Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.1840 (ab7ba34e40*) started at 2026-03-06T00:25:02.754 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 14.03s ################################################################################ # 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 v0.1.7 [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 v3.16.0 [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 6.39s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling packages... 27700.3 ms ✓ DirectTrajOpt 1 dependency successfully precompiled in 33 seconds. 225 already precompiled. Precompilation completed after 54.25s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_GU7Yob/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_GU7Yob/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 v0.1.7 [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 v3.16.0 [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: 2.276s integrator 2 jacobian structure: 0.055s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 5.151s jacobian structure: 1600 nonzeros (7.545s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.05s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.968s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 2.225s sub-objective 2 (QuadraticRegularizer): 1.405s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.016s objective hessian structure: 3.737s hessian structure: 1749 nonzeros (7.806s) linear index maps built (0.0s) evaluator ready (total: 15.853s) evaluator created (20.838s) NL constraint bounds extracted (0.214s) NLP block data built (0.0s) Ipopt optimizer configured (0.341s) variables set (0.7s) 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 (4.041s) optimizer initialization complete (total: 26.135s) ****************************************************************************** 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 1.6478662e+00 2.45e+00 5.91e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.1021479e+00 4.75e-01 6.56e+00 -0.9 1.83e+00 0.0 1.00e+00 8.13e-01h 1 2 2.9968839e+00 4.20e-02 5.01e+00 -0.6 5.84e-01 -0.5 1.00e+00 1.00e+00f 1 3 2.6531154e+00 9.90e-02 1.09e+00 -1.1 9.08e-01 -1.0 9.95e-01 9.13e-01h 1 4 2.3165815e+00 4.30e-02 4.29e-01 -1.6 6.27e-01 -1.4 9.92e-01 1.00e+00h 1 5 2.1910517e+00 5.51e-03 9.29e-02 -2.0 2.41e-01 -1.9 9.41e-01 1.00e+00h 1 6 2.0965003e+00 1.53e-03 1.58e-02 -3.4 1.47e-01 -2.4 9.93e-01 9.28e-01h 1 7 2.0909351e+00 1.94e-05 5.60e-04 -4.0 1.76e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908565e+00 7.31e-07 1.90e-05 -4.0 4.15e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908460e+00 7.17e-09 1.82e-05 -4.0 1.20e-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 2.0908198e+00 4.27e-08 8.31e-05 -4.0 3.27e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907547e+00 2.25e-07 3.75e-04 -4.0 8.66e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905734e+00 2.27e-06 6.03e-04 -4.0 2.62e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0900893e+00 9.28e-06 8.65e-03 -4.0 7.60e+00 -5.7 1.00e+00 7.23e-01h 1 14 2.0900558e+00 2.12e-04 5.09e-02 -4.0 2.54e+01 -6.2 1.00e+00 1.00e+00f 1 15 2.0876752e+00 1.49e-04 1.31e-01 -4.0 8.42e+00 -4.9 1.00e+00 5.05e-01h 1 16 2.0875889e+00 4.59e-05 1.06e-02 -4.0 3.27e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0866683e+00 5.74e-05 5.21e-03 -4.0 9.73e+00 -5.8 1.00e+00 1.00e+00h 1 18 2.0851559e+00 1.80e-04 8.72e-03 -4.0 2.31e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0829653e+00 3.82e-04 2.61e-02 -4.0 3.77e+01 -6.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827732e+00 4.97e-04 1.45e-02 -4.0 5.32e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0823253e+00 6.25e-04 8.62e-03 -4.0 1.24e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.2351221e+00 1.07e-04 4.18e+00 -4.0 7.65e+02 -8.2 5.64e-02 1.00e+00H 1 23 2.0854575e+00 1.62e-05 5.85e-01 -4.1 9.41e-02 -0.4 1.00e+00 8.48e-01f 1 24 2.0857321e+00 1.60e-05 3.41e+00 -4.0 7.15e-02 -0.8 1.00e+00 7.81e-03f 8 25 2.0857158e+00 5.77e-08 1.23e-03 -4.0 2.59e-02 -1.3 1.00e+00 1.00e+00h 1 26 2.0854631e+00 1.36e-07 1.04e-03 -4.0 6.53e-02 -1.8 1.00e+00 1.00e+00h 1 27 2.0853075e+00 5.30e-07 5.49e-04 -4.0 1.04e-01 -2.3 1.00e+00 1.00e+00h 1 28 2.0853517e+00 8.67e-08 2.74e-05 -4.0 1.56e-02 -2.8 1.00e+00 1.00e+00h 1 29 2.0853434e+00 7.07e-08 1.02e-05 -4.0 1.73e-02 -3.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0853393e+00 8.50e-09 1.02e-05 -4.0 5.21e-02 -3.7 1.00e+00 1.00e+00h 1 31 2.0853279e+00 2.62e-08 1.02e-05 -4.0 1.56e-01 -4.2 1.00e+00 1.00e+00h 1 32 2.0852949e+00 2.24e-07 1.21e-05 -4.0 4.62e-01 -4.7 1.00e+00 1.00e+00h 1 33 2.0852060e+00 1.76e-06 9.27e-05 -4.0 1.35e+00 -5.1 1.00e+00 1.00e+00h 1 34 2.0850105e+00 1.04e-05 5.11e-04 -4.0 3.75e+00 -5.6 1.00e+00 1.00e+00h 1 35 2.0847108e+00 2.79e-05 1.42e-03 -4.0 9.95e+00 -6.1 1.00e+00 1.00e+00h 1 36 2.0842127e+00 6.39e-05 3.02e-03 -4.0 2.59e+01 -6.6 1.00e+00 1.00e+00h 1 37 2.0833388e+00 3.84e-04 1.45e-02 -4.0 6.29e+01 -7.0 1.00e+00 1.00e+00h 1 38 2.0823500e+00 1.45e-03 3.92e-02 -4.0 1.24e+02 -7.5 1.00e+00 1.00e+00h 1 39 2.0815616e+00 1.85e-03 4.20e-02 -4.1 1.83e+02 -8.0 5.93e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0863778e+00 2.14e-03 7.01e-01 -4.0 1.22e+02 -6.7 1.00e+00 6.47e-01H 1 41 2.0829720e+00 1.02e-03 5.05e+00 -3.8 1.63e+01 -5.3 2.39e-01 1.00e+00h 1 42 2.0820681e+00 2.01e-03 4.88e+00 -3.8 2.69e+02 -5.8 4.72e-02 4.99e-02h 3 43 2.0821043e+00 8.27e-04 1.81e+00 -3.9 5.76e+00 -6.3 1.00e+00 6.91e-01h 1 44 2.0818584e+00 3.11e-04 7.67e-03 -4.0 5.56e+00 -6.8 1.00e+00 1.00e+00h 1 45 2.0818219e+00 1.18e-05 4.38e-04 -4.0 9.11e+00 -7.3 1.00e+00 1.00e+00h 1 46 2.0818254e+00 2.63e-05 5.13e-04 -4.0 1.43e+01 -7.7 1.00e+00 1.00e+00h 1 47 2.0818358e+00 2.39e-05 4.66e-04 -4.0 1.57e+01 -8.2 1.00e+00 1.00e+00h 1 48 2.0818419e+00 6.32e-06 1.40e-04 -4.0 9.68e+00 -8.7 1.00e+00 1.00e+00h 1 49 2.0818433e+00 3.79e-07 1.19e-05 -4.0 2.80e+00 -9.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818434e+00 3.79e-09 1.75e-07 -4.0 4.02e-01 -9.6 1.00e+00 1.00e+00h 1 51 2.0818434e+00 9.44e-12 1.00e-09 -4.0 2.12e-02 -10.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 51 (scaled) (unscaled) Objective...............: 2.0818434104880099e+00 2.0818434104880099e+00 Dual infeasibility......: 1.0000000807210445e-09 1.0000000807210445e-09 Constraint violation....: 9.4426688690418814e-12 9.4426688690418814e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000003e-04 1.0000000000000003e-04 Overall NLP error.......: 1.0000000807210445e-09 1.0000000807210445e-09 Number of objective function evaluations = 65 Number of objective gradient evaluations = 52 Number of equality constraint evaluations = 65 Number of inequality constraint evaluations = 65 Number of equality constraint Jacobian evaluations = 52 Number of inequality constraint Jacobian evaluations = 52 Number of Lagrangian Hessian evaluations = 51 Total seconds in IPOPT = 66.998 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.056s integrator 2 jacobian structure: 0.05s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 6.208s jacobian structure: 1680 nonzeros (6.314s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.048s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 8.213s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.309s sub-objective 2 (QuadraticRegularizer): 0.08s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.014s sub-objective 5 (GlobalObjective): 0.69s objective hessian structure: 1.185s hessian structure: 1964 nonzeros (9.499s) linear index maps built (0.0s) evaluator ready (total: 15.814s) evaluator created (15.837s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.118s) 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 (4.694s) optimizer initialization complete (total: 20.65s) 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 1.3454903e+01 2.99e+00 3.45e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.9609044e+00 5.63e-01 4.77e+00 -0.8 1.97e+00 0.0 7.18e-01 8.16e-01f 1 2 2.9472473e+00 1.94e-01 8.03e+00 -1.2 7.66e-01 -0.5 3.35e-01 6.51e-01f 1 3 2.7216672e+00 9.69e-02 6.85e+00 -0.7 9.71e-01 -1.0 1.00e+00 7.22e-01f 1 4 2.6623509e+00 4.46e-02 3.33e+00 -0.9 4.36e-01 -0.5 9.91e-01 5.30e-01f 1 5 2.5045764e+00 2.65e-02 4.06e+00 -1.1 3.14e-01 -0.1 1.00e+00 4.05e-01h 1 6 2.4168381e+00 2.13e-03 6.48e-01 -1.4 1.09e-01 -0.6 9.95e-01 1.00e+00f 1 7 2.1869805e+00 7.16e-03 2.84e-02 -2.2 1.24e-01 -1.1 9.97e-01 8.98e-01f 1 8 2.0953579e+00 4.89e-04 8.43e-03 -3.6 3.21e-02 -1.5 9.30e-01 9.71e-01h 1 9 2.0909597e+00 9.10e-06 8.81e-04 -4.0 8.56e-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 2.0909478e+00 1.59e-08 7.69e-05 -4.0 2.36e-02 -2.5 1.00e+00 1.00e+00h 1 11 2.0909425e+00 5.44e-10 2.54e-05 -4.0 2.35e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0909332e+00 2.39e-09 2.50e-05 -4.0 6.91e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0909088e+00 1.90e-08 4.41e-05 -4.0 1.97e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0908562e+00 1.22e-07 2.06e-04 -4.0 4.93e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0907688e+00 4.56e-07 1.18e-03 -4.0 1.11e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0905441e+00 4.02e-06 1.21e-03 -4.0 3.45e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0898703e+00 3.37e-05 1.02e-03 -4.0 9.92e+00 -5.8 1.00e+00 1.00e+00h 1 18 2.0896170e+00 3.14e-05 4.36e-02 -4.0 5.82e+01 -6.3 2.95e-01 4.33e-02h 1 19 2.0855295e+00 1.48e-03 8.67e-02 -4.0 6.73e+01 -6.8 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0843970e+00 6.33e-04 2.75e-02 -4.0 4.86e+00 -5.5 1.00e+00 5.83e-01h 1 21 2.0842298e+00 3.96e-05 4.53e-03 -4.0 6.85e+00 -5.9 1.00e+00 1.00e+00h 1 22 2.0832279e+00 3.05e-05 4.82e-03 -4.0 1.43e+01 -6.4 1.00e+00 1.00e+00h 1 23 2.0827389e+00 1.00e-04 7.36e-03 -4.0 2.51e+01 -6.9 1.00e+00 1.00e+00h 1 24 2.0826183e+00 6.29e-05 3.34e-03 -4.0 6.37e+01 -7.4 1.00e+00 1.00e+00h 1 25 2.0822016e+00 6.57e-04 5.62e-03 -4.0 1.49e+02 -7.8 8.59e-01 1.00e+00h 1 26 2.0841075e+00 1.71e-05 4.83e-02 -4.0 4.98e+01 -6.5 1.00e+00 1.00e+00H 1 27 2.0829251e+00 1.58e-07 2.71e-03 -4.0 5.56e-02 -1.6 1.00e+00 1.00e+00h 1 28 2.0826737e+00 1.47e-07 5.77e-04 -4.0 2.36e-02 -2.0 1.00e+00 1.00e+00h 1 29 2.0826401e+00 6.82e-09 3.23e-05 -4.0 7.86e-03 -2.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0826355e+00 1.85e-09 3.22e-05 -4.0 7.57e-03 -3.0 1.00e+00 1.00e+00h 1 31 2.0826340e+00 2.82e-10 3.23e-05 -4.0 2.27e-02 -3.5 1.00e+00 1.00e+00h 1 32 2.0826298e+00 2.55e-09 3.23e-05 -4.0 6.79e-02 -4.0 1.00e+00 1.00e+00h 1 33 2.0826173e+00 2.26e-08 3.23e-05 -4.0 2.02e-01 -4.4 1.00e+00 1.00e+00h 1 34 2.0825808e+00 1.92e-07 3.25e-05 -4.0 5.95e-01 -4.9 1.00e+00 1.00e+00h 1 35 2.0824800e+00 1.71e-06 1.47e-04 -4.0 1.72e+00 -5.4 1.00e+00 1.00e+00h 1 36 2.0822376e+00 2.35e-05 7.94e-04 -4.0 5.05e+00 -5.9 1.00e+00 1.00e+00h 1 37 2.0977444e+00 4.37e-06 3.00e-01 -4.0 3.35e+01 -6.3 2.07e-01 1.00e+00H 1 38 2.0843616e+00 2.01e-07 5.07e-02 -4.1 1.63e-01 -0.5 1.00e+00 9.69e-01f 1 39 2.0818694e+00 6.15e-08 1.01e-02 -4.0 8.14e-02 -1.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0817342e+00 1.62e-07 7.74e-04 -4.0 1.34e-02 -1.4 1.00e+00 1.00e+00h 1 41 2.0817616e+00 1.10e-07 1.57e-04 -4.0 1.27e-02 -1.9 1.00e+00 1.00e+00h 1 42 2.0816953e+00 4.79e-08 9.49e-05 -4.1 4.02e-03 -2.4 1.00e+00 1.00e+00h 1 43 2.0817745e+00 2.68e-07 9.75e-05 -4.0 2.07e-02 -2.9 1.00e+00 1.00e+00h 1 44 2.0817020e+00 4.35e-07 1.39e-04 -4.1 3.51e-02 -3.4 1.00e+00 1.00e+00h 1 45 2.0813264e+00 9.39e-06 2.24e-01 -6.1 1.54e-01 -3.8 6.19e-01 1.00e+00h 1 46 2.0820109e+00 2.69e-05 2.95e-03 -4.0 2.69e-01 -4.3 1.00e+00 1.00e+00h 1 47 2.0817739e+00 2.15e-05 3.18e-04 -4.1 6.20e-01 -4.8 1.00e+00 1.00e+00h 1 48 2.0811912e+00 1.28e-04 4.77e-03 -6.1 1.65e+00 -5.3 9.93e-01 1.00e+00h 1 49 2.0810525e+00 5.96e-05 1.63e-02 -5.2 3.29e+00 -5.7 1.00e+00 6.01e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0824795e+00 2.35e-03 1.21e-01 -4.0 1.96e+01 -6.2 4.44e-01 1.00e+00f 1 51 2.0816943e+00 6.76e-04 9.72e-03 -4.3 1.17e+01 -6.7 1.00e+00 1.00e+00h 1 52 2.0834958e+00 5.52e-04 1.42e-01 -4.3 1.77e+03 -7.2 9.15e-03 3.37e-02h 4 53 2.0819961e+00 2.46e-04 1.30e+00 -4.3 1.03e+00 -4.0 2.05e-01 5.48e-01h 1 54 2.0817527e+00 2.45e-04 1.29e+00 -4.3 3.44e+01 -4.5 4.70e-04 3.55e-03f 1 55 2.0817897e+00 2.45e-04 1.30e+00 -4.3 2.87e+02 -5.0 6.23e-06 1.15e-04f 2 56 2.0817699e+00 2.41e-04 2.14e+00 -4.3 1.09e+00 -2.8 8.27e-01 1.80e-02h 1 57 2.0819216e+00 4.63e-07 5.58e-04 -4.3 1.38e-02 -3.2 1.00e+00 1.00e+00f 1 58 2.0823488e+00 1.37e-06 3.89e-04 -4.0 2.52e-02 -3.7 1.00e+00 1.00e+00h 1 59 2.0821591e+00 2.05e-06 4.91e-05 -4.1 8.25e-02 -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 60 2.0815322e+00 5.65e-05 3.52e-02 -6.1 6.05e-01 -4.7 8.02e-01 1.00e+00h 1 61 2.0813525e+00 2.08e-05 3.70e-04 -6.1 1.53e+00 -5.1 1.00e+00 1.00e+00h 1 62 2.0811247e+00 2.73e-07 2.97e-04 -6.1 4.39e+00 -5.6 1.00e+00 1.00e+00h 1 63 2.0811012e+00 1.84e-07 5.59e-02 -5.4 8.40e+00 -6.1 9.86e-01 5.94e-02h 1 64 2.0814776e+00 6.31e-04 2.54e+00 -4.0 2.50e+02 -6.6 1.00e+00 1.46e-01f 3 65 2.0826361e+00 4.34e-03 4.28e-01 -3.7 1.97e+01 -7.1 8.55e-01 1.00e+00h 1 66 2.0835308e+00 3.99e-03 1.66e-01 -3.7 1.17e+02 -7.5 6.07e-01 1.00e+00h 1 67 2.0834560e+00 1.19e-03 1.07e-02 -3.7 3.92e+01 -8.0 1.00e+00 1.00e+00h 1 68 2.0833703e+00 1.38e-04 1.60e-03 -3.7 4.80e+01 -8.5 1.00e+00 1.00e+00h 1 69 2.0806762e+00 2.00e-02 1.48e-03 -5.5 8.50e+01 -9.0 9.51e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0818604e+00 2.01e-03 5.35e-04 -4.0 1.90e+01 -9.4 1.00e+00 1.00e+00h 1 71 2.0815873e+00 2.66e-04 4.29e-05 -4.1 1.15e+01 -9.9 1.00e+00 1.00e+00h 1 72 2.0805945e+00 3.33e-03 1.41e-04 -6.1 4.05e+01 -10.4 9.77e-01 9.66e-01h 1 73 2.0808318e+00 2.93e-03 1.48e-02 -4.0 6.09e+01 -10.9 1.00e+00 1.89e-01f 1 74 2.0818357e+00 3.00e-03 1.46e-04 -4.0 3.50e+01 -11.3 1.00e+00 1.00e+00h 1 75 2.0815804e+00 1.76e-04 2.97e-05 -4.1 8.00e+00 -11.8 1.00e+00 1.00e+00h 1 76 2.0805891e+00 3.31e-03 1.40e-04 -6.1 4.03e+01 -12.3 9.77e-01 9.71e-01h 1 77 2.0818913e+00 6.67e-03 3.01e-04 -4.0 6.20e+01 -12.8 1.00e+00 1.00e+00f 1 78 2.0816136e+00 5.12e-04 3.04e-05 -4.1 2.15e+01 -13.3 1.00e+00 1.00e+00h 1 79 2.0806019e+00 3.48e-03 1.94e-04 -6.1 4.20e+01 -13.7 9.76e-01 9.61e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805508e+00 9.15e-05 2.24e-06 -6.1 1.71e+01 -14.2 1.00e+00 1.00e+00h 1 81 2.0819802e+00 1.03e-02 3.96e-04 -4.0 8.48e+01 -14.7 1.00e+00 1.00e+00f 1 82 2.0816777e+00 9.64e-04 4.93e-05 -4.1 4.56e+01 -15.2 1.00e+00 1.00e+00h 1 83 2.0816419e+00 4.53e-07 3.13e-05 -4.1 8.52e+00 -15.6 1.00e+00 1.00e+00h 1 84 2.0805932e+00 