Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.1871 (50d44f5be7*) started at 2026-03-08T23:44:19.888 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 15.11s ################################################################################ # 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 v7.23.0 [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 v3.17.0 [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 6.78s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling packages... 35295.0 ms ✓ DirectTrajOpt 1 dependency successfully precompiled in 43 seconds. 225 already precompiled. Precompilation completed after 67.48s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_xGAo5k/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_xGAo5k/Manifest.toml` [47edcb42] ADTypes v1.21.0 ⌃ [c29ec348] AbstractDifferentiation v0.4.4 [7d9f7c33] Accessors v0.1.43 [79e6a3ab] Adapt v4.5.0 [4fba245c] ArrayInterface v7.23.0 [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 v3.17.0 [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: 2.344s integrator 2 jacobian structure: 0.053s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 4.615s jacobian structure: 1600 nonzeros (7.07s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.049s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.206s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 2.249s sub-objective 2 (QuadraticRegularizer): 1.548s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.017s objective hessian structure: 3.91s hessian structure: 1749 nonzeros (8.213s) linear index maps built (0.0s) evaluator ready (total: 15.747s) evaluator created (20.611s) NL constraint bounds extracted (0.22s) NLP block data built (0.0s) Ipopt optimizer configured (0.331s) variables set (0.673s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (3.204s) optimizer initialization complete (total: 25.041s) ****************************************************************************** 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 2.2971109e+00 2.35e+00 2.88e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.3969256e+00 4.21e-01 3.88e+00 -0.6 2.26e+00 0.0 1.00e+00 8.19e-01h 1 2 2.2569119e+00 1.62e-01 3.03e+00 -0.6 8.68e-01 0.4 6.65e-01 6.02e-01h 1 3 2.6644231e+00 6.55e-02 7.60e+00 -0.8 9.16e-01 -0.1 6.45e-01 1.00e+00f 1 4 2.6189962e+00 5.94e-02 4.90e+00 -0.4 5.15e-01 0.4 7.19e-01 2.74e-01h 1 5 2.4744652e+00 2.33e-02 3.51e+00 -4.0 3.16e-01 -0.1 4.43e-01 6.09e-01h 1 6 2.4680412e+00 2.25e-02 3.89e+00 -4.0 1.36e-01 -0.6 7.06e-01 3.75e-02h 1 7 2.2902423e+00 1.27e-02 7.96e-01 -2.0 3.17e-01 -1.1 1.00e+00 8.12e-01f 1 8 2.1603964e+00 1.04e-02 3.05e-01 -2.2 4.49e-01 -1.5 1.00e+00 6.75e-01h 1 9 2.0969297e+00 1.70e-03 8.83e-02 -3.4 1.19e-01 -2.0 1.00e+00 9.32e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908432e+00 3.04e-05 2.57e-02 -4.0 3.30e-02 -2.5 1.00e+00 1.00e+00h 1 11 2.0908440e+00 1.57e-07 7.59e-05 -4.0 4.39e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0908384e+00 1.01e-08 1.66e-05 -4.0 4.60e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908267e+00 5.33e-09 1.62e-05 -4.0 1.34e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0907960e+00 4.70e-08 5.19e-05 -4.0 3.80e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0907140e+00 4.13e-07 2.09e-04 -4.0 1.06e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0904566e+00 3.35e-06 5.02e-04 -4.0 3.17e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0903611e+00 6.12e-07 3.69e-04 -4.0 1.29e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0901999e+00 1.39e-06 1.32e-02 -4.0 5.07e+00 -5.4 1.00e+00 3.06e-01h 2 19 2.0891494e+00 4.84e-05 2.03e-03 -4.0 1.19e+01 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0869308e+00 3.39e-04 1.91e-02 -4.0 3.13e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0860270e+00 1.58e-04 1.64e-02 -4.0 1.29e+01 -5.9 1.00e+00 6.40e-01h 1 22 2.0845677e+00 2.09e-04 1.38e-02 -4.0 2.55e+01 -6.4 1.00e+00 1.00e+00h 1 23 2.0827730e+00 1.90e-04 2.14e-02 -4.0 3.40e+01 -6.9 1.00e+00 8.50e-01h 1 24 2.0828803e+00 8.00e-04 2.64e-02 -4.0 6.03e+01 -7.4 1.00e+00 1.00e+00h 1 25 2.0820505e+00 1.91e-03 9.38e-03 -4.1 1.40e+02 -7.8 1.00e+00 1.00e+00h 1 26 2.0823572e+00 8.61e-04 3.94e-02 -4.0 8.93e+03 -8.3 3.39e-03 1.65e-02h 6 27 2.0822655e+00 4.09e-04 1.83e-01 -4.0 1.24e+01 -6.1 1.00e+00 4.46e-01h 1 28 2.0819939e+00 1.75e-03 1.00e-02 -4.0 1.72e+01 -6.6 1.00e+00 1.00e+00h 1 29 2.0834371e+00 8.70e-03 5.91e-03 -3.6 4.46e+01 -7.0 8.27e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0945000e+00 2.64e-03 1.65e-01 -3.8 1.90e+01 -5.7 6.52e-01 5.46e-01h 1 31 2.0894544e+00 3.29e-03 1.48e-01 -3.8 1.25e+01 -6.2 3.01e-01 4.05e-01f 1 32 2.0856179e+00 2.84e-03 6.36e+00 -3.8 1.63e+00 -1.2 2.87e-03 1.37e-01f 1 33 2.0838763e+00 1.34e-06 1.42e-02 -3.8 9.06e-02 -0.8 1.00e+00 1.00e+00f 1 34 2.0830276e+00 1.62e-07 3.37e-03 -4.0 7.52e-02 -1.3 1.00e+00 1.00e+00h 1 35 2.0828479e+00 1.02e-07 7.73e-04 -4.0 4.55e-02 -1.8 1.00e+00 1.00e+00h 1 36 2.0828664e+00 1.17e-08 3.32e-05 -4.0 3.52e-03 -2.2 1.00e+00 1.00e+00h 1 37 2.0828701e+00 4.58e-09 1.01e-05 -4.0 5.36e-03 -2.7 1.00e+00 1.00e+00h 1 38 2.0828692e+00 5.69e-10 1.01e-05 -4.0 1.61e-02 -3.2 1.00e+00 1.00e+00h 1 39 2.0828662e+00 1.30e-09 1.01e-05 -4.0 4.83e-02 -3.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0828572e+00 1.19e-08 1.00e-05 -4.0 1.45e-01 -4.2 1.00e+00 1.00e+00h 1 41 2.0828300e+00 1.14e-07 9.99e-06 -4.0 4.32e-01 -4.6 1.00e+00 1.00e+00h 1 42 2.0827476e+00 1.28e-06 5.18e-05 -4.0 1.28e+00 -5.1 1.00e+00 1.00e+00h 1 43 2.0824798e+00 2.37e-05 3.41e-04 -4.0 3.83e+00 -5.6 1.00e+00 1.00e+00h 1 44 2.1236858e+00 2.12e-07 2.79e-01 -4.0 1.74e+01 -6.1 1.70e-01 1.00e+00H 1 45 2.0983583e+00 1.70e-06 1.26e+00 -4.1 1.49e-01 -0.2 4.80e-01 1.00e+00f 1 46 2.0897245e+00 2.23e-06 7.48e-01 -4.1 3.29e-01 -0.7 3.64e-01 3.96e-01f 1 47 2.0846915e+00 3.90e-06 1.43e+00 -4.1 1.89e-01 -1.2 1.00e+00 7.78e-01f 1 48 2.0819152e+00 9.38e-06 1.66e+00 -4.1 2.92e-01 -1.7 8.49e-01 5.06e-01f 1 49 2.0823411e+00 8.03e-06 5.32e+00 -3.5 2.73e-01 -2.1 1.00e+00 1.51e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0822871e+00 5.19e-06 1.87e+00 -3.5 8.57e-02 -2.6 1.00e+00 4.67e-01f 2 51 2.0821323e+00 3.19e-06 1.09e-03 -3.5 1.58e-01 -3.1 1.00e+00 1.00e+00h 1 52 2.0819659e+00 8.80e-07 1.22e-03 -4.0 2.06e-02 -3.6 1.00e+00 1.00e+00h 1 53 2.0817163e+00 1.19e-05 8.06e-04 -4.0 2.59e-01 -4.0 1.00e+00 1.00e+00h 1 54 2.0818206e+00 5.97e-06 4.37e-04 -4.0 4.43e-01 -4.5 1.00e+00 1.00e+00h 1 55 2.0818957e+00 5.27e-06 4.03e-04 -4.0 8.82e-01 -5.0 1.00e+00 1.00e+00h 1 56 2.0819850e+00 7.36e-06 5.99e-04 -4.0 1.40e+00 -5.5 1.00e+00 1.00e+00h 1 57 2.0818693e+00 5.60e-05 3.76e-04 -4.1 2.69e+00 -5.9 1.00e+00 1.00e+00h 1 58 2.0810997e+00 3.43e-04 2.30e-02 -6.1 7.05e+00 -6.4 9.61e-01 7.37e-01h 1 59 2.0808829e+00 1.66e-04 2.10e-03 -5.1 8.60e+00 -6.9 1.00e+00 9.77e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0820742e+00 7.41e-03 4.58e-02 -4.0 6.70e+01 -7.4 6.23e-01 1.00e+00f 1 61 2.0814650e+00 2.40e-03 1.19e-01 -4.2 1.17e+01 -6.1 1.00e+00 8.19e-01h 1 62 2.0817662e+00 1.14e-03 5.21e-01 -4.2 1.64e+01 -5.6 7.67e-01 4.91e-01h 1 63 2.0815289e+00 1.10e-05 3.70e-03 -4.2 1.44e+00 -6.1 1.00e+00 1.00e+00f 1 64 2.0818350e+00 3.85e-05 5.13e-03 -4.0 9.67e-01 -4.8 1.00e+00 1.00e+00h 1 65 2.0816947e+00 5.54e-06 1.03e-03 -4.1 4.22e-01 -5.2 1.00e+00 1.00e+00h 1 66 2.0818827e+00 4.50e-05 5.99e-04 -4.0 2.10e+00 -5.7 1.00e+00 1.00e+00h 1 67 2.0817512e+00 2.84e-05 4.87e-04 -4.1 1.67e+00 -6.2 1.00e+00 1.00e+00h 1 68 2.0808759e+00 8.86e-04 4.35e-03 -6.1 1.11e+01 -6.7 9.89e-01 9.92e-01h 1 69 2.0819600e+00 1.70e-03 3.70e-03 -4.0 1.42e+01 -7.2 