Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.1826 (44c835795b*) started at 2026-03-03T23:51:10.814 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 13.94s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... 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 v4.5.0 [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 v3.15.0 [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 6.23s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling packages... 25192.3 ms ✓ DirectTrajOpt 1 dependency successfully precompiled in 36 seconds. 225 already precompiled. Precompilation completed after 52.58s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_wGLoCu/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_wGLoCu/Manifest.toml` [47edcb42] ADTypes v1.21.0 ⌃ [c29ec348] AbstractDifferentiation v0.4.4 [7d9f7c33] Accessors v0.1.43 [79e6a3ab] Adapt v4.5.0 [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 v3.15.0 [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: 2.006s integrator 2 jacobian structure: 0.055s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 4.676s jacobian structure: 1600 nonzeros (6.802s) integrator 1 hessian structure: 0.046s integrator 2 hessian structure: 0.045s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.785s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 2.145s sub-objective 2 (QuadraticRegularizer): 1.364s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.018s objective hessian structure: 3.627s hessian structure: 1749 nonzeros (7.505s) linear index maps built (0.001s) evaluator ready (total: 14.772s) evaluator created (18.956s) NL constraint bounds extracted (0.209s) NLP block data built (0.0s) Ipopt optimizer configured (0.331s) variables set (0.686s) 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 (3.232s) optimizer initialization complete (total: 23.416s) ****************************************************************************** This program contains Ipopt, a library for large-scale nonlinear optimization. Ipopt is released as open source code under the Eclipse Public License (EPL). For more information visit https://github.com/coin-or/Ipopt ****************************************************************************** This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.6806977e+00 2.15e+00 4.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.3749584e+00 8.87e-02 1.70e+00 -1.0 1.77e+00 0.0 9.76e-01 9.62e-01h 1 2 2.3822048e+00 2.10e-02 9.68e-01 -1.2 3.45e-01 -0.5 9.43e-01 1.00e+00h 1 3 2.2214195e+00 7.45e-03 1.65e-01 -1.9 1.88e-01 -1.0 9.88e-01 1.00e+00h 1 4 2.1016337e+00 1.30e-03 2.93e-02 -3.1 6.80e-02 -1.4 9.99e-01 8.79e-01h 1 5 2.0911178e+00 3.31e-05 6.90e-03 -4.0 1.61e-02 -1.9 1.00e+00 1.00e+00h 1 6 2.0909541e+00 7.14e-08 1.33e-04 -4.0 9.45e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0909518e+00 2.99e-09 1.89e-05 -4.0 1.38e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909482e+00 6.75e-10 1.86e-05 -4.0 4.07e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909379e+00 5.62e-09 1.79e-05 -4.0 1.17e-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 2.0909118e+00 3.91e-08 7.06e-05 -4.0 3.24e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0908462e+00 2.35e-07 3.08e-04 -4.0 8.64e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0906618e+00 2.19e-06 5.12e-04 -4.0 2.60e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0903277e+00 4.50e-06 1.28e-02 -4.0 8.61e+00 -5.7 8.22e-01 3.98e-01h 1 14 2.0894618e+00 2.21e-04 4.26e-02 -4.0 2.60e+01 -6.2 1.00e+00 1.00e+00f 1 15 2.0878866e+00 9.33e-05 2.98e-02 -4.0 3.69e+00 -4.9 1.00e+00 6.56e-01h 1 16 2.0878743e+00 1.88e-05 6.48e-03 -4.0 3.32e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0868522e+00 3.93e-05 6.85e-03 -4.0 1.00e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0853017e+00 1.90e-04 9.38e-03 -4.0 2.36e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0830569e+00 4.05e-04 2.69e-02 -4.0 3.91e+01 -6.8 1.00e+00 9.67e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0826320e+00 4.27e-04 1.28e-02 -4.0 5.48e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0823291e+00 4.52e-04 9.65e-03 -4.0 1.23e+02 -7.7 1.00e+00 1.00e+00h 1 22 3.7640337e+00 3.76e-05 2.74e+01 -4.0 1.33e+03 -8.2 2.69e-02 1.00e+00H 1 23 2.0954718e+00 5.52e-06 2.38e+00 -4.1 5.83e-01 -0.4 4.15e-01 8.54e-01f 1 24 2.0955795e+00 5.51e-06 5.49e+00 -4.1 6.45e-02 -0.8 1.00e+00 1.95e-03f 10 25 2.0954162e+00 7.64e-08 2.04e-03 -4.1 4.30e-02 -1.3 1.00e+00 1.00e+00h 1 26 2.0950963e+00 6.18e-08 2.00e-03 -4.1 1.27e-01 -1.8 1.00e+00 1.00e+00h 1 27 2.0944897e+00 9.42e-07 1.87e-03 -4.0 3.54e-01 -2.3 1.00e+00 1.00e+00f 1 28 2.0938543e+00 1.00e-06 5.55e-01 -4.1 6.77e-01 -2.8 1.00e+00 4.15e-01H 1 29 2.0939585e+00 1.60e-06 2.00e-04 -4.1 8.01e-02 -3.2 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0932020e+00 1.15e-05 2.81e-02 -6.1 1.10e-01 -3.7 7.96e-01 1.00e+00h 1 31 2.0930869e+00 5.83e-06 4.82e-05 -6.1 3.19e-01 -4.2 1.00e+00 1.00e+00h 1 32 2.0929753e+00 5.08e-08 2.07e-05 -6.1 9.52e-01 -4.7 1.00e+00 1.00e+00h 1 33 2.0937223e+00 3.74e-04 2.96e-03 -4.0 2.52e+00 -5.1 1.00e+00 1.00e+00f 1 34 2.0928524e+00 3.31e-04 2.28e-03 -4.1 6.79e+00 -5.6 1.00e+00 1.00e+00h 1 35 2.0920767e+00 2.50e-05 4.96e-03 -4.1 1.77e+01 -6.1 1.00e+00 1.00e+00h 1 36 2.0903650e+00 1.99e-04 1.11e-02 -4.1 4.83e+01 -6.6 1.00e+00 1.00e+00h 1 37 2.0873635e+00 1.04e-03 5.03e-02 -4.1 1.20e+02 -7.0 1.00e+00 1.00e+00h 1 38 2.0838326e+00 2.99e-03 1.44e-01 -4.1 2.33e+02 -7.5 1.00e+00 1.00e+00h 1 39 2.0818971e+00 5.95e-03 7.60e-02 -4.1 3.20e+02 -8.0 8.04e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0828246e+00 4.35e-03 3.91e-01 -4.0 1.03e+02 -6.7 1.00e+00 8.44e-01h 1 41 2.0825564e+00 6.14e-03 1.25e-01 -3.7 1.06e+02 -7.2 8.46e-01 1.00e+00h 1 42 2.0828412e+00 5.53e-03 3.93e+00 -3.7 6.51e+01 -5.8 6.31e-01 8.50e-02h 2 43 2.0823732e+00 1.10e-03 3.97e-01 -3.7 9.80e-02 -1.8 1.00e+00 8.01e-01h 1 44 2.0825816e+00 9.79e-06 3.74e-03 -3.7 4.61e-02 -2.3 1.00e+00 1.00e+00f 1 45 2.0821307e+00 2.25e-06 2.67e-03 -4.0 3.59e-02 -2.7 1.00e+00 1.00e+00h 1 46 2.0819887e+00 8.55e-07 1.42e-04 -4.0 2.57e-02 -3.2 1.00e+00 1.00e+00h 1 47 2.0819949e+00 3.44e-08 4.02e-06 -4.0 1.98e-02 -3.7 1.00e+00 1.00e+00h 1 48 2.0819930e+00 3.75e-08 3.87e-06 -4.0 5.71e-02 -4.2 1.00e+00 1.00e+00h 1 49 2.0819887e+00 2.39e-07 6.14e-06 -4.0 1.54e-01 -4.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0819818e+00 1.01e-06 2.46e-05 -4.0 3.77e-01 -5.1 1.00e+00 1.00e+00h 1 51 2.0819742e+00 2.59e-06 5.81e-05 -4.0 8.97e-01 -5.6 1.00e+00 1.00e+00h 1 52 2.0819620e+00 5.56e-06 1.15e-04 -4.0 2.25e+00 -6.1 1.00e+00 1.00e+00h 1 53 2.0819288e+00 1.63e-05 3.26e-04 -4.0 5.73e+00 -6.6 1.00e+00 1.00e+00h 1 54 2.0818738e+00 5.43e-05 1.02e-03 -4.0 1.27e+01 -7.0 1.00e+00 1.00e+00h 1 55 2.0818396e+00 1.33e-04 2.35e-03 -4.0 2.40e+01 -7.5 1.00e+00 1.00e+00h 1 56 2.0818340e+00 1.89e-04 3.24e-03 -4.0 3.54e+01 -8.0 1.00e+00 1.00e+00h 1 57 2.0818379e+00 1.23e-04 2.34e-03 -4.0 4.01e+01 -8.5 1.00e+00 1.00e+00h 1 58 2.0818424e+00 2.21e-05 5.22e-04 -4.0 2.43e+01 -8.9 1.00e+00 1.00e+00h 1 59 2.0818433e+00 8.13e-07 2.29e-05 -4.0 6.09e+00 -9.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0818434e+00 5.80e-09 1.93e-07 -4.0 5.74e-01 -9.9 1.00e+00 1.00e+00h 1 61 2.0818434e+00 5.85e-12 1.00e-09 -4.0 1.95e-02 -10.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 61 (scaled) (unscaled) Objective...............: 2.0818434105110351e+00 2.0818434105110351e+00 Dual infeasibility......: 1.0000000414593733e-09 1.0000000414593733e-09 Constraint violation....: 5.8451021800465242e-12 5.8451021800465242e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000003e-04 1.0000000000000003e-04 Overall NLP error.......: 1.0000000414593733e-09 1.0000000414593733e-09 Number of objective function evaluations = 75 Number of objective gradient evaluations = 62 Number of equality constraint evaluations = 75 Number of inequality constraint evaluations = 75 Number of equality constraint Jacobian evaluations = 62 Number of inequality constraint Jacobian evaluations = 62 Number of Lagrangian Hessian evaluations = 61 Total seconds in IPOPT = 66.573 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.065s integrator 2 jacobian structure: 0.058s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 6.28s jacobian structure: 1680 nonzeros (6.404s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.047s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 7.577s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.299s sub-objective 2 (QuadraticRegularizer): 0.08s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.016s sub-objective 5 (GlobalObjective): 0.748s objective hessian structure: 1.23s hessian structure: 1964 nonzeros (8.902s) linear index maps built (0.0s) evaluator ready (total: 15.307s) evaluator created (15.331s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.108s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (4.469s) optimizer initialization complete (total: 19.908s) 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 1.6860605e+01 3.05e+00 3.51e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 5.3762304e+00 3.33e-01 3.86e+00 -0.9 2.19e+00 0.0 7.09e-01 8.92e-01f 1 2 4.8137608e+00 1.52e-02 2.83e+01 -0.8 2.84e-01 1.3 9.72e-01 1.00e+00f 1 3 3.8343433e+00 2.01e-03 3.63e+00 -1.4 1.73e-01 0.9 1.00e+00 1.00e+00f 1 4 2.8654528e+00 5.58e-04 6.75e-01 -2.2 2.44e-01 0.4 9.99e-01 1.00e+00f 1 5 2.5885375e+00 3.01e-03 8.90e-01 -2.4 3.40e-01 -0.1 1.00e+00 2.30e-01f 1 6 2.3366063e+00 1.28e-02 1.22e+00 -2.4 6.02e-01 -0.6 9.97e-01 2.57e-01f 1 7 2.1221162e+00 1.57e-03 1.04e-01 -3.1 1.83e-01 -1.1 1.00e+00 8.77e-01h 1 8 2.0913123e+00 8.83e-05 7.79e-03 -4.0 2.96e-02 -1.5 1.00e+00 1.00e+00h 1 9 2.0908446e+00 2.48e-07 2.42e-05 -4.0 1.94e-03 -2.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908437e+00 9.40e-10 1.63e-05 -4.0 5.02e-03 -2.5 1.00e+00 1.00e+00h 1 11 2.0908423e+00 8.11e-11 1.63e-05 -4.0 1.51e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0908386e+00 6.41e-10 1.62e-05 -4.0 4.49e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908280e+00 5.37e-09 1.58e-05 -4.0 1.31e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0907988e+00 4.24e-08 4.75e-05 -4.0 3.76e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0907174e+00 3.27e-07 1.82e-04 -4.0 1.07e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0904599e+00 3.27e-06 5.01e-04 -4.0 3.18e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0903639e+00 6.17e-07 3.76e-04 -4.0 1.30e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0902017e+00 1.40e-06 1.34e-02 -4.0 5.07e+00 -5.4 1.00e+00 3.08e-01h 2 19 2.0891457e+00 4.89e-05 2.09e-03 -4.0 1.19e+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 2.0869451e+00 3.43e-04 2.04e-02 -4.0 3.14e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0860250e+00 1.68e-04 1.86e-02 -4.0 1.33e+01 -5.9 1.00e+00 6.16e-01h 1 22 2.0845604e+00 2.10e-04 1.43e-02 -4.0 2.56e+01 -6.4 1.00e+00 1.00e+00h 1 23 2.0827570e+00 1.85e-04 2.18e-02 -4.0 3.40e+01 -6.9 1.00e+00 8.57e-01h 1 24 2.0829188e+00 9.10e-04 2.91e-02 -4.0 6.02e+01 -7.4 1.00e+00 1.00e+00h 1 25 2.0820643e+00 1.78e-03 9.18e-03 -4.1 1.41e+02 -7.8 1.00e+00 1.00e+00h 1 26 9.1813076e+01 4.28e-04 5.22e+02 -4.0 3.13e+03 -8.3 9.63e-03 1.00e+00H 1 27 2.1633585e+00 6.08e-06 1.53e+01 -4.1 3.39e-01 1.5 1.00e+00 9.86e-01f 1 28 2.1631691e+00 6.07e-06 1.22e+01 -4.1 7.95e-03 1.1 1.00e+00 1.56e-03f 2 29 2.1629729e+00 4.04e-06 9.29e-02 -4.1 1.13e-03 0.6 1.00e+00 3.34e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.1629971e+00 2.52e-08 4.26e-03 -4.1 3.40e-03 0.1 1.00e+00 1.00e+00f 1 31 2.1629093e+00 1.54e-08 4.24e-03 -4.1 1.02e-02 -0.4 1.00e+00 1.00e+00h 1 32 2.1627262e+00 4.97e-08 4.22e-03 -4.1 3.03e-02 -0.9 1.00e+00 1.00e+00h 1 33 2.1622698e+00 2.87e-07 4.20e-03 -4.1 9.06e-02 -1.3 1.00e+00 1.00e+00h 1 34 2.1610974e+00 5.83e-07 4.14e-03 -4.1 2.68e-01 -1.8 1.00e+00 1.00e+00h 1 35 2.1581582e+00 7.34e-07 5.84e-02 -4.1 7.67e-01 -2.3 1.00e+00 9.10e-01h 1 36 2.1584505e+00 1.10e-06 1.15e+01 -4.1 2.64e-01 -2.8 1.00e+00 2.63e-01f 2 37 2.1582319e+00 4.73e-06 6.81e-04 -4.1 9.42e-02 -3.2 1.00e+00 1.00e+00h 1 38 2.1576036e+00 2.42e-05 5.28e-02 -6.2 2.35e-01 -3.7 7.42e-01 9.88e-01h 1 39 2.1573580e+00 4.34e-05 9.44e-05 -6.2 6.97e-01 -4.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.1569304e+00 2.71e-06 6.78e-05 -6.2 2.08e+00 -4.7 1.00e+00 1.00e+00h 1 41 2.1556797e+00 5.68e-07 6.01e-04 -6.2 6.19e+00 -5.2 1.00e+00 1.00e+00h 1 42 2.1548547e+00 7.49e-07 4.10e-01 -6.2 1.81e+01 -5.6 1.00e+00 2.32e-01f 1 43 2.1535140e+00 8.21e-06 5.40e-01 -6.2 4.64e+01 -6.1 1.00e+00 3.01e-01f 1 44 2.1451677e+00 5.21e-06 7.10e-01 -6.2 1.31e+02 -6.6 1.00e+00 6.91e-01f 1 45 2.1244430e+00 2.39e-05 9.34e-01 -6.2 3.35e+02 -7.1 6.26e-01 1.00e+00f 1 46 2.1132434e+00 2.72e-05 4.10e+00 -6.2 6.41e+02 -7.5 1.00e+00 3.66e-01h 1 47 2.1025018e+00 7.61e-05 4.36e+00 -6.2 1.11e+03 -8.0 7.05e-01 3.08e-01h 1 48 2.0809701e+00 1.15e-03 1.02e+00 -6.2 7.00e+04 -8.5 7.73e-07 2.46e-02f 1 49 2.0809230e+00 1.16e-03 1.03e+00 -4.0 5.88e+03 -6.3 1.30e-03 1.55e-03f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0824585e+00 3.51e-03 6.46e-01 -4.0 2.76e+01 -6.7 4.27e-01 1.00e+00f 1 51 2.0816502e+00 1.50e-03 1.50e-01 -4.3 6.33e+00 -6.3 1.00e+00 7.21e-01h 1 52 2.0821719e+00 7.85e-04 4.63e-03 -4.0 1.63e+01 -6.8 1.00e+00 1.00e+00f 1 53 2.0820161e+00 3.61e-04 3.42e-03 -4.0 4.79e+01 -7.3 1.00e+00 1.00e+00h 1 54 2.1086089e+00 3.17e-05 7.01e-01 -4.0 3.22e+02 -7.7 1.38e-01 1.00e+00H 1 55 2.1049335e+00 1.14e-04 6.76e-01 -4.1 3.90e+01 -4.6 2.72e-02 2.76e-02f 1 56 2.0828756e+00 2.60e-05 8.79e-01 -4.1 1.81e-01 -1.5 1.00e+00 7.74e-01f 1 57 2.0834811e+00 2.47e-05 5.33e+00 -3.8 2.98e-01 -1.9 9.13e-01 4.98e-02f 5 58 2.0835430e+00 5.35e-05 3.45e-01 -3.8 7.94e-01 -2.4 1.00e+00 8.08e-01H 1 59 2.0829499e+00 7.96e-06 6.50e-03 -3.9 1.24e-01 -2.9 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0824359e+00 2.54e-05 9.75e-03 -4.0 3.05e-01 -3.4 9.47e-01 1.00e+00h 1 61 2.0824492e+00 1.93e-06 3.04e-04 -4.0 6.83e-02 -3.9 1.00e+00 1.00e+00h 1 62 2.0824651e+00 7.15e-07 3.34e-05 -4.0 1.91e-01 -4.3 1.00e+00 1.00e+00h 1 63 2.0824835e+00 7.72e-07 4.47e-05 -4.0 5.34e-01 -4.8 1.00e+00 1.00e+00h 1 64 2.0823589e+00 1.31e-05 4.68e-04 -4.1 1.07e+00 -5.3 1.00e+00 1.00e+00h 1 65 2.0825571e+00 6.22e-05 3.01e-04 -4.0 3.46e+00 -5.8 1.00e+00 1.00e+00h 1 66 2.0823488e+00 8.39e-05 1.38e-03 -4.1 7.72e+00 -6.2 1.00e+00 1.00e+00h 1 67 2.0824328e+00 4.43e-04 1.09e-03 -4.0 2.15e+01 -6.7 1.00e+00 1.00e+00h 1 68 2.0819184e+00 8.00e-04 5.73e-03 -4.1 4.29e+01 -7.2 1.00e+00 1.00e+00h 1 69 2.0819664e+00 2.58e-03 5.65e-03 -4.0 9.47e+01 -7.7 5.15e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0829920e+00 3.98e-03 6.63e-01 -4.1 4.13e+01 -6.3 1.00e+00 5.08e-01h 1 71 2.0818321e+00 1.20e-03 1.65e+00 -4.1 1.36e+00 -4.1 3.30e-01 6.94e-01f 1 72 2.0817471e+00 1.15e-03 4.41e+00 -3.1 3.62e+00 -4.6 1.00e+00 3.47e-02f 1 73 2.0817216e+00 9.34e-05 9.42e-02 -4.0 1.57e+00 -5.1 9.04e-01 1.00e+00h 1 74 2.0817980e+00 7.17e-05 1.40e-03 -4.0 1.40e+00 -5.5 1.00e+00 1.00e+00h 1 75 2.0819359e+00 2.96e-04 1.29e-02 -4.0 6.93e+00 -6.0 9.44e-01 1.00e+00h 1 76 2.0819348e+00 2.89e-04 5.44e-01 -4.1 1.11e+01 -6.5 1.00e+00 9.44e-02h 2 77 2.0816448e+00 2.69e-04 3.59e-03 -4.1 7.09e+00 -7.0 1.00e+00 1.00e+00h 1 78 2.0818545e+00 2.75e-04 7.49e-04 -4.0 1.03e+01 -7.5 1.00e+00 1.00e+00h 1 79 2.0815911e+00 5.46e-04 2.75e-04 -4.1 2.24e+01 -7.