3.64e-03 1.54e-04 -6.1 4.19e+01 -16.1 9.76e-01 9.71e-01h 1 85 2.0805508e+00 7.31e-05 1.94e-06 -6.1 1.62e+01 -16.6 1.00e+00 1.00e+00h 1 86 2.0819836e+00 1.04e-02 3.98e-04 -4.0 8.53e+01 -17.1 1.00e+00 1.00e+00f 1 87 2.0816801e+00 9.75e-04 5.08e-05 -4.1 4.63e+01 -17.6 1.00e+00 1.00e+00h 1 88 2.0816431e+00 4.96e-07 3.14e-05 -4.1 8.74e+00 -18.0 1.00e+00 1.00e+00h 1 89 2.0805932e+00 3.65e-03 1.55e-04 -6.1 4.19e+01 -18.5 9.76e-01 9.71e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805509e+00 7.33e-05 1.95e-06 -6.1 1.62e+01 -19.0 1.00e+00 1.00e+00h 1 91 2.0805467e+00 5.04e-08 3.13e-07 -6.1 2.92e+00 -19.5 1.00e+00 1.00e+00h 1 92 2.0820227e+00 1.22e-02 4.21e-04 -4.0 9.85e+01 -19.9 1.00e+00 1.00e+00f 1 93 2.0817083e+00 1.09e-03 6.84e-05 -4.1 5.45e+01 -20.0 1.00e+00 1.00e+00h 1 94 2.0816573e+00 1.18e-06 3.17e-05 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 95 2.0805943e+00 3.73e-03 1.58e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.71e-01h 1 96 2.0805512e+00 7.57e-05 2.02e-06 -6.1 1.64e+01 -20.0 1.00e+00 1.00e+00h 1 97 2.0805469e+00 5.37e-08 3.18e-07 -6.1 3.01e+00 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 9.26e-07 7.80e-07 -9.0 9.40e-01 -20.0 1.00e+00 9.97e-01h 1 99 2.0820402e+00 1.30e-02 4.35e-04 -4.0 1.04e+02 -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 100 2.0817219e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0817218866872453e+00 2.0817218866872453e+00 Dual infeasibility......: 7.7307970545255610e-05 7.7307970545255610e-05 Constraint violation....: 1.1323908718226527e-03 1.1323908718226527e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.1568166033440092e-04 1.1568166033440092e-04 Overall NLP error.......: 1.1323908718226527e-03 1.1323908718226527e-03 Number of objective function evaluations = 114 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 114 Number of inequality constraint evaluations = 114 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 48.733 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: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) jacobian structure: 4.388s jacobian structure: 1594 nonzeros (4.449s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) hessian structure: 15.722s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s sub-objective 5 (GlobalObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1804 nonzeros (15.772s) linear index maps built (0.0s) evaluator ready (total: 20.221s) evaluator created (20.244s) 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: 20.244s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 10 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 1 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 7.6030081e+01 3.05e+00 2.76e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.8972607e+01 2.38e+00 2.17e+01 -0.3 1.51e+01 -2.0 3.94e-01 2.06e-01f 1 2 3.0137773e+00 3.33e-01 3.60e+00 -0.7 3.68e+00 -2.5 1.00e+00 1.00e+00f 1 3 2.8024948e+00 7.60e-01 7.05e-01 -0.9 7.59e+00 -3.0 1.00e+00 8.22e-01h 1 4 2.3787842e+00 2.52e-01 7.18e-01 -1.6 5.01e+00 -3.4 9.85e-01 1.00e+00h 1 5 2.1505641e+00 1.54e-01 7.96e-02 -2.1 3.72e+00 -3.9 1.00e+00 9.94e-01h 1 6 2.1035537e+00 1.39e-02 2.37e-02 -2.9 2.18e+00 -4.4 9.58e-01 1.00e+00h 1 7 2.0905794e+00 2.67e-03 1.25e-03 -4.0 1.42e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0906071e+00 1.67e-05 5.88e-04 -4.0 4.58e-01 -4.4 1.00e+00 1.00e+00h 1 9 2.0905212e+00 5.75e-07 4.20e-04 -4.0 1.23e+00 -4.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0902648e+00 1.52e-06 1.91e-02 -4.0 6.00e+00 -5.4 1.00e+00 3.69e-01H 1 11 2.0892986e+00 6.46e-05 9.72e-03 -4.0 1.33e+01 -5.9 1.00e+00 1.00e+00f 1 12 2.0887386e+00 3.96e-05 1.76e-02 -4.0 6.97e+00 -5.4 1.00e+00 5.22e-01h 1 13 2.0878968e+00 6.15e-05 8.66e-03 -4.0 1.30e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0866183e+00 1.12e-04 8.07e-02 -4.0 3.81e+01 -6.4 1.00e+00 3.53e-01h 1 15 2.0834166e+00 1.17e-03 5.61e-02 -4.0 5.65e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0825746e+00 2.95e-04 1.44e-02 -4.0 7.07e+01 -7.4 1.00e+00 7.13e-01h 1 17 2.0823310e+00 7.30e-04 1.52e-02 -4.0 1.56e+02 -7.8 8.73e-01 1.00e+00h 1 18 2.0825766e+00 6.38e-04 1.42e-02 -4.0 2.47e+01 -6.5 1.00e+00 1.00e+00h 1 19 2.0823631e+00 2.80e-04 2.84e-02 -4.0 4.55e+01 -7.0 7.14e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0822554e+00 3.42e-05 1.98e-01 -4.0 6.58e+01 -5.6 2.99e-02 6.25e-02h 2 21 2.0821894e+00 3.47e-05 6.31e-01 -4.0 8.89e-01 -3.4 1.84e-01 3.54e-01H 1 22 2.0822724e+00 1.75e-06 1.95e-03 -4.0 2.50e-01 -3.9 1.00e+00 1.00e+00h 1 23 2.0822363e+00 1.80e-05 9.14e-04 -4.0 1.87e-01 -4.4 1.00e+00 1.00e+00h 1 24 2.0822437e+00 6.60e-07 3.03e-04 -4.0 3.32e-01 -4.8 1.00e+00 1.00e+00h 1 25 2.0822449e+00 6.78e-06 3.03e-04 -4.0 6.64e-01 -5.3 1.00e+00 1.00e+00h 1 26 2.0820700e+00 4.55e-05 2.42e-04 -4.1 1.96e+00 -5.8 1.00e+00 1.00e+00h 1 27 2.0822053e+00 4.32e-05 6.87e-04 -4.0 2.61e+00 -6.3 1.00e+00 1.00e+00h 1 28 2.0819556e+00 2.21e-04 4.56e-04 -4.1 9.70e+00 -6.8 1.00e+00 1.00e+00h 1 29 2.0820981e+00 3.38e-04 2.17e-03 -4.0 1.65e+01 -7.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0817400e+00 1.01e-03 2.21e-03 -4.1 4.06e+01 -7.7 1.00e+00 1.00e+00h 1 31 2.0818819e+00 1.34e-03 5.65e-03 -4.0 5.67e+01 -8.2 1.00e+00 1.00e+00h 1 32 2.0815860e+00 1.22e-03 2.72e-03 -4.1 5.50e+01 -8.7 1.00e+00 1.00e+00h 1 33 2.0818400e+00 5.80e-04 3.86e-04 -4.0 2.47e+01 -9.1 1.00e+00 1.00e+00h 1 34 2.0818383e+00 9.48e-07 3.03e-04 -4.0 4.03e+00 -9.6 1.00e+00 1.00e+00h 1 35 2.0818383e+00 1.01e-09 3.03e-04 -4.0 2.72e-01 -10.1 1.00e+00 1.00e+00h 1 36 2.0818383e+00 4.68e-13 3.03e-04 -4.0 6.42e-03 -10.6 1.00e+00 1.00e+00h 1 37 2.0815798e+00 2.05e-04 2.42e-04 -4.1 9.34e+00 -11.0 1.00e+00 1.00e+00h 1 38 2.0818395e+00 2.12e-04 3.03e-04 -4.0 9.66e+00 -11.5 1.00e+00 1.00e+00h 1 39 2.0815804e+00 2.11e-04 2.43e-04 -4.1 9.62e+00 -12.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -12.5 9.78e-01 9.71e-01h 1 41 2.0818882e+00 6.56e-03 3.03e-04 -4.0 6.10e+01 -13.0 1.00e+00 1.00e+00f 1 42 2.0816136e+00 4.88e-04 2.49e-04 -4.1 2.07e+01 -13.4 1.00e+00 1.00e+00h 1 43 2.0805989e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -13.9 9.76e-01 9.65e-01h 1 44 2.0805508e+00 8.46e-05 2.25e-06 -6.1 1.69e+01 -14.4 1.00e+00 1.00e+00h 1 45 2.0819794e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -14.9 1.00e+00 1.00e+00f 1 46 2.0816837e+00 9.34e-04 2.58e-04 -4.1 4.57e+01 -15.3 1.00e+00 1.00e+00h 1 47 2.0816477e+00 4.73e-07 2.58e-04 -4.1 8.52e+00 -15.8 1.00e+00 1.00e+00h 1 48 2.0818389e+00 1.15e-04 3.03e-04 -4.0 7.07e+00 -16.3 1.00e+00 1.00e+00h 1 49 2.0815801e+00 2.08e-04 2.42e-04 -4.1 9.50e+00 -16.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0805898e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -17.3 9.78e-01 9.71e-01h 1 51 2.0805497e+00 6.51e-05 2.17e-06 -6.1 1.55e+01 -17.7 1.00e+00 1.00e+00h 1 52 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -18.2 1.00e+00 1.00e+00f 1 53 2.0816887e+00 9.54e-04 2.59e-04 -4.1 4.72e+01 -18.7 1.00e+00 1.00e+00h 1 54 2.0816504e+00 5.63e-07 2.59e-04 -4.1 8.93e+00 -19.2 1.00e+00 1.00e+00h 1 55 2.0805906e+00 3.68e-03 1.60e-04 -6.1 4.16e+01 -19.6 9.77e-01 9.75e-01h 1 56 2.0805511e+00 6.76e-05 2.39e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 57 2.0805469e+00 4.72e-08 2.39e-06 -6.1 2.95e+00 -20.0 1.00e+00 1.00e+00h 1 58 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.89e+01 -20.0 1.00e+00 1.00e+00f 1 59 2.0817159e+00 1.04e-03 2.62e-04 -4.1 5.46e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0816648e+00 1.22e-06 2.62e-04 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 61 2.0805915e+00 3.76e-03 1.66e-04 -6.1 4.20e+01 -20.0 9.76e-01 9.75e-01h 1 62 2.0805514e+00 6.96e-05 2.44e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 63 2.0805471e+00 4.99e-08 2.44e-06 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 64 2.0805365e+00 9.55e-07 8.02e-07 -9.0 9.57e-01 -20.0 1.00e+00 9.97e-01h 1 65 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 66 2.0817306e+00 1.08e-03 2.64e-04 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0816723e+00 1.67e-06 2.64e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 68 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 69 2.0805516e+00 7.07e-05 2.46e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0805472e+00 5.15e-08 2.46e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 71 2.0805365e+00 9.76e-07 8.28e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 72 2.0805365e+00 9.27e-11 2.75e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 73 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 74 2.0817309e+00 1.08e-03 2.64e-04 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 75 2.0816725e+00 1.68e-06 2.64e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 76 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 77 2.0805516e+00 7.08e-05 2.46e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 78 2.0805472e+00 5.16e-08 2.46e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 79 2.0805365e+00 9.76e-07 8.29e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805365e+00 9.28e-11 2.75e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 81 2.0805365e+00 4.44e-16 2.75e-09 -9.0 1.10e-05 -20.0 1.00e+00 1.00e+00h 1 82 2.0805365e+00 8.88e-16 2.75e-09 -9.0 1.38e-10 -20.0 1.00e+00 1.00e+00h 1 83 2.0805365e+00 4.44e-16 2.75e-09 -9.0 1.38e-10 -20.0 1.00e+00 1.00e+00h 1 84 2.0805365e+00 4.44e-16 2.75e-09 -9.0 1.38e-10 -20.0 1.00e+00 1.00e+00h 1 85 2.0805365e+00 2.22e-16 2.75e-09 -9.0 1.38e-10 -20.0 1.00e+00 1.00e+00h 1 86 2.0805365e+00 4.44e-16 2.75e-09 -9.0 1.38e-10 -20.0 1.00e+00 1.00e+00h 1 87 2.0805365e+00 2.22e-16 2.75e-09 -9.0 1.38e-10 -20.0 1.00e+00 1.00e+00h 1 88 2.0805365e+00 4.44e-16 2.75e-09 -9.0 1.38e-10 -20.0 1.00e+00 1.00e+00h 1 89 2.0805365e+00 2.22e-16 2.75e-09 -9.0 1.38e-10 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805365e+00 4.44e-16 2.75e-09 -9.0 1.38e-10 -20.0 1.00e+00 1.00e+00h 1 91 2.0805365e+00 2.22e-16 2.75e-09 -9.0 1.38e-10 -20.0 1.00e+00 1.00e+00h 1 92 2.0805365e+00 4.44e-16 2.75e-09 -9.0 1.38e-10 -20.0 1.00e+00 1.00e+00h 1 93 2.0805365e+00 2.22e-16 2.75e-09 -9.0 1.38e-10 -20.0 1.00e+00 1.00e+00h 1 94 2.0805365e+00 4.44e-16 2.75e-09 -9.0 1.38e-10 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 2.22e-16 2.75e-09 -9.0 1.38e-10 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 4.44e-16 2.75e-09 -9.0 1.38e-10 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 2.22e-16 2.75e-09 -9.0 1.38e-10 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 4.44e-16 2.75e-09 -9.0 1.38e-10 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 2.22e-16 2.75e-09 -9.0 1.38e-10 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805365e+00 4.44e-16 2.75e-09 -9.0 1.38e-10 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595436466e+00 2.0805364595436466e+00 Dual infeasibility......: 2.7547649712816507e-09 2.7547649712816507e-09 Constraint violation....: 4.4408920985006262e-16 4.4408920985006262e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090971179366e-10 9.0909090971179366e-10 Overall NLP error.......: 9.9999090909091550e-05 9.9999090909091550e-05 Number of objective function evaluations = 106 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 106 Number of inequality constraint evaluations = 106 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 34.037 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: 0.065s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.065s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.051s) linear index maps built (0.0s) evaluator ready (total: 0.116s) evaluator created (0.128s) 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 1.3540295e+00 2.96e+00 4.32e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7273207e+00 6.31e-02 2.01e+00 -0.9 1.95e+00 0.0 1.00e+00 1.00e+00h 1 2 2.6908499e+00 6.38e-02 1.46e+00 -1.0 1.69e+00 -0.5 6.13e-01 2.92e-01h 1 3 2.3401599e+00 1.06e-02 8.61e-01 -1.3 2.19e-01 -0.1 9.60e-01 1.00e+00f 1 4 2.2170306e+00 2.60e-03 2.29e-01 -2.2 1.20e-01 -0.5 1.00e+00 7.72e-01h 1 5 2.0970847e+00 1.40e-03 4.13e-02 -3.5 6.95e-02 -1.0 9.97e-01 9.36e-01h 1 6 2.0911502e+00 2.94e-05 3.62e-02 -4.0 2.75e-02 -1.5 1.00e+00 1.00e+00h 1 7 2.0908430e+00 1.39e-07 3.66e-04 -4.0 7.88e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908531e+00 1.29e-08 4.46e-05 -4.0 1.22e-02 -2.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 8 (scaled) (unscaled) Objective...............: 2.0908531278117146e+00 2.0908531278117146e+00 Dual infeasibility......: 4.4592673106825685e-05 4.4592673106825685e-05 Constraint violation....: 1.2924647170651365e-08 1.2924647170651365e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000127713738686e-04 1.0000127713738686e-04 Overall NLP error.......: 4.4592673106825685e-05 4.4592673106825685e-05 Number of objective function evaluations = 9 Number of objective gradient evaluations = 9 Number of equality constraint evaluations = 9 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 9 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 8 Total seconds in IPOPT = 24.978 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.059s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.051s) linear index maps built (0.0s) evaluator ready (total: 0.111s) evaluator created (0.111s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.001s) optimizer initialization complete (total: 0.113s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.7244955e+00 4.44e+00 4.41e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.2804437e+00 1.90e+00 1.58e+00 -0.9 2.77e+00 0.0 9.19e-01 5.73e-01h 1 2 2.5673469e+00 3.14e-02 1.10e+00 -1.2 1.22e+00 -0.5 9.71e-01 1.00e+00h 1 3 2.3595593e+00 2.88e-02 2.62e-01 -1.5 3.52e-01 -1.0 9.83e-01 7.26e-01h 1 4 2.1619535e+00 4.59e-03 4.39e-02 -2.4 1.17e-01 -1.4 9.95e-01 8.67e-01h 1 5 2.0968696e+00 5.53e-04 1.00e-02 -3.4 4.39e-02 -1.9 9.88e-01 9.61e-01h 1 6 2.0909356e+00 1.85e-05 3.96e-03 -4.0 1.73e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0909129e+00 3.33e-08 2.92e-05 -4.0 2.05e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909086e+00 1.04e-09 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908953e+00 6.87e-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 2.0908554e+00 6.19e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907360e+00 5.58e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903784e+00 5.05e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0893128e+00 4.61e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861805e+00 4.32e-04 