Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.1808 (1cd77b505e*) started at 2026-03-02T21:49:45.541 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 13.05s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Installed Bzip2_jll ──────────────────────── v1.0.9+0 Installed CommonWorldInvalidations ───────── v1.0.0 Installed FastPower ──────────────────────── v1.3.1 Installed SIMDTypes ──────────────────────── v0.1.0 Installed OrderedCollections ─────────────── v1.8.1 Installed TrajectoryIndexingUtils ────────── v0.1.0 Installed MUMPS_seq_jll ──────────────────── v500.800.200+0 Installed Xorg_libpciaccess_jll ──────────── v0.18.1+0 Installed EnzymeCore ─────────────────────── v0.8.18 Installed PreallocationTools ─────────────── v1.1.2 Installed StaticArrayInterface ───────────── v1.9.0 Installed Ipopt_jll ──────────────────────── v300.1400.1901+0 Installed ChunkCodecLibZstd ──────────────── v1.0.0 Installed AbstractDifferentiation ────────── v0.4.4 Installed NaNMath ────────────────────────── v1.1.3 Installed OpenSpecFun_jll ────────────────── v0.5.6+0 Installed FastBroadcast ──────────────────── v0.3.5 Installed NonlinearSolveBase ─────────────── v2.15.0 Installed CpuId ──────────────────────────── v0.3.1 Installed FileIO ─────────────────────────── v1.18.0 Installed InverseFunctions ───────────────── v0.1.17 Installed Jieko ──────────────────────────── v0.2.1 Installed Reexport ───────────────────────── v1.2.2 Installed EnumX ──────────────────────────── v1.0.7 Installed BracketingNonlinearSolve ───────── v1.11.0 Installed ScopedValues ───────────────────── v1.5.0 Installed LaTeXStrings ───────────────────── v1.4.0 Installed MaybeInplace ───────────────────── v0.1.4 Installed Static ─────────────────────────── v1.3.1 Installed ADTypes ────────────────────────── v1.21.0 Installed DiffEqBase ─────────────────────── v6.210.1 Installed RecursiveArrayTools ────────────── v3.48.0 Installed DataStructures ─────────────────── v0.19.3 Installed Preferences ────────────────────── v1.5.2 Installed MacroTools ─────────────────────── v0.5.16 Installed ManualMemory ───────────────────── v0.1.8 Installed CodecZlib ──────────────────────── v0.7.8 Installed ExprTools ──────────────────────── v0.1.10 Installed Observables ────────────────────── v0.5.5 Installed DiffResults ────────────────────── v1.1.0 Installed FillArrays ─────────────────────── v1.16.0 Installed SciMLJacobianOperators ─────────── v0.1.12 Installed ArrayInterface ─────────────────── v7.22.0 Installed CommonSubexpressions ───────────── v0.3.1 Installed LoggingExtras ──────────────────── v1.2.0 Installed TruncatedStacktraces ───────────── v1.4.0 Installed LayoutPointers ─────────────────── v0.1.17 Installed StructUtils ────────────────────── v2.6.3 Installed ConcreteStructs ────────────────── v0.2.3 Installed GPUArraysCore ──────────────────── v0.2.0 Installed ArrayLayouts ───────────────────── v1.12.2 Installed IrrationalConstants ────────────── v0.2.6 Installed BenchmarkTools ─────────────────── v1.6.3 Installed DocStringExtensions ────────────── v0.9.5 Installed Hwloc_jll ──────────────────────── v2.13.0+0 Installed SPRAL_jll ──────────────────────── v2025.9.18+0 Installed Setfield ───────────────────────── v1.1.2 Installed CompositionsBase ───────────────── v0.1.2 Installed CommonSolve ────────────────────── v0.2.6 Installed BitTwiddlingConvenienceFunctions ─ v0.1.6 Installed HashArrayMappedTries ───────────── v0.2.0 Installed Moshi ──────────────────────────── v0.3.7 Installed ForwardDiff ────────────────────── v1.3.2 Installed IteratorInterfaceExtensions ────── v1.0.0 Installed DifferentiationInterface ───────── v0.7.16 Installed FunctionWrappersWrappers ───────── v0.1.3 Installed MathOptInterface ───────────────── v1.49.0 Installed RecipesBase ────────────────────── v1.3.4 Installed StaticArraysCore ───────────────── v1.4.4 Installed ComputePipeline ────────────────── v0.1.6 Installed SciMLPublic ────────────────────── v1.0.1 Installed SciMLStructures ────────────────── v1.10.0 Installed SciMLOperators ─────────────────── v1.15.1 Installed FunctionWrappers ───────────────── v1.1.3 Installed DiffRules ──────────────────────── v1.15.1 Installed LogExpFunctions ────────────────── v0.3.29 Installed StaticArrays ───────────────────── v1.9.17 Installed OpenBLAS32_jll ─────────────────── v0.3.30+0 Installed JSON ───────────────────────────── v1.4.0 Installed FastClosures ───────────────────── v0.3.2 Installed CloseOpenIntervals ─────────────── v0.1.13 Installed Parsers ────────────────────────── v2.8.3 Installed FiniteDiff ─────────────────────── v2.29.0 Installed Requires ───────────────────────── v1.3.1 Installed OrdinaryDiffEqCore ─────────────── v3.12.0 Installed SciMLBase ──────────────────────── v2.148.0 Installed Polyester ──────────────────────── v0.7.19 Installed TestItems ──────────────────────── v1.0.0 Installed JLLWrappers ────────────────────── v1.7.1 Installed ChunkCodecCore ─────────────────── v1.0.1 Installed ThreadingUtilities ─────────────── v0.5.5 Installed MutableArithmetics ─────────────── v1.6.7 Installed Adapt ──────────────────────────── v4.4.0 Installed ConstructionBase ───────────────── v1.6.0 Installed RuntimeGeneratedFunctions ──────── v0.5.17 Installed Accessors ──────────────────────── v0.1.43 Installed SymbolicIndexingInterface ──────── v0.3.46 Installed JLD2 ───────────────────────────── v0.6.3 Installed TranscodingStreams ─────────────── v0.11.3 Installed Compat ─────────────────────────── v4.18.1 Installed Statistics ─────────────────────── v1.11.1 Installed TimerOutputs ───────────────────── v0.5.29 Installed ExproniconLite ─────────────────── v0.10.14 Installed LazyArrays ─────────────────────── v2.9.5 Installed PrecompileTools ────────────────── v1.3.3 Installed CPUSummary ─────────────────────── v0.2.7 Installed ChainRulesCore ─────────────────── v1.26.0 Installed ASL_jll ────────────────────────── v0.1.3+0 Installed ExponentialAction ──────────────── v0.2.10 Installed StrideArraysCore ───────────────── v0.5.8 Installed IfElse ─────────────────────────── v0.1.1 Installed MuladdMacro ────────────────────── v0.2.4 Installed ChunkCodecLibZlib ──────────────── v1.0.0 Installed CodecBzip2 ─────────────────────── v0.8.5 Installed TestItemRunner ─────────────────── v1.1.4 Installed Libiconv_jll ───────────────────── v1.18.0+0 Installed OrdinaryDiffEqTsit5 ────────────── v1.9.0 Installed SpecialFunctions ───────────────── v2.7.1 Installed SciMLLogging ───────────────────── v1.9.1 Installed NamedTrajectories ──────────────── v0.8.4 Installed PolyesterWeave ─────────────────── v0.2.2 Installed METIS_jll ──────────────────────── v5.1.3+0 Installed Ipopt ──────────────────────────── v1.14.1 Installed XML2_jll ───────────────────────── v2.13.9+0 Installed DirectTrajOpt ──────────────────── v0.8.9 Installing 12 artifacts Installed artifact ASL 276.3 KiB Installed artifact SPRAL 691.9 KiB Installed artifact XML2 2.5 MiB Installed artifact METIS 1.1 MiB Installed artifact Ipopt 1.3 MiB Installed artifact Bzip2 503.5 KiB Installed artifact Libiconv 1.9 MiB Installed artifact OpenSpecFun 194.9 KiB Installed artifact Xorg_libpciaccess 24.8 KiB Installed artifact Hwloc 3.5 MiB Installed artifact MUMPS_seq 8.6 MiB Installed artifact OpenBLAS32 10.0 MiB Updating `~/.julia/environments/v1.14/Project.toml` [c823fa1f] + DirectTrajOpt v0.8.9 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 v1.11.0 [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 v6.210.1 [163ba53b] + DiffResults v1.1.0 [b552c78f] + DiffRules v1.15.1 [a0c0ee7d] + DifferentiationInterface v0.7.16 [c823fa1f] + DirectTrajOpt v0.8.9 [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 v2.15.0 [510215fc] + Observables v0.5.5 [bac558e1] + OrderedCollections v1.8.1 [bbf590c4] + OrdinaryDiffEqCore v3.12.0 [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 v2.148.0 [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 13.16s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling packages... 4608.3 ms ✓ TestEnv 1 dependency successfully precompiled in 5 seconds. 27 already precompiled. Precompiling package dependencies... Precompiling packages... 4337.7 ms ✓ MacroTools 768.5 ms ✓ Reexport 1105.1 ms ✓ ConstructionBase 1992.9 ms ✓ IrrationalConstants 1036.2 ms ✓ Observables 762.5 ms ✓ CommonSolve 1248.6 ms ✓ TranscodingStreams 825.7 ms ✓ LaTeXStrings 1004.2 ms ✓ ChunkCodecCore 760.3 ms ✓ TestItems 1079.2 ms ✓ Statistics 1397.5 ms ✓ StaticArraysCore 1278.5 ms ✓ EnzymeCore 818.5 ms ✓ IfElse 937.1 ms ✓ ManualMemory 849.2 ms ✓ SciMLPublic 3275.2 ms ✓ ExproniconLite 770.9 ms ✓ TrajectoryIndexingUtils 801.1 ms ✓ CommonWorldInvalidations 795.7 ms ✓ FastPower 916.3 ms ✓ InverseFunctions 811.9 ms ✓ CompositionsBase 806.5 ms ✓ MuladdMacro 840.3 ms ✓ EnumX 1986.0 ms ✓ FillArrays 870.0 ms ✓ ExprTools 796.9 ms ✓ ConcreteStructs 1191.0 ms ✓ OrderedCollections 1425.5 ms ✓ FunctionWrappers 883.7 ms ✓ HashArrayMappedTries 1343.1 ms ✓ ADTypes 1150.1 ms ✓ DocStringExtensions 835.8 ms ✓ FastClosures 735.8 ms ✓ SIMDTypes 739.3 ms ✓ IteratorInterfaceExtensions 984.9 ms ✓ NaNMath 1128.0 ms ✓ Requires 1650.4 ms ✓ CpuId 1032.0 ms ✓ LoggingExtras 1354.2 ms ✓ StructUtils 1108.0 ms ✓ Compat 1134.8 ms ✓ Preferences 10942.5 ms ✓ MutableArithmetics 1792.6 ms ✓ CommonSubexpressions 848.3 ms ✓ ConstructionBase → ConstructionBaseLinearAlgebraExt 971.0 ms ✓ CodecZlib 961.4 ms ✓ ChunkCodecLibZlib 1145.3 ms ✓ ChunkCodecLibZstd 23403.0 ms ✓ TestItemRunner 1274.8 ms ✓ Statistics → SparseArraysExt 857.7 ms ✓ DiffResults 1722.1 ms ✓ ThreadingUtilities 3161.7 ms ✓ Jieko 865.0 ms ✓ InverseFunctions → InverseFunctionsDatesExt 1717.5 ms ✓ InverseFunctions → InverseFunctionsTestExt 816.5 ms ✓ CompositionsBase → CompositionsBaseInverseFunctionsExt 1486.1 ms ✓ FillArrays → FillArraysSparseArraysExt 958.6 ms ✓ FillArrays → FillArraysStatisticsExt 3393.0 ms ✓ TimerOutputs 899.0 ms ✓ RuntimeGeneratedFunctions 3478.7 ms ✓ DataStructures 818.3 ms ✓ FunctionWrappersWrappers 948.5 ms ✓ ScopedValues 793.8 ms ✓ ADTypes → ADTypesConstructionBaseExt 1930.6 ms ✓ DifferentiationInterface 821.8 ms ✓ ADTypes → ADTypesEnzymeCoreExt 1388.9 ms ✓ LogExpFunctions 983.7 ms ✓ Adapt 9037.5 ms ✓ FileIO 878.7 ms ✓ Compat → CompatLinearAlgebraExt 926.6 ms ✓ PrecompileTools 1253.6 ms ✓ JLLWrappers 1556.9 ms ✓ TruncatedStacktraces 1633.6 ms ✓ ComputePipeline 1369.5 ms ✓ SciMLLogging 2857.6 ms ✓ Setfield 15974.9 ms ✓ Moshi 4909.0 ms ✓ Accessors 1387.6 ms ✓ DifferentiationInterface → DifferentiationInterfaceSparseArraysExt 819.0 ms ✓ LogExpFunctions → LogExpFunctionsInverseFunctionsExt 1155.4 ms ✓ ArrayInterface 1220.0 ms ✓ Adapt → AdaptSparseArraysExt 1221.3 ms ✓ GPUArraysCore 793.9 ms ✓ EnzymeCore → AdaptExt 2580.1 ms ✓ ChainRulesCore 12799.6 ms ✓ StaticArrays 2741.5 ms ✓ RecipesBase 14930.6 ms ✓ Parsers 6989.2 ms ✓ Static 46582.7 ms ✓ JLD2 1442.7 ms ✓ OpenBLAS32_jll 1426.4 ms ✓ Bzip2_jll 1477.8 ms ✓ OpenSpecFun_jll 1432.5 ms ✓ ASL_jll 1441.0 ms ✓ METIS_jll 1463.8 ms ✓ Xorg_libpciaccess_jll 1460.0 ms ✓ Libiconv_jll 1687.0 ms ✓ Accessors → TestExt 2467.2 ms ✓ Accessors → LinearAlgebraExt 773.5 ms ✓ ArrayInterface → ArrayInterfaceStaticArraysCoreExt 2008.4 ms ✓ MaybeInplace 1250.1 ms ✓ ArrayInterface → ArrayInterfaceSparseArraysExt 1317.4 ms ✓ SciMLStructures 2242.2 ms ✓ PreallocationTools 865.0 ms ✓ DifferentiationInterface → DifferentiationInterfaceGPUArraysCoreExt 957.9 ms ✓ ArrayInterface → ArrayInterfaceGPUArraysCoreExt 2054.4 ms ✓ AbstractDifferentiation 1261.1 ms ✓ ChainRulesCore → ChainRulesCoreSparseArraysExt 1222.7 ms ✓ EnzymeCore → EnzymeCoreChainRulesCoreExt 791.6 ms ✓ ADTypes → ADTypesChainRulesCoreExt 867.4 ms ✓ DifferentiationInterface → DifferentiationInterfaceChainRulesCoreExt 3213.7 ms ✓ LogExpFunctions → LogExpFunctionsChainRulesCoreExt 825.6 ms ✓ ArrayInterface → ArrayInterfaceChainRulesCoreExt 1412.4 ms ✓ StaticArrays → StaticArraysStatisticsExt 1416.8 ms ✓ StaticArrays → StaticArraysChainRulesCoreExt 1391.3 ms ✓ ConstructionBase → ConstructionBaseStaticArraysExt 1540.3 ms ✓ FillArrays → FillArraysStaticArraysExt 1378.5 ms ✓ DifferentiationInterface → DifferentiationInterfaceStaticArraysExt 1329.1 ms ✓ Adapt → AdaptStaticArraysExt 1443.5 ms ✓ Accessors → StaticArraysExt 6564.8 ms ✓ JSON 950.7 ms ✓ BitTwiddlingConvenienceFunctions 2159.1 ms ✓ CPUSummary 4972.3 ms ✓ StaticArrayInterface 1109.6 ms ✓ CodecBzip2 5046.0 ms ✓ SpecialFunctions 1674.9 ms ✓ MUMPS_seq_jll 1564.4 ms ✓ XML2_jll 4690.0 ms ✓ SciMLOperators 1364.7 ms ✓ FiniteDiff 3718.9 ms ✓ SymbolicIndexingInterface 1280.5 ms ✓ MaybeInplace → MaybeInplaceSparseArraysExt 1953.1 ms ✓ ExponentialAction 22556.7 ms ✓ ArrayLayouts 3011.2 ms ✓ BenchmarkTools 1645.8 ms ✓ PolyesterWeave 1524.8 ms ✓ StaticArrayInterface → StaticArrayInterfaceStaticArraysExt 1091.7 ms ✓ CloseOpenIntervals 1266.3 ms ✓ LayoutPointers 4379.3 ms ✓ SpecialFunctions → SpecialFunctionsChainRulesCoreExt 1321.8 ms ✓ DiffRules 1422.6 ms ✓ Hwloc_jll 1009.3 ms ✓ SciMLOperators → SciMLOperatorsStaticArraysCoreExt 1595.5 ms ✓ SciMLOperators → SciMLOperatorsSparseArraysExt 1522.9 ms ✓ FiniteDiff → FiniteDiffStaticArraysExt 1235.7 ms ✓ FiniteDiff → FiniteDiffSparseArraysExt 1076.9 ms ✓ DifferentiationInterface → DifferentiationInterfaceFiniteDiffExt 7378.1 ms ✓ RecursiveArrayTools 3227.2 ms ✓ ArrayLayouts → ArrayLayoutsSparseArraysExt 1869.8 ms ✓ StrideArraysCore 6037.2 ms ✓ ForwardDiff 1435.7 ms ✓ SPRAL_jll 1767.9 ms ✓ RecursiveArrayTools → RecursiveArrayToolsSparseArraysExt 1239.4 ms ✓ RecursiveArrayTools → RecursiveArrayToolsStatisticsExt 6605.8 ms ✓ LazyArrays 1910.1 ms ✓ Polyester 1627.8 ms ✓ ForwardDiff → ForwardDiffStaticArraysExt 1061.0 ms ✓ FastPower → FastPowerForwardDiffExt 1351.5 ms ✓ DifferentiationInterface → DifferentiationInterfaceForwardDiffExt 2175.0 ms ✓ PreallocationTools → PreallocationToolsForwardDiffExt 71022.2 ms ✓ MathOptInterface 1525.0 ms ✓ RecursiveArrayTools → RecursiveArrayToolsForwardDiffExt 1571.3 ms ✓ Ipopt_jll 32142.7 ms ✓ SciMLBase 3767.2 ms ✓ LazyArrays → LazyArraysStaticArraysExt 1994.4 ms ✓ FastBroadcast 1331.3 ms ✓ Ipopt 3989.0 ms ✓ SciMLBase → SciMLBaseChainRulesCoreExt 3924.7 ms ✓ SciMLBase → SciMLBaseForwardDiffExt 3313.8 ms ✓ SciMLBase → SciMLBaseDifferentiationInterfaceExt 10402.6 ms ✓ NamedTrajectories 2177.3 ms ✓ RecursiveArrayTools → RecursiveArrayToolsFastBroadcastExt 47169.7 ms ✓ Ipopt → IpoptMathOptInterfaceExt 8750.3 ms ✓ SciMLJacobianOperators 20105.4 ms ✓ NonlinearSolveBase 4435.7 ms ✓ NonlinearSolveBase → NonlinearSolveBaseSparseArraysExt 3508.9 ms ✓ NonlinearSolveBase → NonlinearSolveBaseChainRulesCoreExt 4542.3 ms ✓ NonlinearSolveBase → NonlinearSolveBaseForwardDiffExt 9740.9 ms ✓ BracketingNonlinearSolve 4245.4 ms ✓ BracketingNonlinearSolve → BracketingNonlinearSolveForwardDiffExt 8500.3 ms ✓ DiffEqBase 3709.7 ms ✓ BracketingNonlinearSolve → BracketingNonlinearSolveChainRulesCoreExt 4397.9 ms ✓ DiffEqBase → DiffEqBaseSparseArraysExt 3919.4 ms ✓ DiffEqBase → DiffEqBaseChainRulesCoreExt 4468.5 ms ✓ DiffEqBase → DiffEqBaseForwardDiffExt 13307.4 ms ✓ OrdinaryDiffEqCore 5244.5 ms ✓ OrdinaryDiffEqCore → OrdinaryDiffEqCoreSparseArraysExt 15209.8 ms ✓ OrdinaryDiffEqTsit5 26131.8 ms ✓ DirectTrajOpt 189 dependencies successfully precompiled in 740 seconds. 37 already precompiled. Precompilation completed after 764.61s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_yzKa4i/Project.toml` [c823fa1f] DirectTrajOpt v0.8.9 [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 [0bca4576] SciMLBase v2.148.0 [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_yzKa4i/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 v1.11.0 [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 v6.210.1 [163ba53b] DiffResults v1.1.0 [b552c78f] DiffRules v1.15.1 [a0c0ee7d] DifferentiationInterface v0.7.16 [c823fa1f] DirectTrajOpt v0.8.9 [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 v2.15.0 [510215fc] Observables v0.5.5 [bac558e1] OrderedCollections v1.8.1 [bbf590c4] OrdinaryDiffEqCore v3.12.0 [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 v2.148.0 [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: 2.043s integrator 2 jacobian structure: 0.052s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 4.24s jacobian structure: 1600 nonzeros (6.394s) integrator 1 hessian structure: 0.044s integrator 2 hessian structure: 0.148s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.59s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 1.88s sub-objective 2 (QuadraticRegularizer): 1.235s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.014s objective hessian structure: 3.215s hessian structure: 1749 nonzeros (6.998s) linear index maps built (0.0s) evaluator ready (total: 13.816s) evaluator created (17.951s) NL constraint bounds extracted (0.181s) NLP block data built (0.0s) Ipopt optimizer configured (0.292s) variables set (0.66s) 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 (2.767s) optimizer initialization complete (total: 21.851s) ****************************************************************************** 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 3.4621283e+00 3.69e+00 4.23e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7528005e+00 8.96e-02 8.01e-01 -1.2 2.56e+00 -2.0 9.71e-01 1.00e+00f 1 2 2.3688956e+00 6.29e-02 2.42e-01 -1.3 7.66e-01 -1.6 8.47e-01 7.18e-01h 1 3 2.1810303e+00 3.52e-03 3.62e-02 -2.2 1.37e-01 -2.1 9.66e-01 1.00e+00h 1 4 2.0968122e+00 1.81e-03 1.39e-02 -3.6 1.45e-01 -2.5 9.73e-01 9.69e-01h 1 5 2.0909254e+00 5.70e-05 3.15e-03 -4.0 3.98e-02 -3.0 1.00e+00 1.00e+00h 1 6 2.0909159e+00 3.39e-07 2.01e-05 -4.0 6.12e-02 -3.5 1.00e+00 1.00e+00h 1 7 2.0909002e+00 1.45e-08 7.69e-05 -4.0 1.72e-01 -4.0 1.00e+00 1.00e+00h 1 8 2.0908643e+00 8.11e-08 2.78e-04 -4.0 4.49e-01 -4.4 1.00e+00 1.00e+00h 1 9 2.0907761e+00 4.02e-07 6.03e-04 -4.0 1.17e+00 -4.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0905261e+00 4.55e-06 6.42e-04 -4.0 3.71e+00 -5.4 1.00e+00 1.00e+00h 1 11 2.0904198e+00 5.84e-07 4.35e-04 -4.0 1.35e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0902747e+00 1.24e-06 1.31e-02 -4.0 5.13e+00 -5.4 1.00e+00 2.87e-01h 2 13 2.0892069e+00 4.97e-05 1.99e-03 -4.0 1.23e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0870861e+00 3.89e-04 3.17e-02 -4.0 3.38e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0859412e+00 3.09e-04 9.01e-02 -4.0 2.64e+01 -6.0 1.00e+00 3.17e-01h 1 16 2.0843740e+00 2.54e-04 2.27e-02 -4.0 2.68e+01 -6.4 1.00e+00 1.00e+00h 1 17 2.0827429e+00 1.42e-04 2.03e-02 -4.0 3.28e+01 -6.9 1.00e+00 8.58e-01h 1 18 2.0829488e+00 1.12e-03 3.31e-02 -4.0 6.65e+01 -7.4 1.00e+00 1.00e+00h 1 19 2.0820410e+00 1.82e-03 1.05e-02 -4.1 1.54e+02 -7.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0823583e+00 1.34e-03 1.48e-02 -4.0 2.90e+01 -6.5 1.00e+00 1.00e+00h 1 21 2.0821437e+00 7.30e-04 2.45e-02 -4.0 2.50e+01 -7.0 9.48e-01 1.00e+00h 1 22 2.1028731e+00 3.21e-04 1.01e-01 -4.0 1.21e+02 -7.5 5.32e-02 3.00e-01h 1 23 2.0970569e+00 1.25e-07 8.01e-02 -4.1 3.59e-02 0.3 1.00e+00 1.00e+00h 1 24 2.0948298e+00 5.52e-05 1.26e+00 -3.0 9.73e-02 -0.1 9.50e-01 1.00e+00f 1 25 2.0875056e+00 5.57e-06 3.74e-02 -3.0 1.50e-01 -0.6 1.00e+00 1.00e+00h 1 26 2.0843233e+00 1.52e-06 3.77e-01 -3.0 1.37e-01 -1.1 9.08e-01 1.00e+00f 1 27 2.0834554e+00 7.95e-07 4.24e-03 -3.7 6.02e-02 -1.6 1.00e+00 1.00e+00h 1 28 2.0823233e+00 8.55e-06 5.48e-04 -4.0 6.08e-02 -2.0 1.00e+00 1.00e+00h 1 29 2.0822424e+00 2.91e-07 8.58e-05 -4.0 2.06e-02 -2.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0822419e+00 6.50e-09 5.31e-06 -4.0 5.30e-03 -3.0 1.00e+00 1.00e+00h 1 31 2.0822411e+00 7.36e-10 5.31e-06 -4.0 1.59e-02 -3.5 1.00e+00 1.00e+00h 1 32 2.0822389e+00 2.23e-09 5.31e-06 -4.0 4.77e-02 -4.0 1.00e+00 1.00e+00h 1 33 2.0822325e+00 1.94e-08 5.30e-06 -4.0 1.43e-01 -4.4 1.00e+00 1.00e+00h 1 34 2.0822144e+00 1.61e-07 8.78e-06 -4.0 4.27e-01 -4.9 1.00e+00 1.00e+00h 1 35 2.0821689e+00 1.43e-06 5.46e-05 -4.0 1.27e+00 -5.4 1.00e+00 1.00e+00h 1 36 2.0820743e+00 1.41e-05 1.58e-04 -4.0 3.99e+00 -5.9 1.00e+00 1.00e+00h 1 37 2.0829617e+00 1.82e-06 1.70e-01 -4.0 2.52e+01 -6.3 3.85e-01 1.00e+00H 1 38 2.0827091e+00 5.31e-06 3.30e+00 -4.1 4.53e+00 -4.1 3.14e-01 4.60e-02h 2 39 2.0817338e+00 6.50e-07 3.88e-03 -4.1 1.01e-01 -2.