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0817164e+00 5.62e-04 1.68e-03 -4.1 1.76e+01 -7.6 1.00e+00 1.00e+00h 1 71 2.0816345e+00 7.48e-05 1.36e-03 -4.1 3.53e+01 -8.1 1.00e+00 1.00e+00h 1 72 2.0816100e+00 3.76e-05 1.15e-03 -4.1 3.89e+01 -8.6 1.00e+00 1.00e+00h 1 73 2.0816053e+00 9.21e-06 2.41e-04 -4.1 2.08e+01 -9.1 1.00e+00 1.00e+00h 1 74 2.0818442e+00 1.72e-04 3.12e-05 -4.0 7.82e+00 -9.5 1.00e+00 1.00e+00h 1 75 2.0815837e+00 2.13e-04 1.42e-05 -4.1 9.70e+00 -10.0 1.00e+00 1.00e+00h 1 76 2.0805953e+00 3.32e-03 1.60e-04 -6.1 4.09e+01 -10.5 9.77e-01 9.64e-01h 1 77 2.0818908e+00 6.59e-03 3.24e-04 -4.0 6.16e+01 -11.0 1.00e+00 1.00e+00f 1 78 2.0816146e+00 4.96e-04 1.07e-05 -4.1 2.08e+01 -11.5 1.00e+00 1.00e+00h 1 79 2.0806042e+00 3.49e-03 2.32e-04 -6.1 4.24e+01 -11.9 9.76e-01 9.58e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805507e+00 9.69e-05 2.32e-06 -6.1 1.71e+01 -12.4 1.00e+00 1.00e+00h 1 81 2.0819818e+00 1.02e-02 3.99e-04 -4.0 8.54e+01 -12.9 1.00e+00 1.00e+00f 1 82 2.0816804e+00 9.65e-04 4.94e-05 -4.1 4.57e+01 -13.4 1.00e+00 1.00e+00h 1 83 2.0816444e+00 4.72e-07 7.72e-07 -4.1 8.40e+00 -13.8 1.00e+00 1.00e+00h 1 84 2.0818441e+00 1.27e-04 5.47e-06 -4.0 7.55e+00 -14.3 1.00e+00 1.00e+00h 1 85 2.0815834e+00 2.14e-04 9.28e-06 -4.1 9.76e+00 -14.8 1.00e+00 1.00e+00h 1 86 2.0805950e+00 3.33e-03 1.58e-04 -6.1 4.09e+01 -15.3 9.77e-01 9.64e-01h 1 87 2.0805497e+00 7.61e-05 1.82e-06 -6.1 1.56e+01 -15.7 1.00e+00 1.00e+00h 1 88 2.0819883e+00 1.06e-02 4.03e-04 -4.0 8.64e+01 -16.2 1.00e+00 1.00e+00f 1 89 2.0816850e+00 9.86e-04 5.24e-05 -4.1 4.71e+01 -16.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0816467e+00 5.59e-07 8.13e-07 -4.1 8.79e+00 -17.2 1.00e+00 1.00e+00h 1 91 2.0805963e+00 3.67e-03 1.56e-04 -6.1 4.25e+01 -17.7 9.76e-01 9.67e-01h 1 92 2.0805509e+00 8.01e-05 1.98e-06 -6.1 1.63e+01 -18.1 1.00e+00 1.00e+00h 1 93 2.0805468e+00 5.50e-08 2.37e-08 -6.1 2.91e+00 -18.6 1.00e+00 1.00e+00h 1 94 2.0820237e+00 1.21e-02 4.23e-04 -4.0 9.79e+01 -19.1 1.00e+00 1.00e+00f 1 95 2.0817108e+00 1.09e-03 6.84e-05 -4.1 5.44e+01 -19.6 1.00e+00 1.00e+00h 1 96 2.0816597e+00 1.20e-06 1.05e-06 -4.1 1.08e+01 -20.0 1.00e+00 1.00e+00h 1 97 2.0805973e+00 3.75e-03 1.59e-04 -6.1 4.29e+01 -20.0 9.76e-01 9.67e-01h 1 98 2.0805512e+00 8.26e-05 2.04e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 99 2.0805470e+00 5.83e-08 2.51e-08 -6.1 3.00e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805365e+00 9.22e-07 7.87e-07 -9.0 9.36e-01 -20.0 1.00e+00 9.97e-01h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805365085647343e+00 2.0805365085647343e+00 Dual infeasibility......: 7.8693749532847895e-07 7.8693749532847895e-07 Constraint violation....: 9.2235622362046854e-07 9.2235622362046854e-07 Variable bound violation: 9.9683211685075435e-09 9.9683211685075435e-09 Complementarity.........: 1.5904120717835214e-08 1.5904120717835214e-08 Overall NLP error.......: 9.9999999366823917e-05 9.9999999366823917e-05 Number of objective function evaluations = 115 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 115 Number of inequality constraint evaluations = 115 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 67.299 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.053s integrator 2 jacobian structure: 0.05s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 6.298s jacobian structure: 1680 nonzeros (6.402s) integrator 1 hessian structure: 0.044s integrator 2 hessian structure: 0.05s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 7.842s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.321s sub-objective 2 (QuadraticRegularizer): 0.081s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.027s sub-objective 5 (GlobalObjective): 0.69s objective hessian structure: 1.209s hessian structure: 1964 nonzeros (9.147s) linear index maps built (0.0s) evaluator ready (total: 15.549s) evaluator created (15.573s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.112s) 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 (4.29s) optimizer initialization complete (total: 19.976s) 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 8.5736923e+00 3.31e+00 3.82e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.8888456e+00 7.75e-02 2.96e+00 -1.0 2.13e+00 0.0 7.88e-01 9.79e-01f 1 2 2.8149400e+00 3.22e-02 4.71e+00 -0.8 3.44e-01 0.4 8.76e-01 7.55e-01f 1 3 2.5886889e+00 1.12e-02 8.63e-01 -1.0 3.44e-01 -0.1 9.16e-01 1.00e+00f 1 4 2.3707856e+00 8.26e-03 3.83e-01 -1.7 1.48e-01 -0.5 9.91e-01 7.62e-01h 1 5 2.1916473e+00 3.18e-03 1.52e-01 -2.2 8.44e-02 -1.0 9.90e-01 7.93e-01h 1 6 2.0998721e+00 8.70e-04 4.59e-02 -3.4 4.58e-02 -1.5 9.98e-01 8.45e-01h 1 7 2.0905678e+00 4.82e-05 3.21e-02 -4.0 2.73e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0908719e+00 3.26e-07 1.77e-04 -4.0 5.23e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908791e+00 2.55e-08 1.90e-05 -4.0 1.56e-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 2.0908750e+00 8.30e-10 1.87e-05 -4.0 4.59e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0906837e+00 2.63e-06 1.78e-05 -4.1 1.31e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908351e+00 7.27e-06 9.50e-05 -4.0 3.61e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0905823e+00 1.91e-05 3.69e-04 -4.1 9.63e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905477e+00 5.90e-05 3.85e-04 -4.0 2.83e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0903199e+00 4.99e-05 1.07e-02 -4.0 1.38e+01 -5.8 3.86e-01 1.49e-01h 1 16 2.0890001e+00 2.79e-04 4.34e-02 -4.0 2.89e+01 -6.3 1.00e+00 1.00e+00f 1 17 2.0876551e+00 1.00e-04 2.06e-02 -4.0 3.08e+00 -4.9 1.00e+00 6.93e-01h 1 18 2.0876297e+00 1.59e-05 5.27e-03 -4.0 3.67e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0865499e+00 4.60e-05 7.27e-03 -4.0 1.09e+01 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0849580e+00 2.10e-04 1.07e-02 -4.0 2.51e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0827826e+00 3.55e-04 2.82e-02 -4.0 3.79e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0831919e+00 1.40e-03 4.05e-02 -4.0 5.48e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0822187e+00 8.68e-04 7.10e-03 -4.1 1.35e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.0951388e+00 8.70e-06 5.87e-01 -4.0 4.58e+02 -8.3 1.22e-01 1.00e+00H 1 25 2.0840215e+00 9.87e-03 4.84e+00 -4.1 5.32e+01 -5.1 2.81e-02 1.95e-01f 1 26 2.0830205e+00 1.03e-02 4.83e+00 -4.1 9.56e+02 -4.7 2.56e-06 8.34e-04f 1 27 2.0830777e+00 1.04e-02 4.86e+00 -4.1 2.77e+03 -5.2 1.64e-07 7.99e-05f 2 28 2.0829482e+00 8.89e-03 4.61e+00 -4.1 7.15e-01 -2.9 1.00e+00 1.43e-01h 1 29 2.0831263e+00 2.36e-06 1.38e-03 -4.1 8.78e-02 -3.4 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0833243e+00 2.67e-06 1.05e-04 -4.0 6.37e-02 -3.9 1.00e+00 1.00e+00h 1 31 2.0831335e+00 5.63e-06 3.57e-05 -4.1 2.18e-01 -4.4 1.00e+00 1.00e+00h 1 32 2.0823744e+00 9.84e-05 5.93e-03 -6.1 9.88e-01 -4.9 9.37e-01 1.00e+00h 1 33 2.0831922e+00 2.48e-04 2.18e-03 -4.0 1.77e+00 -5.3 1.00e+00 1.00e+00h 1 34 2.0826461e+00 1.83e-04 1.03e-03 -4.1 4.06e+00 -5.8 1.00e+00 1.00e+00h 1 35 2.0823499e+00 3.38e-05 2.38e-03 -4.1 9.32e+00 -6.3 1.00e+00 1.00e+00h 1 36 2.0824241e+00 4.80e-04 2.24e-03 -4.0 2.16e+01 -6.8 1.00e+00 1.00e+00h 1 37 2.0818713e+00 8.45e-04 8.15e-03 -4.1 4.77e+01 -7.2 1.00e+00 1.00e+00h 1 38 2.0818055e+00 2.27e-03 5.21e-03 -4.0 1.05e+02 -7.7 7.29e-01 1.00e+00h 1 39 2.0821049e+00 2.13e-03 2.58e-02 -4.0 3.25e+01 -6.