -20.0 1.00e+00 1.00e+00h 1 84 2.3021728e-07 5.55e-17 5.73e-05 -9.0 2.63e-01 -20.0 9.74e-01 1.00e+00f 1 85 2.0967015e-03 5.41e-16 1.06e-02 -4.0 1.11e+02 -20.0 1.00e+00 2.19e-02f 3 86 9.3147664e-05 4.40e-14 6.76e-03 -4.0 1.47e+00 -20.0 1.00e+00 1.00e+00f 1 87 7.4764691e-04 2.51e-14 5.23e-03 -4.0 7.93e-01 -20.0 1.00e+00 1.00e+00f 1 88 4.2196787e-04 4.88e-15 8.09e-04 -4.0 5.64e-01 -20.0 1.00e+00 5.00e-01f 2 89 4.2001058e-05 4.11e-15 2.16e-03 -5.9 7.33e-01 -20.0 9.28e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 1.7234210e-05 3.55e-15 2.67e-04 -5.9 1.93e-01 -20.0 1.00e+00 1.00e+00f 1 91 4.8436709e-06 6.66e-16 1.69e-04 -5.9 2.18e-01 -20.0 1.00e+00 1.00e+00f 1 92 5.3970171e-06 3.33e-16 1.50e-05 -5.9 2.21e-02 -20.0 1.00e+00 1.00e+00h 1 93 5.0572551e-06 1.05e-16 1.41e-06 -5.9 2.10e-03 -20.0 1.00e+00 1.00e+00h 1 94 3.5932181e-07 5.55e-17 7.87e-05 -8.9 2.93e-01 -20.0 9.71e-01 1.00e+00f 1 95 1.4523833e-07 5.20e-17 8.17e-06 -8.9 6.42e-02 -20.0 1.00e+00 1.00e+00f 1 96 1.3788369e-03 8.43e-16 3.54e-03 -4.0 3.44e+02 -20.0 1.00e+00 7.08e-03f 3 97 5.1707626e-04 5.86e-14 4.89e-03 -3.8 6.25e-01 -20.0 1.00e+00 1.00e+00f 1 98 8.4055521e-04 1.47e-14 1.57e-03 -3.8 1.89e-01 -20.0 1.00e+00 1.00e+00f 1 99 4.8502319e-05 7.55e-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 2.5737399e-05 6.00e-15 2.60e-04 -5.7 1.60e-01 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.5737398696581488e-05 2.5737398696581488e-05 Dual infeasibility......: 2.6039068144999289e-04 2.6039068144999289e-04 Constraint violation....: 5.9952043329758453e-15 5.9952043329758453e-15 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 7.7252206761943841e-06 7.7252206761943841e-06 Overall NLP error.......: 2.6039068144999289e-04 2.6039068144999289e-04 Number of objective function evaluations = 172 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 172 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 = 3.493 EXIT: Maximum Number of Iterations Exceeded. [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=120, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.076s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.076s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.053s) linear index maps built (0.0s) evaluator ready (total: 0.129s) evaluator created (0.13s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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 linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.13s) 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 5.6840077e+00 4.27e+00 5.26e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.1924073e+00 1.41e+00 2.76e+00 -4.0 3.61e+00 0.0 1.77e-01 6.73e-01h 1 2 2.9250295e+00 1.12e+00 4.18e+00 -0.9 1.28e+00 0.4 4.62e-01 2.07e-01f 1 3 3.1740080e+00 1.07e+00 5.81e+00 -4.0 1.60e+01 -0.1 2.73e-02 4.44e-02h 1 4 2.8306961e+00 5.02e-01 3.49e+00 -1.0 7.39e-01 0.4 3.70e-01 5.30e-01f 1 5 2.7795525e+00 2.75e-01 1.92e+00 -1.5 4.82e-01 -0.1 4.50e-01 4.53e-01h 1 6 2.7035038e+00 3.18e-03 5.53e-01 -1.4 4.08e-01 -0.6 8.10e-01 1.00e+00f 1 7 2.2791263e+00 3.82e-01 8.70e-01 -1.6 9.40e-01 -1.1 4.99e-01 9.33e-01f 1 8 2.2773060e+00 6.27e-02 1.79e-01 -1.9 7.98e-01 -1.5 9.84e-01 1.00e+00h 1 9 2.1385309e+00 1.63e-02 4.98e-02 -2.3 1.90e-01 -2.0 8.49e-01 9.02e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0947436e+00 3.71e-04 8.08e-03 -3.3 5.68e-02 -2.5 9.49e-01 1.00e+00h 1 11 2.0909707e+00 7.16e-06 5.13e-04 -4.0 1.86e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0909560e+00 1.92e-07 2.06e-05 -4.0 5.70e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0909392e+00 1.11e-08 2.06e-05 -4.0 1.71e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0908888e+00 9.89e-08 2.06e-05 -4.0 5.13e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0907376e+00 8.92e-07 2.06e-05 -4.0 1.54e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0902853e+00 8.07e-06 3.62e-05 -4.0 4.60e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0889398e+00 7.40e-05 3.22e-04 -4.0 1.37e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0850082e+00 7.03e-04 2.93e-03 -4.0 3.99e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0796390e+00 2.10e-03 1.85e-01 -4.0 