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0819395e+00 5.23e-07 8.27e-01 -4.0 9.55e-02 -3.3 1.00e+00 5.00e-01f 2 41 2.0818572e+00 2.74e-06 3.14e-04 -4.1 5.48e-02 -3.7 1.00e+00 1.00e+00h 1 42 2.0812859e+00 2.26e-05 1.26e-01 -6.1 2.68e-01 -4.2 6.80e-01 9.91e-01h 1 43 2.0820134e+00 3.12e-05 2.16e-03 -4.0 2.93e-01 -4.7 1.00e+00 1.00e+00f 1 44 2.0817958e+00 2.17e-05 1.98e-04 -4.1 6.32e-01 -5.2 1.00e+00 1.00e+00h 1 45 2.0810883e+00 2.47e-04 3.09e-03 -6.1 3.00e+00 -5.6 9.61e-01 9.57e-01h 1 46 2.0810392e+00 3.09e-05 1.15e-02 -4.8 2.76e+00 -6.1 1.00e+00 8.23e-01h 1 47 2.0820617e+00 1.57e-03 4.55e-02 -4.0 1.46e+01 -6.6 5.46e-01 1.00e+00f 1 48 2.0815053e+00 1.02e-03 4.16e-03 -4.2 1.82e+01 -7.1 1.00e+00 1.00e+00h 1 49 2.1216725e+00 4.65e-04 1.61e-01 -4.2 1.38e+02 -7.5 4.18e-02 3.42e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0830799e+00 3.15e-04 5.81e-02 -4.2 8.86e+01 -8.0 5.44e-04 1.00e+00f 1 51 2.0815888e+00 2.60e-04 1.00e+00 -4.2 5.56e+00 -4.9 2.07e-01 4.74e-01h 1 52 2.0814970e+00 2.71e-04 1.00e+00 -4.2 5.28e+01 -5.4 5.31e-04 1.93e-03f 2 53 2.0814336e+00 2.68e-04 1.10e+00 -4.2 4.94e+00 -3.1 2.24e-01 1.28e-02h 1 54 2.0819482e+00 6.23e-06 1.13e-03 -4.2 2.64e-01 -3.6 1.00e+00 1.00e+00f 1 55 2.0815925e+00 9.14e-06 2.88e-04 -4.2 2.29e-01 -4.1 1.00e+00 1.00e+00h 1 56 2.0819120e+00 7.15e-06 3.65e-04 -4.0 1.38e-01 -4.6 1.00e+00 1.00e+00h 1 57 2.0817549e+00 6.41e-06 9.23e-05 -4.1 3.03e-01 -5.0 1.00e+00 1.00e+00h 1 58 2.0810250e+00 2.70e-04 2.84e-03 -6.1 2.86e+00 -5.5 1.00e+00 1.00e+00h 1 59 2.0809043e+00 5.79e-05 2.22e-02 -4.8 4.34e+00 -6.0 1.00e+00 6.75e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0822307e+00 1.62e-03 1.85e-02 -4.0 1.46e+01 -6.5 1.00e+00 1.00e+00f 1 61 2.0817274e+00 9.37e-04 1.73e-02 -4.1 3.36e+01 -7.0 8.50e-01 1.00e+00h 1 62 2.0816527e+00 2.00e-04 4.23e-03 -4.1 5.53e+00 -5.6 1.00e+00 1.00e+00h 1 63 2.0816194e+00 1.35e-04 1.50e-02 -4.1 5.80e+00 -6.1 9.56e-01 1.00e+00h 1 64 2.0816715e+00 8.25e-05 8.53e-02 -4.1 3.87e+00 -6.6 1.00e+00 5.93e-01h 1 65 2.0817105e+00 3.30e-05 1.17e-03 -4.1 5.80e+00 -7.1 1.00e+00 1.00e+00f 1 66 2.0817092e+00 6.31e-06 2.51e-04 -4.1 9.16e+00 -7.5 1.00e+00 1.00e+00h 1 67 2.0806569e+00 3.10e-03 6.06e-04 -6.1 3.71e+01 -8.0 9.77e-01 9.37e-01h 1 68 2.0818767e+00 4.71e-03 1.73e-03 -4.0 4.08e+01 -8.5 1.00e+00 1.00e+00f 1 69 2.0816131e+00 4.74e-04 4.63e-04 -4.1 1.94e+01 -9.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0806072e+00 3.57e-03 2.56e-04 -6.1 4.35e+01 -9.4 9.76e-01 9.56e-01h 1 71 2.0810974e+00 3.11e-03 1.07e-02 -4.0 5.73e+01 -9.9 1.00e+00 3.91e-01f 1 72 2.0814623e+00 2.88e-04 2.63e-05 -4.2 8.36e+00 -10.4 1.00e+00 1.00e+00h 1 73 2.0805802e+00 2.69e-03 1.15e-04 -6.2 3.69e+01 -10.9 9.80e-01 9.72e-01h 1 74 2.0806942e+00 2.51e-03 1.82e-02 -4.0 6.66e+01 -11.3 1.00e+00 9.00e-02f 1 75 2.0813815e+00 1.40e-03 6.85e-05 -4.2 2.38e+01 -11.8 1.00e+00 1.00e+00h 1 76 2.0813901e+00 1.07e-05 1.90e-06 -4.2 1.45e+01 -12.3 1.00e+00 1.00e+00h 1 77 2.0818472e+00 7.19e-04 3.10e-05 -4.0 1.86e+01 -12.8 1.00e+00 1.00e+00h 1 78 2.0815852e+00 2.31e-04 9.57e-06 -4.1 1.06e+01 -13.3 1.00e+00 1.00e+00h 1 79 2.0805955e+00 3.34e-03 1.62e-04 -6.1 4.10e+01 -13.7 9.77e-01 9.64e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805497e+00 7.71e-05 1.84e-06 -6.1 1.57e+01 -14.2 1.00e+00 1.00e+00h 1 81 2.0819880e+00 1.05e-02 4.03e-04 -4.0 8.63e+01 -14.7 1.00e+00 1.00e+00f 1 82 2.0816848e+00 9.85e-04 5.23e-05 -4.1 4.70e+01 -15.2 1.00e+00 1.00e+00h 1 83 2.0816466e+00 5.54e-07 8.11e-07 -4.1 8.77e+00 -15.6 1.00e+00 1.00e+00h 1 84 2.0818440e+00 1.24e-04 5.34e-06 -4.0 7.44e+00 -16.1 1.00e+00 1.00e+00h 1 85 2.0815834e+00 2.14e-04 9.28e-06 -4.1 9.75e+00 -16.6 1.00e+00 1.00e+00h 1 86 2.0805950e+00 3.33e-03 1.58e-04 -6.1 4.09e+01 -17.1 9.77e-01 9.64e-01h 1 87 2.0805497e+00 7.61e-05 1.82e-06 -6.1 1.56e+01 -17.6 1.00e+00 1.00e+00h 1 88 2.0819883e+00 1.06e-02 4.03e-04 -4.0 8.64e+01 -18.0 1.00e+00 1.00e+00f 1 89 2.0816850e+00 9.86e-04 5.24e-05 -4.1 4.71e+01 -18.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0816467e+00 5.59e-07 8.13e-07 -4.1 8.79e+00 -19.0 1.00e+00 1.00e+00h 1 91 2.0805963e+00 3.67e-03 1.56e-04 -6.1 4.25e+01 -19.5 9.76e-01 9.67e-01h 1 92 2.0805509e+00 8.01e-05 1.98e-06 -6.1 1.63e+01 -19.9 1.00e+00 1.00e+00h 1 93 2.0805468e+00 5.50e-08 2.37e-08 -6.1 2.91e+00 -20.0 1.00e+00 1.00e+00h 1 94 2.0820237e+00 1.21e-02 4.23e-04 -4.0 9.79e+01 -20.0 1.00e+00 1.00e+00f 1 95 2.0817108e+00 1.09e-03 6.84e-05 -4.1 5.44e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0816597e+00 1.20e-06 1.05e-06 -4.1 1.08e+01 -20.0 1.00e+00 1.00e+00h 1 97 2.0805973e+00 3.75e-03 1.59e-04 -6.1 4.29e+01 -20.0 9.76e-01 9.67e-01h 1 98 2.0805512e+00 8.26e-05 2.04e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 99 2.0805470e+00 5.83e-08 2.51e-08 -6.1 3.00e+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 100 2.0805365e+00 9.22e-07 7.87e-07 -9.0 9.36e-01 -20.0 1.00e+00 9.97e-01h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805365085647329e+00 2.0805365085647329e+00 Dual infeasibility......: 7.8693746679581646e-07 7.8693746679581646e-07 Constraint violation....: 9.2235620097191884e-07 9.2235620097191884e-07 Variable bound violation: 9.9683211685075435e-09 9.9683211685075435e-09 Complementarity.........: 1.5904120289206125e-08 1.5904120289206125e-08 Overall NLP error.......: 9.9999999366823917e-05 9.9999999366823917e-05 Number of objective function evaluations = 115 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 115 Number of inequality constraint evaluations = 115 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 64.546 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.058s integrator 2 jacobian structure: 0.05s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 6.327s jacobian structure: 1680 nonzeros (6.434s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.05s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 8.037s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.305s sub-objective 2 (QuadraticRegularizer): 0.082s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.015s sub-objective 5 (GlobalObjective): 0.644s objective hessian structure: 1.136s hessian structure: 1964 nonzeros (9.273s) linear index maps built (0.0s) evaluator ready (total: 15.708s) evaluator created (15.729s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.102s) 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 (4.536s) optimizer initialization complete (total: 20.369s) 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 1.4530768e+01 5.19e+00 3.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7229365e+00 1.32e-01 2.45e+00 -1.2 3.82e+00 -2.0 7.02e-01 1.00e+00f 1 2 2.5941202e+00 2.94e-02 9.52e-01 -1.0 5.29e-01 -0.7 7.47e-01 1.00e+00h 1 3 2.3848185e+00 2.91e-02 2.69e-01 -1.6 3.57e-01 -1.1 9.65e-01 1.00e+00h 1 4 2.2010240e+00 7.47e-03 2.08e-01 -2.2 4.58e-01 -1.6 9.90e-01 6.62e-01h 1 5 2.1046104e+00 1.13e-03 1.86e-02 -3.0 8.41e-02 -2.1 9.94e-01 1.00e+00h 1 6 2.0908316e+00 5.22e-05 2.32e-03 -4.0 1.96e-02 -2.6 1.00e+00 1.00e+00h 1 7 2.0909068e+00 1.37e-06 3.16e-05 -4.0 2.95e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0908983e+00 4.19e-09 2.39e-05 -4.0 6.97e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908780e+00 2.46e-08 3.74e-04 -4.0 1.95e-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 2.0908339e+00 1.37e-07 1.80e-04 -4.0 5.09e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907339e+00 7.09e-07 7.20e-04 -4.0 1.31e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904521e+00 6.04e-06 5.48e-04 -4.0 4.18e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0903297e+00 7.56e-07 5.63e-04 -4.0 1.53e+00 -5.0 1.00e+00 1.00e+00h 1 14 2.0901926e+00 1.29e-06 1.84e-02 -4.0 6.43e+00 -5.5 1.00e+00 2.10e-01h 2 15 2.0890614e+00 6.04e-05 2.43e-03 -4.0 1.36e+01 -6.0 1.00e+00 1.00e+00h 1 16 2.0876186e+00 1.30e-04 6.33e-02 -4.0 3.77e+01 -6.4 1.00e+00 4.47e-01h 1 17 2.0837566e+00 1.67e-03 5.69e-02 -4.0 6.75e+01 -6.9 1.00e+00 1.00e+00h 1 18 2.0827989e+00 5.61e-04 1.39e-02 -4.0 1.26e+01 -6.5 1.00e+00 6.34e-01h 1 19 2.0828093e+00 1.40e-04 8.47e-03 -4.0 2.90e+01 -7.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0825147e+00 2.86e-04 3.29e-03 -4.0 7.46e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0821314e+00 8.26e-04 8.67e-03 -4.0 1.73e+02 -7.9 6.53e-01 1.00e+00h 1 22 2.0821906e+00 8.43e-04 5.52e-01 -4.0 9.90e+01 -6.6 6.68e-01 7.31e-02h 4 23 2.0816671e+00 3.14e-04 7.39e-02 -4.1 2.07e+01 -7.1 8.64e-01 7.86e-01H 1 24 2.0819846e+00 1.79e-04 6.35e-01 -4.0 1.27e+01 -4.8 1.00e-01 2.00e-01f 1 25 2.0821598e+00 8.29e-04 2.52e-01 -4.0 1.12e+01 -5.3 1.82e-01 2.52e-01h 2 26 2.0816439e+00 2.95e-07 2.37e-03 -4.2 4.95e-02 -1.3 1.00e+00 1.00e+00h 1 27 2.0817733e+00 2.36e-07 7.10e-04 -4.0 3.87e-02 -1.8 1.00e+00 1.00e+00h 1 28 2.0816855e+00 6.70e-08 2.07e-04 -4.1 3.54e-02 -2.2 1.00e+00 1.00e+00h 1 29 2.0812989e+00 1.16e-06 1.67e-01 -6.1 2.45e-02 -2.7 6.22e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0819396e+00 3.39e-06 2.56e-03 -4.0 2.02e-01 -3.2 1.00e+00 1.00e+00h 1 31 2.0816598e+00 1.96e-06 2.14e-04 -4.1 8.08e-02 -3.7 1.00e+00 1.00e+00h 1 32 2.0812750e+00 1.56e-05 1.37e-01 -6.1 2.20e-01 -4.1 6.82e-01 1.00e+00h 1 33 2.0819568e+00 3.86e-05 2.27e-03 -4.0 3.53e-01 -4.6 1.00e+00 1.00e+00h 1 34 2.0817248e+00 2.08e-05 3.27e-04 -4.1 6.47e-01 -5.1 1.00e+00 1.00e+00h 1 35 2.0811419e+00 1.98e-04 2.95e-03 -6.1 2.35e+00 -5.6 9.98e-01 1.00e+00h 1 36 2.0811398e+00 1.78e-04 1.95e+00 -4.6 2.69e+00 -4.2 1.00e+00 9.94e-02h 1 37 2.0816711e+00 1.28e-04 2.60e-01 -4.0 1.13e+00 -4.7 1.00e+00 4.28e-01f 1 38 2.0816402e+00 6.43e-05 2.28e-03 -4.1 1.78e+00 -5.2 1.00e+00 1.00e+00h 1 39 2.0820973e+00 2.29e-08 3.09e-01 -4.1 3.65e+00 -5.7 6.31e-01 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0819392e+00 3.41e-07 6.66e-01 -4.0 4.81e-02 -1.6 1.00e+00 5.00e-01h 2 41 2.0818599e+00 7.14e-08 5.82e-04 -4.1 5.59e-02 -2.1 1.00e+00 1.00e+00h 1 42 2.0813785e+00 1.72e-06 2.91e-01 -6.2 1.50e-01 -2.6 5.61e-01 1.00e+00h 1 43 2.0811832e+00 8.46e-07 1.38e-01 -6.2 1.57e-01 -3.1 8.63e-01 7.07e-01h 1 44 2.0822184e+00 8.22e-06 2.95e-03 -4.0 1.91e-01 -3.6 1.00e+00 1.00e+00f 1 45 2.0818313e+00 4.84e-06 3.91e-02 -4.1 8.89e-02 -3.1 8.69e-01 8.22e-01h 1 46 2.0817543e+00 2.35e-06 1.07e-03 -4.1 2.02e-01 -3.6 1.00e+00 1.00e+00f 1 47 2.0817928e+00 3.09e-06 4.00e-04 -4.1 1.61e-01 -4.1 1.00e+00 1.00e+00h 1 48 2.0812737e+00 5.98e-05 9.99e-02 -6.1 6.78e-01 -4.6 7.53e-01 1.00e+00h 1 49 2.0814139e+00 4.09e-05 2.01e-01 -6.1 2.84e+00 -5.0 2.44e-01 6.39e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0810245e+00 1.99e-05 1.89e-01 -6.1 3.77e+00 -5.5 1.00e+00 8.29e-01h 1 51 2.0822550e+00 3.61e-03 2.56e-02 -4.0 1.20e+01 -6.0 1.00e+00 1.00e+00f 1 52 2.0820637e+00 5.46e-04 8.91e-03 -4.0 5.44e+00 -6.5 1.00e+00 1.00e+00h 1 53 2.0819435e+00 8.80e-04 6.98e-04 -4.0 9.62e+00 -6.9 1.00e+00 1.00e+00h 1 54 2.0808308e+00 3.41e-03 5.48e-04 -6.1 3.59e+01 -7.4 9.81e-01 9.50e-01h 1 55 2.0819139e+00 4.63e-03 3.69e-03 -4.0 4.20e+01 -7.9 1.00e+00 1.00e+00f 1 56 2.0816212e+00 1.43e-03 1.74e-03 -4.1 4.90e+01 -8.4 1.00e+00 1.00e+00h 1 57 2.0815946e+00 3.73e-05 1.17e-03 -4.1 3.87e+01 -8.9 1.00e+00 1.00e+00h 1 58 2.0815917e+00 3.38e-06 9.04e-05 -4.1 1.26e+01 -9.3 1.00e+00 1.00e+00h 1 59 2.0805927e+00 3.36e-03 1.44e-04 -6.1 4.07e+01 -9.8 9.78e-01 9.68e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0818894e+00 6.50e-03 4.19e-04 -4.0 6.06e+01 -10.3 1.00e+00 1.00e+00f 1 61 2.0816128e+00 4.97e-04 2.37e-05 -4.1 2.08e+01 -10.8 1.00e+00 1.00e+00h 1 62 2.0806016e+00 3.47e-03 1.93e-04 -6.1 4.19e+01 -11.2 9.76e-01 9.61e-01h 1 63 2.0805508e+00 9.09e-05 2.63e-06 -6.1 1.70e+01 -11.7 1.00e+00 1.00e+00h 1 64 2.0819805e+00 1.03e-02 3.97e-04 -4.0 8.48e+01 -12.2 1.00e+00 1.00e+00f 1 65 2.0816779e+00 9.65e-04 4.86e-05 -4.1 4.56e+01 -12.7 1.00e+00 1.00e+00h 1 66 2.0816420e+00 4.57e-07 2.45e-05 -4.1 8.53e+00 -13.1 1.00e+00 1.00e+00h 1 67 2.0805932e+00 3.64e-03 1.54e-04 -6.1 4.19e+01 -13.6 9.76e-01 9.71e-01h 1 68 2.0805508e+00 7.31e-05 1.94e-06 -6.1 1.62e+01 -14.1 1.00e+00 1.00e+00h 1 69 2.0819836e+00 1.04e-02 3.98e-04 -4.0 8.53e+01 -14.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0816801e+00 9.75e-04 5.08e-05 -4.1 4.63e+01 -15.1 1.00e+00 1.00e+00h 1 71 2.0816431e+00 4.96e-07 2.45e-05 -4.1 8.74e+00 -15.5 1.00e+00 1.00e+00h 1 72 2.0805932e+00 3.65e-03 1.55e-04 -6.1 4.19e+01 -16.0 9.76e-01 9.71e-01h 1 73 2.0805509e+00 7.33e-05 1.95e-06 -6.1 1.62e+01 -16.5 1.00e+00 1.00e+00h 1 74 2.0805467e+00 5.04e-08 2.44e-07 -6.1 2.91e+00 -17.0 1.00e+00 1.00e+00h 1 75 2.0820227e+00 1.22e-02 4.21e-04 -4.0 9.85e+01 -17.4 1.00e+00 1.00e+00f 1 76 2.0817083e+00 1.09e-03 6.84e-05 -4.1 5.45e+01 -17.9 1.00e+00 1.00e+00h 1 77 2.0816573e+00 1.18e-06 2.48e-05 -4.1 1.10e+01 -18.4 1.00e+00 1.00e+00h 1 78 2.0805943e+00 3.73e-03 1.58e-04 -6.1 4.23e+01 -18.9 9.76e-01 9.71e-01h 1 79 2.0805512e+00 7.57e-05 2.02e-06 -6.1 1.64e+01 -19.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805469e+00 5.37e-08 2.49e-07 -6.1 3.01e+00 -19.8 1.00e+00 1.00e+00h 1 81 2.0805365e+00 9.26e-07 7.80e-07 -9.0 9.40e-01 -20.0 1.00e+00 9.97e-01h 1 82 2.0820402e+00 1.30e-02 4.35e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 83 2.0817219e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 84 2.0816639e+00 1.62e-06 2.49e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 85 2.0805948e+00 3.76e-03 1.59e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 86 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 87 2.0805470e+00 5.53e-08 2.51e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 88 2.0805365e+00 9.45e-07 8.03e-07 -9.0 9.51e-01 -20.0 1.00e+00 9.97e-01h 1 89 2.0805365e+00 8.67e-11 2.85e-10 -9.0 2.64e-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 2.0820406e+00 1.30e-02 4.36e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 91 2.0817222e+00 1.13e-03 7.75e-05 -4.1 5.82e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0816640e+00 1.63e-06 2.49e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 93 2.0805948e+00 3.76e-03 1.60e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 94 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 95 2.0805470e+00 5.54e-08 2.51e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 9.45e-07 8.04e-07 -9.0 9.51e-01 -20.0 1.00e+00 9.97e-01h 1 97 2.0805365e+00 8.67e-11 2.85e-10 -9.0 2.64e-02 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 4.44e-16 2.85e-10 -9.0 1.02e-05 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 4.44e-16 2.85e-10 -9.0 1.43e-10 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805365e+00 4.44e-16 2.85e-10 -9.0 1.43e-10 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595436475e+00 2.0805364595436475e+00 Dual infeasibility......: 2.8504383520758739e-10 2.8504383520758739e-10 Constraint violation....: 4.4408920985006262e-16 4.4408920985006262e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090971184536e-10 9.0909090971184536e-10 Overall NLP error.......: 9.9999090909091564e-05 9.9999090909091564e-05 Number of objective function evaluations = 118 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 118 Number of inequality constraint evaluations = 118 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 46.970 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: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) jacobian structure: 4.248s jacobian structure: 1594 nonzeros (4.311s) integrator 1 hessian structure: 0.046s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.065s constraint 1 (NonlinearGlobalConstraint) hessian structure: 14.898s 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: 0.001s hessian structure: 1804 nonzeros (15.011s) linear index maps built (0.0s) evaluator ready (total: 19.322s) evaluator created (19.343s) 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: 19.345s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 10 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 1 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 7.9428016e+01 2.26e+00 2.81e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.9515942e+01 9.56e-01 1.23e+01 -0.5 1.93e+00 0.0 1.00e+00 5.56e-01f 1 2 3.1563498e+00 3.74e-02 2.86e+00 -0.5 1.02e+00 -0.5 9.46e-01 1.00e+00f 1 3 2.8327133e+00 3.43e-02 3.53e-01 -1.0 4.71e-01 -1.0 9.70e-01 1.00e+00h 1 4 2.3009826e+00 4.80e-02 3.77e-01 -1.8 7.47e-01 -1.4 9.74e-01 1.00e+00f 1 5 2.2002267e+00 6.45e-03 2.34e-01 -2.0 2.45e-01 -1.9 9.53e-01 1.00e+00h 1 6 2.1108771e+00 1.45e-03 5.31e-02 -3.3 2.56e-01 -2.4 1.00e+00 7.49e-01h 1 7 2.0914111e+00 3.34e-05 1.57e-03 -4.0 1.21e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908504e+00 3.91e-06 2.74e-04 -4.0 4.66e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908421e+00 7.01e-09 2.74e-04 -4.0 1.02e-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 2.0908188e+00 2.51e-08 2.74e-04 -4.0 2.96e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907524e+00 2.12e-07 2.74e-04 -4.0 8.58e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905356e+00 2.01e-06 4.29e-04 -4.0 2.61e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0904110e+00 2.32e-06 3.14e-02 -4.0 1.38e+01 -5.7 7.53e-01 8.72e-02h 2 14 2.0887194e+00 1.48e-04 5.77e-03 -4.0 2.15e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0884732e+00 1.50e-04 6.25e-01 -3.7 3.99e+02 -6.7 9.35e-01 1.23e-02h 2 16 2.0838673e+00 5.00e-03 9.26e-02 -4.0 8.63e+01 -7.2 1.00e+00 1.00e+00h 1 17 2.0840103e+00 2.02e-03 6.61e-03 -3.7 1.89e+01 -6.7 1.00e+00 1.00e+00h 1 18 2.0826402e+00 5.79e-03 3.40e-03 -4.0 4.40e+01 -7.2 1.00e+00 1.00e+00h 1 19 2.0823088e+00 5.78e-04 1.28e-02 -4.0 1.35e+02 -7.7 6.48e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.1199775e+00 1.87e-04 1.54e-01 -4.0 9.92e+01 -8.2 1.00e+00 5.74e-01h 1 21 2.0966974e+00 2.12e-06 9.02e-01 -4.1 1.44e-01 -0.3 4.27e-01 1.00e+00f 1 22 2.0924013e+00 5.74e-06 1.11e+00 -4.1 1.59e+00 -0.8 1.64e-01 6.78e-02f 1 23 2.0830813e+00 2.37e-05 4.85e+00 -4.1 2.39e-01 -1.3 5.35e-01 9.80e-01f 1 24 2.0834379e+00 1.99e-05 8.20e+00 -4.0 2.17e-01 -1.7 1.00e+00 2.40e-01f 2 25 2.0826997e+00 1.82e-05 4.45e+00 -4.0 1.27e-01 -2.2 1.00e+00 4.55e-01h 1 26 2.0821354e+00 2.32e-06 2.54e-03 -4.0 3.35e-02 -2.7 1.00e+00 1.00e+00h 1 27 2.0821208e+00 1.62e-07 2.74e-04 -4.0 1.54e-02 -3.2 1.00e+00 1.00e+00h 1 28 2.0821228e+00 8.91e-08 2.74e-04 -4.0 1.41e-02 -3.7 1.00e+00 1.00e+00h 1 29 2.0821238e+00 3.94e-09 2.74e-04 -4.0 4.23e-02 -4.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0821268e+00 2.03e-08 2.74e-04 -4.0 1.27e-01 -4.6 1.00e+00 1.00e+00h 1 31 2.0819754e+00 7.92e-06 2.19e-04 -4.1 3.25e-01 -5.1 1.00e+00 1.00e+00h 1 32 2.0821405e+00 2.94e-05 2.74e-04 -4.0 1.16e+00 -5.6 1.00e+00 1.00e+00h 1 33 2.0819449e+00 7.77e-05 2.19e-04 -4.1 3.04e+00 -6.0 1.00e+00 1.00e+00h 1 34 2.0821569e+00 3.73e-04 1.25e-03 -4.0 1.24e+01 -6.5 1.00e+00 1.00e+00h 1 35 2.2281028e+00 3.16e-04 1.22e+00 -4.1 1.47e+02 -7.0 1.09e-01 1.00e+00H 1 36 2.1315978e+00 6.01e-10 7.06e-01 -4.1 1.00e-01 0.8 1.00e+00 1.00e+00f 1 37 2.0873704e+00 8.88e-09 2.21e-01 -4.0 9.56e-02 0.4 1.00e+00 1.00e+00f 1 38 2.0828363e+00 7.40e-09 4.89e-02 -4.0 3.72e-02 -0.1 1.00e+00 8.93e-01f 1 39 2.0840810e+00 8.02e-13 4.01e-03 -4.0 1.39e-02 -0.6 1.00e+00 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0832590e+00 5.63e-08 1.20e-03 -4.0 1.21e-02 -1.1 1.00e+00 1.00e+00f 1 41 2.0829029e+00 5.70e-08 7.94e-04 -4.1 2.64e-02 -1.5 1.00e+00 1.00e+00h 1 42 2.0821940e+00 2.38e-06 1.92e-02 -6.1 5.00e-02 -2.0 8.32e-01 9.20e-01h 1 43 2.0830674e+00 4.96e-06 9.38e-04 -4.0 5.03e-02 -2.5 1.00e+00 1.00e+00f 1 44 2.0827896e+00 4.80e-07 2.23e-04 -4.1 2.16e-02 -3.0 1.00e+00 1.00e+00h 1 45 2.0820932e+00 3.89e-06 1.94e-02 -6.1 3.94e-02 -3.4 8.30e-01 1.00e+00h 1 46 2.0830143e+00 9.10e-06 1.21e-03 -4.0 6.81e-02 -3.9 1.00e+00 1.00e+00f 1 47 2.0827458e+00 7.28e-06 2.19e-04 -4.1 2.07e-01 -4.4 1.00e+00 1.00e+00h 1 48 2.0820116e+00 9.66e-05 1.00e-02 -6.1 9.79e-01 -4.9 9.09e-01 1.00e+00h 1 49 2.0817858e+00 2.30e-05 2.62e-04 -6.1 2.74e+00 -5.