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0816715e+00 1.77e-04 3.33e-01 -4.0 2.70e+00 -5.1 8.40e-01 1.00e+00h 1 41 2.0818365e+00 4.79e-07 1.37e-02 -4.0 1.10e-01 -1.9 9.86e-01 1.00e+00h 1 42 2.0817849e+00 2.13e-07 1.03e-03 -4.0 6.86e-02 -2.4 1.00e+00 1.00e+00h 1 43 2.0817682e+00 4.98e-08 9.21e-05 -4.0 2.73e-02 -2.9 1.00e+00 1.00e+00h 1 44 2.0817670e+00 1.00e-07 5.08e-05 -4.0 3.08e-02 -3.4 1.00e+00 1.00e+00h 1 45 2.0817687e+00 4.45e-07 5.07e-05 -4.0 8.95e-02 -3.8 1.00e+00 1.00e+00h 1 46 2.0816648e+00 5.85e-06 1.75e-04 -4.1 2.15e-01 -4.3 1.00e+00 1.00e+00h 1 47 2.0817839e+00 1.23e-05 1.15e-04 -4.0 6.16e-01 -4.8 1.00e+00 1.00e+00h 1 48 2.0816676e+00 7.73e-05 6.39e-04 -4.1 1.12e+00 -5.3 1.00e+00 1.00e+00h 1 49 2.0809880e+00 3.42e-04 9.74e-03 -6.1 4.07e+00 -5.7 9.54e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0810302e+00 2.20e-05 1.29e-02 -4.8 2.36e-01 -3.5 1.00e+00 9.36e-01h 1 51 2.0814693e+00 1.14e-05 1.02e-01 -4.0 8.53e-01 -4.0 1.00e+00 5.66e-01f 1 52 2.0816204e+00 1.13e-05 5.40e-04 -4.0 3.06e-01 -4.5 1.00e+00 1.00e+00h 1 53 2.0816548e+00 1.61e-06 3.12e-04 -4.0 6.43e-01 -4.9 1.00e+00 1.00e+00h 1 54 2.0817018e+00 9.21e-06 3.64e-04 -4.0 8.57e-01 -5.4 1.00e+00 1.00e+00h 1 55 2.0815832e+00 8.84e-06 1.50e-04 -4.1 6.07e-01 -5.9 1.00e+00 1.00e+00h 1 56 2.0817922e+00 6.18e-05 3.01e-04 -4.0 3.22e+00 -6.4 1.00e+00 1.00e+00h 1 57 2.0815969e+00 7.85e-05 2.67e-04 -4.1 3.31e+00 -6.9 1.00e+00 1.00e+00h 1 58 2.0806665e+00 1.06e-03 1.90e-03 -6.1 1.44e+01 -7.3 9.78e-01 9.28e-01h 1 59 2.0818620e+00 2.94e-03 4.26e-03 -4.0 2.64e+01 -7.8 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0816169e+00 1.92e-04 4.79e-04 -4.1 9.59e+00 -8.3 1.00e+00 1.00e+00h 1 61 2.0806340e+00 3.19e-03 4.76e-04 -6.1 4.02e+01 -8.8 9.76e-01 9.35e-01h 1 62 2.0818794e+00 5.19e-03 1.28e-03 -4.0 4.97e+01 -9.2 1.00e+00 1.00e+00f 1 63 2.0816090e+00 4.67e-04 1.20e-04 -4.1 1.95e+01 -9.7 1.00e+00 1.00e+00h 1 64 2.0806010e+00 3.45e-03 1.90e-04 -6.1 4.17e+01 -10.2 9.76e-01 9.62e-01h 1 65 2.0818842e+00 6.28e-03 3.35e-04 -4.0 5.88e+01 -10.7 1.00e+00 1.00e+00f 1 66 2.0816088e+00 4.54e-04 4.11e-05 -4.1 1.90e+01 -11.1 1.00e+00 1.00e+00h 1 67 2.0806004e+00 3.45e-03 1.83e-04 -6.1 4.17e+01 -11.6 9.76e-01 9.62e-01h 1 68 2.0810354e+00 3.02e-03 1.15e-02 -4.0 5.94e+01 -12.1 1.00e+00 3.46e-01f 1 69 2.0814479e+00 3.88e-04 3.57e-05 -4.2 1.09e+01 -12.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0805759e+00 2.63e-03 1.11e-04 -6.2 3.60e+01 -13.1 9.80e-01 9.76e-01h 1 71 2.0806834e+00 2.46e-03 1.85e-02 -4.0 6.69e+01 -13.5 1.00e+00 8.47e-02f 1 72 2.0813780e+00 1.43e-03 6.75e-05 -4.2 2.40e+01 -14.0 1.00e+00 1.00e+00h 1 73 2.0813873e+00 1.16e-05 3.31e-05 -4.2 1.53e+01 -14.5 1.00e+00 1.00e+00h 1 74 2.0818447e+00 7.15e-04 4.98e-05 -4.0 1.85e+01 -15.0 1.00e+00 1.00e+00h 1 75 2.0815834e+00 2.29e-04 4.05e-05 -4.1 1.05e+01 -15.4 1.00e+00 1.00e+00h 1 76 2.0805928e+00 3.32e-03 1.40e-04 -6.1 4.05e+01 -15.9 9.77e-01 9.67e-01h 1 77 2.0805497e+00 7.13e-05 1.82e-06 -6.1 1.56e+01 -16.4 1.00e+00 1.00e+00h 1 78 2.0819868e+00 1.06e-02 4.00e-04 -4.0 8.58e+01 -16.9 1.00e+00 1.00e+00f 1 79 2.0816824e+00 9.86e-04 5.22e-05 -4.1 4.70e+01 -17.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0816443e+00 5.40e-07 4.26e-05 -4.1 8.92e+00 -17.8 1.00e+00 1.00e+00h 1 81 2.0818414e+00 1.23e-04 4.96e-05 -4.0 7.36e+00 -18.3 1.00e+00 1.00e+00h 1 82 2.0815817e+00 2.11e-04 4.04e-05 -4.1 9.62e+00 -18.8 1.00e+00 1.00e+00h 1 83 2.0805923e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -19.3 9.77e-01 9.68e-01h 1 84 2.0805497e+00 7.03e-05 1.80e-06 -6.1 1.55e+01 -19.7 1.00e+00 1.00e+00h 1 85 2.0819871e+00 1.06e-02 4.00e-04 -4.0 8.58e+01 -20.0 1.00e+00 1.00e+00f 1 86 2.0816826e+00 9.87e-04 5.24e-05 -4.1 4.71e+01 -20.0 1.00e+00 1.00e+00h 1 87 2.0816444e+00 5.44e-07 4.26e-05 -4.1 8.94e+00 -20.0 1.00e+00 1.00e+00h 1 88 2.0805933e+00 3.65e-03 1.55e-04 -6.1 4.19e+01 -20.0 9.76e-01 9.71e-01h 1 89 2.0805509e+00 7.35e-05 1.95e-06 -6.1 1.62e+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 2.0805468e+00 5.07e-08 4.25e-07 -6.1 2.92e+00 -20.0 1.00e+00 1.00e+00h 1 91 2.0820226e+00 1.22e-02 4.21e-04 -4.0 9.85e+01 -20.0 1.00e+00 1.00e+00f 1 92 2.0817083e+00 1.09e-03 6.84e-05 -4.1 5.45e+01 -20.0 1.00e+00 1.00e+00h 1 93 2.0816573e+00 1.18e-06 4.30e-05 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 94 2.0805943e+00 3.73e-03 1.58e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.71e-01h 1 95 2.0805512e+00 7.57e-05 2.01e-06 -6.1 1.64e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0805469e+00 5.37e-08 4.32e-07 -6.1 3.01e+00 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 9.26e-07 7.80e-07 -9.0 9.40e-01 -20.0 1.00e+00 9.97e-01h 1 98 2.0820402e+00 1.30e-02 4.35e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 99 2.0817219e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0816639e+00 1.62e-06 4.32e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0816638911906340e+00 2.0816638911906340e+00 Dual infeasibility......: 4.3238312090192782e-05 4.3238312090192782e-05 Constraint violation....: 1.6177603023859177e-06 1.6177603023859177e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.8041846397326934e-05 8.8041846397326934e-05 Overall NLP error.......: 4.3238312090192782e-05 4.3238312090192782e-05 Number of objective function evaluations = 104 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 104 Number of inequality constraint evaluations = 104 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 44.031 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: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) jacobian structure: 4.265s jacobian structure: 1594 nonzeros (4.326s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) hessian structure: 14.741s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s sub-objective 5 (GlobalObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1804 nonzeros (14.791s) linear index maps built (0.0s) evaluator ready (total: 19.118s) evaluator created (19.139s) 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: 19.14s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 10 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 1 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.0800045e+02 2.96e+00 3.30e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.2629129e+01 1.24e+00 1.38e+01 -0.5 2.08e+00 0.0 1.00e+00 5.82e-01f 1 2 3.0268766e+00 8.01e-02 2.74e+00 -0.4 9.42e-01 -0.5 9.74e-01 1.00e+00f 1 3 2.9088225e+00 5.45e-02 1.18e+00 -0.8 3.59e-01 -1.0 8.24e-01 1.00e+00h 1 4 2.5883805e+00 4.90e-02 4.34e-01 -1.4 7.05e-01 -1.4 9.95e-01 1.00e+00h 1 5 2.2517595e+00 4.89e-02 1.01e-01 -1.9 6.99e-01 -1.9 9.68e-01 8.36e-01h 1 6 2.1129511e+00 3.42e-03 6.05e-02 -2.7 2.02e-01 -2.4 7.95e-01 1.00e+00h 1 7 2.0912184e+00 1.93e-04 2.87e-03 -3.8 6.27e-02 -2.9 9.97e-01 1.00e+00h 1 8 2.0908961e+00 4.40e-06 2.25e-04 -4.0 4.72e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908786e+00 2.07e-08 2.25e-04 -4.0 1.34e-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 2.0908419e+00 5.50e-08 2.25e-04 -4.0 3.62e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907700e+00 2.70e-07 5.51e-04 -4.0 8.95e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905878e+00 2.32e-06 9.34e-04 -4.0 2.67e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0900065e+00 2.01e-05 1.21e-03 -4.0 7.39e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0886193e+00 8.69e-05 2.63e-02 -4.0 2.24e+01 -6.2 1.00e+00 7.36e-01h 1 15 2.0864305e+00 9.50e-04 8.35e-02 -4.0 5.25e+01 -6.7 1.00e+00 1.00e+00f 1 16 2.0845919e+00 3.27e-04 4.27e-02 -4.0 5.34e+00 -5.4 1.00e+00 6.95e-01h 1 17 2.0843280e+00 6.42e-05 5.99e-03 -4.0 6.14e+00 -5.8 1.00e+00 1.00e+00h 1 18 2.0834545e+00 4.01e-05 4.21e-03 -4.0 1.38e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0827217e+00 8.90e-05 9.84e-03 -4.0 1.99e+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 2.0827439e+00 2.18e-04 9.18e-03 -4.0 5.11e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0820583e+00 2.16e-03 8.25e-03 -4.1 1.19e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0879159e+00 1.70e-03 2.60e-01 -4.0 9.32e+03 -8.2 3.63e-03 2.91e-02h 5 23 2.0828836e+00 2.52e-03 1.56e+00 -4.2 1.06e+01 -5.1 1.70e-01 4.90e-01h 1 24 2.0824938e+00 2.81e-03 1.55e+00 -4.2 3.09e+02 -5.6 8.89e-05 2.24e-03f 1 25 2.0825473e+00 2.86e-03 1.56e+00 -4.0 1.13e+04 -6.0 3.00e-07 4.87e-05f 1 26 2.0825498e+00 2.86e-03 1.59e+00 -4.2 1.07e+02 -2.9 2.96e-02 1.97e-04f 2 27 2.0832480e+00 4.96e-06 1.61e-03 -4.2 3.86e-01 -3.4 1.00e+00 1.00e+00h 1 28 2.0829822e+00 1.85e-05 2.45e-04 -4.0 3.48e-01 -3.9 1.00e+00 1.00e+00h 1 29 2.0829095e+00 4.26e-06 2.25e-04 -4.0 1.34e-01 -4.