1.81e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796269e+00 2.52e-03 8.61e-02 -4.0 8.73e+01 -6.7 1.00e+00 7.59e-01h 1 16 2.0812487e+00 1.31e-04 1.83e-01 -4.0 6.96e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778296e+00 5.42e-03 2.48e-02 -4.0 1.13e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781859e+00 1.71e-02 4.12e-02 -3.7 1.60e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0768005e+00 1.13e-02 2.12e-02 -3.8 3.03e+02 -8.6 1.00e+00 9.62e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0760709e+00 6.81e-03 2.39e-02 -3.9 4.38e+02 -9.1 1.00e+00 9.86e-01f 1 21 2.0757479e+00 9.46e-03 1.03e-02 -4.0 1.39e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756795e+00 4.89e-04 4.05e-04 -4.0 5.83e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 4.70e-06 8.02e-06 -4.0 2.31e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 5.72e-08 1.48e-06 -4.0 1.50e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.45e-09 1.48e-07 -4.0 5.16e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.54e-11 2.96e-09 -4.0 9.06e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122071224e+00 2.0756712122071224e+00 Dual infeasibility......: 2.9644033992934013e-09 2.9644033992934013e-09 Constraint violation....: 7.5434214430458724e-11 7.5434214430458724e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000025e-04 1.0000000000000025e-04 Overall NLP error.......: 2.9644033992934013e-09 2.9644033992934013e-09 Number of objective function evaluations = 28 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 26 Total seconds in IPOPT = 26.723 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: 0.046s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.048s) linear index maps built (0.0s) evaluator ready (total: 0.104s) evaluator created (0.104s) 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: 0.105s) 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 1.8665254e+00 2.02e+00 2.98e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8712063e+00 9.23e-01 1.55e+00 -0.8 1.60e+00 0.0 9.71e-01 5.45e-01h 1 2 2.4346143e+00 4.80e-02 1.59e+00 -1.1 9.31e-01 -0.5 9.37e-01 1.00e+00h 1 3 2.5056096e+00 7.64e-03 8.95e-01 -1.3 2.37e-01 -1.0 9.65e-01 1.00e+00h 1 4 2.4456393e+00 8.42e-03 3.53e-01 -1.4 4.98e-01 -1.4 9.39e-01 1.31e-01h 2 5 2.2685097e+00 3.00e-02 1.89e-01 -2.3 9.26e-01 -1.9 9.92e-01 6.12e-01h 1 6 2.1051542e+00 4.55e-03 1.73e-02 -2.9 2.05e-01 -2.4 9.98e-01 9.80e-01h 1 7 2.0907540e+00 5.53e-05 5.00e-03 -3.9 2.92e-02 -2.9 9.84e-01 1.00e+00h 1 8 2.0907709e+00 1.54e-06 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0907574e+00 5.95e-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 2.0907175e+00 6.23e-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...............: 2.0907175494548733e+00 2.0907175494548733e+00 Dual infeasibility......: 2.0561532645628266e-05 2.0561532645628266e-05 Constraint violation....: 6.2326279894053815e-08 6.2326279894053815e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999994706e-05 9.9999999999994706e-05 Overall NLP error.......: 2.0561532645628266e-05 2.0561532645628266e-05 Number of objective function evaluations = 14 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 14 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 24.643 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.059s) integrator 1 hessian structure: 0.045s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.046s) linear index maps built (0.0s) evaluator ready (total: 0.106s) evaluator created (0.106s) 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: 0.106s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 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 4.5092826e+00 4.04e+00 3.27e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5228669e+00 6.98e-01 2.90e+00 -0.6 2.44e+00 - 1.00e+00 8.26e-01f 1 2 3.0411668e+00 3.19e-02 3.14e+00 -0.5 7.05e-01 - 7.99e-01 1.00e+00f 1 3 2.7854758e+00 5.33e-03 1.20e-01 -1.2 1.43e-01 - 9.97e-01 1.00e+00h 1 4 2.3220242e+00 6.29e-03 1.93e-01 -2.2 1.85e-01 - 9.84e-01 9.82e-01f 1 5 2.1250769e+00 1.22e-02 1.12e-01 -2.8 4.68e-01 - 9.99e-01 7.67e-01h 1 6 2.0912020e+00 7.98e-04 2.26e-02 -4.0 9.00e-02 - 1.00e+00 9.60e-01h 1 7 2.0908118e+00 8.21e-07 2.32e-03 -4.0 5.05e-03 - 1.00e+00 1.00e+00h 1 8 2.0908099e+00 1.21e-11 2.06e-05 -4.0 2.06e-05 - 1.00e+00 1.00e+00h 1 9 2.0907974e+00 3.62e-09 8.11e-04 -4.0 1.24e-01 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0907852e+00 5.82e-09 8.11e-04 -4.0 1.24e-01 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0907852309306461e+00 2.0907852309306461e+00 Dual infeasibility......: 8.1118986796301258e-04 8.1118986796301258e-04 Constraint violation....: 5.8224196609890644e-09 5.8224196609890644e-09 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999999517e-05 9.9999999999999517e-05 Overall NLP error.......: 8.1118986796301258e-04 8.1118986796301258e-04 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 0 Total seconds in IPOPT = 8.223 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.06s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s 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.............: 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 4.6237386e+00 3.35e+00 6.28e-01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5770978e+00 8.61e-02 3.79e+00 -1.0 1.83e+00 0.0 1.97e-01 9.84e-01f 1 2 2.5798072e+00 8.90e-03 1.39e+00 -1.0 1.62e-01 0.4 1.00e+00 1.00e+00f 1 3 2.6963451e+00 1.36e-03 1.31e-01 -1.0 6.82e-02 -0.1 1.00e+00 1.00e+00h 1 4 2.3549428e+00 1.33e-02 5.95e-02 -2.5 1.80e-01 -0.5 8.02e-01 8.22e-01f 1 5 2.1286137e+00 2.17e-03 4.35e-02 -2.5 7.69e-02 -1.0 9.32e-01 1.00e+00h 1 6 2.1142662e+00 2.57e-05 3.69e-03 -2.5 1.20e-02 -1.5 1.00e+00 1.00e+00h 1 7 2.0915845e+00 1.15e-05 2.95e-04 -3.8 6.25e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909511e+00 3.96e-07 2.06e-05 -4.0 5.63e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909495e+00 4.49e-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 2.0909445e+00 9.63e-10 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0909444958925163e+00 2.0909444958925163e+00 Dual infeasibility......: 2.0590606100783621e-05 2.0590606100783621e-05 Constraint violation....: 9.6349756992242241e-10 9.6349756992242241e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999999923e-05 9.9999999999999923e-05 Overall NLP error.......: 2.0590606100783621e-05 2.0590606100783621e-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 = 26.201 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.059s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.11s) evaluator created (0.11s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.11s) initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.055s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.396s jacobian structure: 1600 nonzeros (2.452s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.649s 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 (3.701s) linear index maps built (0.0s) evaluator ready (total: 6.154s) evaluator created (6.177s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 6.193s) 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 6.4640527e+00 2.06e+00 3.75e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 3.0324251e+00 5.02e-01 1.53e+00 -1.0 1.86e+00 0.0 9.15e-01 7.56e-01f 1 Hello, world! 2 2.4442773e+00 5.76e-02 2.85e+00 -1.1 5.63e-01 -0.5 1.00e+00 8.87e-01f 1 Hello, world! 3 2.3382487e+00 5.43e-03 1.60e-01 -1.5 1.94e-01 -1.0 9.93e-01 1.00e+00h 1 Hello, world! 4 2.1208049e+00 2.63e-03 4.95e-02 -2.6 9.84e-02 -1.4 9.93e-01 1.00e+00f 1 Hello, world! 5 2.0915703e+00 7.38e-05 2.92e-03 -3.9 1.25e-02 -1.9 9.87e-01 9.98e-01h 1 Hello, world! 6 2.0909861e+00 6.17e-07 1.70e-04 -4.0 3.16e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0909738e+00 1.33e-09 3.43e-05 -4.0 2.40e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0909661e+00 1.36e-09 2.90e-05 -4.0 5.38e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909471e+00 1.12e-08 1.71e-04 -4.0 1.59e-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 2.0908935e+00 9.09e-08 1.96e-04 -4.0 4.47e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0907988e+00 4.29e-07 6.82e-04 -4.0 1.01e+00 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0906158e+00 2.24e-06 2.52e-03 -4.0 2.71e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0900928e+00 2.27e-05 6.33e-04 -4.0 8.02e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0898311e+00 3.64e-06 1.67e-03 -4.0 3.07e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0895662e+00 5.76e-06 2.54e-02 -4.0 1.03e+01 -5.8 1.00e+00 2.77e-01h 2 Hello, world! 16 2.0878255e+00 1.52e-04 1.68e-02 -4.0 2.51e+01 -6.3 1.00e+00 8.30e-01h 1 Hello, world! 17 2.0848391e+00 9.70e-04 5.28e-02 -4.0 5.30e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0836144e+00 5.96e-04 4.11e-02 -4.0 2.37e+01 -6.3 1.00e+00 4.40e-01h 1 Hello, world! 19 2.0827844e+00 1.75e-04 1.69e-02 -4.0 2.02e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827666e+00 2.27e-04 9.67e-03 -4.0 5.24e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0823026e+00 5.94e-04 7.68e-03 -4.0 1.26e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0829779e+00 5.96e-06 1.14e-01 -4.0 1.19e+02 -7.3 3.75e-01 1.00e+00H 1 Hello, world! 23 2.0825171e+00 8.31e-05 1.32e-01 -4.0 2.00e+00 -5.1 1.00e+00 6.76e-01h 1 Hello, world! 24 2.0824072e+00 2.32e-04 4.54e-01 -4.0 2.79e+00 -5.6 1.00e+00 3.76e-01h 1 Hello, world! 25 2.0823091e+00 2.78e-04 2.44e-03 -4.0 5.20e+00 -6.0 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0821208e+00 5.94e-05 1.10e-03 -4.0 1.50e+01 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0820313e+00 2.85e-05 1.14e-02 -4.0 3.19e+02 -7.0 3.94e-02 5.00e-02h 4 Hello, world! 28 2.0820456e+00 4.92e-05 5.96e-01 -4.0 2.69e+00 -4.8 5.63e-01 2.52e-01h 2 Hello, world! 29 2.0819127e+00 2.78e-07 3.04e-04 -4.1 1.15e+00 -5.2 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 2.0821112e+00 6.40e-05 7.46e-04 -4.0 1.28e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0819351e+00 9.39e-05 8.93e-04 -4.1 2.51e+00 -6.2 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0818928e+00 4.41e-05 3.29e-04 -4.1 5.74e+00 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0820703e+00 2.57e-04 9.46e-04 -4.0 1.15e+01 -7.1 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0817450e+00 7.50e-04 6.72e-04 -4.1 3.21e+01 -7.6 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0818948e+00 1.16e-03 4.45e-03 -4.0 4.95e+01 -8.1 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0815933e+00 1.20e-03 2.75e-03 -4.1 5.43e+01 -8.6 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0818453e+00 6.77e-04 5.03e-04 -4.0 2.89e+01 -9.0 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0818435e+00 1.68e-06 2.27e-05 -4.0 5.75e+00 -9.5 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0818434e+00 3.10e-09 1.40e-07 -4.0 4.70e-01 -10.0 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818434e+00 2.15e-12 1.00e-09 -4.0 1.35e-02 -10.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 40 (scaled) (unscaled) Objective...............: 2.0818434105377914e+00 2.0818434105377914e+00 Dual infeasibility......: 1.0000000066429310e-09 1.0000000066429310e-09 Constraint violation....: 2.1485035972546029e-12 2.1485035972546029e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 1.0000000066429310e-09 1.0000000066429310e-09 Number of objective function evaluations = 54 Number of objective gradient evaluations = 41 Number of equality constraint evaluations = 54 Number of inequality constraint evaluations = 54 Number of equality constraint Jacobian evaluations = 41 Number of inequality constraint Jacobian evaluations = 41 Number of Lagrangian Hessian evaluations = 40 Total seconds in IPOPT = 25.325 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.002s) linear index maps built (0.0s) evaluator ready (total: 0.003s) evaluator created (0.003s) 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 6.4640527e+00 2.06e+00 3.75e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 3.0324251e+00 5.02e-01 1.53e+00 -1.0 1.86e+00 0.0 9.15e-01 7.56e-01f 1 Hello, world! 2 2.4442773e+00 5.76e-02 2.85e+00 -1.1 5.63e-01 -0.5 1.00e+00 8.87e-01f 1 Hello, world! 3 2.3382487e+00 5.43e-03 1.60e-01 -1.5 1.94e-01 -1.0 9.93e-01 1.00e+00h 1 Hello, world! 4 2.1208049e+00 2.63e-03 4.95e-02 -2.6 9.84e-02 -1.4 9.93e-01 1.00e+00f 1 Hello, world! 5 2.0915703e+00 7.38e-05 2.92e-03 -3.9 1.25e-02 -1.9 9.87e-01 9.98e-01h 1 Hello, world! 6 2.0909861e+00 6.17e-07 1.70e-04 -4.0 3.16e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0909738e+00 1.33e-09 3.43e-05 -4.0 2.40e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0909661e+00 1.36e-09 2.90e-05 -4.0 5.38e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909471e+00 1.12e-08 1.71e-04 -4.0 1.59e-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 2.0908935e+00 9.09e-08 1.96e-04 -4.0 4.47e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0907988e+00 4.29e-07 6.82e-04 -4.0 1.01e+00 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0906158e+00 2.24e-06 2.52e-03 -4.0 2.71e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0900928e+00 2.27e-05 6.33e-04 -4.0 8.02e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0898311e+00 3.64e-06 1.67e-03 -4.0 3.07e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0895662e+00 5.76e-06 2.54e-02 -4.0 1.03e+01 -5.8 1.00e+00 2.77e-01h 2 Hello, world! 16 2.0878255e+00 1.52e-04 1.68e-02 -4.0 2.51e+01 -6.3 1.00e+00 8.30e-01h 1 Hello, world! 17 2.0848391e+00 9.70e-04 5.28e-02 -4.0 5.30e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0836144e+00 5.96e-04 4.11e-02 -4.0 2.37e+01 -6.3 1.00e+00 4.40e-01h 1 Hello, world! 19 2.0827844e+00 1.75e-04 1.69e-02 -4.0 2.02e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827666e+00 2.27e-04 9.67e-03 -4.0 5.24e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0823026e+00 5.94e-04 7.68e-03 -4.0 1.26e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0829779e+00 5.96e-06 1.14e-01 -4.0 1.19e+02 -7.3 3.75e-01 1.00e+00H 1 Hello, world! 23 2.0825171e+00 8.31e-05 1.32e-01 -4.0 2.00e+00 -5.1 1.00e+00 6.76e-01h 1 Hello, world! 24 2.0824072e+00 2.32e-04 4.54e-01 -4.0 2.79e+00 -5.6 1.00e+00 3.76e-01h 1 Hello, world! 25 2.0823091e+00 2.78e-04 2.44e-03 -4.0 5.20e+00 -6.0 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0821208e+00 5.94e-05 1.10e-03 -4.0 1.50e+01 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0820313e+00 2.85e-05 1.14e-02 -4.0 3.19e+02 -7.0 3.94e-02 5.00e-02h 4 Hello, world! 