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0825625e+00 5.95e-04 4.08e-03 -4.0 4.32e+00 -5.8 1.00e+00 1.00e+00f 1 51 2.0821873e+00 3.13e-04 3.72e-03 -4.1 8.19e+00 -6.3 1.00e+00 1.00e+00h 1 52 2.0819637e+00 9.40e-05 1.46e-03 -4.1 2.22e+01 -6.8 1.00e+00 1.00e+00h 1 53 2.0816659e+00 1.14e-04 2.94e-03 -4.1 4.84e+01 -7.3 8.66e-01 1.00e+00h 1 54 2.0817167e+00 4.77e-04 1.31e-02 -4.0 1.35e+01 -5.9 1.00e+00 1.00e+00h 1 55 2.0818687e+00 1.62e-04 6.62e-03 -4.0 4.59e+00 -6.4 1.00e+00 1.00e+00h 1 56 2.0819867e+00 5.82e-05 1.12e-03 -4.0 6.86e+00 -6.9 1.00e+00 1.00e+00h 1 57 2.0819942e+00 4.66e-05 5.59e-04 -4.0 1.14e+01 -7.4 1.00e+00 1.00e+00h 1 58 2.0806773e+00 5.06e-03 2.46e-03 -6.0 4.54e+01 -7.8 9.74e-01 9.81e-01h 1 59 2.0818757e+00 5.11e-03 1.34e-03 -4.0 4.54e+01 -8.3 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0816092e+00 7.98e-04 6.14e-04 -4.1 3.13e+01 -8.8 1.00e+00 1.00e+00h 1 61 2.0818401e+00 2.26e-04 3.77e-04 -4.0 1.04e+01 -9.3 1.00e+00 1.00e+00h 1 62 2.0815799e+00 2.25e-04 2.19e-04 -4.1 1.02e+01 -9.8 1.00e+00 1.00e+00h 1 63 2.0818395e+00 2.06e-04 2.74e-04 -4.0 9.40e+00 -10.2 1.00e+00 1.00e+00h 1 64 2.0815804e+00 2.10e-04 2.19e-04 -4.1 9.57e+00 -10.7 1.00e+00 1.00e+00h 1 65 2.0805900e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -11.2 9.78e-01 9.71e-01h 1 66 2.0818882e+00 6.56e-03 3.01e-04 -4.0 6.10e+01 -11.7 1.00e+00 1.00e+00f 1 67 2.0816136e+00 4.88e-04 2.24e-04 -4.1 2.07e+01 -12.1 1.00e+00 1.00e+00h 1 68 2.0805989e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -12.6 9.76e-01 9.65e-01h 1 69 2.0805508e+00 8.46e-05 2.22e-06 -6.1 1.69e+01 -13.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0819794e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -13.6 1.00e+00 1.00e+00f 1 71 2.0816837e+00 9.34e-04 2.33e-04 -4.1 4.57e+01 -14.0 1.00e+00 1.00e+00h 1 72 2.0816477e+00 4.73e-07 2.33e-04 -4.1 8.52e+00 -14.5 1.00e+00 1.00e+00h 1 73 2.0818389e+00 1.15e-04 2.74e-04 -4.0 7.07e+00 -15.0 1.00e+00 1.00e+00h 1 74 2.0815801e+00 2.08e-04 2.19e-04 -4.1 9.50e+00 -15.5 1.00e+00 1.00e+00h 1 75 2.0805898e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -16.0 9.78e-01 9.71e-01h 1 76 2.0805497e+00 6.51e-05 1.96e-06 -6.1 1.55e+01 -16.4 1.00e+00 1.00e+00h 1 77 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -16.9 1.00e+00 1.00e+00f 1 78 2.0816887e+00 9.54e-04 2.34e-04 -4.1 4.72e+01 -17.4 1.00e+00 1.00e+00h 1 79 2.0816504e+00 5.63e-07 2.34e-04 -4.1 8.93e+00 -17.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805906e+00 3.68e-03 1.60e-04 -6.1 4.16e+01 -18.3 9.77e-01 9.75e-01h 1 81 2.0805511e+00 6.76e-05 2.16e-06 -6.1 1.62e+01 -18.8 1.00e+00 1.00e+00h 1 82 2.0805469e+00 4.72e-08 2.16e-06 -6.1 2.95e+00 -19.3 1.00e+00 1.00e+00h 1 83 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.89e+01 -19.8 1.00e+00 1.00e+00f 1 84 2.0817159e+00 1.04e-03 2.37e-04 -4.1 5.46e+01 -20.0 1.00e+00 1.00e+00h 1 85 2.0816648e+00 1.22e-06 2.37e-04 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 86 2.0805915e+00 3.76e-03 1.66e-04 -6.1 4.20e+01 -20.0 9.76e-01 9.75e-01h 1 87 2.0805514e+00 6.96e-05 2.20e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 88 2.0805471e+00 4.99e-08 2.20e-06 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 89 2.0805365e+00 9.55e-07 8.02e-07 -9.0 9.57e-01 -20.0 1.00e+00 9.97e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 91 2.0817306e+00 1.08e-03 2.38e-04 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0816723e+00 1.67e-06 2.38e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 93 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 94 2.0805516e+00 7.07e-05 2.22e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 95 2.0805472e+00 5.15e-08 2.22e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 9.76e-07 8.28e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 97 2.0805365e+00 9.27e-11 2.49e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 98 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 99 2.0817309e+00 1.08e-03 2.38e-04 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0816725e+00 1.68e-06 2.38e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0816725077241864e+00 2.0816725077241864e+00 Dual infeasibility......: 2.3817699032374108e-04 2.3817699032374108e-04 Constraint violation....: 1.6773757763877128e-06 1.6773757763877128e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.8854137278111499e-05 8.8854137278111499e-05 Overall NLP error.......: 2.3817699032374108e-04 2.3817699032374108e-04 Number of objective function evaluations = 109 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 109 Number of inequality constraint evaluations = 109 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 33.104 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: 0.058s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.059s) integrator 1 hessian structure: 0.047s 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 (0.048s) linear index maps built (0.0s) evaluator ready (total: 0.107s) evaluator created (0.118s) 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: 0.119s) 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 2.4122158e+00 4.28e+00 2.87e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7019734e+00 4.59e-01 1.85e+00 -0.8 4.14e+00 -2.0 1.00e+00 9.21e-01f 1 2 2.6182312e+00 3.54e-01 7.24e-01 -1.1 3.33e+00 -2.5 9.96e-01 1.00e+00f 1 3 2.3794321e+00 3.78e-01 5.28e-01 -2.5 1.20e+01 -3.0 6.04e-01 4.09e-01h 1 4 2.3054875e+00 3.17e-02 3.49e-01 -1.6 1.18e+00 -2.5 8.12e-01 1.00e+00h 1 5 2.1265769e+00 2.27e-02 3.05e-02 -2.5 8.35e-01 -3.0 9.90e-01 1.00e+00h 1 6 2.0921061e+00 6.13e-04 5.01e-03 -3.8 1.38e-01 -3.5 9.56e-01 1.00e+00h 1 7 2.0908763e+00 6.55e-05 3.58e-04 -4.0 1.93e-01 -4.0 1.00e+00 1.00e+00h 1 8 2.0908240e+00 6.03e-07 2.06e-05 -4.0 5.62e-01 -4.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 8 (scaled) (unscaled) Objective...............: 2.0908240320702971e+00 2.0908240320702971e+00 Dual infeasibility......: 2.0575502334063857e-05 2.0575502334063857e-05 Constraint violation....: 6.0267032763600126e-07 6.0267032763600126e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000018609278946e-04 1.0000018609278946e-04 Overall NLP error.......: 2.0575502334063857e-05 2.0575502334063857e-05 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 = 25.482 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 (0.06s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.001s 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 (0.052s) 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: 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: 0.113s) 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 4.1835030e+00 3.42e+00 4.19e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6972008e+00 1.17e+00 1.67e+00 -0.8 2.57e+00 0.0 1.00e+00 6.60e-01f 1 2 2.5520375e+00 2.99e-02 3.58e+00 -0.9 7.39e-01 -0.5 9.19e-01 1.00e+00f 1 3 2.5888426e+00 1.29e-03 6.25e-01 -1.2 1.37e-01 -1.0 9.86e-01 1.00e+00h 1 4 2.2288928e+00 1.86e-02 1.36e-01 -1.9 3.80e-01 -1.4 9.98e-01 7.44e-01f 1 5 2.1035942e+00 1.77e-03 8.93e-03 -2.9 8.52e-02 -1.9 9.69e-01 1.00e+00h 1 6 2.0909337e+00 2.29e-05 8.99e-04 -4.0 1.23e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0909085e+00 2.95e-07 2.06e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909040e+00 1.06e-09 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908907e+00 6.89e-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 2.0908509e+00 6.20e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907315e+00 5.59e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903739e+00 5.06e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0893083e+00 4.62e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861761e+00 4.34e-04 1.81e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796293e+00 2.52e-03 8.62e-02 -4.0 8.73e+01 -6.7 1.00e+00 7.59e-01h 1 16 2.0812819e+00 1.49e-04 1.92e-01 -4.0 6.73e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778392e+00 5.71e-03 2.68e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781432e+00 1.62e-02 3.20e-02 -3.7 1.51e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767331e+00 1.31e-02 1.81e-02 -3.8 2.81e+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 2.0758399e+00 1.08e-02 2.15e-02 -3.9 4.10e+02 -9.1 1.00e+00 9.92e-01h 1 21 2.0757742e+00 6.78e-03 9.60e-03 -4.0 1.37e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756774e+00 3.61e-04 4.16e-04 -4.0 5.90e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 1.77e-06 7.98e-06 -4.0 2.32e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 5.72e-08 1.51e-06 -4.0 1.51e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.54e-09 1.51e-07 -4.0 5.26e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.83e-11 3.06e-09 -4.0 9.31e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122122272e+00 2.0756712122122272e+00 Dual infeasibility......: 3.0608949432692732e-09 3.0608949432692732e-09 Constraint violation....: 7.8270057102258761e-11 7.8270057102258761e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000059e-04 1.0000000000000059e-04 Overall NLP error.......: 3.0608949432692732e-09 3.0608949432692732e-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 = 24.934 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 (0.06s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.036s 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 (0.086s) linear index maps built (0.0s) evaluator ready (total: 0.146s) evaluator created (0.146s) 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: 0.147s) 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 5.6197073e+00 2.97e+00 3.91e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.6160132e+00 1.37e+00 2.34e+00 -0.8 2.65e+00 0.0 9.67e-01 5.39e-01f 1 2 2.8069112e+00 4.31e-02 1.68e+00 -0.8 9.92e-01 -0.5 9.02e-01 1.00e+00f 1 3 2.3911029e+00 3.78e-02 2.53e-01 -1.4 3.53e-01 -1.0 9.99e-01 1.00e+00h 1 4 2.1866691e+00 1.68e-02 2.91e-01 -2.4 5.27e-01 -1.4 8.07e-01 9.99e-01h 1 5 2.1028843e+00 2.54e-03 9.53e-02 -3.2 2.12e-01 -1.9 1.00e+00 8.87e-01h 1 6 2.0912599e+00 2.39e-05 1.40e-03 -4.0 1.18e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0908824e+00 1.35e-06 2.06e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908775e+00 4.04e-09 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908642e+00 6.91e-09 2.06e-05 -4.0 1.35e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908244e+00 6.22e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0908243926709704e+00 2.0908243926709704e+00 Dual infeasibility......: 2.0575174816160908e-05 2.0575174816160908e-05 Constraint violation....: 6.2210468106810302e-08 6.2210468106810302e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999999625e-05 9.9999999999999625e-05 Overall NLP error.......: 2.0575174816160908e-05 2.0575174816160908e-05 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 = 25.908 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: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.059s) 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: 0.001s hessian structure: 1749 nonzeros (0.05s) 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: 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: 0.11s) 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.............: 0 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.2788021e+00 3.89e+00 8.35e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9938975e+00 4.53e-02 4.29e+00 -1.1 2.11e+00 - 3.60e-01 1.00e+00h 1 2 2.6071867e+00 1.29e-02 1.81e-01 -1.1 1.27e-01 - 9.86e-01 1.00e+00h 1 3 2.2222125e+00 2.19e-03 1.02e-01 -2.8 7.35e-02 - 8.98e-01 1.00e+00f 1 4 2.1024830e+00 8.94e-04 4.92e-02 -3.4 5.14e-02 - 9.99e-01 8.61e-01h 1 5 2.0909456e+00 3.50e-05 1.93e-02 -4.0 1.60e-02 - 1.00e+00 1.00e+00h 1 6 2.0909196e+00 6.77e-08 6.35e-04 -4.0 5.90e-03 - 1.00e+00 1.00e+00h 1 7 2.0909029e+00 1.92e-08 6.36e-04 -4.0 1.68e-01 - 1.00e+00 1.00e+00h 1 8 2.0793519e+00 1.60e-03 2.89e-01 -4.0 1.51e+03 - 8.34e-02 8.35e-02f 1 9 2.0815630e+00 5.22e-04 1.77e-01 -4.0 3.29e+02 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0791454e+00 1.01e-03 6.12e-01 -3.8 2.21e+03 - 1.00e+00 1.11e-01h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0791454306159722e+00 2.0791454306159722e+00 Dual infeasibility......: 6.1158574551877420e-01 6.1158574551877420e-01 Constraint violation....: 1.0064327296817055e-03 1.0064327296817055e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.5933929076471394e-03 1.5933929076471394e-03 Overall NLP error.......: 6.1158574551877420e-01 6.1158574551877420e-01 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 = 0 Total seconds in IPOPT = 7.728 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: 0.064s 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: 0.0s 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 (0.052s) linear index maps built (0.0s) evaluator ready (total: 0.117s) evaluator created (0.117s) 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: 0.117s) 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 4.7290324e+00 2.42e+00 6.11e-01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5007560e+00 6.90e-02 3.40e+00 -1.0 1.51e+00 0.0 2.69e-01 1.00e+00f 1 2 2.8749744e+00 2.35e-02 7.94e-01 -1.0 3.59e-01 -0.5 1.00e+00 1.00e+00f 1 3 2.4115339e+00 5.36e-02 1.98e-01 -1.7 6.76e-01 -1.0 8.00e-01 7.02e-01h 1 4 2.2327342e+00 3.53e-02 2.40e-01 -2.5 1.04e+00 -1.4 7.34e-01 6.03e-01h 1 5 2.1275806e+00 4.55e-03 6.70e-02 -2.5 2.22e-01 -1.9 9.55e-01 8.82e-01h 1 6 2.1142103e+00 1.65e-04 7.55e-03 -2.5 3.02e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0916048e+00 4.01e-05 2.59e-04 -3.8 1.53e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909315e+00 3.52e-06 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909182e+00 5.92e-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 2.0908783e+00 6.20e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0908783137761930e+00 2.0908783137761930e+00 Dual infeasibility......: 2.0582247139878228e-05 2.0582247139878228e-05 Constraint violation....: 6.2045419350897912e-08 6.2045419350897912e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999994801e-05 9.9999999999994801e-05 Overall NLP error.......: 2.0582247139878228e-05 2.0582247139878228e-05 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 = 23.910 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: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.061s) 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: 0.114s) evaluator created (0.114s) 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: 0.115s) initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.057s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.542s jacobian structure: 1600 nonzeros (2.6s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.638s 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 (3.688s) linear index maps built (0.0s) evaluator ready (total: 6.288s) evaluator created (6.31s) 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: 6.325s) 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 1.6135888e+00 2.82e+00 5.07e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.8358840e+00 3.45e-01 1.20e+00 -0.9 3.91e+00 -2.0 9.70e-01 1.00e+00h 1 Hello, world! 2 2.5047107e+00 6.51e-02 5.15e-01 -1.2 9.73e-01 -1.6 9.72e-01 1.00e+00h 1 Hello, world! 3 2.2284419e+00 2.42e-02 4.66e-02 -2.1 3.70e-01 -2.1 9.78e-01 1.00e+00h 1 Hello, world! 4 2.1075718e+00 8.14e-03 2.31e-02 -2.8 3.97e-01 -2.5 9.69e-01 9.35e-01h 1 Hello, world! 5 2.0908198e+00 5.45e-05 1.43e-03 -4.0 2.51e-02 -3.0 9.80e-01 1.00e+00h 1 Hello, world! 6 2.0907783e+00 1.01e-06 1.71e-04 -4.0 6.71e-02 -3.5 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0907658e+00 6.78e-09 1.51e-05 -4.0 1.37e-01 -4.0 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0907322e+00 5.18e-08 1.66e-05 -4.0 4.14e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0906214e+00 5.24e-07 1.89e-04 -4.0 1.29e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0902119e+00 6.22e-07 2.68e-03 -4.0 4.46e+00 -5.4 1.00e+00 8.97e-01H 1 Hello, world! 11 2.0894952e+00 6.12e-05 1.31e-02 -4.0 1.29e+01 -5.9 1.00e+00 1.00e+00f 1 Hello, world! 12 2.0886992e+00 5.44e-05 6.21e-02 -4.0 1.44e+01 -5.4 1.00e+00 3.15e-01h 1 Hello, world! 13 2.0877522e+00 6.36e-05 1.38e-02 -4.0 1.30e+01 -5.9 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0862828e+00 1.31e-04 4.50e-02 -4.0 3.19e+01 -6.4 1.00e+00 5.53e-01h 1 Hello, world! 15 2.0833693e+00 9.18e-04 4.82e-02 -4.0 5.31e+01 -6.9 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0825016e+00 6.06e-04 1.03e-02 -4.0 7.02e+01 -7.4 1.00e+00 9.02e-01h 1 Hello, world! 17 2.0822958e+00 1.09e-03 1.18e-02 -4.0 1.54e+02 -7.8 8.48e-01 1.00e+00h 1 Hello, world! 18 2.0825086e+00 8.40e-04 1.56e-02 -4.0 2.72e+01 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0822569e+00 8.07e-04 3.29e-02 -4.0 3.06e+01 -7.0 8.84e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0871760e+00 3.13e-04 4.99e-02 -4.0 4.59e+01 -7.5 1.00e+00 9.15e-01h 1 Hello, world! 21 2.0823538e+00 8.48e-04 3.54e+00 -4.0 8.92e+00 -4.3 2.20e-03 2.20e-01h 1 Hello, world! 22 2.0819852e+00 8.46e-04 1.23e+00 -4.1 1.24e+00 -4.8 1.00e+00 6.92e-01h 1 Hello, world! 23 2.0822004e+00 9.24e-05 1.92e-03 -4.0 1.42e+00 -5.3 1.00e+00 1.00e+00f 1 Hello, world! 24 2.0819705e+00 5.67e-05 3.37e-02 -4.0 6.46e+00 -5.7 8.47e-01 1.00e+00h 1 Hello, world! 25 2.0819853e+00 6.30e-05 3.20e-01 -4.0 1.24e+00 -4.4 5.89e-01 4.51e-01h 1 Hello, world! 26 2.0819651e+00 1.19e-05 1.75e-03 -4.0 3.72e-01 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0820047e+00 1.16e-05 3.72e-04 -4.0 7.19e-01 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0820284e+00 2.18e-06 1.98e-04 -4.0 1.25e+00 -5.9 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0820596e+00 6.22e-06 1.92e-04 -4.0 2.21e+00 -6.3 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 2.0818386e+00 1.37e-04 8.07e-04 -4.1 7.77e+00 -6.8 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0820140e+00 3.10e-04 1.29e-03 -4.0 1.38e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0816925e+00 8.18e-04 1.05e-03 -4.1 3.40e+01 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0818723e+00 1.19e-03 3.55e-03 -4.0 5.05e+01 -8.2 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0815880e+00 1.03e-03 1.64e-03 -4.1 4.61e+01 -8.7 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0818447e+00 4.29e-04 2.34e-04 -4.0 1.84e+01 -9.2 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0815838e+00 2.39e-04 9.95e-06 -4.1 1.08e+01 -9.7 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0818445e+00 2.10e-04 1.57e-05 -4.0 9.56e+00 -10.1 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0815837e+00 2.15e-04 1.12e-05 -4.1 9.80e+00 -10.6 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0818446e+00 2.16e-04 1.01e-05 -4.0 9.85e+00 -11.1 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 40 2.0815837e+00 2.16e-04 9.54e-06 -4.1 9.86e+00 -11.6 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0818446e+00 2.16e-04 9.57e-06 -4.0 9.87e+00 -12.1 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0815837e+00 2.16e-04 9.35e-06 -4.1 9.87e+00 -12.5 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0818446e+00 2.16e-04 9.51e-06 -4.0 9.87e+00 -13.0 1.00e+00 1.00e+00h 1 Hello, world! 44 2.0815837e+00 2.16e-04 9.33e-06 -4.1 9.87e+00 -13.5 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0805951e+00 3.33e-03 1.59e-04 -6.1 4.09e+01 -14.0 9.77e-01 9.64e-01h 1 Hello, world! 