Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.1826 (44c835795b*) started at 2026-03-02T21:20:43.213 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 16.94s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Installed DirectTrajOpt ─ v0.8.9 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 v1.3.2+0 [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 7.36s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling packages... 29714.2 ms ✓ DirectTrajOpt 1 dependency successfully precompiled in 33 seconds. 225 already precompiled. Precompilation completed after 62.43s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_WGJOg8/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_WGJOg8/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 v1.3.2+0 [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: 2.452s integrator 2 jacobian structure: 0.06s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 5.082s jacobian structure: 1600 nonzeros (7.654s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.053s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.202s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 2.317s sub-objective 2 (QuadraticRegularizer): 1.486s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.018s objective hessian structure: 3.92s hessian structure: 1749 nonzeros (8.23s) linear index maps built (0.0s) evaluator ready (total: 16.326s) evaluator created (20.675s) NL constraint bounds extracted (0.219s) NLP block data built (0.0s) Ipopt optimizer configured (0.338s) variables set (0.709s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (3.299s) optimizer initialization complete (total: 25.242s) ****************************************************************************** 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 4.9510677e+00 3.43e+00 5.06e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.0138731e+00 9.24e-01 2.30e+00 -0.9 7.40e+00 -2.0 9.76e-01 1.00e+00f 1 2 2.6227194e+00 2.80e-01 4.19e-01 -1.6 1.92e+00 -1.6 6.53e-01 8.11e-01h 1 3 2.5601622e+00 2.41e-01 1.00e+00 -1.4 3.61e+00 -2.1 9.57e-01 1.42e-01h 2 4 2.4628442e+00 1.92e-01 1.09e+00 -4.0 2.27e+00 -1.6 3.71e-01 2.04e-01h 1 5 2.3471297e+00 1.63e-01 1.84e+00 -1.6 7.23e+00 -2.1 8.50e-01 2.85e-01f 1 6 2.2991559e+00 1.59e-01 1.90e+00 -1.6 2.87e+00 -1.7 7.75e-01 6.81e-02h 1 7 2.1841088e+00 9.56e-02 1.43e+00 -3.5 3.04e+00 -2.2 4.77e-01 4.00e-01h 1 8 2.2711527e+00 5.79e-03 1.23e-01 -1.6 3.51e-01 -2.6 1.00e+00 1.00e+00f 1 9 2.1158644e+00 4.78e-03 1.30e-02 -2.5 2.66e-01 -3.1 9.99e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0905364e+00 4.74e-04 7.94e-03 -4.0 1.66e-01 -3.6 9.86e-01 9.95e-01h 1 11 2.0906986e+00 9.64e-06 6.20e-04 -4.0 2.28e-01 -4.1 1.00e+00 1.00e+00h 1 12 2.0906643e+00 3.38e-07 3.82e-04 -4.0 5.69e-01 -4.5 1.00e+00 1.00e+00h 1 13 2.0905059e+00 9.43e-07 1.63e-04 -4.0 1.73e+00 -5.0 1.00e+00 1.00e+00h 1 14 2.0899528e+00 1.08e-05 1.90e-03 -4.0 5.59e+00 -5.5 1.00e+00 1.00e+00h 1 15 2.0889632e+00 8.83e-05 1.35e-02 -4.0 1.55e+01 -6.0 1.00e+00 1.00e+00h 1 16 2.0881756e+00 5.43e-05 1.94e-02 -4.0 8.61e+00 -5.5 1.00e+00 5.62e-01h 1 17 2.0871257e+00 8.17e-05 1.02e-02 -4.0 1.54e+01 -6.0 1.00e+00 1.00e+00h 1 18 2.0855976e+00 1.64e-04 5.05e-02 -4.0 3.60e+01 -6.5 1.00e+00 5.26e-01h 1 19 2.0829298e+00 7.74e-04 5.07e-02 -4.0 5.23e+01 -7.0 1.00e+00 9.67e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0832515e+00 2.12e-03 5.08e-02 -4.0 8.00e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0822637e+00 4.37e-04 5.39e-02 -4.1 2.40e+02 -7.9 3.90e-01 1.00e+00h 1 22 2.0822449e+00 1.88e-04 3.63e-03 -4.0 4.35e+00 -5.7 1.00e+00 1.00e+00h 1 23 2.0819872e+00 2.00e-04 1.16e-02 -4.0 1.10e+01 -6.2 8.06e-01 1.00e+00h 1 24 2.0843756e+00 1.50e-04 1.84e-01 -4.0 5.61e+01 -6.7 1.00e+00 1.42e-01h 1 25 2.0820260e+00 2.96e-04 1.42e-02 -4.0 1.48e+01 -7.1 1.00e+00 1.00e+00h 1 26 2.0817503e+00 4.92e-04 2.01e-03 -4.1 2.67e+01 -7.6 1.00e+00 1.00e+00h 1 27 2.0818917e+00 1.02e-03 3.37e-03 -4.0 4.71e+01 -8.1 1.00e+00 1.00e+00h 1 28 2.0815862e+00 1.19e-03 2.44e-03 -4.1 5.25e+01 -8.6 1.00e+00 1.00e+00h 1 29 2.0818453e+00 6.85e-04 4.90e-04 -4.0 2.85e+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 30 2.0815838e+00 2.75e-04 2.30e-05 -4.1 1.23e+01 -9.5 1.00e+00 1.00e+00h 1 31 2.0818445e+00 2.04e-04 1.95e-05 -4.0 9.30e+00 -10.0 1.00e+00 1.00e+00h 1 32 2.0818434e+00 2.71e-08 4.39e-08 -4.0 3.59e-01 -10.5 1.00e+00 1.00e+00h 1 33 2.0818434e+00 1.10e-13 1.00e-09 -4.0 1.84e-03 -10.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 33 (scaled) (unscaled) Objective...............: 2.0818434105319614e+00 2.0818434105319614e+00 Dual infeasibility......: 1.0000000002596907e-09 1.0000000002596907e-09 Constraint violation....: 1.0957901253050295e-13 1.0957901253050295e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000509584e-04 1.0000000000509584e-04 Overall NLP error.......: 1.0000000002596907e-09 1.0000000002596907e-09 Number of objective function evaluations = 37 Number of objective gradient evaluations = 34 Number of equality constraint evaluations = 37 Number of inequality constraint evaluations = 37 Number of equality constraint Jacobian evaluations = 34 Number of inequality constraint Jacobian evaluations = 34 Number of Lagrangian Hessian evaluations = 33 Total seconds in IPOPT = 68.393 EXIT: Optimal Solution Found. 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: 0.053s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 6.558s jacobian structure: 1680 nonzeros (6.669s) integrator 1 hessian structure: 0.053s integrator 2 hessian structure: 0.053s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 8.851s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.25s sub-objective 2 (QuadraticRegularizer): 0.063s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.012s sub-objective 5 (GlobalObjective): 0.66s objective hessian structure: 1.074s hessian structure: 1964 nonzeros (10.033s) linear index maps built (0.0s) evaluator ready (total: 16.702s) evaluator created (16.727s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.113s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (3.829s) optimizer initialization complete (total: 20.67s) 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 1.1971380e+01 2.08e+00 4.89e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5137213e+00 2.76e-01 1.48e+00 -1.1 3.40e+00 -2.0 6.81e-01 8.68e-01f 1 2 2.3256984e+00 2.77e-01 1.01e+00 -1.2 2.86e+00 -2.5 6.74e-01 8.67e-01f 1 3 2.2770012e+00 5.69e-02 2.00e-01 -1.7 1.90e+00 -3.0 9.85e-01 1.00e+00h 1 4 2.1235187e+00 1.38e-02 5.18e-02 -2.4 1.11e+00 -3.4 9.62e-01 1.00e+00h 1 5 2.0945756e+00 2.25e-03 3.00e-03 -3.4 4.88e-01 -3.9 9.75e-01 1.00e+00h 1 6 2.0908957e+00 1.77e-04 8.94e-04 -4.0 3.91e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0908061e+00 2.31e-06 6.90e-04 -4.0 1.07e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0905817e+00 3.55e-06 8.24e-04 -4.0 3.30e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0903039e+00 3.92e-06 8.83e-03 -4.0 1.15e+01 -5.8 4.82e-01 2.33e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0895509e+00 3.09e-04 5.80e-02 -4.0 3.10e+01 -6.3 1.00e+00 1.00e+00f 1 11 2.0874222e+00 1.64e-04 6.11e-02 -4.0 6.19e+00 -5.0 1.00e+00 5.79e-01h 1 12 2.0873742e+00 3.43e-05 9.54e-03 -4.0 3.90e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0862600e+00 5.80e-05 7.54e-03 -4.0 1.16e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0846586e+00 2.20e-04 1.15e-02 -4.0 2.59e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0827803e+00 2.50e-04 2.55e-02 -4.0 3.57e+01 -6.9 1.00e+00 9.32e-01h 1 16 2.0831169e+00 1.34e-03 3.92e-02 -4.0 6.05e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0821479e+00 1.17e-03 8.76e-03 -4.1 1.45e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0823121e+00 2.55e-03 4.47e-02 -4.0 9.97e+01 -7.4 5.73e-01 1.00e+00h 1 19 2.0820651e+00 5.04e-05 7.09e-04 -4.1 1.06e+00 -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 2.0821509e+00 9.28e-05 7.70e-04 -4.0 2.83e+00 -5.6 1.00e+00 1.00e+00h 1 21 2.0818787e+00 1.82e-06 8.62e-02 -4.1 1.27e+01 -6.1 5.27e-01 1.00e+00H 1 22 2.0818138e+00 1.47e-06 1.19e-03 -4.0 8.52e-02 -3.9 1.00e+00 1.00e+00h 1 23 2.0818673e+00 5.34e-06 4.50e-04 -4.0 3.42e-01 -4.4 1.00e+00 1.00e+00h 1 24 2.0818167e+00 1.22e-05 4.23e-04 -4.1 5.72e-01 -4.8 1.00e+00 1.00e+00h 1 25 2.0814710e+00 1.05e-04 1.62e-01 -6.1 2.90e+00 -5.3 6.81e-01 4.09e-01h 1 26 2.0820360e+00 2.41e-04 3.26e-03 -4.0 3.99e+00 -5.8 1.00e+00 1.00e+00f 1 27 2.0819217e+00 2.67e-05 4.65e-04 -4.1 5.77e+00 -6.3 1.00e+00 1.00e+00h 1 28 2.0815316e+00 2.77e-04 8.98e-03 -6.1 1.13e+01 -6.8 2.11e-01 4.86e-01h 2 29 2.0813395e+00 1.59e-04 5.73e-02 -6.1 3.50e-01 -2.7 3.72e-01 4.25e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0818763e+00 2.57e-06 2.43e-03 -4.0 3.59e-02 -3.2 1.00e+00 1.00e+00f 1 31 2.0816525e+00 3.52e-06 3.96e-04 -4.1 7.86e-02 -3.7 1.00e+00 1.00e+00h 1 32 2.0817743e+00 6.09e-06 4.44e-04 -4.0 3.14e-01 -4.1 1.00e+00 1.00e+00h 1 33 2.0817122e+00 1.38e-05 6.41e-04 -4.1 3.62e-01 -4.6 1.00e+00 1.00e+00h 1 34 2.0812198e+00 9.78e-05 5.49e-02 -6.1 1.22e+00 -5.1 8.15e-01 1.00e+00h 1 35 2.0812475e+00 2.64e-05 1.39e-01 -4.6 3.02e-01 -4.7 1.00e+00 6.97e-01h 1 36 2.0819413e+00 1.71e-04 3.65e-03 -4.0 1.74e+00 -5.2 1.00e+00 1.00e+00f 1 37 2.0817994e+00 1.73e-05 9.41e-04 -4.1 7.98e-01 -5.6 1.00e+00 1.00e+00h 1 38 2.0818189e+00 3.83e-06 9.00e-05 -4.1 2.11e+00 -6.1 1.00e+00 1.00e+00h 1 39 2.0809726e+00 8.52e-04 6.58e-03 -6.1 1.17e+01 -6.6 9.95e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0812186e+00 3.30e-05 5.92e-04 -4.5 8.75e-01 -5.3 1.00e+00 1.00e+00h 1 41 2.0814946e+00 8.07e-05 6.43e-02 -4.0 4.71e+00 -5.7 1.00e+00 4.06e-01h 2 42 2.0816432e+00 5.21e-05 1.45e-03 -4.1 3.19e+00 -6.2 1.00e+00 1.00e+00h 1 43 2.0817058e+00 2.15e-05 5.73e-04 -4.1 4.70e+00 -6.7 1.00e+00 1.00e+00h 1 44 2.0808227e+00 1.82e-03 4.16e-03 -6.2 2.33e+01 -7.2 9.89e-01 9.97e-01h 1 45 2.0815620e+00 1.50e-03 2.87e-02 -4.0 3.14e+01 -7.6 1.00e+00 6.62e-01f 1 46 2.0816389e+00 4.79e-04 3.88e-03 -4.1 5.11e+01 -8.1 1.00e+00 1.00e+00h 1 47 2.0816803e+00 7.73e-06 6.67e-01 -4.1 2.20e-01 -3.2 5.65e-01 1.00e+00h 1 48 2.0818099e+00 2.34e-06 2.27e-03 -4.0 1.50e-01 -3.7 1.00e+00 1.00e+00h 1 49 2.0816622e+00 1.10e-05 1.24e-03 -4.1 1.13e-01 -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 50 2.0817805e+00 5.75e-06 3.49e-04 -4.0 2.48e-01 -4.6 1.00e+00 1.00e+00h 1 51 2.0816650e+00 1.57e-05 2.14e-04 -4.1 5.58e-01 -5.1 1.00e+00 1.00e+00h 1 52 2.0810330e+00 2.39e-04 8.61e-03 -6.1 2.74e+00 -5.6 9.70e-01 1.00e+00h 1 53 2.0818344e+00 7.24e-06 1.99e-03 -4.0 1.52e-01 -3.3 1.00e+00 1.00e+00h 1 54 2.0815468e+00 2.66e-06 6.71e-04 -4.1 1.09e-01 -3.8 1.00e+00 1.00e+00h 1 55 2.0816646e+00 4.45e-06 1.28e-04 -4.0 1.94e-01 -4.3 1.00e+00 1.00e+00h 1 56 2.0815699e+00 4.92e-06 2.06e-04 -4.1 1.99e-01 -4.8 1.00e+00 1.00e+00h 1 57 2.0810171e+00 1.37e-04 2.98e-02 -6.1 1.48e+00 -5.2 9.12e-01 1.00e+00h 1 58 2.0810127e+00 8.94e-05 2.98e-01 -4.7 6.86e-01 -4.8 1.00e+00 3.39e-01h 1 59 2.0817710e+00 1.53e-04 1.21e-02 -4.0 1.39e+00 -5.3 1.00e+00 9.59e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0816042e+00 1.39e-05 3.98e-04 -4.1 5.52e-01 -5.8 1.00e+00 1.00e+00h 1 61 2.0808106e+00 5.17e-04 2.53e-02 -6.1 5.55e+00 -6.2 9.10e-01 1.00e+00h 1 62 2.0808272e+00 6.26e-07 8.07e-05 -5.1 1.22e-01 -4.0 1.00e+00 1.00e+00h 1 63 2.0811624e+00 1.82e-05 4.59e-01 -4.0 1.26e+00 -4.5 1.00e+00 3.79e-01f 1 64 2.0813097e+00 4.42e-05 1.84e-03 -4.1 1.18e+00 -5.0 1.00e+00 1.00e+00f 1 65 2.0814523e+00 1.52e-05 1.29e-03 -4.1 1.43e+00 -5.4 1.00e+00 1.00e+00h 1 66 2.0815413e+00 9.75e-06 2.19e-03 -4.1 3.34e+00 -5.9 1.00e+00 1.00e+00h 1 67 2.0815988e+00 6.96e-06 7.53e-04 -4.1 1.56e+00 -6.4 1.00e+00 1.00e+00h 1 68 2.0807072e+00 9.77e-04 5.24e-03 -6.1 1.34e+01 -6.9 9.90e-01 1.00e+00h 1 69 2.0808386e+00 8.88e-04 1.59e-01 -4.0 1.70e+01 -7.4 1.00e+00 1.11e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0814623e+00 1.51e-03 2.85e-03 -4.2 2.27e+01 -7.8 1.00e+00 1.00e+00h 1 71 2.0814342e+00 1.49e-03 1.00e-02 -4.2 1.73e+02 -5.6 8.40e-03 8.74e-03h 2 72 2.0814310e+00 5.59e-06 5.21e-04 -4.2 3.34e-01 -6.1 1.00e+00 1.00e+00h 1 73 2.0806873e+00 5.86e-04 4.82e-03 -6.3 9.54e+00 -6.6 9.90e-01 1.00e+00h 1 74 2.0806983e+00 5.80e-04 1.19e-01 -4.0 4.21e+01 -6.1 6.40e-02 1.11e-02h 1 75 2.0824688e+00 4.92e-04 5.29e-02 -4.0 1.53e+01 -6.6 6.73e-01 2.49e-01f 1 76 2.0814032e+00 4.33e-04 3.74e+00 -4.3 3.25e+00 -3.5 1.69e-03 1.19e-01h 1 77 2.0813683e+00 5.63e-07 2.65e-03 -4.3 3.52e-02 -1.2 1.00e+00 1.00e+00f 1 78 2.0811772e+00 1.23e-06 1.59e-03 -4.3 8.20e-02 -1.7 1.00e+00 1.00e+00h 1 79 2.0811283e+00 4.16e-08 1.70e-02 -4.3 4.07e-02 -2.2 1.00e+00 9.75e-01H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0815015e+00 1.60e-06 1.16e-03 -4.0 2.54e-02 -2.7 1.00e+00 1.00e+00f 1 81 2.0813409e+00 4.78e-07 1.74e-04 -4.1 1.99e-02 -3.1 1.00e+00 1.00e+00h 1 82 2.0809942e+00 8.48e-06 3.03e-01 -6.1 9.95e-02 -3.6 6.28e-01 1.00e+00h 1 83 2.0807905e+00 3.97e-06 2.71e-02 -6.1 1.36e-01 -4.1 8.53e-01 1.00e+00h 1 84 2.0817479e+00 3.76e-05 2.60e-02 -4.0 3.71e-01 -4.6 1.00e+00 9.60e-01f 1 85 2.0814050e+00 5.86e-05 7.52e-04 -4.1 1.29e+00 -5.1 1.00e+00 1.00e+00h 1 86 2.0808117e+00 2.23e-04 1.33e-01 -6.1 3.76e+00 -5.5 5.74e-01 1.00e+00h 1 87 2.0807219e+00 2.71e-06 1.38e-01 -6.1 2.14e-01 -4.2 7.34e-01 1.00e+00h 1 88 2.0809075e+00 1.84e-05 3.13e-01 -4.0 3.38e+00 -4.7 3.12e-01 1.90e-01f 1 89 2.0810103e+00 1.58e-04 3.01e-03 -4.5 1.83e+00 -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 90 2.0810066e+00 1.23e-05 1.52e-04 -4.5 5.35e-01 -5.6 1.00e+00 1.00e+00h 1 91 2.0806573e+00 1.88e-04 8.26e-03 -6.7 3.21e+00 -6.1 9.48e-01 1.00e+00h 1 92 2.0806463e+00 1.71e-05 2.25e-02 -5.7 6.28e-01 -5.7 1.00e+00 8.93e-01h 1 93 2.0824143e+00 2.60e-04 1.40e-01 -4.0 1.57e+01 -6.2 2.18e-01 3.98e-01f 1 94 2.0817781e+00 1.53e-04 1.06e+00 -4.6 5.74e-02 -1.2 1.00e+00 4.10e-01h 1 95 2.0815950e+00 7.78e-07 2.61e+00 -4.6 2.74e-02 -1.7 4.44e-01 1.00e+00f 1 96 2.0813870e+00 4.13e-06 1.39e-01 -4.6 2.25e-02 -2.2 8.03e-01 1.00e+00h 1 97 2.0810736e+00 1.13e-05 4.06e+00 -4.6 1.10e+00 -2.6 1.04e-01 3.87e-01h 1 98 2.0810294e+00 9.40e-06 1.36e+00 -4.6 3.00e-01 -3.1 1.00e+00 1.64e-01f 2 99 2.0809556e+00 4.57e-07 1.09e-03 -4.6 1.79e-02 -3.