28 2.0820456e+00 4.92e-05 5.96e-01 -4.0 2.69e+00 -4.8 5.63e-01 2.52e-01h 2 Hello, world! 29 2.0819127e+00 2.78e-07 3.04e-04 -4.1 1.15e+00 -5.2 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 2.0821112e+00 6.40e-05 7.46e-04 -4.0 1.28e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0819351e+00 9.39e-05 8.93e-04 -4.1 2.51e+00 -6.2 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0818928e+00 4.41e-05 3.29e-04 -4.1 5.74e+00 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0820703e+00 2.57e-04 9.46e-04 -4.0 1.15e+01 -7.1 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0817450e+00 7.50e-04 6.72e-04 -4.1 3.21e+01 -7.6 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0818948e+00 1.16e-03 4.45e-03 -4.0 4.95e+01 -8.1 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0815933e+00 1.20e-03 2.75e-03 -4.1 5.43e+01 -8.6 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0818453e+00 6.77e-04 5.03e-04 -4.0 2.89e+01 -9.0 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0818435e+00 1.68e-06 2.27e-05 -4.0 5.75e+00 -9.5 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0818434e+00 3.10e-09 1.40e-07 -4.0 4.70e-01 -10.0 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818434e+00 2.15e-12 1.00e-09 -4.0 1.35e-02 -10.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 40 (scaled) (unscaled) Objective...............: 2.0818434105377914e+00 2.0818434105377914e+00 Dual infeasibility......: 1.0000000066429310e-09 1.0000000066429310e-09 Constraint violation....: 2.1485035972546029e-12 2.1485035972546029e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 1.0000000066429310e-09 1.0000000066429310e-09 Number of objective function evaluations = 54 Number of objective gradient evaluations = 41 Number of equality constraint evaluations = 54 Number of inequality constraint evaluations = 54 Number of equality constraint Jacobian evaluations = 41 Number of inequality constraint Jacobian evaluations = 41 Number of Lagrangian Hessian evaluations = 40 Total seconds in IPOPT = 0.825 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.06s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.052s) linear index maps built (0.0s) evaluator ready (total: 0.113s) evaluator created (0.113s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: bounds constraint on trajectory variable ddu applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.133s) optimizer initialization complete (total: 0.246s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.2277169e+00 2.91e+00 6.75e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8599623e+00 1.32e-01 1.54e+00 -0.7 2.21e+00 - 9.88e-01 1.00e+00f 1 2 2.9383554e+00 1.83e-02 9.96e-01 -0.8 3.03e-01 - 8.87e-01 1.00e+00f 1 3 2.5292574e+00 7.97e-03 1.01e-01 -1.4 1.16e-01 - 9.53e-01 1.00e+00h 1 4 2.1639032e+00 2.00e-03 5.10e-02 -2.4 4.85e-02 - 9.79e-01 1.00e+00f 1 5 2.0958399e+00 4.41e-04 6.45e-03 -3.2 3.96e-02 - 9.79e-01 1.00e+00h 1 6 2.0909173e+00 6.46e-06 8.78e-05 -4.0 1.26e-02 - 1.00e+00 1.00e+00h 1 7 2.0908973e+00 1.19e-07 2.41e-06 -4.0 6.24e-02 - 1.00e+00 1.00e+00h 1 8 2.0908972e+00 1.71e-12 3.68e-12 -4.0 2.74e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 8 (scaled) (unscaled) Objective...............: 2.0908971978443636e+00 2.0908971978443636e+00 Dual infeasibility......: 3.6774019430713817e-12 3.6774019430713817e-12 Constraint violation....: 1.7135156683313613e-12 1.7135156683313613e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000018742629163e-04 1.0000018742629163e-04 Overall NLP error.......: 1.8742629162278677e-10 1.8742629162278677e-10 Number of objective function evaluations = 9 Number of objective gradient evaluations = 9 Number of equality constraint evaluations = 9 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 9 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 8 Total seconds in IPOPT = 24.984 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: 0.045s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.046s) 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: 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: 0.113s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.1122257e+00 1.81e+00 3.87e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.1747794e+00 5.16e-01 7.00e-01 -1.0 7.64e+00 -4.0 8.85e-01 8.74e-01f 1 2 2.1505432e+00 3.21e-01 1.88e+00 -1.5 1.10e+01 -3.6 5.53e-01 4.67e-01h 1 3 2.1626838e+00 1.33e-01 1.69e+00 -2.0 1.59e+01 -4.1 6.58e-01 7.81e-01h 1 4 2.1695026e+00 6.75e-02 2.66e-01 -1.9 3.62e+00 -3.6 1.00e+00 9.61e-01h 1 5 2.1483382e+00 3.55e-02 4.56e-01 -2.3 1.42e+00 -3.2 9.99e-01 4.79e-01h 1 6 2.1198225e+00 2.48e-02 4.94e-01 -2.6 3.41e+00 -3.7 9.98e-01 5.53e-01h 1 7 2.0968754e+00 4.39e-03 8.10e-02 -2.9 1.06e+00 -4.2 1.00e+00 9.62e-01h 1 8 2.0914342e+00 1.05e-03 2.40e-02 -3.8 7.74e-01 -4.6 9.99e-01 1.00e+00h 1 9 2.0906198e+00 2.38e-04 1.72e-03 -4.0 1.97e+00 -5.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0902806e+00 7.54e-06 2.07e-03 -4.0 3.97e+00 -5.6 1.00e+00 1.00e+00h 1 11 2.0900018e+00 6.44e-06 3.68e-03 -4.0 5.92e+00 -6.1 1.00e+00 1.00e+00h 1 12 2.0898679e+00 2.46e-06 2.18e-03 -4.0 6.13e+00 -6.5 1.00e+00 1.00e+00h 1 13 2.0898308e+00 1.41e-06 9.95e-04 -4.0 8.26e+00 -7.0 1.00e+00 1.00e+00h 1 14 2.0898243e+00 1.52e-06 6.41e-04 -4.0 7.51e+00 -7.5 1.00e+00 1.00e+00h 1 15 2.0898221e+00 3.97e-07 1.02e-04 -4.0 2.96e+00 -8.0 1.00e+00 1.00e+00h 1 16 2.0898219e+00 1.20e-08 2.56e-06 -4.0 6.43e-01 -8.4 1.00e+00 1.00e+00h 1 17 2.0898218e+00 4.85e-11 1.32e-08 -4.0 6.04e-02 -8.9 1.00e+00 1.00e+00h 1 18 2.0898218e+00 4.18e-14 1.34e-11 -4.0 1.98e-03 -9.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 18 (scaled) (unscaled) Objective...............: 2.0898218497827350e+00 2.0898218497827350e+00 Dual infeasibility......: 1.3421139579469082e-11 1.3421139579469082e-11 Constraint violation....: 4.1768563434352313e-14 4.1768563434352313e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 1.3421139579469082e-11 1.3421139579469082e-11 Number of objective function evaluations = 19 Number of objective gradient evaluations = 19 Number of equality constraint evaluations = 19 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 19 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 18 Total seconds in IPOPT = 24.644 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.058s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.058s) integrator 1 hessian structure: 0.044s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.047s) 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: 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: 0.105s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 35 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.9481296e+00 2.46e+00 5.35e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7547363e+00 2.34e+00 6.08e+00 -4.0 2.49e+00 0.0 6.83e-03 4.85e-02h 1 2 2.7532130e+00 2.34e+00 6.04e+01 -2.4 2.44e+00 -0.5 5.70e-02 1.06e-03h 1 3 2.8159027e+00 2.28e+00 3.90e+02 -0.2 2.26e+01 -1.0 1.51e-01 2.31e-02f 1 4 3.4077451e+00 2.11e+00 3.35e+02 0.5 4.42e+01 -1.4 1.04e-01 8.52e-02f 1 5 3.5504421e+00 2.02e+00 4.08e+02 0.7 7.29e+01 -1.9 1.43e-01 6.02e-02f 1 6 3.5531725e+00 1.84e+00 3.23e+02 0.3 2.39e+01 -1.5 2.59e-01 9.23e-02h 1 7 3.7784193e+00 1.78e+00 2.22e+03 0.9 8.36e+01 -2.0 3.75e-01 4.07e-02h 1 8 4.0242931e+00 1.72e+00 4.19e+04 1.2 7.73e+01 -2.4 9.60e-01 3.47e-02h 1 9 3.9876751e+00 1.68e+00 1.47e+06 1.3 1.59e+01 -2.9 1.00e+00 2.21e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 3.9926737e+00 1.67e+00 2.28e+08 2.5 2.19e+02 -3.4 1.00e+00 5.40e-03h 1 11 3.9923045e+00 1.67e+00 1.09e+11 2.5 3.86e+01 -3.9 4.61e-01 9.42e-04h 1 12 3.9922938e+00 1.67e+00 3.98e+15 2.5 1.19e+02 -4.3 1.00e+00 2.69e-05h 1 13 3.9725441e+00 7.64e+00 1.44e+15 2.5 4.38e+02 -4.8 6.40e-01 6.44e-01h 1 14 3.9815995e+00 7.49e+00 1.43e+13 1.6 2.32e+01 -5.3 9.90e-01 2.04e-02h 1 15 4.0209842e+00 7.28e+00 9.97e+12 0.6 2.13e+00 1.0 3.04e-01 2.80e-02h 1 16r 4.0209842e+00 7.28e+00 9.94e+02 2.5 0.00e+00 0.5 0.00e+00 9.16e-08R 2 17r 4.0136534e+00 1.72e+00 6.10e+02 2.2 2.60e+02 - 7.24e-01 4.37e-02f 1 18 4.0087724e+00 1.66e+00 2.57e+01 -1.3 1.40e+00 0.0 7.09e-01 3.32e-02h 1 19 4.0106483e+00 1.66e+00 7.38e+04 0.4 1.60e+01 -0.5 7.17e-01 3.99e-04h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 4.0184243e+00 1.66e+00 1.26e+07 2.3 3.98e+01 -0.9 2.38e-02 1.61e-04h 1 21r 4.0184243e+00 1.66e+00 9.96e+02 2.3 0.00e+00 -1.4 0.00e+00 3.75e-07R 4 22r 4.0428990e+00 2.87e-01 7.18e+02 0.8 2.30e+01 - 4.30e-01 1.07e-01f 1 23 4.0427479e+00 2.86e-01 2.59e+02 -1.6 1.13e+00 -1.9 7.57e-01 3.24e-03h 1 24 4.0434812e+00 2.86e-01 5.85e+06 0.6 3.62e+01 -2.4 1.00e+00 4.98e-05h 1 25r 4.0434812e+00 2.86e-01 1.00e+03 1.9 0.00e+00 -2.8 0.00e+00 3.75e-07R 4 26r 4.1732757e+00 2.00e-01 6.92e+02 0.9 6.06e+00 - 4.65e-01 2.28e-01f 1 27 4.1717847e+00 1.99e-01 1.27e+02 -1.4 4.52e+00 -3.3 8.48e-01 7.97e-03h 1 28 4.1738121e+00 1.99e-01 1.15e+06 0.6 1.33e+02 -3.8 8.85e-01 1.21e-04h 1 29 4.1743051e+00 1.99e-01 9.57e+10 1.8 4.60e+01 -4.3 1.00e+00 1.19e-05h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30r 4.1743051e+00 1.99e-01 9.60e+02 2.5 0.00e+00 -4.8 0.00e+00 6.17e-08R 2 31r 4.1407029e+00 2.05e-01 1.96e+02 0.8 3.63e-01 - 7.93e-01 8.47e-01f 1 32r 4.1472888e+00 2.00e-01 8.02e+01 -0.1 2.86e-01 - 1.00e+00 8.48e-01f 1 33r 4.4026230e+00 1.99e-01 4.66e-01 -0.5 1.29e-01 0.0 1.00e+00 1.00e+00f 1 34r 4.3561338e+00 1.99e-01 6.41e+00 -1.1 1.45e+00 - 9.93e-01 9.60e-01f 1 35r 4.3118075e+00 1.99e-01 1.88e-01 -2.0 1.34e+00 - 1.00e+00 1.00e+00f 1 36r 4.2926288e+00 1.99e-01 2.18e-01 -2.9 1.42e+00 - 9.74e-01 1.00e+00f 1 37r 4.2714485e+00 1.99e-01 2.57e-03 -4.0 1.08e+00 - 1.00e+00 1.00e+00f 1 38r 4.2879514e+00 1.99e-01 4.59e-05 -4.0 1.71e-01 - 1.00e+00 1.00e+00h 1 39r 4.2862142e+00 1.99e-01 6.37e-07 -4.0 1.23e-02 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40r 4.2861449e+00 1.99e-01 1.51e-09 -4.0 2.01e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 40 (scaled) (unscaled) Objective...............: 4.2861446098356426e+00 4.2861446098356426e+00 Dual infeasibility......: 1.9179187920305174e+00 1.9179187920305174e+00 Constraint violation....: 1.9875045032390193e-01 1.9875045032390193e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000001667438e-04 1.0000000001667438e-04 Overall NLP error.......: 1.9179187920305174e+00 1.9179187920305174e+00 Number of objective function evaluations = 54 Number of objective gradient evaluations = 32 Number of equality constraint evaluations = 54 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 46 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 41 Total seconds in IPOPT = 26.506 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: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.061s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s sub-objective 4 (GlobalObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1804 nonzeros (0.051s) linear index maps built (0.0s) evaluator ready (total: 0.113s) evaluator created (0.113s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.113s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 36 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.6911087e+00 2.83e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.5862251e+00 2.53e-01 3.29e+00 -1.3 1.97e+00 0.0 2.22e-01 9.11e-01h 1 2 3.1356280e+00 1.39e-01 2.61e+00 -0.9 2.66e-01 0.4 9.94e-01 4.51e-01f 1 3 2.4817599e+00 1.16e-02 4.09e+00 -1.0 4.83e-01 -0.1 8.29e-01 1.00e+00f 1 4 2.3276004e+00 1.93e-03 6.31e-01 -1.8 9.68e-02 -0.5 9.97e-01 1.00e+00h 1 5 2.1437375e+00 1.69e-03 7.06e-02 -3.1 8.34e-02 -1.0 9.97e-01 1.00e+00f 1 6 2.0929096e+00 1.56e-04 2.02e-02 -3.8 2.10e-02 -1.5 9.99e-01 9.71e-01h 1 7 2.0908929e+00 2.59e-06 3.19e-03 -4.0 6.57e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908900e+00 5.82e-09 3.03e-05 -4.0 8.28e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908884e+00 1.45e-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 2.0908834e+00 9.72e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908685e+00 8.75e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908236e+00 7.88e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906893e+00 7.10e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902873e+00 6.43e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890901e+00 5.88e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855811e+00 5.55e-04 2.31e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796446e+00 2.29e-03 1.37e-01 -4.0 9.55e+01 -6.7 1.00e+00 6.27e-01h 1 18 2.0806615e+00 1.33e-04 1.64e-01 -4.0 7.05e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775868e+00 7.12e-03 2.25e-02 -4.0 1.20e+02 -7.7 1.00e+00 9.80e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0769261e+00 1.61e-03 4.38e-02 -4.0 2.05e+02 -8.2 9.81e-01 8.29e-01h 1 21 2.0763489e+00 1.73e-03 4.93e-02 -4.0 3.65e+02 -8.6 1.00e+00 6.31e-01h 1 22 2.0755360e+00 4.47e-03 3.62e-02 -4.0 6.65e+02 -9.1 1.00e+00 7.56e-01h 1 23 2.0758264e+00 4.00e-03 2.09e-02 -4.0 1.99e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753886e+00 1.77e-03 1.14e-03 -4.1 1.19e+02 -10.1 1.00e+00 1.00e+00h 1 25 2.0756722e+00 4.62e-04 1.25e-05 -4.0 2.14e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 5.47e-07 1.10e-06 -4.0 1.18e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.15e-09 8.19e-08 -4.0 4.27e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 3.71e-11 1.48e-09 -4.0 6.75e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121554735e+00 2.0756712121554735e+00 Dual infeasibility......: 1.4772382326720332e-09 1.4772382326720332e-09 Constraint violation....: 3.7063574431783763e-11 3.7063574431783763e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000024e-04 1.0000000000000024e-04 Overall NLP error.......: 1.4772382326720332e-09 1.4772382326720332e-09 Number of objective function evaluations = 30 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 30 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 29.343 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: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.067s) 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 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.054s) linear index maps built (0.0s) evaluator ready (total: 0.122s) evaluator created (0.122s) 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 (0.64s) optimizer initialization complete (total: 0.763s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 81 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.7790765e+00 2.38e+00 1.54e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4544856e+00 3.27e+00 9.68e+00 -0.9 6.36e+01 -4.0 8.84e-01 1.00e+00h 1 2 2.2629475e+00 5.18e-01 3.34e+00 -1.6 2.79e+01 -4.5 1.00e+00 1.00e+00h 1 3 2.1932393e+00 1.03e-01 4.47e-01 -2.0 1.35e+01 -5.0 9.99e-01 1.00e+00h 1 4 2.1246086e+00 9.70e-02 8.94e-02 -2.6 1.26e+01 -5.4 1.00e+00 1.00e+00h 1 5 2.0901486e+00 9.11e-02 6.66e-02 -3.5 2.32e+01 -5.9 1.00e+00 1.00e+00h 1 6 2.0837576e+00 2.00e-02 1.51e-02 -4.0 3.87e+01 -6.4 1.00e+00 1.00e+00h 1 7 2.0887022e+00 2.61e-02 5.10e-02 -3.0 2.81e+01 -6.9 1.00e+00 9.21e-01h 1 8 2.0868273e+00 1.36e-02 9.43e-03 -3.1 3.31e+01 -7.3 1.00e+00 1.00e+00h 1 9 2.0784267e+00 6.88e-02 6.19e-03 -4.0 9.73e+01 -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 2.0765392e+00 6.53e-03 1.16e-02 -4.0 2.30e+02 -8.3 1.00e+00 1.00e+00h 1 11 2.0761302e+00 2.69e-03 2.83e-02 -4.0 3.52e+02 -8.8 1.00e+00 1.00e+00h 1 12 2.0769306e+00 2.64e-02 2.03e-02 -3.7 2.37e+02 -9.2 1.00e+00 1.00e+00h 1 13 2.0765108e+00 6.73e-03 2.39e-03 -3.8 1.12e+02 -9.7 1.00e+00 1.00e+00h 1 14 2.0764887e+00 1.74e-05 3.13e-05 -3.8 1.27e+01 -10.2 1.00e+00 1.00e+00h 1 15 2.0757757e+00 1.52e-03 1.64e-06 -4.0 2.79e+01 -10.7 1.00e+00 1.00e+00h 1 16 2.0757704e+00 3.87e-06 9.24e-07 -4.0 1.77e+01 -11.2 1.00e+00 1.00e+00h 1 17 2.0757704e+00 2.72e-10 7.71e-08 -4.0 3.62e+00 -11.6 1.00e+00 1.00e+00h 1 18 2.0757704e+00 1.40e-12 6.59e-10 -4.0 4.42e-01 -12.