46 2.0818908e+00 6.61e-03 2.98e-04 -4.0 6.18e+01 -14.4 1.00e+00 1.00e+00f 1 Hello, world! 47 2.0816145e+00 4.96e-04 1.06e-05 -4.1 2.08e+01 -14.9 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0806042e+00 3.49e-03 2.32e-04 -6.1 4.24e+01 -15.4 9.76e-01 9.58e-01h 1 Hello, world! 49 2.0805507e+00 9.69e-05 2.24e-06 -6.1 1.71e+01 -15.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0819819e+00 1.02e-02 3.99e-04 -4.0 8.54e+01 -16.3 1.00e+00 1.00e+00f 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0819818714644684e+00 2.0819818714644684e+00 Dual infeasibility......: 3.9853084537101106e-04 3.9853084537101106e-04 Constraint violation....: 1.0237557851636714e-02 1.0237557851636714e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.1316021505629577e-04 2.1316021505629577e-04 Overall NLP error.......: 1.0237557851636714e-02 1.0237557851636714e-02 Number of objective function evaluations = 52 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 52 Number of inequality constraint evaluations = 52 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 27.528 EXIT: Stopping optimization at current point as requested by user. 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: 0.001s hessian structure: 1749 nonzeros (0.003s) linear index maps built (0.0s) evaluator ready (total: 0.005s) evaluator created (0.005s) 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: 0.007s) 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 1.6135888e+00 2.82e+00 5.07e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.8358840e+00 3.45e-01 1.20e+00 -0.9 3.91e+00 -2.0 9.70e-01 1.00e+00h 1 Hello, world! 2 2.5047107e+00 6.51e-02 5.15e-01 -1.2 9.73e-01 -1.6 9.72e-01 1.00e+00h 1 Hello, world! 3 2.2284419e+00 2.42e-02 4.66e-02 -2.1 3.70e-01 -2.1 9.78e-01 1.00e+00h 1 Hello, world! 4 2.1075718e+00 8.14e-03 2.31e-02 -2.8 3.97e-01 -2.5 9.69e-01 9.35e-01h 1 Hello, world! 5 2.0908198e+00 5.45e-05 1.43e-03 -4.0 2.51e-02 -3.0 9.80e-01 1.00e+00h 1 Hello, world! 6 2.0907783e+00 1.01e-06 1.71e-04 -4.0 6.71e-02 -3.5 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0907658e+00 6.78e-09 1.51e-05 -4.0 1.37e-01 -4.0 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0907322e+00 5.18e-08 1.66e-05 -4.0 4.14e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0906214e+00 5.24e-07 1.89e-04 -4.0 1.29e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0902119e+00 6.22e-07 2.68e-03 -4.0 4.46e+00 -5.4 1.00e+00 8.97e-01H 1 Hello, world! 11 2.0894952e+00 6.12e-05 1.31e-02 -4.0 1.29e+01 -5.9 1.00e+00 1.00e+00f 1 Hello, world! 12 2.0886992e+00 5.44e-05 6.21e-02 -4.0 1.44e+01 -5.4 1.00e+00 3.15e-01h 1 Hello, world! 13 2.0877522e+00 6.36e-05 1.38e-02 -4.0 1.30e+01 -5.9 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0862828e+00 1.31e-04 4.50e-02 -4.0 3.19e+01 -6.4 1.00e+00 5.53e-01h 1 Hello, world! 15 2.0833693e+00 9.18e-04 4.82e-02 -4.0 5.31e+01 -6.9 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0825016e+00 6.06e-04 1.03e-02 -4.0 7.02e+01 -7.4 1.00e+00 9.02e-01h 1 Hello, world! 17 2.0822958e+00 1.09e-03 1.18e-02 -4.0 1.54e+02 -7.8 8.48e-01 1.00e+00h 1 Hello, world! 18 2.0825086e+00 8.40e-04 1.56e-02 -4.0 2.72e+01 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0822569e+00 8.07e-04 3.29e-02 -4.0 3.06e+01 -7.0 8.84e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0871760e+00 3.13e-04 4.99e-02 -4.0 4.59e+01 -7.5 1.00e+00 9.15e-01h 1 Hello, world! 21 2.0823538e+00 8.48e-04 3.54e+00 -4.0 8.92e+00 -4.3 2.20e-03 2.20e-01h 1 Hello, world! 22 2.0819852e+00 8.46e-04 1.23e+00 -4.1 1.24e+00 -4.8 1.00e+00 6.92e-01h 1 Hello, world! 23 2.0822004e+00 9.24e-05 1.92e-03 -4.0 1.42e+00 -5.3 1.00e+00 1.00e+00f 1 Hello, world! 24 2.0819705e+00 5.67e-05 3.37e-02 -4.0 6.46e+00 -5.7 8.47e-01 1.00e+00h 1 Hello, world! 25 2.0819853e+00 6.30e-05 3.20e-01 -4.0 1.24e+00 -4.4 5.89e-01 4.51e-01h 1 Hello, world! 26 2.0819651e+00 1.19e-05 1.75e-03 -4.0 3.72e-01 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0820047e+00 1.16e-05 3.72e-04 -4.0 7.19e-01 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0820284e+00 2.18e-06 1.98e-04 -4.0 1.25e+00 -5.9 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0820596e+00 6.22e-06 1.92e-04 -4.0 2.21e+00 -6.3 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 2.0818386e+00 1.37e-04 8.07e-04 -4.1 7.77e+00 -6.8 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0820140e+00 3.10e-04 1.29e-03 -4.0 1.38e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0816925e+00 8.18e-04 1.05e-03 -4.1 3.40e+01 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0818723e+00 1.19e-03 3.55e-03 -4.0 5.05e+01 -8.2 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0815880e+00 1.03e-03 1.64e-03 -4.1 4.61e+01 -8.7 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0818447e+00 4.29e-04 2.34e-04 -4.0 1.84e+01 -9.2 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0815838e+00 2.39e-04 9.95e-06 -4.1 1.08e+01 -9.7 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0818445e+00 2.10e-04 1.57e-05 -4.0 9.56e+00 -10.1 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0815837e+00 2.15e-04 1.12e-05 -4.1 9.80e+00 -10.6 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0818446e+00 2.16e-04 1.01e-05 -4.0 9.85e+00 -11.1 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 40 2.0815837e+00 2.16e-04 9.54e-06 -4.1 9.86e+00 -11.6 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0818446e+00 2.16e-04 9.57e-06 -4.0 9.87e+00 -12.1 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0815837e+00 2.16e-04 9.35e-06 -4.1 9.87e+00 -12.5 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0818446e+00 2.16e-04 9.51e-06 -4.0 9.87e+00 -13.0 1.00e+00 1.00e+00h 1 Hello, world! 44 2.0815837e+00 2.16e-04 9.33e-06 -4.1 9.87e+00 -13.5 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0805951e+00 3.33e-03 1.59e-04 -6.1 4.09e+01 -14.0 9.77e-01 9.64e-01h 1 Hello, world! 46 2.0818908e+00 6.61e-03 2.98e-04 -4.0 6.18e+01 -14.4 1.00e+00 1.00e+00f 1 Hello, world! 47 2.0816145e+00 4.96e-04 1.06e-05 -4.1 2.08e+01 -14.9 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0806042e+00 3.49e-03 2.32e-04 -6.1 4.24e+01 -15.4 9.76e-01 9.58e-01h 1 Hello, world! 49 2.0805507e+00 9.69e-05 2.24e-06 -6.1 1.71e+01 -15.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0819819e+00 1.02e-02 3.99e-04 -4.0 8.54e+01 -16.3 1.00e+00 1.00e+00f 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0819818714644684e+00 2.0819818714644684e+00 Dual infeasibility......: 3.9853084537101106e-04 3.9853084537101106e-04 Constraint violation....: 1.0237557851636714e-02 1.0237557851636714e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.1316021505629577e-04 2.1316021505629577e-04 Overall NLP error.......: 1.0237557851636714e-02 1.0237557851636714e-02 Number of objective function evaluations = 52 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 52 Number of inequality constraint evaluations = 52 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 1.053 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.062s) integrator 1 hessian structure: 0.047s 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 (0.049s) linear index maps built (0.0s) evaluator ready (total: 0.111s) evaluator created (0.112s) 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 (0.127s) optimizer initialization complete (total: 0.239s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.2406397e+00 2.54e+00 6.96e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7458634e+00 3.14e-02 3.00e-01 -1.0 1.94e+00 - 1.00e+00 1.00e+00f 1 2 2.2311930e+00 3.13e-03 1.78e-01 -2.1 9.46e-02 - 8.11e-01 1.00e+00h 1 3 2.1074682e+00 6.59e-04 1.17e-02 -2.7 3.41e-02 - 9.88e-01 1.00e+00h 1 4 2.0908687e+00 5.09e-05 1.27e-03 -4.0 1.94e-02 - 1.00e+00 1.00e+00h 1 5 2.0908853e+00 3.42e-05 2.85e-04 -4.0 6.88e-01 - 1.00e+00 1.00e+00h 1 6 2.0908954e+00 1.62e-08 1.48e-07 -4.0 2.57e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 1.77e-09 2.21e-09 -4.0 8.56e-02 - 1.00e+00 1.00e+00h 1 8 2.0908972e+00 1.32e-13 1.65e-13 -4.0 7.50e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 8 (scaled) (unscaled) Objective...............: 2.0908971978667563e+00 2.0908971978667563e+00 Dual infeasibility......: 1.6501264330642806e-13 1.6501264330642806e-13 Constraint violation....: 1.3216885268521605e-13 1.3216885268521605e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000001160536130e-04 1.0000001160536130e-04 Overall NLP error.......: 1.1605361298155058e-11 1.1605361298155058e-11 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 = 23.929 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.056s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.057s) integrator 1 hessian structure: 0.044s 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 (0.046s) linear index maps built (0.0s) evaluator ready (total: 0.104s) evaluator created (0.104s) 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 (0.001s) optimizer initialization complete (total: 0.106s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.1860160e+00 1.59e+00 4.10e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4604048e+00 6.37e-01 4.62e+00 -0.9 7.41e+00 -4.0 5.77e-01 9.44e-01f 1 2 2.7475157e+00 1.32e-01 4.87e+00 -0.9 4.61e+00 -1.8 7.25e-01 1.00e+00f 1 3 2.5684768e+00 2.11e-02 8.30e-01 -1.0 2.77e-01 -0.4 9.73e-01 1.00e+00h 1 4 2.4078671e+00 9.32e-03 2.02e-01 -1.6 1.28e-01 -0.9 9.38e-01 1.00e+00h 1 5 2.2343977e+00 2.62e-03 7.61e-02 -1.9 1.76e-01 -1.4 9.95e-01 1.00e+00h 1 6 2.1286977e+00 2.13e-03 1.19e-01 -2.7 2.24e-01 -1.9 1.00e+00 7.49e-01h 1 7 2.1033997e+00 7.16e-04 1.46e-01 -3.5 5.52e-02 -2.3 1.00e+00 6.64e-01h 1 8 2.0908418e+00 1.13e-04 1.17e-02 -4.0 4.39e-02 -2.8 1.00e+00 1.00e+00h 1 9 2.0907326e+00 2.46e-06 7.13e-05 -4.0 3.53e-02 -3.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0907236e+00 2.84e-08 1.75e-05 -4.0 1.05e-01 -3.8 1.00e+00 1.00e+00h 1 11 2.0906936e+00 3.35e-08 1.71e-05 -4.0 3.08e-01 -4.3 1.00e+00 1.00e+00h 1 12 2.0906106e+00 2.52e-07 1.10e-04 -4.0 8.59e-01 -4.7 1.00e+00 1.00e+00h 1 13 2.0904137e+00 1.36e-06 6.90e-04 -4.0 2.08e+00 -5.2 1.00e+00 1.00e+00h 1 14 2.0901216e+00 3.40e-06 2.21e-03 -4.0 3.71e+00 -5.7 1.00e+00 1.00e+00h 1 15 2.0899285e+00 4.48e-06 2.31e-03 -4.0 4.85e+00 -6.2 1.00e+00 1.00e+00h 1 16 2.0898521e+00 1.55e-06 1.04e-03 -4.0 7.21e+00 -6.6 1.00e+00 1.00e+00h 1 17 2.0898282e+00 1.33e-06 9.88e-04 -4.0 9.82e+00 -7.1 1.00e+00 1.00e+00h 1 18 2.0898234e+00 1.51e-06 5.07e-04 -4.0 7.97e+00 -7.6 1.00e+00 1.00e+00h 1 19 2.0898220e+00 2.73e-07 5.80e-05 -4.0 2.50e+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 3.73e-09 8.28e-07 -4.0 2.81e-01 -8.5 1.00e+00 1.00e+00h 1 21 2.0898218e+00 8.24e-12 1.91e-09 -4.0 2.38e-02 -9.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 21 (scaled) (unscaled) Objective...............: 2.0898218496965413e+00 2.0898218496965413e+00 Dual infeasibility......: 1.9128542784571829e-09 1.9128542784571829e-09 Constraint violation....: 8.2372719756307333e-12 8.2372719756307333e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 1.9128542784571829e-09 1.9128542784571829e-09 Number of objective function evaluations = 22 Number of objective gradient evaluations = 22 Number of equality constraint evaluations = 22 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 = 25.498 EXIT: Optimal Solution Found. 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: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.059s) integrator 1 hessian structure: 0.047s 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 (0.049s) linear index maps built (0.0s) evaluator ready (total: 0.108s) 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: 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: 0.109s) 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 4.2063694e+00 3.15e+00 4.61e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.5659423e+00 2.64e+00 2.59e+01 -1.7 1.71e+00 0.0 5.95e-03 1.60e-01h 1 2 3.6234334e+00 2.32e+00 2.60e+01 0.1 5.30e+00 -0.5 7.06e-01 1.24e-01f 1 3 3.5866769e+00 2.19e+00 3.96e+02 0.5 3.83e+00 -1.0 6.46e-01 5.59e-02h 1 4 3.5871530e+00 2.19e+00 2.05e+04 -4.0 3.01e+01 -1.4 2.86e-02 6.03e-04h 1 5 3.8822446e+00 2.18e+00 6.09e+04 2.3 3.04e+03 -1.9 5.22e-03 1.03e-03f 2 6 3.9869824e+00 2.18e+00 6.47e+04 0.4 3.14e+02 -2.4 4.45e-03 1.48e-03h 2 7 4.0915592e+00 2.18e+00 1.79e+05 0.4 8.84e+01 -2.9 1.76e-02 1.98e-03h 1 8 4.0925644e+00 2.18e+00 6.32e+08 0.4 2.32e+01 -2.4 2.44e-01 5.38e-05h 1 9 4.0925665e+00 2.18e+00 3.12e+12 0.4 1.82e+02 -2.9 7.02e-02 1.41e-05h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10r 4.0925665e+00 2.18e+00 9.99e+02 0.4 0.00e+00 -1.6 0.00e+00 8.17e-08R 2 11r 4.4612829e+00 8.49e-01 1.00e+03 2.4 6.70e+02 - 6.66e-03 3.04e-03f 1 12 4.4524145e+00 8.46e-01 9.83e+01 -4.0 2.55e+00 -2.1 3.98e-01 3.98e-03h 1 13 4.4531606e+00 8.46e-01 1.69e+06 0.6 1.48e+02 -2.5 6.64e-01 4.90e-05h 1 14 4.4536133e+00 8.46e-01 1.47e+11 0.7 5.90e+01 -3.0 1.00e+00 1.14e-05h 1 15r 4.4536133e+00 8.46e-01 9.97e+02 2.5 0.00e+00 -3.5 0.00e+00 5.71e-08R 2 16r 3.4464727e+00 2.02e-01 3.50e+02 1.0 3.06e+00 - 9.91e-01 3.35e-01f 1 17 3.4319134e+00 1.99e-01 3.53e+01 -4.0 4.42e+00 -4.0 5.52e-01 1.51e-02h 1 18 3.4351545e+00 1.99e-01 1.76e+05 0.5 2.93e+02 -4.4 6.00e-01 1.86e-04h 1 19 3.4369575e+00 1.99e-01 3.78e+09 -0.7 4.25e+01 -4.9 1.00e+00 4.60e-05h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20r 3.4369575e+00 1.99e-01 1.00e+03 0.3 0.00e+00 -5.4 0.00e+00 2.33e-07R 2 21r 3.3885516e+00 1.99e-01 9.59e+02 0.7 1.64e+01 - 1.00e+00 1.88e-02f 1 22r 3.6395648e+00 2.02e-01 5.06e+01 0.1 6.17e-01 - 1.00e+00 9.48e-01f 1 23r 4.3266062e+00 2.77e-01 7.58e+01 -0.1 1.48e+00 - 9.88e-01 6.05e-01f 1 24r 4.3397317e+00 1.99e-01 5.27e+00 -0.6 5.91e-01 - 1.00e+00 9.77e-01f 1 25r 4.3276276e+00 1.99e-01 1.89e+00 -1.0 1.33e+00 - 9.91e-01 1.00e+00f 1 26r 4.3103396e+00 1.99e-01 2.13e+00 -1.6 5.39e-01 - 9.62e-01 1.00e+00f 1 27r 4.2268872e+00 1.99e-01 6.49e-02 -2.1 1.33e-01 - 1.00e+00 1.00e+00f 1 28r 4.2095210e+00 1.99e-01 2.11e+01 -2.1 6.96e+00 - 4.57e-01 7.74e-03h 5 29r 4.1017395e+00 1.99e-01 4.28e-02 -2.6 2.20e-01 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30r 3.9134915e+00 1.99e-01 6.52e-02 -3.1 1.17e-01 - 9.73e-01 1.00e+00h 1 31r 3.7244797e+00 1.99e-01 9.95e-03 -3.9 7.46e-02 - 9.99e-01 1.00e+00h 1 32r 3.7466632e+00 1.99e-01 8.51e-04 -4.0 1.31e-02 -2.0 1.00e+00 1.00e+00h 1 33r 3.7704257e+00 1.99e-01 1.10e-05 -4.0 3.79e-02 - 1.00e+00 1.00e+00h 1 34r 3.7427388e+00 1.99e-01 6.02e-04 -4.1 1.19e-02 - 1.00e+00 1.00e+00h 1 35r 3.7870893e+00 1.99e-01 6.02e-04 -4.0 1.96e-02 - 1.00e+00 1.00e+00h 1 36r 3.7436240e+00 1.99e-01 6.01e-04 -4.1 1.89e-02 - 1.00e+00 1.00e+00h 1 37r 3.6306353e+00 1.99e-01 1.72e-02 -6.1 5.21e-02 - 8.58e-01 1.00e+00h 1 38r 3.6806758e+00 1.99e-01 5.21e-03 -4.0 4.00e-02 -1.6 1.00e+00 1.00e+00f 1 39r 3.7186013e+00 1.99e-01 5.82e-04 -4.1 3.64e-02 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40r 3.6230493e+00 1.99e-01 1.81e-02 -6.1 4.84e-02 - 8.54e-01 1.00e+00h 1 41r 3.7598743e+00 1.99e-01 5.22e-03 -4.0 1.10e-01 -2.1 1.00e+00 1.00e+00f 1 42r 3.7133239e+00 1.99e-01 5.67e-04 -4.1 4.90e-02 - 1.00e+00 1.00e+00h 1 43r 3.7590813e+00 1.99e-01 1.52e-05 -4.1 1.79e-02 - 1.00e+00 1.00e+00h 1 44r 3.6349021e+00 1.99e-01 1.78e-02 -6.1 5.41e-02 - 8.45e-01 1.00e+00h 1 45r 3.6387035e+00 1.99e-01 2.81e-05 -6.1 1.35e-03 -1.6 1.00e+00 1.00e+00h 1 46r 3.7357952e+00 1.99e-01 1.80e-01 -4.0 1.41e+00 - 1.00e+00 1.88e-01f 1 47r 3.5667582e+00 1.99e-01 7.38e-02 -4.4 1.28e-01 - 1.54e-01 1.00e+00f 1 48r 3.7568994e+00 1.99e-01 8.35e-04 -4.4 1.03e-01 - 9.91e-01 1.00e+00h 1 49r 3.7171701e+00 1.99e-01 5.29e-05 -4.4 3.64e-02 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50r 3.7194007e+00 1.99e-01 3.55e-07 -4.4 4.20e-03 - 1.00e+00 1.00e+00h 1 51r 3.6303386e+00 1.99e-01 8.62e-03 -6.6 4.66e-02 - 8.67e-01 1.00e+00h 1 52r 3.7464197e+00 1.99e-01 5.42e-03 -4.0 1.41e-01 -2.1 1.00e+00 1.00e+00f 1 53r 3.6794361e+00 1.99e-01 5.40e-04 -4.1 6.73e-02 - 1.00e+00 1.00e+00h 1 54r 3.7633271e+00 1.99e-01 3.29e-05 -4.1 2.89e-02 - 1.00e+00 1.00e+00h 1 55r 3.6356421e+00 1.99e-01 1.77e-02 -6.1 5.36e-02 - 8.48e-01 1.00e+00h 1 56r 3.6396319e+00 1.99e-01 2.52e-05 -6.1 1.39e-03 -1.7 1.00e+00 1.00e+00h 1 57r 3.6639394e+00 1.99e-01 4.70e-04 -9.0 2.71e-02 - 8.95e-01 1.00e+00h 1 58r 3.5943227e+00 1.99e-01 7.25e-02 -4.0 2.91e-01 -2.2 1.00e+00 6.89e-01f 1 59r 3.4598547e+00 1.99e-01 1.73e-03 -4.1 1.22e-01 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60r 3.6052846e+00 1.99e-01 3.98e-03 -4.1 5.71e-02 - 9.56e-01 1.00e+00h 1 61r 3.7542583e+00 1.99e-01 1.18e-04 -4.1 4.27e-02 - 1.00e+00 1.00e+00h 1 62r 3.7524615e+00 1.99e-01 1.44e-06 -4.1 2.56e-03 - 1.00e+00 1.00e+00h 1 63r 3.6331740e+00 1.99e-01 1.70e-02 -6.2 5.40e-02 - 8.45e-01 1.00e+00f 1 64r 3.6367680e+00 1.99e-01 2.22e-05 -6.2 1.38e-03 -1.7 1.00e+00 1.00e+00h 1 65r 3.7467567e+00 1.99e-01 1.83e-01 -4.0 1.49e+00 - 1.00e+00 1.80e-01f 1 66r 3.5731458e+00 1.99e-01 7.47e-02 -4.4 1.29e-01 - 1.51e-01 1.00e+00f 1 67r 3.7519826e+00 1.99e-01 4.79e-04 -4.4 1.00e-01 - 1.00e+00 1.00e+00h 1 68r 3.7158619e+00 1.99e-01 5.54e-05 -4.4 3.48e-02 - 1.00e+00 1.00e+00h 1 69r 3.7189731e+00 1.99e-01 3.26e-07 -4.4 3.91e-03 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70r 3.6303324e+00 1.99e-01 8.53e-03 -6.6 4.65e-02 - 8.68e-01 1.00e+00h 1 71r 3.6332026e+00 1.99e-01 6.82e-06 -6.6 1.29e-03 -2.2 1.00e+00 1.00e+00h 1 72r 3.6954786e+00 1.99e-01 2.06e-01 -4.0 2.65e+00 - 1.00e+00 1.00e-01f 1 73r 3.5323595e+00 1.99e-01 8.65e-02 -4.4 1.22e-01 - 1.39e-01 1.00e+00f 1 74r 3.7773073e+00 1.99e-01 2.02e-02 -4.4 1.30e-01 - 8.01e-01 1.00e+00h 1 75r 3.7148985e+00 1.99e-01 6.28e-05 -4.4 4.86e-02 - 1.00e+00 1.00e+00h 1 76r 3.7131592e+00 1.99e-01 2.37e-06 -4.4 1.20e-02 - 1.00e+00 1.00e+00h 1 77r 3.6297870e+00 1.99e-01 7.63e-03 -6.7 4.53e-02 - 8.71e-01 1.00e+00h 1 78r 3.6316037e+00 1.99e-01 1.28e-05 -6.7 7.68e-04 -1.8 1.00e+00 1.00e+00h 1 79r 3.5946297e+00 1.99e-01 2.11e-01 -4.0 2.97e+00 - 1.00e+00 8.35e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80r 3.4607165e+00 1.99e-01 9.21e-02 -4.4 1.12e-01 - 1.47e-01 1.00e+00f 1 81r 3.4865474e+00 1.99e-01 4.05e-03 -4.4 1.90e-01 - 9.63e-01 1.00e+00H 1 82r 3.5982220e+00 1.99e-01 2.51e-04 -4.4 6.34e-02 - 1.00e+00 1.00e+00h 1 83r 3.7253063e+00 1.99e-01 3.94e-05 -4.4 5.39e-02 - 1.00e+00 1.00e+00h 1 84r 3.7139968e+00 1.99e-01 5.52e-07 -4.4 7.64e-03 - 1.00e+00 1.00e+00h 1 85r 3.6306248e+00 1.99e-01 7.41e-03 -6.7 4.50e-02 - 8.72e-01 1.00e+00h 1 86r 3.6333826e+00 1.99e-01 6.01e-06 -6.7 1.22e-03 -2.3 1.00e+00 1.00e+00h 1 87r 3.6779178e+00 1.99e-01 2.10e-01 -4.0 2.96e+00 - 1.00e+00 8.88e-02f 1 88r 3.5187650e+00 1.99e-01 8.86e-02 -4.4 1.20e-01 - 1.39e-01 1.00e+00f 1 89r 3.7889202e+00 1.99e-01 2.59e-02 -4.4 1.41e-01 - 7.48e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90r 3.7179601e+00 1.99e-01 6.53e-05 -4.4 5.32e-02 - 1.00e+00 1.00e+00h 1 91r 3.7120047e+00 1.99e-01 3.76e-06 -4.4 1.55e-02 - 1.00e+00 1.00e+00h 1 92r 3.6295725e+00 1.99e-01 7.52e-03 -6.7 4.51e-02 - 8.71e-01 1.00e+00h 1 93r 3.6313852e+00 1.99e-01 1.16e-05 -6.7 7.87e-04 -1.8 1.00e+00 1.00e+00h 1 94r 3.5997504e+00 1.99e-01 2.11e-01 -4.0 3.01e+00 - 1.00e+00 8.27e-02f 1 95r 3.4643215e+00 1.99e-01 9.20e-02 -4.4 1.12e-01 - 1.46e-01 1.00e+00f 1 96r 3.4916216e+00 1.99e-01 3.07e-03 -4.4 1.87e-01 - 9.72e-01 1.00e+00H 1 97r 3.6041389e+00 1.99e-01 2.38e-04 -4.4 6.20e-02 - 1.00e+00 1.00e+00h 1 98r 3.7239144e+00 1.99e-01 3.46e-05 -4.4 5.06e-02 - 1.00e+00 1.00e+00h 1 99r 3.7139371e+00 1.99e-01 4.37e-07 -4.4 6.77e-03 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100r 3.6306319e+00 1.99e-01 7.40e-03 -6.7 4.50e-02 - 8.72e-01 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 3.6306318612270818e+00 3.6306318612270818e+00 Dual infeasibility......: 1.8851420639378675e+00 1.8851420639378675e+00 Constraint violation....: 1.9875025077203512e-01 1.9875025077203512e-01 Variable bound violation: 9.7882589811248977e-09 9.7882589811248977e-09 Complementarity.........: 