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0809516e+00 6.88e-08 1.26e-05 -4.6 4.41e-02 -4.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0809516199066187e+00 2.0809516199066187e+00 Dual infeasibility......: 1.2639644969572706e-05 1.2639644969572706e-05 Constraint violation....: 6.8819580256729296e-08 6.8819580256729296e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.4598687386727776e-05 2.4598687386727776e-05 Overall NLP error.......: 7.5770217231559551e-05 7.5770217231559551e-05 Number of objective function evaluations = 114 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 114 Number of inequality constraint evaluations = 114 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 46.636 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: 4.581s jacobian structure: 1594 nonzeros (4.643s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) hessian structure: 16.061s 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 (16.115s) linear index maps built (0.0s) evaluator ready (total: 20.759s) evaluator created (20.782s) 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: 20.784s) 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 9.7644689e+01 3.79e+00 3.10e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.4197054e+01 2.46e+00 2.23e+01 -0.5 2.59e+00 0.0 1.00e+00 3.50e-01f 1 2 3.3434407e+00 9.46e-02 7.03e+00 -0.2 2.08e+00 -0.5 8.11e-01 1.00e+00f 1 3 3.1178120e+00 8.31e-03 2.17e+00 -0.5 2.17e-01 -0.1 9.58e-01 1.00e+00h 1 4 2.9097535e+00 5.74e-03 2.43e-01 -1.1 9.19e-02 -0.5 9.82e-01 1.00e+00h 1 5 2.3784627e+00 4.15e-02 8.13e-02 -1.7 4.05e-01 -1.0 9.11e-01 8.68e-01f 1 6 2.1938516e+00 9.96e-03 4.30e-02 -4.0 2.22e-01 -1.5 7.08e-01 7.61e-01h 1 7 2.1132116e+00 2.90e-03 1.03e-01 -3.1 2.37e-01 -2.0 9.90e-01 7.37e-01h 1 8 2.0912115e+00 1.02e-04 1.11e-03 -4.0 3.00e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908868e+00 7.26e-07 2.32e-04 -4.0 5.98e-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 2.0908808e+00 2.50e-09 2.32e-04 -4.0 4.43e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908683e+00 8.79e-09 2.32e-04 -4.0 1.29e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908369e+00 6.00e-08 2.32e-04 -4.0 3.57e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907613e+00 3.20e-07 2.95e-04 -4.0 9.64e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905425e+00 2.83e-06 3.47e-04 -4.0 2.80e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0904543e+00 4.41e-07 3.29e-04 -4.0 1.13e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0901103e+00 9.19e-07 2.71e-03 -4.0 4.12e+00 -5.4 1.00e+00 8.01e-01H 1 17 2.0894672e+00 5.25e-05 1.19e-02 -4.0 1.18e+01 -5.8 1.00e+00 1.00e+00f 1 18 2.0887178e+00 5.10e-05 9.22e-02 -4.0 1.82e+01 -5.4 1.00e+00 2.51e-01h 1 19 2.0878260e+00 5.59e-05 1.40e-02 -4.0 1.21e+01 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0864011e+00 1.19e-04 4.14e-02 -4.0 3.00e+01 -6.4 1.00e+00 5.69e-01h 1 21 2.0835171e+00 8.92e-04 4.55e-02 -4.0 5.19e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0826595e+00 2.54e-04 1.54e-02 -4.0 6.35e+01 -7.3 1.00e+00 6.57e-01h 1 23 2.0823888e+00 4.06e-04 1.44e-02 -4.0 1.49e+02 -7.8 9.16e-01 1.00e+00h 1 24 2.0826288e+00 3.50e-04 8.81e-03 -4.0 1.90e+01 -6.5 1.00e+00 1.00e+00h 1 25 2.0824313e+00 3.83e-04 2.90e-03 -4.0 5.20e+01 -6.9 6.87e-01 1.00e+00h 1 26 2.0823818e+00 3.96e-04 3.30e-03 -4.0 6.84e+01 -6.5 4.52e-02 4.49e-02h 4 27 2.0825074e+00 2.87e-04 1.13e-01 -4.0 1.01e+00 -4.3 4.67e-01 3.91e-01h 1 28 2.0823994e+00 8.53e-05 2.75e-03 -4.0 8.34e-01 -4.8 1.00e+00 1.00e+00h 1 29 2.0823795e+00 2.57e-05 7.93e-04 -4.0 6.39e-01 -5.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0823577e+00 1.67e-05 2.32e-04 -4.0 1.34e+00 -5.7 1.00e+00 1.00e+00h 1 31 2.0823005e+00 1.10e-05 2.32e-04 -4.0 3.53e+00 -6.2 1.00e+00 1.00e+00h 1 32 2.0822365e+00 2.92e-05 7.49e-04 -4.0 7.60e+00 -6.7 1.00e+00 1.00e+00h 1 33 2.0821545e+00 3.05e-05 1.26e-03 -4.0 1.73e+01 -7.1 1.00e+00 1.00e+00h 1 34 2.0820276e+00 5.99e-05 3.21e-03 -4.0 3.53e+01 -7.6 1.00e+00 1.00e+00h 1 35 2.0819046e+00 1.49e-04 5.69e-03 -4.0 5.31e+01 -8.1 1.00e+00 1.00e+00h 1 36 2.0818500e+00 1.49e-04 3.66e-03 -4.0 5.95e+01 -8.6 1.00e+00 1.00e+00h 1 37 2.0818394e+00 3.14e-05 6.16e-04 -4.0 3.17e+01 -9.0 1.00e+00 1.00e+00h 1 38 2.0818383e+00 1.04e-06 2.32e-04 -4.0 6.87e+00 -9.5 1.00e+00 1.00e+00h 1 39 2.0818383e+00 4.82e-09 2.32e-04 -4.0 5.52e-01 -10.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818383e+00 3.05e-12 2.32e-04 -4.0 1.57e-02 -10.5 1.00e+00 1.00e+00h 1 41 2.0818383e+00 1.53e-12 1.16e-04 -4.0 1.54e-04 -11.0 1.00e+00 5.00e-01h 2 42 2.0818383e+00 4.44e-16 2.32e-04 -4.0 7.76e-05 -11.9 1.00e+00 1.00e+00H 1 43 2.0818383e+00 4.44e-16 2.32e-04 -4.0 2.00e-05 -12.4 1.00e+00 1.00e+00h 1 44 2.0815797e+00 2.05e-04 1.86e-04 -4.1 9.35e+00 -12.9 1.00e+00 1.00e+00h 1 45 2.0818395e+00 2.13e-04 2.32e-04 -4.0 9.67e+00 -13.3 1.00e+00 1.00e+00h 1 46 2.0815804e+00 2.11e-04 1.86e-04 -4.1 9.63e+00 -13.8 1.00e+00 1.00e+00h 1 47 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -14.3 9.78e-01 9.71e-01h 1 48 2.0818882e+00 6.56e-03 2.96e-04 -4.0 6.10e+01 -14.8 1.00e+00 1.00e+00f 1 49 2.0816136e+00 4.88e-04 1.91e-04 -4.1 2.07e+01 -15.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0805989e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -15.7 9.76e-01 9.65e-01h 1 51 2.0805508e+00 8.46e-05 2.20e-06 -6.1 1.69e+01 -16.2 1.00e+00 1.00e+00h 1 52 2.0819794e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -16.7 1.00e+00 1.00e+00f 1 53 2.0816837e+00 9.34e-04 1.98e-04 -4.1 4.57e+01 -17.2 1.00e+00 1.00e+00h 1 54 2.0816477e+00 4.73e-07 1.98e-04 -4.1 8.53e+00 -17.6 1.00e+00 1.00e+00h 1 55 2.0818389e+00 1.15e-04 2.32e-04 -4.0 7.07e+00 -18.1 1.00e+00 1.00e+00h 1 56 2.0815801e+00 2.08e-04 1.86e-04 -4.1 9.50e+00 -18.6 1.00e+00 1.00e+00h 1 57 2.0805898e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -19.1 9.78e-01 9.71e-01h 1 58 2.0805497e+00 6.51e-05 1.78e-06 -6.1 1.55e+01 -19.5 1.00e+00 1.00e+00h 1 59 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0816887e+00 9.54e-04 1.98e-04 -4.1 4.72e+01 -20.0 1.00e+00 1.00e+00h 1 61 2.0816504e+00 5.63e-07 1.98e-04 -4.1 8.93e+00 -20.0 1.00e+00 1.00e+00h 1 62 2.0805906e+00 3.68e-03 1.60e-04 -6.1 4.16e+01 -20.0 9.77e-01 9.75e-01h 1 63 2.0805511e+00 6.76e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 64 2.0805469e+00 4.72e-08 1.83e-06 -6.1 2.95e+00 -20.0 1.00e+00 1.00e+00h 1 65 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.89e+01 -20.0 1.00e+00 1.00e+00f 1 66 2.0817159e+00 1.04e-03 2.01e-04 -4.1 5.46e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0816648e+00 1.22e-06 2.01e-04 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 68 2.0805915e+00 3.76e-03 1.66e-04 -6.1 4.20e+01 -20.0 9.76e-01 9.75e-01h 1 69 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0805471e+00 4.99e-08 1.87e-06 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 71 2.0805365e+00 9.55e-07 8.02e-07 -9.0 9.57e-01 -20.0 1.00e+00 9.97e-01h 1 72 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 73 2.0817306e+00 1.08e-03 2.02e-04 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 74 2.0816723e+00 1.67e-06 2.02e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 75 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 76 2.0805516e+00 7.07e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 77 2.0805472e+00 5.15e-08 1.89e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 78 2.0805365e+00 9.76e-07 8.28e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 79 2.0805365e+00 9.27e-11 2.11e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 81 2.0817309e+00 1.08e-03 2.02e-04 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0816725e+00 1.68e-06 2.02e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 83 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 84 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 85 2.0805472e+00 5.16e-08 1.89e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 86 2.0805365e+00 9.76e-07 8.29e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 87 2.0805365e+00 9.28e-11 2.11e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 88 2.0805365e+00 4.44e-16 2.11e-09 -9.0 1.10e-05 -20.0 1.00e+00 1.00e+00h 1 89 2.0805365e+00 8.88e-16 2.11e-09 -9.0 1.06e-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 90 2.0805365e+00 8.88e-16 2.11e-09 -9.0 1.06e-10 -20.0 1.00e+00 1.00e+00h 1 91 2.0805365e+00 8.88e-16 2.11e-09 -9.0 1.06e-10 -20.0 1.00e+00 1.00e+00h 1 92 2.0805365e+00 4.44e-16 2.11e-09 -9.0 1.06e-10 -20.0 1.00e+00 1.00e+00h 1 93 2.0805365e+00 4.44e-16 2.11e-09 -9.0 1.06e-10 -20.0 1.00e+00 1.00e+00h 1 94 2.0805365e+00 2.22e-16 2.11e-09 -9.0 1.06e-10 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 4.44e-16 2.11e-09 -9.0 1.06e-10 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 2.22e-16 2.11e-09 -9.0 1.06e-10 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 4.44e-16 2.11e-09 -9.0 1.06e-10 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 2.22e-16 2.11e-09 -9.0 1.06e-10 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 4.44e-16 2.11e-09 -9.0 1.06e-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 2.22e-16 2.11e-09 -9.0 1.06e-10 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595436466e+00 2.0805364595436466e+00 Dual infeasibility......: 2.1112027281528663e-09 2.1112027281528663e-09 Constraint violation....: 2.2204460492503131e-16 2.2204460492503131e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090971179366e-10 9.0909090971179366e-10 Overall NLP error.......: 9.9999090909091550e-05 9.9999090909091550e-05 Number of objective function evaluations = 109 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 109 Number of inequality constraint evaluations = 109 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 34.261 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: 0.055s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.055s) 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: 0.104s) evaluator created (0.116s) 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 2.8373536e+00 2.19e+00 4.54e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.3606248e+00 1.79e-01 1.80e+00 -0.9 1.90e+00 0.0 8.95e-01 9.20e-01f 1 2 2.5662066e+00 1.33e-02 2.49e+00 -0.9 3.04e-01 0.4 8.22e-01 1.00e+00f 1 3 2.4759735e+00 2.23e-03 4.52e-01 -1.6 8.58e-02 -0.1 9.91e-01 1.00e+00h 1 4 2.2022326e+00 4.01e-03 1.35e-01 -2.2 1.95e-01 -0.5 9.95e-01 6.59e-01f 1 5 2.1103442e+00 5.91e-04 4.89e-02 -3.1 3.54e-02 -1.0 9.99e-01 9.09e-01h 1 6 2.0909535e+00 5.65e-05 1.12e-02 -4.0 1.43e-02 -1.5 1.00e+00 9.90e-01h 1 7 2.0909270e+00 9.68e-08 2.81e-04 -4.0 5.19e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909259e+00 2.49e-09 2.95e-05 -4.0 8.08e-03 -2.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 8 (scaled) (unscaled) Objective...............: 2.0909258560731381e+00 2.0909258560731381e+00 Dual infeasibility......: 2.9538542113715478e-05 2.9538542113715478e-05 Constraint violation....: 2.4924598635012174e-09 2.4924598635012174e-09 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000002696000236e-04 1.0000002696000236e-04 Overall NLP error.......: 2.9538542113715478e-05 2.9538542113715478e-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 = 23.798 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.061s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.111s) evaluator created (0.111s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.112s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.6844907e+00 4.40e+00 5.45e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6850992e+00 1.07e-01 5.78e-01 -1.1 2.81e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.3032945e+00 1.89e-01 3.88e-01 -1.5 3.05e+00 -2.5 8.40e-01 8.21e-01h 1 3 2.1870868e+00 4.13e-02 3.02e-01 -2.0 1.44e+00 -3.0 9.04e-01 1.00e+00h 1 4 2.1202388e+00 1.11e-02 5.07e-02 -3.1 7.54e-01 -3.4 1.00e+00 7.18e-01h 1 5 2.0913156e+00 1.03e-03 1.91e-03 -4.0 2.49e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0908414e+00 4.63e-05 2.32e-04 -4.0 5.00e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0906936e+00 6.86e-07 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0902525e+00 7.71e-06 3.45e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0889401e+00 7.07e-05 3.07e-04 -4.0 1.33e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0851025e+00 6.69e-04 2.79e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0796414e+00 2.12e-03 1.76e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.39e-01h 1 12 2.0802466e+00 4.17e-04 1.87e-01 -4.0 6.90e+01 -7.2 1.00e+00 9.72e-01H 1 13 2.0774911e+00 8.25e-03 2.19e-02 -4.0 1.24e+02 -7.7 1.00e+00 9.44e-01h 1 14 2.0768138e+00 1.84e-03 6.93e-02 -4.0 2.04e+02 -8.2 1.00e+00 9.66e-01h 1 15 2.0761990e+00 1.86e-03 3.20e-02 -4.0 3.55e+02 -8.7 1.00e+00 7.95e-01h 1 16 2.0755099e+00 1.82e-03 4.08e-02 -4.0 6.17e+02 -9.2 1.00e+00 6.82e-01h 1 17 2.0757841e+00 3.21e-03 1.44e-02 -4.0 1.72e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0753835e+00 1.22e-03 6.10e-04 -4.1 8.79e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0756722e+00 4.61e-04 5.03e-06 -4.0 2.12e+01 -10.