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 18 (scaled) (unscaled) Objective...............: 2.0757703960856451e+00 2.0757703960856451e+00 Dual infeasibility......: 6.5889083452523936e-10 6.5889083452523936e-10 Constraint violation....: 1.4011595703133928e-12 1.4011595703133928e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000011e-04 1.0000000000000011e-04 Overall NLP error.......: 6.5889083452523936e-10 6.5889083452523936e-10 Number of objective function evaluations = 19 Number of objective gradient evaluations = 19 Number of equality constraint evaluations = 19 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 19 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 18 Total seconds in IPOPT = 27.035 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.053s jacobian structure: 180 nonzeros (0.092s) integrator 1 hessian structure: 0.052s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.362s sub-objective 2 (QuadraticRegularizer): 0.085s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.015s objective hessian structure: 0.563s hessian structure: 375 nonzeros (0.615s) linear index maps built (0.0s) evaluator ready (total: 0.836s) evaluator created (0.836s) NL constraint bounds extracted (0.011s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.115s) applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.944s) optimizer initialization complete (total: 3.907s) 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 1.1026606e+00 7.16e-01 1.01e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.1228439e+00 8.84e-02 1.62e+00 -0.9 7.79e-01 0.0 9.92e-01 1.00e+00h 1 2 4.6819223e+00 3.35e-01 7.49e+00 0.0 3.55e+01 - 1.85e-01 1.44e-01f 2 3 3.9942445e+00 2.16e-01 7.57e+00 -0.7 8.49e-01 -0.5 1.00e+00 1.00e+00f 1 4 2.3894174e+00 4.63e-02 8.66e+00 -0.7 2.74e-01 -0.1 1.00e+00 8.61e-01f 1 5 1.8870008e+00 2.75e-02 5.05e+00 -1.2 4.00e+01 - 3.83e-01 4.03e-01f 1 6 1.4487525e+00 2.94e-03 4.20e-01 -1.5 7.13e-02 -0.5 1.00e+00 9.87e-01f 1 7 1.1069387e+00 6.83e-05 9.84e-01 -3.1 1.07e+01 - 9.32e-01 9.96e-01f 1 8 1.1088129e+00 5.97e-05 2.54e-01 -2.9 3.71e+00 - 9.94e-01 1.25e-01h 4 9 1.0924902e+00 3.83e-06 7.96e-02 -4.0 2.46e+00 - 1.00e+00 9.34e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0909733e+00 3.78e-09 4.12e-02 -4.0 2.03e+00 - 1.00e+00 1.00e+00h 1 11 1.0908999e+00 3.21e-14 3.22e-04 -4.0 2.61e-02 - 1.00e+00 1.00e+00f 1 12 1.0908998e+00 1.15e-23 9.47e-05 -4.0 1.68e-01 - 1.00e+00 1.00e+00f 1 13 1.0908997e+00 1.85e-34 1.90e-05 -4.0 3.84e-02 - 1.00e+00 1.00e+00f 1 14 1.0908997e+00 1.24e-34 1.48e-06 -4.0 9.05e-03 - 1.00e+00 1.00e+00f 1 15 1.0908997e+00 1.09e-34 1.29e-10 -4.0 2.25e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 15 (scaled) (unscaled) Objective...............: 1.0908997263265503e+00 1.0908997263265503e+00 Dual infeasibility......: 1.2854448354273490e-10 1.2854448354273490e-10 Constraint violation....: 1.0906143862998219e-34 1.0906143862998219e-34 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000032e-04 1.0000000000000032e-04 Overall NLP error.......: 1.2854448354273490e-10 1.2854448354273490e-10 Number of objective function evaluations = 22 Number of objective gradient evaluations = 16 Number of equality constraint evaluations = 22 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 16 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 15 Total seconds in IPOPT = 27.450 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: 0.091s hessian structure: 30 nonzeros (0.091s) linear index maps built (0.0s) evaluator ready (total: 0.091s) evaluator created (0.091s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.123s) 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 (2.893s) optimizer initialization complete (total: 3.107s) 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 1.1423250e-02 8.33e-17 1.73e+112 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.1423250e-02 8.33e-17 1.00e+00 -2.0 1.72e+111 -2.0 5.74e-113 9.51e-232f404 2 6.2325844e+01 1.06e-08 7.69e-01 -0.3 2.88e+01 -1.6 1.00e+00 1.00e+00f 1 3 2.6388387e-01 9.15e-09 6.45e-01 -0.3 9.07e+00 -1.1 1.00e+00 1.00e+00f 1 4 1.2187924e-04 5.78e-10 1.26e-01 -0.3 5.32e+00 -1.6 1.00e+00 1.00e+00f 1 5 7.3810870e-05 1.44e-09 9.09e-03 -1.0 1.15e+00 -2.1 1.00e+00 1.00e+00f 1 6 4.1574615e-05 4.39e-11 2.77e-03 -1.7 1.05e+00 -2.6 1.00e+00 1.00e+00f 1 7 2.1229756e-05 1.34e-11 3.76e-04 -2.5 4.28e-01 -3.1 1.00e+00 1.00e+00f 1 8 6.1460252e-06 9.61e-13 2.46e-05 -3.7 8.42e-02 -3.5 1.00e+00 1.00e+00h 1 9 6.9298214e-03 2.24e-14 6.25e-07 -5.6 6.41e-03 -4.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0781487e+00 8.88e-16 2.28e-06 -8.4 7.51e-02 -4.5 9.33e-01 1.00e+00h 1 11 1.0981041e+00 8.88e-16 2.44e-06 -8.4 1.93e-01 -5.0 1.00e+00 3.91e-03h 9 12 1.0981041e+00 8.88e-16 2.24e-06 -8.4 3.67e-01 -5.4 1.00e+00 2.22e-16h 53 13 1.0981106e+00 1.33e-15 1.99e-06 -8.4 5.10e-01 -5.9 1.00e+00 4.77e-07h 22 14 1.0981106e+00 1.33e-15 1.75e-06 -8.4 3.12e-01 -5.5 1.00e+00 4.44e-16h 52 15 3.8535314e+01 3.55e-15 1.74e-07 -8.4 4.07e-01 -6.0 1.00e+00 1.00e+00s 60 16 4.5621105e+01 8.88e-16 1.53e-06 -8.4 6.19e-02 -6.0 1.00e+00 0.00e+00S 60 17 4.5621105e+01 4.44e-16 3.23e-06 -8.4 4.27e-01 -6.5 1.00e+00 1.42e-14h 47 18 3.4489746e-01 3.55e-15 3.38e-06 -8.4 9.75e-01 -7.0 1.00e+00 5.00e-01f 2 19 5.0431967e-02 4.44e-15 3.32e-06 -8.4 2.89e+00 -7.5 6.58e-01 6.25e-02f 5 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 5.0764654e-02 3.55e-15 3.26e-06 -8.4 9.76e+00 -7.9 1.00e+00 5.56e-05h 15 21 5.0820013e-02 1.33e-15 3.19e-06 -8.4 2.92e+01 -8.4 9.26e-01 9.22e-06h 17 22 1.5371004e-01 2.66e-15 3.10e-06 -8.4 8.54e+01 -8.9 1.27e-01 1.29e-02f 5 23 3.6609698e-01 6.22e-15 3.03e-06 -8.4 2.55e+02 -9.4 8.96e-02 3.25e-02f 2 24 3.6611190e-01 4.44e-15 2.94e-06 -8.4 8.42e+02 -9.8 2.58e-02 1.50e-07h 17 25 3.6621121e-01 2.66e-15 2.49e-06 -8.4 2.45e+02 -10.3 1.00e+00 2.06e-06h 15 26 3.6922543e-01 2.66e-15 1.62e-06 -8.4 1.46e+01 -10.8 1.00e+00 1.67e-04h 12 27 3.7068018e-01 2.66e-15 8.64e-07 -8.4 1.48e+01 -11.3 9.02e-01 1.51e-04h 13 28 3.7085612e-01 2.22e-15 5.00e-07 -8.4 3.54e+01 -11.7 1.00e+00 2.65e-05h 16 29 1.2299496e+00 2.66e-15 3.63e-07 -8.4 4.86e+01 -12.2 1.00e+00 1.24e-01f 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.5417479e+00 6.22e-15 1.20e-07 -8.4 8.21e+01 -12.7 1.00e+00 4.67e-01f 2 31 1.3681824e+00 1.07e-14 1.38e-07 -8.4 9.64e+01 -13.2 1.00e+00 4.59e-01f 2 32 4.7221608e-01 1.42e-14 6.77e-08 -8.4 1.35e+02 -13.7 1.00e+00 5.00e-01f 2 33 1.4302899e-01 1.72e-14 2.42e-08 -8.4 1.47e+02 -14.1 1.00e+00 4.91e-01h 2 34 7.5925576e-02 2.13e-14 4.91e-08 -8.4 1.42e+02 -14.6 1.00e+00 2.50e-01h 3 35 7.3069150e-02 3.90e-14 7.31e-08 -8.4 1.35e+02 -15.1 1.00e+00 1.56e-02h 7 36 6.1998524e-02 4.97e-14 9.19e-08 -8.4 1.43e+02 -15.6 1.00e+00 6.25e-02h 5 37 6.1683291e-02 5.68e-14 1.11e-07 -8.4 1.37e+02 -16.0 1.00e+00 1.95e-03h 10 38 5.9158174e-02 4.09e-14 1.27e-07 -8.4 1.38e+02 -16.5 1.00e+00 1.56e-02h 7 39 5.9158174e-02 2.85e-14 1.44e-07 -8.4 1.37e+02 -17.0 1.00e+00 4.66e-10h 32 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 5.9158173e-02 2.20e-14 1.61e-07 -8.4 1.37e+02 -17.5 1.00e+00 9.31e-10h 31 41 5.9157852e-02 1.42e-14 1.78e-07 -8.4 1.37e+02 -17.9 1.00e+00 1.91e-06h 20 42 5.9155214e-02 2.13e-14 1.95e-07 -8.4 1.37e+02 -18.4 1.00e+00 1.53e-05h 17 43 5.6536665e-02 1.37e-14 2.09e-07 -8.4 1.38e+02 -18.9 1.00e+00 1.56e-02h 7 44 5.6497903e-02 1.15e-14 2.22e-07 -8.4 1.35e+02 -19.4 1.00e+00 2.44e-04h 13 45 4.4002020e-01 4.02e-14 4.45e-07 -8.4 1.35e+02 -19.9 1.00e+00 1.00e+00s 54 Cannot call restoration phase at point that is almost feasible (violation 4.024558e-14). Abort in line search due to no other fall back. Number of Iterations....: 45 (scaled) (unscaled) Objective...............: 4.4002019699008484e-09 4.4002019699008482e-01 Dual infeasibility......: 4.4545790156401725e-07 4.4545790156401722e+01 Constraint violation....: 4.0245584642661925e-14 4.0245584642661925e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 4.3845126831333640e-09 4.3845126831333642e-01 Overall NLP error.......: 9.9996722275387512e-05 9.9996722275387510e+03 Number of objective function evaluations = 1037 Number of objective gradient evaluations = 47 Number of equality constraint evaluations = 1037 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 = 46 Total seconds in IPOPT = 3.370 EXIT: Error in step computation! initializing optimizer... building evaluator: 0 integrators, 0 nonlinear constraints dynamics constraints: 0, nonlinear constraints: 0 jacobian structure: 0 nonzeros (0.0s) computing objective hessian structure (CompositeObjective)... sub-objective 1 (QuadraticRegularizer): 0.083s sub-objective 2 (QuadraticRegularizer): 0.0s objective hessian structure: 0.17s hessian structure: 40 nonzeros (0.17s) linear index maps built (0.0s) evaluator ready (total: 0.17s) evaluator created (0.17s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.118s) 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 (2.761s) optimizer initialization complete (total: 3.05s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 39 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 19 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.2335028e+00 4.80e-01 9.36e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 6.9735574e-01 2.28e-09 1.37e-01 -0.6 3.15e-01 -2.0 9.62e-01 1.00e+00h 1 2 1.9270620e-01 1.55e-09 1.47e-01 -2.2 8.42e-01 -1.6 8.74e-01 1.00e+00f 1 3 9.3157330e-02 1.66e-10 2.31e-02 -2.6 4.06e-01 -1.1 1.00e+00 1.00e+00f 1 4 2.7904582e-02 1.54e-11 2.39e-02 -3.7 6.64e-01 -1.6 1.00e+00 1.00e+00f 1 5 5.9835771e-03 1.35e-11 1.21e-02 -4.0 6.24e-01 -2.1 1.00e+00 1.00e+00f 1 6 1.1971801e-03 6.20e-12 4.00e-03 -4.0 4.04e-01 -2.6 1.00e+00 1.00e+00f 1 7 5.1108670e-04 1.71e-12 8.29e-04 -4.0 2.21e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.7797034e-04 1.72e-13 7.36e-04 -4.0 1.66e-01 -3.5 1.00e+00 1.00e+00f 1 9 4.3127699e-04 2.26e-14 6.49e-05 -4.0 1.86e-02 -4.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 4.7039695e-04 1.72e-14 1.99e-04 -4.0 3.10e-02 -4.5 1.00e+00 1.00e+00f 1 11 2.9133751e-04 6.44e-15 5.59e-04 -4.1 1.04e-01 -5.0 1.00e+00 1.00e+00f 1 12 4.5803384e-04 4.00e-15 4.16e-04 -4.0 2.29e-01 -5.4 1.00e+00 5.00e-01f 2 13 2.7018818e-04 2.66e-15 6.16e-04 -4.1 1.17e-01 -5.9 1.00e+00 1.00e+00f 1 14 4.6361584e-04 1.67e-15 5.06e-04 -4.0 2.75e-01 -6.4 1.00e+00 5.00e-01f 2 15 2.6205949e-04 1.24e-15 6.76e-04 -4.1 1.30e-01 -6.9 1.00e+00 1.00e+00f 1 16 4.6393211e-04 1.11e-15 5.39e-04 -4.0 2.93e-01 -7.4 1.00e+00 5.00e-01f 2 17 2.5949309e-04 1.02e-15 6.99e-04 -4.1 1.35e-01 -7.8 1.00e+00 1.00e+00f 1 18 4.6381578e-04 8.88e-16 5.52e-04 -4.0 3.01e-01 -8.3 1.00e+00 5.00e-01f 2 19 2.5865810e-04 9.37e-16 7.14e-04 -4.1 1.38e-01 -8.8 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 4.6340850e-04 7.77e-16 5.58e-04 -4.0 3.05e-01 -9.3 1.00e+00 5.00e-01f 2 21 2.5839808e-04 8.64e-16 7.26e-04 -4.1 1.40e-01 -9.7 1.00e+00 1.00e+00f 1 22 4.6294638e-04 7.77e-16 5.62e-04 -4.0 3.08e-01 -10.2 1.00e+00 5.00e-01f 2 23 2.5831863e-04 7.77e-16 7.36e-04 -4.1 1.42e-01 -10.7 1.00e+00 1.00e+00f 1 24 4.6247946e-04 5.55e-16 5.66e-04 -4.0 3.11e-01 -11.2 1.00e+00 5.00e-01f 2 25 2.5829589e-04 7.74e-16 7.46e-04 -4.1 1.44e-01 -11.6 1.00e+00 1.00e+00f 1 26 4.6202682e-04 4.44e-16 5.68e-04 -4.0 3.13e-01 -12.1 1.00e+00 5.00e-01f 2 27 2.5829030e-04 6.94e-16 7.55e-04 -4.1 1.46e-01 -12.6 1.00e+00 1.00e+00f 1 28 3.1055609e-05 8.38e-15 9.42e-04 -6.2 3.98e-01 -13.1 9.66e-01 1.00e+00f 1 29 1.7191163e-03 2.00e-15 7.97e-03 -4.0 2.09e+00 -13.6 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.4980556e-05 2.19e-14 3.02e-03 -4.1 1.06e+00 -14.0 1.00e+00 1.00e+00f 1 31 1.5645220e-03 2.80e-14 8.31e-03 -4.0 1.02e+00 -14.5 1.00e+00 1.00e+00f 1 32 1.0575567e-05 1.68e-14 2.40e-03 -4.2 1.13e+00 -15.0 1.00e+00 1.00e+00f 1 33 4.5932456e-04 1.55e-15 2.83e-03 -4.0 1.42e+00 -15.5 1.00e+00 5.00e-01f 2 34 2.2121967e-04 2.78e-15 2.52e-04 -4.2 3.80e-01 -15.9 1.00e+00 5.00e-01f 2 35 2.0388097e-05 4.22e-15 8.49e-04 -6.4 4.31e-01 -16.4 9.62e-01 1.00e+00f 1 36 8.2075161e-06 3.11e-15 1.04e-04 -6.4 1.09e-01 -16.9 1.00e+00 1.00e+00f 1 37 1.3340862e-03 1.12e-15 4.69e-03 -4.0 1.00e+01 -17.4 1.00e+00 1.19e-01f 4 38 1.1648045e-04 4.84e-14 3.34e-03 -4.0 7.37e-01 -17.8 1.00e+00 1.00e+00f 1 39 7.2286572e-04 2.95e-14 3.38e-03 -4.0 5.10e-01 -18.3 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 3.7971496e-04 5.33e-15 4.51e-04 -4.0 4.17e-01 -18.8 1.00e+00 5.00e-01f 2 41 3.5330314e-05 5.44e-15 1.39e-03 -6.0 5.26e-01 -19.3 9.52e-01 1.00e+00f 1 42 1.4555468e-05 4.94e-15 1.66e-04 -6.0 1.31e-01 -19.8 1.00e+00 1.00e+00f 1 43 3.9442333e-06 8.33e-16 1.06e-04 -6.0 1.51e-01 -20.0 1.00e+00 1.00e+00f 1 44 9.1402343e-04 4.58e-16 2.42e-03 -4.0 1.65e+01 -20.0 1.00e+00 7.29e-02f 4 45 1.8747707e-04 4.33e-14 2.61e-03 -4.0 5.14e-01 -20.0 1.00e+00 1.00e+00f 1 46 6.3100233e-04 1.78e-14 2.46e-03 -4.0 3.74e-01 -20.0 1.00e+00 1.00e+00f 1 47 3.8880323e-04 3.11e-15 4.06e-04 -4.0 3.32e-01 -20.0 1.00e+00 5.00e-01f 2 48 3.4830053e-05 5.55e-15 1.51e-03 -6.1 5.69e-01 -20.0 9.47e-01 1.00e+00f 1 49 1.4557785e-05 4.44e-15 1.74e-04 -6.1 1.37e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 3.8326672e-06 7.77e-16 1.14e-04 -6.1 1.64e-01 -20.0 1.00e+00 1.00e+00f 1 51 7.5157610e-04 4.72e-16 1.52e-03 -4.0 1.77e+01 -20.0 