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0828867e+00 2.69e-07 2.25e-04 -4.0 3.93e-01 -4.8 1.00e+00 1.00e+00h 1 31 2.0828264e+00 1.21e-06 2.25e-04 -4.0 1.11e+00 -5.3 1.00e+00 1.00e+00h 1 32 2.0827103e+00 5.81e-06 3.33e-04 -4.0 3.02e+00 -5.8 1.00e+00 1.00e+00h 1 33 2.0825729e+00 1.21e-05 7.20e-04 -4.0 7.90e+00 -6.2 1.00e+00 1.00e+00h 1 34 2.0823878e+00 2.85e-05 1.37e-03 -4.0 2.04e+01 -6.7 1.00e+00 1.00e+00h 1 35 2.0820869e+00 1.62e-04 4.50e-03 -4.0 4.60e+01 -7.2 1.00e+00 1.00e+00h 1 36 2.0865642e+00 2.07e-07 2.15e-01 -4.0 1.92e+02 -7.7 1.72e-01 1.00e+00H 1 37 2.0822357e+00 9.69e-04 1.53e+00 -3.8 2.29e+01 -5.4 1.00e+00 4.77e-01f 1 38 2.0827773e+00 7.67e-04 1.57e-01 -3.9 7.96e+00 -5.9 7.77e-01 6.74e-01h 1 39 2.0827178e+00 1.88e-03 2.15e-01 -3.9 1.60e+01 -6.4 5.91e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0825165e+00 1.15e-03 5.03e-03 -3.9 2.58e+01 -6.9 1.00e+00 1.00e+00h 1 41 2.0823271e+00 1.60e-03 5.61e-03 -3.9 7.75e+01 -7.3 7.61e-01 1.00e+00h 1 42 2.1302509e+00 1.21e-04 6.29e-01 -3.9 3.42e+01 -6.0 5.65e-01 1.00e+00H 1 43 2.0954926e+00 1.82e-08 1.25e-01 -3.9 1.82e-01 -0.2 1.00e+00 1.00e+00f 1 44 2.0834653e+00 9.70e-07 1.70e-02 -3.9 1.69e-01 -0.6 1.00e+00 1.00e+00f 1 45 2.0832834e+00 1.33e-07 1.63e-03 -3.9 2.02e-02 -1.1 1.00e+00 1.00e+00h 1 46 2.0832512e+00 9.11e-07 1.56e-03 -3.9 6.18e-02 -1.6 1.00e+00 1.00e+00h 1 47 2.0830118e+00 4.01e-06 1.12e-03 -3.9 1.35e-01 -2.1 1.00e+00 1.00e+00h 1 48 2.0824039e+00 1.90e-06 8.38e-02 -5.9 6.42e-02 -2.6 8.91e-01 6.07e-01h 1 49 2.0829268e+00 2.60e-06 3.68e-04 -4.0 3.88e-02 -3.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0827010e+00 8.70e-07 1.81e-04 -4.1 3.44e-02 -3.5 1.00e+00 1.00e+00h 1 51 2.0819879e+00 1.23e-05 7.30e-03 -6.1 1.26e-01 -4.0 9.24e-01 1.00e+00h 1 52 2.0829183e+00 3.80e-05 7.83e-04 -4.0 3.05e-01 -4.5 1.00e+00 1.00e+00f 1 53 2.0826234e+00 2.40e-05 1.81e-04 -4.1 9.03e-01 -4.9 1.00e+00 1.00e+00h 1 54 2.0817463e+00 3.09e-04 8.34e-04 -6.1 3.18e+00 -5.4 9.98e-01 1.00e+00h 1 55 2.0822574e+00 9.23e-04 4.46e-03 -4.0 7.17e+00 -5.9 1.00e+00 1.00e+00h 1 56 2.0815705e+00 4.23e-04 3.89e-02 -4.1 1.00e+01 -6.4 6.55e-01 1.00e+00h 1 57 2.0823117e+00 6.68e-04 7.37e-01 -4.0 4.28e+00 -5.0 5.76e-01 1.00e+00h 1 58 2.0818024e+00 9.39e-07 5.53e-03 -4.1 5.62e-02 -1.0 1.00e+00 1.00e+00h 1 59 2.0818076e+00 7.21e-07 1.07e-03 -4.0 3.43e-02 -1.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0817673e+00 2.61e-08 1.78e-04 -4.1 1.51e-02 -2.0 1.00e+00 1.00e+00h 1 61 2.0818879e+00 1.26e-07 2.25e-04 -4.0 3.03e-02 -2.4 1.00e+00 1.00e+00h 1 62 2.0817680e+00 1.87e-07 1.80e-04 -4.1 2.30e-02 -2.9 1.00e+00 1.00e+00h 1 63 2.0812407e+00 4.77e-06 6.22e-02 -6.1 5.18e-02 -3.4 7.40e-01 1.00e+00h 1 64 2.0820204e+00 2.09e-05 2.63e-03 -4.0 2.18e-01 -3.9 1.00e+00 1.00e+00h 1 65 2.0817048e+00 1.63e-05 7.52e-04 -4.1 2.62e-01 -4.3 1.00e+00 1.00e+00h 1 66 2.0811290e+00 8.26e-05 9.59e-02 -6.2 8.59e-01 -4.8 8.35e-01 1.00e+00h 1 67 2.0819518e+00 4.41e-05 2.05e-03 -4.0 4.49e-01 -5.3 1.00e+00 1.00e+00h 1 68 2.0816890e+00 2.54e-05 1.80e-04 -4.1 5.76e-01 -5.8 1.00e+00 1.00e+00h 1 69 2.0809037e+00 5.06e-04 5.22e-03 -6.1 7.68e+00 -6.3 9.97e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0809653e+00 7.60e-07 1.61e-04 -4.9 2.28e-01 -4.0 1.00e+00 1.00e+00h 1 71 2.0811865e+00 9.06e-06 4.57e-01 -4.0 1.63e+00 -4.5 1.00e+00 2.99e-01f 1 72 2.0813840e+00 4.09e-05 9.05e-04 -4.1 1.19e+00 -5.0 1.00e+00 1.00e+00f 1 73 2.0814953e+00 1.55e-05 1.18e-03 -4.1 1.41e+00 -5.5 1.00e+00 1.00e+00h 1 74 2.0815687e+00 8.55e-06 5.44e-04 -4.1 2.01e+00 -5.9 1.00e+00 1.00e+00h 1 75 2.0808483e+00 4.50e-04 4.95e-03 -6.2 7.79e+00 -6.4 9.99e-01 1.00e+00h 1 76 2.0811285e+00 2.84e-04 6.89e-01 -4.0 9.18e-01 -4.2 1.00e+00 3.69e-01h 1 77 2.0812720e+00 2.26e-05 3.59e-04 -4.1 8.31e-01 -4.7 1.00e+00 1.00e+00h 1 78 2.0809268e+00 7.22e-05 1.91e-02 -6.2 1.07e+00 -5.1 9.75e-01 1.00e+00h 1 79 2.0809119e+00 2.91e-05 1.03e-01 -4.9 6.78e-01 -5.6 1.00e+00 5.96e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0815315e+00 6.14e-05 8.33e-02 -4.0 7.60e+00 -6.1 7.39e-01 2.41e-01f 1 81 2.0815173e+00 2.70e-04 1.63e-01 -4.3 1.00e+01 -6.6 1.84e-01 1.00e+00h 1 82 2.0814512e+00 7.12e-05 2.38e-01 -4.3 5.42e-02 -2.5 1.00e+00 7.36e-01h 1 83 2.0814569e+00 2.55e-07 1.68e-04 -4.3 1.21e-01 -3.0 1.00e+00 1.00e+00f 1 84 2.0810546e+00 2.72e-06 9.99e-02 -6.4 7.57e-02 -3.5 7.70e-01 1.00e+00h 1 85 2.0809995e+00 7.36e-07 2.98e-05 -6.4 9.68e-02 -4.0 1.00e+00 1.00e+00h 1 86 2.0819868e+00 5.52e-05 8.67e-02 -4.0 5.31e-01 -4.4 1.00e+00 9.11e-01f 1 87 2.0816420e+00 1.55e-05 1.04e-03 -4.0 5.01e-01 -4.9 1.00e+00 1.00e+00f 1 88 2.0816770e+00 3.93e-05 5.75e-04 -4.0 1.12e+00 -5.4 1.00e+00 1.00e+00h 1 89 2.0809419e+00 3.86e-04 1.48e-01 -6.1 3.60e+00 -5.9 6.29e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0808750e+00 1.45e-04 4.16e-02 -6.1 2.29e-01 -3.6 6.00e-01 6.25e-01h 1 91 2.0813815e+00 1.18e-04 5.98e-01 -4.0 2.28e+00 -4.1 4.34e-01 2.07e-01f 1 92 2.0812468e+00 1.03e-04 3.94e-01 -4.2 2.03e+00 -4.6 1.00e+00 8.61e-01h 1 93 2.0812660e+00 5.24e-06 1.65e-03 -4.2 8.58e-01 -5.1 1.00e+00 1.00e+00f 1 94 2.0813548e+00 2.17e-05 5.94e-04 -4.2 1.74e+00 -5.5 1.00e+00 1.00e+00h 1 95 2.0813818e+00 1.27e-05 2.70e-04 -4.2 1.15e+00 -6.0 1.00e+00 1.00e+00h 1 96 2.0807649e+00 4.41e-04 3.19e-03 -6.3 8.30e+00 -6.5 9.96e-01 1.00e+00h 1 97 2.0807678e+00 2.62e-07 7.30e-05 -5.5 1.62e-01 -4.3 1.00e+00 1.00e+00h 1 98 2.0808970e+00 8.80e-06 1.33e+00 -4.0 5.51e+00 -4.7 8.44e-01 1.17e-01f 1 99 2.0813205e+00 1.98e-03 2.89e-02 -4.2 6.97e+00 -5.2 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0814519e+00 7.19e-05 3.49e-03 -4.2 1.30e+00 -5.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0814518890251676e+00 2.0814518890251676e+00 Dual infeasibility......: 3.4941710597735471e-03 3.4941710597735471e-03 Constraint violation....: 7.1937268795174703e-05 7.1937268795174703e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.3182521968287675e-04 2.3182521968287675e-04 Overall NLP error.......: 3.4941710597735471e-03 3.4941710597735471e-03 Number of objective function evaluations = 110 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 110 Number of inequality constraint evaluations = 110 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 32.203 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.06s) 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 (0.124s) 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: 0.124s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.6277933e+00 2.35e+00 8.09e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4249387e+00 1.17e+00 2.80e+00 -0.8 1.92e+00 0.0 9.38e-01 5.00e-01f 1 2 2.8078617e+00 2.46e-02 1.20e+00 -0.8 9.49e-01 -0.5 8.84e-01 1.00e+00f 1 3 2.5242942e+00 2.06e-02 1.60e-01 -1.4 2.20e-01 -1.0 9.85e-01 1.00e+00h 1 4 2.2654309e+00 2.73e-02 2.08e-01 -2.1 5.78e-01 -1.4 9.38e-01 7.06e-01h 1 5 2.1159928e+00 3.37e-03 1.99e-02 -2.7 1.95e-01 -1.9 9.78e-01 1.00e+00h 1 6 2.0912300e+00 8.76e-05 1.59e-03 -4.0 3.71e-02 -2.4 9.93e-01 9.79e-01h 1 7 2.0909199e+00 1.41e-06 4.93e-05 -4.0 1.51e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909152e+00 2.62e-09 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 8 (scaled) (unscaled) Objective...............: 2.0909152021397630e+00 2.0909152021397630e+00 Dual infeasibility......: 2.0587081165690662e-05 2.0587081165690662e-05 Constraint violation....: 2.6227717411092533e-09 2.6227717411092533e-09 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000839338271e-04 1.0000000839338271e-04 Overall NLP error.......: 2.0587081165690662e-05 2.0587081165690662e-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 = 20.969 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.042s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.042s) integrator 1 hessian structure: 0.035s 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 (0.036s) linear index maps built (0.0s) evaluator ready (total: 0.078s) evaluator created (0.078s) 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: 0.079s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.2019291e+00 2.99e+00 5.71e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6104217e+00 3.08e-01 1.70e+00 -0.9 1.82e+00 0.0 1.00e+00 8.97e-01h 1 2 2.6275774e+00 2.26e-01 1.48e+00 -0.7 1.77e+00 -0.5 4.39e-01 2.66e-01f 1 3 2.6072558e+00 7.36e-02 1.17e+00 -1.0 2.99e-01 -0.1 9.88e-01 6.73e-01h 1 4 2.4215937e+00 5.13e-03 9.59e-02 -1.7 1.17e-01 -0.5 9.90e-01 1.00e+00h 1 5 2.1821627e+00 2.90e-03 1.32e-01 -2.5 1.03e-01 -1.0 1.00e+00 7.33e-01f 1 6 2.0958083e+00 4.37e-04 1.90e-02 -3.4 3.31e-02 -1.5 9.97e-01 1.00e+00h 1 7 2.0908822e+00 9.56e-06 3.24e-03 -4.0 9.26e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908792e+00 6.31e-08 3.39e-05 -4.0 9.27e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908775e+00 5.70e-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 2.0908725e+00 9.72e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908576e+00 8.75e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908127e+00 7.88e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906784e+00 7.10e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902764e+00 6.43e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890793e+00 5.88e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855705e+00 5.55e-04 2.31e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796265e+00 2.29e-03 1.36e-01 -4.0 9.55e+01 -6.7 1.00e+00 6.28e-01h 1 18 2.0807167e+00 1.50e-04 1.81e-01 -4.0 6.58e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775270e+00 7.26e-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 2.0769314e+00 1.08e-03 4.44e-02 -4.0 1.76e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0760021e+00 1.05e-03 2.31e-02 -4.0 3.13e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0754538e+00 1.64e-03 2.79e-02 -4.0 4.71e+02 -9.1 1.00e+00 7.16e-01h 1 23 2.0757684e+00 2.08e-03 1.16e-02 -4.0 1.42e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0756776e+00 2.39e-04 4.68e-04 -4.0 6.75e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756713e+00 1.12e-06 7.85e-06 -4.0 2.28e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 5.09e-08 1.28e-06 -4.0 1.40e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.62e-09 1.09e-07 -4.0 4.58e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.62e-11 1.82e-09 -4.0 7.24e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121639227e+00 2.0756712121639227e+00 Dual infeasibility......: 1.8156788525751279e-09 1.8156788525751279e-09 Constraint violation....: 4.6220249849682205e-11 4.6220249849682205e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000011e-04 1.0000000000000011e-04 Overall NLP error.......: 1.8156788525751279e-09 1.8156788525751279e-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 = 20.686 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.054s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.055s) integrator 1 hessian structure: 0.051s 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: 0.108s) evaluator created (0.108s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.108s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 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 1.8838315e+00 2.53e+00 6.94e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.2739752e+00 3.21e-01 2.54e+00 -0.9 2.32e+00 0.0 9.77e-01 8.73e-01h 1 2 2.4394683e+00 1.17e-02 4.70e-01 -1.3 3.08e-01 -0.5 9.70e-01 1.00e+00h 1 3 2.2104977e+00 1.81e-03 3.90e-02 -2.1 5.49e-02 -1.0 9.62e-01 1.00e+00h 1 4 2.0953443e+00 3.91e-04 5.36e-03 -3.5 2.69e-02 -1.4 9.97e-01 9.85e-01h 1 5 2.0909345e+00 1.47e-05 5.04e-03 -4.0 1.21e-02 -1.9 1.00e+00 1.00e+00h 1 6 2.0908987e+00 3.07e-08 7.89e-05 -4.0 1.92e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0908973e+00 4.94e-10 2.28e-05 -4.0 1.67e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908929e+00 7.65e-10 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908796e+00 6.89e-09 2.06e-05 -4.0 1.35e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908398e+00 6.20e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0908397860910317e+00 2.0908397860910317e+00 Dual infeasibility......: 2.0577822287287987e-05 2.0577822287287987e-05 Constraint violation....: 6.2002409638786671e-08 6.2002409638786671e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999994692e-05 9.9999999999994692e-05 Overall NLP error.......: 2.0577822287287987e-05 2.0577822287287987e-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 = 20.732 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: 0.043s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.044s) integrator 1 hessian structure: 0.035s 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 (0.036s) linear index maps built (0.0s) evaluator ready (total: 0.08s) evaluator created (0.08s) 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: 0.08s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 0 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.5764164e+00 2.82e+00 5.12e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7791252e+00 4.01e-02 1.63e+00 -1.0 1.64e+00 - 9.99e-01 1.00e+00h 1 2 2.4352298e+00 1.15e-02 2.53e-01 -1.4 2.01e-01 - 9.92e-01 1.00e+00h 1 3 2.1723908e+00 7.05e-03 1.27e-01 -2.2 2.07e-01 - 9.65e-01 9.81e-01h 1 4 2.0978695e+00 6.25e-04 4.54e-02 -3.3 6.12e-02 - 9.96e-01 9.09e-01h 1 5 2.0907868e+00 3.30e-05 2.03e-02 -4.0 2.91e-02 - 1.00e+00 1.00e+00h 1 6 2.0908327e+00 4.25e-08 2.25e-04 -4.0 1.60e-02 - 1.00e+00 1.00e+00h 1 7 2.0908326e+00 6.54e-11 2.23e-04 -4.0 9.65e-03 - 1.00e+00 1.00e+00h 1 8 2.0908324e+00 3.24e-12 2.24e-04 -4.0 6.02e-03 - 1.00e+00 1.00e+00h 1 9 2.0908324e+00 1.90e-13 3.28e-05 -4.0 3.28e-05 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0906526e+00 9.09e-10 6.90e-05 -4.1 6.90e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0906526105037808e+00 2.0906526105037808e+00 Dual infeasibility......: 6.8995312973704705e-05 6.8995312973704705e-05 Constraint violation....: 9.0852379607117215e-10 9.0852379607117215e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.0006930723565796e-05 8.0006930723565796e-05 Overall NLP error.......: 6.8995312973704705e-05 6.8995312973704705e-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 = 0 Total seconds in IPOPT = 6.142 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: 0.049s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.05s) integrator 1 hessian structure: 0.04s 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 (0.041s) 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 (0.0s) 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: 0.091s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.6928938e+00 