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0756712e+00 5.65e-07 9.62e-07 -4.0 1.12e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0756712e+00 1.74e-09 6.43e-08 -4.0 3.88e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0756712e+00 2.51e-11 1.00e-09 -4.0 5.63e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0756712121330740e+00 2.0756712121330740e+00 Dual infeasibility......: 1.0008325229226948e-09 1.0008325229226948e-09 Constraint violation....: 2.5118462865236779e-11 2.5118462865236779e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000036e-04 1.0000000000000036e-04 Overall NLP error.......: 1.0008325229226948e-09 1.0008325229226948e-09 Number of objective function evaluations = 24 Number of objective gradient evaluations = 23 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 23 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 22 Total seconds in IPOPT = 24.653 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.054s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.055s) integrator 1 hessian structure: 0.045s 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 (0.047s) linear index maps built (0.0s) evaluator ready (total: 0.102s) evaluator created (0.102s) 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: 0.103s) 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 5.8470516e+00 2.20e+00 3.38e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.0171160e+00 5.58e-01 3.23e+00 -1.2 1.95e+00 0.0 1.74e-01 7.43e-01f 1 2 2.5380849e+00 2.88e-01 2.35e+00 -0.9 5.64e-01 0.4 6.31e-01 4.68e-01f 1 3 2.2712859e+00 2.89e-02 1.52e+00 -1.3 2.95e-01 -0.1 9.96e-01 9.00e-01h 1 4 2.2481012e+00 5.73e-04 7.69e-01 -2.2 1.48e-01 -0.5 1.00e+00 1.00e+00h 1 5 2.1608049e+00 1.87e-03 1.52e-01 -2.6 2.31e-01 -1.0 1.00e+00 2.47e-01f 1 6 2.1023270e+00 7.74e-04 6.17e-02 -3.9 5.57e-02 -1.5 1.00e+00 7.29e-01h 1 7 2.0907825e+00 1.32e-05 3.83e-03 -4.0 1.45e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0909117e+00 2.86e-07 8.29e-05 -4.0 2.27e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909106e+00 2.46e-09 2.29e-05 -4.0 1.87e-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 2.0909057e+00 9.70e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0909056670300616e+00 2.0909056670300616e+00 Dual infeasibility......: 2.0585860409024444e-05 2.0585860409024444e-05 Constraint violation....: 9.7023690991127065e-10 9.7023690991127065e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999999923e-05 9.9999999999999923e-05 Overall NLP error.......: 2.0585860409024444e-05 2.0585860409024444e-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 = 24.071 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: 0.052s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.053s) integrator 1 hessian structure: 0.043s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.045s) linear index maps built (0.0s) evaluator ready (total: 0.099s) evaluator created (0.099s) 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: 0.1s) 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 1.4517550e+00 2.15e+00 6.64e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.2153575e+00 3.00e-01 1.58e+00 -0.8 1.84e+00 - 1.00e+00 8.66e-01h 1 2 2.7252430e+00 6.78e-03 5.53e-01 -1.0 3.35e-01 - 9.52e-01 1.00e+00h 1 3 2.3511175e+00 5.70e-03 1.37e-01 -1.9 9.84e-02 - 9.53e-01 1.00e+00f 1 4 2.1213133e+00 4.24e-03 6.79e-02 -3.0 1.63e-01 - 9.97e-01 8.79e-01h 1 5 2.0908531e+00 1.83e-04 1.20e-02 -4.0 4.85e-02 - 1.00e+00 1.00e+00h 1 6 2.0908813e+00 5.45e-08 7.17e-04 -4.0 6.21e-03 - 1.00e+00 1.00e+00h 1 7 2.0908811e+00 2.37e-12 5.88e-05 -4.0 5.88e-05 - 1.00e+00 1.00e+00h 1 8 2.0904441e+00 2.87e-06 1.84e-02 -4.0 5.30e+00 - 1.00e+00 1.00e+00f 1 9 2.0900170e+00 7.40e-06 1.83e-02 -4.0 5.28e+00 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0895910e+00 7.63e-06 1.83e-02 -4.0 5.26e+00 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0895910310459032e+00 2.0895910310459032e+00 Dual infeasibility......: 1.8274814734770120e-02 1.8274814734770120e-02 Constraint violation....: 7.6253228794842531e-06 7.6253228794842531e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999769707e-05 9.9999999999769707e-05 Overall NLP error.......: 1.8274814734770120e-02 1.8274814734770120e-02 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 = 7.674 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 (0.06s) 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: 0.113s) 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 2.5636716e+00 2.04e+00 5.70e-01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7926685e+00 4.11e-02 1.91e+00 -1.0 1.88e+00 0.0 9.64e-01 1.00e+00f 1 2 2.4669636e+00 1.01e-02 7.54e-01 -1.0 2.14e-01 0.4 9.48e-01 1.00e+00h 1 3 2.3817616e+00 1.25e-03 1.95e-01 -1.7 8.56e-02 -0.1 1.00e+00 1.00e+00h 1 4 2.1456213e+00 1.77e-03 8.55e-02 -2.5 9.20e-02 -0.5 9.93e-01 8.36e-01f 1 5 2.1115532e+00 1.72e-04 1.53e-02 -2.5 1.90e-02 -1.0 1.00e+00 1.00e+00h 1 6 2.0913586e+00 1.10e-05 1.67e-03 -3.8 7.32e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0913911e+00 4.57e-08 5.74e-05 -3.8 5.23e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909369e+00 2.83e-07 2.06e-05 -4.0 5.63e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909352e+00 2.91e-11 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 2.0909302e+00 9.63e-10 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0909302453559544e+00 2.0909302453559544e+00 Dual infeasibility......: 2.0588907856575561e-05 2.0588907856575561e-05 Constraint violation....: 9.6291691113747913e-10 9.6291691113747913e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999999923e-05 9.9999999999999923e-05 Overall NLP error.......: 2.0588907856575561e-05 2.0588907856575561e-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 = 25.376 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: 0.054s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.055s) 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: 0.0s hessian structure: 1749 nonzeros (0.045s) linear index maps built (0.0s) evaluator ready (total: 0.1s) evaluator created (0.1s) 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: 0.101s) initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.055s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.493s jacobian structure: 1600 nonzeros (2.548s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.513s 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 (3.565s) linear index maps built (0.0s) evaluator ready (total: 6.114s) evaluator created (6.138s) 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: 6.154s) 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 5.4324257e+00 4.68e+00 9.35e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.8173337e+00 3.64e-01 2.31e+00 -0.8 2.51e+00 0.0 1.00e+00 9.22e-01f 1 Hello, world! 2 2.4447008e+00 2.41e-02 9.98e-01 -1.1 2.90e-01 0.4 9.80e-01 1.00e+00f 1 Hello, world! 3 2.3366958e+00 4.01e-03 2.17e-01 -1.8 8.16e-02 -0.1 9.86e-01 1.00e+00h 1 Hello, world! 4 2.1366497e+00 1.57e-03 7.79e-02 -2.7 7.86e-02 -0.5 9.96e-01 7.77e-01f 1 Hello, world! 5 2.0934511e+00 1.88e-04 2.41e-02 -3.8 1.68e-02 -1.0 1.00e+00 9.49e-01h 1 Hello, world! 6 2.0909444e+00 4.51e-06 5.98e-03 -4.0 6.83e-03 -1.5 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0909450e+00 3.30e-09 3.88e-05 -4.0 3.54e-03 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0909444e+00 5.89e-11 2.54e-05 -4.0 6.95e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909420e+00 1.87e-10 2.54e-05 -4.0 2.08e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909344e+00 1.89e-09 2.49e-05 -4.0 6.14e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0909137e+00 1.49e-08 1.84e-04 -4.0 1.73e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908713e+00 7.84e-08 6.59e-04 -4.0 4.26e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0907940e+00 2.73e-07 1.79e-03 -4.0 9.98e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0905935e+00 2.92e-06 1.27e-03 -4.0 3.04e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0900026e+00 2.70e-05 7.93e-04 -4.0 8.96e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0897236e+00 4.72e-06 1.86e-03 -4.0 3.42e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0895346e+00 5.60e-06 4.94e-02 -4.0 1.49e+01 -5.8 1.00e+00 1.28e-01h 2 Hello, world! 18 2.0874562e+00 2.47e-04 9.69e-03 -4.0 2.65e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0859412e+00 2.86e-04 1.07e-01 -4.0 5.71e+01 -6.8 1.00e+00 3.33e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0828227e+00 1.08e-03 7.79e-02 -4.0 6.96e+01 -7.3 1.00e+00 7.63e-01h 1 Hello, world! 21 2.0828591e+00 2.92e-03 4.01e-02 -4.0 1.29e+02 -7.7 9.14e-01 1.00e+00h 1 Hello, world! 22 2.0826796e+00 6.72e-05 4.12e-03 -4.1 1.19e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0823883e+00 4.12e-04 4.10e-03 -4.0 2.62e+01 -6.9 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0823393e+00 3.44e-05 2.91e-04 -4.0 8.85e+00 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0823058e+00 2.42e-04 2.95e-03 -4.0 3.48e+01 -6.9 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0824241e+00 3.24e-04 3.87e-03 -4.0 5.50e+00 -5.6 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0821385e+00 6.22e-04 4.84e-03 -4.1 4.68e+00 -6.1 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0825013e+00 2.13e-04 1.50e-02 -4.0 9.68e+00 -6.6 1.00e+00 7.31e-01h 1 Hello, world! 29 2.0819376e+00 3.12e-04 3.55e-03 -4.1 1.63e+01 -7.0 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0820550e+00 6.33e-04 3.72e-03 -4.0 2.63e+01 -7.5 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0816710e+00 1.39e-03 4.19e-03 -4.1 5.24e+01 -8.0 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0818604e+00 1.52e-03 4.53e-03 -4.0 6.27e+01 -8.5 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0818452e+00 6.53e-05 9.12e-04 -4.0 3.82e+01 -8.9 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0818435e+00 2.28e-06 6.09e-05 -4.0 1.01e+01 -9.4 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0818434e+00 1.72e-08 6.44e-07 -4.0 1.02e+00 -9.9 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0818434e+00 1.68e-11 1.00e-09 -4.0 3.62e-02 -10.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 36 (scaled) (unscaled) Objective...............: 2.0818434105578585e+00 2.0818434105578585e+00 Dual infeasibility......: 1.0000000187046802e-09 1.0000000187046802e-09 Constraint violation....: 1.6750156817124662e-11 1.6750156817124662e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000029e-04 1.0000000000000029e-04 Overall NLP error.......: 1.0000000187046802e-09 1.0000000187046802e-09 Number of objective function evaluations = 40 Number of objective gradient evaluations = 37 Number of equality constraint evaluations = 40 Number of inequality constraint evaluations = 40 Number of equality constraint Jacobian evaluations = 37 Number of inequality constraint Jacobian evaluations = 37 Number of Lagrangian Hessian evaluations = 36 Total seconds in IPOPT = 27.577 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) evaluator created (0.002s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.003s) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.4324257e+00 4.68e+00 9.35e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.8173337e+00 3.64e-01 2.31e+00 -0.8 2.51e+00 0.0 1.00e+00 9.22e-01f 1 Hello, world! 2 2.4447008e+00 2.41e-02 9.98e-01 -1.1 2.90e-01 0.4 9.80e-01 1.00e+00f 1 Hello, world! 3 2.3366958e+00 4.01e-03 2.17e-01 -1.8 8.16e-02 -0.1 9.86e-01 1.00e+00h 1 Hello, world! 4 2.1366497e+00 1.57e-03 7.79e-02 -2.7 7.86e-02 -0.5 9.96e-01 7.77e-01f 1 Hello, world! 5 2.0934511e+00 1.88e-04 2.41e-02 -3.8 1.68e-02 -1.0 1.00e+00 9.49e-01h 1 Hello, world! 6 2.0909444e+00 4.51e-06 5.98e-03 -4.0 6.83e-03 -1.5 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0909450e+00 3.30e-09 3.88e-05 -4.0 3.54e-03 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0909444e+00 5.89e-11 2.54e-05 -4.0 6.95e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909420e+00 1.87e-10 2.54e-05 -4.0 2.08e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909344e+00 1.89e-09 2.49e-05 -4.0 6.14e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0909137e+00 1.49e-08 1.84e-04 -4.0 1.73e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908713e+00 7.84e-08 6.59e-04 -4.0 4.26e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0907940e+00 2.73e-07 1.79e-03 -4.0 9.98e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0905935e+00 2.92e-06 1.27e-03 -4.0 3.04e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0900026e+00 2.70e-05 7.93e-04 -4.0 8.96e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0897236e+00 4.72e-06 1.86e-03 -4.0 3.42e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0895346e+00 5.60e-06 4.94e-02 -4.0 1.49e+01 -5.8 1.00e+00 1.28e-01h 2 Hello, world! 18 2.0874562e+00 2.47e-04 9.69e-03 -4.0 2.65e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0859412e+00 2.86e-04 1.07e-01 -4.0 5.71e+01 -6.8 1.00e+00 3.33e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0828227e+00 1.08e-03 7.79e-02 -4.0 6.96e+01 -7.3 1.00e+00 7.63e-01h 1 Hello, world! 21 2.0828591e+00 2.92e-03 4.01e-02 -4.0 1.29e+02 -7.7 9.14e-01 1.00e+00h 1 Hello, world! 22 2.0826796e+00 6.72e-05 4.12e-03 -4.1 1.19e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0823883e+00 4.12e-04 4.10e-03 -4.0 2.62e+01 -6.9 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0823393e+00 3.44e-05 2.91e-04 -4.0 8.85e+00 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0823058e+00 2.42e-04 2.95e-03 -4.0 3.48e+01 -6.9 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0824241e+00 3.24e-04 3.87e-03 -4.0 5.50e+00 -5.6 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0821385e+00 6.22e-04 4.84e-03 -4.1 4.68e+00 -6.1 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0825013e+00 2.13e-04 1.50e-02 -4.0 9.68e+00 -6.6 1.00e+00 7.31e-01h 1 Hello, world! 29 2.0819376e+00 3.12e-04 3.55e-03 -4.1 1.63e+01 -7.0 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0820550e+00 6.33e-04 3.72e-03 -4.0 2.63e+01 -7.5 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0816710e+00 1.39e-03 4.19e-03 -4.1 5.24e+01 -8.0 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0818604e+00 1.52e-03 4.53e-03 -4.0 6.27e+01 -8.5 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0818452e+00 6.53e-05 9.12e-04 -4.0 3.82e+01 -8.9 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0818435e+00 2.28e-06 6.09e-05 -4.0 1.01e+01 -9.4 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0818434e+00 1.72e-08 6.44e-07 -4.0 1.02e+00 -9.9 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0818434e+00 1.68e-11 1.00e-09 -4.0 3.62e-02 -10.