1.00e+00 6.77e-02f 4 52 2.2190803e-04 3.77e-14 2.21e-03 -4.1 4.21e-01 -20.0 1.00e+00 1.00e+00f 1 53 5.7043817e-04 1.24e-14 1.98e-03 -4.1 3.07e-01 -20.0 1.00e+00 1.00e+00f 1 54 3.8466986e-04 2.00e-15 3.74e-04 -4.1 2.85e-01 -20.0 1.00e+00 5.00e-01f 2 55 3.3767942e-05 5.44e-15 1.59e-03 -6.1 6.03e-01 -20.0 9.43e-01 1.00e+00f 1 56 1.4240914e-05 4.11e-15 1.78e-04 -6.1 1.42e-01 -20.0 1.00e+00 1.00e+00f 1 57 3.7006141e-06 6.66e-16 1.19e-04 -6.1 1.74e-01 -20.0 1.00e+00 1.00e+00f 1 58 6.3145889e-04 5.97e-16 7.20e-04 -4.0 1.91e+01 -20.0 1.00e+00 6.26e-02f 4 59 2.5538782e-04 3.35e-14 1.79e-03 -4.1 3.32e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 5.1567568e-04 8.44e-15 1.49e-03 -4.1 2.37e-01 -20.0 1.00e+00 1.00e+00f 1 61 3.8070606e-04 1.33e-15 3.28e-04 -4.1 2.32e-01 -20.0 1.00e+00 5.00e-01f 2 62 3.2679395e-05 5.22e-15 1.65e-03 -6.1 6.35e-01 -20.0 9.39e-01 1.00e+00f 1 63 1.3928813e-05 3.77e-15 1.81e-04 -6.1 1.46e-01 -20.0 1.00e+00 1.00e+00f 1 64 3.5894509e-06 6.66e-16 1.23e-04 -6.1 1.83e-01 -20.0 1.00e+00 1.00e+00f 1 65 5.4286459e-04 4.51e-16 7.80e-05 -4.0 2.04e+01 -20.0 1.00e+00 5.85e-02f 4 66 2.8464394e-04 3.04e-14 1.38e-03 -4.1 2.52e-01 -20.0 1.00e+00 1.00e+00f 1 67 4.6947206e-04 5.55e-15 1.05e-03 -4.1 1.71e-01 -20.0 1.00e+00 1.00e+00f 1 68 2.9751620e-04 3.77e-15 9.91e-04 -4.1 1.80e-01 -20.0 1.00e+00 1.00e+00f 1 69 4.6247118e-04 2.89e-15 9.12e-04 -4.1 1.49e-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 3.0462103e-04 3.55e-15 8.97e-04 -4.1 1.62e-01 -20.0 1.00e+00 1.00e+00f 1 71 4.5548911e-04 2.66e-15 8.18e-04 -4.1 1.34e-01 -20.0 1.00e+00 1.00e+00f 1 72 2.3577322e-05 4.66e-15 1.82e-03 -6.1 7.70e-01 -20.0 9.25e-01 1.00e+00f 1 73 1.2298700e-05 4.00e-15 1.20e-04 -6.1 1.06e-01 -20.0 1.00e+00 1.00e+00f 1 74 3.0755327e-06 4.44e-16 1.15e-04 -6.1 1.83e-01 -20.0 1.00e+00 1.00e+00f 1 75 4.9570525e-04 4.44e-16 5.29e-04 -4.0 2.31e+01 -20.0 1.00e+00 5.17e-02f 4 76 3.0911124e-04 2.93e-14 1.07e-03 -4.1 1.91e-01 -20.0 1.00e+00 1.00e+00f 1 77 4.4372561e-04 3.55e-15 7.33e-04 -4.1 1.21e-01 -20.0 1.00e+00 1.00e+00f 1 78 2.4296995e-05 4.44e-15 1.89e-03 -6.1 7.90e-01 -20.0 9.22e-01 1.00e+00f 1 79 1.2437396e-05 3.66e-15 1.32e-04 -6.1 1.15e-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 3.1163665e-06 4.44e-16 1.22e-04 -6.1 1.93e-01 -20.0 1.00e+00 1.00e+00f 1 81 3.9836887e-06 2.22e-16 2.08e-05 -6.1 3.61e-02 -20.0 1.00e+00 1.00e+00f 1 82 3.4330886e-06 6.77e-17 5.96e-06 -6.1 1.07e-02 -20.0 1.00e+00 1.00e+00h 1 83 2.6096644e-07 5.81e-17 5.27e-05 -9.0 2.35e-01 -20.0 9.77e-01 1.00e+00f 1 84 2.4721760e-03 6.28e-16 1.21e-02 -4.0 1.04e+02 -20.0 1.00e+00 2.33e-02f 3 85 8.3523156e-05 4.86e-14 7.11e-03 -3.9 1.55e+00 -20.0 1.00e+00 1.00e+00f 1 86 7.7281149e-04 2.93e-14 5.39e-03 -3.9 8.16e-01 -20.0 1.00e+00 1.00e+00f 1 87 4.3976784e-04 5.77e-15 7.71e-04 -3.9 5.36e-01 -20.0 1.00e+00 5.00e-01f 2 88 4.3453408e-05 4.33e-15 2.14e-03 -5.9 7.14e-01 -20.0 9.30e-01 1.00e+00f 1 89 1.7948190e-05 4.00e-15 2.62e-04 -5.9 1.86e-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 90 5.1378295e-06 6.66e-16 1.66e-04 -5.9 2.09e-01 -20.0 1.00e+00 1.00e+00f 1 91 5.8459380e-06 2.57e-16 1.77e-05 -5.9 2.50e-02 -20.0 1.00e+00 1.00e+00h 1 92 5.3983427e-06 1.09e-16 2.78e-06 -5.9 3.99e-03 -20.0 1.00e+00 1.00e+00h 1 93 3.8842502e-07 5.55e-17 7.97e-05 -8.9 2.86e-01 -20.0 9.71e-01 1.00e+00f 1 94 1.5621326e-07 4.77e-17 8.37e-06 -8.9 6.34e-02 -20.0 1.00e+00 1.00e+00f 1 95 1.5900417e-03 5.20e-16 1.43e-03 -4.0 3.13e+02 -20.0 1.00e+00 7.77e-03f 3 96 4.7533680e-04 6.35e-14 5.66e-03 -3.8 7.31e-01 -20.0 1.00e+00 1.00e+00f 1 97 8.9059611e-04 1.91e-14 2.21e-03 -3.8 2.62e-01 -20.0 1.00e+00 1.00e+00f 1 98 5.6149266e-04 8.44e-15 2.31e-03 -3.8 3.01e-01 -20.0 1.00e+00 1.00e+00f 1 99 8.8015362e-04 2.89e-15 1.44e-03 -3.8 1.69e-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 100 4.9821313e-05 8.55e-15 3.58e-03 -5.7 1.03e+00 -20.0 8.95e-01 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 4.9821312941162095e-05 4.9821312941162095e-05 Dual infeasibility......: 3.5761708864260893e-03 3.5761708864260893e-03 Constraint violation....: 8.5487172896137054e-15 8.5487172896137054e-15 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 4.8186165880870755e-05 4.8186165880870755e-05 Overall NLP error.......: 3.5761708864260893e-03 3.5761708864260893e-03 Number of objective function evaluations = 166 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 166 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 = 3.431 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: 0.062s integrator 2 jacobian structure: 0.053s integrator 3 jacobian structure: 0.0s jacobian structure: 1872 nonzeros (0.115s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.051s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.337s sub-objective 2 (QuadraticRegularizer): 0.088s sub-objective 3 (LinearRegularizer): 0.08s sub-objective 4 (MinimumTimeObjective): 0.014s objective hessian structure: 0.615s hessian structure: 2431 nonzeros (0.715s) linear index maps built (0.0s) evaluator ready (total: 0.831s) evaluator created (0.831s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.118s) applying constraint: L1 slack constraint: |du| ≤ s_du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on s_du applying constraint: bounds on Δt linear constraints added: 6 (2.939s) optimizer initialization complete (total: 3.888s) 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 5.4495682e+00 2.09e+00 1.05e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.2501460e+00 1.47e+00 1.03e+01 -1.7 1.22e+01 -2.0 5.33e-01 6.26e-01h 1 2 2.9085527e+00 1.02e+00 6.00e+00 -1.3 1.57e+01 -2.5 1.80e-01 2.64e-01f 1 3 2.6714961e+00 2.92e-01 3.09e+00 -1.4 1.62e+00 -1.1 6.12e-01 1.00e+00f 1 4 2.4647994e+00 9.68e-03 3.15e-01 -1.7 2.25e-01 -0.7 8.33e-01 1.00e+00h 1 5 2.2617380e+00 7.29e-03 7.01e-02 -2.2 3.04e-01 -1.2 7.93e-01 7.40e-01h 1 6 2.1478274e+00 2.14e-02 1.60e-01 -2.2 8.22e-01 -1.7 7.73e-01 6.09e-01f 1 7 2.0412699e+00 2.71e-02 1.38e-01 -2.5 1.17e+00 -2.2 6.80e-01 5.15e-01h 1 8 2.0074426e+00 4.12e-04 4.95e-03 -3.1 2.29e-01 -2.6 9.82e-01 9.85e-01h 1 9 2.0010056e+00 4.85e-06 1.67e-03 -4.0 9.17e-02 -3.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0010248e+00 2.02e-08 6.55e-03 -4.0 3.12e-01 -3.6 1.00e+00 1.00e+00h 1 11 2.0010352e+00 1.00e-11 1.03e-02 -4.0 5.23e-01 -4.1 1.00e+00 1.00e+00f 1 12 2.0010487e+00 9.89e-12 1.98e-02 -4.0 1.02e+00 -4.5 1.00e+00 1.00e+00f 1 13 2.0006969e+00 7.57e-09 2.43e-02 -4.2 1.22e+00 -5.0 1.00e+00 1.00e+00f 1 14 2.0011952e+00 6.05e-09 7.85e-02 -4.0 3.97e+00 -5.5 1.00e+00 1.00e+00f 1 15 2.0008069e+00 4.30e-09 5.88e-02 -4.1 3.71e+00 -6.0 1.00e+00 7.94e-01f 1 16 2.0010366e+00 5.01e-10 1.93e-01 -4.1 9.69e+00 -6.4 1.00e+00 1.00e+00f 1 17 2.0008442e+00 1.64e-09 2.30e-01 -4.1 1.26e+01 -6.9 1.00e+00 9.14e-01f 1 18 2.0011622e+00 2.37e-09 5.05e-01 -4.1 2.53e+01 -7.4 1.00e+00 1.00e+00f 1 19 2.0009138e+00 7.33e-09 6.67e-01 -4.1 3.71e+01 -7.9 1.00e+00 8.98e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0012261e+00 8.49e-09 1.34e+00 -4.1 6.71e+01 -8.4 1.00e+00 1.00e+00f 1 21 2.0009284e+00 1.52e-08 1.98e+00 -4.1 1.07e+02 -8.8 1.00e+00 9.24e-01f 1 22 2.0012666e+00 1.06e-08 3.65e+00 -4.1 1.83e+02 -9.3 1.00e+00 1.00e+00f 1 23 2.0009189e+00 1.58e-08 5.88e+00 -4.1 3.18e+02 -9.8 1.00e+00 9.26e-01f 1 24 2.0012891e+00 7.76e-09 1.03e+01 -4.1 5.14e+02 -10.3 1.00e+00 1.00e+00f 1 25 2.0008856e+00 1.31e-08 1.81e+01 -4.1 9.64e+02 -10.7 1.00e+00 9.37e-01f 1 26 2.0013212e+00 3.92e-09 2.93e+01 -4.1 1.47e+03 -11.2 1.00e+00 1.00e+00f 1 27 2.0008323e+00 9.61e-09 5.12e+01 -4.1 2.71e+03 -11.7 1.00e+00 9.44e-01f 1 28 2.0013411e+00 1.40e-09 8.11e+01 -4.1 4.06e+03 -12.2 1.00e+00 1.00e+00f 1 29 2.0007474e+00 6.48e-09 1.33e+02 -4.1 6.93e+03 -12.7 1.00e+00 9.63e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0013126e+00 2.25e-10 1.99e+02 -4.1 9.94e+03 -13.1 1.00e+00 1.00e+00f 1 31 2.0006446e+00 3.26e-09 2.61e+02 -4.1 1.31e+04 -13.6 1.00e+00 1.00e+00f 1 32 2.0016644e+00 6.56e-11 4.39e+02 -4.0 2.19e+04 -14.1 1.00e+00 1.00e+00f 1 33 2.0009171e+00 7.93e-10 4.83e+01 -4.1 5.29e+03 -14.6 1.00e+00 4.57e-01f 2 34 2.0007218e+00 2.04e-10 2.16e+02 -4.1 1.08e+04 -15.0 1.00e+00 1.00e+00f 1 35 2.0006384e+00 1.01e-12 2.14e+02 -4.1 1.07e+04 -15.5 1.00e+00 1.00e+00f 1 36 2.0005972e+00 6.87e-14 1.10e+02 -4.1 5.52e+03 -16.0 1.00e+00 1.00e+00h 1 37 2.0009063e+00 8.25e-13 1.45e+02 -4.0 7.25e+03 -16.5 1.00e+00 1.00e+00f 1 38 2.0005637e+00 1.82e-13 1.40e+02 -4.1 7.00e+03 -16.9 1.00e+00 1.00e+00f 1 39 2.0008769e+00 6.49e-12 1.41e+02 -4.0 7.07e+03 -17.4 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0005590e+00 2.41e-12 1.31e+02 -4.1 6.55e+03 -17.9 1.00e+00 1.00e+00f 1 41 2.0006554e+00 9.77e-12 6.97e+01 -4.1 3.49e+03 -18.4 1.00e+00 1.00e+00h 1 42 2.0006190e+00 1.03e-11 2.36e+01 -4.1 1.18e+03 -18.9 1.00e+00 1.00e+00h 1 43 2.0006342e+00 1.36e-11 1.05e+01 -4.1 5.23e+02 -19.3 1.00e+00 1.00e+00h 1 44 2.0006281e+00 1.61e-11 4.22e+00 -4.1 2.11e+02 -19.8 1.00e+00 1.00e+00h 1 45 2.0006306e+00 1.05e-11 1.71e+00 -4.1 8.54e+01 -20.0 1.00e+00 1.00e+00h 1 46 2.0006296e+00 4.21e-12 7.10e-01 -4.1 3.55e+01 -20.0 1.00e+00 1.00e+00h 1 47 2.0006300e+00 1.74e-12 2.84e-01 -4.1 1.42e+01 -20.0 1.00e+00 1.00e+00h 1 48 2.0006298e+00 7.02e-13 1.18e-01 -4.1 5.92e+00 -20.0 1.00e+00 1.00e+00h 1 49 2.0006299e+00 2.89e-13 4.72e-02 -4.1 2.36e+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 50 2.0006299e+00 1.17e-13 1.98e-02 -4.1 9.88e-01 -20.0 1.00e+00 1.00e+00h 1 51 2.0006299e+00 4.81e-14 7.87e-03 -4.1 3.94e-01 -20.0 1.00e+00 1.00e+00h 1 52 2.0006299e+00 1.94e-14 3.29e-03 -4.1 1.65e-01 -20.0 1.00e+00 1.00e+00h 1 53 2.0006299e+00 8.01e-15 1.31e-03 -4.1 9.49e-02 -20.0 1.00e+00 1.00e+00h 1 54 2.0006299e+00 3.24e-15 5.49e-04 -4.1 9.49e-02 -20.0 1.00e+00 1.00e+00h 1 55 1.9998548e+00 1.21e-08 2.25e+02 -6.1 1.13e+04 -20.0 1.00e+00 1.00e+00f 1 56 2.0006838e+00 3.07e-09 2.09e+03 -4.0 2.09e+05 -20.0 1.00e+00 5.00e-01f 2 57 2.0004215e+00 9.65e-11 2.30e+03 -3.9 1.15e+05 -20.0 1.00e+00 1.00e+00f 1 58 2.0009590e+00 3.49e-09 5.55e+02 -3.9 2.78e+04 -20.0 1.00e+00 1.00e+00f 1 59 2.0010400e+00 3.04e-09 1.06e+02 -3.9 5.32e+03 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0010524e+00 7.46e-10 2.71e+01 -3.9 1.36e+03 -20.0 1.00e+00 1.00e+00h 1 61 2.0010693e+00 5.74e-10 6.10e+00 -3.9 3.05e+02 -20.0 1.00e+00 1.00e+00h 1 62 2.0010711e+00 1.33e-10 4.72e+00 -3.9 2.36e+02 -20.0 1.00e+00 1.00e+00h 1 63 2.0010738e+00 9.78e-11 1.07e+00 -3.9 5.33e+01 -20.0 1.00e+00 1.00e+00h 1 64 2.0010741e+00 2.24e-11 7.85e-01 -3.9 3.92e+01 -20.0 1.00e+00 1.00e+00h 1 65 2.0010746e+00 1.63e-11 1.79e-01 -3.9 8.95e+00 -20.0 1.00e+00 1.00e+00h 1 66 2.0010746e+00 3.74e-12 1.31e-01 -3.9 6.54e+00 -20.0 1.00e+00 1.00e+00h 1 67 2.0010747e+00 2.72e-12 2.99e-02 -3.9 1.49e+00 -20.0 1.00e+00 1.00e+00h 1 68 2.0010747e+00 6.22e-13 2.18e-02 -3.9 1.09e+00 -20.0 1.00e+00 1.00e+00h 1 69 2.0010747e+00 4.53e-13 4.98e-03 -3.9 4.93e-01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0010747e+00 1.04e-13 3.63e-03 -3.9 4.93e-01 -20.0 1.00e+00 1.00e+00h 1 71 2.0010747e+00 7.55e-14 8.30e-04 -3.9 4.93e-01 -20.0 1.00e+00 1.00e+00h 1 72 1.9998649e+00 8.65e-08 2.43e+02 -5.9 1.22e+04 -20.0 1.00e+00 1.00e+00f 1 73 1.9998453e+00 3.09e-13 2.18e+02 -5.9 1.17e+04 -20.0 9.30e-01 1.00e+00h 1 74 1.8267811e+00 2.01e-13 1.94e+06 -5.9 9.72e+07 -20.0 1.81e-03 1.00e+00f 1 75 1.8120134e+00 5.21e-13 2.05e+03 -5.5 1.35e+08 -20.0 1.00e+00 7.59e-04f 1 76 1.9418311e+00 5.21e-13 1.31e+06 -4.0 9.40e+10 -20.0 1.00e+00 6.95e-04f 1 77 1.9999580e+00 5.18e-13 6.45e+05 -3.2 6.38e+09 -20.0 1.00e+00 5.06e-03f 1 78 1.9999072e+00 2.17e-11 1.64e+03 -3.2 8.19e+04 -20.0 1.00e+00 1.00e+00f 1 79 2.0292259e+00 6.32e-06 5.13e+01 -3.2 2.57e+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 2.0103709e+00 1.32e-03 8.57e+02 -3.2 8.57e+04 -20.0 1.00e+00 5.00e-01f 2 81 2.0086398e+00 2.54e-04 1.44e+02 -3.2 7.18e+03 -20.0 1.00e+00 1.00e+00h 1 82 2.0061649e+00 1.43e-05 1.42e+02 -3.2 7.09e+03 -20.0 1.00e+00 1.00e+00h 1 83 2.0064817e+00 2.66e-06 1.62e+02 -3.2 8.08e+03 -20.0 1.00e+00 1.00e+00h 1 84 2.0059372e+00 4.11e-06 3.24e+01 -3.2 1.62e+03 -20.0 1.00e+00 1.00e+00h 1 85 2.0059964e+00 2.81e-07 3.34e+01 -3.2 1.67e+03 -20.0 1.00e+00 1.00e+00h 1 86 2.0058932e+00 6.59e-07 2.98e+00 -3.2 1.49e+02 -20.0 1.00e+00 1.00e+00h 1 87 2.0059031e+00 4.37e-08 5.76e+00 -3.2 2.88e+02 -20.0 1.00e+00 1.00e+00h 1 88 2.0058855e+00 1.08e-07 4.69e-01 -3.2 8.66e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0058872e+00 7.20e-09 9.65e-01 -3.2 8.66e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0058842e+00 1.80e-08 7.82e-02 -3.2 8.64e+01 -20.0 1.00e+00 1.00e+00h 1 91 2.0058845e+00 1.20e-09 1.61e-01 -3.2 8.64e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0058840e+00 2.99e-09 1.30e-02 -3.2 8.64e+01 -20.0 1.00e+00 1.00e+00h 1 93 2.0058841e+00 1.99e-10 2.68e-02 -3.2 8.64e+01 -20.0 1.00e+00 1.00e+00h 1 94 2.0058840e+00 4.98e-10 2.17e-03 -3.2 8.64e+01 -20.0 1.00e+00 1.00e+00h 1 95 1.9999841e+00 6.11e-05 2.65e+02 -4.8 1.32e+04 -20.0 1.00e+00 1.00e+00f 1 96 2.0000041e+00 4.87e-10 7.05e+01 -4.8 3.52e+03 -20.0 1.00e+00 1.00e+00h 1 97 2.0000006e+00 4.57e-16 5.22e+02 -4.8 2.61e+04 -20.0 1.00e+00 1.00e+00h 1 98 1.9999302e+00 9.97e-15 5.17e+00 -4.8 2.58e+02 -20.0 1.00e+00 1.00e+00h 1 99 1.9999448e+00 3.73e-14 1.58e+02 -4.8 7.88e+03 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 1.9999334e+00 3.23e-14 3.55e+01 -4.8 1.77e+03 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.9999333647132183e+00 1.9999333647132183e+00 Dual infeasibility......: 3.5488543798093360e+01 3.5488543798093360e+01 Constraint violation....: 3.2281142262674322e-14 3.2281142262674322e-14 Variable bound violation: 3.1411686364335603e-09 3.1411686364335603e-09 Complementarity.........: 1.4881689501403828e-05 1.4881689501403828e-05 Overall NLP error.......: 2.9893861432721920e+01 3.5488543798093360e+01 Number of objective function evaluations = 111 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 111 Number of inequality constraint evaluations = 111 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 43.741 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: 0.062s 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 (QuadraticRegularizer): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.052s) linear index maps built (0.0s) evaluator ready (total: 0.115s) evaluator created (0.115s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.39s) optimizer initialization complete (total: 0.506s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1529 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 73 