2.65e+00 2.87e-01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5553380e+00 2.15e-01 2.17e+00 -1.0 2.00e+00 0.0 4.49e-01 9.19e-01f 1 2 2.6243318e+00 1.48e-02 1.35e+00 -1.0 2.27e-01 0.4 5.84e-01 1.00e+00f 1 3 2.7487857e+00 2.70e-03 1.82e-01 -1.0 5.59e-02 -0.1 1.00e+00 1.00e+00h 1 4 2.2977989e+00 1.26e-02 1.84e-01 -2.5 1.71e-01 -0.5 8.65e-01 1.00e+00f 1 5 2.1126199e+00 3.34e-03 5.08e-02 -2.5 1.03e-01 -1.0 1.00e+00 9.30e-01h 1 6 2.1153658e+00 1.60e-05 1.90e-03 -2.5 1.47e-02 -1.5 1.00e+00 1.00e+00h 1 7 2.0915325e+00 9.37e-06 1.77e-04 -3.8 3.55e-03 -2.0 1.00e+00 1.00e+00f 1 8 2.0909403e+00 4.04e-07 2.06e-05 -4.0 5.63e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909386e+00 4.15e-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 2.0909337e+00 9.64e-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...............: 2.0909336659383770e+00 2.0909336659383770e+00 Dual infeasibility......: 2.0589451505942455e-05 2.0589451505942455e-05 Constraint violation....: 9.6352885826239687e-10 9.6352885826239687e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999999923e-05 9.9999999999999923e-05 Overall NLP error.......: 2.0589451505942455e-05 2.0589451505942455e-05 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 22.215 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: 0.042s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.042s) integrator 1 hessian structure: 0.035s 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 (0.036s) linear index maps built (0.0s) evaluator ready (total: 0.079s) evaluator created (0.079s) 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: 0.079s) initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.043s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.049s jacobian structure: 1600 nonzeros (2.093s) integrator 1 hessian structure: 0.042s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 2.832s 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 (2.875s) linear index maps built (0.0s) evaluator ready (total: 4.968s) evaluator created (4.985s) 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: 4.996s) 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 3.8758292e+00 2.54e+00 1.16e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.6190355e+00 9.28e-02 1.86e+00 -1.1 1.92e+00 0.0 9.75e-01 9.63e-01f 1 Hello, world! 2 2.4377879e+00 1.89e-02 7.63e-01 -1.1 2.21e-01 0.4 8.40e-01 7.64e-01f 1 Hello, world! 3 2.3642874e+00 4.04e-03 1.48e-01 -1.8 1.34e-01 -0.1 9.73e-01 1.00e+00h 1 Hello, world! 4 2.2374159e+00 7.68e-03 5.12e-01 -2.1 2.62e-01 -0.5 9.73e-01 4.17e-01h 1 Hello, world! 5 2.1294046e+00 3.64e-03 1.71e-01 -2.9 5.86e-02 -1.0 1.00e+00 5.26e-01h 1 Hello, world! 6 2.0951176e+00 5.83e-04 7.16e-02 -4.0 3.10e-02 -1.5 1.00e+00 8.46e-01h 1 Hello, world! 7 2.0909054e+00 1.47e-05 7.80e-03 -4.0 1.11e-02 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0909148e+00 6.31e-08 3.60e-05 -4.0 9.88e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909139e+00 6.25e-10 1.76e-05 -4.0 1.45e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909106e+00 6.75e-10 1.74e-05 -4.0 4.27e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0909009e+00 5.15e-09 1.51e-04 -4.0 1.24e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908748e+00 3.74e-08 3.36e-04 -4.0 3.45e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0908029e+00 2.69e-07 2.80e-04 -4.0 9.56e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0905923e+00 2.83e-06 3.35e-04 -4.0 2.88e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0905049e+00 4.21e-07 3.20e-04 -4.0 1.11e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0903417e+00 1.31e-06 7.90e-03 -4.0 3.96e+00 -5.4 1.00e+00 4.26e-01h 2 Hello, world! 17 2.0894897e+00 2.99e-05 5.62e-03 -4.0 1.07e+01 -5.8 1.00e+00 8.80e-01h 1 Hello, world! 18 2.0877932e+00 3.08e-04 3.52e-02 -4.0 2.96e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0865049e+00 2.96e-04 2.16e-01 -4.0 5.28e+01 -5.9 1.00e+00 1.89e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0849520e+00 2.66e-04 2.64e-02 -4.0 2.48e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0828413e+00 2.26e-04 2.74e-02 -4.0 3.69e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0830327e+00 9.30e-04 2.88e-02 -4.0 5.72e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0821461e+00 1.46e-03 8.90e-03 -4.1 1.34e+02 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 24 2.1190007e+00 5.02e-06 1.37e+00 -4.0 5.71e+02 -8.3 8.63e-02 1.00e+00H 1 Hello, world! 25 2.0869347e+00 1.23e-04 7.23e+00 -4.2 4.74e+00 -2.4 2.56e-02 2.56e-01f 1 Hello, world! 26 2.0851745e+00 8.75e-05 5.22e+00 -4.0 2.07e-01 -2.9 1.00e+00 2.84e-01f 1 Hello, world! 27 2.0839585e+00 1.69e-04 3.63e+00 -3.8 4.07e+00 -3.4 1.00e+00 3.34e-01f 1 Hello, world! 28 2.0835883e+00 4.51e-05 1.25e+00 -4.0 2.07e-01 -3.9 1.00e+00 7.25e-01h 1 Hello, world! 29 2.0835253e+00 1.75e-05 3.26e-04 -4.0 1.52e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0835076e+00 3.15e-06 1.21e-05 -4.0 4.52e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0834388e+00 1.75e-06 8.28e-05 -4.0 1.30e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0833052e+00 8.35e-06 3.70e-04 -4.0 3.57e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0831237e+00 1.64e-05 8.60e-04 -4.0 9.44e+00 -6.2 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0828316e+00 5.83e-05 2.30e-03 -4.0 2.40e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0823678e+00 3.25e-04 9.80e-03 -4.0 5.66e+01 -7.2 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0819193e+00 9.88e-04 2.06e-02 -4.0 1.08e+02 -7.7 9.77e-01 1.00e+00h 1 Hello, world! 37 2.0817031e+00 1.59e-03 2.66e-01 -4.0 1.05e+03 -7.2 1.35e-02 8.02e-02h 2 Hello, world! 38 2.0817714e+00 1.61e-03 2.20e-01 -4.0 3.86e+03 -6.8 3.32e-04 1.47e-03h 3 Hello, world! 39 2.0816333e+00 1.30e-07 2.70e-04 -4.1 1.90e-02 -1.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0817611e+00 1.58e-07 1.32e-04 -4.0 8.48e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0816395e+00 1.14e-07 1.47e-04 -4.1 1.58e-02 -2.8 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0810907e+00 2.93e-06 2.07e-01 -6.1 7.60e-02 -3.3 7.25e-01 1.00e+00h 1 Hello, world! 43 2.0818924e+00 5.56e-06 3.92e-03 -4.0 9.62e-02 -3.8 1.00e+00 1.00e+00f 1 Hello, world! 44 2.0816254e+00 8.64e-06 1.27e-04 -4.1 1.84e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0810471e+00 7.35e-05 1.39e-01 -6.1 7.63e-01 -4.7 8.08e-01 1.00e+00h 1 Hello, world! 46 2.0810929e+00 4.62e-05 1.13e-03 -4.6 1.55e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0810369e+00 2.45e-05 5.56e-03 -4.7 2.60e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0810642e+00 2.16e-07 8.58e-04 -4.4 6.09e-02 -2.6 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0813691e+00 1.31e-09 2.84e-03 -4.0 9.84e-02 -3.0 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 50 2.0812400e+00 4.38e-06 4.91e-04 -4.0 2.12e-01 -3.5 1.00e+00 1.00e+00f 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0812399792816159e+00 2.0812399792816159e+00 Dual infeasibility......: 4.9118842522609862e-04 4.9118842522609862e-04 Constraint violation....: 4.3803550802135049e-06 4.3803550802135049e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.3279401709508456e-04 1.3279401709508456e-04 Overall NLP error.......: 4.9118842522609862e-04 4.9118842522609862e-04 Number of objective function evaluations = 62 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 62 Number of inequality constraint evaluations = 62 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 22.362 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) evaluator created (0.002s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.002s) 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 3.8758292e+00 2.54e+00 1.16e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.6190355e+00 9.28e-02 1.86e+00 -1.1 1.92e+00 0.0 9.75e-01 9.63e-01f 1 Hello, world! 