1.0162863162229079e-05 1.0162863162229079e-05 Overall NLP error.......: 1.8851420639378675e+00 1.8851420639378675e+00 Number of objective function evaluations = 119 Number of objective gradient evaluations = 22 Number of equality constraint evaluations = 119 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 104 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 26.538 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: 0.058s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.058s) 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 sub-objective 4 (GlobalObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1804 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.109s) evaluator created (0.109s) 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: 0.109s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 36 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.7804308e+00 2.60e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.5571957e+00 5.94e-02 2.12e+00 -0.9 1.84e+00 0.0 7.57e-01 1.00e+00f 1 2 2.8020471e+00 7.41e-02 1.25e+00 -1.1 1.20e+00 -0.5 7.49e-01 4.69e-01f 1 3 2.4528408e+00 1.10e-02 1.08e-01 -1.4 1.25e-01 -0.1 9.67e-01 1.00e+00f 1 4 2.1734751e+00 1.49e-03 4.35e-02 -2.4 1.05e-01 -0.5 9.83e-01 1.00e+00f 1 5 2.0937977e+00 3.04e-04 1.29e-02 -3.7 3.04e-02 -1.0 9.97e-01 9.28e-01h 1 6 2.0908612e+00 3.48e-06 2.62e-03 -4.0 6.52e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0908521e+00 5.56e-09 8.70e-05 -4.0 7.93e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908516e+00 5.22e-11 4.49e-05 -4.0 1.23e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908499e+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 2.0908449e+00 9.72e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908300e+00 8.75e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0907852e+00 7.88e-08 2.06e-05 -4.0 4.55e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906509e+00 7.10e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902489e+00 6.43e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890521e+00 5.88e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855440e+00 5.55e-04 2.31e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796313e+00 2.27e-03 1.37e-01 -4.0 9.54e+01 -6.7 1.00e+00 6.25e-01h 1 18 2.0806947e+00 1.57e-04 1.83e-01 -4.0 6.62e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775285e+00 7.50e-03 2.50e-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 2.0769383e+00 1.17e-03 5.67e-02 -4.0 1.77e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0760596e+00 1.06e-03 2.04e-02 -4.0 3.21e+02 -8.6 1.00e+00 9.27e-01h 1 22 2.0754631e+00 1.82e-03 3.09e-02 -4.0 5.11e+02 -9.1 1.00e+00 7.25e-01h 1 23 2.0757784e+00 2.56e-03 1.21e-02 -4.0 1.53e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753744e+00 1.41e-03 5.84e-04 -4.1 8.60e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756723e+00 4.94e-04 6.62e-06 -4.0 2.19e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 6.51e-07 1.15e-06 -4.0 1.21e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.34e-09 8.73e-08 -4.0 4.44e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.02e-11 1.59e-09 -4.0 7.03e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121582424e+00 2.0756712121582424e+00 Dual infeasibility......: 1.5891451105877995e-09 1.5891451105877995e-09 Constraint violation....: 4.0159653380555937e-11 4.0159653380555937e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000040e-04 1.0000000000000040e-04 Overall NLP error.......: 1.5891451105877995e-09 1.5891451105877995e-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 = 25.293 EXIT: Optimal Solution Found. [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: 0.064s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.065s) integrator 1 hessian structure: 0.052s 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 (0.054s) linear index maps built (0.0s) evaluator ready (total: 0.119s) evaluator created (0.119s) 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 (0.611s) optimizer initialization complete (total: 0.731s) 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 9.3801799e-01 3.49e+00 1.04e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.2630258e+00 4.87e+00 7.22e+00 -1.4 7.06e+01 -4.0 9.19e-01 1.00e+00h 1 2 2.4584866e+00 4.51e-01 3.08e+00 -1.2 2.21e+01 -4.5 9.05e-01 1.00e+00h 1 3 2.2399405e+00 5.31e-01 7.46e-01 -2.0 2.26e+01 -5.0 1.00e+00 1.00e+00h 1 4 2.1613067e+00 4.33e-01 6.53e-01 -2.4 4.65e+01 -5.4 1.00e+00 5.00e-01h 2 5 2.1076471e+00 2.67e-01 4.75e-01 -2.7 4.58e+01 -5.9 9.99e-01 1.00e+00h 1 6 2.0927189e+00 5.50e-02 1.48e-01 -3.2 2.98e+01 -6.4 1.00e+00 1.00e+00h 1 7 2.0813104e+00 4.39e-02 1.83e-02 -4.0 4.02e+01 -6.9 1.00e+00 1.00e+00h 1 8 2.0784833e+00 1.12e-02 2.15e-02 -4.0 6.87e+01 -7.3 1.00e+00 1.00e+00h 1 9 2.0774043e+00 7.74e-04 1.96e-02 -4.0 1.19e+02 -7.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0765472e+00 1.85e-04 2.35e-02 -4.0 2.22e+02 -8.3 1.00e+00 8.27e-01h 1 11 2.0761516e+00 8.28e-04 3.38e-02 -4.0 3.56e+02 -8.8 1.00e+00 1.00e+00h 1 12 2.0756179e+00 7.55e-05 2.53e-02 -4.0 4.08e+02 -9.2 1.00e+00 6.31e-01h 1 13 2.0758304e+00 5.41e-04 7.40e-03 -4.0 1.23e+02 -9.7 1.00e+00 1.00e+00h 1 14 2.0754440e+00 1.02e-03 1.71e-04 -4.1 4.22e+01 -10.2 1.00e+00 1.00e+00h 1 15 2.0757716e+00 6.40e-04 3.55e-06 -4.0 2.56e+01 -10.7 1.00e+00 1.00e+00h 1 16 2.0754220e+00 6.93e-04 1.05e-06 -4.1 2.61e+01 -11.2 1.00e+00 1.00e+00h 1 17 2.0757717e+00 3.71e-04 7.17e-07 -4.0 1.40e+01 -11.6 1.00e+00 1.00e+00h 1 18 2.0754219e+00 5.52e-04 2.43e-07 -4.1 2.08e+01 -12.1 1.00e+00 1.00e+00h 1 19 2.0757717e+00 6.04e-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......: 1.9893600830392442e-05 1.9893600830392442e-05 Constraint violation....: 2.6030378874608573e-07 2.6030378874608573e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 6.1601907672001778e-07 6.1601907672001778e-07 Overall NLP error.......: 9.9745518747822260e-05 9.9745518747822260e-05 Number of objective function evaluations = 106 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 106 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 = 25.835 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: 0.048s jacobian structure: 180 nonzeros (0.086s) integrator 1 hessian structure: 0.043s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.314s sub-objective 2 (QuadraticRegularizer): 0.078s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.015s objective hessian structure: 0.49s hessian structure: 375 nonzeros (0.534s) linear index maps built (0.0s) evaluator ready (total: 0.745s) evaluator created (0.745s) NL constraint bounds extracted (0.01s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.106s) applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.524s) optimizer initialization complete (total: 3.387s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 194 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 27 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.8427822e+00 9.33e-01 1.03e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5504624e+00 1.92e-01 1.71e+00 -0.8 9.33e-01 0.0 9.78e-01 9.15e-01h 1 2 2.5182112e+00 1.47e-01 4.16e+01 -0.8 4.55e+01 - 5.91e-01 6.79e-01h 1 3 1.5938628e+00 8.39e-02 1.72e+01 -1.1 2.24e-01 -0.5 1.00e+00 5.86e-01f 1 4 2.0454517e+00 5.57e-02 2.07e+01 -1.5 4.35e-01 -1.0 1.00e+00 1.00e+00h 1 5 1.4841227e+00 3.94e-02 8.73e+00 -1.2 7.19e-01 -0.5 1.00e+00 4.39e-01f 1 6 1.2910008e+00 1.03e-02 1.82e+00 -2.0 1.58e-01 -1.0 1.00e+00 7.06e-01h 1 7 1.1620093e+00 2.02e-04 1.02e-02 -2.8 9.64e-02 -1.5 1.00e+00 1.00e+00h 1 8 1.1430925e+00 1.57e-06 3.15e-03 -4.0 2.87e-01 -2.0 1.00e+00 1.00e+00h 1 9 1.1397404e+00 2.05e-09 7.11e-03 -4.0 8.39e-01 -2.4 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.1325003e+00 4.16e-12 5.40e-02 -4.0 2.33e+00 -2.9 1.00e+00 1.00e+00f 1 11 1.1176051e+00 1.17e-14 3.13e-01 -4.0 5.60e+00 -3.4 1.00e+00 1.00e+00f 1 12 1.1090382e+00 5.86e-15 9.55e-01 -4.0 9.68e+00 -3.9 1.70e-01 5.00e-01f 2 13 1.1073299e+00 3.06e-16 6.80e-03 -4.0 1.56e-01 -1.6 1.00e+00 9.48e-01f 1 14 1.1067372e+00 6.89e-19 9.84e-01 -4.0 1.79e+01 - 6.49e-01 1.00e+00f 1 15 1.0926852e+00 1.31e-19 1.94e-02 -4.0 1.93e-01 -1.2 1.00e+00 8.10e-01f 1 16 1.0919020e+00 6.55e-20 3.42e-02 -4.0 3.96e+00 - 1.29e-01 5.00e-01f 2 17 1.0911934e+00 1.94e-20 7.72e-03 -4.0 1.78e-02 -1.7 1.00e+00 7.03e-01f 1 18 1.0911432e+00 9.71e-21 1.79e-02 -4.0 4.44e+00 - 9.74e-02 5.00e-01f 2 19 1.0910098e+00 6.64e-29 2.09e-04 -4.0 2.94e-02 -2.2 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.0909388e+00 6.28e-29 3.24e-03 -4.0 2.14e+01 - 3.08e-02 6.25e-02f 5 21 1.0910446e+00 3.21e-29 4.10e-03 -4.0 9.99e-01 -2.6 1.00e+00 5.00e-01f 2 22 1.0909974e+00 2.30e-29 2.34e-03 -4.0 9.13e-01 -3.1 2.58e-01 2.50e-01f 3 23 1.0909409e+00 3.68e-32 1.26e-03 -4.0 9.64e-02 -1.8 1.00e+00 1.00e+00f 1 24 1.0909293e+00 1.48e-27 4.23e-04 -4.0 3.43e-02 - 1.00e+00 1.00e+00f 1 25 1.0908998e+00 6.06e-29 7.25e-05 -4.0 3.10e-02 - 1.00e+00 1.00e+00f 1 26 1.0908997e+00 9.04e-28 1.10e-06 -4.0 1.98e-03 - 1.00e+00 1.00e+00f 1 27 1.0908997e+00 7.36e-28 4.60e-10 -4.0 5.33e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 27 (scaled) (unscaled) Objective...............: 1.0908997263265459e+00 1.0908997263265459e+00 Dual infeasibility......: 4.5996658693723223e-10 4.5996658693723223e-10 Constraint violation....: 7.3649291955179039e-28 7.3649291955179039e-28 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999999978e-05 9.9999999999999978e-05 Overall NLP error.......: 4.5996658693723223e-10 4.5996658693723223e-10 Number of objective function evaluations = 39 Number of objective gradient evaluations = 28 Number of equality constraint evaluations = 39 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 28 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 27 Total seconds in IPOPT = 24.435 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/gniE1/src/problems.jl:66 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: 0.088s hessian structure: 30 nonzeros (0.088s) linear index maps built (0.0s) evaluator ready (total: 0.089s) evaluator created (0.089s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.122s) 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 (2.963s) optimizer initialization complete (total: 3.175s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 30 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.9403769e-02 8.33e-17 3.52e+275 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8732835e-02 1.47e-13 1.03e+00 -2.0 3.02e+274 -2.0 2.95e-276 2.95e-276S 2 2 1.6738524e-02 4.18e-12 5.94e-02 -4.0 2.68e-02 -1.6 9.80e-01 1.00e+00f 1 3 3.8324136e-03 8.04e-12 8.60e-02 -2.8 1.58e-01 -1.1 9.98e-01 1.00e+00f 1 4 3.2129052e-04 2.69e-11 6.42e-02 -2.5 8.63e-01 -1.6 9.43e-01 1.00e+00f 1 5 1.2532296e-03 1.82e-11 1.47e-02 -2.2 1.89e+00 -2.1 9.98e-01 3.12e-01f 2 6 1.2532296e-03 1.82e-11 1.52e-02 -2.3 7.14e-01 -2.6 1.00e+00 1.28e-14h 47 7 1.2532296e-03 1.82e-11 1.88e-02 -3.5 5.95e-01 -3.1 7.47e-01 3.36e-15h 49 8 7.4007891e-04 1.04e-11 2.10e-02 -3.5 6.63e-01 -3.5 9.32e-01 9.32e-01S 61 9 2.4702004e-04 5.22e-12 3.46e-02 -3.5 4.41e-01 -2.2 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.4702004e-04 5.22e-12 4.83e-02 -4.0 1.13e+00 -2.7 1.00e+00 7.46e-13h 41 11 1.5726314e-04 4.91e-12 5.91e-02 -3.6 1.95e+00 -3.2 1.00e+00 5.99e-02f 4 12 1.3584051e-04 4.84e-12 6.87e-02 -3.5 1.25e+00 -3.6 1.00e+00 2.02e-02f 6 13 1.3584051e-04 4.84e-12 7.83e-02 -3.6 1.92e+00 -4.1 1.00e+00 1.50e-13h 43 14 3.1213719e-05 4.30e-12 7.70e-02 -3.4 8.34e-01 -4.6 9.84e-01 1.25e-01f 4 15 3.1213719e-05 4.30e-12 7.50e-02 -3.4 1.26e+02 -5.1 1.00e+00 6.00e-16h 44 16 3.1213719e-05 4.30e-12 7.45e-02 -3.4 5.35e+00 -5.5 1.00e+00 1.43e-14h 44 17 1.7781684e-04 5.32e-13 7.38e-02 -3.4 8.16e-01 -6.0 1.00e+00 1.00e+00S 61 18 1.7781684e-04 5.32e-13 7.21e-02 -3.4 5.16e+01 -6.5 2.27e-02 4.35e-16h 45 19 3.7662518e-04 5.05e-13 7.03e-02 -3.4 1.66e+01 -7.0 4.99e-02 4.99e-02S 66 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.9701178e-04 2.77e-15 2.41e-02 -3.4 1.57e-01 -7.5 1.00e+00 1.00e+00f 1 21 1.9701178e-04 2.77e-15 2.14e-02 -3.4 1.52e-01 -7.9 1.00e+00 7.28e-12h 38 22 1.9701178e-04 2.77e-15 2.15e-02 -3.4 1.51e-01 -8.4 1.00e+00 7.28e-12h 38 23 1.9701178e-04 2.77e-15 2.20e-02 -3.4 1.51e-01 -8.9 1.00e+00 7.28e-12h 38 24 1.9701178e-04 2.77e-15 2.24e-02 -3.4 1.51e-01 -9.4 1.00e+00 2.91e-11h 36 25 1.9701178e-04 2.77e-15 2.26e-02 -3.4 1.51e-01 -9.8 1.00e+00 2.91e-11h 36 26 1.9701178e-04 2.77e-15 2.28e-02 -3.4 1.51e-01 -10.3 1.00e+00 2.91e-11h 36 27 1.9701178e-04 2.77e-15 2.29e-02 -3.4 1.51e-01 -10.8 1.00e+00 1.46e-11h 37 28 1.9701178e-04 2.77e-15 2.30e-02 -3.4 1.51e-01 -11.3 1.00e+00 2.91e-11h 36 29 1.9701178e-04 2.77e-15 2.31e-02 -3.4 1.51e-01 -11.7 1.00e+00 2.91e-11h 36 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.9701178e-04 2.77e-15 2.32e-02 -3.4 1.51e-01 -12.2 1.00e+00 2.91e-11h 36 31 1.9701178e-04 2.77e-15 2.32e-02 -3.4 1.51e-01 -12.7 1.00e+00 3.64e-12h 39 32 1.9701178e-04 2.77e-15 2.33e-02 -3.4 1.51e-01 -13.2 1.00e+00 1.82e-12h 40 33 1.9701178e-04 2.77e-15 2.33e-02 -3.4 1.65e-01 -13.7 1.00e+00 7.28e-12h 38 34 1.9701178e-04 2.77e-15 2.33e-02 -3.4 1.81e-01 -14.1 1.00e+00 1.46e-11h 37 35 1.9701178e-04 2.77e-15 2.34e-02 -3.4 1.97e-01 -14.6 1.00e+00 1.46e-11h 37 36 1.9701178e-04 2.77e-15 2.34e-02 -3.4 2.14e-01 -15.1 1.00e+00 7.28e-12h 38 37 1.9701178e-04 2.77e-15 2.34e-02 -3.4 2.31e-01 -15.6 1.00e+00 1.46e-11h 37 38 1.9701178e-04 2.77e-15 2.34e-02 -3.4 2.49e-01 -16.0 1.00e+00 7.28e-12h 38 39 1.9701178e-04 2.77e-15 2.35e-02 -3.4 2.68e-01 -16.5 1.00e+00 1.46e-11h 37 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.9701178e-04 2.77e-15 2.35e-02 -3.4 2.88e-01 -17.0 1.00e+00 9.09e-13h 41 41 1.9701178e-04 2.77e-15 2.35e-02 -3.4 3.08e-01 -17.5 1.00e+00 3.64e-12h 39 42 1.9701178e-04 2.77e-15 2.35e-02 -3.4 3.29e-01 -17.9 1.00e+00 7.28e-12h 38 43 1.9701178e-04 2.77e-15 2.35e-02 -3.4 3.51e-01 -18.4 1.00e+00 4.55e-13h 42 44 1.9701178e-04 2.77e-15 2.35e-02 -3.4 3.73e-01 -18.9 1.00e+00 1.46e-11h 37 45 1.9701178e-04 2.77e-15 2.35e-02 -3.4 3.96e-01 -19.4 1.00e+00 7.28e-12h 38 46 1.9701178e-04 2.77e-15 2.36e-02 -3.4 4.20e-01 -19.9 1.00e+00 3.64e-12h 39 47 1.9701178e-04 2.77e-15 2.36e-02 -3.4 4.44e-01 -20.0 1.00e+00 9.09e-13h 41 48 1.9701178e-04 2.77e-15 2.36e-02 -3.4 4.69e-01 -20.0 1.00e+00 1.82e-12h 40 49 1.9701178e-04 2.77e-15 2.36e-02 -3.4 4.94e-01 -20.0 1.00e+00 7.28e-12h 38 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 1.9701178e-04 2.77e-15 2.36e-02 -3.4 5.20e-01 -20.0 1.00e+00 7.28e-12h 38 51 1.9701178e-04 2.77e-15 2.36e-02 -3.4 5.46e-01 -20.0 1.00e+00 7.28e-12h 38 52 1.9701178e-04 2.77e-15 2.36e-02 -3.4 5.72e-01 -20.0 1.00e+00 7.28e-12h 38 53 1.9701178e-04 2.77e-15 2.36e-02 -3.4 5.98e-01 -20.0 1.00e+00 7.28e-12h 38 54 1.9701178e-04 2.77e-15 2.36e-02 -3.4 6.24e-01 -20.0 1.00e+00 7.28e-12h 38 55 1.9701178e-04 2.77e-15 2.36e-02 -3.4 6.50e-01 -20.0 1.00e+00 7.28e-12h 38 56 1.9701178e-04 2.77e-15 2.36e-02 -3.4 6.76e-01 -20.0 1.00e+00 1.82e-12h 40 57 1.9701178e-04 2.77e-15 2.36e-02 -3.4 7.02e-01 -20.0 1.00e+00 4.55e-13h 42 58 1.9701178e-04 2.77e-15 2.36e-02 -3.4 7.27e-01 -20.0 1.00e+00 7.28e-12h 38 59 1.9701178e-04 2.77e-15 2.37e-02 -3.4 7.51e-01 -20.0 1.00e+00 3.64e-12h 39 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 1.9701178e-04 2.77e-15 2.37e-02 -3.4 7.75e-01 -20.0 1.00e+00 9.09e-13h 41 61 1.9701178e-04 2.77e-15 2.37e-02 -3.4 7.99e-01 -20.0 1.00e+00 1.82e-12h 40 62 1.9701178e-04 2.77e-15 2.37e-02 -3.4 8.21e-01 -20.0 1.00e+00 3.64e-12h 39 63 1.9701178e-04 2.77e-15 2.37e-02 -3.4 8.44e-01 -20.0 1.00e+00 3.64e-12h 39 64 1.9701178e-04 2.77e-15 2.37e-02 -3.4 8.65e-01 -20.0 1.00e+00 3.64e-12h 39 65 1.9701178e-04 2.77e-15 2.37e-02 -3.4 8.85e-01 -20.0 1.00e+00 1.82e-12h 40 66 1.9701178e-04 2.77e-15 2.37e-02 -3.4 9.05e-01 -20.0 1.00e+00 9.09e-13h 41 67 1.9701178e-04 2.77e-15 2.37e-02 -3.4 9.24e-01 -20.0 1.00e+00 3.64e-12h 39 68 1.9701178e-04 2.77e-15 2.37e-02 -3.4 9.43e-01 -20.0 1.00e+00 3.64e-12h 39 69 1.9701178e-04 2.77e-15 2.37e-02 -3.4 9.60e-01 -20.0 1.00e+00 1.82e-12h 40 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 1.9701178e-04 2.77e-15 2.37e-02 -3.4 9.77e-01 -20.0 1.00e+00 3.64e-12h 39 71 1.9701178e-04 2.77e-15 2.37e-02 -3.4 9.93e-01 -20.0 1.00e+00 1.82e-12h 40 72 1.9701178e-04 2.77e-15 2.37e-02 -3.4 1.01e+00 -20.0 1.00e+00 1.82e-12h 40 73 1.9701178e-04 2.77e-15 2.37e-02 -3.4 1.02e+00 -20.0 1.00e+00 2.27e-13h 43 74 1.9701178e-04 2.77e-15 2.37e-02 -3.4 1.04e+00 -20.0 1.00e+00 3.64e-12h 39 75 1.9701178e-04 2.77e-15 2.37e-02 -3.4 1.05e+00 -20.0 1.00e+00 9.09e-13h 41 76 1.9701178e-04 2.77e-15 2.37e-02 -3.4 1.06e+00 -20.0 1.00e+00 3.64e-12h 39 77 1.9701178e-04 2.77e-15 2.37e-02 -3.4 1.08e+00 -20.0 1.00e+00 9.09e-13h 41 78 1.9701178e-04 2.77e-15 2.37e-02 -3.4 1.09e+00 -20.0 1.00e+00 1.82e-12h 40 79 1.9701178e-04 2.77e-15 2.37e-02 -3.4 1.10e+00 -20.0 1.00e+00 3.64e-12h 39 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 1.9701178e-04 2.77e-15 2.37e-02 -3.4 1.11e+00 -20.0 1.00e+00 1.82e-12h 40 81 1.9701178e-04 2.77e-15 2.37e-02 -3.4 1.12e+00 -20.0 1.00e+00 3.64e-12h 39 82 1.9701178e-04 2.77e-15 2.38e-02 -3.4 1.13e+00 -20.0 1.00e+00 3.64e-12h 39 83 1.9701178e-04 2.77e-15 2.38e-02 -3.4 1.14e+00 -20.0 1.00e+00 3.64e-12h 39 84 1.9701178e-04 2.77e-15 2.38e-02 -3.4 1.15e+00 -20.0 1.00e+00 9.09e-13h 41 85 1.9701178e-04 2.77e-15 2.38e-02 -3.4 1.16e+00 -20.0 1.00e+00 3.64e-12h 39 86 1.9701178e-04 2.77e-15 2.38e-02 -3.4 1.17e+00 -20.0 1.00e+00 1.82e-12h 40 87 1.9701178e-04 2.77e-15 2.38e-02 -3.4 1.18e+00 -20.0 1.00e+00 1.82e-12h 40 88 1.9701178e-04 2.77e-15 2.38e-02 -3.4 1.18e+00 -20.0 1.00e+00 1.82e-12h 40 89 1.9701178e-04 2.77e-15 2.38e-02 -3.4 1.19e+00 -20.0 1.00e+00 4.55e-13h 42 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 1.9701178e-04 2.77e-15 2.38e-02 -3.4 1.20e+00 -20.0 1.00e+00 1.82e-12h 40 91 1.9701178e-04 2.77e-15 2.38e-02 -3.4 1.21e+00 -20.0 1.00e+00 9.09e-13h 41 92 1.9701178e-04 2.77e-15 2.38e-02 -3.4 1.21e+00 -20.0 1.00e+00 9.09e-13h 41 93 1.9701178e-04 2.77e-15 2.38e-02 -3.4 1.22e+00 -20.0 1.00e+00 4.55e-13h 42 94 1.9701178e-04 2.77e-15 2.38e-02 -3.4 1.23e+00 -20.0 1.00e+00 1.82e-12h 40 95 1.9701178e-04 2.77e-15 2.38e-02 -3.4 1.23e+00 -20.0 1.00e+00 7.28e-12f 38 96 1.9423738e-04 2.75e-15 2.37e-02 -3.4 1.24e+00 -20.0 1.00e+00 7.81e-03f 8 97 1.9286437e-04 2.73e-15 2.37e-02 -3.4 1.24e+00 -20.0 1.00e+00 3.91e-03f 9 98 1.9013588e-04 2.71e-15 2.36e-02 -3.4 1.24e+00 -20.0 1.00e+00 7.81e-03f 8 99 1.8878595e-04 2.70e-15 2.36e-02 -3.4 1.23e+00 -20.0 1.00e+00 3.91e-03f 9 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 1.8610320e-04 2.68e-15 2.35e-02 -3.4 1.23e+00 -20.0 1.00e+00 7.81e-03f 8 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.8610320202218044e-04 1.8610320202218044e-04 Dual infeasibility......: 2.3508771001412354e-02 2.3508771001412354e-02 Constraint violation....: 2.6818824938601438e-15 2.6818824938601438e-15 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.3355575571956336e-02 2.3355575571956336e-02 Overall NLP error.......: 2.3508771001412354e-02 2.3508771001412354e-02 Number of objective function evaluations = 3497 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 3497 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 = 4.136 EXIT: Maximum Number of Iterations Exceeded. 