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.1165628e+00 3.99e+00 1.03e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.0546166e+00 2.72e+00 5.31e+00 -0.6 1.46e+01 -2.0 1.56e-01 3.97e-01h 1 2 2.2160106e+00 1.86e+00 5.65e+00 -0.5 1.74e+01 -1.6 1.82e-01 3.17e-01f 1 3 1.9042249e+00 1.36e+00 4.06e+00 -0.3 8.62e+00 -1.1 6.70e-01 2.93e-01f 1 4 1.8409562e+00 7.02e-01 7.81e+00 -0.2 4.66e+00 -0.7 7.93e-01 3.71e-01h 1 5 1.8363882e+00 8.07e-01 1.56e+01 -0.4 1.68e+02 -1.2 2.11e-02 7.96e-03f 2 6 1.9000742e+00 4.64e-01 2.99e+01 -2.4 3.06e+00 0.1 1.72e-01 3.16e-01h 1 7 1.8523560e+00 2.31e-01 2.25e+01 -0.6 1.73e+00 -0.3 9.92e-01 4.54e-01h 1 8 1.8620737e+00 4.46e-01 1.32e+01 -1.5 9.31e+00 -0.8 4.09e-01 3.14e-01h 1 9 1.8598936e+00 3.99e-01 1.38e+01 -0.9 1.73e+00 -0.4 7.41e-01 1.12e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.9931583e+00 2.30e-02 6.31e-01 -1.6 5.97e-01 0.0 9.99e-01 1.00e+00h 1 11 1.9234176e+00 2.95e-04 2.91e+00 -4.0 1.91e-01 -0.4 5.75e-01 1.00e+00h 1 12 1.6477272e+00 4.71e-02 1.61e+00 -1.3 1.78e+00 -0.9 1.00e+00 4.79e-01f 1 13 1.5826409e+00 6.67e-03 1.97e-01 -1.5 6.34e-01 -1.4 9.68e-01 1.00e+00f 1 14 1.4248528e+00 2.11e-03 1.12e-01 -2.1 7.23e-01 -1.9 9.12e-01 1.00e+00h 1 15 1.3148970e+00 7.98e-03 2.32e-02 -2.6 6.83e-01 -2.4 9.67e-01 1.00e+00h 1 16 1.2821010e+00 1.01e-02 1.26e-02 -2.9 8.79e-01 -2.8 9.25e-01 1.00e+00h 1 17 1.2579020e+00 4.72e-01 1.81e-01 -3.1 9.81e+00 -3.3 6.93e-01 7.80e-01h 1 18 1.2465474e+00 2.89e-01 2.63e-01 -3.1 2.58e+00 -2.0 8.96e-01 3.63e-01h 1 19 1.2162640e+00 3.47e-01 2.52e-01 -3.3 3.53e+00 -2.5 9.99e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.2138993e+00 6.51e-02 1.49e-01 -3.1 1.63e+00 -2.9 1.00e+00 1.00e+00h 1 21 1.1836456e+00 3.32e-01 9.09e-02 -3.1 3.45e+00 -3.4 1.00e+00 7.91e-01h 1 22 1.1855674e+00 1.33e-01 9.67e-02 -3.7 6.03e+00 -3.9 9.56e-01 9.35e-01h 1 23 1.1706511e+00 2.67e-01 4.96e-02 -4.0 5.87e+00 -4.4 1.00e+00 1.00e+00h 1 24 1.1728743e+00 9.39e-03 4.75e-02 -4.0 8.01e+00 -4.8 1.00e+00 1.00e+00h 1 25 1.1678866e+00 2.08e-01 1.64e-02 -4.0 1.20e+01 -5.3 1.00e+00 1.00e+00h 1 26 1.1671934e+00 1.15e-01 1.82e-02 -4.0 1.72e+01 -5.8 1.00e+00 1.00e+00h 1 27 1.1647802e+00 2.44e-01 9.26e-03 -4.0 2.70e+01 -6.3 1.00e+00 1.00e+00h 1 28 1.1638271e+00 2.25e-01 2.30e-03 -4.0 3.99e+01 -6.8 1.00e+00 1.00e+00h 1 29 1.1624946e+00 3.29e-01 1.46e-02 -4.0 6.10e+01 -7.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.1617913e+00 3.44e-01 1.19e-02 -4.0 8.91e+01 -7.7 1.00e+00 1.00e+00h 1 31 1.1610378e+00 4.33e-01 2.46e-02 -4.0 1.31e+02 -8.2 1.00e+00 1.00e+00h 1 32 1.1606576e+00 4.29e-01 2.23e-02 -4.0 1.79e+02 -8.7 1.00e+00 1.00e+00h 1 33 1.1604727e+00 3.57e-01 1.79e-02 -4.0 2.13e+02 -9.1 1.00e+00 1.00e+00h 1 34 1.1608217e+00 2.02e-02 4.04e-03 -4.0 8.57e+01 -9.6 1.00e+00 1.00e+00h 1 35 1.1608497e+00 2.37e-04 7.78e-05 -4.0 5.04e+00 -10.1 1.00e+00 1.00e+00h 1 36 1.1608491e+00 2.54e-06 3.48e-07 -4.0 6.61e-01 -10.6 1.00e+00 1.00e+00h 1 37 1.1608491e+00 1.97e-10 9.87e-12 -4.0 5.84e-03 -11.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 37 (scaled) (unscaled) Objective...............: 1.1608491307961144e+00 1.1608491307961144e+00 Dual infeasibility......: 9.8662311502108191e-12 9.8662311502108191e-12 Constraint violation....: 1.9651480442917091e-10 1.9651480442917091e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000247e-04 1.0000000000000247e-04 Overall NLP error.......: 1.9651480442917091e-10 1.9651480442917091e-10 Number of objective function evaluations = 40 Number of objective gradient evaluations = 38 Number of equality constraint evaluations = 40 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 38 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 37 Total seconds in IPOPT = 25.329 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.04s jacobian structure: 180 nonzeros (0.072s) integrator 1 hessian structure: 0.036s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.243s sub-objective 2 (QuadraticRegularizer): 0.065s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.013s objective hessian structure: 0.39s hessian structure: 375 nonzeros (0.425s) linear index maps built (0.0s) evaluator ready (total: 0.604s) evaluator created (0.604s) NL constraint bounds extracted (0.009s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.086s) applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (1.937s) optimizer initialization complete (total: 2.636s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 186 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 19 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.7613455e+00 7.08e-01 1.07e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8773676e+00 1.85e-01 1.64e+00 -0.9 8.81e-01 0.0 9.95e-01 1.00e+00h 1 2 1.8574967e+00 1.86e-01 9.85e-01 -0.4 3.12e+01 - 9.43e-02 3.16e-02f 2 3 1.7084051e+00 5.81e-02 1.23e+00 -1.1 4.29e-01 -0.5 9.81e-01 8.06e-01h 1 4 1.5782714e+00 2.89e-02 3.59e-01 -1.0 5.61e-01 -1.0 1.00e+00 4.60e-01f 1 5 1.2892795e+00 7.64e-03 2.15e-01 -2.1 5.35e+00 - 9.38e-01 1.00e+00h 1 6 1.1059244e+00 1.13e-03 5.74e-02 -3.2 9.47e-01 - 1.00e+00 1.00e+00h 1 7 1.0913896e+00 1.92e-06 5.88e-02 -4.0 1.93e+00 - 1.00e+00 1.00e+00h 1 8 1.0910298e+00 7.14e-10 5.16e-03 -4.0 6.72e-01 - 1.00e+00 1.00e+00h 1 9 1.0910386e+00 2.74e-15 1.27e-05 -4.0 1.91e-02 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0910386e+00 8.88e-16 1.27e-05 -4.0 2.53e-05 - 1.00e+00 1.00e+00h 1 11 1.0910386e+00 8.88e-16 1.27e-05 -4.0 1.76e-10 - 1.00e+00 1.00e+00h 1 12 1.0908587e+00 1.78e-15 2.38e-09 -4.1 1.99e-05 - 1.00e+00 1.00e+00f 1 13 1.0910386e+00 8.88e-16 2.53e-09 -4.0 1.99e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 13 (scaled) (unscaled) Objective...............: 1.0910385864123910e+00 1.0910385864123910e+00 Dual infeasibility......: 2.5297192812745450e-09 2.5297192812745450e-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.......: 2.5297192812745450e-09 2.5297192812745450e-09 Number of objective function evaluations = 17 Number of objective gradient evaluations = 14 Number of equality constraint evaluations = 17 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 = 15.771 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: 0.067s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.068s) integrator 1 hessian structure: 0.055s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.056s) linear index maps built (0.0s) evaluator ready (total: 0.123s) 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 (1.952s) optimizer initialization complete (total: 2.076s) 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 1.8816066e+00 3.08e+00 1.88e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9432541e+00 1.68e-02 1.11e+00 -1.0 2.57e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3289118e+00 1.74e-02 1.53e-01 -1.8 3.07e-01 -1.6 9.84e-01 1.00e+00h 1 3 2.1563087e+00 3.32e-03 3.66e-01 -3.0 1.82e-01 -1.1 9.52e-01 1.00e+00h 1 4 2.0983697e+00 8.77e-04 1.29e-01 -4.0 1.29e-01 -1.6 1.00e+00 8.18e-01h 1 5 2.0932708e+00 4.59e-04 8.96e-01 -4.0 9.48e-01 -2.1 1.00e+00 4.47e-01h 1 6 2.0907894e+00 5.54e-04 1.02e-01 -4.0 7.39e-01 -2.6 1.00e+00 8.85e-01h 1 7 2.0909442e+00 3.96e-05 2.71e-02 -4.0 2.69e-01 -3.1 1.00e+00 1.00e+00h 1 8 2.0909662e+00 8.96e-07 1.85e-04 -4.0 7.04e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909460e+00 4.82e-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 2.0908842e+00 1.47e-07 2.05e-05 -4.0 6.30e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907021e+00 1.29e-06 4.95e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0901831e+00 1.09e-05 4.19e-04 -4.0 5.44e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888413e+00 8.18e-05 3.15e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861563e+00 4.38e-04 1.74e-02 -4.0 3.46e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830892e+00 9.08e-04 4.70e-02 -4.0 5.31e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828736e+00 9.34e-04 2.39e-02 -4.0 5.38e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823481e+00 4.10e-04 9.97e-03 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820401e+00 9.20e-05 1.85e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819518e+00 2.70e-04 8.68e-03 -4.0 9.92e+01 -8.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0819393e+00 3.68e-05 8.45e-04 -4.0 3.10e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.32e-07 1.39e-05 -4.0 4.45e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.80e-10 3.27e-08 -4.0 2.45e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.52e-13 1.22e-11 -4.0 4.60e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907190964e+00 2.0819382907190964e+00 Dual infeasibility......: 1.2185450700774939e-11 1.2185450700774939e-11 Constraint violation....: 2.5224267119483557e-13 2.5224267119483557e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000036e-04 1.0000000000000036e-04 Overall NLP error.......: 1.2185450700774939e-11 1.2185450700774939e-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 = 26.612 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: 0.045s 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 sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.045s) linear index maps built (0.0s) evaluator ready (total: 0.102s) evaluator created (0.102s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.056s) optimizer initialization complete (total: 0.159s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1528 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 77 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.1074561e+00 2.87e+00 2.02e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8873389e+00 1.67e-02 4.24e-01 -1.1 2.38e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.2594480e+00 1.56e-02 4.64e-02 -1.7 1.75e-01 -1.6 9.47e-01 1.00e+00f 1 3 2.1228254e+00 1.62e-03 2.00e-01 -3.3 1.16e-01 -1.1 9.15e-01 9.88e-01h 1 4 2.0955118e+00 6.34e-04 7.66e-02 -4.0 6.40e-02 -1.6 1.00e+00 7.60e-01h 1 5 2.0917390e+00 1.69e-04 5.23e-01 -4.0 5.48e-01 -2.1 1.00e+00 4.63e-01h 1 6 2.0909233e+00 9.21e-05 1.83e-01 -4.0 4.89e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0908671e+00 3.54e-07 3.24e-03 -4.0 2.01e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0908685e+00 1.83e-07 1.72e-05 -4.0 5.89e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908555e+00 1.02e-08 2.08e-05 -4.0 1.70e-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 2.0908202e+00 7.04e-08 1.18e-04 -4.0 4.72e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907218e+00 6.11e-07 3.59e-04 -4.0 1.31e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904202e+00 5.49e-06 5.24e-04 -4.0 3.91e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0902964e+00 9.13e-07 5.90e-04 -4.0 1.60e+00 -5.0 1.00e+00 1.00e+00h 1 14 2.0901466e+00 1.54e-06 2.10e-02 -4.0 6.96e+00 -5.5 1.00e+00 2.06e-01h 2 15 2.0889586e+00 6.71e-05 2.90e-03 -4.0 1.40e+01 -6.0 1.00e+00 1.00e+00h 1 16 2.0871994e+00 1.82e-04 5.09e-02 -4.0 3.74e+01 -6.4 1.00e+00 5.64e-01h 1 17 2.0836038e+00 1.51e-03 5.59e-02 -4.0 6.46e+01 -6.9 1.00e+00 1.00e+00h 1 18 2.0826301e+00 8.10e-04 3.49e-02 -4.0 4.19e+01 -7.4 1.00e+00 4.77e-01h 1 19 2.0822876e+00 4.08e-04 2.09e-02 -4.0 1.54e+02 -7.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0832707e+00 2.90e-06 1.74e-01 -4.0 1.82e+02 -7.5 3.48e-01 1.00e+00H 1 21 2.0825938e+00 1.15e-04 1.60e-01 -4.0 2.86e+00 -5.2 1.00e+00 6.31e-01h 1 22 2.0825290e+00 1.49e-04 7.17e-01 -4.0 4.15e+00 -5.7 1.00e+00 1.20e-01h 2 23 2.0823482e+00 7.77e-05 4.46e-03 -4.0 6.34e+00 -6.2 1.00e+00 1.00e+00h 1 24 2.0821695e+00 4.01e-05 1.56e-03 -4.0 1.72e+01 -6.7 1.00e+00 1.00e+00h 1 25 2.0822222e+00 2.48e-04 2.88e-02 -4.0 5.24e+01 -7.1 4.26e-01 1.00e+00h 1 26 2.0817954e+00 7.37e-05 4.49e-02 -4.1 8.17e-01 -4.9 1.00e+00 7.89e-01h 1 27 2.0823325e+00 6.16e-05 3.36e-03 -4.0 1.37e+00 -5.4 1.00e+00 1.00e+00f 1 28 2.0821547e+00 2.02e-04 1.99e-03 -4.0 5.22e+00 -5.9 1.00e+00 1.00e+00h 1 29 2.0820340e+00 2.48e-05 3.34e-04 -4.0 6.32e-01 -5.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0821441e+00 9.47e-05 5.09e-04 -4.0 3.26e+00 -5.9 1.00e+00 1.00e+00h 1 31 2.0819465e+00 1.91e-04 3.83e-04 -4.1 1.12e+01 -6.4 1.00e+00 1.00e+00h 1 32 2.0815105e+00 1.23e-04 1.08e-01 -6.1 6.48e+00 -6.0 8.41e-01 4.21e-01h 1 33 2.0821039e+00 3.61e-04 2.19e-03 -4.0 5.44e+00 -6.4 1.00e+00 1.00e+00f 1 34 2.0818921e+00 2.04e-04 1.10e-02 -4.1 2.03e+01 -6.9 7.75e-01 1.00e+00h 1 35 2.0818117e+00 7.32e-05 2.04e+00 -4.1 3.21e+00 -4.7 1.00e+00 2.75e-01h 1 36 2.0817140e+00 2.39e-05 7.32e-04 -4.1 6.21e-01 -5.2 1.00e+00 1.00e+00f 1 37 2.0819377e+00 8.11e-05 2.30e-04 -4.0 1.24e+00 -5.6 1.00e+00 1.00e+00h 1 38 2.0817844e+00 2.57e-05 4.17e-04 -4.1 1.08e+00 -6.1 1.00e+00 1.00e+00h 1 39 2.0809026e+00 9.86e-04 5.73e-03 -6.1 1.25e+01 -6.6 9.91e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0810001e+00 3.64e-04 2.57e-02 -4.7 6.02e-01 -5.3 1.00e+00 6.28e-01h 1 41 2.0813606e+00 2.99e-04 4.25e-01 -4.0 6.46e+00 -5.7 1.00e+00 4.33e-01f 1 42 2.0817890e+00 2.08e-04 1.52e-03 -4.0 3.69e+00 -6.2 1.00e+00 1.00e+00h 1 43 2.0817020e+00 6.65e-05 4.49e-04 -4.1 4.54e+00 -6.7 1.00e+00 1.00e+00h 1 44 2.0819520e+00 2.67e-04 2.39e-04 -4.0 1.05e+01 -7.2 1.00e+00 1.00e+00h 1 45 2.0816752e+00 5.16e-04 4.74e-04 -4.1 2.39e+01 -7.6 1.00e+00 1.00e+00h 1 46 2.0806496e+00 5.02e-03 1.60e-03 -6.1 5.92e+01 -8.1 9.71e-01 9.58e-01h 1 47 2.0818872e+00 7.04e-03 2.21e-03 -4.0 5.93e+01 -8.6 1.00e+00 1.00e+00f 1 48 2.0816224e+00 6.57e-04 7.36e-04 -4.1 2.54e+01 -9.1 1.00e+00 1.00e+00h 1 49 2.0806053e+00 3.64e-03 2.16e-04 -6.1 4.35e+01 -9.5 9.76e-01 9.61e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0817927e+00 5.45e-03 1.26e-03 -4.0 5.59e+01 -10.0 1.00e+00 9.34e-01f 1 51 2.0815902e+00 2.81e-04 2.01e-05 -4.1 1.59e+01 -10.5 1.00e+00 1.00e+00h 1 52 2.0805956e+00 3.33e-03 1.41e-04 -6.1 4.06e+01 -11.0 9.77e-01 9.66e-01h 1 53 2.0807927e+00 2.97e-03 1.50e-02 -4.0 5.97e+01 -11.5 1.00e+00 1.57e-01f 1 54 2.0818320e+00 3.24e-03 1.49e-04 -4.0 3.63e+01 -11.9 1.00e+00 1.00e+00h 1 55 2.0815783e+00 1.74e-04 5.30e-06 -4.1 7.93e+00 -12.4 1.00e+00 1.00e+00h 1 56 2.0805866e+00 3.29e-03 1.39e-04 -6.1 3.98e+01 -12.9 9.78e-01 9.74e-01h 1 57 2.0818900e+00 6.65e-03 3.00e-04 -4.0 6.16e+01 -13.4 1.00e+00 1.00e+00f 1 58 2.0816155e+00 5.03e-04 1.12e-05 -4.1 2.14e+01 -13.8 1.00e+00 1.00e+00h 1 59 2.0805994e+00 3.48e-03 1.53e-04 -6.1 4.16e+01 -14.3 9.76e-01 9.64e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0805509e+00 8.55e-05 2.22e-06 -6.1 1.70e+01 -14.8 1.00e+00 1.00e+00h 1 61 2.0819790e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -15.3 1.00e+00 1.00e+00f 1 62 2.0816847e+00 9.28e-04 4.91e-05 -4.1 4.56e+01 -15.8 1.00e+00 1.00e+00h 1 63 2.0816488e+00 4.72e-07 7.40e-07 -4.1 8.48e+00 -16.2 1.00e+00 1.00e+00h 1 64 2.0818389e+00 1.14e-04 4.88e-06 -4.0 7.03e+00 -16.7 1.00e+00 1.00e+00h 1 65 2.0815801e+00 2.08e-04 9.04e-06 -4.1 9.49e+00 -17.2 1.00e+00 1.00e+00h 1 66 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -17.7 9.78e-01 9.71e-01h 1 67 2.0805497e+00 6.51e-05 1.78e-06 -6.1 1.55e+01 -18.1 1.00e+00 1.00e+00h 1 68 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -18.6 1.00e+00 1.00e+00f 1 69 2.0816901e+00 9.49e-04 5.23e-05 -4.1 4.72e+01 -19.