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 36 (scaled) (unscaled) Objective...............: 2.0818434105578585e+00 2.0818434105578585e+00 Dual infeasibility......: 1.0000000187046802e-09 1.0000000187046802e-09 Constraint violation....: 1.6750156817124662e-11 1.6750156817124662e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000029e-04 1.0000000000000029e-04 Overall NLP error.......: 1.0000000187046802e-09 1.0000000187046802e-09 Number of objective function evaluations = 40 Number of objective gradient evaluations = 37 Number of equality constraint evaluations = 40 Number of inequality constraint evaluations = 40 Number of equality constraint Jacobian evaluations = 37 Number of inequality constraint Jacobian evaluations = 37 Number of Lagrangian Hessian evaluations = 36 Total seconds in IPOPT = 0.786 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: 0.052s 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 (0.052s) 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: 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 (0.133s) optimizer initialization complete (total: 0.251s) 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 5.6966967e+00 3.28e+00 7.17e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7175587e+00 4.09e-02 7.48e-01 -1.0 2.78e+00 - 1.00e+00 1.00e+00f 1 2 2.4776767e+00 7.92e-03 2.00e-01 -1.4 1.50e-01 - 9.62e-01 1.00e+00f 1 3 2.1682972e+00 2.36e-03 2.51e-02 -2.3 6.04e-02 - 9.91e-01 9.44e-01h 1 4 2.0919430e+00 1.22e-04 8.22e-04 -4.0 1.20e-02 - 9.88e-01 9.94e-01h 1 5 2.0908952e+00 2.16e-05 6.33e-04 -4.0 2.35e-01 - 1.00e+00 1.00e+00h 1 6 2.0908973e+00 1.27e-08 1.82e-07 -4.0 1.06e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 1.21e-11 4.92e-11 -4.0 7.77e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971976106629e+00 2.0908971976106629e+00 Dual infeasibility......: 4.9177878241012107e-11 4.9177878241012107e-11 Constraint violation....: 1.2051845768102157e-11 1.2051845768102157e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000134288305876e-04 1.0000134288305876e-04 Overall NLP error.......: 1.3428830587537124e-09 1.3428830587537124e-09 Number of objective function evaluations = 8 Number of objective gradient evaluations = 8 Number of equality constraint evaluations = 8 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 8 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 7 Total seconds in IPOPT = 25.707 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.063s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.064s) integrator 1 hessian structure: 0.052s 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: 0.001s 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: bounds constraint on trajectory variable du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.0s) optimizer initialization complete (total: 0.119s) 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: 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 5.1187562e+00 1.29e+00 7.60e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9858994e+00 6.60e-01 1.76e+01 -0.5 1.52e+00 0.0 6.41e-02 4.86e-01f 1 2 2.7030398e+00 4.19e-01 1.10e+01 -0.8 7.02e-01 0.4 2.15e-01 3.68e-01f 1 3 2.5509289e+00 2.70e-01 2.03e+01 -0.3 7.67e-01 0.9 7.73e-01 3.57e-01f 1 4 3.0419018e+00 1.48e-01 1.73e+01 -4.0 9.89e-01 0.4 1.90e-01 4.50e-01h 1 5 2.9703738e+00 6.77e-03 2.21e+00 -0.5 1.64e-01 0.8 9.78e-01 1.00e+00f 1 6 2.8788879e+00 1.03e-03 6.74e-01 -1.5 3.50e-02 0.3 9.11e-01 1.00e+00h 1 7 2.4391195e+00 1.70e-02 2.34e-01 -1.7 1.83e-01 -0.2 9.83e-01 1.00e+00f 1 8 2.2490716e+00 1.30e-02 3.39e-01 -1.9 3.01e-01 -0.6 9.04e-01 4.33e-01h 1 9 2.1636488e+00 3.76e-03 9.95e-02 -2.3 5.19e-02 -1.1 9.94e-01 7.11e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.1002341e+00 5.38e-04 5.48e-02 -3.4 3.26e-02 -1.6 9.98e-01 8.87e-01h 1 11 2.0908183e+00 7.71e-06 7.70e-03 -4.0 7.61e-03 -2.1 1.00e+00 1.00e+00h 1 12 2.0908565e+00 1.67e-07 4.95e-05 -4.0 6.61e-03 -2.5 1.00e+00 1.00e+00h 1 13 2.0908546e+00 6.46e-10 1.91e-05 -4.0 1.98e-02 -3.0 1.00e+00 1.00e+00h 1 14 2.0908489e+00 1.22e-09 1.90e-05 -4.0 5.92e-02 -3.5 1.00e+00 1.00e+00h 1 15 2.0908320e+00 1.07e-08 1.88e-05 -4.0 1.75e-01 -4.0 1.00e+00 1.00e+00h 1 16 2.0907833e+00 8.78e-08 3.56e-05 -4.0 5.07e-01 -4.4 1.00e+00 1.00e+00h 1 17 2.0906531e+00 6.03e-07 2.65e-04 -4.0 1.37e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0903741e+00 2.45e-06 1.39e-03 -4.0 3.03e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0900481e+00 5.72e-06 3.06e-03 -4.0 4.61e+00 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0898981e+00 3.48e-06 2.16e-03 -4.0 6.28e+00 -6.4 1.00e+00 1.00e+00h 1 21 2.0898405e+00 1.16e-06 1.40e-03 -4.0 1.07e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0898263e+00 8.93e-07 1.35e-03 -4.0 1.16e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0898229e+00 1.63e-06 4.11e-04 -4.0 7.42e+00 -7.8 1.00e+00 1.00e+00h 1 24 2.0898219e+00 1.14e-07 2.27e-05 -4.0 1.37e+00 -8.3 1.00e+00 1.00e+00h 1 25 2.0898219e+00 7.13e-10 1.43e-07 -4.0 1.37e-01 -8.7 1.00e+00 1.00e+00h 1 26 2.0898218e+00 3.54e-13 1.68e-10 -4.0 5.74e-03 -9.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0898218498068606e+00 2.0898218498068606e+00 Dual infeasibility......: 1.6808906201063074e-10 1.6808906201063074e-10 Constraint violation....: 3.5402236697734679e-13 3.5402236697734679e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000075e-04 1.0000000000000075e-04 Overall NLP error.......: 1.6808906201063074e-10 1.6808906201063074e-10 Number of objective function evaluations = 27 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 27 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 = 27.091 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: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.111s) evaluator created (0.111s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.111s) 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 5.9663352e+00 3.68e+00 7.15e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.9824864e+00 3.21e+00 1.60e+01 -0.5 2.32e+00 0.0 7.61e-03 1.29e-01f 1 2 4.9291624e+00 3.17e+00 3.71e+01 -0.5 2.52e+00 -0.5 1.77e-01 1.17e-02h 1 3 4.8735812e+00 2.85e+00 4.32e+01 -0.2 6.91e+00 -1.0 1.62e-01 1.01e-01f 1 4 4.8256649e+00 2.68e+00 1.23e+03 0.6 1.74e+01 -0.5 4.99e-01 5.96e-02h 1 5 4.7906360e+00 2.42e+00 1.09e+03 -4.0 9.06e+01 -1.0 5.65e-02 9.97e-02h 1 6 5.1978426e+00 3.04e+00 5.35e+03 2.1 3.43e+02 -1.5 3.26e-01 1.49e-02f 1 7 5.0905822e+00 2.55e+00 1.27e+04 1.5 5.14e+01 -2.0 4.13e-01 1.63e-01h 1 8 5.2720443e+00 2.47e+00 5.15e+05 2.3 9.35e+01 -2.4 9.96e-01 3.23e-02h 1 9 5.3044257e+00 2.38e+00 1.47e+07 2.3 2.19e+01 -2.9 9.84e-01 3.46e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 5.3054853e+00 2.38e+00 1.03e+10 2.5 3.44e+01 -3.4 9.05e-01 1.24e-03h 1 11 5.3054916e+00 2.38e+00 8.63e+13 2.5 1.75e+01 -3.9 8.59e-01 1.02e-04h 1 12 5.3054970e+00 2.38e+00 1.41e+18 2.5 5.07e+01 -4.3 5.20e-01 3.14e-05h 1 13 4.9908123e+00 1.72e+00 3.57e+17 2.4 1.07e+02 -4.8 1.00e+00 5.52e-01h 1 14 4.9769793e+00 1.06e+00 9.62e+16 2.5 1.30e-02 11.0 7.31e-01 1.00e+00h 1 15 4.9769793e+00 1.06e+00 4.56e+16 0.9 1.62e+01 10.5 2.13e-09 2.03e-08f 3 16 4.9769273e+00 1.06e+00 4.89e+17 2.5 1.66e+01 10.1 2.17e-08 8.50e-05h 1 17 4.9719815e+00 1.06e+00 4.45e+17 2.5 1.66e+01 9.6 8.42e-05 8.23e-03f 1 18 4.9719348e+00 1.06e+00 4.83e+17 2.5 1.60e+01 9.1 8.46e-03 8.29e-05h 1 19r 4.9719348e+00 1.06e+00 8.23e+02 2.5 0.00e+00 8.6 0.00e+00 4.15e-07R 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20r 4.8480000e+00 3.12e-01 5.52e+02 -3.6 1.19e+01 - 5.66e-01 2.67e-01f 1 21r 4.8480000e+00 3.12e-01 9.99e+02 -0.5 0.00e+00 8.2 0.00e+00 2.14e-07R 2 22r 4.2690629e+00 2.80e-01 9.97e+02 1.5 5.27e+02 - 2.16e-03 2.56e-03f 1 23 4.3180568e+00 2.00e-01 5.11e+06 -1.0 3.72e-01 7.7 8.31e-01 2.85e-01h 1 24 4.3187683e+00 1.99e-01 5.10e+06 -1.5 2.68e-01 7.2 1.00e+00 3.99e-03h 1 25 4.3187744e+00 1.99e-01 2.25e+07 -1.9 2.69e-01 6.7 1.00e+00 4.01e-05h 1 26 4.3236130e+00 1.99e-01 2.56e+09 2.2 5.15e+01 7.2 7.65e-03 7.83e-05h 1 27 4.5018799e+00 1.99e-01 3.40e+09 2.3 5.13e+01 6.7 1.06e-02 2.15e-03h 1 28 4.5032192e+00 1.99e-01 1.48e+11 2.3 3.99e+01 7.1 1.00e+00 2.76e-05h 1 29r 4.5032192e+00 1.99e-01 8.97e+02 2.5 0.00e+00 6.6 0.00e+00 1.38e-07R 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30r 4.4429948e+00 2.08e-01 1.80e+02 1.0 1.03e+00 - 8.07e-01 8.54e-01f 1 31r 4.4608265e+00 1.99e-01 2.55e+01 -0.0 3.32e-01 - 8.55e-01 8.58e-01f 1 32r 4.5578504e+00 1.99e-01 3.03e+00 -1.2 4.80e-01 - 9.67e-01 9.39e-01f 1 33r 4.6070297e+00 1.99e-01 1.77e+01 -2.4 1.05e-02 2.0 9.89e-01 8.54e-01f 1 34r 4.6135289e+00 1.99e-01 3.78e+00 -2.6 5.07e-03 1.5 1.00e+00 9.63e-01f 1 35r 4.6144423e+00 1.99e-01 2.21e-01 -4.0 1.35e-03 1.0 1.00e+00 9.62e-01f 1 36r 4.6138954e+00 1.99e-01 1.70e-03 -4.0 4.59e-04 0.6 1.00e+00 1.00e+00f 1 37r 4.5057511e+00 1.99e-01 1.13e-04 -4.0 6.25e-01 - 1.00e+00 1.00e+00f 1 38r 4.4972354e+00 1.99e-01 1.86e-07 -4.0 8.72e-02 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 38 (scaled) (unscaled) Objective...............: 4.4973608552258275e+00 4.4973608552258275e+00 Dual infeasibility......: 2.0888667662388278e+00 2.0888667662388278e+00 Constraint violation....: 1.9875045037339167e-01 1.9875045037339167e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000004079370047e-04 1.0000004079370047e-04 Overall NLP error.......: 2.0888667662388278e+00 2.0888667662388278e+00 Number of objective function evaluations = 48 Number of objective gradient evaluations = 31 Number of equality constraint evaluations = 48 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 43 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 39 Total seconds in IPOPT = 27.698 EXIT: Converged to a point of local infeasibility. Problem may be infeasible. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.059s 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: 0.0s 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: 0.001s hessian structure: 1804 nonzeros (0.051s) linear index maps built (0.0s) evaluator ready (total: 0.112s) 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 global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.0s) optimizer initialization complete (total: 0.112s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 36 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.8261512e+00 1.79e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.0584943e+00 5.22e-01 1.26e+00 -0.9 1.78e+00 0.0 7.66e-01 7.10e-01f 1 2 2.3879314e+00 1.74e-02 1.33e+00 -1.3 5.25e-01 -0.5 9.08e-01 1.00e+00f 1 3 2.2211795e+00 8.06e-03 1.40e-01 -2.0 1.53e-01 -1.0 9.95e-01 9.84e-01h 1 4 2.0991840e+00 9.47e-04 3.57e-02 -3.3 6.23e-02 -1.4 9.96e-01 9.66e-01h 1 5 2.0910567e+00 5.68e-05 1.83e-02 -4.0 3.18e-02 -1.9 1.00e+00 1.00e+00h 1 6 2.0908909e+00 2.56e-07 2.57e-04 -4.0 2.28e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0908886e+00 7.76e-09 2.64e-05 -4.0 1.92e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908842e+00 7.64e-10 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908709e+00 6.88e-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 2.0908310e+00 6.19e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907116e+00 5.58e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903541e+00 5.05e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892887e+00 4.61e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861569e+00 4.33e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796323e+00 2.50e-03 8.69e-02 -4.0 8.72e+01 -6.7 1.00e+00 7.56e-01h 1 16 2.0811920e+00 1.68e-04 2.04e-01 -4.0 7.22e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778148e+00 6.55e-03 3.03e-02 -4.0 1.14e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0782976e+00 1.91e-02 9.47e-02 -3.7 2.08e+02 -8.1 9.05e-01 1.00e+00h 1 19 2.0769624e+00 7.35e-03 2.04e-02 -3.8 3.40e+02 -8.6 1.00e+00 8.12e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0760560e+00 9.59e-03 2.31e-02 -3.9 5.13e+02 -9.1 1.00e+00 9.54e-01f 1 21 2.0757604e+00 9.15e-03 1.18e-02 -4.0 1.60e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756796e+00 6.89e-04 5.52e-04 -4.0 7.51e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 3.92e-06 8.84e-06 -4.0 2.34e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 5.58e-08 1.55e-06 -4.0 1.54e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.74e-09 1.58e-07 -4.0 5.44e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 8.36e-11 3.24e-09 -4.0 9.65e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122134720e+00 2.0756712122134720e+00 Dual infeasibility......: 3.2430362245747680e-09 3.2430362245747680e-09 Constraint violation....: 8.3612117229847627e-11 8.3612117229847627e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000009e-04 1.0000000000000009e-04 Overall NLP error.......: 3.2430362245747680e-09 3.2430362245747680e-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 = 26.850 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: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.06s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.001s 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: 0.001s hessian structure: 1749 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.111s) evaluator created (0.111s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.62s) optimizer initialization complete (total: 0.732s) 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 5.3749531e+00 1.60e+00 6.30e-02 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4232043e+00 6.81e-01 1.25e+00 -1.3 1.58e+01 -4.0 9.83e-01 1.00e+00f 1 2 2.2681788e+00 3.93e-01 6.60e-01 -1.7 1.47e+01 -4.5 9.92e-01 1.00e+00h 1 3 2.1853242e+00 2.82e-01 7.04e-01 -2.1 3.13e+01 -5.0 9.99e-01 4.96e-01h 2 4 2.1433653e+00 2.33e-01 7.96e-01 -2.3 3.62e+01 -5.4 1.00e+00 4.92e-01h 2 5 2.1019718e+00 1.80e-01 9.03e-01 -3.0 4.28e+01 -5.9 1.00e+00 1.00e+00h 1 6 2.0956758e+00 2.37e-03 2.06e-01 -3.1 3.96e+01 -6.4 8.59e-01 1.00e+00h 1 7 2.0839143e+00 1.78e-02 6.84e-02 -3.5 8.78e+01 -6.9 1.00e+00 8.32e-01h 1 8 2.0783100e+00 3.91e-02 5.87e-02 -4.0 5.67e+01 -7.3 1.00e+00 1.00e+00h 1 9 2.0782888e+00 2.19e-02 1.71e-02 -3.8 1.15e+02 -7.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0767207e+00 1.32e-02 2.36e-02 -3.9 2.14e+02 -8.3 1.00e+00 1.00e+00h 1 11 2.0761354e+00 7.50e-03 2.49e-02 -4.0 3.48e+02 -8.8 1.00e+00 1.00e+00h 1 12 2.0769173e+00 2.77e-02 2.24e-02 -3.7 2.49e+02 -9.2 1.00e+00 1.00e+00h 1 13 2.0765101e+00 7.46e-03 3.31e-03 -3.9 1.23e+02 -9.7 1.00e+00 1.00e+00h 1 14 2.0757786e+00 2.00e-03 1.23e-04 -4.0 3.81e+01 -10.2 1.00e+00 1.00e+00h 1 15 2.0757705e+00 8.50e-06 3.71e-06 -4.0 2.49e+01 -10.7 1.00e+00 1.00e+00h 1 16 2.0757704e+00 5.33e-09 8.58e-07 -4.0 1.14e+01 -11.2 1.00e+00 1.00e+00h 1 17 2.0757704e+00 8.86e-11 4.25e-08 -4.0 2.92e+00 -11.6 1.00e+00 1.00e+00h 1 18 2.0757704e+00 7.49e-13 4.02e-10 -4.0 3.45e-01 -12.