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0818378e+00 5.76e-04 4.79e-04 -4.0 2.44e+01 -8.4 1.00e+00 1.00e+00h 1 81 2.0815827e+00 4.33e-04 1.37e-04 -4.1 1.77e+01 -8.9 1.00e+00 1.00e+00h 1 82 2.0818414e+00 2.57e-04 3.12e-05 -4.0 1.18e+01 -9.4 1.00e+00 1.00e+00h 1 83 2.0815821e+00 2.00e-04 2.54e-05 -4.1 9.14e+00 -9.8 1.00e+00 1.00e+00h 1 84 2.0818419e+00 2.10e-04 3.12e-05 -4.0 9.61e+00 -10.3 1.00e+00 1.00e+00h 1 85 2.0815819e+00 2.13e-04 2.54e-05 -4.1 9.69e+00 -10.8 1.00e+00 1.00e+00h 1 86 2.0818419e+00 2.13e-04 3.12e-05 -4.0 9.73e+00 -11.3 1.00e+00 1.00e+00h 1 87 2.0815819e+00 2.14e-04 2.54e-05 -4.1 9.74e+00 -11.7 1.00e+00 1.00e+00h 1 88 2.0818419e+00 2.14e-04 3.12e-05 -4.0 9.74e+00 -12.2 1.00e+00 1.00e+00h 1 89 2.0815819e+00 2.14e-04 2.54e-05 -4.1 9.75e+00 -12.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805924e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -13.2 9.77e-01 9.68e-01h 1 91 2.0818894e+00 6.59e-03 2.97e-04 -4.0 6.14e+01 -13.7 1.00e+00 1.00e+00f 1 92 2.0816124e+00 4.95e-04 2.59e-05 -4.1 2.07e+01 -14.1 1.00e+00 1.00e+00h 1 93 2.0806015e+00 3.47e-03 1.91e-04 -6.1 4.19e+01 -14.6 9.76e-01 9.61e-01h 1 94 2.0805507e+00 9.05e-05 2.22e-06 -6.1 1.70e+01 -15.1 1.00e+00 1.00e+00h 1 95 2.0819806e+00 1.03e-02 3.96e-04 -4.0 8.49e+01 -15.6 1.00e+00 1.00e+00f 1 96 2.0816780e+00 9.65e-04 4.95e-05 -4.1 4.57e+01 -16.0 1.00e+00 1.00e+00h 1 97 2.0816420e+00 4.58e-07 2.67e-05 -4.1 8.54e+00 -16.5 1.00e+00 1.00e+00h 1 98 2.0818414e+00 1.26e-04 3.12e-05 -4.0 7.46e+00 -17.0 1.00e+00 1.00e+00h 1 99 2.0815817e+00 2.11e-04 2.54e-05 -4.1 9.63e+00 -17.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805923e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -17.9 9.77e-01 9.68e-01h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805923065192933e+00 2.0805923065192933e+00 Dual infeasibility......: 1.3982929840464464e-04 1.3982929840464464e-04 Constraint violation....: 3.3100797359786327e-03 3.3100797359786327e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.7759755522229161e-05 1.7759755522229161e-05 Overall NLP error.......: 3.3100797359786327e-03 3.3100797359786327e-03 Number of objective function evaluations = 121 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 121 Number of inequality constraint evaluations = 121 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 46.003 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: 0.055s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) jacobian structure: 3.966s jacobian structure: 1594 nonzeros (4.022s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) hessian structure: 14.512s 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 (14.562s) linear index maps built (0.0s) evaluator ready (total: 18.585s) evaluator created (18.607s) 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: 18.609s) 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 1.3609310e+02 3.16e+00 3.71e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 5.6222166e+01 1.93e+00 2.50e+01 -0.5 1.84e+00 0.0 1.00e+00 3.78e-01f 1 2 3.1604396e+00 2.93e-01 5.37e+00 -0.1 1.91e+00 -0.5 7.98e-01 8.49e-01f 1 3 3.2158669e+00 1.07e-01 1.02e+01 -0.4 9.07e-01 -1.0 7.22e-01 1.00e+00f 1 4 3.0655663e+00 6.30e-03 2.17e+00 -0.8 2.79e-01 -0.5 9.74e-01 1.00e+00h 1 5 2.6162085e+00 1.45e-02 3.96e-01 -1.5 3.08e-01 -1.0 9.91e-01 1.00e+00f 1 6 2.1851249e+00 8.90e-03 2.85e-02 -2.3 1.35e-01 -1.5 9.67e-01 1.00e+00f 1 7 2.0958193e+00 1.49e-03 6.71e-03 -3.4 7.95e-02 -2.0 9.27e-01 9.82e-01h 1 8 2.0909151e+00 1.44e-05 2.11e-04 -4.0 8.73e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908976e+00 2.22e-07 2.08e-04 -4.0 1.80e-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 2.0908917e+00 1.37e-09 2.08e-04 -4.0 5.26e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908766e+00 1.03e-08 2.08e-04 -4.0 1.48e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908429e+00 5.95e-08 2.08e-04 -4.0 3.89e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907683e+00 2.90e-07 6.12e-04 -4.0 9.83e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905653e+00 3.06e-06 8.26e-04 -4.0 3.02e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0899539e+00 2.49e-06 5.13e-03 -4.0 8.19e+00 -5.8 1.00e+00 8.85e-01H 1 16 2.0890143e+00 6.44e-05 4.56e-02 -4.0 2.79e+01 -6.3 1.00e+00 5.00e-01f 2 17 2.0885649e+00 9.57e-06 2.15e-03 -4.0 1.86e+00 -4.9 1.00e+00 9.42e-01h 1 18 2.0883620e+00 2.77e-06 2.48e-03 -4.0 4.12e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0873491e+00 4.50e-05 7.11e-03 -4.0 1.22e+01 -5.9 1.00e+00 8.66e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0855880e+00 2.71e-04 1.66e-02 -4.0 2.77e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0840917e+00 2.95e-04 6.79e-02 -4.0 4.76e+01 -6.8 1.00e+00 4.19e-01h 1 22 2.0826636e+00 1.41e-04 2.24e-02 -4.0 6.55e+01 -7.3 1.00e+00 6.98e-01h 1 23 2.0824918e+00 1.10e-03 3.21e-02 -4.0 1.32e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.0823634e+00 1.40e-03 2.33e-02 -4.0 1.06e+02 -7.4 1.00e+00 1.00e+00h 1 25 2.0822980e+00 5.70e-04 6.58e-02 -4.0 5.67e+01 -7.8 6.35e-01 1.00e+00h 1 26 2.0819145e+00 1.87e-04 7.93e-01 -4.0 2.01e+00 -4.7 1.00e+00 4.84e-01h 1 27 2.0821652e+00 3.38e-05 2.56e-03 -4.0 8.50e-01 -5.2 1.00e+00 1.00e+00h 1 28 2.0821674e+00 5.20e-04 1.83e-03 -4.0 4.51e+00 -5.7 1.00e+00 1.00e+00h 1 29 2.0818398e+00 1.99e-04 8.97e-02 -4.1 1.11e+00 -5.2 1.00e+00 8.39e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0820557e+00 9.54e-05 7.76e-04 -4.0 1.07e+00 -5.7 1.00e+00 1.00e+00f 1 31 2.0821189e+00 4.25e-04 2.38e-03 -4.0 8.93e+00 -6.2 1.00e+00 1.00e+00h 1 32 2.0821518e+00 1.68e-04 4.33e-03 -4.1 6.10e+00 -5.8 1.00e+00 1.00e+00h 1 33 2.0819298e+00 1.57e-06 1.76e-04 -4.1 6.97e-02 -1.7 1.00e+00 1.00e+00h 1 34 2.0822485e+00 1.23e-06 5.45e-04 -4.0 2.75e-02 -2.2 1.00e+00 1.00e+00h 1 35 2.0820665e+00 3.03e-07 1.68e-04 -4.1 2.07e-02 -2.7 1.00e+00 1.00e+00h 1 36 2.0814541e+00 3.17e-06 2.33e-02 -6.1 6.18e-02 -3.2 8.19e-01 1.00e+00h 1 37 2.0822853e+00 1.48e-05 1.95e-03 -4.0 2.02e-01 -3.6 1.00e+00 1.00e+00f 1 38 2.0819990e+00 1.01e-05 4.86e-04 -4.1 1.73e-01 -4.1 1.00e+00 1.00e+00h 1 39 2.0813723e+00 5.76e-05 4.13e-02 -6.2 5.72e-01 -4.6 8.74e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0814670e+00 1.67e-05 8.24e-03 -4.8 1.03e+00 -5.1 1.00e+00 9.68e-01h 1 41 2.0813174e+00 1.26e-05 2.10e-03 -4.9 2.82e+00 -5.5 1.00e+00 1.00e+00h 1 42 2.0815979e+00 6.89e-06 1.27e+00 -4.0 8.97e-01 -3.3 1.00e+00 4.06e-01h 1 43 2.0818512e+00 4.77e-07 1.61e-03 -4.1 2.15e-01 -3.8 1.00e+00 1.00e+00f 1 44 2.0819541e+00 1.36e-05 1.17e-03 -4.0 1.69e-01 -4.3 1.00e+00 1.00e+00h 1 45 2.0818278e+00 9.77e-06 1.65e-04 -4.1 2.33e-01 -4.7 1.00e+00 1.00e+00h 1 46 2.0819735e+00 5.65e-06 2.08e-04 -4.0 2.35e-01 -5.2 1.00e+00 1.00e+00h 1 47 2.0818223e+00 1.56e-05 1.66e-04 -4.1 8.62e-01 -5.7 1.00e+00 1.00e+00h 1 48 2.0810115e+00 6.07e-04 5.58e-03 -6.1 8.17e+00 -6.2 9.94e-01 1.00e+00h 1 49 2.0811290e+00 3.11e-05 1.03e-02 -4.7 2.52e-01 -3.9 1.00e+00 9.49e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0814497e+00 2.48e-05 2.07e-01 -4.0 1.00e+00 -4.4 1.00e+00 4.83e-01f 1 51 2.0815244e+00 1.25e-05 9.37e-04 -4.1 7.32e-01 -4.9 1.00e+00 1.00e+00h 1 52 2.0815932e+00 5.13e-06 5.89e-04 -4.1 1.11e+00 -5.4 1.00e+00 1.00e+00h 1 53 2.0809983e+00 2.41e-04 3.34e-03 -6.2 3.36e+00 -5.8 1.00e+00 1.00e+00h 1 54 2.0809909e+00 2.41e-04 5.62e-03 -4.0 9.65e+01 -4.5 2.79e-03 2.75e-03h 1 55 2.0810095e+00 2.39e-04 6.99e-01 -4.0 6.39e+01 -5.0 9.87e-02 7.61e-03f 1 56 2.0811483e+00 3.89e-04 2.60e+00 -4.0 1.79e+01 -5.5 1.00e+00 1.32e-01f 1 57 2.0821336e+00 7.53e-04 4.59e-03 -3.8 4.88e+00 -5.9 1.00e+00 1.00e+00h 1 58 2.0825685e+00 2.91e-04 6.30e-03 -3.8 1.01e+01 -6.4 1.00e+00 1.00e+00h 1 59 2.0823920e+00 8.40e-07 1.40e-03 -3.8 4.18e-02 -1.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0816570e+00 3.93e-06 8.84e-02 -5.8 4.32e-02 -2.0 7.58e-01 1.00e+00h 1 61 2.0822279e+00 3.21e-06 1.20e-03 -4.0 3.64e-02 -2.4 1.00e+00 1.00e+00h 1 62 2.0820111e+00 5.29e-07 1.69e-04 -4.1 1.86e-02 -2.9 1.00e+00 1.00e+00h 1 63 2.0814306e+00 4.06e-06 3.24e-02 -6.1 6.46e-02 -3.4 8.09e-01 1.00e+00h 1 64 2.0821183e+00 2.89e-06 1.96e-01 -4.0 1.22e+00 -3.0 1.58e-01 2.66e-01h 1 65 2.0818347e+00 5.39e-06 2.25e-02 -4.7 7.16e-01 -3.4 1.26e-02 6.80e-01h 1 66 2.0814701e+00 1.01e-05 1.86e-02 -4.0 2.19e+01 -3.9 2.22e-03 8.87e-03f 1 67 2.0815387e+00 1.22e-05 4.71e-02 -4.7 3.19e+00 -4.4 1.58e-03 1.16e-02h 5 68 2.0814611e+00 8.74e-06 1.96e-01 -4.7 1.35e-01 -2.2 1.00e+00 2.77e-01h 1 69 2.0815193e+00 3.86e-07 1.08e-04 -4.7 3.81e-02 -2.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0822251e+00 3.81e-06 1.39e-03 -4.0 1.72e-01 -3.1 1.00e+00 1.00e+00h 1 71 2.0824934e+00 2.09e-06 1.12e-01 -4.1 2.92e-01 -3.6 5.47e-01 8.76e-01H 1 72 2.0821248e+00 1.22e-05 4.93e-03 -4.1 1.86e-01 -4.1 1.00e+00 1.00e+00f 1 73 2.0820599e+00 5.74e-06 9.00e-02 -4.1 3.20e-01 -2.7 1.00e+00 5.67e-01h 1 74 2.0820063e+00 7.42e-07 1.18e-03 -4.1 7.25e-02 -3.2 1.00e+00 1.00e+00f 1 75 2.0819904e+00 8.87e-07 1.85e-04 -4.1 2.08e-01 -3.7 1.00e+00 1.00e+00h 1 76 2.0813986e+00 2.36e-05 3.49e-02 -6.1 1.72e-01 -4.2 7.51e-01 1.00e+00h 1 77 2.0813261e+00 8.67e-06 1.42e+00 -6.1 1.42e+00 -4.7 1.00e+00 1.64e-01h 1 78 2.0824120e+00 6.10e-05 2.38e-03 -4.0 3.99e-01 -5.1 1.00e+00 1.00e+00f 1 79 2.0818417e+00 2.19e-04 3.90e-01 -4.1 1.55e+00 -4.7 6.66e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0817827e+00 2.09e-04 3.87e-01 -4.1 3.00e+00 -5.2 7.86e-02 4.61e-02h 2 81 2.0819352e+00 7.63e-05 4.37e-03 -4.1 1.18e+00 -5.7 1.00e+00 1.00e+00h 1 82 2.0818538e+00 2.37e-04 1.83e-04 -4.1 3.96e+00 -6.1 1.00e+00 1.00e+00h 1 83 2.0808591e+00 1.55e-03 3.66e-03 -6.1 1.56e+01 -6.6 9.83e-01 1.00e+00h 1 84 2.0808627e+00 1.37e-03 6.51e-01 -4.9 2.26e+00 -5.3 1.00e+00 1.15e-01h 1 85 2.0827406e+00 5.93e-04 5.02e-02 -4.0 5.77e+00 -5.8 1.00e+00 8.02e-01h 1 86 2.0817003e+00 1.08e-04 1.54e-01 -4.1 5.39e+00 -6.2 2.17e-02 8.53e-01h 1 87 2.0816514e+00 2.37e-04 4.42e-01 -4.1 4.72e+01 -6.7 1.00e+00 2.50e-01f 3 88 2.0816618e+00 8.24e-05 1.16e-03 -4.1 1.09e+01 -7.2 1.00e+00 1.00e+00h 1 89 2.0816455e+00 6.10e-05 1.61e-03 -4.1 2.23e+01 -7.7 1.00e+00 8.58e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0815899e+00 3.79e-05 2.31e-03 -4.1 4.17e+01 -8.1 1.00e+00 1.00e+00f 1 91 2.0815633e+00 5.21e-05 1.59e-03 -4.1 4.44e+01 -8.6 1.00e+00 1.00e+00h 1 92 2.0815583e+00 9.98e-06 2.73e-04 -4.1 2.21e+01 -9.1 1.00e+00 1.00e+00h 1 93 2.0805912e+00 3.25e-03 1.32e-04 -6.2 4.04e+01 -9.6 9.79e-01 9.69e-01h 1 94 2.0818895e+00 6.47e-03 5.06e-04 -4.0 6.01e+01 -10.1 1.00e+00 1.00e+00f 1 95 2.0816154e+00 5.00e-04 1.71e-04 -4.1 2.13e+01 -10.5 1.00e+00 1.00e+00h 1 96 2.0805995e+00 3.48e-03 1.55e-04 -6.1 4.16e+01 -11.0 9.76e-01 9.64e-01h 1 97 2.0805509e+00 8.59e-05 2.92e-06 -6.1 1.71e+01 -11.5 1.00e+00 1.00e+00h 1 98 2.0819789e+00 1.03e-02 3.96e-04 -4.0 8.42e+01 -12.0 1.00e+00 1.00e+00f 1 99 2.0816833e+00 9.33e-04 1.77e-04 -4.1 4.56e+01 -12.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0816475e+00 4.68e-07 1.77e-04 -4.1 8.50e+00 -12.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0816475159468939e+00 2.0816475159468939e+00 Dual infeasibility......: 1.7729000152392219e-04 1.7729000152392219e-04 Constraint violation....: 4.6786467988724212e-07 4.6786467988724212e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.6072019920133087e-05 8.6072019920133087e-05 Overall NLP error.......: 1.7729000152392219e-04 1.7729000152392219e-04 Number of objective function evaluations = 121 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 121 Number of inequality constraint evaluations = 121 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 31.162 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.061s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.049s) linear index maps built (0.0s) evaluator ready (total: 0.11s) evaluator created (0.123s) 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: 0.125s) 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 1.7398628e+00 2.58e+00 5.64e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.2402662e+00 3.17e-01 1.91e+00 -1.0 1.86e+00 0.0 9.78e-01 8.77e-01h 1 2 3.6098643e+00 1.67e-01 1.24e+01 0.2 4.58e+00 -0.5 3.88e-01 2.27e-01f 1 3 3.1813943e+00 6.82e-02 4.24e+00 -0.5 7.34e-01 -1.0 1.00e+00 1.00e+00f 1 4 2.8743718e+00 1.01e-01 1.04e+00 -1.3 9.82e-01 -1.4 8.06e-01 1.00e+00h 1 5 2.4386048e+00 4.47e-02 3.08e-01 -1.6 7.61e-01 -1.9 9.44e-01 1.00e+00h 1 6 2.2130347e+00 3.67e-02 1.11e-01 -2.1 1.14e+00 -2.4 8.66e-01 1.00e+00h 1 7 2.1110824e+00 1.30e-02 1.93e-01 -2.9 1.45e+00 -2.9 9.98e-01 7.96e-01h 1 8 2.0926873e+00 1.43e-04 1.62e-03 -3.8 6.97e-02 -3.3 9.99e-01 1.00e+00h 1 9 2.0908757e+00 3.10e-05 5.56e-05 -4.0 1.36e-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 2.0908361e+00 5.23e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0908360763154987e+00 2.0908360763154987e+00 Dual infeasibility......: 2.0577239097937582e-05 2.0577239097937582e-05 Constraint violation....: 5.2254629838432987e-08 5.2254629838432987e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000019180136211e-04 1.0000019180136211e-04 Overall NLP error.......: 2.0577239097937582e-05 2.0577239097937582e-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 = 22.224 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.056s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.056s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.048s) linear index maps built (0.0s) evaluator ready (total: 0.105s) evaluator created (0.105s) 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: 0.107s) 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 1.4043724e+00 2.15e+00 4.03e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8207718e+00 6.35e-01 1.91e+00 -0.9 1.82e+00 0.0 9.99e-01 7.06e-01h 1 2 1.8516857e+00 5.70e-01 6.18e+00 -0.4 7.45e+00 -0.5 5.13e-01 1.02e-01h 1 3 1.8693688e+00 5.40e-01 7.40e+00 -4.0 2.67e+01 -1.0 1.43e-01 4.16e-02h 1 4 1.8720649e+00 5.35e-01 5.18e+00 -4.0 4.99e-01 0.4 4.64e-01 8.42e-03h 1 5 2.4912008e+00 3.14e-02 2.32e+00 -1.4 4.98e-01 -0.1 3.78e-01 1.00e+00h 1 6 2.3572166e+00 8.82e-03 3.73e-01 -1.6 1.84e-01 -0.6 8.78e-01 1.00e+00f 1 7 2.2119635e+00 1.01e-02 1.68e-01 -1.9 2.26e-01 -1.1 9.89e-01 7.03e-01h 1 8 2.1109415e+00 1.42e-03 6.16e-02 -2.8 7.92e-02 -1.5 9.90e-01 8.59e-01h 1 9 2.0911486e+00 1.97e-05 3.24e-03 -4.0 1.11e-02 -2.