1.04e+02 -6.8 1.00e+00 5.20e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0801798e+00 1.38e-04 1.62e-01 -4.0 6.90e+01 -7.3 1.00e+00 1.00e+00H 1 21 2.0774663e+00 7.72e-03 2.54e-02 -4.0 1.26e+02 -7.7 1.00e+00 9.29e-01h 1 22 2.0768024e+00 1.16e-03 4.32e-02 -4.0 2.04e+02 -8.2 1.00e+00 9.78e-01h 1 23 2.0761301e+00 2.20e-03 4.00e-02 -4.0 3.54e+02 -8.7 1.00e+00 8.71e-01h 1 24 2.0755104e+00 2.28e-03 3.38e-02 -4.0 5.87e+02 -9.2 1.00e+00 6.55e-01h 1 25 2.0757646e+00 2.56e-03 1.51e-02 -4.0 1.64e+02 -9.6 1.00e+00 1.00e+00h 1 26 2.0756760e+00 3.09e-04 4.64e-04 -4.0 6.67e+01 -10.1 1.00e+00 1.00e+00h 1 27 2.0756713e+00 2.22e-06 7.49e-06 -4.0 2.24e+01 -10.6 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.65e-08 1.06e-06 -4.0 1.29e+01 -11.1 1.00e+00 1.00e+00h 1 29 2.0756712e+00 1.90e-09 7.73e-08 -4.0 3.96e+00 -11.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0756712e+00 2.68e-11 1.06e-09 -4.0 5.59e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 2.0756712121330669e+00 2.0756712121330669e+00 Dual infeasibility......: 1.0600173769347368e-09 1.0600173769347368e-09 Constraint violation....: 2.6793900431698603e-11 2.6793900431698603e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000061e-04 1.0000000000000061e-04 Overall NLP error.......: 1.0600173769347368e-09 1.0600173769347368e-09 Number of objective function evaluations = 32 Number of objective gradient evaluations = 31 Number of equality constraint evaluations = 32 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 31 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 30 Total seconds in IPOPT = 27.959 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.062s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.062s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.051s) linear index maps built (0.0s) evaluator ready (total: 0.113s) evaluator created (0.113s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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 linear constraints added: 6 (0.155s) optimizer initialization complete (total: 0.268s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1488 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1524 Total number of variables............................: 100 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.0339529e+00 3.25e+00 4.51e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6987552e+00 4.32e-02 2.26e+00 -1.0 2.26e+00 0.0 1.00e+00 1.00e+00f 1 2 2.5129372e+00 4.29e-02 3.35e-01 -1.1 3.47e-01 -0.5 9.66e-01 1.00e+00h 1 3 2.2401978e+00 1.21e-02 9.87e-02 -2.1 2.05e-01 -1.0 9.62e-01 1.00e+00h 1 4 2.1163004e+00 2.41e-03 4.45e-02 -3.0 1.27e-01 -1.4 9.93e-01 8.78e-01h 1 5 2.0937641e+00 4.96e-04 8.81e-02 -4.0 1.68e-01 -1.9 1.00e+00 8.16e-01h 1 6 2.0911057e+00 9.25e-05 1.06e-02 -4.0 2.28e-01 -2.4 1.00e+00 1.00e+00h 1 7 2.0909230e+00 8.22e-07 3.87e-03 -4.0 2.63e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909263e+00 1.13e-07 1.04e-04 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909130e+00 8.19e-09 2.06e-05 -4.0 1.35e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908731e+00 6.19e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907536e+00 5.58e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903960e+00 5.05e-06 2.26e-05 -4.0 3.64e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0893303e+00 4.61e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861976e+00 4.33e-04 1.81e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796278e+00 2.53e-03 8.56e-02 -4.0 8.73e+01 -6.7 1.00e+00 7.61e-01h 1 16 2.0812959e+00 1.56e-04 1.93e-01 -4.0 6.75e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778408e+00 5.76e-03 2.69e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781416e+00 1.61e-02 3.45e-02 -3.7 1.50e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767387e+00 1.31e-02 1.85e-02 -3.8 2.80e+02 -8.