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 18 (scaled) (unscaled) Objective...............: 2.0757703960792857e+00 2.0757703960792857e+00 Dual infeasibility......: 4.0213399182310351e-10 4.0213399182310351e-10 Constraint violation....: 7.4905858425677874e-13 7.4905858425677874e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000025e-04 1.0000000000000025e-04 Overall NLP error.......: 4.0213399182310351e-10 4.0213399182310351e-10 Number of objective function evaluations = 24 Number of objective gradient evaluations = 19 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 19 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 18 Total seconds in IPOPT = 24.613 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.05s jacobian structure: 180 nonzeros (0.086s) integrator 1 hessian structure: 0.043s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.332s sub-objective 2 (QuadraticRegularizer): 0.088s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.015s objective hessian structure: 0.522s hessian structure: 375 nonzeros (0.565s) linear index maps built (0.0s) evaluator ready (total: 0.77s) evaluator created (0.77s) NL constraint bounds extracted (0.01s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.11s) applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.535s) optimizer initialization complete (total: 3.426s) 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 1.5947220e+00 7.21e-01 1.07e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6937161e+00 1.03e-01 1.56e+00 -1.0 7.04e-01 0.0 9.98e-01 1.00e+00h 1 2 1.7433838e+00 4.07e-02 1.58e+00 -0.6 3.98e+00 - 1.00e+00 5.10e-01h 1 3 2.1494457e+00 1.70e-02 1.42e+00 -1.5 4.29e-01 -0.5 9.72e-01 1.00e+00h 1 4 1.4641162e+00 1.27e-02 7.56e-01 -1.0 1.56e+00 -1.0 1.00e+00 2.98e-01h 1 5 1.2837970e+00 1.26e-03 7.14e-01 -1.8 6.08e+00 - 9.79e-01 1.00e+00h 1 6 1.1357601e+00 2.62e-04 8.00e-02 -3.0 4.73e-02 -1.4 1.00e+00 7.92e-01f 1 7 1.0934141e+00 3.37e-07 1.91e-03 -4.0 5.57e-02 -1.9 1.00e+00 1.00e+00f 1 8 1.0930143e+00 3.16e-10 6.78e-04 -4.0 1.08e-01 -2.4 1.00e+00 1.00e+00h 1 9 1.0929355e+00 3.09e-14 4.41e-04 -4.0 4.02e-02 -2.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0927912e+00 3.59e-18 4.29e-04 -4.0 1.17e-01 -2.4 1.00e+00 1.00e+00f 1 11 1.0919440e+00 2.57e-18 1.81e-02 -4.0 4.24e+00 - 2.92e-01 2.83e-01f 2 12 1.0918209e+00 1.71e-18 9.53e-03 -4.0 2.39e-01 -2.9 1.00e+00 3.37e-01f 2 13 1.0909175e+00 4.46e-21 8.77e-02 -4.0 2.95e+00 - 1.00e+00 1.00e+00f 1 14 1.0908987e+00 5.22e-27 1.06e-04 -4.0 1.40e-01 - 1.00e+00 1.00e+00f 1 15 1.0908997e+00 1.93e-27 4.58e-05 -4.0 3.60e-02 - 1.00e+00 1.00e+00f 1 16 1.0907198e+00 7.09e-27 2.92e-07 -4.1 8.34e-04 - 1.00e+00 1.00e+00f 1 17 1.0908997e+00 1.28e-26 5.38e-09 -4.0 3.17e-04 - 1.00e+00 1.00e+00f 1 18 1.0907198e+00 2.78e-27 5.38e-09 -4.1 5.07e-05 - 1.00e+00 1.00e+00f 1 19 1.0900065e+00 8.16e-27 8.45e-08 -6.1 7.93e-05 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.0908999e+00 5.86e-24 1.33e-07 -4.0 1.75e-03 - 1.00e+00 1.00e+00f 1 21 1.0907198e+00 2.62e-27 5.38e-09 -4.1 1.39e-03 - 1.00e+00 1.00e+00f 1 22 1.0900065e+00 3.95e-27 8.45e-08 -6.1 7.93e-05 - 1.00e+00 1.00e+00f 1 23 1.0899999e+00 1.92e-26 6.93e-12 -9.0 7.27e-07 - 1.00e+00 1.00e+00f 1 24 1.0900057e+00 1.90e-26 1.25e-11 -4.0 3.79e+01 - 1.00e+00 6.47e-03f 1 25 1.0903979e+00 5.42e-24 2.55e-08 -4.4 1.08e-01 - 1.00e+00 1.00e+00f 1 26 1.0900026e+00 2.45e-26 2.60e-08 -6.5 9.09e-04 - 1.00e+00 1.00e+00f 1 27 1.0899999e+00 1.59e-33 1.17e-12 -9.0 4.19e-04 - 1.00e+00 1.00e+00f 1 28 1.0899999e+00 1.19e-42 4.43e-16 -9.0 1.35e-01 - 1.00e+00 1.00e+00f 1 29 1.0899999e+00 1.68e-46 3.04e-16 -9.0 6.41e-16 - 1.00e+00 1.00e+00 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.0899999e+00 1.42e-46 3.04e-16 -9.0 2.79e-17 - 1.00e+00 1.00e+00T 0 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 1.0899999181818181e+00 1.0899999181818181e+00 Dual infeasibility......: 3.0439230102414713e-16 3.0439230102414713e-16 Constraint violation....: 1.4239751858034680e-46 1.4239751858034680e-46 Variable bound violation: 9.0909090932206338e-09 9.0909090932206338e-09 Complementarity.........: 9.0909090909090920e-10 9.0909090909090920e-10 Overall NLP error.......: 9.9999090909091604e-05 9.9999090909091604e-05 Number of objective function evaluations = 33 Number of objective gradient evaluations = 31 Number of equality constraint evaluations = 33 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 = 31 Total seconds in IPOPT = 24.200 EXIT: Search Direction is becoming Too Small. ┌ 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: 0.063s hessian structure: 30 nonzeros (0.063s) linear index maps built (0.0s) evaluator ready (total: 0.063s) evaluator created (0.063s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.083s) 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 (1.926s) optimizer initialization complete (total: 2.073s) 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 1.7279844e-02 8.33e-17 4.23e+162 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.3613683e-02 8.33e-17 1.99e+00 -2.0 4.23e+161 -2.0 2.34e-163 2.34e-163s536 2 1.0622672e-01 2.62e-09 1.23e-01 -0.3 4.62e+00 -1.6 9.94e-01 1.00e+00f 1 3 5.3819487e-01 1.28e-09 1.99e-01 -1.0 2.79e+00 -1.1 1.00e+00 1.00e+00f 1 4 3.8456545e-01 2.53e-10 9.25e-03 -1.7 3.90e-01 -1.6 1.00e+00 1.00e+00f 1 5 3.1545584e-01 3.16e-11 1.61e-03 -2.5 2.03e-01 -2.1 1.00e+00 1.00e+00f 1 6 2.9319539e-01 2.68e-12 9.90e-05 -3.7 3.76e-02 -2.6 1.00e+00 1.00e+00h 1 7 2.9063412e-01 5.74e-14 1.52e-06 -5.6 1.73e-03 -3.1 1.00e+00 1.00e+00h 1 8 2.8963423e-01 4.44e-16 1.47e-07 -8.4 4.25e-04 -3.5 1.00e+00 1.00e+00h 1 9 2.8604238e-01 5.55e-16 1.73e-07 -8.4 1.54e-03 -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 2.7386426e-01 2.22e-16 1.95e-07 -8.4 5.29e-03 -4.5 1.00e+00 1.00e+00h 1 11 2.3522498e-01 4.44e-16 2.15e-07 -8.4 1.78e-02 -5.0 1.00e+00 1.00e+00h 1 12 1.3407859e-01 3.33e-16 2.29e-07 -8.4 5.76e-02 -5.4 1.00e+00 1.00e+00h 1 13 4.8365449e-02 4.44e-16 2.22e-07 -8.4 1.73e-01 -5.9 1.00e+00 1.00e+00h 1 14 4.8365673e-02 4.44e-16 2.17e-07 -8.4 6.68e-02 -5.5 1.00e+00 7.63e-06h 18 15 4.8366889e-02 3.33e-16 2.11e-07 -8.4 1.83e-01 -6.0 1.00e+00 1.53e-05h 17 16 4.8366889e-02 3.33e-16 2.06e-07 -8.4 1.99e-01 -6.0 1.00e+00 1.82e-12h 40 17 4.8368296e-02 2.22e-16 2.01e-07 -8.4 2.16e-01 -6.1 1.00e+00 1.53e-05h 17 18 4.8368296e-02 2.22e-16 1.98e-07 -8.4 8.57e-02 -5.6 1.00e+00 1.78e-15h 50 19 4.2234458e-01 2.22e-16 1.67e-07 -8.4 2.29e-01 -6.1 1.00e+00 1.00e+00s 58 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.6909349e+00 2.22e-16 8.91e-08 -8.4 4.60e-01 -6.6 1.00e+00 1.00e+00s 58 21 4.0017794e+00 4.44e-16 6.25e-08 -8.4 6.50e-01 -7.1 5.23e-01 5.23e-01s 58 Cannot call restoration phase at point that is almost feasible (violation 4.440892e-16). Abort in line search due to no other fall back. Number of Iterations....: 21 (scaled) (unscaled) Objective...............: 4.0017794438161371e-08 4.0017794438161367e+00 Dual infeasibility......: 6.2454152604220623e-08 6.2454152604220621e+00 Constraint violation....: 4.4408920985006262e-16 4.4408920985006262e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 4.3435442178542512e-09 4.3435442178542510e-01 Overall NLP error.......: 9.9999999983838589e-05 9.9999999983838588e+03 Number of objective function evaluations = 759 Number of objective gradient evaluations = 23 Number of equality constraint evaluations = 759 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 = 22 Total seconds in IPOPT = 2.418 EXIT: Error in step computation! 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): 0.062s sub-objective 2 (QuadraticRegularizer): 0.0s objective hessian structure: 0.13s hessian structure: 40 nonzeros (0.13s) linear index maps built (0.0s) evaluator ready (total: 0.13s) evaluator created (0.13s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.081s) 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 (2.159s) optimizer initialization complete (total: 2.369s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 39 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 19 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.7657572e+00 7.69e-01 9.62e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6007032e+00 4.88e-09 2.70e-01 -0.2 6.31e-01 -2.0 1.00e+00 1.00e+00f 1 2 3.7913158e-01 4.23e-09 4.79e-01 -4.0 1.46e+00 -1.6 7.47e-01 1.00e+00f 1 3 1.9572368e-01 4.09e-11 6.57e-02 -2.0 5.41e-01 -1.1 9.97e-01 1.00e+00f 1 4 5.1616880e-02 2.16e-11 5.44e-02 -2.8 9.31e-01 -1.6 1.00e+00 1.00e+00f 1 5 1.0349819e-02 2.90e-11 2.32e-02 -3.8 8.07e-01 -2.1 9.97e-01 1.00e+00f 1 6 2.0402608e-03 7.93e-12 7.48e-03 -4.0 5.44e-01 -2.6 1.00e+00 1.00e+00f 1 7 6.1089638e-04 1.82e-12 2.18e-03 -4.0 2.86e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.2987212e-04 2.73e-13 3.78e-04 -4.0 6.23e-02 -3.5 1.00e+00 1.00e+00f 1 9 4.7521293e-04 2.29e-14 2.20e-04 -4.0 3.23e-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 2.9486889e-04 1.28e-14 4.77e-04 -4.1 8.81e-02 -4.5 1.00e+00 1.00e+00f 1 11 4.5961295e-04 7.22e-15 3.77e-04 -4.0 2.04e-01 -5.0 1.00e+00 5.00e-01f 2 12 2.7310369e-04 4.44e-15 5.27e-04 -4.1 1.00e-01 -5.4 1.00e+00 1.00e+00f 1 13 4.6688236e-04 3.22e-15 4.70e-04 -4.0 2.49e-01 -5.9 1.00e+00 5.00e-01f 2 14 2.6312689e-04 2.33e-15 5.97e-04 -4.1 1.15e-01 -6.4 1.00e+00 1.00e+00f 1 15 4.6741485e-04 2.22e-15 5.09e-04 -4.0 2.70e-01 -6.9 1.00e+00 5.00e-01f 2 16 2.5979784e-04 1.78e-15 6.25e-04 -4.1 1.21e-01 -7.4 1.00e+00 1.00e+00f 1 17 4.6733057e-04 1.89e-15 5.26e-04 -4.0 2.80e-01 -7.8 1.00e+00 5.00e-01f 2 18 2.5869664e-04 1.48e-15 6.43e-04 -4.1 1.24e-01 -8.3 1.00e+00 1.00e+00f 1 19 4.6684099e-04 1.55e-15 5.35e-04 -4.0 2.86e-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 2.5835933e-04 1.33e-15 6.58e-04 -4.1 1.27e-01 -9.3 1.00e+00 1.00e+00f 1 21 4.6626163e-04 1.33e-15 5.41e-04 -4.0 2.90e-01 -9.7 1.00e+00 5.00e-01f 2 22 2.5826542e-04 1.22e-15 6.71e-04 -4.1 1.30e-01 -10.2 1.00e+00 1.00e+00f 1 23 4.6566409e-04 1.22e-15 5.46e-04 -4.0 2.94e-01 -10.7 1.00e+00 5.00e-01f 2 24 2.5824734e-04 1.11e-15 6.83e-04 -4.1 1.32e-01 -11.2 1.00e+00 1.00e+00f 1 25 4.6507661e-04 1.11e-15 5.50e-04 -4.0 2.97e-01 -11.6 1.00e+00 5.00e-01f 2 26 2.5825095e-04 9.99e-16 6.95e-04 -4.1 1.34e-01 -12.1 1.00e+00 1.00e+00f 1 27 3.0937468e-05 9.55e-15 8.70e-04 -6.2 3.71e-01 -12.6 9.69e-01 1.00e+00f 1 28 1.7474709e-03 2.22e-15 7.54e-03 -4.0 1.96e+00 -13.1 1.00e+00 5.00e-01f 2 29 2.4382859e-05 2.46e-14 2.82e-03 -4.1 9.96e-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 1.5801507e-03 3.22e-14 7.85e-03 -4.0 9.65e-01 -14.0 1.00e+00 1.00e+00f 1 31 1.0075711e-05 1.89e-14 2.23e-03 -4.2 1.07e+00 -14.5 1.00e+00 1.00e+00f 1 32 4.6797223e-04 1.67e-15 2.72e-03 -4.0 1.36e+00 -15.0 1.00e+00 5.00e-01f 2 33 2.1930790e-04 3.22e-15 2.33e-04 -4.2 3.69e-01 -15.5 1.00e+00 5.00e-01f 2 34 2.0173734e-05 4.61e-15 7.89e-04 -6.4 4.04e-01 -15.9 9.65e-01 1.00e+00f 1 35 8.1140856e-06 3.39e-15 9.72e-05 -6.4 1.02e-01 -16.4 1.00e+00 1.00e+00f 1 36 1.5696194e-03 1.14e-15 5.50e-03 -4.0 9.49e+00 -16.9 1.00e+00 1.25e-01f 4 37 9.6426976e-05 5.53e-14 3.46e-03 -4.0 7.92e-01 -17.4 1.00e+00 1.00e+00f 1 38 7.5381943e-04 3.73e-14 3.53e-03 -4.0 5.34e-01 -17.8 1.00e+00 1.00e+00f 1 39 3.8066886e-04 6.99e-15 4.30e-04 -4.0 4.16e-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 3.5523650e-05 5.55e-15 1.30e-03 -6.0 4.96e-01 -18.8 9.56e-01 1.00e+00f 1 41 1.4636405e-05 5.44e-15 1.57e-04 -6.0 1.24e-01 -19.3 1.00e+00 1.00e+00f 1 42 4.0337993e-06 9.44e-16 9.95e-05 -6.0 1.41e-01 -19.8 1.00e+00 1.00e+00f 1 43 1.0991523e-03 6.18e-16 3.30e-03 -4.0 1.54e+01 -20.0 1.00e+00 7.82e-02f 4 44 1.5653951e-04 4.91e-14 2.92e-03 -4.0 5.98e-01 -20.0 1.00e+00 1.00e+00f 1 45 6.8385270e-04 2.42e-14 2.85e-03 -4.0 4.28e-01 -20.0 1.00e+00 1.00e+00f 1 46 3.9083048e-04 4.44e-15 4.20e-04 -4.0 3.65e-01 -20.0 1.00e+00 5.00e-01f 2 47 3.5545893e-05 6.00e-15 1.43e-03 -6.0 5.39e-01 -20.0 9.51e-01 1.00e+00f 1 48 1.4766913e-05 5.00e-15 1.68e-04 -6.0 1.31e-01 -20.0 1.00e+00 1.00e+00f 1 49 3.9457305e-06 8.33e-16 1.09e-04 -6.0 1.54e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 8.8706062e-04 4.13e-16 2.30e-03 -4.0 1.65e+01 -20.0 1.00e+00 7.25e-02f 4 51 1.9145657e-04 4.22e-14 2.55e-03 -4.0 5.02e-01 -20.0 1.00e+00 1.00e+00f 1 52 6.2189394e-04 1.69e-14 2.40e-03 -4.0 3.67e-01 -20.0 1.00e+00 1.00e+00f 1 53 3.8738399e-04 2.89e-15 4.03e-04 -4.0 3.27e-01 -20.0 1.00e+00 5.00e-01f 2 54 3.4627967e-05 5.55e-15 1.52e-03 -6.1 5.74e-01 -20.0 9.47e-01 1.00e+00f 1 55 1.4484872e-05 4.55e-15 1.74e-04 -6.1 1.38e-01 -20.0 1.00e+00 1.00e+00f 1 56 3.8039125e-06 7.22e-16 1.15e-04 -6.1 1.65e-01 -20.0 1.00e+00 1.00e+00f 1 57 7.3057329e-04 5.72e-16 1.39e-03 -4.0 1.79e+01 -20.0 1.00e+00 6.68e-02f 4 58 2.2741181e-04 3.71e-14 2.14e-03 -4.1 4.06e-01 -20.0 1.00e+00 1.00e+00f 1 59 5.6151134e-04 1.15e-14 1.90e-03 -4.1 2.96e-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 3.8419525e-04 2.00e-15 3.67e-04 -4.1 2.77e-01 -20.0 1.00e+00 5.00e-01f 2 61 3.3607599e-05 5.44e-15 1.60e-03 -6.1 6.08e-01 -20.0 9.42e-01 1.00e+00f 1 62 1.4196632e-05 4.11e-15 1.79e-04 -6.1 1.43e-01 -20.0 1.00e+00 1.00e+00f 1 63 3.6835312e-06 6.11e-16 1.20e-04 -6.1 1.75e-01 -20.0 1.00e+00 1.00e+00f 1 64 6.1634228e-04 4.44e-16 6.09e-04 -4.0 1.93e+01 -20.0 1.00e+00 6.20e-02f 4 65 2.6007179e-04 3.31e-14 1.72e-03 -4.1 3.19e-01 -20.0 1.00e+00 1.00e+00f 1 66 5.0814129e-04 7.77e-15 1.42e-03 -4.1 2.27e-01 -20.0 1.00e+00 1.00e+00f 1 67 3.8003679e-04 1.11e-15 3.21e-04 -4.1 2.24e-01 -20.0 1.00e+00 5.00e-01f 2 68 3.2513921e-05 5.22e-15 1.66e-03 -6.1 6.40e-01 -20.0 9.39e-01 1.00e+00f 1 69 1.3880469e-05 3.66e-15 1.82e-04 -6.1 1.47e-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 3.5736254e-06 6.11e-16 1.24e-04 -6.1 1.84e-01 -20.0 1.00e+00 1.00e+00f 1 71 5.3156605e-04 4.44e-16 9.35e-05 -4.0 2.06e+01 -20.0 1.00e+00 5.79e-02f 4 72 