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908378e+00 3.29e-07 1.10e-04 -4.0 1.26e-02 -2.5 1.00e+00 1.00e+00h 1 11 2.0908363e+00 1.34e-09 2.06e-05 -4.0 1.90e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0908307e+00 1.23e-09 2.06e-05 -4.0 5.70e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908139e+00 1.11e-08 2.06e-05 -4.0 1.71e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0907635e+00 9.96e-08 2.06e-05 -4.0 5.12e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0906125e+00 8.98e-07 2.05e-05 -4.0 1.54e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0901605e+00 8.14e-06 3.62e-05 -4.0 4.59e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0888161e+00 7.46e-05 3.23e-04 -4.0 1.37e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0848884e+00 7.08e-04 2.95e-03 -4.0 3.99e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0796390e+00 2.04e-03 1.87e-01 -4.0 1.03e+02 -6.8 1.00e+00 5.11e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0801123e+00 1.42e-04 1.55e-01 -4.0 6.96e+01 -7.3 1.00e+00 1.00e+00H 1 21 2.0774912e+00 7.69e-03 2.51e-02 -4.0 1.25e+02 -7.7 1.00e+00 9.17e-01h 1 22 2.0767962e+00 1.37e-03 3.62e-02 -4.0 2.03e+02 -8.2 1.00e+00 8.90e-01h 1 23 2.0761648e+00 2.20e-03 4.24e-02 -4.0 3.61e+02 -8.7 1.00e+00 8.36e-01h 1 24 2.0755040e+00 2.61e-03 3.54e-02 -4.0 6.13e+02 -9.2 1.00e+00 6.61e-01h 1 25 2.0757758e+00 2.76e-03 1.58e-02 -4.0 1.67e+02 -9.6 1.00e+00 1.00e+00h 1 26 2.0756767e+00 3.56e-04 5.20e-04 -4.0 7.24e+01 -10.1 1.00e+00 1.00e+00h 1 27 2.0756713e+00 2.51e-06 8.19e-06 -4.0 2.24e+01 -10.6 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.98e-08 1.06e-06 -4.0 1.29e+01 -11.1 1.00e+00 1.00e+00h 1 29 2.0756712e+00 1.91e-09 7.77e-08 -4.0 4.02e+00 -11.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0756712e+00 2.74e-11 1.08e-09 -4.0 5.73e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 2.0756712121343348e+00 2.0756712121343348e+00 Dual infeasibility......: 1.0798712995585113e-09 1.0798712995585113e-09 Constraint violation....: 2.7433166849277768e-11 2.7433166849277768e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000015e-04 1.0000000000000015e-04 Overall NLP error.......: 1.0798712995585113e-09 1.0798712995585113e-09 Number of objective function evaluations = 32 Number of objective gradient evaluations = 31 Number of equality constraint evaluations = 32 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 31 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 30 Total seconds in IPOPT = 24.620 EXIT: Optimal Solution Found. 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: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.053s) linear index maps built (0.0s) evaluator ready (total: 0.115s) 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: 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: 0.116s) 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 3.5377284e+00 2.89e+00 3.73e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4366592e+00 1.50e-01 3.37e+00 -1.0 1.92e+00 0.0 3.73e-01 9.52e-01f 1 2 2.7456765e+00 2.69e-02 1.12e+00 -1.0 3.80e-01 -0.5 9.92e-01 1.00e+00f 1 3 2.4133159e+00 5.98e-03 2.34e-01 -1.6 1.21e-01 -1.0 9.43e-01 1.00e+00h 1 4 2.1769445e+00 7.93e-03 9.90e-02 -2.4 2.81e-01 -1.4 9.94e-01 8.12e-01h 1 5 2.0962047e+00 7.76e-04 1.32e-02 -3.2 5.70e-02 -1.9 9.95e-01 9.77e-01h 1 6 2.0908680e+00 2.26e-05 5.46e-03 -4.0 1.99e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0908823e+00 6.05e-08 2.29e-05 -4.0 1.67e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908780e+00 1.66e-09 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908647e+00 6.89e-09 2.06e-05 -4.0 1.35e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908249e+00 6.20e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0908248986084632e+00 2.0908248986084632e+00 Dual infeasibility......: 2.0575732410188777e-05 2.0575732410188777e-05 Constraint violation....: 6.2011965489688903e-08 6.2011965489688903e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999994733e-05 9.9999999999994733e-05 Overall NLP error.......: 2.0575732410188777e-05 2.0575732410188777e-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 = 25.076 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: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.061s) 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: 0.0s hessian structure: 1749 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: 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.............: 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 1.5456484e+00 2.53e+00 4.14e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4960158e+00 1.91e-01 1.91e+00 -1.0 2.07e+00 - 1.00e+00 9.25e-01h 1 2 2.4676395e+00 1.55e-02 2.50e-01 -1.3 2.96e-01 - 9.96e-01 1.00e+00h 1 3 2.2089542e+00 3.19e-03 7.68e-02 -2.1 1.06e-01 - 9.47e-01 1.00e+00h 1 4 2.1023390e+00 9.80e-04 4.76e-02 -3.3 5.20e-02 - 9.96e-01 9.18e-01h 1 5 2.0909362e+00 5.39e-05 8.66e-03 -4.0 2.01e-02 - 1.00e+00 9.76e-01h 1 6 2.0909206e+00 1.92e-07 2.39e-04 -4.0 6.85e-03 - 1.00e+00 1.00e+00h 1 7 2.0909204e+00 2.58e-10 9.34e-05 -4.0 5.46e-03 - 1.00e+00 1.00e+00h 1 8 2.0787384e+00 9.05e-05 5.10e-01 -4.0 1.11e+03 - 2.22e-01 2.23e-01f 1 9 2.0798845e+00 5.22e-03 1.84e-01 -4.0 3.79e+02 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0779001e+00 2.64e-03 7.50e-02 -3.8 1.70e+02 - 1.00e+00 6.54e-01H 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0779000573047712e+00 2.0779000573047712e+00 Dual infeasibility......: 7.4962131266982757e-02 7.4962131266982757e-02 Constraint violation....: 2.6437012833504525e-03 2.6437012833504525e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.4696413524438621e-03 1.4696413524438621e-03 Overall NLP error.......: 7.4962131266982757e-02 7.4962131266982757e-02 Number of objective function evaluations = 12 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 12 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 = 8.288 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: 0.067s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.067s) 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 (0.053s) linear index maps built (0.0s) evaluator ready (total: 0.121s) evaluator created (0.121s) 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: 0.122s) 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 5.6047192e+00 4.09e+00 8.34e-01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7047583e+00 1.77e-01 4.52e+00 -1.0 2.78e+00 0.0 1.00e+00 9.57e-01f 1 2 2.7539225e+00 1.27e-02 1.21e+00 -1.0 3.27e-01 0.4 1.00e+00 1.00e+00f 1 3 2.7803325e+00 5.80e-03 6.61e-01 -1.0 1.28e-01 -0.1 1.00e+00 1.00e+00h 1 4 2.4420821e+00 1.07e-02 1.57e-01 -1.7 2.75e-01 -0.5 8.79e-01 6.90e-01f 1 5 2.1567615e+00 5.05e-03 4.03e-02 -2.5 1.78e-01 -1.0 8.47e-01 8.31e-01f 1 6 2.1130176e+00 1.86e-04 2.04e-02 -2.5 3.92e-02 -1.5 1.00e+00 1.00e+00h 1 7 2.0916166e+00 1.28e-05 2.85e-04 -3.8 7.87e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908616e+00 5.94e-07 2.06e-05 -4.0 5.62e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908599e+00 2.44e-10 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908549e+00 9.77e-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...............: 2.0908549487207084e+00 2.0908549487207084e+00 Dual infeasibility......: 2.0579175743892557e-05 2.0579175743892557e-05 Constraint violation....: 9.7656445430249761e-10 9.7656445430249761e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999999923e-05 9.9999999999999923e-05 Overall NLP error.......: 2.0579175743892557e-05 2.0579175743892557e-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 = 26.157 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: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.061s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.052s) 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: 0.114s) initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.063s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.619s jacobian structure: 1600 nonzeros (2.683s) integrator 1 hessian structure: 0.053s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.634s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (3.688s) linear index maps built (0.0s) evaluator ready (total: 6.372s) evaluator created (6.397s) 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: 6.414s) 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 5.3488864e+00 2.45e+00 4.34e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.8186446e+00 8.64e-01 2.71e+00 -0.9 1.84e+00 0.0 8.99e-01 6.48e-01f 1 Hello, world! 2 2.3843925e+00 6.16e-02 1.34e+00 -1.2 9.41e-01 -0.5 9.94e-01 9.58e-01h 1 Hello, world! 3 2.6202455e+00 1.12e-02 1.19e+00 -1.2 3.86e-01 -1.0 8.31e-01 1.00e+00f 1 Hello, world! 4 2.4385049e+00 9.63e-03 6.07e-01 -1.3 8.78e-01 -1.4 9.87e-01 2.03e-01h 1 Hello, world! 5 2.2187976e+00 2.84e-02 1.87e-01 -2.2 5.61e-01 -1.9 9.91e-01 8.68e-01h 1 Hello, world! 6 2.1065183e+00 3.04e-03 1.71e-02 -3.2 1.45e-01 -2.4 1.00e+00 8.71e-01h 1 Hello, world! 7 2.0909284e+00 2.29e-04 3.46e-03 -4.0 5.66e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0909532e+00 1.16e-06 9.91e-05 -4.0 4.45e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909411e+00 8.55e-09 9.23e-05 -4.0 1.28e-01 -3.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909130e+00 6.37e-08 2.05e-04 -4.0 3.43e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908468e+00 2.76e-07 4.63e-04 -4.0 8.79e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0906650e+00 2.30e-06 7.55e-04 -4.0 2.65e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0900623e+00 1.93e-05 1.50e-03 -4.0 7.23e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0887333e+00 1.64e-04 1.67e-02 -4.0 2.30e+01 -6.2 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0880024e+00 3.90e-05 1.36e-02 -4.0 2.10e+00 -4.9 1.00e+00 8.16e-01h 1 Hello, world! 16 2.0878603e+00 6.18e-06 3.36e-03 -4.0 3.47e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0869230e+00 3.93e-05 5.17e-03 -4.0 1.01e+01 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0853915e+00 1.93e-04 9.87e-03 -4.0 2.38e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0837391e+00 2.64e-04 4.20e-02 -4.0 4.09e+01 -6.8 1.00e+00 5.94e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0826364e+00 7.22e-05 1.15e-02 -4.0 5.73e+01 -7.3 1.00e+00 7.01e-01h 1 Hello, world! 21 2.0824933e+00 7.87e-04 2.56e-02 -4.0 1.21e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.3236027e+00 1.96e-04 6.32e+00 -4.0 8.97e+02 -8.2 4.20e-02 1.00e+00H 1 Hello, world! 23 2.0869860e+00 2.94e-05 8.48e-01 -4.1 1.25e-01 -0.4 9.22e-01 8.50e-01f 1 Hello, world! 24 2.0873731e+00 2.91e-05 4.81e+00 -4.0 8.35e-02 -0.8 1.00e+00 7.81e-03f 8 Hello, world! 25 2.0873783e+00 1.54e-07 1.37e-03 -3.9 2.89e-02 -1.3 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0869724e+00 1.24e-07 1.21e-03 -4.0 7.65e-02 -1.8 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0867251e+00 6.80e-07 7.71e-04 -4.0 1.46e-01 -2.3 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0867882e+00 1.44e-07 4.92e-05 -4.0 2.38e-02 -2.8 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0867706e+00 1.64e-07 1.21e-05 -4.0 2.05e-02 -3.2 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0867648e+00 2.39e-08 1.21e-05 -4.0 6.18e-02 -3.7 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0867496e+00 3.52e-08 1.21e-05 -4.0 1.85e-01 -4.2 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0867054e+00 3.08e-07 1.61e-05 -4.0 5.50e-01 -4.7 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0865845e+00 2.45e-06 1.27e-04 -4.0 1.60e+00 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0863100e+00 1.44e-05 7.62e-04 -4.0 4.47e+00 -5.6 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0858870e+00 4.30e-05 2.25e-03 -4.0 1.17e+01 -6.1 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0851979e+00 9.41e-05 4.38e-03 -4.0 3.02e+01 -6.6 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0839833e+00 5.46e-04 2.04e-02 -4.0 7.46e+01 -7.0 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0823648e+00 1.04e-03 5.69e-02 -4.1 1.44e+02 -7.5 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0818438e+00 6.04e-03 3.29e-02 -4.0 2.17e+02 -8.0 6.59e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0817103e+00 2.36e-03 3.65e-02 -4.0 4.87e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0820083e+00 1.33e-03 8.68e-03 -3.9 2.86e+01 -7.2 9.66e-01 1.00e+00h 1 Hello, world! 42 2.1221557e+00 5.76e-04 1.67e-01 -4.0 6.17e+01 -7.6 2.04e-01 1.00e+00h 1 Hello, world! 43 2.1065010e+00 7.02e-07 1.23e-01 -4.1 7.19e-02 0.2 9.74e-01 1.00e+00h 1 Hello, world! 44 2.0927667e+00 9.84e-07 2.42e-01 -4.1 1.06e-01 -0.3 5.02e-01 1.00e+00f 1 Hello, world! 45 2.0827572e+00 1.38e-06 2.49e-02 -4.1 2.28e-01 -0.7 1.00e+00 1.00e+00f 1 Hello, world! 46 2.0817860e+00 5.61e-07 1.40e-02 -4.0 7.11e-02 -1.2 1.00e+00 9.72e-01h 1 Hello, world! 47 2.0819700e+00 3.08e-07 4.68e-02 -4.0 4.48e-02 -1.7 1.00e+00 5.00e-01f 2 Hello, world! 48 2.0818335e+00 1.37e-07 1.57e-04 -4.1 1.62e-02 -2.2 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0818963e+00 1.09e-07 4.08e-05 -4.0 5.99e-03 -2.6 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0817567e+00 1.83e-07 7.39e-05 -4.1 8.54e-03 -3.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0817567458138675e+00 2.0817567458138675e+00 Dual infeasibility......: 7.3864043740074452e-05 7.3864043740074452e-05 Constraint violation....: 1.8287721487847408e-07 1.8287721487847408e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.1348693662028134e-05 8.1348693662028134e-05 Overall NLP error.......: 7.3864043740074452e-05 7.3864043740074452e-05 Number of objective function evaluations = 60 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 60 Number of inequality constraint evaluations = 60 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 27.139 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s 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 5.3488864e+00 2.45e+00 4.34e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.8186446e+00 8.64e-01 2.71e+00 -0.9 1.84e+00 0.0 8.99e-01 6.48e-01f 1 Hello, world! 2 2.3843925e+00 6.16e-02 1.34e+00 -1.2 9.41e-01 -0.5 9.94e-01 9.58e-01h 1 Hello, world! 3 2.6202455e+00 1.12e-02 1.19e+00 -1.2 3.86e-01 -1.0 8.31e-01 1.00e+00f 1 Hello, world! 4 2.4385049e+00 9.63e-03 6.07e-01 -1.3 8.78e-01 -1.4 9.87e-01 2.03e-01h 1 Hello, world! 5 2.2187976e+00 2.84e-02 1.87e-01 -2.2 5.61e-01 -1.9 9.91e-01 8.68e-01h 1 Hello, world! 6 2.1065183e+00 3.04e-03 1.71e-02 -3.2 1.45e-01 -2.4 1.00e+00 8.71e-01h 1 Hello, world! 7 2.0909284e+00 2.29e-04 3.46e-03 -4.0 5.66e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0909532e+00 1.16e-06 9.91e-05 -4.0 4.45e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909411e+00 8.55e-09 9.23e-05 -4.0 1.28e-01 -3.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909130e+00 6.37e-08 2.05e-04 -4.0 3.43e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908468e+00 2.76e-07 4.63e-04 -4.0 8.79e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0906650e+00 2.30e-06 7.55e-04 -4.0 2.65e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0900623e+00 1.93e-05 1.50e-03 -4.0 7.23e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0887333e+00 1.64e-04 1.67e-02 -4.0 2.30e+01 -6.2 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0880024e+00 3.90e-05 1.36e-02 -4.0 2.10e+00 -4.9 1.00e+00 8.16e-01h 1 Hello, world! 