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): 0.084s sub-objective 2 (QuadraticRegularizer): 0.0s objective hessian structure: 0.175s hessian structure: 40 nonzeros (0.175s) linear index maps built (0.0s) evaluator ready (total: 0.175s) evaluator created (0.175s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.112s) 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 (2.818s) optimizer initialization complete (total: 3.106s) 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 2.6345926e+00 9.21e-01 1.28e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4425413e+00 2.94e-09 3.20e-01 -0.1 7.74e-01 -2.0 9.90e-01 1.00e+00f 1 2 8.2283139e-01 2.13e-09 4.30e-01 -0.7 1.41e+00 -1.6 9.89e-01 1.00e+00f 1 3 3.5939716e-01 7.69e-10 1.40e-01 -1.6 8.52e-01 -1.1 9.93e-01 1.00e+00f 1 4 9.0373206e-02 1.03e-10 9.37e-02 -2.2 1.15e+00 -1.6 1.00e+00 1.00e+00f 1 5 1.8767854e-02 6.89e-11 3.71e-02 -3.0 9.24e-01 -2.1 1.00e+00 1.00e+00f 1 6 3.7653062e-03 1.54e-11 1.23e-02 -4.0 6.48e-01 -2.6 1.00e+00 1.00e+00f 1 7 9.4772793e-04 2.12e-12 3.89e-03 -4.0 3.97e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.3553913e-04 4.20e-13 1.12e-03 -4.0 1.72e-01 -3.5 1.00e+00 1.00e+00f 1 9 4.6818876e-04 7.28e-14 1.81e-04 -4.0 2.91e-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 2.9754358e-04 1.14e-14 4.38e-04 -4.1 8.08e-02 -4.5 1.00e+00 1.00e+00f 1 11 4.6114464e-04 7.55e-15 3.66e-04 -4.0 1.97e-01 -5.0 1.00e+00 5.00e-01f 2 12 2.7328714e-04 5.00e-15 5.13e-04 -4.1 9.74e-02 -5.4 1.00e+00 1.00e+00f 1 13 4.6764513e-04 3.89e-15 4.62e-04 -4.0 2.43e-01 -5.9 1.00e+00 5.00e-01f 2 14 2.6313991e-04 2.89e-15 5.78e-04 -4.1 1.11e-01 -6.4 1.00e+00 1.00e+00f 1 15 4.6831116e-04 2.89e-15 5.01e-04 -4.0 2.64e-01 -6.9 1.00e+00 5.00e-01f 2 16 2.5975640e-04 2.22e-15 6.07e-04 -4.1 1.17e-01 -7.4 1.00e+00 1.00e+00f 1 17 4.6820750e-04 2.33e-15 5.19e-04 -4.0 2.75e-01 -7.8 1.00e+00 5.00e-01f 2 18 2.5865125e-04 1.78e-15 6.26e-04 -4.1 1.21e-01 -8.3 1.00e+00 1.00e+00f 1 19 4.6770296e-04 1.89e-15 5.28e-04 -4.0 2.81e-01 -8.8 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.5831843e-04 1.55e-15 6.41e-04 -4.1 1.24e-01 -9.3 1.00e+00 1.00e+00f 1 21 4.6710007e-04 1.67e-15 5.35e-04 -4.0 2.85e-01 -9.7 1.00e+00 5.00e-01f 2 22 2.5823146e-04 1.33e-15 6.54e-04 -4.1 1.27e-01 -10.2 1.00e+00 1.00e+00f 1 23 4.6647592e-04 1.44e-15 5.40e-04 -4.0 2.89e-01 -10.7 1.00e+00 5.00e-01f 2 24 2.5822005e-04 1.19e-15 6.67e-04 -4.1 1.29e-01 -11.2 1.00e+00 1.00e+00f 1 25 4.6585984e-04 1.11e-15 5.44e-04 -4.0 2.93e-01 -11.6 1.00e+00 5.00e-01f 2 26 2.5822939e-04 1.11e-15 6.80e-04 -4.1 1.31e-01 -12.1 1.00e+00 1.00e+00f 1 27 3.0905781e-05 9.94e-15 8.51e-04 -6.2 3.63e-01 -12.6 9.70e-01 1.00e+00f 1 28 1.7550050e-03 2.66e-15 7.42e-03 -4.0 1.92e+00 -13.1 1.00e+00 5.00e-01f 2 29 2.4227102e-05 2.54e-14 2.77e-03 -4.1 9.79e-01 -13.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.5842293e-03 3.33e-14 7.73e-03 -4.0 9.49e-01 -14.0 1.00e+00 1.00e+00f 1 31 9.9480650e-06 1.95e-14 2.19e-03 -4.2 1.05e+00 -14.5 1.00e+00 1.00e+00f 1 32 4.7032564e-04 1.67e-15 2.70e-03 -4.0 1.34e+00 -15.0 1.00e+00 5.00e-01f 2 33 2.1879849e-04 3.22e-15 2.28e-04 -4.2 3.66e-01 -15.5 1.00e+00 5.00e-01f 2 34 2.0116365e-05 4.77e-15 7.73e-04 -6.4 3.97e-01 -15.9 9.66e-01 1.00e+00f 1 35 8.0892300e-06 3.50e-15 9.53e-05 -6.4 1.01e-01 -16.4 1.00e+00 1.00e+00f 1 36 1.5809846e-03 1.11e-15 5.45e-03 -4.0 9.35e+00 -16.9 1.00e+00 1.25e-01f 4 37 9.5837807e-05 5.70e-14 3.41e-03 -4.0 7.82e-01 -17.4 1.00e+00 1.00e+00f 1 38 7.5657520e-04 3.86e-14 3.50e-03 -4.0 5.28e-01 -17.8 1.00e+00 1.00e+00f 1 39 3.8114261e-04 7.22e-15 4.21e-04 -4.0 4.11e-01 -18.3 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 3.5505246e-05 5.77e-15 1.28e-03 -6.0 4.88e-01 -18.8 9.57e-01 1.00e+00f 1 41 1.4635368e-05 5.61e-15 1.55e-04 -6.0 1.22e-01 -19.3 1.00e+00 1.00e+00f 1 42 4.0385641e-06 9.44e-16 9.79e-05 -6.0 1.38e-01 -19.8 1.00e+00 1.00e+00f 1 43 1.1553137e-03 6.66e-16 3.55e-03 -4.0 1.51e+01 -20.0 1.00e+00 7.95e-02f 4 44 1.4867671e-04 5.10e-14 2.99e-03 -4.0 6.20e-01 -20.0 1.00e+00 1.00e+00f 1 45 6.9702441e-04 2.62e-14 2.95e-03 -4.0 4.41e-01 -20.0 1.00e+00 1.00e+00f 1 46 3.9121621e-04 4.88e-15 4.21e-04 -4.0 3.71e-01 -20.0 1.00e+00 5.00e-01f 2 47 3.5698051e-05 5.77e-15 1.41e-03 -6.0 5.31e-01 -20.0 9.52e-01 1.00e+00f 1 48 1.4812747e-05 5.05e-15 1.66e-04 -6.0 1.30e-01 -20.0 1.00e+00 1.00e+00f 1 49 3.9754571e-06 8.33e-16 1.07e-04 -6.0 1.52e-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 9.2874272e-04 6.11e-16 2.52e-03 -4.0 1.62e+01 -20.0 1.00e+00 7.39e-02f 4 51 1.8334922e-04 4.35e-14 2.64e-03 -4.0 5.24e-01 -20.0 1.00e+00 1.00e+00f 1 52 6.3571155e-04 1.84e-14 2.51e-03 -4.0 3.82e-01 -20.0 1.00e+00 1.00e+00f 1 53 3.8795968e-04 3.33e-15 4.09e-04 -4.0 3.37e-01 -20.0 1.00e+00 5.00e-01f 2 54 3.4832520e-05 5.66e-15 1.50e-03 -6.1 5.66e-01 -20.0 9.47e-01 1.00e+00f 1 55 1.4542890e-05 4.55e-15 1.73e-04 -6.1 1.37e-01 -20.0 1.00e+00 1.00e+00f 1 56 3.8319117e-06 7.77e-16 1.13e-04 -6.1 1.63e-01 -20.0 1.00e+00 1.00e+00f 1 57 7.6091545e-04 4.44e-16 1.58e-03 -4.0 1.76e+01 -20.0 1.00e+00 6.79e-02f 4 58 2.1973914e-04 3.82e-14 2.23e-03 -4.1 4.27e-01 -20.0 1.00e+00 1.00e+00f 1 59 5.7433138e-04 1.27e-14 2.01e-03 -4.1 3.12e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 3.8501545e-04 2.22e-15 3.76e-04 -4.1 2.88e-01 -20.0 1.00e+00 5.00e-01f 2 61 3.3844131e-05 5.44e-15 1.58e-03 -6.1 6.01e-01 -20.0 9.43e-01 1.00e+00f 1 62 1.4264204e-05 4.11e-15 1.78e-04 -6.1 1.42e-01 -20.0 1.00e+00 1.00e+00f 1 63 3.7094415e-06 7.22e-16 1.19e-04 -6.1 1.73e-01 -20.0 1.00e+00 1.00e+00f 1 64 6.3869457e-04 3.89e-16 7.72e-04 -4.0 1.90e+01 -20.0 1.00e+00 6.30e-02f 4 65 2.5317253e-04 3.40e-14 1.82e-03 -4.1 3.38e-01 -20.0 1.00e+00 1.00e+00f 1 66 5.1923034e-04 8.44e-15 1.52e-03 -4.1 2.42e-01 -20.0 1.00e+00 1.00e+00f 1 67 3.8100316e-04 1.33e-15 3.32e-04 -4.1 2.36e-01 -20.0 1.00e+00 5.00e-01f 2 68 3.2755757e-05 5.22e-15 1.65e-03 -6.1 6.33e-01 -20.0 9.39e-01 1.00e+00f 1 69 1.3950928e-05 3.77e-15 1.81e-04 -6.1 1.46e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 3.5967940e-06 6.66e-16 1.23e-04 -6.1 1.82e-01 -20.0 1.00e+00 1.00e+00f 1 71 5.4823461e-04 4.34e-16 7.82e-05 -4.0 2.03e+01 -20.0 1.00e+00 5.88e-02f 4 72 2.8274737e-04 3.04e-14 1.41e-03 -4.1 2.57e-01 -20.0 1.00e+00 1.00e+00f 1 73 4.7241177e-04 5.55e-15 1.08e-03 -4.1 1.75e-01 -20.0 1.00e+00 1.00e+00f 1 74 2.9597680e-04 4.00e-15 1.01e-03 -4.1 1.84e-01 -20.0 1.00e+00 1.00e+00f 1 75 4.6526262e-04 2.89e-15 9.37e-04 -4.1 1.53e-01 -20.0 1.00e+00 1.00e+00f 1 76 3.0319090e-04 3.55e-15 9.14e-04 -4.1 1.65e-01 -20.0 1.00e+00 1.00e+00f 1 77 4.5807859e-04 2.89e-15 8.41e-04 -4.1 1.37e-01 -20.0 1.00e+00 1.00e+00f 1 78 2.3448793e-05 4.66e-15 1.82e-03 -6.1 7.71e-01 -20.0 9.24e-01 1.00e+00f 1 79 1.2280678e-05 4.00e-15 1.19e-04 -6.1 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 3.0715186e-06 4.44e-16 1.15e-04 -6.1 1.83e-01 -20.0 1.00e+00 1.00e+00f 1 81 4.9874392e-04 4.30e-16 5.05e-04 -4.0 2.30e+01 -20.0 1.00e+00 5.18e-02f 4 82 3.0814443e-04 2.93e-14 1.09e-03 -4.1 1.94e-01 -20.0 1.00e+00 1.00e+00f 1 83 4.4548357e-04 4.00e-15 7.49e-04 -4.1 1.23e-01 -20.0 1.00e+00 1.00e+00f 1 84 2.4208852e-05 4.44e-15 1.89e-03 -6.1 7.91e-01 -20.0 9.22e-01 1.00e+00f 1 85 1.2426936e-05 3.77e-15 1.31e-04 -6.1 1.15e-01 -20.0 1.00e+00 1.00e+00f 1 86 3.1141977e-06 4.44e-16 1.21e-04 -6.1 1.92e-01 -20.0 1.00e+00 1.00e+00f 1 87 3.9925939e-06 2.22e-16 2.10e-05 -6.1 3.64e-02 -20.0 1.00e+00 1.00e+00f 1 88 3.4335954e-06 5.20e-17 6.09e-06 -6.1 1.09e-02 -20.0 1.00e+00 1.00e+00h 1 89 2.6149492e-07 6.42e-17 5.26e-05 -9.0 2.34e-01 -20.0 9.77e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.4886125e-03 5.03e-16 1.22e-02 -4.0 1.04e+02 -20.0 1.00e+00 2.34e-02f 3 91 8.2881238e-05 4.91e-14 7.12e-03 -3.9 1.56e+00 -20.0 1.00e+00 1.00e+00f 1 92 7.7330709e-04 2.93e-14 5.40e-03 -3.9 8.18e-01 -20.0 1.00e+00 1.00e+00f 1 93 4.4006800e-04 5.77e-15 7.70e-04 -3.9 5.35e-01 -20.0 1.00e+00 5.00e-01f 2 94 4.3471820e-05 4.22e-15 2.13e-03 -5.9 7.13e-01 -20.0 9.30e-01 1.00e+00f 1 95 1.7959494e-05 4.00e-15 2.62e-04 -5.9 1.86e-01 -20.0 1.00e+00 1.00e+00f 1 96 5.1442663e-06 6.66e-16 1.66e-04 -5.9 2.08e-01 -20.0 1.00e+00 1.00e+00f 1 97 5.8572123e-06 3.17e-16 1.77e-05 -5.9 2.51e-02 -20.0 1.00e+00 1.00e+00h 1 98 5.4061297e-06 9.97e-17 2.82e-06 -5.9 4.05e-03 -20.0 1.00e+00 1.00e+00h 1 99 3.8913465e-07 4.64e-17 7.96e-05 -8.9 2.86e-01 -20.0 9.71e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 1.5647218e-07 5.55e-17 8.37e-06 -8.9 6.33e-02 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.5647217546459201e-07 1.5647217546459201e-07 Dual infeasibility......: 8.3725290110171789e-06 8.3725290110171789e-06 Constraint violation....: 5.5511151231257827e-17 5.5511151231257827e-17 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 5.3904218264130344e-08 5.3904218264130344e-08 Overall NLP error.......: 9.9998659920492438e-05 9.9998659920492438e-05 Number of objective function evaluations = 171 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 171 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 = 3.573 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: 0.053s integrator 2 jacobian structure: 0.047s integrator 3 jacobian structure: 0.0s jacobian structure: 1872 nonzeros (0.101s) integrator 1 hessian structure: 0.043s integrator 2 hessian structure: 0.044s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.31s sub-objective 2 (QuadraticRegularizer): 0.076s sub-objective 3 (LinearRegularizer): 0.069s sub-objective 4 (MinimumTimeObjective): 0.014s objective hessian structure: 0.554s hessian structure: 2431 nonzeros (0.642s) linear index maps built (0.0s) evaluator ready (total: 0.744s) evaluator created (0.744s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.103s) 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 (2.669s) optimizer initialization complete (total: 3.517s) 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 3.2853060e+00 4.13e+00 1.06e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.3577902e+00 3.93e+00 6.73e+00 -0.2 3.42e+01 -2.0 3.09e-01 4.83e-02f 1 2 2.9830002e+00 2.77e+00 5.94e+00 -0.5 4.64e+01 -2.5 1.83e-01 2.14e-01f 1 3 2.6253172e+00 1.67e+00 9.36e+00 -1.0 2.67e+01 -3.0 5.06e-01 8.40e-01f 1 4 2.7116802e+00 6.48e-01 3.78e+00 -1.0 4.68e+00 -2.5 5.85e-01 6.06e-01f 1 5 2.6351900e+00 7.16e-02 1.16e+00 -2.1 8.78e-01 -1.2 6.03e-01 1.00e+00h 1 6 2.7569096e+00 3.08e-01 1.43e+00 -1.7 2.18e+00 -1.7 7.46e-01 1.00e+00f 1 7 2.0374517e+00 1.88e-01 2.43e-01 -1.7 7.78e-01 -1.3 9.80e-01 1.00e+00h 1 8 1.7947063e+00 2.32e-02 3.52e-02 -2.4 6.74e-01 -1.7 9.27e-01 1.00e+00h 1 9 1.6360527e+00 4.61e-02 1.30e-01 -3.0 1.24e+00 -2.2 9.98e-01 8.56e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.4580583e+00 7.83e-02 1.38e-01 -3.2 1.97e+00 -2.7 9.99e-01 1.00e+00h 1 11 1.3371413e+00 1.15e-01 2.79e-01 -2.6 5.52e+00 -3.2 1.00e+00 1.00e+00h 1 12 1.3179401e+00 2.72e-02 9.79e-03 -2.6 2.08e+00 -2.7 1.00e+00 9.83e-01h 1 13 1.2351048e+00 3.99e-02 4.86e-02 -3.4 5.50e+00 -3.2 9.58e-01 1.00e+00h 1 14 1.1236197e+00 1.73e-01 7.35e-02 -3.9 1.11e+01 -3.7 1.00e+00 9.97e-01h 1 15 1.0234439e+00 5.66e-01 1.13e-01 -3.5 1.88e+01 -4.2 1.00e+00 1.00e+00h 1 16 9.2454792e-01 1.27e+00 9.50e-02 -3.8 2.82e+01 -4.6 1.00e+00 1.00e+00h 1 17 8.3481598e-01 2.08e+00 1.18e-01 -3.9 3.86e+01 -5.1 1.00e+00 1.00e+00h 1 18 8.3513157e-01 1.27e-01 2.37e-02 -4.0 1.91e+01 -4.7 1.00e+00 1.00e+00h 1 19 7.8890566e-01 4.21e+00 3.59e-01 -3.8 7.12e+01 -5.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 7.7205267e-01 2.48e-01 3.97e-02 -3.5 8.78e+00 -4.7 1.00e+00 1.00e+00h 1 21 7.4908006e-01 6.31e-01 7.58e-02 -3.5 4.13e+01 -5.2 9.53e-01 1.00e+00h 1 22 7.0684217e-01 2.74e-01 1.34e-01 -3.7 7.36e+01 -5.7 9.98e-01 1.00e+00h 1 23 6.6378116e-01 2.20e+00 1.38e-01 -4.0 9.06e+01 -6.2 1.00e+00 1.00e+00h 1 24 6.6423909e-01 1.75e-01 5.57e-02 -4.0 4.66e+01 -5.7 1.00e+00 1.00e+00h 1 25 6.4290139e-01 8.66e-01 1.16e-01 -4.0 8.40e+01 -6.2 1.00e+00 1.00e+00h 1 26 6.1793623e-01 2.02e+00 2.18e-01 -4.0 1.62e+02 -6.7 1.00e+00 1.00e+00h 1 27 6.1552497e-01 8.14e-01 8.94e-02 -4.0 6.52e+01 -6.3 1.00e+00 1.00e+00h 1 28 6.0235985e-01 1.75e+00 1.97e-01 -4.0 1.22e+02 -6.8 1.00e+00 1.00e+00h 1 29 6.0194847e-01 3.57e-01 7.52e-02 -4.0 4.93e+01 -6.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 5.9368576e-01 9.95e-01 1.83e-01 -4.0 1.08e+02 -6.8 1.00e+00 1.00e+00h 1 31 5.9244613e-01 2.69e-01 6.80e-02 -4.0 4.14e+01 -6.4 1.00e+00 1.00e+00h 1 32 5.8664397e-01 8.13e-01 1.74e-01 -4.0 1.03e+02 -6.9 1.00e+00 1.00e+00h 1 33 5.8546432e-01 2.49e-01 6.43e-02 -4.0 3.76e+01 -6.4 1.00e+00 1.00e+00h 1 34 5.8106161e-01 7.48e-01 1.69e-01 -4.0 1.03e+02 -6.9 1.00e+00 1.00e+00h 1 35 5.8100546e-01 6.86e+00 1.72e-01 -4.0 2.89e+03 -7.4 2.29e-01 1.10e-01h 2 36 5.6356828e-01 1.65e+01 1.30e+00 -3.8 8.42e+02 -7.9 1.00e+00 1.00e+00h 1 37 5.6675286e-01 1.54e-01 4.06e-02 -3.9 2.40e+01 -6.5 1.00e+00 1.00e+00h 1 38 5.6470514e-01 7.41e-01 1.38e-01 -4.0 8.98e+01 -7.0 1.00e+00 1.00e+00h 1 39 5.6209122e-01 8.37e+00 3.40e-01 -4.0 3.00e+02 -7.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 5.4674292e-01 8.70e+00 6.84e-01 -4.0 3.84e+02 -8.0 1.00e+00 1.00e+00h 1 41 5.5401207e-01 4.67e-01 2.57e-01 -4.0 1.90e+02 -7.5 1.00e+00 1.00e+00h 1 42 5.5236055e-01 1.24e+00 1.18e+00 -3.8 3.14e+02 -8.0 1.00e+00 1.00e+00h 1 43 5.4893404e-01 7.49e-01 1.70e-01 -4.0 1.78e+02 -7.6 1.00e+00 1.00e+00h 1 44 5.4878682e-01 2.80e+00 1.66e-01 -4.0 2.07e+03 -8.1 5.64e-01 1.45e-01h 3 45 5.4761536e-01 4.08e+01 5.84e-01 -4.0 7.97e+04 -8.5 2.94e-02 2.55e-02h 2 46 5.3440758e-01 4.05e+00 6.91e-02 -4.1 1.48e+02 -7.2 1.00e+00 1.00e+00h 1 47 5.2898889e-01 4.89e+00 5.44e-01 -3.9 3.05e+02 -7.7 1.00e+00 4.42e-01h 2 48 5.2875721e-01 5.00e+00 3.22e-01 -4.0 7.94e+02 -7.3 1.57e-01 7.26e-02h 3 49 5.4287061e-01 7.27e-02 3.06e-01 -4.0 3.82e+01 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 5.4411076e-01 8.22e-03 2.51e-02 -4.0 6.90e+00 -6.4 1.00e+00 1.00e+00h 1 51 5.4390346e-01 2.11e-02 4.25e-02 -4.0 2.24e+01 -6.9 1.00e+00 1.00e+00h 1 52 5.4350775e-01 6.22e-01 2.79e-01 -4.0 9.62e+01 -7.4 1.00e+00 1.00e+00h 1 53 5.4033580e-01 2.25e+00 1.76e-01 -4.1 3.51e+02 -7.8 6.41e-01 5.00e-01h 2 54 5.3733385e-01 1.29e+01 6.13e-01 -4.0 3.33e+04 -8.3 2.96e-02 2.18e-02h 2 55 5.3685672e-01 1.30e+01 1.64e-01 -4.2 7.47e+02 -7.9 7.56e-01 4.98e-01h 2 56 5.3053205e-01 1.11e+01 7.61e-01 -4.2 3.99e+02 -7.5 5.96e-01 2.90e-01h 2 57 5.4732891e-01 4.36e+00 4.58e-01 -4.2 2.42e+02 -7.0 3.97e-01 9.64e-01h 1 58 5.3136092e-01 3.55e+00 5.53e-01 -4.2 4.63e+02 -7.5 2.80e-01 2.24e-01h 1 59 5.2507702e-01 3.57e+00 3.88e-01 -4.2 3.92e+02 -8.0 6.10e-01 7.75e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 5.6036404e-01 3.90e+00 2.45e+00 -2.2 1.74e+03 -6.7 5.63e-03 9.47e-02f 1 61 5.3730296e-01 2.52e+00 1.80e+00 -3.5 1.20e+02 -7.1 9.74e-01 4.49e-01h 1 62 5.3984433e-01 2.26e+00 4.78e-01 -3.5 2.08e+02 -7.6 5.44e-01 5.36e-01h 1 63 5.4904836e-01 2.02e+00 2.87e-01 -3.2 2.18e+02 -7.2 6.55e-01 4.45e-01h 2 64 5.3931100e-01 4.56e+00 1.17e+00 -3.4 2.59e+02 -7.7 4.79e-01 6.99e-01h 1 65 5.3881022e-01 8.45e+00 7.61e-01 -3.4 5.46e+03 -8.2 1.39e-01 8.67e-02h 3 66 5.3421944e-01 4.70e+00 5.29e-01 -3.4 1.50e+02 -6.8 1.00e+00 4.48e-01h 2 67 5.3416760e-01 4.81e+00 9.84e-01 -3.4 4.20e+02 -7.3 4.27e-01 2.24e-01h 2 68 5.3415522e-01 1.05e+01 4.28e-01 -3.4 1.48e+03 -7.8 2.55e-01 2.68e-01h 2 69 5.3497505e-01 8.46e+00 6.44e-01 -3.4 2.42e+02 -7.4 1.00e+00 2.26e-01h 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 5.4936784e-01 3.72e-01 7.11e-01 -3.4 6.32e+01 -6.9 1.00e+00 1.00e+00h 1 71 5.5796808e-01 1.89e-01 5.32e-01 -3.4 1.04e+02 -7.4 1.00e+00 1.00e+00H 1 72 5.5504962e-01 2.49e-01 3.57e-01 -3.4 3.20e+02 -7.9 5.74e-01 1.25e-01h 4 73 5.5429845e-01 3.00e-01 2.84e-01 -3.4 3.59e+03 -8.4 6.22e-01 3.16e-02h 5 74 5.5942525e-01 2.35e-01 9.82e-01 -3.4 2.48e+02 -7.9 1.00e+00 1.00e+00H 1 75 5.5465549e-01 2.94e-01 7.75e-01 -3.4 4.37e+02 -8.4 6.37e-01 1.94e-01h 3 76 5.4955520e-01 5.04e+00 1.11e+00 -3.4 3.27e+03 -8.9 1.00e+00 2.50e-01h 3 77 5.4858100e-01 5.46e+00 8.52e-01 -3.4 3.20e+03 -8.5 3.99e-01 7.92e-02h 4 78 5.4855675e-01 6.40e-01 9.57e-01 -3.4 2.46e+02 -8.0 1.00e+00 1.00e+00h 1 79 5.4874468e-01 3.59e+00 9.34e-01 -3.4 9.17e+03 -8.5 1.52e-01 5.33e-02h 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 5.4744681e-01 3.96e+00 6.03e-01 -3.4 5.68e+02 -8.1 8.87e-01 5.00e-01h 2 81 5.6837146e-01 3.37e-01 8.67e-01 -3.4 1.96e+02 -7.7 1.00e+00 1.00e+00H 1 82 5.6489657e-01 2.61e-01 7.87e-01 -3.4 1.52e+03 -8.1 1.58e-02 5.03e-02h 4 83 5.6311534e-01 2.43e-01 7.47e-01 -3.4 2.65e+03 -8.6 6.78e-01 2.46e-02h 5 84 5.6217620e-01 2.39e-01 7.25e-01 -3.4 3.00e+03 -9.1 1.54e-01 2.25e-02h 6 85 5.6007341e-01 2.86e+00 7.49e-01 -3.4 4.66e+04 -9.6 4.50e-02 1.76e-02h 2 86 5.3954698e-01 5.76e+01 3.91e+00 -3.4 2.40e+04 -10.0 4.56e-01 3.05e-01H 1 87 5.3412765e-01 4.97e+01 9.15e+00 -3.4 7.72e+03 -10.5 2.18e-02 3.08e-01h 1 88 5.4755853e-01 5.29e+01 8.92e+00 -3.4 2.42e+03 -8.3 5.77e-02 3.55e-01h 1 89 5.4225415e-01 5.41e+01 8.92e+00 -3.4 1.96e+06 -8.8 2.29e-04 2.26e-04h 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 5.3466787e-01 1.12e+00 1.52e+00 -3.4 9.85e+01 -5.6 1.00e+00 1.00e+00h 1 91 5.4563824e-01 4.14e-02 1.26e-01 -3.2 4.39e+01 -6.1 1.00e+00 1.00e+00h 1 92 5.3889929e-01 5.73e-02 1.03e-01 -3.3 2.69e+01 -6.6 1.00e+00 1.00e+00h 1 93 5.2345747e-01 1.72e-02 1.94e-01 -3.9 1.98e+01 -6.2 1.00e+00 1.00e+00h 1 94 5.2168310e-01 2.29e-02 9.61e-02 -4.0 2.08e+01 -6.6 1.00e+00 1.00e+00h 1 95 5.2139513e-01 2.51e-02 1.13e-01 -4.0 2.10e+01 -6.2 1.00e+00 1.00e+00h 1 96 5.2120499e-01 2.35e-02 9.39e-02 -4.0 2.03e+01 -6.7 1.00e+00 1.00e+00h 1 97 5.2095996e-01 3.27e-02 1.32e-01 -4.0 2.43e+01 -6.3 1.00e+00 1.00e+00h 1 98 5.2127409e-01 4.72e-03 1.67e-01 -4.0 3.84e+01 -6.7 1.00e+00 1.00e+00H 1 99 5.2048293e-01 1.58e-01 3.10e-01 -4.0 5.35e+01 -6.