2.8868889e-04 2.98e-14 1.33e-03 -4.1 2.40e-01 -20.0 1.00e+00 1.00e+00f 1 73 4.6322985e-04 4.88e-15 9.87e-04 -4.1 1.61e-01 -20.0 1.00e+00 1.00e+00f 1 74 3.0080992e-04 3.55e-15 9.52e-04 -4.1 1.73e-01 -20.0 1.00e+00 1.00e+00f 1 75 4.5656080e-04 2.66e-15 8.58e-04 -4.1 1.40e-01 -20.0 1.00e+00 1.00e+00f 1 76 2.3415747e-05 4.44e-15 1.86e-03 -6.1 7.87e-01 -20.0 9.23e-01 1.00e+00f 1 77 1.2257402e-05 3.77e-15 1.22e-04 -6.1 1.08e-01 -20.0 1.00e+00 1.00e+00f 1 78 3.0599650e-06 4.44e-16 1.17e-04 -6.1 1.87e-01 -20.0 1.00e+00 1.00e+00f 1 79 4.6630340e-04 4.44e-16 7.99e-04 -4.0 2.36e+01 -20.0 1.00e+00 5.05e-02f 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 3.1989398e-04 2.82e-14 8.98e-04 -4.1 1.59e-01 -20.0 1.00e+00 1.00e+00f 1 81 4.2658738e-04 2.89e-15 5.60e-04 -4.1 9.32e-02 -20.0 1.00e+00 1.00e+00f 1 82 2.5247386e-05 4.44e-15 1.89e-03 -6.1 7.81e-01 -20.0 9.23e-01 1.00e+00f 1 83 1.2556504e-05 3.55e-15 1.42e-04 -6.1 1.23e-01 -20.0 1.00e+00 1.00e+00f 1 84 3.1475183e-06 4.44e-16 1.25e-04 -6.1 1.97e-01 -20.0 1.00e+00 1.00e+00f 1 85 3.9075572e-06 2.22e-16 1.88e-05 -6.1 3.29e-02 -20.0 1.00e+00 1.00e+00h 1 86 3.4363364e-06 5.29e-17 4.66e-06 -6.1 8.36e-03 -20.0 1.00e+00 1.00e+00h 1 87 2.5648364e-07 7.03e-17 5.36e-05 -9.0 2.40e-01 -20.0 9.76e-01 1.00e+00f 1 88 2.3258459e-03 3.68e-16 1.14e-02 -4.0 1.07e+02 -20.0 1.00e+00 2.28e-02f 3 89 8.9455813e-05 4.71e-14 7.04e-03 -3.9 1.52e+00 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 7.6747611e-04 2.78e-14 5.33e-03 -3.9 8.04e-01 -20.0 1.00e+00 1.00e+00f 1 91 4.3688103e-04 5.55e-15 7.87e-04 -3.9 5.44e-01 -20.0 1.00e+00 5.00e-01f 2 92 4.3263018e-05 4.22e-15 2.16e-03 -5.9 7.23e-01 -20.0 9.29e-01 1.00e+00f 1 93 1.7836944e-05 3.89e-15 2.65e-04 -5.9 1.89e-01 -20.0 1.00e+00 1.00e+00f 1 94 5.0763420e-06 6.66e-16 1.68e-04 -5.9 2.12e-01 -20.0 1.00e+00 1.00e+00f 1 95 5.7398754e-06 3.33e-16 1.70e-05 -5.9 2.42e-02 -20.0 1.00e+00 1.00e+00h 1 96 5.3241852e-06 7.89e-17 2.40e-06 -5.9 3.48e-03 -20.0 1.00e+00 1.00e+00h 1 97 3.8173201e-07 5.55e-17 8.00e-05 -8.9 2.90e-01 -20.0 9.71e-01 1.00e+00f 1 98 1.5376071e-07 4.86e-17 8.37e-06 -8.9 6.39e-02 -20.0 1.00e+00 1.00e+00f 1 99 1.5089013e-03 4.54e-16 2.16e-03 -4.0 3.21e+02 -20.0 1.00e+00 7.57e-03f 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 4.8912365e-04 6.17e-14 5.39e-03 -3.8 6.94e-01 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 4.8912365385807071e-04 4.8912365385807071e-04 Dual infeasibility......: 5.3884262211174533e-03 5.3884262211174533e-03 Constraint violation....: 6.1728400169158704e-14 6.1728400169158704e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.0392346464579217e-04 2.0392346464579217e-04 Overall NLP error.......: 5.3884262211174533e-03 5.3884262211174533e-03 Number of objective function evaluations = 172 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 172 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 1 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 2.728 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: 0.044s integrator 2 jacobian structure: 0.039s integrator 3 jacobian structure: 0.0s jacobian structure: 1872 nonzeros (0.082s) integrator 1 hessian structure: 0.035s integrator 2 hessian structure: 0.034s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.238s sub-objective 2 (QuadraticRegularizer): 0.06s sub-objective 3 (LinearRegularizer): 0.056s sub-objective 4 (MinimumTimeObjective): 0.012s objective hessian structure: 0.434s hessian structure: 2431 nonzeros (0.504s) linear index maps built (0.0s) evaluator ready (total: 0.586s) evaluator created (0.586s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.083s) 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 (2.408s) optimizer initialization complete (total: 3.078s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1808 Number of nonzeros in inequality constraint Jacobian.: 80 Number of nonzeros in Lagrangian Hessian.............: 2239 Total number of variables............................: 122 variables with only lower bounds: 30 variables with lower and upper bounds: 0 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 40 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 40 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.2261347e+00 2.99e+00 1.03e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6957189e+00 2.19e+00 8.39e-01 -4.0 2.81e+01 -4.0 6.02e-01 3.60e-01h 1 2 2.1625776e+00 1.19e+00 1.67e+00 -1.2 1.55e+01 -2.7 3.11e-01 5.11e-01f 1 3 2.2283917e+00 1.05e+00 2.38e+00 -1.2 1.20e+01 -2.2 3.78e-01 1.16e-01h 1 4 3.0668187e+00 9.21e-01 5.25e+00 -1.4 7.06e+00 -2.7 5.52e-01 1.00e+00f 1 5 2.6764655e+00 2.26e-02 7.31e-01 -1.2 1.30e+00 -1.4 7.35e-01 1.00e+00f 1 6 2.5788565e+00 4.47e-03 1.00e-01 -2.0 4.07e-01 -1.0 9.78e-01 1.00e+00h 1 7 2.5113024e+00 1.17e-03 4.47e-02 -3.2 1.55e-01 -0.5 9.89e-01 1.00e+00h 1 8 2.4000834e+00 1.76e-02 2.27e-01 -3.4 9.06e-01 -1.0 9.98e-01 5.02e-01f 1 9 2.2850111e+00 4.77e-02 2.16e+00 -2.6 1.04e+01 -1.5 1.00e+00 6.54e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.9606339e+00 7.26e-03 1.16e-01 -3.4 4.99e-01 -1.1 1.00e+00 1.00e+00h 1 11 1.8770315e+00 5.09e-03 8.35e-02 -4.0 9.58e-01 -1.5 1.00e+00 3.48e-01h 1 12 1.8561227e+00 4.82e-03 4.18e-01 -4.0 1.76e+00 -2.0 1.00e+00 5.71e-02h 1 13 1.7937574e+00 8.75e-01 6.61e-01 -1.9 2.01e+01 -2.5 5.43e-01 2.09e-01f 1 14 1.3551024e+00 2.52e+00 8.14e-01 -2.8 1.04e+01 -3.0 3.00e-02 1.00e+00h 1 15 1.3734450e+00 3.89e+00 6.23e-01 -2.4 3.06e+01 -3.5 3.46e-01 6.02e-01H 1 16 1.5297614e+00 1.51e+00 4.33e-01 -2.2 2.49e+00 -2.1 5.63e-01 6.27e-01h 1 17 4.8409386e+00 6.23e+00 4.52e+00 -0.2 1.19e+02 -2.6 6.81e-02 2.00e-01f 1 18 4.5555435e+00 5.13e+00 3.81e+00 -0.8 1.99e+01 -2.2 2.82e-01 1.40e-01f 1 19 3.2420534e+00 2.33e+00 2.00e+00 -0.8 6.19e+00 -1.8 1.00e+00 6.88e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.3037652e+00 1.83e-01 9.60e-01 -0.8 4.38e+00 -2.2 1.00e+00 1.00e+00f 1 21 1.5101708e+00 4.88e-01 5.45e-01 -1.5 5.67e+00 -2.7 9.65e-01 9.31e-01h 1 22 1.5709908e+00 1.46e-02 5.15e-02 -2.1 1.07e+00 -2.3 9.63e-01 1.00e+00h 1 23 1.4884969e+00 3.58e-02 1.52e-02 -3.2 2.08e+00 -2.8 9.98e-01 1.00e+00h 1 24 1.3818028e+00 7.44e-02 3.59e-02 -4.0 5.13e+00 -3.2 1.00e+00 1.00e+00h 1 25 1.2381097e+00 1.16e+00 3.98e-01 -2.7 1.91e+01 -3.7 1.00e+00 8.78e-01h 1 26 1.0871237e+00 6.34e-01 2.31e-01 -2.7 2.04e+01 -4.2 1.00e+00 9.86e-01h 1 27 1.0001940e+00 4.21e-01 4.57e-01 -2.5 4.39e+01 -4.7 1.00e+00 1.00e+00h 1 28 8.7711481e-01 3.11e+00 2.00e-01 -2.8 5.57e+01 -5.1 1.00e+00 1.00e+00h 1 29 7.8082048e-01 2.76e+00 2.51e-01 -3.3 7.70e+01 -5.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 7.3446181e-01 4.02e+00 6.20e-01 -2.9 8.36e+01 -6.1 5.91e-01 1.00e+00h 1 31 7.1324237e-01 3.12e+00 1.29e+00 -2.7 1.21e+02 -6.6 2.72e-01 1.00e+00h 1 32 6.9130635e-01 1.33e+00 3.42e-01 -2.8 1.04e+02 -6.1 1.00e+00 1.00e+00h 1 33 7.1439047e-01 2.03e+00 1.26e+00 -2.6 1.43e+02 -6.6 1.00e+00 1.00e+00h 1 34 6.7515350e-01 3.61e+00 8.97e-01 -2.7 1.05e+02 -6.2 1.00e+00 1.00e+00h 1 35 6.5879014e-01 1.72e+00 6.32e-01 -2.8 1.22e+02 -6.7 1.00e+00 1.00e+00h 1 36 6.3261716e-01 5.47e-01 3.56e-01 -3.0 5.63e+01 -6.2 1.00e+00 1.00e+00h 1 37 6.1510611e-01 2.79e+00 2.72e-01 -3.1 1.38e+02 -6.7 1.00e+00 1.00e+00h 1 38 5.9187617e-01 9.84e+00 5.76e-01 -3.2 3.45e+02 -7.2 1.00e+00 1.00e+00h 1 39 5.9062504e-01 7.48e+00 2.40e-01 -3.2 1.61e+02 -6.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 5.9971987e-01 4.10e+00 1.15e+00 -3.1 3.98e+02 -7.3 1.00e+00 1.00e+00h 1 41 5.8877789e-01 1.99e+00 6.43e-01 -3.1 1.49e+02 -6.8 9.65e-01 1.00e+00h 1 42 5.8069930e-01 7.46e+00 3.56e-01 -3.1 7.01e+02 -7.3 6.14e-01 3.68e-01h 2 43 6.0272089e-01 2.26e+01 2.91e+00 -2.9 9.78e+02 -7.8 1.00e+00 1.00e+00h 1 44 5.8938597e-01 1.60e+01 5.64e-01 -3.0 3.91e+02 -7.4 1.00e+00 9.86e-01h 1 45 5.8276116e-01 6.67e+00 1.69e+00 -3.0 1.27e+03 -7.8 6.35e-01 7.96e-01H 1 46 5.9540661e-01 9.71e-01 6.60e-01 -3.0 1.99e+02 -7.4 1.00e+00 1.00e+00h 1 47 5.8993365e-01 9.32e+00 8.26e-01 -3.0 1.55e+03 -7.9 5.50e-01 3.21e-01h 2 48 5.6954980e-01 3.20e+01 2.87e+00 -3.1 1.62e+03 -8.4 7.35e-01 1.00e+00h 1 49 5.6066605e-01 3.69e+00 2.78e-01 -3.2 1.38e+02 -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 50 6.0388767e-01 2.81e+00 1.30e+00 -2.8 1.26e+02 -7.5 8.76e-01 1.00e+00h 1 51 6.0429713e-01 1.31e+01 1.33e+00 -2.9 1.29e+04 -8.0 6.88e-02 5.65e-02h 2 52 5.9394293e-01 3.96e+00 1.27e+00 -2.9 2.81e+02 -7.6 6.65e-01 1.00e+00h 1 53 5.8987622e-01 1.47e+01 1.27e+00 -2.9 2.11e+04 -8.0 6.31e-02 3.47e-02h 2 54 5.9368689e-01 1.38e+01 2.57e+00 -2.9 1.77e+03 -8.5 1.00e+00 5.00e-01h 2 55 5.9456041e-01 3.44e+00 2.32e+00 -2.9 4.06e+02 -8.1 1.00e+00 1.00e+00h 1 56 5.9545474e-01 1.87e+01 5.13e+00 -2.9 1.49e+03 -8.6 1.00e+00 1.00e+00h 1 57 5.9081452e-01 2.11e+01 3.69e+00 -2.9 1.74e+03 -8.1 4.23e-01 3.77e-01h 2 58 5.8764116e-01 2.35e+01 1.47e+00 -2.9 3.60e+03 -8.6 9.39e-01 2.50e-01h 3 59 5.8805963e-01 2.33e+01 7.24e-01 -2.9 5.76e+03 -8.2 1.00e+00 2.71e-02h 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 5.9751488e-01 1.80e+00 8.24e-01 -2.9 1.43e+02 -7.8 9.00e-01 1.00e+00h 1 61 6.3847140e-01 9.06e+00 4.35e+00 -2.6 5.56e+02 -8.2 1.00e+00 1.00e+00h 1 62 6.3632492e-01 1.73e+01 4.29e+00 -2.7 3.92e+04 -8.7 5.35e-02 2.92e-02h 3 63 6.5247304e-01 8.93e+00 2.95e+00 -2.7 1.57e+03 -8.3 1.00e+00 8.46e-01H 1 64 6.1279507e-01 5.27e+00 5.87e+00 -2.7 6.86e+02 -8.8 2.01e-01 5.60e-01h 1 65 6.2545766e-01 7.56e+01 1.46e+01 -2.7 5.72e+03 -9.2 9.07e-01 1.00e+00h 1 66 6.1231099e-01 4.82e+01 4.47e+00 -2.7 2.55e+02 -7.0 6.97e-01 3.65e-01h 2 67 6.2481289e-01 1.06e+00 1.30e+00 -2.7 1.48e+02 -6.6 1.00e+00 1.00e+00h 1 68 5.9915197e-01 1.65e+00 3.69e-01 -2.9 2.16e+02 -7.1 1.00e+00 1.00e+00h 1 69 7.2974277e-01 3.52e+00 1.15e+00 -2.2 3.97e+02 -7.5 9.47e-01 5.73e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 7.1885183e-01 3.41e+00 2.50e+00 -2.4 2.86e+02 -8.0 8.25e-01 1.00e+00h 1 71 7.0898787e-01 4.29e+00 2.31e+00 -2.4 2.89e+03 -8.5 4.75e-01 1.58e-01h 2 72 7.3104799e-01 1.08e+01 7.71e+00 -2.4 2.16e+03 -9.0 8.73e-01 5.00e-01h 2 73 7.2482421e-01 1.59e+01 4.00e+00 -2.4 2.79e+03 -8.6 7.14e-01 2.86e-01h 2 74 7.3014647e-01 2.13e+01 4.39e+00 -2.4 5.83e+03 -9.0 7.49e-01 2.23e-01h 3 75 7.3698169e-01 6.11e-01 6.55e+00 -2.4 4.20e+02 -8.6 1.00e+00 1.00e+00h 1 76 7.4874831e-01 6.88e+00 1.53e+01 -2.4 1.10e+03 -9.1 1.00e+00 1.00e+00h 1 77 7.4106101e-01 2.13e+01 1.56e+01 -2.4 4.29e+04 -9.6 1.48e-01 8.73e-02h 2 78 7.4438451e-01 1.99e+01 6.44e+00 -2.4 3.87e+03 -9.1 1.00e+00 4.42e-01h 2 79 7.5604540e-01 1.92e+01 6.76e+00 -2.4 1.22e+03 -8.7 8.66e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 7.3373086e-01 1.54e+01 1.11e+01 -2.4 1.69e+03 -9.2 4.59e-01 4.91e-01h 2 81 7.3940272e-01 1.63e+01 2.15e+00 -2.4 2.33e+03 -8.8 1.00e+00 3.62e-01h 2 82 7.4323201e-01 1.47e+01 7.83e+00 -2.4 2.55e+03 -9.2 1.00e+00 5.00e-01h 2 83 7.5377874e-01 4.80e+00 6.14e+00 -2.4 7.04e+02 -8.8 1.00e+00 1.00e+00h 1 84 7.5151105e-01 4.30e+00 7.96e+00 -2.4 1.51e+03 -9.3 1.00e+00 5.00e-01h 2 85 7.5639785e-01 4.95e+00 6.23e+00 -2.4 8.39e+02 -8.9 1.00e+00 1.00e+00h 1 86 7.8423333e-01 2.48e+00 1.62e+01 -2.4 1.77e+03 -9.3 1.00e+00 1.00e+00H 1 87 7.6473121e-01 2.76e+00 1.51e+01 -2.4 1.54e+03 -8.9 1.37e-01 1.86e-01h 3 88 7.5978085e-01 1.92e+01 1.07e+01 -2.4 2.12e+04 -9.4 4.42e-01 1.38e-01h 2 89 7.6304011e-01 2.51e+00 6.55e+00 -2.4 1.14e+03 -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 90 7.7628902e-01 2.39e+00 1.74e+01 -2.4 3.96e+03 -9.4 1.00e+00 1.00e+00H 1 91 7.7275949e-01 2.35e+00 1.67e+01 -2.4 4.54e+04 -9.9 9.11e-02 2.17e-02h 5 92 7.5867257e-01 1.93e+01 1.33e+01 -2.4 3.34e+04 -9.5 3.16e-01 1.12e-01h 2 93 7.6606213e-01 3.82e+01 2.24e+01 -2.4 1.15e+04 -10.0 8.96e-01 5.00e-01h 2 94 7.6000421e-01 2.13e+01 1.20e+00 -2.4 7.66e+02 -8.6 1.00e+00 5.00e-01h 2 95 7.7292284e-01 1.33e+01 7.05e+00 -2.4 1.26e+03 -9.1 1.00e+00 1.00e+00h 1 96 7.5596430e-01 1.79e+01 1.35e+01 -2.4 2.75e+03 -9.6 4.20e-01 4.94e-01h 2 97 7.7483894e-01 8.39e+00 7.32e+00 -2.4 1.02e+03 -9.2 1.00e+00 1.00e+00h 1 98 7.6113141e-01 1.54e+01 1.11e+01 -2.4 3.99e+03 -9.6 6.43e-01 4.31e-01h 2 99 7.7079018e-01 3.93e+00 7.65e+00 -2.4 7.48e+02 -9.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 7.6498557e-01 1.17e+01 9.40e+00 -2.4 5.50e+03 -9.7 1.00e+00 4.57e-01h 2 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 7.6498557149696711e-01 7.6498557149696711e-01 Dual infeasibility......: 9.4024123507190041e+00 9.4024123507190041e+00 Constraint violation....: 1.1684176378775106e+01 1.1684176378775106e+01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 4.7996492835974507e-03 4.7996492835974507e-03 Overall NLP error.......: 1.1684176378775106e+01 1.1684176378775106e+01 Number of objective function evaluations = 224 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 224 Number of inequality constraint evaluations = 224 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 43.622 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: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.062s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.051s) linear index maps built (0.0s) evaluator ready (total: 0.113s) evaluator created (0.113s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.397s) optimizer initialization complete (total: 0.511s) 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 3.6218744e+00 3.49e+00 2.61e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5226701e+00 2.13e+00 3.66e+00 -0.6 8.40e+00 -2.0 1.56e-01 3.83e-01f 1 2 2.2952072e+00 1.48e+00 2.37e+00 -0.3 4.11e+00 -0.7 3.55e-01 3.06e-01h 1 3 2.1239690e+00 9.39e-01 2.22e+00 -1.9 5.36e+00 -1.1 3.50e-01 3.74e-01h 1 4 2.0629765e+00 5.56e-01 1.45e+00 -0.9 3.14e+00 -0.7 6.37e-01 4.01e-01f 1 5 1.9460641e+00 2.58e-01 2.53e+00 -0.9 1.35e+00 -0.3 6.07e-01 8.01e-01h 1 6 1.9102884e+00 2.33e-02 2.79e+00 -1.7 2.75e-01 0.1 5.61e-01 1.00e+00h 1 7 1.9025810e+00 1.60e-01 2.16e+00 -1.0 1.17e+00 -0.3 7.96e-01 8.26e-01f 1 8 1.6636479e+00 7.10e-03 5.30e-01 -1.7 2.73e-01 -0.8 8.83e-01 1.00e+00h 1 9 1.4502083e+00 1.17e-02 5.99e-02 -1.8 6.12e-01 -1.3 9.64e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.3351244e+00 1.74e-02 3.99e-02 -2.1 5.86e-01 -1.8 8.64e-01 8.40e-01h 1 11 1.2144751e+00 2.91e-01 8.02e-02 -2.7 1.09e+00 -2.3 9.03e-01 1.00e+00h 1 12 1.2274536e+00 2.72e-02 2.11e-01 -4.0 2.91e+00 -2.7 2.99e-01 6.70e-01h 1 13 1.1956937e+00 7.21e-03 6.95e-02 -3.5 1.52e+00 -3.2 1.00e+00 9.32e-01h 1 14 1.1788242e+00 1.50e-01 1.95e-02 -4.0 3.04e+00 -3.7 1.00e+00 1.00e+00h 1 15 1.1780348e+00 3.62e-02 3.71e-02 -4.0 4.55e+00 -4.2 1.00e+00 1.00e+00h 1 16 1.1721903e+00 1.48e-01 2.46e-03 -4.0 6.39e+00 -4.6 1.00e+00 1.00e+00h 1 17 1.1704111e+00 1.02e-01 1.81e-02 -4.0 9.53e+00 -5.1 1.00e+00 1.00e+00h 1 18 1.1674371e+00 1.80e-01 3.32e-04 -4.0 1.47e+01 -5.6 1.00e+00 1.00e+00h 1 19 1.1658687e+00 1.81e-01 6.20e-03 -4.0 2.22e+01 -6.