16 2.0878603e+00 6.18e-06 3.36e-03 -4.0 3.47e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0869230e+00 3.93e-05 5.17e-03 -4.0 1.01e+01 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0853915e+00 1.93e-04 9.87e-03 -4.0 2.38e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0837391e+00 2.64e-04 4.20e-02 -4.0 4.09e+01 -6.8 1.00e+00 5.94e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0826364e+00 7.22e-05 1.15e-02 -4.0 5.73e+01 -7.3 1.00e+00 7.01e-01h 1 Hello, world! 21 2.0824933e+00 7.87e-04 2.56e-02 -4.0 1.21e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.3236027e+00 1.96e-04 6.32e+00 -4.0 8.97e+02 -8.2 4.20e-02 1.00e+00H 1 Hello, world! 23 2.0869860e+00 2.94e-05 8.48e-01 -4.1 1.25e-01 -0.4 9.22e-01 8.50e-01f 1 Hello, world! 24 2.0873731e+00 2.91e-05 4.81e+00 -4.0 8.35e-02 -0.8 1.00e+00 7.81e-03f 8 Hello, world! 25 2.0873783e+00 1.54e-07 1.37e-03 -3.9 2.89e-02 -1.3 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0869724e+00 1.24e-07 1.21e-03 -4.0 7.65e-02 -1.8 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0867251e+00 6.80e-07 7.71e-04 -4.0 1.46e-01 -2.3 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0867882e+00 1.44e-07 4.92e-05 -4.0 2.38e-02 -2.8 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0867706e+00 1.64e-07 1.21e-05 -4.0 2.05e-02 -3.2 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0867648e+00 2.39e-08 1.21e-05 -4.0 6.18e-02 -3.7 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0867496e+00 3.52e-08 1.21e-05 -4.0 1.85e-01 -4.2 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0867054e+00 3.08e-07 1.61e-05 -4.0 5.50e-01 -4.7 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0865845e+00 2.45e-06 1.27e-04 -4.0 1.60e+00 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0863100e+00 1.44e-05 7.62e-04 -4.0 4.47e+00 -5.6 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0858870e+00 4.30e-05 2.25e-03 -4.0 1.17e+01 -6.1 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0851979e+00 9.41e-05 4.38e-03 -4.0 3.02e+01 -6.6 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0839833e+00 5.46e-04 2.04e-02 -4.0 7.46e+01 -7.0 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0823648e+00 1.04e-03 5.69e-02 -4.1 1.44e+02 -7.5 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0818438e+00 6.04e-03 3.29e-02 -4.0 2.17e+02 -8.0 6.59e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0817103e+00 2.36e-03 3.65e-02 -4.0 4.87e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0820083e+00 1.33e-03 8.68e-03 -3.9 2.86e+01 -7.2 9.66e-01 1.00e+00h 1 Hello, world! 42 2.1221557e+00 5.76e-04 1.67e-01 -4.0 6.17e+01 -7.6 2.04e-01 1.00e+00h 1 Hello, world! 43 2.1065010e+00 7.02e-07 1.23e-01 -4.1 7.19e-02 0.2 9.74e-01 1.00e+00h 1 Hello, world! 44 2.0927667e+00 9.84e-07 2.42e-01 -4.1 1.06e-01 -0.3 5.02e-01 1.00e+00f 1 Hello, world! 45 2.0827572e+00 1.38e-06 2.49e-02 -4.1 2.28e-01 -0.7 1.00e+00 1.00e+00f 1 Hello, world! 46 2.0817860e+00 5.61e-07 1.40e-02 -4.0 7.11e-02 -1.2 1.00e+00 9.72e-01h 1 Hello, world! 47 2.0819700e+00 3.08e-07 4.68e-02 -4.0 4.48e-02 -1.7 1.00e+00 5.00e-01f 2 Hello, world! 48 2.0818335e+00 1.37e-07 1.57e-04 -4.1 1.62e-02 -2.2 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0818963e+00 1.09e-07 4.08e-05 -4.0 5.99e-03 -2.6 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0817567e+00 1.83e-07 7.39e-05 -4.1 8.54e-03 -3.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0817567458138675e+00 2.0817567458138675e+00 Dual infeasibility......: 7.3864043740074452e-05 7.3864043740074452e-05 Constraint violation....: 1.8287721487847408e-07 1.8287721487847408e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.1348693662028134e-05 8.1348693662028134e-05 Overall NLP error.......: 7.3864043740074452e-05 7.3864043740074452e-05 Number of objective function evaluations = 60 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 60 Number of inequality constraint evaluations = 60 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 0.978 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.062s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.053s) linear index maps built (0.0s) evaluator ready (total: 0.115s) 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: 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 (0.134s) optimizer initialization complete (total: 0.249s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.5754495e+00 2.66e+00 5.32e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7896662e+00 2.39e-02 6.52e-01 -1.0 2.73e+00 - 1.00e+00 1.00e+00f 1 2 2.3309870e+00 5.39e-03 1.17e-01 -1.8 8.68e-02 - 9.09e-01 1.00e+00h 1 3 2.1153460e+00 8.79e-04 1.39e-02 -2.9 3.48e-02 - 9.61e-01 9.63e-01h 1 4 2.0908939e+00 1.13e-04 1.71e-03 -4.0 3.98e-02 - 1.00e+00 1.00e+00h 1 5 2.0908974e+00 6.44e-06 1.90e-04 -4.0 3.34e-01 - 1.00e+00 1.00e+00h 1 6 2.0908972e+00 3.74e-09 7.68e-08 -4.0 1.29e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 9.09e-13 4.94e-11 -4.0 8.88e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971978674189e+00 2.0908971978674189e+00 Dual infeasibility......: 4.9431081325596385e-11 4.9431081325596385e-11 Constraint violation....: 9.0916798434634150e-13 9.0916798434634150e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000353486675e-04 1.0000000353486675e-04 Overall NLP error.......: 4.9431081325596385e-11 4.9431081325596385e-11 Number of objective function evaluations = 8 Number of objective gradient evaluations = 8 Number of equality constraint evaluations = 8 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 8 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 7 Total seconds in IPOPT = 26.008 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 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.052s) linear index maps built (0.0s) evaluator ready (total: 0.116s) 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: 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: 0.116s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.7474549e+00 1.61e+00 4.89e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.1408003e+00 7.28e-01 5.07e-01 -0.9 7.83e+00 -4.0 8.17e-01 8.74e-01f 1 2 2.0998158e+00 7.05e-01 2.25e+00 -4.0 1.66e+02 -4.5 2.29e-02 3.34e-02h 1 3 2.2262561e+00 1.83e-01 2.36e+01 -2.0 6.13e+01 -5.0 6.68e-01 1.00e+00h 1 4 2.1962574e+00 5.11e-02 2.08e+00 -1.8 7.19e+00 -3.6 8.98e-01 1.00e+00h 1 5 2.1553212e+00 3.14e-02 3.41e+00 -2.1 6.24e+00 -4.1 1.00e+00 4.88e-01h 1 6 2.1041403e+00 5.14e-02 2.57e-01 -3.1 3.12e+00 -4.6 8.53e-01 9.92e-01h 1 7 2.0936618e+00 3.74e-03 3.76e-02 -3.5 1.93e+00 -5.1 1.00e+00 9.87e-01h 1 8 2.0903899e+00 1.10e-03 1.02e-02 -4.0 2.05e+00 -5.5 1.00e+00 1.00e+00h 1 9 2.0900105e+00 1.97e-04 1.48e-03 -4.0 5.90e+00 -6.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0898877e+00 1.99e-05 4.01e-03 -4.0 9.10e+00 -6.5 1.00e+00 1.00e+00h 1 11 2.0898571e+00 6.85e-06 1.88e-03 -4.0 1.15e+01 -7.0 1.00e+00 1.00e+00h 1 12 2.0898336e+00 3.75e-06 1.02e-03 -4.0 1.36e+01 -7.4 1.00e+00 1.00e+00h 1 13 2.0898220e+00 1.17e-06 4.12e-04 -4.0 1.18e+01 -7.9 1.00e+00 1.00e+00h 1 14 2.0898217e+00 1.37e-07 3.89e-05 -4.0 3.35e+00 -8.4 1.00e+00 1.00e+00h 1 15 2.0898219e+00 1.42e-09 3.49e-07 -4.0 2.95e-01 -8.9 1.00e+00 1.00e+00h 1 16 2.0898218e+00 1.77e-12 4.45e-10 -4.0 1.21e-02 -9.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 16 (scaled) (unscaled) Objective...............: 2.0898218498190535e+00 2.0898218498190535e+00 Dual infeasibility......: 4.4520664943276805e-10 4.4520664943276805e-10 Constraint violation....: 1.7682799668961025e-12 1.7682799668961025e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 4.4520664943276805e-10 4.4520664943276805e-10 Number of objective function evaluations = 17 Number of objective gradient evaluations = 17 Number of equality constraint evaluations = 17 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 17 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 16 Total seconds in IPOPT = 26.139 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.057s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.058s) 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 (0.049s) linear index maps built (0.0s) evaluator ready (total: 0.107s) evaluator created (0.107s) 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: 0.108s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 35 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.8874907e+00 2.84e+00 7.13e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.9239332e+00 2.83e+00 1.82e+02 1.5 3.80e+01 0.0 6.35e-02 2.35e-03f 1 2 5.5132036e+00 2.65e+00 2.36e+02 1.9 4.28e+01 -0.5 4.14e-02 6.51e-02f 1 3 4.9180315e+00 2.27e+00 2.24e+02 1.6 1.26e+01 -0.1 2.13e-01 1.43e-01f 1 4 4.2239182e+00 1.51e+00 1.75e+02 1.4 2.96e+00 0.4 2.56e-01 3.33e-01h 1 5 4.3881532e+00 1.40e+00 1.62e+02 -4.0 3.61e+01 -0.1 5.42e-02 7.38e-02h 1 6 4.3810562e+00 1.33e+00 9.62e+02 -4.0 8.03e+00 -0.6 2.75e-01 4.49e-02h 1 7 4.3866795e+00 1.33e+00 7.38e+04 -4.0 9.50e+01 -0.2 3.08e-02 5.72e-04h 1 8 4.5521421e+00 1.33e+00 1.17e+06 2.0 4.97e+02 -0.6 4.11e-02 2.59e-03h 1 9 4.5537847e+00 1.33e+00 1.18e+10 2.5 8.47e+01 0.7 7.11e-01 4.88e-05h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10r 4.5537847e+00 1.33e+00 1.00e+03 2.5 0.00e+00 0.2 0.00e+00 4.13e-07R 5 11r 4.1049771e+00 6.14e-01 5.69e+02 -3.6 1.51e+01 - 4.23e-01 2.25e-01f 1 12r 4.1049771e+00 6.14e-01 9.99e+02 -0.2 0.00e+00 -0.3 0.00e+00 4.12e-07R 5 13r 3.7457683e+00 3.39e-01 9.97e+02 1.7 1.53e+02 - 9.14e-04 2.69e-03f 1 14 3.5350136e+00 2.01e-01 1.30e+00 -1.3 5.96e-01 -0.7 6.79e-01 4.07e-01h 1 15 3.5308946e+00 2.00e-01 3.92e+01 -1.8 4.97e-01 -1.2 7.58e-01 6.87e-03h 1 16 3.6010248e+00 1.99e-01 1.22e+02 -4.0 1.35e+02 -1.7 5.11e-03 1.65e-03h 1 17 3.6800019e+00 1.99e-01 7.04e+03 0.8 2.41e+02 -2.2 1.50e-01 1.41e-03f 1 18 3.6820107e+00 1.99e-01 2.34e+07 0.8 2.39e+01 -2.6 1.00e+00 3.04e-04h 1 19r 3.6820107e+00 1.99e-01 9.99e+02 2.5 0.00e+00 -3.1 0.00e+00 2.76e-07R 5 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20r 3.4816503e+00 1.99e-01 3.94e+02 -3.7 4.31e-01 - 6.03e-01 8.33e-01f 1 21r 3.8503934e+00 6.90e-01 3.80e+02 -4.0 3.92e+01 0.0 3.68e-02 5.85e-02f 1 22r 3.9553465e+00 1.99e-01 2.17e+02 -0.4 9.59e-01 0.4 4.25e-01 7.98e-01f 1 23r 4.0382958e+00 1.99e-01 8.49e+00 -0.4 7.78e-01 - 9.95e-01 9.10e-01f 1 24r 4.1883163e+00 1.99e-01 1.10e+01 -1.3 5.75e-01 - 1.00e+00 8.91e-01f 1 25r 4.1878901e+00 1.99e-01 7.50e+00 -2.2 1.36e-02 0.9 1.00e+00 9.53e-01f 1 26r 4.1755827e+00 1.99e-01 9.92e-03 -3.3 1.25e-02 0.4 1.00e+00 1.00e+00f 1 27r 3.8886281e+00 1.99e-01 3.62e-03 -3.5 4.14e-01 - 1.00e+00 1.00e+00h 1 28r 3.8313814e+00 1.99e-01 3.15e-02 -4.0 3.76e-02 - 9.08e-01 1.00e+00h 1 29r 3.8762371e+00 1.99e-01 4.02e-05 -4.0 1.73e-02 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30r 3.8769819e+00 1.99e-01 1.69e-07 -4.0 8.92e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 3.8769834326125618e+00 3.8769834326125618e+00 Dual infeasibility......: 2.0000954536417432e+00 2.0000954536417432e+00 Constraint violation....: 1.9875045034465733e-01 1.9875045034465733e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000035219700e-04 1.0000000035219700e-04 Overall NLP error.......: 2.0000954536417432e+00 2.0000954536417432e+00 Number of objective function evaluations = 47 Number of objective gradient evaluations = 21 Number of equality constraint evaluations = 47 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 = 31 Total seconds in IPOPT = 25.914 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: 0.064s 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 sub-objective 4 (GlobalObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1804 nonzeros (0.053s) 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 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.............: 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 6.6869639e+00 2.55e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.3515186e+00 2.69e-01 2.06e+00 -0.9 1.89e+00 0.0 7.60e-01 8.96e-01f 1 2 2.9483887e+00 2.27e-01 3.22e+01 -0.1 1.53e+00 0.4 2.45e-01 1.51e-01f 1 3 2.8415407e+00 2.08e-01 8.10e+01 -0.2 6.71e+00 -0.1 5.75e-01 8.17e-02h 1 4 2.7106697e+00 1.77e-01 1.25e+01 -4.0 6.00e-01 0.4 3.09e-01 1.45e-01h 1 5 3.0653241e+00 9.44e-02 7.79e+00 -1.4 4.24e-01 -0.1 5.09e-01 1.00e+00f 1 6 2.7911575e+00 4.61e-02 9.88e-01 -0.8 2.99e-01 0.3 9.96e-01 8.21e-01f 1 7 2.7610523e+00 4.19e-02 8.94e-01 -1.1 2.53e-01 -0.2 7.51e-01 1.00e+00f 1 8 2.3236837e+00 7.28e-03 1.71e-01 -1.8 1.00e-01 -0.6 9.87e-01 1.00e+00h 1 9 2.1217933e+00 2.81e-03 3.19e-02 -2.8 8.72e-02 -1.1 9.71e-01 8.76e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0920194e+00 1.01e-04 3.43e-03 -3.9 1.94e-02 -1.6 9.95e-01 9.85e-01h 1 11 2.0909117e+00 1.26e-06 6.12e-04 -4.0 5.94e-03 -2.1 1.00e+00 1.00e+00h 1 12 2.0909115e+00 2.79e-09 2.06e-05 -4.0 7.12e-03 -2.5 1.00e+00 1.00e+00h 1 13 2.0909094e+00 1.72e-10 2.06e-05 -4.0 2.14e-02 -3.0 1.00e+00 1.00e+00h 1 14 2.0909031e+00 1.55e-09 2.06e-05 -4.0 6.41e-02 -3.5 1.00e+00 1.00e+00h 1 15 2.0908842e+00 1.39e-08 2.06e-05 -4.0 1.92e-01 -4.0 1.00e+00 1.00e+00h 1 16 2.0908275e+00 1.26e-07 2.06e-05 -4.0 5.77e-01 -4.4 1.00e+00 1.00e+00h 1 17 2.0906575e+00 1.13e-06 2.06e-05 -4.0 1.73e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0901491e+00 1.03e-05 4.58e-05 -4.0 5.17e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0886383e+00 9.43e-05 4.08e-04 -4.0 1.54e+01 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0842409e+00 9.00e-04 3.75e-03 -4.0 4.47e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0796403e+00 1.88e-03 2.32e-01 -4.0 1.10e+02 -6.8 1.00e+00 4.17e-01h 1 22 2.0793802e+00 1.87e-03 1.81e-01 -4.1 6.43e+01 -7.3 1.00e+00 8.05e-01H 1 23 2.0773419e+00 8.40e-03 3.32e-02 -4.0 1.30e+02 -7.8 1.00e+00 9.02e-01h 1 24 2.0767934e+00 1.95e-03 5.48e-02 -4.0 2.11e+02 -8.3 1.00e+00 1.00e+00h 1 25 2.0759689e+00 1.93e-03 2.61e-02 -4.0 3.61e+02 -8.7 1.00e+00 1.00e+00h 1 26 2.0754832e+00 1.66e-03 2.97e-02 -4.0 3.88e+02 -9.2 1.00e+00 6.57e-01h 1 27 2.0757201e+00 1.37e-03 7.83e-03 -4.0 1.16e+02 -9.7 1.00e+00 1.00e+00h 1 28 2.0756734e+00 8.45e-05 1.43e-04 -4.0 3.50e+01 -10.2 1.00e+00 1.00e+00h 1 29 2.0756713e+00 3.36e-07 4.05e-06 -4.0 2.17e+01 -10.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0756712e+00 2.14e-08 8.52e-07 -4.0 1.16e+01 -11.1 1.00e+00 1.00e+00h 1 31 2.0756712e+00 1.31e-09 5.27e-08 -4.0 3.36e+00 -11.6 1.00e+00 1.00e+00h 1 32 2.0756712e+00 1.49e-11 5.94e-10 -4.0 4.25e-01 -12.