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 5.2512241e-01 1.39e-01 3.79e-01 -4.0 1.18e+02 -6.8 1.00e+00 1.00e+00H 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 5.2512241090242817e-01 5.2512241090242817e-01 Dual infeasibility......: 3.7882981160357915e-01 3.7882981160357915e-01 Constraint violation....: 1.3925482224425778e-01 1.3925482224425778e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000034652478255e-04 1.0000034652478255e-04 Overall NLP error.......: 3.7882981160357915e-01 3.7882981160357915e-01 Number of objective function evaluations = 228 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 228 Number of inequality constraint evaluations = 228 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 41.050 EXIT: Maximum Number of Iterations Exceeded. Difference in Hessian initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.126s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.127s) integrator 1 hessian structure: 0.044s 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 (0.045s) linear index maps built (0.0s) evaluator ready (total: 0.172s) evaluator created (0.172s) 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 (0.349s) optimizer initialization complete (total: 0.521s) 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 8.2517897e-01 3.10e+00 2.08e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.8721462e-01 1.92e+00 4.65e+00 -0.6 1.27e+01 -2.0 1.56e-01 3.82e-01f 1 2 4.4205271e-01 1.67e+00 4.38e+00 0.1 5.73e+00 -0.7 1.89e-01 1.27e-01f 1 3 6.9518550e-01 1.12e+00 3.97e+00 -4.0 5.39e+00 -1.1 1.61e-01 3.32e-01h 1 4 9.7983454e-01 7.87e-01 5.02e+00 -1.8 1.66e+00 0.2 1.97e-01 2.96e-01h 1 5 1.1446279e+00 6.82e-01 2.36e+01 -0.3 1.85e+00 0.6 6.88e-01 1.34e-01f 1 6 1.3679795e+00 5.11e-01 1.48e+01 0.0 4.25e+00 0.1 8.75e-01 2.50e-01f 1 7 1.4852141e+00 3.50e-01 2.78e+01 0.2 2.16e+00 0.6 8.73e-01 3.15e-01f 1 8 1.7392238e+00 1.68e-01 3.02e+01 -0.2 1.19e+00 1.0 9.53e-01 5.20e-01h 1 9 1.8875916e+00 5.77e-02 1.92e+01 -0.3 5.59e-01 1.4 9.92e-01 6.56e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.9493995e+00 7.18e-03 3.62e+00 -1.0 2.52e-01 0.9 9.98e-01 1.00e+00h 1 11 1.8924940e+00 7.65e-04 5.28e-01 -1.4 7.42e-02 0.5 9.95e-01 1.00e+00f 1 12 1.6605001e+00 2.16e-03 1.42e-01 -2.0 1.48e-01 -0.0 9.55e-01 1.00e+00f 1 13 1.5012430e+00 7.38e-03 1.80e-01 -2.0 2.32e-01 -0.5 7.27e-01 1.00e+00f 1 14 1.3992204e+00 1.84e-02 2.03e-01 -2.1 6.03e-01 -1.0 9.81e-01 5.18e-01h 1 15 1.3598285e+00 6.49e-02 2.84e-01 -4.0 3.65e+00 -1.5 2.68e-01 1.37e-01h 1 16 1.2834115e+00 1.44e-02 1.42e-01 -2.9 3.30e-01 -1.0 1.00e+00 7.77e-01h 1 17 1.2368028e+00 9.53e-03 2.78e-02 -3.4 4.96e-01 -1.5 9.99e-01 9.36e-01h 1 18 1.2283176e+00 4.60e-03 1.33e-01 -3.6 4.73e-01 -2.0 9.96e-01 3.35e-01h 1 19 1.2251470e+00 4.03e-03 2.72e-01 -3.9 9.88e-01 -2.5 1.00e+00 1.22e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.2036672e+00 5.64e-02 6.78e-02 -3.8 1.34e+00 -2.9 1.00e+00 9.77e-01h 1 21 1.1846529e+00 1.87e-01 6.94e-02 -4.0 2.89e+00 -3.4 6.57e-01 1.00e+00h 1 22 1.1841096e+00 1.61e-01 1.28e-01 -4.0 4.90e+00 -3.9 5.00e-01 1.41e-01h 1 23 1.1842357e+00 1.05e-02 1.95e-02 -4.0 2.45e+00 -3.5 1.00e+00 1.00e+00h 1 24 1.1991119e+00 2.24e-03 2.91e-01 -4.0 3.15e+00 -3.9 1.85e-01 1.00e+00H 1 25 1.1954131e+00 2.13e-03 2.71e-01 -3.5 1.50e+00 -1.7 1.00e+00 4.87e-02h 1 26 1.1799625e+00 3.33e-04 2.51e-02 -4.0 1.24e-01 -1.3 1.00e+00 8.43e-01h 1 27 1.1803786e+00 1.46e-05 5.50e-04 -4.0 3.11e-02 -1.8 1.00e+00 1.00e+00h 1 28 1.1800123e+00 9.58e-05 7.54e-04 -4.0 8.74e-02 -2.2 1.00e+00 1.00e+00h 1 29 1.1796939e+00 2.75e-04 4.71e-04 -4.0 2.45e-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 1.1790217e+00 1.91e-03 4.23e-04 -4.0 6.58e-01 -3.2 1.00e+00 1.00e+00h 1 31 1.1775416e+00 9.83e-03 1.42e-03 -4.0 1.57e+00 -3.7 1.00e+00 1.00e+00h 1 32 1.1751144e+00 3.09e-02 3.81e-03 -4.0 3.14e+00 -4.1 1.00e+00 1.00e+00h 1 33 1.1750374e+00 1.56e-03 2.23e-03 -4.0 1.18e+00 -3.7 1.00e+00 1.00e+00h 1 34 1.1738934e+00 1.59e-02 6.05e-03 -4.0 2.71e+00 -4.2 6.04e-01 1.00e+00h 1 35 1.1738915e+00 9.68e-06 7.35e-04 -4.0 7.32e-02 -2.0 1.00e+00 1.00e+00h 1 36 1.1740371e+00 1.71e-05 1.08e-03 -4.0 5.96e-02 -2.4 1.00e+00 1.00e+00h 1 37 1.1736233e+00 3.72e-05 6.90e-04 -4.1 2.73e-01 -2.9 9.18e-01 1.00e+00h 1 38 1.1772444e+00 1.93e-05 3.33e-02 -4.0 4.60e-01 -2.5 1.00e+00 8.84e-01h 1 39 1.1742827e+00 4.55e-05 9.05e-03 -4.1 1.78e-01 -3.0 6.22e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.1737754e+00 1.32e-05 1.77e-03 -4.1 6.53e-02 -1.6 1.00e+00 1.00e+00h 1 41 1.1738545e+00 2.19e-06 2.77e-02 -3.8 3.46e-01 -2.1 1.00e+00 3.10e-01h 2 42 1.1736983e+00 8.46e-06 3.51e-04 -4.0 7.19e-02 -2.6 1.00e+00 1.00e+00h 1 43 1.1736222e+00 7.14e-05 1.73e-04 -4.0 2.06e-01 -3.1 1.00e+00 1.00e+00h 1 44 1.1734077e+00 5.66e-04 1.64e-04 -4.0 5.83e-01 -3.6 1.00e+00 1.00e+00h 1 45 1.1728480e+00 3.84e-03 3.04e-04 -4.0 1.56e+00 -4.0 1.00e+00 1.00e+00h 1 46 1.1716624e+00 1.80e-02 1.25e-03 -4.0 3.59e+00 -4.5 1.00e+00 1.00e+00h 1 47 1.1698751e+00 5.08e-02 2.70e-03 -4.0 6.91e+00 -5.0 1.00e+00 1.00e+00h 1 48 1.1679244e+00 9.51e-02 3.14e-03 -4.0 1.17e+01 -5.5 1.00e+00 1.00e+00h 1 49 1.1661302e+00 1.44e-01 1.76e-03 -4.0 1.88e+01 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 1.1645980e+00 1.96e-01 1.31e-03 -4.0 2.93e+01 -6.4 1.00e+00 1.00e+00h 1 51 1.1633379e+00 2.51e-01 5.72e-03 -4.0 4.48e+01 -6.9 1.00e+00 1.00e+00h 1 52 1.1623250e+00 3.10e-01 1.12e-02 -4.0 6.74e+01 -7.4 1.00e+00 1.00e+00h 1 53 1.1615293e+00 3.71e-01 1.72e-02 -4.0 9.96e+01 -7.8 1.00e+00 1.00e+00h 1 54 1.1609317e+00 4.23e-01 2.26e-02 -4.0 1.43e+02 -8.3 1.00e+00 1.00e+00h 1 55 1.1605530e+00 4.31e-01 2.39e-02 -4.0 1.93e+02 -8.8 1.00e+00 1.00e+00h 1 56 1.1605499e+00 2.62e-01 9.25e-03 -4.0 2.00e+02 -9.3 1.00e+00 1.00e+00h 1 57 1.1608611e+00 2.12e-03 9.93e-04 -4.0 2.24e+01 -9.8 1.00e+00 1.00e+00h 1 58 1.1608488e+00 3.86e-04 3.70e-05 -4.0 7.76e+00 -10.2 1.00e+00 1.00e+00h 1 59 1.1608491e+00 5.77e-08 1.33e-08 -4.0 1.28e-01 -10.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 1.1608491e+00 2.08e-12 2.09e-13 -4.0 5.87e-04 -11.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 60 (scaled) (unscaled) Objective...............: 1.1608491307799185e+00 1.1608491307799185e+00 Dual infeasibility......: 2.0947103101555398e-13 2.0947103101555398e-13 Constraint violation....: 2.0818902157770935e-12 2.0818902157770935e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000406e-04 1.0000000000000406e-04 Overall NLP error.......: 2.0818902157770935e-12 2.0818902157770935e-12 Number of objective function evaluations = 66 Number of objective gradient evaluations = 61 Number of equality constraint evaluations = 66 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 61 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 60 Total seconds in IPOPT = 24.866 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.048s jacobian structure: 180 nonzeros (0.082s) integrator 1 hessian structure: 0.043s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.3s sub-objective 2 (QuadraticRegularizer): 0.079s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.015s objective hessian structure: 0.477s hessian structure: 375 nonzeros (0.521s) linear index maps built (0.0s) evaluator ready (total: 0.732s) evaluator created (0.732s) NL constraint bounds extracted (0.01s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.106s) applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.644s) optimizer initialization complete (total: 3.493s) 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 1.8545288e+00 8.14e-01 1.10e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.3577788e+00 2.23e-01 1.85e+00 -0.9 7.76e-01 0.0 9.94e-01 1.00e+00h 1 2 1.4644650e+00 8.26e-02 6.58e-01 -0.9 3.35e-01 -0.5 6.65e-01 6.29e-01h 1 3 4.5369261e+00 5.07e-02 3.85e+01 -1.4 1.95e+01 - 7.25e-01 1.00e+00H 1 4 2.7959311e+00 3.35e-02 1.91e+01 -1.6 3.77e-01 -0.1 1.00e+00 8.57e-01f 1 5 2.0915311e+00 8.31e-02 2.39e+01 -0.8 1.96e+00 -0.5 1.00e+00 1.55e-01f 1 6 1.7069733e+00 2.43e-02 6.01e+00 -1.0 1.10e+00 -1.0 1.00e+00 7.03e-01f 1 7 1.3166908e+00 1.84e-03 2.18e-01 -2.0 9.48e-02 -1.5 1.00e+00 1.00e+00f 1 8 4.3039622e+00 8.30e-05 1.54e+02 -4.0 8.54e+01 - 1.60e-01 9.15e-01h 1 9 1.3699263e+00 4.37e-05 5.03e+01 -2.9 1.74e+01 -2.0 1.00e+00 4.73e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.3543831e+00 4.23e-05 4.32e+01 -4.0 1.74e+00 -2.4 1.00e+00 3.15e-02f 1 11 1.3324978e+00 6.13e-07 6.74e-03 -3.9 6.91e-01 -2.0 1.00e+00 1.00e+00f 1 12 1.0910535e+00 7.49e-09 6.79e-01 -4.0 6.74e+01 - 5.06e-01 1.00e+00f 1 13 1.0912426e+00 8.94e-14 2.14e-05 -4.0 3.85e-02 - 1.00e+00 1.00e+00f 1 14 1.0910385e+00 2.11e-21 5.02e-07 -4.0 2.03e-02 - 1.00e+00 1.00e+00f 1 15 1.0910386e+00 8.88e-16 2.99e-09 -4.0 5.36e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 15 (scaled) (unscaled) Objective...............: 1.0910385779867442e+00 1.0910385779867442e+00 Dual infeasibility......: 2.9858329584297148e-09 2.9858329584297148e-09 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000020805730e-04 1.0000000020805730e-04 Overall NLP error.......: 2.9858329584297148e-09 2.9858329584297148e-09 Number of objective function evaluations = 17 Number of objective gradient evaluations = 16 Number of equality constraint evaluations = 17 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 = 22.399 EXIT: Optimal Solution Found. Difference in Jacobian NonlinearKnotPointConstraint - single variable: Test Failed at /home/pkgeval/.julia/packages/DirectTrajOpt/gniE1/src/constraints/_constraints.jl:229 Expression: all(isapprox.(triu(μ∂²g), triu(μ∂²g_finite_diff), atol = atol)) Evaluated: all(sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10 … 101, 102, 103, 104, 105, 106, 107, 108, 109, 110], [1, 1, 1, 1, 1, 1, 1, 1, 1, 1 … 110, 110, 110, 110, 110, 110, 110, 110, 110, 110], Bool[1, 1, 1, 1, 1, 1, 1, 1, 1, 1 … 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], 110, 110)) Stacktrace: [1] macro expansion @ /opt/julia/share/julia/stdlib/v1.14/Test/src/Test.jl:781 [inlined] [2] test_constraint(constraint::NonlinearKnotPointConstraint{DirectTrajOpt.Constraints.var"#33#34"{typeof(Main.var"##174".g)}}, traj::NamedTrajectories.StructNamedTrajectory.NamedTrajectory{Float64, (:x, :u, :du, :ddu, :Δt), NTuple{5, Int64}, (:u, :Δt), Tuple{Tuple{Vector{Float64}, Vector{Float64}}, Tuple{Vector{Float64}, Vector{Float64}}}, (:x, :u), Tuple{Vector{Float64}, Vector{Float64}}, (:u,), Tuple{Vector{Float64}}, (:x,), Tuple{Vector{Float64}}, (:x, :u, :du, :ddu, :Δt), NTuple{5, UnitRange{Int64}}, NTuple{5, Symbol}, Tuple{Symbol, Symbol, Symbol}, Tuple{Symbol, Symbol}, (), Tuple{}, (), Tuple{}, Tuple{}}; show_jacobian_diff::Bool, show_hessian_diff::Bool, test_equality::Bool, atol::Float64, rtol::Float64) @ DirectTrajOpt.Constraints ~/.julia/packages/DirectTrajOpt/gniE1/src/constraints/_constraints.jl:229 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: 0.053s 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 (0.054s) linear index maps built (0.0s) evaluator ready (total: 0.118s) evaluator created (0.118s) 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 (1.891s) optimizer initialization complete (total: 2.01s) 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 5.9169316e+00 2.41e+00 3.84e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9159960e+00 2.64e-02 1.01e+00 -1.0 1.66e+00 -2.0 9.89e-01 1.00e+00f 1 2 2.3615073e+00 2.24e-02 5.01e-02 -1.7 3.07e-01 -1.6 9.81e-01 1.00e+00h 1 3 2.1535139e+00 4.70e-03 2.22e-01 -3.6 1.97e-01 -1.1 9.24e-01 1.00e+00h 1 4 2.1119569e+00 1.97e-03 5.60e-01 -3.5 3.05e-01 -1.6 1.00e+00 6.94e-01h 1 5 2.0951975e+00 1.17e-03 3.18e-01 -4.0 4.97e-01 -2.1 1.00e+00 5.91e-01h 1 6 2.0910919e+00 2.53e-04 1.48e-01 -4.0 6.60e-01 -2.6 1.00e+00 6.36e-01h 1 7 2.0909762e+00 1.10e-04 1.59e-01 -4.0 8.08e-01 -3.1 1.00e+00 1.00e+00h 1 8 2.0910073e+00 7.39e-07 7.91e-04 -4.0 7.06e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909919e+00 3.63e-07 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 2.0909298e+00 1.47e-07 2.06e-05 -4.0 6.32e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907468e+00 1.30e-06 4.98e-05 -4.0 1.88e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0902251e+00 1.10e-05 4.22e-04 -4.0 5.45e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888765e+00 8.22e-05 3.17e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861776e+00 4.41e-04 1.75e-02 -4.0 3.47e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830941e+00 9.15e-04 4.74e-02 -4.0 5.33e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828540e+00 9.26e-04 2.30e-02 -4.0 5.38e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823452e+00 3.90e-04 1.00e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820403e+00 9.29e-05 1.84e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.68e-04 8.68e-03 -4.0 9.92e+01 -8.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0819393e+00 3.69e-05 8.48e-04 -4.0 3.11e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.33e-07 1.39e-05 -4.0 4.45e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.82e-10 3.26e-08 -4.0 2.45e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.52e-13 1.22e-11 -4.0 4.59e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907190982e+00 2.0819382907190982e+00 Dual infeasibility......: 1.2150812067667285e-11 1.2150812067667285e-11 Constraint violation....: 2.5224267119483557e-13 2.5224267119483557e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000055e-04 1.0000000000000055e-04 Overall NLP error.......: 1.2150812067667285e-11 1.2150812067667285e-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 = 28.069 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.067s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.067s) integrator 1 hessian structure: 0.05s 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: 0.001s hessian structure: 1749 nonzeros (0.052s) linear index maps built (0.0s) evaluator ready (total: 0.119s) evaluator created (0.119s) 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 (0.063s) optimizer initialization complete (total: 0.183s) 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 5.0036743e+00 2.68e+00 3.82e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7932006e+00 2.06e-02 5.11e-01 -1.1 1.83e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.2792721e+00 2.02e-02 6.27e-02 -1.7 2.88e-01 -1.6 9.52e-01 1.00e+00h 1 3 2.1168739e+00 2.01e-03 2.10e-01 -2.9 9.26e-02 -1.1 9.89e-01 9.96e-01h 1 4 2.0970679e+00 5.07e-04 2.52e-01 -4.0 1.28e-01 -1.6 1.00e+00 7.74e-01h 1 5 2.0921137e+00 3.03e-04 6.63e-01 -4.0 5.03e-01 -2.1 1.00e+00 3.85e-01h 1 6 2.0909140e+00 3.60e-04 4.32e-01 -4.0 7.91e-01 -2.6 1.00e+00 9.01e-01h 1 7 2.0908698e+00 7.77e-06 5.63e-02 -4.0 1.41e-01 -3.1 1.00e+00 1.00e+00h 1 8 2.0908802e+00 1.93e-06 7.91e-05 -4.0 6.50e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908639e+00 2.18e-07 2.89e-05 -4.0 1.83e-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 2.0908264e+00 7.85e-08 1.80e-04 -4.0 4.89e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907281e+00 5.71e-07 5.43e-04 -4.0 1.31e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904419e+00 5.76e-06 3.97e-04 -4.0 4.12e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0903168e+00 8.32e-07 5.96e-04 -4.0 1.56e+00 -5.0 1.00e+00 1.00e+00h 1 14 2.0901723e+00 1.45e-06 1.95e-02 -4.0 6.45e+00 -5.5 1.00e+00 2.20e-01h 2 15 2.0890076e+00 6.35e-05 2.51e-03 -4.0 1.38e+01 -6.0 1.00e+00 1.00e+00h 1 16 2.0870116e+00 2.22e-04 4.46e-02 -4.0 3.71e+01 -6.4 1.00e+00 6.53e-01h 1 17 2.0836027e+00 1.41e-03 5.37e-02 -4.0 6.30e+01 -6.9 1.00e+00 1.00e+00h 1 18 2.0830372e+00 1.31e-03 5.10e-01 -4.0 6.75e+02 -7.4 1.00e+00 7.25e-02h 1 19 2.0823073e+00 8.67e-04 3.13e-02 -4.0 1.55e+02 -7.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0822052e+00 2.14e-03 4.37e-02 -4.0 3.32e+02 -8.4 2.19e-01 1.00e+00h 1 21 2.0820267e+00 4.75e-05 1.05e-03 -4.0 2.90e+00 -6.1 1.00e+00 1.00e+00h 1 22 2.0819706e+00 5.18e-05 1.54e-03 -4.0 1.13e+01 -6.6 1.00e+00 1.00e+00h 1 23 2.0818279e+00 3.10e-05 1.92e-03 -4.0 3.36e+01 -7.1 9.30e-01 1.00e+00h 1 24 2.0826473e+00 1.78e-06 1.51e-02 -4.0 1.22e+01 -5.7 1.00e+00 1.00e+00H 1 25 2.0827827e+00 7.94e-05 3.99e-01 -3.4 4.48e-01 -3.5 1.00e+00 8.16e-01f 1 26 2.0821583e+00 1.76e-06 4.88e-03 -3.5 4.01e-02 -1.3 1.00e+00 1.00e+00f 1 27 2.0819234e+00 4.52e-07 2.24e-02 -4.0 2.90e-02 -1.8 9.86e-01 1.00e+00h 1 28 2.0816183e+00 7.00e-07 8.41e-04 -4.0 1.99e-02 -2.2 1.00e+00 1.00e+00h 1 29 2.0816675e+00 9.00e-08 3.56e-05 -4.0 1.11e-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 30 2.0816719e+00 5.06e-08 2.04e-05 -4.0 3.19e-02 -3.2 1.00e+00 1.00e+00h 1 31 2.0816767e+00 1.17e-07 1.97e-05 -4.0 9.20e-02 -3.7 1.00e+00 1.00e+00h 1 32 2.0815970e+00 3.71e-06 2.08e-04 -4.1 1.62e-01 -4.1 1.00e+00 1.00e+00h 1 33 2.0817164e+00 1.30e-05 7.28e-04 -4.0 6.29e-01 -4.6 1.00e+00 1.00e+00h 1 34 2.0816238e+00 7.39e-05 7.76e-04 -4.1 8.92e-01 -5.1 1.00e+00 1.00e+00h 1 35 2.0810066e+00 2.64e-04 1.08e-02 -6.1 3.10e+00 -5.6 9.45e-01 1.00e+00h 1 36 2.0809478e+00 1.47e-05 8.39e-03 -5.2 2.21e-01 -3.3 1.00e+00 9.46e-01h 1 37 2.0813540e+00 8.98e-06 2.73e-01 -4.0 1.07e+00 -3.8 1.00e+00 4.40e-01f 1 38 2.0815899e+00 1.19e-05 7.03e-04 -4.0 3.63e-01 -4.3 1.00e+00 1.00e+00f 1 39 2.0816297e+00 1.62e-06 2.33e-04 -4.0 6.72e-01 -4.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0815590e+00 8.09e-06 3.95e-04 -4.1 4.41e-01 -5.3 1.00e+00 1.00e+00h 1 41 2.0817488e+00 4.04e-05 5.01e-04 -4.0 1.74e+00 -5.7 1.00e+00 1.00e+00h 1 42 2.0816288e+00 1.67e-05 2.22e-04 -4.1 9.35e-01 -6.2 1.00e+00 1.00e+00h 1 43 2.0807377e+00 8.08e-04 5.47e-03 -6.1 1.08e+01 -6.7 9.89e-01 1.00e+00h 1 44 2.0806994e+00 8.94e-05 1.83e-03 -5.2 9.89e+00 -7.2 1.00e+00 1.00e+00h 1 45 2.0810450e+00 3.40e-04 4.94e-02 -4.0 3.35e+01 -7.6 9.79e-01 3.06e-01h 1 46 2.0818085e+00 5.79e-03 1.84e-02 -4.2 1.42e+02 -8.1 7.31e-01 1.00e+00h 1 47 2.0817728e+00 4.15e-07 2.11e-04 -4.2 3.54e-02 -2.3 1.00e+00 1.00e+00h 1 48 2.0815512e+00 5.05e-07 3.16e-02 -6.3 7.34e-01 -2.8 2.98e-01 2.34e-01h 1 49 2.0821476e+00 3.54e-06 1.09e-03 -4.0 1.44e-01 -3.2 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0820019e+00 3.03e-06 1.13e-02 -4.1 1.09e-01 -3.7 7.35e-01 1.00e+00h 1 51 2.0819102e+00 4.19e-07 1.16e-03 -4.1 3.39e-02 -1.5 1.00e+00 1.00e+00h 1 52 2.0819008e+00 9.31e-08 1.95e-04 -4.1 1.89e-02 -1.9 1.00e+00 1.00e+00h 1 53 2.0820177e+00 1.40e-07 7.98e-05 -4.0 7.41e-03 -2.4 1.00e+00 1.00e+00h 1 54 2.0818895e+00 1.43e-07 5.71e-05 -4.1 7.94e-03 -2.9 1.00e+00 1.00e+00h 1 55 2.0813802e+00 2.61e-06 2.17e-02 -6.1 3.74e-02 -3.4 8.20e-01 9.25e-01h 1 56 2.0822036e+00 6.35e-06 5.31e-02 -4.0 4.01e-01 -3.0 1.00e+00 7.35e-01f 1 57 2.0819490e+00 1.24e-06 3.72e-03 -4.1 2.06e-01 -3.4 1.00e+00 1.00e+00h 1 58 2.0818744e+00 3.86e-07 2.70e-02 -4.1 4.24e+00 -3.9 6.63e-02 4.93e-02h 1 59 2.0818598e+00 5.19e-07 5.18e-04 -4.1 2.33e-01 -4.4 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0813488e+00 6.18e-05 1.57e-02 -6.2 8.56e-01 -4.9 8.62e-01 9.36e-01h 1 61 2.0812538e+00 1.53e-06 4.45e-02 -6.2 1.48e-01 -3.5 6.67e-01 1.00e+00h 1 62 2.0818097e+00 3.80e-06 3.42e-01 -4.0 4.77e-01 -3.1 1.00e+00 5.38e-01f 1 63 2.0818620e+00 6.10e-07 2.34e-03 -4.1 1.91e-01 -3.6 1.00e+00 1.00e+00f 1 64 2.0818204e+00 5.49e-06 1.73e-04 -4.1 1.05e-01 -4.1 1.00e+00 1.00e+00h 1 65 2.0813305e+00 2.75e-05 1.89e-02 -6.2 3.86e-01 -4.5 8.44e-01 9.34e-01h 1 66 2.0812810e+00 2.40e-05 1.60e-02 -6.2 2.21e+00 -4.1 8.57e-02 1.29e-01h 1 67 2.0812093e+00 1.55e-05 3.08e-01 -6.2 4.37e-01 -4.6 1.00e+00 3.54e-01h 1 68 2.0811105e+00 9.59e-06 3.88e-04 -6.2 1.30e+00 -5.1 1.00e+00 1.00e+00h 1 69 2.0825084e+00 5.95e-04 9.87e-02 -4.0 6.09e+00 -5.5 9.93e-01 8.50e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0822124e+00 1.30e-04 8.56e-02 -3.9 1.51e+00 -6.0 1.00e+00 9.03e-01f 1 71 2.0820635e+00 3.19e-04 1.34e-04 -3.9 3.83e+00 -6.5 1.00e+00 1.00e+00f 1 72 2.0807894e+00 2.44e-03 4.11e-03 -5.9 1.94e+01 -7.0 9.75e-01 9.76e-01h 1 73 2.0807767e+00 2.39e-03 9.88e-01 -5.9 1.46e+02 -6.6 4.03e-01 2.05e-02h 1 74 2.0806967e+00 6.58e-05 1.81e-03 -5.9 1.15e+01 -7.0 1.00e+00 1.00e+00h 1 75 2.0813531e+00 1.19e-03 4.83e-02 -4.0 1.78e+02 -7.5 1.11e-01 2.50e-01f 3 76 2.0810013e+00 5.99e-04 4.40e-02 -4.9 4.36e+00 -5.3 5.92e-01 5.43e-01h 1 77 2.0809760e+00 5.99e-04 4.39e-02 -4.9 2.23e+01 -5.7 1.96e-03 1.84e-03f 2 78 2.0809549e+00 5.98e-04 3.62e-02 -4.9 1.83e+01 -3.5 1.47e-02 9.51e-04h 1 79 2.0810494e+00 5.22e-04 7.74e-01 -4.9 5.53e-01 -4.0 1.00e+00 1.27e-01f 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0809359e+00 2.66e-06 8.00e-05 -4.9 2.12e-01 -4.5 1.00e+00 1.00e+00h 1 81 2.0818653e+00 2.53e-04 8.11e-03 -4.0 2.30e+00 -4.9 1.00e+00 1.00e+00f 1 82 2.0816668e+00 1.34e-05 1.64e-03 -4.1 7.30e-01 -5.4 1.00e+00 1.00e+00h 1 83 2.0817019e+00 2.68e-05 1.04e-03 -4.1 3.38e+00 -5.9 1.00e+00 1.00e+00h 1 84 2.0816986e+00 1.74e-05 5.82e-04 -4.1 6.98e+00 -6.4 1.00e+00 1.00e+00h 1 85 2.0807995e+00 1.06e-03 1.98e-02 -6.1 1.48e+01 -6.9 5.99e-01 8.61e-01h 1 86 2.0806875e+00 1.17e-05 1.27e-04 -6.1 7.27e-01 -5.5 1.00e+00 1.00e+00h 1 87 2.0806958e+00 5.07e-06 6.89e-03 -5.6 2.05e+00 -6.0 9.16e-01 1.00e+00h 1 88 2.0807616e+00 6.55e-06 1.78e-01 -4.0 9.98e+00 -4.7 8.19e-02 6.71e-02f 1 89 2.0807474e+00 2.91e-06 7.68e-02 -5.1 3.78e-01 -5.2 1.00e+00 8.53e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0813713e+00 4.74e-04 5.71e-01 -4.0 7.82e+00 -5.6 1.00e+00 6.55e-01f 1 91 2.0814998e+00 1.98e-05 2.18e-03 -4.1 1.60e+00 -6.1 1.00e+00 1.00e+00h 1 92 2.0816184e+00 3.54e-08 3.14e-03 -4.1 6.32e+00 -6.6 1.00e+00 1.00e+00H 1 93 2.0818307e+00 1.66e-04 8.85e-04 -4.0 7.29e+00 -7.1 1.00e+00 1.00e+00h 1 94 2.0815940e+00 4.23e-04 6.18e-04 -4.1 1.71e+01 -7.5 1.00e+00 1.00e+00h 1 95 2.0807309e+00 2.36e-03 2.81e-03 -6.1 3.34e+01 -8.0 9.77e-01 8.47e-01h 1 96 2.0805891e+00 7.52e-04 1.80e-03 -6.1 4.08e+01 -8.5 1.00e+00 7.59e-01h 1 97 2.0808513e+00 1.02e-03 2.43e-02 -4.0 1.04e+02 -9.0 1.00e+00 2.04e-01f 1 98 2.0814765e+00 4.74e-03 1.07e-03 -4.2 9.30e+01 -9.4 1.00e+00 1.00e+00h 1 99 2.0814527e+00 6.28e-05 2.27e-03 -4.2 7.04e+01 -9.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0814188e+00 2.15e-06 2.72e-03 -4.2 1.42e+01 -10.4 1.00e+00 1.00e+00h 1 101 2.0813983e+00 5.69e-09 7.19e-04 -4.2 9.63e-01 -10.9 1.00e+00 1.00e+00h 1 102 2.0818429e+00 6.82e-04 2.08e-04 -4.0 1.82e+01 -11.4 1.00e+00 1.00e+00f 1 103 2.0815812e+00 2.09e-04 1.70e-04 -4.1 9.53e+00 -11.8 1.00e+00 1.00e+00h 1 104 2.0805903e+00 3.32e-03 1.39e-04 -6.1 4.03e+01 -12.3 9.78e-01 9.71e-01h 1 105 2.0805497e+00 6.60e-05 1.82e-06 -6.1 1.55e+01 -12.8 1.00e+00 1.00e+00h 1 106 2.0810549e+00 1.54e-03 1.68e-02 -4.0 8.57e+01 -13.3 1.00e+00 3.77e-01f 1 107 2.0814629e+00 6.14e-04 1.52e-05 -4.2 1.60e+01 -13.7 1.00e+00 1.00e+00f 1 108 2.0805587e+00 2.71e-03 2.36e-04 -6.2 3.58e+01 -14.2 9.80e-01 9.97e-01h 1 109 2.0805458e+00 1.43e-05 1.42e-06 -6.2 1.05e+01 -14.