2 2.4377879e+00 1.89e-02 7.63e-01 -1.1 2.21e-01 0.4 8.40e-01 7.64e-01f 1 Hello, world! 3 2.3642874e+00 4.04e-03 1.48e-01 -1.8 1.34e-01 -0.1 9.73e-01 1.00e+00h 1 Hello, world! 4 2.2374159e+00 7.68e-03 5.12e-01 -2.1 2.62e-01 -0.5 9.73e-01 4.17e-01h 1 Hello, world! 5 2.1294046e+00 3.64e-03 1.71e-01 -2.9 5.86e-02 -1.0 1.00e+00 5.26e-01h 1 Hello, world! 6 2.0951176e+00 5.83e-04 7.16e-02 -4.0 3.10e-02 -1.5 1.00e+00 8.46e-01h 1 Hello, world! 7 2.0909054e+00 1.47e-05 7.80e-03 -4.0 1.11e-02 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0909148e+00 6.31e-08 3.60e-05 -4.0 9.88e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909139e+00 6.25e-10 1.76e-05 -4.0 1.45e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909106e+00 6.75e-10 1.74e-05 -4.0 4.27e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0909009e+00 5.15e-09 1.51e-04 -4.0 1.24e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908748e+00 3.74e-08 3.36e-04 -4.0 3.45e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0908029e+00 2.69e-07 2.80e-04 -4.0 9.56e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0905923e+00 2.83e-06 3.35e-04 -4.0 2.88e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0905049e+00 4.21e-07 3.20e-04 -4.0 1.11e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0903417e+00 1.31e-06 7.90e-03 -4.0 3.96e+00 -5.4 1.00e+00 4.26e-01h 2 Hello, world! 17 2.0894897e+00 2.99e-05 5.62e-03 -4.0 1.07e+01 -5.8 1.00e+00 8.80e-01h 1 Hello, world! 18 2.0877932e+00 3.08e-04 3.52e-02 -4.0 2.96e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0865049e+00 2.96e-04 2.16e-01 -4.0 5.28e+01 -5.9 1.00e+00 1.89e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0849520e+00 2.66e-04 2.64e-02 -4.0 2.48e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0828413e+00 2.26e-04 2.74e-02 -4.0 3.69e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0830327e+00 9.30e-04 2.88e-02 -4.0 5.72e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0821461e+00 1.46e-03 8.90e-03 -4.1 1.34e+02 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 24 2.1190007e+00 5.02e-06 1.37e+00 -4.0 5.71e+02 -8.3 8.63e-02 1.00e+00H 1 Hello, world! 25 2.0869347e+00 1.23e-04 7.23e+00 -4.2 4.74e+00 -2.4 2.56e-02 2.56e-01f 1 Hello, world! 26 2.0851745e+00 8.75e-05 5.22e+00 -4.0 2.07e-01 -2.9 1.00e+00 2.84e-01f 1 Hello, world! 27 2.0839585e+00 1.69e-04 3.63e+00 -3.8 4.07e+00 -3.4 1.00e+00 3.34e-01f 1 Hello, world! 28 2.0835883e+00 4.51e-05 1.25e+00 -4.0 2.07e-01 -3.9 1.00e+00 7.25e-01h 1 Hello, world! 29 2.0835253e+00 1.75e-05 3.26e-04 -4.0 1.52e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0835076e+00 3.15e-06 1.21e-05 -4.0 4.52e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0834388e+00 1.75e-06 8.28e-05 -4.0 1.30e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0833052e+00 8.35e-06 3.70e-04 -4.0 3.57e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0831237e+00 1.64e-05 8.60e-04 -4.0 9.44e+00 -6.2 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0828316e+00 5.83e-05 2.30e-03 -4.0 2.40e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0823678e+00 3.25e-04 9.80e-03 -4.0 5.66e+01 -7.2 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0819193e+00 9.88e-04 2.06e-02 -4.0 1.08e+02 -7.7 9.77e-01 1.00e+00h 1 Hello, world! 37 2.0817031e+00 1.59e-03 2.66e-01 -4.0 1.05e+03 -7.2 1.35e-02 8.02e-02h 2 Hello, world! 38 2.0817714e+00 1.61e-03 2.20e-01 -4.0 3.86e+03 -6.8 3.32e-04 1.47e-03h 3 Hello, world! 39 2.0816333e+00 1.30e-07 2.70e-04 -4.1 1.90e-02 -1.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0817611e+00 1.58e-07 1.32e-04 -4.0 8.48e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0816395e+00 1.14e-07 1.47e-04 -4.1 1.58e-02 -2.8 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0810907e+00 2.93e-06 2.07e-01 -6.1 7.60e-02 -3.3 7.25e-01 1.00e+00h 1 Hello, world! 43 2.0818924e+00 5.56e-06 3.92e-03 -4.0 9.62e-02 -3.8 1.00e+00 1.00e+00f 1 Hello, world! 44 2.0816254e+00 8.64e-06 1.27e-04 -4.1 1.84e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0810471e+00 7.35e-05 1.39e-01 -6.1 7.63e-01 -4.7 8.08e-01 1.00e+00h 1 Hello, world! 46 2.0810929e+00 4.62e-05 1.13e-03 -4.6 1.55e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0810369e+00 2.45e-05 5.56e-03 -4.7 2.60e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0810642e+00 2.16e-07 8.58e-04 -4.4 6.09e-02 -2.6 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0813691e+00 1.31e-09 2.84e-03 -4.0 9.84e-02 -3.0 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 50 2.0812400e+00 4.38e-06 4.91e-04 -4.0 2.12e-01 -3.5 1.00e+00 1.00e+00f 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0812399792816159e+00 2.0812399792816159e+00 Dual infeasibility......: 4.9118842522609862e-04 4.9118842522609862e-04 Constraint violation....: 4.3803550802135049e-06 4.3803550802135049e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.3279401709508456e-04 1.3279401709508456e-04 Overall NLP error.......: 4.9118842522609862e-04 4.9118842522609862e-04 Number of objective function evaluations = 62 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 62 Number of inequality constraint evaluations = 62 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 0.739 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.043s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.043s) integrator 1 hessian structure: 0.034s 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 (0.035s) linear index maps built (0.0s) evaluator ready (total: 0.078s) evaluator created (0.078s) 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 (0.09s) optimizer initialization complete (total: 0.169s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.4459648e+00 3.11e+00 5.38e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7789252e+00 3.45e-02 5.70e-01 -1.0 2.38e+00 - 1.00e+00 1.00e+00f 1 2 2.3503257e+00 4.70e-03 1.68e-01 -1.8 9.70e-02 - 9.08e-01 1.00e+00h 1 3 2.1428451e+00 1.85e-03 6.58e-02 -2.6 4.60e-02 - 9.64e-01 8.25e-01h 1 4 2.0914319e+00 2.51e-04 4.06e-03 -3.8 4.71e-02 - 1.00e+00 1.00e+00h 1 5 2.0909034e+00 1.36e-05 5.95e-04 -4.0 2.11e-01 - 1.00e+00 1.00e+00h 1 6 2.0908975e+00 2.09e-08 1.34e-07 -4.0 1.79e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 1.60e-11 1.22e-10 -4.0 1.01e-02 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971976935118e+00 2.0908971976935118e+00 Dual infeasibility......: 1.2174642354369561e-10 1.2174642354369561e-10 Constraint violation....: 1.6040088017580253e-11 1.6040088017580253e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000093138576425e-04 1.0000093138576425e-04 Overall NLP error.......: 9.3138576424912564e-10 9.3138576424912564e-10 Number of objective function evaluations = 8 Number of objective gradient evaluations = 8 Number of equality constraint evaluations = 8 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 8 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 7 Total seconds in IPOPT = 19.777 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.049s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.049s) integrator 1 hessian structure: 0.042s 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 (0.043s) linear index maps built (0.0s) evaluator ready (total: 0.092s) evaluator created (0.092s) 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: 0.093s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.7300748e+00 1.45e+00 