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 32 (scaled) (unscaled) Objective...............: 2.0756712121109291e+00 2.0756712121109291e+00 Dual infeasibility......: 5.9388056850170033e-10 5.9388056850170033e-10 Constraint violation....: 1.4892309607716925e-11 1.4892309607716925e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000063e-04 1.0000000000000063e-04 Overall NLP error.......: 5.9388056850170033e-10 5.9388056850170033e-10 Number of objective function evaluations = 34 Number of objective gradient evaluations = 33 Number of equality constraint evaluations = 34 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 33 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 32 Total seconds in IPOPT = 27.537 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: 0.067s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.067s) 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: 0.0s hessian structure: 1749 nonzeros (0.056s) linear index maps built (0.0s) evaluator ready (total: 0.124s) evaluator created (0.124s) 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 (0.657s) optimizer initialization complete (total: 0.781s) 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 4.7864942e+00 3.61e+00 1.75e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6964888e+00 7.23e-01 3.05e+00 -1.0 2.52e+01 -4.0 9.82e-01 1.00e+00f 1 2 2.3110159e+00 4.31e-01 2.69e-01 -2.0 1.21e+01 -4.5 9.98e-01 1.00e+00h 1 3 2.2652629e+00 3.65e-02 2.63e-01 -1.6 6.83e+00 -5.0 1.00e+00 1.00e+00h 1 4 2.1265437e+00 1.37e-01 5.72e-02 -2.7 8.80e+00 -5.4 9.93e-01 1.00e+00h 1 5 2.0867958e+00 1.14e-01 1.54e-01 -3.6 2.59e+01 -5.9 9.93e-01 1.00e+00h 1 6 2.0840222e+00 8.48e-03 2.11e-02 -4.0 3.95e+01 -6.4 1.00e+00 1.00e+00h 1 7 2.0833372e+00 9.72e-03 5.79e-02 -3.2 5.08e+01 -6.9 1.00e+00 6.13e-01h 1 8 2.0782872e+00 2.78e-02 4.13e-02 -4.0 4.96e+01 -7.3 1.00e+00 1.00e+00h 1 9 2.0774014e+00 1.09e-02 1.31e-02 -4.0 1.19e+02 -7.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.1167653e+00 3.20e+00 9.56e-01 -2.2 2.89e+03 -8.3 3.03e-01 3.79e-01f 1 11 2.0973665e+00 5.79e-01 4.75e-01 -2.7 6.15e+02 -8.8 1.00e+00 1.00e+00h 1 12 2.1032470e+00 2.01e-01 1.64e-01 -2.7 9.99e+02 -9.2 1.00e+00 1.00e+00h 1 13 2.1026977e+00 3.25e-02 2.65e-02 -2.7 2.64e+02 -9.7 1.00e+00 1.00e+00h 1 14 2.1027113e+00 2.88e-03 1.03e-03 -2.7 1.48e+02 -10.2 1.00e+00 1.00e+00h 1 15 2.0798046e+00 5.70e-01 3.95e-03 -4.0 2.57e+02 -10.7 8.99e-01 1.00e+00h 1 16 2.0777499e+00 1.54e-02 1.05e-04 -3.6 2.98e+02 -11.2 1.00e+00 1.00e+00h 1 17 2.0758104e+00 1.03e-02 2.16e-05 -4.0 6.50e+01 -11.6 1.00e+00 1.00e+00h 1 18 2.0757704e+00 5.12e-05 2.92e-07 -4.0 3.53e+01 -12.1 1.00e+00 1.00e+00h 1 19 2.0757704e+00 4.76e-10 2.42e-09 -4.0 5.48e-01 -12.6 1.00e+00 1.00e+00h 1 Number of Iterations....: 19 (scaled) (unscaled) Objective...............: 2.0757703960687821e+00 2.0757703960687821e+00 Dual infeasibility......: 2.4156390470830152e-09 2.4156390470830152e-09 Constraint violation....: 4.7649917345182757e-10 4.7649917345182757e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000867545e-04 1.0000000000867545e-04 Overall NLP error.......: 2.4156390470830152e-09 2.4156390470830152e-09 Number of objective function evaluations = 20 Number of objective gradient evaluations = 20 Number of equality constraint evaluations = 20 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 20 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 19 Total seconds in IPOPT = 24.573 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.049s jacobian structure: 180 nonzeros (0.087s) integrator 1 hessian structure: 0.048s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.303s sub-objective 2 (QuadraticRegularizer): 0.077s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.015s objective hessian structure: 0.49s hessian structure: 375 nonzeros (0.538s) linear index maps built (0.0s) evaluator ready (total: 0.751s) evaluator created (0.751s) NL constraint bounds extracted (0.01s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.103s) applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.564s) optimizer initialization complete (total: 3.43s) 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 1.0472714e+00 6.88e-01 1.12e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.4505162e+00 1.35e-01 2.12e+00 -0.8 5.98e-01 0.0 9.47e-01 1.00e+00h 1 2 1.5358435e+00 5.54e-02 6.43e-01 -0.8 4.16e-01 -0.5 6.92e-01 7.86e-01h 1 3 1.4258030e+00 7.00e-02 1.49e+00 -2.8 4.69e+00 - 5.91e-01 5.00e-01h 2 4 2.0571489e+00 6.71e-02 2.33e+00 -1.6 5.16e-01 -1.0 6.40e-01 1.00e+00H 1 5 2.1303374e+00 1.32e-01 2.23e+00 -0.6 3.44e+00 -0.5 7.83e-01 7.42e-02f 2 6 4.8872217e+01 7.22e-02 1.90e+02 -0.9 3.10e+01 - 1.85e-01 7.71e-01H 1 7 3.0804845e+00 6.49e-02 1.00e+01 0.5 8.42e+01 -0.1 1.00e+00 1.01e-01f 1 8 3.1795876e+00 4.10e-04 9.96e-01 -0.8 2.26e-01 -0.6 9.97e-01 1.00e+00h 1 9 1.7040056e+00 3.63e-05 1.70e-01 -1.5 2.55e-01 -1.1 9.99e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.1730980e+00 7.61e-07 4.06e-02 -2.8 1.10e-01 -1.5 9.80e-01 1.00e+00f 1 11 1.1035438e+00 2.50e-10 2.16e+00 -4.0 3.74e+01 - 4.38e-01 1.00e+00f 1 12 1.0960638e+00 2.04e-10 1.38e+00 -4.0 3.27e-01 -2.0 1.00e+00 1.85e-01f 1 13 1.0910244e+00 1.47e-12 9.93e-01 -4.0 1.00e+01 - 1.00e+00 1.00e+00f 1 14 1.0909189e+00 1.45e-12 6.94e-03 -4.0 5.15e-01 - 1.00e+00 8.24e-03f 2 15 1.0908999e+00 3.33e-17 1.21e-03 -4.0 3.46e-01 - 1.00e+00 1.00e+00f 1 16 1.0908997e+00 3.73e-28 2.63e-09 -4.0 5.10e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 16 (scaled) (unscaled) Objective...............: 1.0908997261400406e+00 1.0908997261400406e+00 Dual infeasibility......: 2.6261917935178469e-09 2.6261917935178469e-09 Constraint violation....: 3.7343410382353897e-28 3.7343410382353897e-28 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 2.6261917935178469e-09 2.6261917935178469e-09 Number of objective function evaluations = 25 Number of objective gradient evaluations = 17 Number of equality constraint evaluations = 25 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 17 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 16 Total seconds in IPOPT = 25.092 EXIT: Optimal Solution Found. ┌ Warning: Trajectory has timestep variable :Δt but no bounds on it. │ Adding default lower bound of 0 to prevent negative timesteps. │ │ Recommended: Add explicit bounds when creating the trajectory: │ NamedTrajectory(...; Δt_bounds=(min, max)) │ Example: │ NamedTrajectory(qtraj, N; Δt_bounds=(1e-3, 0.5)) │ │ Or use timesteps_all_equal=true in problem options to fix timesteps. └ @ DirectTrajOpt.Problems ~/.julia/packages/DirectTrajOpt/gniE1/src/problems.jl:66 initializing optimizer... building evaluator: 0 integrators, 0 nonlinear constraints dynamics constraints: 0, nonlinear constraints: 0 jacobian structure: 0 nonzeros (0.0s) computing objective hessian structure (QuadraticRegularizer)... objective hessian structure: 0.081s hessian structure: 30 nonzeros (0.081s) linear index maps built (0.0s) evaluator ready (total: 0.081s) evaluator created (0.081s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.103s) applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: bounds on u applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial time t₁ = 0 linear constraints added: 5 (2.424s) optimizer initialization complete (total: 2.609s) 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 1.5924001e-02 8.33e-17 9.07e+158 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7195740e-02 5.55e-17 1.62e+00 -2.0 9.07e+160 -2.0 1.26e-09 1.26e-09S1047 Number of Iterations....: 1 (scaled) (unscaled) Objective...............: 1.7195740305327710e-10 1.7195740305327709e-02 Dual infeasibility......: 1.6218526164741129e+00 1.6218526164741129e+08 Constraint violation....: 5.5511151231257827e-17 5.5511151231257827e-17 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.9848723725741526e+00 1.9848723725741526e+08 Overall NLP error.......: 1.9847723725741526e+00 1.9847723725741526e+08 Number of objective function evaluations = 1049 Number of objective gradient evaluations = 2 Number of equality constraint evaluations = 1049 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 = 1 Total seconds in IPOPT = 2.992 EXIT: Iterates diverging; problem might be unbounded. 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): 0.088s sub-objective 2 (QuadraticRegularizer): 0.0s objective hessian structure: 0.184s hessian structure: 40 nonzeros (0.184s) linear index maps built (0.0s) evaluator ready (total: 0.185s) evaluator created (0.185s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.121s) 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 (2.938s) optimizer initialization complete (total: 3.245s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 39 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 19 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.2686773e+00 9.34e-01 1.07e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.1335675e+00 3.79e-09 3.85e-01 -0.1 7.32e-01 -2.0 1.00e+00 1.00e+00f 1 2 7.6143985e-01 2.74e-09 3.76e-01 -0.7 1.24e+00 -1.6 9.93e-01 1.00e+00f 1 3 3.1766497e-01 8.51e-10 1.31e-01 -1.7 8.64e-01 -1.1 1.00e+00 1.00e+00f 1 4 7.7462800e-02 8.25e-11 8.68e-02 -2.4 1.13e+00 -1.6 9.97e-01 1.00e+00f 1 5 1.5628612e-02 5.72e-11 3.33e-02 -3.3 8.99e-01 -2.1 1.00e+00 1.00e+00f 1 6 3.1243623e-03 1.27e-11 1.09e-02 -4.0 6.16e-01 -2.6 1.00e+00 1.00e+00f 1 7 8.2022454e-04 1.92e-12 3.39e-03 -4.0 3.68e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.2398941e-04 3.54e-13 9.02e-04 -4.0 1.42e-01 -3.5 1.00e+00 1.00e+00f 1 9 4.7578707e-04 5.11e-14 2.22e-04 -4.0 3.46e-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 2.9269765e-04 1.13e-14 4.77e-04 -4.1 8.83e-02 -4.5 1.00e+00 1.00e+00f 1 11 4.6047578e-04 6.88e-15 3.79e-04 -4.0 2.05e-01 -5.0 1.00e+00 5.00e-01f 2 12 2.7237065e-04 4.66e-15 5.21e-04 -4.1 9.93e-02 -5.4 1.00e+00 1.00e+00f 1 13 4.6749449e-04 3.55e-15 4.68e-04 -4.0 2.47e-01 -5.9 1.00e+00 5.00e-01f 2 14 2.6286831e-04 2.66e-15 5.87e-04 -4.1 1.13e-01 -6.4 1.00e+00 1.00e+00f 1 15 4.6796123e-04 2.55e-15 5.05e-04 -4.0 2.67e-01 -6.9 1.00e+00 5.00e-01f 2 16 2.5969381e-04 2.00e-15 6.15e-04 -4.1 1.19e-01 -7.4 1.00e+00 1.00e+00f 1 17 4.6784665e-04 2.00e-15 5.22e-04 -4.0 2.77e-01 -7.8 1.00e+00 5.00e-01f 2 18 2.5864586e-04 1.67e-15 6.33e-04 -4.1 1.22e-01 -8.3 1.00e+00 1.00e+00f 1 19 4.6733811e-04 1.78e-15 5.31e-04 -4.0 2.83e-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 2.5832896e-04 1.44e-15 6.48e-04 -4.1 1.25e-01 -9.3 1.00e+00 1.00e+00f 1 21 4.6674213e-04 1.55e-15 5.37e-04 -4.0 2.87e-01 -9.7 1.00e+00 5.00e-01f 2 22 2.5824449e-04 1.22e-15 6.62e-04 -4.1 1.28e-01 -10.2 1.00e+00 1.00e+00f 1 23 4.6612804e-04 1.33e-15 5.42e-04 -4.0 2.91e-01 -10.7 1.00e+00 5.00e-01f 2 24 2.5823184e-04 1.17e-15 6.74e-04 -4.1 1.30e-01 -11.2 1.00e+00 1.00e+00f 1 25 4.6552359e-04 1.11e-15 5.47e-04 -4.0 2.95e-01 -11.6 1.00e+00 5.00e-01f 2 26 2.5823912e-04 1.01e-15 6.86e-04 -4.1 1.33e-01 -12.1 1.00e+00 1.00e+00f 1 27 3.0919487e-05 9.77e-15 8.59e-04 -6.2 3.67e-01 -12.6 9.69e-01 1.00e+00f 1 28 1.7517560e-03 2.66e-15 7.47e-03 -4.0 1.94e+00 -13.1 1.00e+00 5.00e-01f 2 29 2.4294146e-05 2.50e-14 2.79e-03 -4.1 9.86e-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 1.5824727e-03 3.29e-14 7.78e-03 -4.0 9.56e-01 -14.0 1.00e+00 1.00e+00f 1 31 1.0002887e-05 1.93e-14 2.21e-03 -4.2 1.06e+00 -14.5 1.00e+00 1.00e+00f 1 32 4.6930762e-04 1.67e-15 2.71e-03 -4.0 1.35e+00 -15.0 1.00e+00 5.00e-01f 2 33 2.1901836e-04 3.22e-15 2.30e-04 -4.2 3.67e-01 -15.5 1.00e+00 5.00e-01f 2 34 2.0141146e-05 4.72e-15 7.80e-04 -6.4 4.00e-01 -15.9 9.65e-01 1.00e+00f 1 35 8.0999573e-06 3.44e-15 9.61e-05 -6.4 1.01e-01 -16.4 1.00e+00 1.00e+00f 1 36 1.5760662e-03 1.11e-15 5.47e-03 -4.0 9.41e+00 -16.9 1.00e+00 1.25e-01f 4 37 9.6092222e-05 5.62e-14 3.43e-03 -4.0 7.86e-01 -17.4 1.00e+00 1.00e+00f 1 38 7.5538633e-04 3.82e-14 3.51e-03 -4.0 5.30e-01 -17.8 1.00e+00 1.00e+00f 1 39 3.8093803e-04 7.22e-15 4.25e-04 -4.0 4.13e-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 3.5513184e-05 5.77e-15 1.29e-03 -6.0 4.92e-01 -18.8 9.56e-01 1.00e+00f 1 41 1.4635814e-05 5.55e-15 1.56e-04 -6.0 1.22e-01 -19.3 1.00e+00 1.00e+00f 1 42 4.0365018e-06 8.88e-16 9.86e-05 -6.0 1.39e-01 -19.8 1.00e+00 1.00e+00f 1 43 1.1306119e-03 5.97e-16 3.44e-03 -4.0 1.52e+01 -20.0 1.00e+00 7.89e-02f 4 44 1.5206084e-04 5.02e-14 2.96e-03 -4.0 6.11e-01 -20.0 1.00e+00 1.00e+00f 1 45 6.9138089e-04 2.53e-14 2.91e-03 -4.0 4.36e-01 -20.0 1.00e+00 1.00e+00f 1 46 3.9105752e-04 4.66e-15 4.21e-04 -4.0 3.68e-01 -20.0 1.00e+00 5.00e-01f 2 47 3.5634154e-05 5.88e-15 1.42e-03 -6.0 5.34e-01 -20.0 9.51e-01 1.00e+00f 1 48 1.4793405e-05 5.00e-15 1.67e-04 -6.0 1.30e-01 -20.0 1.00e+00 1.00e+00f 1 49 3.9626116e-06 8.88e-16 1.08e-04 -6.0 1.53e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 9.1042078e-04 4.86e-16 2.42e-03 -4.0 1.64e+01 -20.0 1.00e+00 7.33e-02f 4 51 1.8684763e-04 4.30e-14 2.60e-03 -4.0 5.14e-01 -20.0 1.00e+00 1.00e+00f 1 52 6.2974790e-04 1.75e-14 2.46e-03 -4.0 3.75e-01 -20.0 1.00e+00 1.00e+00f 1 53 3.8771880e-04 2.89e-15 4.06e-04 -4.0 3.33e-01 -20.0 1.00e+00 5.00e-01f 2 54 3.4745595e-05 5.77e-15 1.51e-03 -6.1 5.70e-01 -20.0 9.47e-01 1.00e+00f 1 55 1.4518220e-05 4.44e-15 1.74e-04 -6.1 1.37e-01 -20.0 1.00e+00 1.00e+00f 1 56 3.8197973e-06 7.77e-16 1.14e-04 -6.1 1.64e-01 -20.0 1.00e+00 1.00e+00f 1 57 7.4758684e-04 2.74e-16 1.50e-03 -4.0 1.77e+01 -20.0 1.00e+00 6.74e-02f 4 58 2.2306173e-04 3.77e-14 2.19e-03 -4.1 4.18e-01 -20.0 1.00e+00 1.00e+00f 1 59 5.6876818e-04 1.22e-14 1.96e-03 -4.1 3.05e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 3.8466739e-04 2.00e-15 3.73e-04 -4.1 2.83e-01 -20.0 1.00e+00 5.00e-01f 2 61 3.3742707e-05 5.44e-15 1.59e-03 -6.1 6.04e-01 -20.0 9.43e-01 1.00e+00f 1 62 1.4235257e-05 4.11e-15 1.78e-04 -6.1 1.42e-01 -20.0 1.00e+00 1.00e+00f 1 63 3.6982115e-06 6.66e-16 1.19e-04 -6.1 1.74e-01 -20.0 1.00e+00 1.00e+00f 1 64 6.2888292e-04 3.16e-16 7.01e-04 -4.0 1.91e+01 -20.0 1.00e+00 6.25e-02f 4 65 2.5616908e-04 3.33e-14 1.78e-03 -4.1 3.30e-01 -20.0 1.00e+00 1.00e+00f 1 66 5.1440171e-04 8.22e-15 1.48e-03 -4.1 2.35e-01 -20.0 1.00e+00 1.00e+00f 1 67 3.8058953e-04 1.33e-15 3.27e-04 -4.1 2.31e-01 -20.0 1.00e+00 5.00e-01f 2 68 3.2651418e-05 5.22e-15 1.66e-03 -6.1 6.36e-01 -20.0 9.39e-01 1.00e+00f 1 69 1.3920573e-05 3.77e-15 1.81e-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 3.5867331e-06 6.11e-16 1.23e-04 -6.1 1.83e-01 -20.0 1.00e+00 1.00e+00f 1 71 5.4092376e-04 4.44e-16 7.79e-05 -4.0 2.04e+01 -20.0 1.00e+00 5.84e-02f 4 72 2.8533406e-04 3.02e-14 1.37e-03 -4.1 2.50e-01 -20.0 1.00e+00 1.00e+00f 1 73 4.6840531e-04 5.33e-15 1.04e-03 -4.1 1.69e-01 -20.0 1.00e+00 1.00e+00f 1 74 2.9807720e-04 3.77e-15 9.84e-04 -4.1 1.79e-01 -20.0 1.00e+00 1.00e+00f 1 75 4.6145954e-04 2.89e-15 9.03e-04 -4.1 1.47e-01 -20.0 1.00e+00 1.00e+00f 1 76 3.0514175e-04 3.55e-15 8.91e-04 -4.1 1.61e-01 -20.0 1.00e+00 1.00e+00f 1 77 4.5455093e-04 2.66e-15 8.10e-04 -4.1 1.33e-01 -20.0 1.00e+00 1.00e+00f 1 78 2.3624002e-05 4.66e-15 1.82e-03 -6.1 7.69e-01 -20.0 9.25e-01 1.00e+00f 1 79 1.2305143e-05 4.00e-15 1.21e-04 -6.1 1.07e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 3.0769981e-06 4.44e-16 1.15e-04 -6.1 1.84e-01 -20.0 1.00e+00 1.00e+00f 1 81 4.9460731e-04 3.61e-16 5.38e-04 -4.0 2.31e+01 -20.0 1.00e+00 5.17e-02f 4 82 3.0946231e-04 2.93e-14 1.07e-03 -4.1 1.90e-01 -20.0 1.00e+00 1.00e+00f 1 83 4.4308907e-04 3.77e-15 7.27e-04 -4.1 1.20e-01 -20.0 1.00e+00 1.00e+00f 1 84 2.4328955e-05 4.44e-15 1.89e-03 -6.1 7.90e-01 -20.0 9.22e-01 1.00e+00f 1 85 1.2441141e-05 3.77e-15 1.32e-04 -6.1 1.16e-01 -20.0 1.00e+00 1.00e+00f 1 86 3.1171590e-06 4.44e-16 1.22e-04 -6.1 1.93e-01 -20.0 1.00e+00 1.00e+00f 1 87 3.9804780e-06 2.22e-16 2.07e-05 -6.1 3.60e-02 -20.0 1.00e+00 1.00e+00f 1 88 3.4329044e-06 5.90e-17 5.91e-06 -6.1 1.06e-02 -20.0 1.00e+00 1.00e+00h 1 89 2.6077587e-07 6.07e-17 5.28e-05 -9.0 2.35e-01 -20.0 9.77e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.4662385e-03 2.26e-16 1.21e-02 -4.0 1.04e+02 -20.0 1.00e+00 2.33e-02f 3 91 8.3757035e-05 4.86e-14 7.11e-03 -3.9 1.55e+00 -20.0 1.00e+00 1.00e+00f 1 92 7.7262887e-04 2.93e-14 5.39e-03 -3.9 8.16e-01 -20.0 1.00e+00 1.00e+00f 1 93 4.3965963e-04 5.77e-15 7.72e-04 -3.9 5.37e-01 -20.0 1.00e+00 5.00e-01f 2 94 4.3446739e-05 4.33e-15 2.14e-03 -5.9 7.15e-01 -20.0 9.30e-01 1.00e+00f 1 95 1.7944105e-05 4.00e-15 2.62e-04 -5.9 1.86e-01 -20.0 1.00e+00 1.00e+00f 1 96 5.1354993e-06 6.66e-16 1.66e-04 -5.9 2.09e-01 -20.0 1.00e+00 1.00e+00f 1 97 5.8418572e-06 2.82e-16 1.76e-05 -5.9 2.50e-02 -20.0 1.00e+00 1.00e+00h 1 98 5.3955229e-06 5.03e-17 2.76e-06 -5.9 3.97e-03 -20.0 1.00e+00 1.00e+00h 1 99 3.8816818e-07 5.55e-17 7.97e-05 -8.9 2.86e-01 -20.0 9.71e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 1.5611954e-07 7.11e-17 8.37e-06 -8.9 6.34e-02 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.5611953501238418e-07 1.5611953501238418e-07 Dual infeasibility......: 8.3729856614452857e-06 8.3729856614452857e-06 Constraint violation....: 7.1123662515049091e-17 7.1123662515049091e-17 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 5.3775632062062838e-08 5.3775632062062838e-08 Overall NLP error.......: 9.9998664437275911e-05 9.9998664437275911e-05 Number of objective function evaluations = 168 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 168 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 1 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 3.785 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: 0.058s integrator 3 jacobian structure: 0.0s jacobian structure: 1872 nonzeros (0.122s) integrator 1 hessian structure: 0.054s integrator 2 hessian structure: 0.052s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.357s sub-objective 2 (QuadraticRegularizer): 0.091s sub-objective 3 (LinearRegularizer): 0.096s sub-objective 4 (MinimumTimeObjective): 0.018s objective hessian structure: 0.659s hessian structure: 2431 nonzeros (0.766s) linear index maps built (0.0s) evaluator ready (total: 0.889s) evaluator created (0.889s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.122s) applying constraint: L1 slack constraint: |du| ≤ s_du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on s_du applying constraint: bounds on Δt linear constraints added: 6 (3.051s) optimizer initialization complete (total: 4.062s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1808 Number of nonzeros in inequality constraint Jacobian.: 80 Number of nonzeros in Lagrangian Hessian.............: 2239 Total number of variables............................: 122 variables with only lower bounds: 30 variables with lower and upper bounds: 0 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 40 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 40 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.3968116e+00 3.70e+00 1.04e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9393526e+00 6.21e+00 5.77e+00 -0.6 3.85e+01 -4.0 3.54e-01 7.19e-01f 1 2 2.5876804e+00 2.23e+00 2.20e+00 -0.6 1.11e+01 -1.8 6.39e-01 6.70e-01f 1 3 2.7583162e+00 4.78e-02 4.79e-01 -1.5 1.07e+00 -1.3 7.09e-01 1.00e+00h 1 4 2.4349837e+00 3.19e-02 1.78e-01 -1.9 6.42e-01 -0.9 9.96e-01 1.00e+00h 1 5 2.0030898e+00 3.57e-02 2.11e-01 -2.3 8.81e-01 -1.4 9.66e-01 1.00e+00f 1 6 1.7108383e+00 1.13e-01 1.79e-01 -2.6 1.61e+00 -1.9 9.94e-01 1.00e+00h 1 7 1.5421155e+00 7.92e-02 9.94e-02 -2.8 2.12e+00 -2.3 9.93e-01 8.28e-01h 1 8 1.4144357e+00 1.24e-01 8.51e-02 -2.9 3.53e+00 -2.8 9.70e-01 1.00e+00h 1 9 1.2549203e+00 3.90e-01 1.95e-01 -3.3 7.72e+00 -3.3 9.93e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.1390555e+00 1.45e+00 3.84e-01 -2.7 1.88e+01 -3.8 6.20e-01 1.00e+00h 1 11 1.0417956e+00 2.52e+00 2.77e-01 -2.4 2.32e+01 -4.3 7.40e-01 1.00e+00h 1 12 9.4095804e-01 4.19e+00 5.92e-01 -2.5 6.22e+01 -4.7 6.34e-01 9.20e-01h 1 13 8.5518171e-01 7.21e+00 3.10e-01 -2.5 6.73e+01 -5.2 7.65e-01 1.00e+00h 1 14 8.7557230e-01 2.20e+00 6.12e-01 -2.3 1.19e+02 -5.7 9.45e-01 1.00e+00h 1 15 7.5306103e-01 8.08e+00 2.72e-01 -2.7 1.58e+02 -6.2 1.00e+00 1.00e+00h 1 16 6.7034579e-01 3.66e+00 3.12e-01 -3.3 1.63e+02 -6.6 1.00e+00 1.00e+00h 1 17 6.6149587e-01 8.60e+00 3.65e+00 -2.8 4.43e+02 -7.1 1.00e+00 1.00e+00h 1 18 6.8115025e-01 1.60e+01 4.29e-01 -2.5 4.72e+02 -6.7 1.00e+00 4.55e-01h 1 19 6.5990469e-01 4.80e+00 1.47e+00 -2.7 1.98e+02 -7.2 2.36e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 5.9587514e-01 4.45e+00 2.86e-01 -3.2 4.20e+02 -7.6 1.00e+00 1.00e+00h 1 21 6.1787341e-01 8.35e-01 1.13e+00 -2.9 1.21e+02 -7.2 1.00e+00 1.00e+00h 1 22 5.8478853e-01 6.77e+00 7.61e-01 -3.2 5.18e+02 -7.7 1.00e+00 1.00e+00h 1 23 5.7726639e-01 3.55e-01 3.29e-01 -3.3 8.86e+01 -7.3 1.00e+00 1.00e+00h 1 24 5.6329399e-01 3.82e+00 3.61e-01 -3.6 4.35e+02 -7.7 1.00e+00 1.00e+00h 1 25 5.5696498e-01 3.26e+00 2.52e-01 -3.7 1.42e+02 -7.3 1.00e+00 1.00e+00h 1 26 5.4923709e-01 4.97e+00 3.53e-01 -3.8 2.96e+02 -7.8 1.00e+00 1.00e+00h 1 27 5.5229720e-01 3.93e+00 3.74e-01 -3.9 1.87e+02 -7.4 1.00e+00 1.00e+00h 1 28 5.4273283e-01 4.60e+00 2.85e-01 -4.0 2.70e+02 -7.9 1.00e+00 1.00e+00h 1 29 5.5146095e-01 5.04e-01 1.56e-01 -3.8 8.94e+01 -7.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 5.4579669e-01 2.73e+00 2.40e-01 -4.0 3.68e+02 -7.9 1.00e+00 1.00e+00h 1 31 5.4340848e-01 1.31e+00 2.95e-01 -4.0 9.47e+01 -7.5 1.00e+00 1.00e+00h 1 32 5.3851572e-01 5.02e+00 4.55e-01 -4.0 3.38e+02 -8.0 1.00e+00 1.00e+00h 1 33 5.6442041e-01 2.65e+00 7.74e-01 -4.0 3.74e+02 -7.5 1.00e+00 1.00e+00H 1 34 5.3720115e-01 3.83e+00 2.49e-01 -4.1 4.10e+02 -8.0 5.72e-01 1.00e+00h 1 35 5.4144886e-01 3.16e-01 1.22e-01 -4.0 1.24e+02 -7.6 1.00e+00 1.00e+00h 1 36 5.4004802e-01 6.67e-01 3.25e-01 -4.0 2.25e+02 -8.1 1.00e+00 1.00e+00h 1 37 5.3940381e-01 3.05e+01 8.88e-01 -4.0 1.91e+03 -8.5 1.00e+00 1.00e+00h 1 38 5.3316031e-01 3.32e+01 7.75e-01 -4.1 2.05e+03 -8.1 2.31e-01 3.89e-01h 2 39 5.4860933e-01 1.52e+01 2.83e+00 -4.0 4.77e+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 40 5.3152527e-01 1.74e+01 1.37e+00 -4.1 1.28e+03 -8.2 1.18e-01 5.02e-01h 1 41 5.2971283e-01 3.90e+01 2.88e-01 -4.0 2.08e+03 -7.7 4.01e-01 3.97e-01h 1 42 5.2191992e-01 1.83e+01 9.75e-01 -4.0 1.12e+03 -8.2 9.42e-02 4.94e-01h 1 43 5.1864662e-01 2.52e+01 1.19e+00 -3.8 2.98e+03 -8.7 2.62e-01 5.00e-01h 2 44 5.4708355e-01 6.37e-01 7.50e-01 -3.6 1.04e+02 -6.5 1.00e+00 1.00e+00h 1 45 5.3470848e-01 7.59e-01 3.44e-01 -3.7 1.22e+02 -6.9 1.00e+00 1.00e+00h 1 46 5.3996269e-01 1.84e-01 7.49e-01 -3.8 1.05e+02 -7.4 1.00e+00 1.00e+00H 1 47 5.4146617e-01 7.06e+00 8.55e-01 -3.5 7.69e+02 -7.9 1.00e+00 7.56e-01H 1 48 5.3141796e-01 2.73e+00 1.05e+00 -3.6 7.05e+02 -8.4 6.03e-02 5.94e-01h 1 49 5.2864706e-01 1.48e+01 9.64e-01 -4.0 3.18e+03 -8.8 4.21e-01 5.00e-01h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 5.3216331e-01 5.76e-02 1.47e-01 -4.0 3.74e+01 -7.5 1.00e+00 1.00e+00h 1 51 5.3101377e-01 1.29e-01 2.07e-01 -4.0 1.08e+02 -8.0 1.00e+00 1.00e+00h 1 52 5.3048803e-01 7.01e+00 6.27e-01 -4.0 7.14e+02 -8.5 1.00e+00 1.00e+00h 1 53 5.4463802e-01 4.99e+00 1.04e+00 -4.0 1.31e+03 -8.0 6.86e-01 7.39e-01H 1 54 5.3237597e-01 3.65e+00 5.09e-01 -4.1 1.39e+03 -8.5 1.86e-02 3.85e-01h 1 55 5.2091265e-01 6.13e+01 1.22e+00 -4.1 3.68e+03 -9.0 1.00e+00 1.00e+00h 1 56 5.1854908e-01 2.06e+01 1.45e-01 -4.1 1.60e+02 -6.8 1.00e+00 6.66e-01h 1 57 5.2561040e-01 5.11e-02 2.23e-01 -4.0 4.17e+01 -6.3 9.87e-01 1.00e+00h 1 58 5.2533936e-01 5.43e-03 5.79e-02 -4.0 1.20e+01 -6.8 1.00e+00 1.00e+00h 1 59 5.2689910e-01 2.88e-03 4.86e-01 -4.0 8.37e+01 -7.3 1.00e+00 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 5.3065310e-01 1.60e+00 4.09e-01 -3.2 1.31e+03 -7.8 1.00e+00 1.60e-01h 2 61 5.2780560e-01 5.20e+00 8.50e-01 -3.6 8.19e+02 -8.2 2.33e-01 3.47e-01h 2 62 5.2692841e-01 7.36e+00 3.08e-01 -3.6 1.54e+03 -7.8 2.03e-01 1.60e-01h 2 63 5.2376820e-01 1.25e+01 1.21e+00 -3.6 1.99e+03 -8.3 6.59e-01 2.44e-01h 2 64 5.3833258e-01 7.33e+00 5.73e-01 -4.0 6.65e+02 -7.0 3.14e-01 6.70e-01h 1 65 5.1896546e-01 3.58e+00 5.78e-01 -3.9 3.13e+02 -7.4 7.11e-02 7.45e-01h 1 66 5.1795775e-01 4.33e+00 1.62e+00 -4.0 1.32e+03 -7.0 4.05e-01 1.58e-01h 2 67 5.5258762e-01 2.33e+00 1.86e+00 -3.7 3.51e+02 -6.6 1.26e-01 7.31e-01H 1 68 5.2218917e-01 1.65e+00 4.16e-01 -3.9 2.41e+02 -7.1 5.63e-01 8.72e-01h 1 69 5.2103441e-01 1.58e+00 4.86e-01 -4.0 4.69e+02 -7.5 3.66e-01 1.99e-01h 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 5.5864282e-01 9.20e-01 1.79e+00 -3.6 6.62e+02 -7.1 1.00e+00 7.36e-01H 1 71 5.3206585e-01 1.37e+00 7.20e-01 -3.8 2.17e+02 -7.6 2.23e-02 1.00e+00h 1 72 5.2952598e-01 4.45e-01 4.24e-01 -3.8 1.51e+02 -8.1 1.00e+00 1.00e+00h 1 73 5.2756314e-01 6.62e-01 2.91e-01 -3.8 1.86e+03 -7.6 1.18e-01 5.75e-02h 3 74 5.2769887e-01 7.19e-01 4.12e-01 -3.8 3.96e+02 -7.2 6.29e-01 2.06e-01h 3 75 5.2663913e-01 9.95e-01 1.14e-01 -3.8 5.08e+03 -7.7 5.08e-02 1.96e-02h 3 76 5.2640914e-01 1.08e+00 4.63e-01 -3.8 6.62e+02 -7.3 1.00e+00 1.30e-01h 3 77 5.2821658e-01 5.86e-01 5.62e-01 -3.8 1.41e+02 -6.8 1.00e+00 1.00e+00h 1 78 5.2583152e-01 1.58e+00 7.50e-01 -3.8 6.92e+02 -7.3 2.50e-01 2.88e-01h 2 79 5.2539411e-01 3.26e+00 2.91e-01 -3.8 1.59e+03 -7.8 1.36e-01 1.63e-01h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 5.2135175e-01 7.79e+00 1.08e+00 -3.8 1.54e+03 -8.3 6.93e-01 2.61e-01h 2 81 5.1995300e-01 4.95e+00 1.39e-01 -3.8 5.31e+02 -6.9 8.58e-01 4.13e-01h 2 82 5.1734400e-01 5.29e+00 1.21e+00 -3.8 2.27e+03 -7.4 9.00e-02 9.66e-02h 2 83 5.1712936e-01 6.31e+00 6.03e-01 -4.0 2.65e+03 -7.0 9.13e-02 1.00e-01h 2 84 5.3641004e-01 7.03e+00 5.52e+00 -4.0 5.04e+02 -6.6 1.00e+00 9.44e-01h 1 85 5.1996670e-01 4.42e+00 3.09e+00 -4.1 2.50e+02 -7.1 6.93e-01 4.21e-01h 1 86 5.1817131e-01 4.33e+00 3.13e-01 -4.1 3.90e+02 -7.5 2.54e-01 1.00e+00h 1 87 5.1175785e-01 4.28e+00 1.02e+00 -4.1 8.02e+02 -8.0 1.91e-01 2.14e-01h 1 88 5.3475235e-01 6.39e-01 1.27e+00 -3.8 1.39e+02 -6.7 5.48e-01 9.78e-01h 1 89 5.2097984e-01 9.68e-01 2.20e-01 -4.0 2.41e+02 -7.2 4.80e-01 6.71e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 5.2668820e-01 2.82e-01 5.16e-01 -4.0 1.00e+02 -7.6 7.52e-01 1.00e+00h 1 91 5.2463583e-01 9.67e-01 3.42e-01 -4.1 4.50e+02 -7.2 4.57e-01 3.71e-01h 2 92 6.0142705e-01 1.77e+01 3.22e+00 -2.1 5.43e+03 -7.7 2.44e-02 1.52e-01f 1 93 5.8795553e-01 1.61e+01 1.30e+00 -3.1 7.28e+03 -8.2 3.27e-01 2.81e-01H 1 94 5.7920297e-01 4.21e+00 5.54e-01 -3.1 4.14e+02 -7.7 1.00e+00 9.54e-01h 1 95 5.6491595e-01 1.25e+00 9.36e-01 -3.1 4.51e+02 -8.2 1.00e+00 5.28e-01h 1 96 5.6194323e-01 3.95e+00 4.35e+00 -3.1 1.09e+03 -8.7 1.00e+00 1.00e+00h 1 97 5.5911537e-01 3.98e+00 2.65e+00 -3.1 8.21e+02 -8.3 4.63e-01 2.01e-01h 3 98 5.6385526e-01 2.00e+00 8.00e-01 -3.1 2.00e+02 -7.8 1.00e+00 1.00e+00h 1 99 5.5519321e-01 3.91e+00 1.02e+00 -3.1 9.54e+02 -8.3 2.94e-01 3.28e-01h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 5.6061106e-01 1.84e-01 6.85e-01 -3.1 1.22e+02 -7.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 5.6061106489648782e-01 5.6061106489648782e-01 Dual infeasibility......: 6.8520852654573972e-01 6.8520852654573972e-01 Constraint violation....: 1.8358038047997027e-01 1.8358038047997027e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0337831086610131e-03 1.0337831086610131e-03 Overall NLP error.......: 6.8520852654573972e-01 6.8520852654573972e-01 Number of objective function evaluations = 179 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 179 Number of inequality constraint evaluations = 179 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 41.579 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: 0.054s 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 (QuadraticRegularizer): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.046s) linear index maps built (0.0s) evaluator ready (total: 0.101s) evaluator created (0.101s) 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 (0.338s) optimizer initialization complete (total: 0.439s) 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 3.7387622e+00 3.10e+00 2.41e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4365712e+00 2.28e+00 4.25e+00 -1.1 1.57e+01 -2.0 1.05e-01 4.75e-01f 1 2 2.3223116e+00 1.81e+00 4.49e+00 -0.2 2.09e+00 0.2 4.60e-01 2.08e-01f 1 3 2.2154415e+00 1.51e+00 1.60e+01 -0.2 4.03e+00 -0.2 4.84e-01 1.68e-01h 1 4 2.1558853e+00 1.18e+00 7.17e+01 -0.1 3.47e+00 0.2 9.27e-01 2.26e-01h 1 5 2.0924853e+00 5.51e-01 5.53e+01 -4.0 7.04e+00 -0.3 2.73e-01 3.36e-01h 1 6 2.0873694e+00 4.96e-01 4.58e+01 -4.0 1.44e+01 -0.8 1.53e-01 1.00e-01h 1 7 2.0875520e+00 4.90e-01 1.26e+01 -1.2 1.91e+00 -0.3 8.03e-01 1.12e-02h 1 8 2.0761657e+00 3.25e-01 1.55e+01 -0.4 4.59e+00 -0.8 7.44e-01 3.36e-01f 1 9 2.0655618e+00 4.72e-01 1.44e+01 -0.2 5.45e+00 -0.4 1.00e+00 4.76e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0449617e+00 8.66e-02 1.35e+01 -0.8 1.39e+00 0.0 5.11e-01 6.54e-01h 1 11 1.9740279e+00 6.91e-03 2.63e+00 -1.1 8.83e-01 -0.4 8.51e-01 1.00e+00f 1 12 1.7675670e+00 1.54e-01 2.33e+01 -2.2 3.01e+00 -0.9 3.89e-01 1.00e+00f 1 13 1.7317753e+00 1.23e-01 1.78e+01 -2.0 3.99e-01 -0.5 6.03e-01 2.23e-01h 1 14 1.5393817e+00 1.40e-01 2.58e+00 -2.3 1.18e+00 -1.0 2.36e-01 1.00e+00f 1 15 1.5144638e+00 1.14e-01 1.83e+00 -4.0 2.01e-01 -0.6 6.47e-01 1.93e-01h 1 16 1.3707163e+00 4.13e-02 6.32e-02 -2.5 4.50e-01 -1.0 8.17e-01 1.00e+00f 1 17 1.3373593e+00 2.85e-02 1.55e-01 -2.7 2.37e-01 -0.6 1.00e+00 5.46e-01h 1 18 1.3001718e+00 1.44e-02 7.31e-02 -4.0 6.74e-01 -1.1 5.05e-01 4.95e-01h 1 19 1.2590031e+00 1.23e-01 1.84e-01 -3.0 8.86e-01 -1.6 7.78e-01 9.75e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.2594785e+00 1.17e-01 2.22e+00 -2.3 8.16e-01 -1.1 1.00e+00 6.92e-02h 1 21 1.2494034e+00 6.54e-02 2.40e-01 -2.7 6.95e-01 -1.6 9.88e-01 4.40e-01h 1 22 1.2192305e+00 3.32e-02 1.63e-02 -3.2 5.55e-01 -2.1 1.00e+00 9.29e-01h 1 23 1.2005780e+00 4.19e-02 1.51e-02 -4.0 1.03e+00 -2.6 8.86e-01 9.31e-01h 1 24 1.1996792e+00 1.87e-03 3.54e-03 -4.0 4.86e-01 -2.1 1.00e+00 1.00e+00h 1 25 1.1941710e+00 1.97e-02 7.22e-03 -4.0 9.96e-01 -2.6 1.00e+00 1.00e+00h 1 26 1.1878523e+00 3.55e-02 1.47e-02 -4.0 1.66e+00 -3.1 1.00e+00 1.00e+00h 1 27 1.1820576e+00 5.78e-02 1.18e-02 -4.0 2.27e+00 -3.6 1.00e+00 1.00e+00h 1 28 1.1775984e+00 7.13e-02 1.36e-02 -4.0 3.59e+00 -4.0 1.00e+00 1.00e+00h 1 29 1.1737350e+00 9.68e-02 1.09e-02 -4.0 5.53e+00 -4.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.1706986e+00 1.19e-01 9.86e-03 -4.0 8.54e+00 -5.0 1.00e+00 1.00e+00h 1 31 1.1681793e+00 1.50e-01 6.47e-03 -4.0 1.31e+01 -5.5 1.00e+00 1.00e+00h 1 32 1.1661908e+00 1.84e-01 3.43e-03 -4.0 2.01e+01 -6.0 1.00e+00 1.00e+00h 1 33 1.1645781e+00 2.26e-01 1.07e-03 -4.0 3.05e+01 -6.4 1.00e+00 1.00e+00h 1 34 1.1633036e+00 2.73e-01 5.85e-03 -4.0 4.60e+01 -6.9 1.00e+00 1.00e+00h 1 35 1.1622878e+00 3.27e-01 1.17e-02 -4.0 6.88e+01 -7.4 1.00e+00 1.00e+00h 1 36 1.1615000e+00 3.83e-01 1.77e-02 -4.0 1.01e+02 -7.9 1.00e+00 1.00e+00h 1 37 1.1609088e+00 4.32e-01 2.32e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 38 1.1605403e+00 4.35e-01 2.41e-02 -4.0 1.95e+02 -8.8 1.00e+00 1.00e+00h 1 39 1.1605534e+00 2.57e-01 8.72e-03 -4.0 2.00e+02 -9.