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0816518e+00 5.68e-07 7.86e-07 -4.1 8.91e+00 -19.6 1.00e+00 1.00e+00h 1 71 2.0805907e+00 3.69e-03 1.61e-04 -6.1 4.17e+01 -20.0 9.77e-01 9.75e-01h 1 72 2.0805511e+00 6.76e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 73 2.0805469e+00 4.72e-08 2.03e-08 -6.1 2.96e+00 -20.0 1.00e+00 1.00e+00h 1 74 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.88e+01 -20.0 1.00e+00 1.00e+00f 1 75 2.0817176e+00 1.03e-03 6.82e-05 -4.1 5.46e+01 -20.0 1.00e+00 1.00e+00h 1 76 2.0816664e+00 1.23e-06 1.00e-06 -4.1 1.09e+01 -20.0 1.00e+00 1.00e+00h 1 77 2.0805915e+00 3.77e-03 1.67e-04 -6.1 4.21e+01 -20.0 9.76e-01 9.75e-01h 1 78 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 79 2.0805471e+00 5.00e-08 2.15e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805365e+00 9.59e-07 8.07e-07 -9.0 9.59e-01 -20.0 1.00e+00 9.97e-01h 1 81 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 82 2.0817324e+00 1.07e-03 7.73e-05 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 83 2.0816741e+00 1.68e-06 1.10e-06 -4.1 1.18e+01 -20.0 1.00e+00 1.00e+00h 1 84 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 85 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 86 2.0805472e+00 5.16e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 87 2.0805365e+00 9.80e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 88 2.0805365e+00 9.37e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 89 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0817328e+00 1.07e-03 7.75e-05 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 91 2.0816743e+00 1.69e-06 1.10e-06 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 93 2.0805516e+00 7.08e-05 2.06e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 94 2.0805472e+00 5.17e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 9.81e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 96 2.0805365e+00 9.39e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 4.44e-16 3.37e-16 -9.0 1.11e-05 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 6.66e-16 2.22e-16 -9.0 2.01e-12 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 2.22e-16 2.41e-16 -9.0 7.59e-14 -20.0 1.00e+00 1.00e+00 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 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....: 100 (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 = 108 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 108 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 = 101 Total seconds in IPOPT = 26.992 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: 0.057s jacobian structure: 180 nonzeros (0.096s) integrator 1 hessian structure: 0.05s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.378s sub-objective 2 (QuadraticRegularizer): 0.09s sub-objective 3 (MinimumTimeObjective): 0.018s objective hessian structure: 0.583s hessian structure: 375 nonzeros (0.633s) linear index maps built (0.0s) evaluator ready (total: 0.885s) evaluator created (0.885s) NL constraint bounds extracted (0.011s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.125s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.577s) optimizer initialization complete (total: 4.6s) 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 1.3118901e+00 8.29e-01 1.04e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.9862905e+00 5.82e-02 1.56e+00 -0.9 6.02e-01 0.0 9.88e-01 1.00e+00h 1 2 1.7989193e+00 4.13e-02 8.73e-01 -0.9 5.08e-01 -0.5 7.57e-01 7.19e-01h 1 3 1.8711447e+00 8.52e-02 1.04e+00 -1.1 3.88e+00 - 6.48e-01 4.18e-01h 1 4 1.2553982e+00 3.66e-04 6.89e-02 -1.8 4.09e-01 - 9.93e-01 1.00e+00f 1 5 1.0979682e+00 2.07e-06 1.54e-02 -3.2 2.69e-01 - 9.85e-01 1.00e+00f 1 6 1.0910951e+00 3.63e-08 1.75e-02 -4.0 1.17e+00 - 1.00e+00 1.00e+00f 1 7 1.0908976e+00 4.18e-11 3.62e-04 -4.0 1.85e-01 - 1.00e+00 1.00e+00h 1 8 1.0908997e+00 1.32e-16 1.51e-08 -4.0 1.20e-03 - 1.00e+00 1.00e+00h 1 9 1.0908997e+00 6.80e-26 8.38e-16 -4.0 1.18e-07 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 1.0908997263265459e+00 1.0908997263265459e+00 Dual infeasibility......: 8.3799341164120245e-16 8.3799341164120245e-16 Constraint violation....: 6.8024978022095962e-26 6.8024978022095962e-26 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000003e-04 1.0000000000000003e-04 Overall NLP error.......: 8.3799341164120245e-16 8.3799341164120245e-16 Number of objective function evaluations = 10 Number of objective gradient evaluations = 10 Number of equality constraint evaluations = 10 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 10 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 9 Total seconds in IPOPT = 26.965 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.069s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.069s) 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: 0.122s) evaluator created (0.122s) 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 1.9186160e+00 2.55e+00 5.94e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5726920e+00 1.49e-01 8.73e-01 -0.9 2.28e+00 -2.0 9.21e-01 1.00e+00f 1 2 2.4120326e+00 1.31e-01 1.86e-01 -1.4 1.75e+00 -2.5 9.78e-01 1.00e+00h 1 3 2.1794358e+00 2.07e-02 4.21e-02 -2.2 7.49e-01 -3.0 9.69e-01 1.00e+00h 1 4 2.0945663e+00 7.06e-03 1.82e-02 -3.4 6.35e-01 -3.4 9.96e-01 9.93e-01h 1 5 2.0909537e+00 1.82e-04 9.62e-04 -4.0 1.93e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0908743e+00 3.04e-06 2.06e-05 -4.0 5.00e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0907268e+00 8.28e-07 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0902856e+00 7.71e-06 3.45e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0889729e+00 7.06e-05 3.07e-04 -4.0 1.33e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0851341e+00 6.69e-04 2.78e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0796280e+00 2.13e-03 1.75e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.43e-01h 1 12 2.0802587e+00 4.70e-04 1.88e-01 -4.0 6.88e+01 -7.2 1.00e+00 9.67e-01H 1 13 2.0774777e+00 8.24e-03 2.04e-02 -4.0 1.23e+02 -7.7 1.00e+00 9.48e-01h 1 14 2.0768592e+00 1.70e-03 7.23e-02 -4.0 2.05e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0762154e+00 2.51e-03 2.93e-02 -4.0 3.50e+02 -8.7 1.00e+00 8.37e-01h 1 16 2.0755259e+00 1.47e-03 4.12e-02 -4.0 5.92e+02 -9.2 1.00e+00 6.83e-01h 1 17 2.0757732e+00 3.15e-03 1.33e-02 -4.0 1.67e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0753794e+00 1.15e-03 5.51e-04 -4.1 8.22e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0756723e+00 4.61e-04 5.11e-06 -4.0 2.09e+01 -10.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0756712e+00 5.60e-07 9.20e-07 -4.0 1.09e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0756712e+00 1.60e-09 5.96e-08 -4.0 3.65e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0756712e+00 2.23e-11 9.03e-10 -4.0 5.25e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0756712121318133e+00 2.0756712121318133e+00 Dual infeasibility......: 9.0348076432376564e-10 9.0348076432376564e-10 Constraint violation....: 2.2343460415186200e-11 2.2343460415186200e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000036e-04 1.0000000000000036e-04 Overall NLP error.......: 9.0348076432376564e-10 9.0348076432376564e-10 Number of objective function evaluations = 24 Number of objective gradient evaluations = 23 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 23 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 22 Total seconds in IPOPT = 29.980 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.071s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.071s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.121s) 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 (0.139s) optimizer initialization complete (total: 0.26s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1488 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1524 Total number of variables............................: 100 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.3732835e+00 4.11e+00 4.97e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.9276933e+00 1.16e+00 2.35e+00 -0.8 3.22e+00 0.0 9.16e-01 7.22e-01f 1 2 3.2541575e+00 1.28e-01 3.27e+00 -0.5 9.07e-01 -0.5 1.00e+00 1.00e+00f 1 3 2.7571337e+00 2.47e-02 3.64e-01 -0.9 1.92e-01 -0.1 9.41e-01 1.00e+00h 1 4 2.4465483e+00 8.00e-03 1.45e-01 -1.9 1.27e-01 -0.5 8.94e-01 9.86e-01h 1 5 2.1936201e+00 1.56e-02 4.30e-01 -2.1 4.55e-01 -1.0 9.05e-01 5.48e-01f 1 6 2.1088208e+00 3.26e-03 1.07e-01 -2.8 2.29e-01 -1.5 9.97e-01 1.00e+00h 1 7 2.0928282e+00 9.26e-04 3.10e-02 -4.0 3.53e-01 -2.0 1.00e+00 1.00e+00h 1 8 2.0908783e+00 5.31e-05 5.06e-02 -4.0 1.23e-01 -2.4 1.00e+00 1.00e+00h 1 9 2.0908620e+00 1.53e-06 8.68e-04 -4.0 1.95e-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 2.0908555e+00 2.75e-07 2.39e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908405e+00 9.58e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0907957e+00 7.84e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906614e+00 7.07e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902594e+00 6.40e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890625e+00 5.85e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855541e+00 5.53e-04 2.31e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796207e+00 2.27e-03 1.37e-01 -4.0 9.55e+01 -6.7 1.00e+00 6.27e-01h 1 18 2.0807095e+00 1.55e-04 1.81e-01 -4.0 6.57e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775238e+00 7.33e-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 2.0769561e+00 1.11e-03 5.13e-02 -4.0 1.75e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0759771e+00 9.21e-04 2.34e-02 -4.0 3.12e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0754426e+00 4.88e-04 2.83e-02 -4.0 4.58e+02 -9.1 1.00e+00 7.31e-01H 1 23 2.0757720e+00 2.11e-03 1.05e-02 -4.0 1.39e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753809e+00 1.41e-03 4.73e-04 -4.1 7.76e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756723e+00 4.01e-04 6.99e-06 -4.0 1.83e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0753425e+00 6.31e-04 7.77e-07 -4.1 2.58e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756725e+00 3.34e-04 8.12e-07 -4.0 1.36e+01 -11.5 1.00e+00 1.00e+00h 1 28 2.0753425e+00 5.01e-04 2.60e-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....: 1.4164404722588841e-02 1.4164404722588841e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.3095644031728786e-04 2.3095644031728786e-04 Overall NLP error.......: 4.4440948322914557e-02 4.4440948322914557e-02 Number of objective function evaluations = 103 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 103 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 28.061 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.06s) integrator 1 hessian structure: 0.045s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.046s) linear index maps built (0.0s) evaluator ready (total: 0.106s) evaluator created (0.106s) 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: 0.107s) 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 3.6292519e+00 2.76e+00 6.52e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9633502e+00 4.91e-02 2.95e+00 -1.0 1.99e+00 0.0 9.89e-01 1.00e+00h 1 2 2.4113983e+00 2.52e-02 1.20e+00 -1.8 3.89e-01 -0.5 6.20e-01 6.91e-01h 1 3 2.2986835e+00 1.58e-02 8.17e-01 -1.8 1.73e-01 -0.1 9.98e-01 3.51e-01h 1 4 2.1367692e+00 3.49e-03 1.51e-01 -2.4 1.13e-01 -0.5 9.98e-01 8.81e-01h 1 5 2.0991008e+00 6.89e-04 6.30e-02 -3.8 9.57e-02 -1.0 9.96e-01 1.00e+00h 1 6 2.0909177e+00 4.30e-05 2.40e-02 -4.0 2.66e-02 -1.5 1.00e+00 1.00e+00h 1 7 2.0908676e+00 5.00e-08 3.99e-04 -4.0 1.44e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0908678e+00 9.26e-10 7.94e-05 -4.0 2.17e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908661e+00 1.08e-10 2.17e-05 -4.0 1.78e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908611e+00 9.69e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908462e+00 8.73e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908014e+00 7.86e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906671e+00 7.09e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902651e+00 6.41e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890681e+00 5.87e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855597e+00 5.54e-04 2.31e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796376e+00 2.27e-03 1.37e-01 -4.0 9.54e+01 -6.7 1.00e+00 6.26e-01h 1 18 2.0806817e+00 1.32e-04 1.71e-01 -4.0 6.80e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775294e+00 6.98e-03 2.26e-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 2.0769711e+00 1.28e-03 5.26e-02 -4.0 1.99e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0762946e+00 1.28e-03 3.28e-02 -4.0 3.47e+02 -8.6 1.00e+00 6.69e-01h 1 22 2.0755249e+00 3.30e-03 3.28e-02 -4.0 6.14e+02 -9.1 1.00e+00 7.52e-01h 1 23 2.0758065e+00 3.39e-03 1.80e-02 -4.0 1.83e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0756807e+00 5.39e-04 8.96e-04 -4.0 9.78e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.71e-06 1.46e-05 -4.0 2.31e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 8.85e-08 1.31e-06 -4.0 1.42e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.74e-09 1.14e-07 -4.0 4.75e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.95e-11 1.93e-09 -4.0 7.54e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121665339e+00 2.0756712121665339e+00 Dual infeasibility......: 1.9274358550717442e-09 1.9274358550717442e-09 Constraint violation....: 4.9461545970075349e-11 4.9461545970075349e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000053e-04 1.0000000000000053e-04 Overall NLP error.......: 1.9274358550717442e-09 1.9274358550717442e-09 Number of objective function evaluations = 30 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 30 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 25.837 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 23m17.4s Testing DirectTrajOpt tests passed Testing completed after 1478.81s PkgEval succeeded after 1576.08s