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.1641658e+00 2.49e-01 4.85e-03 -4.0 3.40e+01 -6.5 1.00e+00 1.00e+00h 1 21 1.1630669e+00 2.78e-01 5.30e-03 -4.0 5.08e+01 -7.0 1.00e+00 1.00e+00h 1 22 1.1620457e+00 3.49e-01 1.47e-02 -4.0 7.61e+01 -7.5 1.00e+00 1.00e+00h 1 23 1.1613509e+00 3.91e-01 1.80e-02 -4.0 1.11e+02 -8.0 1.00e+00 1.00e+00h 1 24 1.1607817e+00 4.46e-01 2.50e-02 -4.0 1.58e+02 -8.5 1.00e+00 1.00e+00h 1 25 1.1605033e+00 4.13e-01 2.18e-02 -4.0 2.05e+02 -8.9 1.00e+00 1.00e+00h 1 26 1.1606429e+00 1.66e-01 2.20e-03 -4.0 1.74e+02 -9.4 1.00e+00 1.00e+00h 1 27 1.1608584e+00 2.60e-03 1.07e-03 -4.0 1.22e+01 -9.9 1.00e+00 1.00e+00h 1 28 1.1608488e+00 6.42e-04 7.66e-05 -4.0 1.04e+01 -10.4 1.00e+00 1.00e+00h 1 29 1.1608491e+00 7.07e-07 8.90e-09 -4.0 3.87e-01 -10.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.1608491e+00 1.05e-11 1.16e-12 -4.0 1.36e-03 -11.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 1.1608491307808104e+00 1.1608491307808104e+00 Dual infeasibility......: 1.1558526217311099e-12 1.1558526217311099e-12 Constraint violation....: 1.0549783269198088e-11 1.0549783269198088e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000301e-04 1.0000000000000301e-04 Overall NLP error.......: 1.0549783269198088e-11 1.0549783269198088e-11 Number of objective function evaluations = 31 Number of objective gradient evaluations = 31 Number of equality constraint evaluations = 31 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 31 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 30 Total seconds in IPOPT = 26.511 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.058s jacobian structure: 180 nonzeros (0.102s) integrator 1 hessian structure: 0.053s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.351s sub-objective 2 (QuadraticRegularizer): 0.09s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.016s objective hessian structure: 0.554s hessian structure: 375 nonzeros (0.608s) linear index maps built (0.0s) evaluator ready (total: 0.858s) evaluator created (0.858s) NL constraint bounds extracted (0.011s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.122s) applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.787s) optimizer initialization complete (total: 3.778s) 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 9.7811137e-01 1.01e+00 1.13e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8111875e+00 1.55e-01 1.57e+00 -0.9 6.96e-01 0.0 9.92e-01 9.92e-01h 1 2 1.4347070e+00 1.08e-01 1.07e+00 -1.4 1.81e+01 - 3.14e-01 3.01e-01f 1 3 5.4162474e+00 1.22e-01 4.92e+01 -1.8 2.63e+01 - 8.86e-01 7.56e-01h 1 4 1.1958810e+00 2.96e-02 3.85e+00 -2.2 1.71e+00 -0.5 1.00e+00 7.69e-01f 1 5 1.1725185e+00 8.58e-04 2.15e-02 -2.3 4.13e-02 -1.0 1.00e+00 9.68e-01h 1 6 1.0979920e+00 3.28e-05 1.04e+00 -4.0 2.11e+01 - 5.63e-01 1.00e+00f 1 7 1.0971338e+00 3.25e-05 2.10e+00 -3.3 4.57e+01 - 1.00e+00 8.35e-03h 2 8 1.0916677e+00 1.21e-06 9.88e-02 -4.0 2.91e+00 - 1.00e+00 1.00e+00h 1 9 1.0909741e+00 5.49e-10 2.69e-03 -4.0 4.82e-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 1.0910386e+00 1.08e-13 3.54e-05 -4.0 1.57e-02 - 1.00e+00 1.00e+00f 1 11 1.0910386e+00 2.66e-15 3.48e-05 -4.0 1.99e-04 - 1.00e+00 1.00e+00h 1 12 1.0910386e+00 8.88e-16 8.12e-16 -4.0 3.91e-10 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 12 (scaled) (unscaled) Objective...............: 1.0910385779862031e+00 1.0910385779862031e+00 Dual infeasibility......: 8.1239268784338847e-16 8.1239268784338847e-16 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 8.8817841970012523e-16 8.8817841970012523e-16 Number of objective function evaluations = 14 Number of objective gradient evaluations = 13 Number of equality constraint evaluations = 14 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 = 21.087 EXIT: Optimal Solution Found. Difference in Jacobian 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 (0.063s) 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 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.049s) linear index maps built (0.0s) evaluator ready (total: 0.112s) 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: 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 (1.896s) optimizer initialization complete (total: 2.008s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 82 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.6672792e+00 3.30e+00 1.99e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7932009e+00 2.27e-02 1.06e+00 -1.0 2.71e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3620729e+00 2.01e-02 6.77e-02 -1.8 2.90e-01 -1.6 9.74e-01 1.00e+00h 1 3 2.1382160e+00 9.43e-03 3.31e-01 -3.0 2.14e-01 -1.1 9.51e-01 1.00e+00h 1 4 2.0954772e+00 1.79e-03 8.79e-02 -3.8 5.91e-02 -1.6 1.00e+00 7.99e-01h 1 5 2.0908196e+00 3.94e-04 5.40e-01 -4.0 6.65e-01 -2.1 1.00e+00 6.41e-01h 1 6 2.0908601e+00 6.21e-05 9.51e-02 -4.0 5.03e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0909980e+00 6.27e-07 3.80e-03 -4.0 2.35e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0909766e+00 3.87e-07 2.06e-05 -4.0 7.04e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909559e+00 1.63e-08 2.06e-05 -4.0 2.11e-01 -4.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908942e+00 1.46e-07 2.05e-05 -4.0 6.30e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907122e+00 1.29e-06 4.95e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0901935e+00 1.09e-05 4.19e-04 -4.0 5.44e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888526e+00 8.17e-05 3.15e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861687e+00 4.38e-04 1.74e-02 -4.0 3.46e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0831000e+00 9.09e-04 4.71e-02 -4.0 5.32e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828594e+00 9.35e-04 2.30e-02 -4.0 5.43e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823473e+00 3.95e-04 1.02e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820406e+00 9.26e-05 1.86e-02 -4.0 1.46e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.70e-04 8.71e-03 -4.0 9.94e+01 -8.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0819393e+00 3.69e-05 8.48e-04 -4.0 3.11e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.32e-07 1.39e-05 -4.0 4.45e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.78e-10 3.27e-08 -4.0 2.45e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.51e-13 1.22e-11 -4.0 4.60e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907190978e+00 2.0819382907190978e+00 Dual infeasibility......: 1.2170130327766523e-11 1.2170130327766523e-11 Constraint violation....: 2.5135449277513544e-13 2.5135449277513544e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 1.2170130327766523e-11 1.2170130327766523e-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 = 27.681 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.062s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.063s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s 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: 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 (0.061s) optimizer initialization complete (total: 0.177s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 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 3.6923927e+00 3.81e+00 2.10e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7304912e+00 2.22e-02 5.26e-01 -1.1 2.33e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.2654465e+00 3.56e-02 1.18e-01 -1.8 4.84e-01 -1.6 9.64e-01 1.00e+00h 1 3 2.1381816e+00 1.59e-03 3.78e-01 -2.8 7.94e-02 -1.1 9.86e-01 1.00e+00h 1 4 2.1053184e+00 7.79e-04 3.22e-01 -4.0 8.66e-02 -1.6 1.00e+00 5.73e-01h 1 5 2.0931781e+00 2.20e-04 5.38e-01 -4.0 7.16e-01 -2.1 1.00e+00 5.43e-01h 1 6 2.0912293e+00 3.80e-04 1.04e+00 -4.0 1.33e+00 -2.6 1.00e+00 6.13e-01h 1 7 2.0909813e+00 8.63e-05 2.26e-01 -4.0 5.71e-01 -3.1 1.00e+00 1.00e+00h 1 8 2.0909267e+00 3.93e-06 3.02e-03 -4.0 7.38e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909020e+00 1.22e-06 3.25e-05 -4.0 2.09e-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 2.0908504e+00 1.05e-07 1.66e-04 -4.0 5.51e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907414e+00 5.55e-07 8.19e-04 -4.0 1.35e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904486e+00 5.70e-06 7.48e-04 -4.0 4.09e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0903221e+00 8.72e-07 6.08e-04 -4.0 1.57e+00 -5.0 1.00e+00 1.00e+00h 1 14 2.0901732e+00 1.55e-06 1.90e-02 -4.0 6.39e+00 -5.5 1.00e+00 2.29e-01h 2 15 2.0889936e+00 6.46e-05 2.52e-03 -4.0 1.39e+01 -6.0 1.00e+00 1.00e+00h 1 16 2.0862980e+00 3.98e-04 2.68e-02 -4.0 3.69e+01 -6.4 1.00e+00 9.20e-01h 1 17 2.0834243e+00 1.11e-03 4.96e-02 -4.0 5.70e+01 -6.9 1.00e+00 1.00e+00h 1 18 2.0828732e+00 6.73e-04 4.29e-02 -4.0 1.27e+02 -7.4 7.48e-01 1.00e+00h 1 19 2.0826754e+00 3.00e-05 1.13e-03 -4.0 3.69e+00 -6.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0825890e+00 2.73e-05 8.76e-04 -4.0 9.68e+00 -6.5 1.00e+00 1.00e+00h 1 21 2.0824926e+00 7.40e-05 8.66e-04 -4.0 3.21e+01 -7.0 1.00e+00 1.00e+00h 1 22 2.0824863e+00 4.85e-05 7.73e-04 -4.0 1.43e+01 -6.6 1.00e+00 1.00e+00h 1 23 2.0825325e+00 2.54e-04 1.28e-02 -4.0 3.59e+02 -7.1 5.20e-02 6.25e-02h 5 24 2.0824861e+00 2.80e-04 1.40e-02 -4.1 5.41e+02 -5.7 2.98e-03 2.95e-03h 3 25 2.0827610e+00 2.67e-04 3.35e-01 -4.0 2.45e+01 -6.2 1.00e+00 1.17e-01h 1 26 2.0820977e+00 6.72e-04 2.07e-03 -4.1 1.28e+01 -6.7 1.00e+00 1.00e+00h 1 27 2.0822743e+00 8.22e-04 4.26e-03 -4.0 1.79e+01 -7.2 1.00e+00 1.00e+00h 1 28 2.0818270e+00 1.31e-03 2.49e-03 -4.1 4.88e+01 -7.7 1.00e+00 1.00e+00h 1 29 2.0819075e+00 1.56e-03 9.13e-03 -4.0 6.35e+01 -8.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0815881e+00 1.53e-03 4.62e-03 -4.1 6.50e+01 -8.6 1.00e+00 1.00e+00h 1 31 2.0818405e+00 7.59e-04 6.04e-04 -4.0 3.21e+01 -9.1 1.00e+00 1.00e+00h 1 32 2.0818383e+00 2.06e-06 2.29e-05 -4.0 5.81e+00 -9.6 1.00e+00 1.00e+00h 1 33 2.0818383e+00 2.68e-09 1.18e-07 -4.0 4.32e-01 -10.0 1.00e+00 1.00e+00h 1 34 2.0818383e+00 1.53e-12 8.42e-11 -4.0 1.13e-02 -10.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 34 (scaled) (unscaled) Objective...............: 2.0818383021827342e+00 2.0818383021827342e+00 Dual infeasibility......: 8.4211476171231620e-11 8.4211476171231620e-11 Constraint violation....: 1.5321077739827160e-12 1.5321077739827160e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000024e-04 1.0000000000000024e-04 Overall NLP error.......: 8.4211476171231620e-11 8.4211476171231620e-11 Number of objective function evaluations = 49 Number of objective gradient evaluations = 35 Number of equality constraint evaluations = 49 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 35 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 34 Total seconds in IPOPT = 28.208 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.121s jacobian structure: 180 nonzeros (0.16s) integrator 1 hessian structure: 0.049s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.354s sub-objective 2 (QuadraticRegularizer): 0.098s sub-objective 3 (MinimumTimeObjective): 0.016s objective hessian structure: 0.563s hessian structure: 375 nonzeros (0.613s) linear index maps built (0.0s) evaluator ready (total: 0.922s) evaluator created (0.922s) 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 (3.534s) optimizer initialization complete (total: 4.587s) 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 1.6889317e+00 8.59e-01 1.03e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.3287012e+00 2.93e-01 1.55e+00 -1.4 1.53e+00 -2.0 8.77e-01 1.00e+00h 1 2 1.0148329e+00 1.12e-01 1.94e-01 -1.4 8.94e-01 -1.6 1.00e+00 6.66e-01h 1 3 8.6044874e-01 1.53e-01 4.19e-01 -2.2 2.87e+00 - 1.00e+00 9.86e-01h 1 4 9.7215540e-01 1.13e-01 1.50e+00 -2.2 6.07e+00 - 1.00e+00 7.31e-01h 1 5 1.1778467e+00 1.26e-02 6.47e-01 -2.0 2.45e-01 -2.1 1.00e+00 8.64e-01h 1 6 1.1062208e+00 1.42e-03 9.87e-01 -4.0 6.94e+00 - 8.88e-01 1.00e+00h 1 7 1.1011932e+00 1.39e-03 5.33e-01 -3.2 9.30e+00 - 1.00e+00 2.10e-02h 1 8 1.0910061e+00 6.14e-06 2.88e-02 -4.0 8.37e-01 - 1.00e+00 1.00e+00h 1 9 1.0909011e+00 1.21e-08 7.43e-03 -4.0 6.12e-01 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0908997e+00 4.65e-15 6.42e-05 -4.0 3.27e-05 - 1.00e+00 1.00e+00h 1 11 1.0908997e+00 2.50e-25 6.36e-05 -4.0 5.71e-09 - 1.00e+00 1.00e+00h 1 12 1.0907198e+00 6.76e-28 7.82e-09 -4.1 2.00e-05 - 1.00e+00 1.00e+00f 1 13 1.0908997e+00 3.32e-27 9.10e-09 -4.0 2.00e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 13 (scaled) (unscaled) Objective...............: 1.0908997336734827e+00 1.0908997336734827e+00 Dual infeasibility......: 9.0971665827558473e-09 9.0971665827558473e-09 Constraint violation....: 3.3218685052932816e-27 3.3218685052932816e-27 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000081632638662e-04 1.0000081632638662e-04 Overall NLP error.......: 9.0971665827558473e-09 9.0971665827558473e-09 Number of objective function evaluations = 14 Number of objective gradient evaluations = 14 Number of equality constraint evaluations = 14 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 14 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 13 Total seconds in IPOPT = 26.248 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.063s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.064s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.049s) linear index maps built (0.0s) evaluator ready (total: 0.113s) 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 5.0827987e+00 4.12e+00 5.89e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8452975e+00 9.23e-02 3.05e+00 -1.0 2.50e+00 0.0 1.00e+00 1.00e+00f 1 2 2.7900581e+00 8.57e-03 7.98e-01 -0.8 1.41e-01 0.4 1.00e+00 1.00e+00f 1 3 2.6120632e+00 1.42e-03 3.15e-01 -1.5 7.28e-02 -0.1 9.59e-01 1.00e+00h 1 4 2.2962068e+00 3.56e-03 8.31e-02 -1.8 1.68e-01 -0.5 9.81e-01 1.00e+00f 1 5 2.1337748e+00 3.42e-03 8.29e-02 -2.6 2.13e-01 -1.0 9.25e-01 6.82e-01h 1 6 2.0957081e+00 2.55e-04 2.29e-02 -3.3 2.38e-02 -1.5 9.94e-01 9.25e-01h 1 7 2.0910464e+00 2.98e-06 4.04e-04 -4.0 5.32e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0910228e+00 1.61e-08 2.06e-05 -4.0 5.63e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0910212e+00 9.56e-11 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 2.0910162e+00 9.65e-10 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0910012e+00 8.69e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0909564e+00 7.82e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0908219e+00 7.06e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0904196e+00 6.38e-06 2.87e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0892215e+00 5.84e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0857090e+00 5.52e-04 2.29e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796397e+00 2.36e-03 1.34e-01 -4.0 9.60e+01 -6.7 1.00e+00 6.39e-01h 1 18 2.0807701e+00 1.67e-04 1.88e-01 -4.0 6.79e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775386e+00 7.68e-03 2.59e-02 -4.0 1.20e+02 -7.