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.1608622e+00 2.10e-03 6.92e-04 -4.0 1.78e+01 -9.8 1.00e+00 1.00e+00h 1 41 1.1608488e+00 4.87e-04 5.03e-05 -4.0 8.73e+00 -10.2 1.00e+00 1.00e+00h 1 42 1.1608491e+00 1.43e-07 1.73e-08 -4.0 1.91e-01 -10.7 1.00e+00 1.00e+00h 1 43 1.1608491e+00 4.19e-12 4.40e-13 -4.0 8.36e-04 -11.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 43 (scaled) (unscaled) Objective...............: 1.1608491307803999e+00 1.1608491307803999e+00 Dual infeasibility......: 4.4000125266376033e-13 4.4000125266376033e-13 Constraint violation....: 4.1868730704663903e-12 4.1868730704663903e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000343e-04 1.0000000000000343e-04 Overall NLP error.......: 4.1868730704663903e-12 4.1868730704663903e-12 Number of objective function evaluations = 44 Number of objective gradient evaluations = 44 Number of equality constraint evaluations = 44 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 44 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 43 Total seconds in IPOPT = 24.120 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.049s jacobian structure: 180 nonzeros (0.087s) integrator 1 hessian structure: 0.045s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.304s sub-objective 2 (QuadraticRegularizer): 0.078s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.015s objective hessian structure: 0.483s hessian structure: 375 nonzeros (0.528s) linear index maps built (0.0s) evaluator ready (total: 0.748s) evaluator created (0.748s) NL constraint bounds extracted (0.011s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.101s) applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.464s) optimizer initialization complete (total: 3.324s) 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 9.4625263e-01 9.12e-01 1.09e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.2597990e+00 2.77e-01 1.78e+00 -0.9 7.08e-01 0.0 1.00e+00 1.00e+00h 1 2 1.3367214e+00 9.69e-02 3.33e-01 -0.7 3.36e-01 -0.5 1.00e+00 6.50e-01h 1 3 9.5570325e-01 9.53e-02 1.80e+00 -2.0 2.87e+00 - 8.02e-01 1.00e+00h 1 4 1.2175611e+00 6.48e-02 8.45e-01 -1.2 3.04e-01 -1.0 1.00e+00 8.42e-01h 1 5 1.1256303e+00 5.58e-02 1.66e+00 -1.0 4.73e+01 - 5.22e-01 1.73e-01f 1 6 1.3776973e+00 7.50e-02 1.80e+00 -1.8 7.22e-01 -1.4 9.99e-01 8.38e-01h 1 7 1.2396510e+00 2.44e-02 3.02e+00 -1.3 3.34e+00 -1.0 1.00e+00 2.05e-01f 1 8 1.2033690e+00 2.09e-02 4.69e+00 -1.8 3.00e+01 - 8.94e-01 1.46e-01h 1 9 1.1379576e+00 1.42e-02 8.81e-01 -2.2 1.09e+00 -1.5 1.00e+00 3.21e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0999512e+00 4.17e-04 5.67e-01 -3.5 8.16e+00 - 1.00e+00 9.48e-01h 1 11 1.0934727e+00 4.93e-05 8.27e-02 -3.5 2.86e+00 - 1.00e+00 8.82e-01h 1 12 1.0910009e+00 4.30e-08 1.99e-03 -4.0 4.21e-01 - 1.00e+00 1.00e+00h 1 13 1.0910386e+00 6.08e-12 1.08e-05 -4.0 2.89e-02 - 1.00e+00 1.00e+00h 1 14 1.0910386e+00 8.88e-16 1.08e-05 -4.0 8.48e-05 - 1.00e+00 1.00e+00h 1 15 1.0910386e+00 1.16e-27 1.07e-05 -4.0 4.90e-10 - 1.00e+00 1.00e+00h 1 16 1.0908587e+00 4.64e-27 4.46e-09 -4.1 1.99e-05 - 1.00e+00 1.00e+00f 1 17 1.0910386e+00 8.88e-16 4.64e-09 -4.0 1.99e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 17 (scaled) (unscaled) Objective...............: 1.0910385864123910e+00 1.0910385864123910e+00 Dual infeasibility......: 4.6350779482059535e-09 4.6350779482059535e-09 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000114091619609e-04 1.0000114091619609e-04 Overall NLP error.......: 4.6350779482059535e-09 4.6350779482059535e-09 Number of objective function evaluations = 18 Number of objective gradient evaluations = 18 Number of equality constraint evaluations = 18 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 18 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 17 Total seconds in IPOPT = 22.228 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: 0.068s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.069s) integrator 1 hessian structure: 0.053s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.055s) linear index maps built (0.0s) evaluator ready (total: 0.124s) evaluator created (0.124s) 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 (2.003s) optimizer initialization complete (total: 2.127s) 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 1.9575230e+00 2.80e+00 1.46e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9655149e+00 1.59e-02 8.42e-01 -1.0 1.76e+00 -2.0 9.91e-01 1.00e+00f 1 2 2.3914352e+00 1.71e-02 6.57e-02 -1.7 2.73e-01 -1.6 9.81e-01 1.00e+00h 1 3 2.1430922e+00 4.27e-03 2.08e-01 -3.1 1.26e-01 -1.1 9.47e-01 9.26e-01h 1 4 2.0946893e+00 2.11e-03 1.22e-01 -4.0 1.38e-01 -1.6 1.00e+00 9.65e-01h 1 5 2.0906889e+00 1.36e-04 3.68e-01 -4.0 5.74e-01 -2.1 1.00e+00 7.14e-01h 1 6 2.0909092e+00 4.72e-05 5.53e-02 -4.0 3.35e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0909848e+00 7.14e-07 1.89e-03 -4.0 2.35e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0909820e+00 7.23e-08 2.06e-05 -4.0 7.05e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909612e+00 1.65e-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 2.0908993e+00 1.47e-07 2.05e-05 -4.0 6.31e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907168e+00 1.29e-06 4.96e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0901968e+00 1.09e-05 4.20e-04 -4.0 5.45e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888525e+00 8.20e-05 3.16e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861622e+00 4.40e-04 1.74e-02 -4.0 3.47e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830883e+00 9.17e-04 4.71e-02 -4.0 5.32e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828468e+00 9.35e-04 2.28e-02 -4.0 5.40e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823428e+00 3.90e-04 1.01e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820398e+00 9.52e-05 1.84e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819518e+00 2.67e-04 8.63e-03 -4.0 9.89e+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 3.66e-05 8.41e-04 -4.0 3.10e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.29e-07 1.38e-05 -4.0 4.44e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.75e-10 3.26e-08 -4.0 2.44e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.50e-13 1.21e-11 -4.0 4.59e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907190893e+00 2.0819382907190893e+00 Dual infeasibility......: 1.2137156324464396e-11 1.2137156324464396e-11 Constraint violation....: 2.5046631435543532e-13 2.5046631435543532e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000037e-04 1.0000000000000037e-04 Overall NLP error.......: 1.2137156324464396e-11 1.2137156324464396e-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 = 27.773 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.066s) 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 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.053s) linear index maps built (0.0s) evaluator ready (total: 0.119s) evaluator created (0.119s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.063s) optimizer initialization complete (total: 0.182s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1528 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 77 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.6126322e+00 2.41e+00 3.61e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7139666e+00 1.64e-02 3.90e-01 -1.0 1.90e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.2777290e+00 2.65e-02 5.67e-02 -1.8 3.75e-01 -1.6 9.41e-01 1.00e+00h 1 3 2.1288484e+00 1.92e-03 1.36e-01 -2.9 1.08e-01 -1.1 9.44e-01 1.00e+00h 1 4 2.0956725e+00 3.84e-04 9.30e-02 -4.0 2.22e-02 -1.6 1.00e+00 7.55e-01h 1 5 2.0917190e+00 1.82e-04 5.00e-01 -4.0 5.51e-01 -2.1 1.00e+00 5.66e-01h 1 6 2.0909415e+00 5.55e-05 8.19e-02 -4.0 3.87e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0909072e+00 1.02e-06 1.70e-03 -4.0 2.62e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0909070e+00 2.83e-07 2.23e-05 -4.0 7.63e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908850e+00 1.86e-08 4.03e-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 2.0908388e+00 1.05e-07 2.31e-04 -4.0 5.31e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907374e+00 5.83e-07 8.88e-04 -4.0 1.32e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904583e+00 6.08e-06 7.78e-04 -4.0 4.24e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0903378e+00 7.28e-07 5.35e-04 -4.0 1.52e+00 -5.0 1.00e+00 1.00e+00h 1 14 2.0902030e+00 1.27e-06 1.82e-02 -4.0 6.19e+00 -5.5 1.00e+00 2.17e-01h 2 15 2.0890832e+00 5.87e-05 2.27e-03 -4.0 1.35e+01 -6.0 1.00e+00 1.00e+00h 1 16 2.0875391e+00 1.42e-04 5.82e-02 -4.0 3.75e+01 -6.4 1.00e+00 4.85e-01h 1 17 2.0837625e+00 1.63e-03 5.73e-02 -4.0 6.70e+01 -6.9 1.00e+00 1.00e+00h 1 18 2.0827778e+00 5.52e-04 1.63e-02 -4.0 1.30e+01 -6.5 1.00e+00 6.30e-01h 1 19 2.0828148e+00 1.50e-04 9.12e-03 -4.0 2.88e+01 -7.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0825161e+00 2.96e-04 3.19e-03 -4.0 7.44e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0821296e+00 8.37e-04 8.79e-03 -4.0 1.73e+02 -7.9 6.54e-01 1.00e+00h 1 22 2.0821873e+00 8.52e-04 5.51e-01 -4.0 1.01e+02 -6.6 6.55e-01 7.05e-02h 4 23 2.0816644e+00 3.14e-04 7.29e-02 -4.1 2.07e+01 -7.1 8.65e-01 7.84e-01H 1 24 2.0819749e+00 1.82e-04 6.34e-01 -4.0 1.31e+01 -4.8 9.78e-02 1.95e-01f 1 25 2.0821526e+00 8.35e-04 2.79e-01 -4.0 1.16e+01 -5.3 1.81e-01 2.43e-01h 2 26 2.0816429e+00 3.69e-07 2.36e-03 -4.2 4.83e-02 -1.3 1.00e+00 1.00e+00h 1 27 2.0817725e+00 2.79e-07 7.14e-04 -4.0 3.87e-02 -1.8 1.00e+00 1.00e+00h 1 28 2.0817541e+00 8.24e-09 2.59e-04 -4.0 4.45e-02 -2.2 1.00e+00 1.00e+00h 1 29 2.0817538e+00 9.71e-09 1.15e-04 -4.0 5.96e-02 -2.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0817555e+00 2.17e-08 2.07e-05 -4.0 3.24e-02 -3.2 1.00e+00 1.00e+00h 1 31 2.0816830e+00 6.65e-07 1.31e-04 -4.1 4.43e-02 -3.7 1.00e+00 1.00e+00h 1 32 2.0812751e+00 1.60e-05 1.38e-01 -6.1 2.14e-01 -4.1 6.56e-01 1.00e+00h 1 33 2.0819522e+00 3.45e-05 2.23e-03 -4.0 3.15e-01 -4.6 1.00e+00 1.00e+00h 1 34 2.0817228e+00 2.12e-05 2.48e-04 -4.1 6.59e-01 -5.1 1.00e+00 1.00e+00h 1 35 2.0811428e+00 1.96e-04 2.71e-03 -6.1 2.38e+00 -5.6 1.00e+00 1.00e+00h 1 36 2.0818273e+00 1.90e-05 3.54e-02 -4.0 7.86e-02 -3.3 1.00e+00 9.19e-01h 1 37 2.0814395e+00 1.15e-05 1.83e-03 -4.1 2.29e-01 -3.8 1.00e+00 1.00e+00f 1 38 2.0816521e+00 1.57e-05 5.44e-04 -4.0 5.09e-01 -4.3 1.00e+00 1.00e+00h 1 39 2.0816482e+00 2.92e-06 1.01e-03 -4.1 4.58e-01 -4.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0816865e+00 1.99e-06 2.36e-04 -4.1 9.96e-01 -5.3 1.00e+00 1.00e+00h 1 41 2.0810999e+00 2.09e-04 1.62e-02 -6.1 2.67e+00 -5.7 9.70e-01 1.00e+00h 1 42 2.0811118e+00 9.09e-05 1.15e-01 -4.8 4.44e-01 -4.4 1.00e+00 5.63e-01h 1 43 2.0813438e+00 8.21e-05 3.47e-01 -4.0 1.85e+00 -4.9 1.00e+00 3.00e-01f 1 44 2.0815739e+00 5.37e-05 9.12e-04 -4.1 1.51e+00 -5.4 1.00e+00 1.00e+00h 1 45 2.0816798e+00 1.44e-05 8.19e-04 -4.1 1.89e+00 -5.8 1.00e+00 1.00e+00h 1 46 2.0817324e+00 5.56e-06 4.17e-04 -4.1 2.47e+00 -6.3 1.00e+00 1.00e+00h 1 47 2.0809118e+00 1.07e-03 5.23e-03 -6.2 1.45e+01 -6.8 9.94e-01 1.00e+00h 1 48 2.0809972e+00 9.13e-05 5.17e-03 -4.9 2.89e+00 -6.4 1.00e+00 9.06e-01h 1 49 2.0812651e+00 1.78e-04 6.69e-02 -4.0 1.73e+01 -6.8 7.41e-01 2.83e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0831808e+00 4.81e-07 1.74e-02 -4.3 2.74e+01 -7.3 1.00e+00 1.00e+00H 1 51 2.0824512e+00 4.25e-07 2.48e+00 -4.3 2.65e-01 -1.5 8.83e-01 2.32e-01h 1 52 2.0821095e+00 3.60e-05 2.13e+00 -4.3 2.67e-01 -1.9 1.00e+00 4.85e-01f 1 53 2.0819505e+00 1.69e-05 3.38e+00 -4.3 5.75e-02 -2.4 3.71e-01 1.00e+00f 1 54 2.0813977e+00 6.35e-06 5.53e-02 -4.3 7.30e-02 -2.9 1.00e+00 8.52e-01h 1 55 2.0818454e+00 2.95e-06 1.06e-03 -4.0 3.25e-02 -3.4 1.00e+00 1.00e+00f 1 56 2.0816822e+00 9.42e-07 1.27e-04 -4.1 3.92e-02 -3.9 1.00e+00 1.00e+00h 1 57 2.0811608e+00 2.80e-05 9.51e-02 -6.1 3.16e-01 -4.3 6.98e-01 1.00e+00h 1 58 2.0819606e+00 4.33e-05 2.06e-03 -4.0 3.76e-01 -4.8 1.00e+00 1.00e+00h 1 59 2.0817389e+00 2.98e-05 2.67e-04 -4.1 8.57e-01 -5.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0810811e+00 2.22e-04 2.01e-02 -6.1 3.77e+00 -5.8 9.25e-01 7.98e-01h 1 61 2.0808796e+00 1.32e-04 1.06e-02 -6.1 4.98e+00 -6.2 1.00e+00 5.43e-01h 1 62 2.0819541e+00 2.43e-03 6.60e-02 -4.0 2.04e+01 -6.7 4.96e-01 1.00e+00f 1 63 2.0813126e+00 7.30e-04 7.40e-03 -4.3 1.10e+01 -7.2 9.60e-01 1.00e+00h 1 64 2.0818511e+00 2.60e-04 1.75e-01 -4.3 3.90e+00 -5.0 4.54e-01 5.50e-01h 1 65 2.0814958e+00 3.01e-04 1.01e-01 -4.3 2.65e+00 -5.4 4.46e-01 7.84e-01f 1 66 2.0812785e+00 2.42e-04 2.30e+00 -4.3 1.68e+00 -3.2 1.27e-02 1.81e-01f 1 67 2.0814940e+00 1.21e-04 1.65e+00 -4.3 1.39e-01 -3.7 1.00e+00 5.00e-01f 2 68 2.0814043e+00 2.25e-05 3.92e-04 -4.3 1.36e-01 -4.2 1.00e+00 1.00e+00h 1 69 2.0810159e+00 3.07e-05 1.08e-01 -6.4 4.89e-01 -4.6 8.08e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0818508e+00 2.02e-04 2.83e-03 -4.0 1.69e+00 -5.1 1.00e+00 1.00e+00f 1 71 2.0816322e+00 1.27e-04 2.82e-03 -4.1 2.82e+00 -5.6 1.00e+00 1.00e+00h 1 72 2.0817265e+00 1.80e-05 9.03e-04 -4.1 1.66e+00 -6.1 1.00e+00 1.00e+00h 1 73 2.0817762e+00 5.83e-06 2.65e-04 -4.1 2.91e+00 -6.6 1.00e+00 1.00e+00h 1 74 2.0807806e+00 1.42e-03 3.95e-03 -6.1 1.69e+01 -7.0 9.85e-01 9.85e-01h 1 75 2.0819202e+00 2.35e-03 3.95e-03 -4.0 2.03e+01 -7.5 1.00e+00 1.00e+00f 1 76 2.0816653e+00 7.33e-04 1.57e-03 -4.1 2.96e+01 -8.0 1.00e+00 1.00e+00h 1 77 2.0816122e+00 5.18e-05 1.30e-03 -4.1 4.04e+01 -8.5 1.00e+00 1.00e+00h 1 78 2.0816049e+00 1.58e-05 4.22e-04 -4.1 2.71e+01 -8.9 1.00e+00 1.00e+00h 1 79 2.0805946e+00 3.61e-03 1.38e-04 -6.1 4.29e+01 -9.4 9.78e-01 9.68e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0818870e+00 6.24e-03 6.01e-04 -4.0 5.80e+01 -9.9 1.00e+00 1.00e+00f 1 81 2.0816141e+00 4.84e-04 4.18e-05 -4.1 2.06e+01 -10.4 1.00e+00 1.00e+00h 1 82 2.0805991e+00 3.47e-03 1.52e-04 -6.1 4.15e+01 -10.8 9.76e-01 9.65e-01h 1 83 2.0805508e+00 8.49e-05 3.21e-06 -6.1 1.70e+01 -11.3 1.00e+00 1.00e+00h 1 84 2.0819792e+00 1.03e-02 3.97e-04 -4.0 8.43e+01 -11.8 1.00e+00 1.00e+00f 1 85 2.0816849e+00 9.29e-04 4.72e-05 -4.1 4.57e+01 -12.3 1.00e+00 1.00e+00h 1 86 2.0816490e+00 4.78e-07 7.93e-07 -4.1 8.51e+00 -12.8 1.00e+00 1.00e+00h 1 87 2.0818389e+00 1.13e-04 4.87e-06 -4.0 7.02e+00 -13.2 1.00e+00 1.00e+00h 1 88 2.0815801e+00 2.08e-04 9.04e-06 -4.1 9.49e+00 -13.7 1.00e+00 1.00e+00h 1 89 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -14.2 9.78e-01 9.71e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805497e+00 6.51e-05 1.78e-06 -6.1 1.55e+01 -14.7 1.00e+00 1.00e+00h 1 91 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -15.1 1.00e+00 1.00e+00f 1 92 2.0816901e+00 9.49e-04 5.23e-05 -4.1 4.72e+01 -15.6 1.00e+00 1.00e+00h 1 93 2.0816518e+00 5.68e-07 7.86e-07 -4.1 8.91e+00 -16.1 1.00e+00 1.00e+00h 1 94 2.0805907e+00 3.69e-03 1.61e-04 -6.1 4.17e+01 -16.6 9.77e-01 9.75e-01h 1 95 2.0805511e+00 6.76e-05 1.95e-06 -6.1 1.62e+01 -17.0 1.00e+00 1.00e+00h 1 96 2.0805469e+00 4.72e-08 2.03e-08 -6.1 2.96e+00 -17.5 1.00e+00 1.00e+00h 1 97 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.88e+01 -18.0 1.00e+00 1.00e+00f 1 98 2.0817176e+00 1.03e-03 6.82e-05 -4.1 5.46e+01 -18.5 1.00e+00 1.00e+00h 1 99 2.0816664e+00 1.23e-06 1.00e-06 -4.1 1.09e+01 -19.