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0758153e+00 1.14e-02 2.13e-02 -3.9 4.14e+02 -9.1 1.00e+00 9.92e-01h 1 21 2.0757804e+00 6.50e-03 9.57e-03 -4.0 1.39e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756780e+00 3.51e-04 4.18e-04 -4.0 6.03e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 1.53e-06 7.44e-06 -4.0 2.10e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756713e+00 5.66e-08 1.38e-06 -4.0 1.48e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756713e+00 3.97e-09 1.66e-07 -4.0 6.28e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756713e+00 1.04e-10 4.11e-09 -4.0 1.15e+00 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712528795211e+00 2.0756712528795211e+00 Dual infeasibility......: 4.1063275160822116e-09 4.1063275160822116e-09 Constraint violation....: 1.0399170413677439e-10 1.0399170413677439e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000003e-04 1.0000000000000003e-04 Overall NLP error.......: 4.1063275160822116e-09 4.1063275160822116e-09 Number of objective function evaluations = 28 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 26 Total seconds in IPOPT = 27.224 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.061s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.111s) evaluator created (0.111s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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 linear constraints added: 6 (0.0s) optimizer initialization complete (total: 0.112s) 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 2.8893099e+00 2.09e+00 6.65e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7010255e+00 8.97e-02 2.82e+00 -1.0 2.76e+00 0.0 1.00e+00 9.78e-01h 1 2 2.4688436e+00 1.89e-02 2.58e+00 -0.8 2.87e-01 0.4 1.00e+00 7.86e-01f 1 3 2.4895359e+00 1.68e-03 6.98e-01 -1.6 1.38e-01 -0.1 1.00e+00 1.00e+00h 1 4 2.2126109e+00 6.06e-03 2.41e-01 -1.8 2.43e-01 -0.5 9.93e-01 5.10e-01f 1 5 2.0994554e+00 5.63e-04 5.95e-02 -3.2 4.15e-02 -1.0 9.99e-01 9.79e-01h 1 6 2.0907589e+00 1.05e-05 5.17e-03 -4.0 4.90e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0908357e+00 9.39e-08 4.05e-05 -4.0 3.69e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908346e+00 1.53e-09 2.11e-05 -4.0 5.77e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908330e+00 1.08e-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 2.0908280e+00 9.75e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908131e+00 8.77e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0907683e+00 7.90e-08 2.06e-05 -4.0 4.55e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906340e+00 7.12e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902321e+00 6.45e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890353e+00 5.90e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855279e+00 5.57e-04 2.32e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796431e+00 2.26e-03 1.38e-01 -4.0 9.53e+01 -6.7 1.00e+00 6.23e-01h 1 18 2.0806819e+00 1.41e-04 1.74e-01 -4.0 6.68e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775339e+00 7.13e-03 2.32e-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 2.0769336e+00 1.14e-03 4.54e-02 -4.0 1.83e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0762135e+00 1.20e-03 2.39e-02 -4.0 3.31e+02 -8.6 1.00e+00 7.73e-01h 1 22 2.0754952e+00 2.59e-03 3.06e-02 -4.0 5.75e+02 -9.1 1.00e+00 7.37e-01h 1 23 2.0757972e+00 2.96e-03 1.61e-02 -4.0 1.71e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0756798e+00 4.35e-04 7.51e-04 -4.0 8.83e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756713e+00 2.75e-06 1.19e-05 -4.0 2.27e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.39e-08 1.27e-06 -4.0 1.40e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.62e-09 1.09e-07 -4.0 4.61e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.66e-11 1.83e-09 -4.0 7.28e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121671077e+00 2.0756712121671077e+00 Dual infeasibility......: 1.8321000573573703e-09 1.8321000573573703e-09 Constraint violation....: 4.6620263205454648e-11 4.6620263205454648e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000011e-04 1.0000000000000011e-04 Overall NLP error.......: 1.8321000573573703e-09 1.8321000573573703e-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 = 28.324 EXIT: Optimal Solution Found. Test Summary: | Pass Total Time Package | 215 215 20m28.6s Testing DirectTrajOpt tests passed Testing completed after 1308.34s PkgEval succeeded after 1456.19s