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0768994e+00 1.22e-03 6.10e-02 -4.0 1.80e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0761693e+00 1.10e-03 2.09e-02 -4.0 3.26e+02 -8.6 1.00e+00 8.44e-01h 1 22 2.0754854e+00 1.89e-03 3.26e-02 -4.0 5.66e+02 -9.1 1.00e+00 7.28e-01h 1 23 2.0757955e+00 3.11e-03 1.42e-02 -4.0 1.70e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753892e+00 1.35e-03 7.13e-04 -4.1 9.46e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756722e+00 4.65e-04 6.69e-06 -4.0 2.16e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 5.94e-07 1.12e-06 -4.0 1.20e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.23e-09 8.41e-08 -4.0 4.28e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 3.76e-11 1.50e-09 -4.0 6.73e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121556089e+00 2.0756712121556089e+00 Dual infeasibility......: 1.5002679179814023e-09 1.5002679179814023e-09 Constraint violation....: 3.7593594903739813e-11 3.7593594903739813e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000060e-04 1.0000000000000060e-04 Overall NLP error.......: 1.5002679179814023e-09 1.5002679179814023e-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 = 29.303 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 (0.068s) integrator 1 hessian structure: 0.055s 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 (0.057s) linear index maps built (0.0s) evaluator ready (total: 0.125s) evaluator created (0.125s) 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 (0.16s) optimizer initialization complete (total: 0.285s) 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 2.4489657e+00 2.69e+00 7.49e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9312508e+00 8.02e-02 2.36e+00 -0.9 1.88e+00 0.0 7.61e-01 1.00e+00h 1 2 2.6681296e+00 1.25e-02 8.75e-01 -1.0 1.81e-01 0.4 9.95e-01 1.00e+00h 1 3 2.3248686e+00 2.64e-03 1.33e-01 -2.0 9.89e-02 -0.1 9.84e-01 1.00e+00f 1 4 2.1279593e+00 1.60e-03 1.01e-01 -3.1 7.11e-02 -0.5 1.00e+00 7.93e-01f 1 5 2.0977535e+00 4.86e-04 1.32e-01 -4.0 3.07e-02 -1.0 1.00e+00 7.10e-01h 1 6 2.0929508e+00 2.08e-04 9.93e-01 -4.0 4.33e-01 -1.5 1.00e+00 5.72e-01h 1 7 2.0914082e+00 1.04e-04 1.57e-01 -4.0 2.82e-01 -2.0 1.00e+00 1.00e+00h 1 8 2.0907897e+00 2.07e-06 1.41e-02 -4.0 3.81e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909460e+00 1.12e-06 2.00e-04 -4.0 1.78e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909407e+00 2.56e-09 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909258e+00 8.87e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908810e+00 7.82e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907466e+00 7.05e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903444e+00 6.38e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891469e+00 5.84e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856363e+00 5.51e-04 2.30e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796295e+00 2.32e-03 1.35e-01 -4.0 9.57e+01 -6.7 1.00e+00 6.33e-01h 1 18 2.0807535e+00 1.60e-04 1.83e-01 -4.0 6.62e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775325e+00 7.39e-03 2.47e-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 2.0769281e+00 1.12e-03 4.99e-02 -4.0 1.76e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0760047e+00 1.04e-03 2.35e-02 -4.0 3.11e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0754462e+00 5.03e-04 2.99e-02 -4.0 4.67e+02 -9.1 1.00e+00 7.25e-01H 1 23 2.0757758e+00 2.17e-03 1.07e-02 -4.0 1.42e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753822e+00 1.41e-03 4.85e-04 -4.1 7.83e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756722e+00 3.96e-04 6.78e-06 -4.0 1.81e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0753425e+00 6.31e-04 7.70e-07 -4.1 2.58e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756725e+00 3.34e-04 8.11e-07 -4.0 1.36e+01 -11.5 1.00e+00 1.00e+00h 1 28 2.0753425e+00 5.02e-04 2.59e-07 -4.1 2.05e+01 -12.0 1.00e+00 1.00e+00h 1 29 2.0756725e+00 5.53e-04 1.18e-07 -4.0 2.26e+01 -12.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0753425e+00 5.53e-04 9.06e-08 -4.1 2.26e+01 -12.9 1.00e+00 1.00e+00h 1 31 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -13.4 9.28e-01 1.00e+00h 1 32 2.0757517e+00 1.59e-01 1.53e-04 -4.0 1.29e+03 -13.9 1.00e+00 1.00e+00h 1 33 2.0753574e+00 2.64e-02 8.69e-05 -4.1 1.05e+03 -14.4 1.00e+00 1.00e+00h 1 34 2.0753474e+00 1.15e-05 2.14e-06 -4.1 1.63e+02 -14.8 1.00e+00 1.00e+00h 1 35 2.0756726e+00 7.25e-04 1.64e-07 -4.0 3.02e+01 -15.3 1.00e+00 1.00e+00h 1 36 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -15.8 1.00e+00 1.00e+00h 1 37 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -16.3 9.28e-01 1.00e+00h 1 38 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -16.8 8.16e-01 1.00e+00h 1 39 2.0742914e+00 4.02e-02 1.95e-02 -4.0 1.50e+04 -17.2 1.00e+00 1.46e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0748877e+00 5.32e-02 4.44e-05 -4.3 1.16e+03 -17.7 1.00e+00 1.00e+00h 1 41 2.0748919e+00 7.80e-04 1.27e-05 -4.3 8.19e+02 -18.2 1.00e+00 1.00e+00h 1 42 2.0756799e+00 8.81e-03 2.72e-06 -4.0 1.52e+02 -18.7 1.00e+00 1.00e+00h 1 43 2.0753438e+00 1.84e-03 6.19e-07 -4.1 7.48e+01 -19.1 1.00e+00 1.00e+00h 1 44 2.0753420e+00 1.03e-06 2.13e-08 -4.1 1.76e+01 -19.6 1.00e+00 1.00e+00h 1 45 2.0756726e+00 7.23e-04 1.61e-07 -4.0 2.96e+01 -20.0 1.00e+00 1.00e+00h 1 46 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -20.0 1.00e+00 1.00e+00h 1 47 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 48 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -20.0 8.16e-01 1.00e+00h 1 49 2.0739622e+00 1.34e-06 1.83e-05 -6.1 8.40e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0741067e+00 2.44e-02 3.22e-02 -4.0 5.48e+04 -20.0 1.00e+00 5.98e-02f 1 51 2.0748071e+00 7.96e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 52 2.0748241e+00 9.52e-04 1.02e-05 -4.3 6.22e+02 -20.0 1.00e+00 1.00e+00h 1 53 2.0748237e+00 1.04e-07 2.35e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 54 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 55 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 56 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 57 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 58 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 59 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0741065e+00 2.43e-02 3.23e-02 -4.0 5.49e+04 -20.0 1.00e+00 5.97e-02f 1 61 2.0748071e+00 7.95e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 62 2.0748240e+00 9.52e-04 1.02e-05 -4.3 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 63 2.0748236e+00 1.04e-07 2.36e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 64 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 65 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 66 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 68 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 69 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0739617e+00 2.11e-08 1.94e-06 -6.1 2.49e+02 -20.0 1.00e+00 1.00e+00h 1 71 2.0740871e+00 2.06e-02 3.56e-02 -4.0 6.55e+04 -20.0 1.00e+00 5.03e-02f 1 72 2.0748016e+00 7.32e-02 4.77e-05 -4.3 1.41e+03 -20.0 1.00e+00 1.00e+00f 1 73 2.0748204e+00 9.23e-04 8.08e-06 -4.3 5.36e+02 -20.0 1.00e+00 1.00e+00h 1 74 2.0748200e+00 1.25e-07 3.57e-07 -4.3 7.03e+01 -20.0 1.00e+00 1.00e+00h 1 75 2.0740036e+00 1.08e-02 5.23e-04 -6.5 1.81e+02 -20.0 8.93e-01 1.00e+00f 1 76 2.0739632e+00 2.51e-04 3.38e-04 -6.5 7.34e+02 -20.0 7.62e-01 1.00e+00h 1 77 2.0739539e+00 4.81e-07 1.83e-05 -6.5 9.12e+02 -20.0 1.00e+00 1.00e+00h 1 78 2.0740681e+00 1.80e-02 3.75e-02 -4.0 7.10e+04 -20.0 1.00e+00 4.51e-02f 1 79 2.0747866e+00 7.58e-02 5.27e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0748068e+00 8.84e-04 6.22e-06 -4.3 4.91e+02 -20.0 1.00e+00 1.00e+00h 1 81 2.0748064e+00 1.21e-07 3.63e-07 -4.3 6.91e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 83 2.0739630e+00 2.41e-04 3.38e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 84 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 85 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 86 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 87 2.0748064e+00 8.81e-04 6.11e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 88 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0739630e+00 2.40e-04 3.37e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 91 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 92 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 93 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 94 2.0748064e+00 8.81e-04 6.10e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 95 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 97 2.0739630e+00 2.40e-04 3.37e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 98 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 99 2.0739527e+00 5.48e-08 5.24e-06 -6.5 3.94e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0740476e+00 1.42e-02 4.44e-02 -4.0 9.26e+04 -20.0 1.00e+00 3.50e-02f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0740476226011366e+00 2.0740476226011366e+00 Dual infeasibility......: 4.4440948322914557e-02 4.4440948322914557e-02 Constraint violation....: 1.4164404722585289e-02 1.4164404722585289e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.3095644031728815e-04 2.3095644031728815e-04 Overall NLP error.......: 4.4440948322914557e-02 4.4440948322914557e-02 Number of objective function evaluations = 103 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 103 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 28.749 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 (0.065s) 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: 0.001s hessian structure: 1749 nonzeros (0.053s) linear index maps built (0.0s) evaluator ready (total: 0.118s) 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: 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: 0.119s) 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 1.5421162e+00 3.46e+00 4.24e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6298394e+00 1.09e-01 8.43e-01 -1.0 2.37e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.3468111e+00 2.00e-01 1.64e-01 -1.5 1.72e+00 -2.5 9.11e-01 9.31e-01h 1 3 2.1308954e+00 8.30e-02 1.47e-01 -2.3 2.18e+00 -3.0 9.28e-01 9.86e-01h 1 4 2.1161890e+00 4.00e-04 5.95e-02 -2.6 1.59e-01 -3.4 9.80e-01 1.00e+00h 1 5 2.0912172e+00 4.03e-04 9.30e-04 -4.0 1.53e-01 -3.9 1.00e+00 9.65e-01h 1 6 2.0908059e+00 4.51e-05 7.18e-05 -4.0 5.00e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0906584e+00 6.47e-07 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0902174e+00 7.80e-06 3.44e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0889052e+00 7.15e-05 3.07e-04 -4.0 1.33e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0850688e+00 6.78e-04 2.80e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0796504e+00 2.12e-03 1.76e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.36e-01h 1 12 2.0802821e+00 1.44e-04 1.68e-01 -4.0 6.69e+01 -7.2 1.00e+00 1.00e+00H 1 13 2.0774292e+00 7.95e-03 2.41e-02 -4.0 1.24e+02 -7.7 1.00e+00 9.63e-01h 1 14 2.0769813e+00 1.67e-03 4.82e-02 -4.0 2.08e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0762004e+00 1.91e-03 2.21e-02 -4.0 3.51e+02 -8.7 1.00e+00 8.11e-01h 1 16 2.0755175e+00 2.13e-03 2.94e-02 -4.0 5.39e+02 -9.2 1.00e+00 7.02e-01h 1 17 2.0757584e+00 2.73e-03 1.28e-02 -4.0 1.49e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0756819e+00 3.22e-04 4.43e-04 -4.0 6.78e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0756713e+00 7.81e-06 7.54e-06 -4.0 2.31e+01 -10.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0756712e+00 4.69e-08 1.16e-06 -4.0 1.35e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0756712e+00 2.20e-09 8.90e-08 -4.0 4.28e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0756712e+00 3.31e-11 1.29e-09 -4.0 6.25e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0756712121409935e+00 2.0756712121409935e+00 Dual infeasibility......: 1.2910847022290072e-09 1.2910847022290072e-09 Constraint violation....: 3.3083535910805040e-11 3.3083535910805040e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000042e-04 1.0000000000000042e-04 Overall NLP error.......: 1.2910847022290072e-09 1.2910847022290072e-09 Number of objective function evaluations = 24 Number of objective gradient evaluations = 23 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 23 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 22 Total seconds in IPOPT = 27.661 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 Total Time Package | 222 222 25m48.5s Testing DirectTrajOpt tests passed Testing completed after 1632.25s PkgEval succeeded after 1740.01s