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805915e+00 3.77e-03 1.67e-04 -6.1 4.21e+01 -19.4 9.76e-01 9.75e-01h 1 101 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -19.9 1.00e+00 1.00e+00h 1 102 2.0805471e+00 5.00e-08 2.15e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 103 2.0805365e+00 9.59e-07 8.07e-07 -9.0 9.59e-01 -20.0 1.00e+00 9.97e-01h 1 104 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 105 2.0817324e+00 1.07e-03 7.73e-05 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 106 2.0816741e+00 1.68e-06 1.10e-06 -4.1 1.18e+01 -20.0 1.00e+00 1.00e+00h 1 107 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 108 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 109 2.0805472e+00 5.16e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 110 2.0805365e+00 9.80e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 111 2.0805365e+00 9.37e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 112 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 113 2.0817328e+00 1.07e-03 7.75e-05 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 114 2.0816743e+00 1.69e-06 1.10e-06 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 115 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 116 2.0805516e+00 7.08e-05 2.06e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 117 2.0805472e+00 5.17e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 118 2.0805365e+00 9.81e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 119 2.0805365e+00 9.39e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 120 2.0805365e+00 4.44e-16 3.37e-16 -9.0 1.11e-05 -20.0 1.00e+00 1.00e+00h 1 121 2.0805365e+00 6.66e-16 2.22e-16 -9.0 1.99e-12 -20.0 1.00e+00 1.00e+00h 1 122 2.0805365e+00 2.22e-16 2.41e-16 -9.0 8.86e-14 -20.0 1.00e+00 1.00e+00 0 123 2.0805365e+00 8.88e-16 2.03e-16 -9.0 6.79e-14 -20.0 1.00e+00 1.00e+00T 0 Number of Iterations....: 123 (scaled) (unscaled) Objective...............: 2.0805364715330508e+00 2.0805364715330508e+00 Dual infeasibility......: 2.0309745975833971e-16 2.0309745975833971e-16 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 9.0909103283437487e-09 9.0909103283437487e-09 Complementarity.........: 9.0909090969342984e-10 9.0909090969342984e-10 Overall NLP error.......: 9.9999090909091523e-05 9.9999090909091523e-05 Number of objective function evaluations = 138 Number of objective gradient evaluations = 124 Number of equality constraint evaluations = 138 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 124 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 124 Total seconds in IPOPT = 29.503 EXIT: Search Direction is becoming Too Small. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.058s jacobian structure: 180 nonzeros (0.098s) integrator 1 hessian structure: 0.053s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.354s sub-objective 2 (QuadraticRegularizer): 0.092s sub-objective 3 (MinimumTimeObjective): 0.018s objective hessian structure: 0.564s hessian structure: 375 nonzeros (0.618s) linear index maps built (0.0s) evaluator ready (total: 0.865s) evaluator created (0.865s) NL constraint bounds extracted (0.012s) 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 (3.639s) optimizer initialization complete (total: 4.637s) 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 1.3084033e+00 1.09e+00 1.10e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.1936978e+00 2.28e-01 1.78e+00 -0.9 7.04e-01 0.0 9.94e-01 9.42e-01h 1 2 1.1738908e+00 1.39e-01 2.11e+00 -0.7 1.03e+01 - 4.85e-01 3.74e-01f 1 3 1.4546316e+00 1.38e-01 2.12e+00 -1.2 3.91e-01 -0.5 9.39e-01 1.00e+00h 1 4 2.3945600e+00 4.44e-02 5.01e+00 -0.9 4.54e-01 -1.0 8.10e-01 1.00e+00H 1 5 2.4657533e+00 1.12e-01 1.62e+00 -0.7 9.48e-01 -1.4 1.00e+00 3.37e-01f 2 6 2.1090252e+00 9.63e-02 1.37e+01 -0.8 2.23e+00 -1.9 1.00e+00 5.33e-01H 1 7 1.4832463e+00 1.21e-03 9.59e+00 -1.6 6.91e-01 -2.4 1.00e+00 1.00e+00f 1 8 1.2086131e+00 3.91e-05 8.41e-01 -1.8 1.72e+00 - 1.00e+00 1.00e+00f 1 9 1.1038170e+00 6.30e-07 3.12e-01 -3.1 4.84e+00 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0937818e+00 1.76e-07 3.69e-02 -4.0 1.41e+00 - 1.00e+00 7.20e-01f 1 11 1.0908643e+00 1.39e-09 8.17e-03 -4.0 8.34e-01 - 1.00e+00 1.00e+00f 1 12 1.0909000e+00 3.41e-13 1.19e-04 -4.0 1.07e-01 - 1.00e+00 1.00e+00h 1 13 1.0908997e+00 7.56e-22 5.59e-10 -4.0 2.33e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 13 (scaled) (unscaled) Objective...............: 1.0908997263013327e+00 1.0908997263013327e+00 Dual infeasibility......: 5.5892599636021487e-10 5.5892599636021487e-10 Constraint violation....: 7.5607773105367485e-22 7.5607773105367485e-22 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000094e-04 1.0000000000000094e-04 Overall NLP error.......: 5.5892599636021487e-10 5.5892599636021487e-10 Number of objective function evaluations = 20 Number of objective gradient evaluations = 14 Number of equality constraint evaluations = 20 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 = 25.588 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.073s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.073s) integrator 1 hessian structure: 0.054s 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 (0.055s) linear index maps built (0.0s) evaluator ready (total: 0.129s) evaluator created (0.129s) 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: 0.129s) 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 1.8310692e+00 3.59e+00 5.57e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6618370e+00 8.63e-02 2.19e+00 -0.9 2.20e+00 0.0 9.43e-01 1.00e+00f 1 2 2.6131141e+00 3.48e-03 3.90e-01 -1.2 6.82e-02 0.4 9.39e-01 1.00e+00h 1 3 2.2999379e+00 2.63e-03 9.07e-02 -2.0 6.03e-02 -0.1 9.75e-01 1.00e+00f 1 4 2.1306509e+00 1.57e-03 7.13e-02 -3.2 5.42e-02 -0.5 9.99e-01 7.10e-01f 1 5 2.0914249e+00 4.79e-05 5.16e-03 -4.0 7.23e-03 -1.0 1.00e+00 9.80e-01h 1 6 2.0909308e+00 1.50e-07 4.19e-04 -4.0 4.66e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0909311e+00 7.61e-10 1.15e-04 -4.0 1.05e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0909305e+00 1.24e-11 5.89e-05 -4.0 1.61e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909289e+00 1.07e-10 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909239e+00 9.67e-10 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909089e+00 8.71e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908641e+00 7.84e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907297e+00 7.07e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903276e+00 6.40e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891302e+00 5.85e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856200e+00 5.53e-04 2.30e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796352e+00 2.31e-03 1.36e-01 -4.0 9.57e+01 -6.7 1.00e+00 6.31e-01h 1 18 2.0806868e+00 1.30e-04 1.67e-01 -4.0 7.01e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775713e+00 7.04e-03 2.28e-02 -4.0 1.20e+02 -7.7 1.00e+00 9.85e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0769203e+00 1.42e-03 4.66e-02 -4.0 2.06e+02 -8.2 9.81e-01 8.75e-01h 1 21 2.0763437e+00 1.62e-03 4.87e-02 -4.0 3.62e+02 -8.6 1.00e+00 6.33e-01h 1 22 2.0755409e+00 4.43e-03 3.59e-02 -4.0 6.61e+02 -9.1 1.00e+00 7.53e-01h 1 23 2.0758231e+00 3.91e-03 2.07e-02 -4.0 1.98e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0756818e+00 6.79e-04 1.07e-03 -4.0 1.08e+02 -10.1 1.00e+00 1.00e+00h 1 25 2.0756712e+00 5.04e-06 1.79e-05 -4.0 2.32e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 1.05e-07 1.31e-06 -4.0 1.42e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.69e-09 1.12e-07 -4.0 4.65e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.78e-11 1.87e-09 -4.0 7.34e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121662471e+00 2.0756712121662471e+00 Dual infeasibility......: 1.8724868786860072e-09 1.8724868786860072e-09 Constraint violation....: 4.7784887158286438e-11 4.7784887158286438e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000051e-04 1.0000000000000051e-04 Overall NLP error.......: 1.8724868786860072e-09 1.8724868786860072e-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 = 30.323 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.068s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.068s) 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: 0.121s) evaluator created (0.121s) 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 (0.157s) optimizer initialization complete (total: 0.279s) 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 5.2144998e+00 4.09e+00 5.78e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.3891572e+00 7.90e-01 3.89e+00 -0.9 2.80e+00 0.0 9.80e-01 8.08e-01f 1 2 2.6647860e+00 1.64e-02 1.66e+00 -1.1 6.20e-01 0.4 9.70e-01 1.00e+00h 1 3 2.4139182e+00 9.97e-03 3.52e-01 -1.6 1.44e-01 -0.1 9.96e-01 1.00e+00h 1 4 2.1776302e+00 6.53e-03 1.79e-01 -2.2 1.59e-01 -0.5 9.93e-01 7.82e-01h 1 5 2.1165250e+00 1.68e-03 9.97e-02 -3.2 5.35e-02 -1.0 9.99e-01 8.18e-01h 1 6 2.0969927e+00 1.10e-03 9.22e-02 -3.9 1.63e-01 -1.5 1.00e+00 8.55e-01h 1 7 2.0915868e+00 6.31e-04 1.02e-01 -4.0 3.92e-01 -2.0 1.00e+00 5.33e-01h 1 8 2.0908321e+00 1.15e-04 1.46e-01 -4.0 9.84e-02 -2.4 1.00e+00 8.17e-01h 1 9 2.0908751e+00 2.79e-06 6.68e-04 -4.0 3.06e-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 2.0908740e+00 2.37e-07 1.03e-04 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908591e+00 1.00e-08 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908143e+00 7.85e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906799e+00 7.07e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902779e+00 6.40e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890808e+00 5.85e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855720e+00 5.52e-04 2.31e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796261e+00 2.27e-03 1.36e-01 -4.0 9.55e+01 -6.7 1.00e+00 6.28e-01h 1 18 2.0807206e+00 1.58e-04 1.81e-01 -4.0 6.57e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775287e+00 7.39e-03 2.45e-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 2.0769555e+00 1.13e-03 5.28e-02 -4.0 1.76e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0759768e+00 9.90e-04 2.36e-02 -4.0 3.15e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0754449e+00 5.01e-04 2.91e-02 -4.0 4.62e+02 -9.1 1.00e+00 7.28e-01H 1 23 2.0757701e+00 2.14e-03 1.04e-02 -4.0 1.40e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753801e+00 1.39e-03 4.77e-04 -4.1 7.78e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756723e+00 4.11e-04 7.05e-06 -4.0 1.86e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0753425e+00 6.38e-04 8.23e-07 -4.1 2.61e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756725e+00 3.34e-04 8.16e-07 -4.0 1.36e+01 -11.5 1.00e+00 1.00e+00h 1 28 2.0753425e+00 5.01e-04 2.63e-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....: 1.4164404722574631e-02 1.4164404722574631e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.3095644031728772e-04 2.3095644031728772e-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 = 29.148 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: 0.063s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.064s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.052s) linear index maps built (0.0s) evaluator ready (total: 0.117s) evaluator created (0.117s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.118s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.1344922e+00 4.05e+00 3.88e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8085776e+00 7.61e-02 5.38e+00 -0.9 2.39e+00 0.0 7.14e-01 1.00e+00f 1 2 2.5515632e+00 1.51e-02 4.09e-01 -1.2 1.41e-01 0.4 9.93e-01 1.00e+00h 1 3 2.3871944e+00 2.00e-03 2.18e-01 -1.8 7.68e-02 -0.1 9.37e-01 1.00e+00h 1 4 2.1713982e+00 5.18e-03 2.08e-01 -2.3 1.86e-01 -0.5 9.93e-01 5.83e-01f 1 5 2.1023141e+00 4.16e-04 2.13e-02 -3.1 2.30e-02 -1.0 9.98e-01 9.32e-01h 1 6 2.0908930e+00 1.56e-05 3.37e-03 -4.0 8.42e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0908499e+00 2.04e-08 1.04e-04 -4.0 9.48e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908484e+00 5.27e-10 5.29e-05 -4.0 1.45e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908468e+00 1.08e-10 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908418e+00 9.69e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908269e+00 8.72e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0907821e+00 7.85e-08 2.06e-05 -4.0 4.55e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906477e+00 7.08e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902458e+00 6.41e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890489e+00 5.86e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855409e+00 5.52e-04 2.31e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796191e+00 2.26e-03 1.37e-01 -4.0 9.54e+01 -6.7 1.00e+00 6.26e-01h 1 18 2.0806884e+00 1.57e-04 1.83e-01 -4.0 6.63e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775208e+00 7.49e-03 2.51e-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 2.0769614e+00 1.17e-03 6.04e-02 -4.0 1.78e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0761132e+00 1.11e-03 1.74e-02 -4.0 3.25e+02 -8.6 1.00e+00 8.56e-01h 1 22 2.0754709e+00 1.89e-03 2.84e-02 -4.0 5.32e+02 -9.1 1.00e+00 7.36e-01h 1 23 2.0757877e+00 2.81e-03 1.30e-02 -4.0 1.59e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753867e+00 1.41e-03 6.39e-04 -4.1 9.08e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756722e+00 4.64e-04 5.92e-06 -4.0 2.14e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 5.95e-07 1.11e-06 -4.0 1.19e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.23e-09 8.38e-08 -4.0 4.32e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 3.79e-11 1.51e-09 -4.0 6.81e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121572862e+00 2.0756712121572862e+00 Dual infeasibility......: 1.5113313073624509e-09 1.5113313073624509e-09 Constraint violation....: 3.7947089914780463e-11 3.7947089914780463e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000032e-04 1.0000000000000032e-04 Overall NLP error.......: 1.5113313073624509e-09 1.5113313073624509e-09 Number of objective function evaluations = 30 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 30 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 28.447 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 23m37.0s Testing DirectTrajOpt tests passed Testing completed after 1495.68s PkgEval succeeded after 1590.4s