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 110 2.0805893e+00 2.66e-05 2.73e-02 -4.0 9.48e+01 -15.2 1.00e+00 3.36e-02f 1 111 2.0813438e+00 1.74e-03 7.72e-05 -4.2 2.76e+01 -15.7 1.00e+00 1.00e+00f 1 112 2.0813664e+00 5.69e-05 4.76e-06 -4.2 4.77e+01 -16.1 1.00e+00 1.00e+00h 1 113 2.0805928e+00 2.09e-03 2.92e-04 -6.3 3.44e+01 -16.6 9.80e-01 9.53e-01h 1 114 2.0805467e+00 6.68e-05 1.45e-06 -6.3 1.51e+01 -17.1 1.00e+00 1.00e+00h 1 115 2.0805428e+00 4.30e-08 1.90e-08 -6.3 3.10e+00 -17.6 1.00e+00 1.00e+00h 1 116 2.0820275e+00 1.25e-02 4.24e-04 -4.0 1.01e+02 -18.0 1.00e+00 1.00e+00f 1 117 2.0817226e+00 1.05e-03 7.13e-05 -4.1 5.59e+01 -18.5 1.00e+00 1.00e+00h 1 118 2.0816691e+00 1.37e-06 1.04e-06 -4.1 1.12e+01 -19.0 1.00e+00 1.00e+00h 1 119 2.0805917e+00 3.79e-03 1.68e-04 -6.1 4.22e+01 -19.5 9.76e-01 9.75e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 120 2.0805515e+00 7.00e-05 2.03e-06 -6.1 1.65e+01 -19.9 1.00e+00 1.00e+00h 1 121 2.0805472e+00 5.06e-08 2.17e-08 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 122 2.0805365e+00 9.66e-07 8.16e-07 -9.0 9.63e-01 -20.0 1.00e+00 9.97e-01h 1 123 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 124 2.0817324e+00 1.07e-03 7.73e-05 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 125 2.0816741e+00 1.68e-06 1.10e-06 -4.1 1.18e+01 -20.0 1.00e+00 1.00e+00h 1 126 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 127 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 128 2.0805472e+00 5.16e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 129 2.0805365e+00 9.80e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 130 2.0805365e+00 9.37e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 131 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 132 2.0817328e+00 1.07e-03 7.75e-05 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 133 2.0816743e+00 1.69e-06 1.10e-06 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 134 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 135 2.0805516e+00 7.08e-05 2.06e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 136 2.0805472e+00 5.17e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 137 2.0805365e+00 9.81e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 138 2.0805365e+00 9.39e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 139 2.0805365e+00 4.44e-16 3.37e-16 -9.0 1.11e-05 -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 140 2.0805365e+00 6.66e-16 2.22e-16 -9.0 2.02e-12 -20.0 1.00e+00 1.00e+00h 1 141 2.0805365e+00 2.22e-16 2.03e-16 -9.0 7.59e-14 -20.0 1.00e+00 1.00e+00 0 142 2.0805365e+00 8.88e-16 1.95e-16 -9.0 6.13e-14 -20.0 1.00e+00 1.00e+00T 0 Number of Iterations....: 142 (scaled) (unscaled) Objective...............: 2.0805364715330508e+00 2.0805364715330508e+00 Dual infeasibility......: 1.9538669384635720e-16 1.9538669384635720e-16 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 9.0909103283437487e-09 9.0909103283437487e-09 Complementarity.........: 9.0909090969342984e-10 9.0909090969342984e-10 Overall NLP error.......: 9.9999090909091523e-05 9.9999090909091523e-05 Number of objective function evaluations = 157 Number of objective gradient evaluations = 143 Number of equality constraint evaluations = 157 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 143 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 143 Total seconds in IPOPT = 29.392 EXIT: Search Direction is becoming Too Small. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.04s jacobian structure: 180 nonzeros (0.069s) integrator 1 hessian structure: 0.038s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.347s sub-objective 2 (QuadraticRegularizer): 0.088s sub-objective 3 (MinimumTimeObjective): 0.016s objective hessian structure: 0.542s hessian structure: 375 nonzeros (0.58s) linear index maps built (0.0s) evaluator ready (total: 0.795s) evaluator created (0.795s) NL constraint bounds extracted (0.011s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.119s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.543s) optimizer initialization complete (total: 4.47s) 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 1.4807709e+00 9.59e-01 1.04e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6695589e+00 1.52e-01 1.63e+00 -0.9 9.59e-01 0.0 1.00e+00 1.00e+00h 1 2 1.5585183e+00 1.14e-01 2.35e+00 -0.7 1.27e+01 - 6.57e-01 2.23e-01f 2 3 1.3272338e+00 3.88e-02 9.89e-01 -1.2 2.26e+00 - 9.93e-01 6.38e-01h 1 4 1.4730228e+00 1.59e-02 1.40e+00 -1.9 3.43e-01 -0.5 9.79e-01 1.00e+00h 1 5 1.2517168e+00 1.25e-02 8.18e-01 -2.0 3.02e-01 -1.0 1.00e+00 2.38e-01f 1 6 1.2141971e+00 1.07e-02 4.54e+00 -1.9 2.60e+01 - 1.00e+00 8.01e-02h 1 7 1.1240656e+00 5.32e-04 4.12e-01 -2.5 3.76e+00 - 1.00e+00 9.97e-01h 1 8 1.1006608e+00 2.16e-04 2.55e-02 -3.8 5.33e-01 - 1.00e+00 5.99e-01h 1 9 1.0908991e+00 1.82e-06 3.71e-03 -4.0 3.92e-01 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0908999e+00 1.51e-09 3.30e-04 -4.0 1.34e-01 - 1.00e+00 1.00e+00h 1 11 1.0908997e+00 2.52e-15 1.81e-05 -4.0 4.91e-05 - 1.00e+00 1.00e+00h 1 12 1.0908997e+00 5.08e-27 4.44e-16 -4.0 3.08e-09 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 12 (scaled) (unscaled) Objective...............: 1.0908997263265459e+00 1.0908997263265459e+00 Dual infeasibility......: 4.4408920985002899e-16 4.4408920985002899e-16 Constraint violation....: 5.0838209570130240e-27 5.0838209570130240e-27 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000003e-04 1.0000000000000003e-04 Overall NLP error.......: 4.4408920985002899e-16 4.4408920985002899e-16 Number of objective function evaluations = 16 Number of objective gradient evaluations = 13 Number of equality constraint evaluations = 16 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 13 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 12 Total seconds in IPOPT = 26.018 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.064s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.065s) integrator 1 hessian structure: 0.05s 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 (0.052s) linear index maps built (0.0s) evaluator ready (total: 0.117s) evaluator created (0.117s) 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: 0.118s) 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 2.8057629e+00 2.41e+00 4.44e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8029541e+00 2.84e-01 2.50e+00 -0.9 1.70e+00 0.0 9.08e-01 8.84e-01h 1 2 2.4899511e+00 1.15e-01 2.67e+00 -0.7 4.43e-01 0.4 8.47e-01 5.89e-01h 1 3 2.3657477e+00 2.13e-02 1.46e+00 -1.2 3.54e-01 -0.1 9.83e-01 1.00e+00h 1 4 2.2505293e+00 2.69e-03 2.03e-01 -2.0 8.74e-02 0.4 9.98e-01 1.00e+00h 1 5 2.1762878e+00 1.38e-03 3.84e-01 -2.9 6.73e-02 -0.1 9.98e-01 4.54e-01h 1 6 2.1037187e+00 5.04e-04 1.09e-01 -4.0 3.70e-02 -0.6 1.00e+00 7.52e-01h 1 7 2.0917440e+00 4.73e-05 5.35e-02 -4.0 1.44e-02 -1.1 1.00e+00 1.00e+00h 1 8 2.0908921e+00 3.73e-07 1.11e-03 -4.0 2.68e-03 -1.5 1.00e+00 1.00e+00h 1 9 2.0909302e+00 1.85e-08 5.81e-05 -4.0 5.96e-03 -2.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909295e+00 4.04e-11 2.85e-05 -4.0 8.78e-03 -2.5 1.00e+00 1.00e+00h 1 11 2.0909276e+00 1.36e-10 2.06e-05 -4.0 1.90e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0909220e+00 1.22e-09 2.06e-05 -4.0 5.70e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0909052e+00 1.10e-08 2.06e-05 -4.0 1.71e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0908548e+00 9.92e-08 2.06e-05 -4.0 5.13e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0907036e+00 8.95e-07 2.06e-05 -4.0 1.54e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0902515e+00 8.10e-06 3.62e-05 -4.0 4.60e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0889062e+00 7.42e-05 3.22e-04 -4.0 1.37e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0849756e+00 7.04e-04 2.93e-03 -4.0 3.99e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0796333e+00 2.08e-03 1.86e-01 -4.0 1.04e+02 -6.8 1.00e+00 5.18e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0801899e+00 1.85e-04 1.71e-01 -4.0 6.63e+01 -7.3 1.00e+00 9.89e-01H 1 21 2.0773849e+00 8.23e-03 2.21e-02 -4.0 1.26e+02 -7.7 1.00e+00 9.58e-01h 1 22 2.0770455e+00 1.89e-03 5.76e-02 -4.0 2.09e+02 -8.2 1.00e+00 1.00e+00h 1 23 2.0760910e+00 3.70e-03 2.06e-02 -4.0 3.51e+02 -8.7 1.00e+00 8.97e-01h 1 24 2.0768308e+00 3.45e-02 2.77e-02 -3.7 3.26e+02 -9.2 1.00e+00 1.00e+00h 1 25 2.0764486e+00 1.05e-02 5.96e-03 -3.8 1.38e+02 -9.6 1.00e+00 1.00e+00h 1 26 2.0764198e+00 2.29e-04 1.59e-04 -3.8 3.13e+01 -10.1 1.00e+00 1.00e+00h 1 27 2.0756775e+00 1.72e-03 7.23e-06 -4.0 3.11e+01 -10.6 1.00e+00 1.00e+00h 1 28 2.0756712e+00 6.14e-06 1.38e-06 -4.0 2.14e+01 -11.1 1.00e+00 1.00e+00h 1 29 2.0756712e+00 3.55e-09 1.47e-07 -4.0 4.85e+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 4.40e-11 1.63e-09 -4.0 6.60e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 2.0756712121486305e+00 2.0756712121486305e+00 Dual infeasibility......: 1.6334489032915084e-09 1.6334489032915084e-09 Constraint violation....: 4.4045100899836598e-11 4.4045100899836598e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000021e-04 1.0000000000000021e-04 Overall NLP error.......: 1.6334489032915084e-09 1.6334489032915084e-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 = 29.821 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: 0.047s 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 (0.048s) 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 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 (0.15s) optimizer initialization complete (total: 0.261s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1488 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1524 Total number of variables............................: 100 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.9032841e+00 3.43e+00 6.59e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.1187954e+00 9.40e-01 1.38e+00 -0.9 1.85e+00 0.0 9.70e-01 7.26e-01h 1 2 2.5982551e+00 2.78e-02 7.64e-01 -1.0 6.25e-01 -0.5 9.72e-01 1.00e+00h 1 3 2.4273209e+00 3.54e-02 1.36e+00 -1.4 9.88e-01 -1.0 9.89e-01 4.54e-01h 1 4 2.1806326e+00 9.89e-03 1.45e-01 -2.1 2.93e-01 -1.4 1.00e+00 1.00e+00h 1 5 2.0982136e+00 2.58e-03 1.57e-01 -3.4 2.89e-01 -1.9 1.00e+00 9.37e-01h 1 6 2.0918069e+00 1.63e-03 3.91e-02 -4.0 6.45e-01 -2.4 1.00e+00 9.92e-01h 1 7 2.0910878e+00 2.66e-05 2.51e-02 -4.0 1.13e-01 -2.9 1.00e+00 1.00e+00h 1 8 2.0909753e+00 4.10e-06 5.80e-04 -4.0 4.61e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909573e+00 2.59e-07 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 2.0909174e+00 6.19e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907979e+00 5.56e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0904402e+00 5.03e-06 2.26e-05 -4.0 3.64e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0893742e+00 4.59e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0862405e+00 4.31e-04 1.81e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796260e+00 2.55e-03 8.44e-02 -4.0 8.74e+01 -6.7 1.00e+00 7.65e-01h 1 16 2.0813194e+00 1.56e-04 1.94e-01 -4.0 6.78e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778439e+00 5.72e-03 2.71e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781452e+00 1.61e-02 3.45e-02 -3.7 1.50e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767396e+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 2.0758164e+00 1.14e-02 2.12e-02 -3.9 4.13e+02 -9.1 1.00e+00 9.92e-01h 1 21 2.0757801e+00 6.53e-03 9.59e-03 -4.0 1.38e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756780e+00 3.53e-04 4.20e-04 -4.0 5.99e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 1.52e-06 7.31e-06 -4.0 2.07e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756713e+00 5.54e-08 1.34e-06 -4.0 1.46e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756713e+00 3.80e-09 1.60e-07 -4.0 6.12e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756713e+00 9.87e-11 3.88e-09 -4.0 1.12e+00 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712528767611e+00 2.0756712528767611e+00 Dual infeasibility......: 3.8845940131043352e-09 3.8845940131043352e-09 Constraint violation....: 9.8727359620909283e-11 9.8727359620909283e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000011e-04 1.0000000000000011e-04 Overall NLP error.......: 3.8845940131043352e-09 3.8845940131043352e-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 = 27.805 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 (0.063s) integrator 1 hessian structure: 0.05s 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 (0.052s) linear index maps built (0.0s) evaluator ready (total: 0.115s) evaluator created (0.115s) 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: 0.115s) 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 2.7589494e+00 4.63e+00 4.27e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7888360e+00 3.77e+00 1.80e+01 -0.2 2.47e+00 0.0 3.08e-01 1.85e-01h 1 2 3.0417323e+00 8.18e-01 1.22e+01 -0.1 2.58e+00 -0.5 1.00e+00 7.83e-01f 1 3 3.3078978e+00 3.81e-02 3.37e+00 -0.3 1.73e+00 -1.0 9.33e-01 1.00e+00f 1 4 3.0602663e+00 6.38e-03 3.05e-01 -1.2 1.66e-01 -0.5 9.94e-01 1.00e+00h 1 5 2.3233343e+00 2.01e-02 2.11e-01 -2.2 2.20e-01 -1.0 7.79e-01 1.00e+00f 1 6 2.1399580e+00 2.73e-03 5.82e-02 -2.5 1.63e-01 -1.5 9.67e-01 8.49e-01h 1 7 2.0930806e+00 9.84e-05 8.93e-04 -3.7 1.47e-02 -2.0 9.95e-01 1.00e+00h 1 8 2.0908960e+00 1.76e-06 2.06e-05 -4.0 5.66e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908935e+00 5.11e-09 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908885e+00 9.67e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908736e+00 8.71e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908287e+00 7.84e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906944e+00 7.07e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902924e+00 6.40e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890952e+00 5.86e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855859e+00 5.53e-04 2.31e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796307e+00 2.29e-03 1.36e-01 -4.0 9.56e+01 -6.7 1.00e+00 6.29e-01h 1 18 2.0806931e+00 1.66e-04 1.87e-01 -4.0 6.80e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775260e+00 7.76e-03 2.60e-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 2.0769532e+00 1.53e-03 7.45e-02 -4.0 1.95e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0763139e+00 2.14e-03 2.22e-02 -4.0 3.41e+02 -8.6 1.00e+00 7.13e-01h 1 22 2.0755211e+00 1.65e-03 2.70e-02 -4.0 5.99e+02 -9.1 1.00e+00 7.57e-01h 1 23 2.0758066e+00 3.78e-03 1.57e-02 -4.0 1.79e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753935e+00 1.36e-03 8.18e-04 -4.1 1.03e+02 -10.1 1.00e+00 1.00e+00h 1 25 2.0756722e+00 4.56e-04 8.16e-06 -4.0 2.15e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 5.85e-07 1.12e-06 -4.0 1.20e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.28e-09 8.58e-08 -4.0 4.40e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 3.94e-11 1.56e-09 -4.0 6.97e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121579031e+00 2.0756712121579031e+00 Dual infeasibility......: 1.5606470034476225e-09 1.5606470034476225e-09 Constraint violation....: 3.9363512449597238e-11 3.9363512449597238e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000030e-04 1.0000000000000030e-04 Overall NLP error.......: 1.5606470034476225e-09 1.5606470034476225e-09 Number of objective function evaluations = 30 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 30 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 27.982 EXIT: Optimal Solution Found. [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=110, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! [test_integrator] Starting... [test_integrator] constraint_dim=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! Test Summary: | Pass Fail Total Time Package | 221 1 222 23m43.1s src/solvers/ipopt_solver/solver.jl | 16 16 6m05.7s src/solvers/ipopt_solver/callbacks.jl | 2 2 38.8s src/constraints/linear/bounds_constraint.jl | 60 60 1m51.9s src/integrators/time_dependent_bilinear_integrator.jl | 3 3 2m35.2s src/constraints/linear/all_equal_constraint.jl | 2 2 59.6s src/constraints/linear/time_consistency_constraint.jl | 19 19 22.3s src/constraints/linear/l1_slack_constraint.jl | 10 10 52.1s src/objectives/regularizers.jl | 6 6 16.4s src/constraints/nonlinear/global_knot_point_constraint.jl | 2 2 20.3s src/constraints/linear/total_constraint.jl | 2 2 54.9s src/solvers/ipopt_solver/evaluator.jl | 5 5 1m14.8s src/constraints/nonlinear/knot_point_constraint.jl | 23 1 24 2m01.3s NonlinearKnotPointConstraint - single variable | 1 1 2 22.5s NonlinearKnotPointConstraint - single variable with vector syntax | 5 5 18.9s NonlinearKnotPointConstraint - multiple variables concatenated | 2 2 15.4s NonlinearKnotPointConstraint - multiple variables separate arguments | 2 2 17.0s NonlinearKnotPointConstraint - three variables separate arguments | 2 2 12.0s NonlinearKnotPointConstraint - inequality vs equality | 7 7 21.5s NonlinearKnotPointConstraint - subset of times | 4 4 14.1s src/objectives/global_objectives.jl | 15 15 33.2s src/objectives/knot_point_objectives.jl | 6 6 9.9s src/constraints/linear/symmetry_constraint.jl | 20 20 1m37.9s src/constraints/linear/equality_constraint.jl | 3 3 1m32.6s src/objectives/_objectives.jl | 19 19 20.9s src/integrators/bilinear_integrator.jl | 3 3 41.2s src/constraints/nonlinear/global_constraint.jl | 2 2 16.1s src/integrators/derivative_integrator.jl | 3 3 17.9s ERROR: LoadError: Some tests did not pass: 221 passed, 1 failed, 0 errored, 0 broken. in expression starting at /home/pkgeval/.julia/packages/DirectTrajOpt/gniE1/test/runtests.jl:6 Testing failed after 1505.43s ERROR: LoadError: Package DirectTrajOpt errored during testing Stacktrace: [1] pkgerror(msg::String) @ Pkg.Types /opt/julia/share/julia/stdlib/v1.14/Pkg/src/Types.jl:68 [2] test(ctx::Pkg.Types.Context, pkgs::Vector{PackageSpec}; coverage::Bool, julia_args::Cmd, test_args::Cmd, test_fn::Nothing, force_latest_compatible_version::Bool, allow_earlier_backwards_compatible_versions::Bool, allow_reresolve::Bool) @ Pkg.Operations /opt/julia/share/julia/stdlib/v1.14/Pkg/src/Operations.jl:3138 [3] test @ /opt/julia/share/julia/stdlib/v1.14/Pkg/src/Operations.jl:3003 [inlined] [4] test(ctx::Pkg.Types.Context, pkgs::Vector{PackageSpec}; coverage::Bool, test_fn::Nothing, julia_args::Cmd, test_args::Cmd, force_latest_compatible_version::Bool, allow_earlier_backwards_compatible_versions::Bool, allow_reresolve::Bool, kwargs::@Kwargs{io::IOContext{IO}}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:586 [5] kwcall(::@NamedTuple{julia_args::Cmd, io::IOContext{IO}}, ::typeof(Pkg.API.test), ctx::Pkg.Types.Context, pkgs::Vector{PackageSpec}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:562 [6] test(pkgs::Vector{PackageSpec}; io::IOContext{IO}, kwargs::@Kwargs{julia_args::Cmd}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:172 [7] kwcall(::@NamedTuple{julia_args::Cmd}, ::typeof(Pkg.API.test), pkgs::Vector{PackageSpec}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:161 [8] test(pkgs::Vector{String}; kwargs::@Kwargs{julia_args::Cmd}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:160 [9] test @ /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:160 [inlined] [10] kwcall(::@NamedTuple{julia_args::Cmd}, ::typeof(Pkg.API.test), pkg::String) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:159 [11] top-level scope @ /PkgEval.jl/scripts/evaluate.jl:223 [12] include(mod::Module, _path::String) @ Base ./Base.jl:323 [13] exec_options(opts::Base.JLOptions) @ Base ./client.jl:344 [14] _start() @ Base ./client.jl:585 in expression starting at /PkgEval.jl/scripts/evaluate.jl:214 PkgEval failed after 2319.96s: package has test failures