4.33e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5343230e+00 7.69e-01 1.18e+00 -0.9 8.04e+00 -4.0 7.77e-01 4.91e-01f 1 2 2.4691881e+00 8.13e-01 7.29e+00 -0.8 1.50e+01 -2.7 2.43e-01 1.00e+00f 1 3 2.4754480e+00 2.26e-01 2.13e+00 -0.8 2.06e+01 -2.2 8.30e-01 3.03e-01h 1 4 2.3367174e+00 6.33e-02 2.39e+00 -2.2 1.36e+00 -1.8 6.37e-01 8.50e-01h 1 5 2.2778299e+00 4.54e-02 5.23e-01 -1.6 1.59e+00 -2.3 9.91e-01 1.00e+00f 1 6 2.2603652e+00 3.90e-02 9.50e-01 -1.7 4.03e+00 -2.8 9.83e-01 1.81e-01h 2 7 2.2359851e+00 3.26e-02 7.79e-01 -1.8 2.89e+00 -2.3 9.98e-01 2.69e-01h 1 8 2.1746788e+00 1.53e-02 7.72e-01 -2.2 1.21e-01 -0.1 9.95e-01 5.31e-01h 1 9 2.1224724e+00 1.32e-03 1.13e-01 -2.6 1.44e-01 -0.6 9.97e-01 9.34e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.1037137e+00 6.46e-04 4.11e-01 -3.6 9.92e-02 -1.1 1.00e+00 5.05e-01h 1 11 2.0909696e+00 3.45e-05 2.20e-02 -4.0 1.30e-02 -1.5 1.00e+00 9.87e-01h 1 12 2.0905811e+00 4.11e-07 4.70e-04 -4.0 4.16e-03 -2.0 1.00e+00 1.00e+00h 1 13 2.0905936e+00 5.02e-08 1.53e-05 -4.0 4.84e-03 -2.5 1.00e+00 1.00e+00h 1 14 2.0905922e+00 4.23e-10 1.53e-05 -4.0 1.45e-02 -3.0 1.00e+00 1.00e+00h 1 15 2.0905880e+00 6.76e-10 1.52e-05 -4.0 4.33e-02 -3.5 1.00e+00 1.00e+00h 1 16 2.0905759e+00 5.89e-09 1.50e-05 -4.0 1.28e-01 -3.9 1.00e+00 1.00e+00h 1 17 2.0905411e+00 4.81e-08 2.50e-05 -4.0 3.69e-01 -4.4 1.00e+00 1.00e+00h 1 18 2.0904501e+00 3.24e-07 1.81e-04 -4.0 9.77e-01 -4.9 1.00e+00 1.00e+00h 1 19 2.0902695e+00 1.25e-06 8.71e-04 -4.0 2.18e+00 -5.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0900861e+00 2.36e-06 1.79e-03 -4.0 3.60e+00 -5.8 1.00e+00 1.00e+00h 1 21 2.0899558e+00 2.67e-06 1.49e-03 -4.0 6.00e+00 -6.3 1.00e+00 1.00e+00h 1 22 2.0898484e+00 7.79e-06 1.34e-03 -4.0 9.59e+00 -6.8 1.00e+00 1.00e+00h 1 23 2.0898233e+00 1.56e-06 1.11e-03 -4.0 1.10e+01 -7.3 1.00e+00 1.00e+00h 1 24 2.0898226e+00 1.40e-06 3.72e-04 -4.0 7.35e+00 -7.7 1.00e+00 1.00e+00h 1 25 2.0898219e+00 1.24e-07 2.25e-05 -4.0 1.53e+00 -8.2 1.00e+00 1.00e+00h 1 26 2.0898219e+00 6.51e-10 1.43e-07 -4.0 1.14e-01 -8.7 1.00e+00 1.00e+00h 1 27 2.0898218e+00 4.06e-13 1.60e-10 -4.0 5.17e-03 -9.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 27 (scaled) (unscaled) Objective...............: 2.0898218497970231e+00 2.0898218497970231e+00 Dual infeasibility......: 1.5989413758949952e-10 1.5989413758949952e-10 Constraint violation....: 4.0631387143719166e-13 4.0631387143719166e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999999991e-05 9.9999999999999991e-05 Overall NLP error.......: 1.5989413758949952e-10 1.5989413758949952e-10 Number of objective function evaluations = 31 Number of objective gradient evaluations = 28 Number of equality constraint evaluations = 31 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 28 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 27 Total seconds in IPOPT = 21.034 EXIT: Optimal Solution Found. 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 (0.066s) integrator 1 hessian structure: 0.06s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.001s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.062s) linear index maps built (0.0s) evaluator ready (total: 0.128s) 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: 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: 0.128s) 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 1.7032932e+00 3.56e+00 5.07e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7914719e+00 2.25e+00 5.32e+01 -0.5 2.24e+00 0.0 6.83e-03 3.68e-01f 1 2 2.0354390e+00 1.78e+00 4.26e+01 -0.3 1.80e+00 0.4 4.27e-01 2.10e-01h 1 3 2.3102571e+00 1.08e+00 2.55e+01 -0.5 1.18e+00 -0.1 9.96e-01 3.91e-01h 1 4 2.3331083e+00 1.07e+00 8.55e+01 -4.0 3.81e+00 -0.5 8.97e-02 8.77e-03h 1 5 3.4282805e+00 9.48e-01 4.44e+01 0.9 8.02e+01 -1.0 7.79e-02 4.87e-02h 1 6 3.4356592e+00 9.26e-01 1.77e+02 -0.8 1.71e+00 -0.6 4.34e-01 2.28e-02h 1 7 3.6827566e+00 8.73e-01 1.44e+02 -0.9 6.06e+00 -0.2 7.88e-02 8.68e-02h 1 8 3.7441896e+00 8.67e-01 1.90e+02 1.0 5.60e+01 0.3 3.36e-02 6.95e-03f 1 9 3.8832540e+00 8.56e-01 4.52e+02 -0.2 1.90e+01 -0.2 2.64e-02 1.26e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 3.9820739e+00 8.49e-01 4.15e+02 -0.2 1.18e+02 -0.7 2.78e-02 8.72e-03f 2 11 4.4113330e+00 8.26e-01 1.03e+03 0.6 5.03e+01 -0.3 8.82e-02 2.80e-02f 1 12 4.4255209e+00 8.24e-01 2.52e+04 -0.1 2.09e+01 -0.7 9.77e-02 2.63e-03h 1 13 4.4607050e+00 8.21e-01 3.06e+05 -0.1 5.16e+01 -0.3 4.94e-02 4.21e-03h 1 14 4.4710555e+00 8.21e-01 6.98e+06 -0.1 3.26e+02 -0.8 2.73e-03 1.19e-04h 1 15r 4.4710555e+00 8.21e-01 1.00e+03 -0.1 0.00e+00 -0.4 0.00e+00 4.58e-07R 4 16r 4.6599673e+00 4.67e-01 9.96e+02 1.9 2.97e+02 - 5.07e-03 2.00e-03f 1 17 4.6602720e+00 4.67e-01 2.73e+02 -4.0 2.65e+00 -0.8 2.40e-01 8.66e-04h 1 18 4.6604094e+00 4.67e-01 2.93e+07 0.7 3.40e+01 -1.3 1.00e+00 1.02e-05h 1 19r 4.6604094e+00 4.67e-01 1.00e+03 2.5 0.00e+00 -1.8 0.00e+00 4.64e-07R 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20r 4.3885271e+00 2.02e-01 3.82e+02 0.8 1.34e+00 - 7.36e-01 5.01e-01f 1 21 4.3876128e+00 1.99e-01 9.72e+01 -1.1 8.47e-01 -2.3 8.69e-01 1.25e-02h 1 22 4.4243158e+00 1.99e-01 9.73e+04 0.6 5.27e+01 -2.7 9.24e-01 2.60e-03h 1 23 4.4327854e+00 1.99e-01 9.96e+07 1.5 7.41e+01 -3.2 1.00e+00 7.04e-04h 1 24r 4.4327854e+00 1.99e-01 9.98e+02 2.5 0.00e+00 -3.7 0.00e+00 3.03e-07R 6 25r 4.3822046e+00 1.99e-01 1.60e+02 -3.6 4.32e-01 - 8.41e-01 8.33e-01f 1 26r 4.3362081e+00 1.99e-01 2.47e+02 -0.3 8.50e-02 2.0 3.02e-01 8.01e-01f 1 27r 4.3660354e+00 1.99e-01 4.64e+01 -0.5 2.00e-02 1.5 9.95e-01 8.11e-01f 1 28r 4.4823691e+00 1.99e-01 1.04e+01 -1.3 3.88e-02 1.0 1.00e+00 8.89e-01f 1 29r 4.4968487e+00 1.99e-01 1.17e+00 -1.9 1.22e-02 0.6 1.00e+00 9.89e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30r 4.4136390e+00 1.99e-01 4.61e-02 -2.6 1.81e-01 - 1.00e+00 1.00e+00f 1 31r 4.2689699e+00 1.99e-01 2.44e-02 -3.3 8.42e-02 - 9.86e-01 1.00e+00f 1 32r 4.2555550e+00 1.99e-01 1.31e-03 -4.0 8.55e-02 - 1.00e+00 1.00e+00h 1 33r 4.2843306e+00 1.99e-01 1.39e-04 -4.0 2.26e-02 - 1.00e+00 1.00e+00h 1 34r 4.2840205e+00 1.99e-01 7.57e-07 -4.0 2.65e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 34 (scaled) (unscaled) Objective...............: 4.2839186219609999e+00 4.2839186219609999e+00 Dual infeasibility......: 2.1675950432759259e+00 2.1675950432759259e+00 Constraint violation....: 1.9875045040258865e-01 1.9875045040258865e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000002327804035e-04 1.0000002327804035e-04 Overall NLP error.......: 2.1675950432759259e+00 2.1675950432759259e+00 Number of objective function evaluations = 52 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 52 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 39 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 35 Total seconds in IPOPT = 21.511 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: 0.046s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.047s) integrator 1 hessian structure: 0.04s 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 (0.041s) linear index maps built (0.0s) evaluator ready (total: 0.088s) evaluator created (0.088s) 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: 0.088s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 36 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 6.4068625e+00 1.83e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.3277881e+00 2.37e-01 2.27e+00 -1.5 1.91e+00 0.0 3.53e-01 8.71e-01h 1 2 3.3136108e+00 1.17e-01 2.25e+00 -1.0 5.64e-01 -0.5 9.89e-01 5.02e-01f 1 3 2.4298075e+00 3.43e-03 4.16e-01 -1.4 2.88e-01 -1.0 9.89e-01 1.00e+00f 1 4 2.2386110e+00 3.80e-03 4.96e-02 -1.9 1.30e-01 -1.4 9.82e-01 1.00e+00h 1 5 2.0973123e+00 1.92e-03 1.98e-02 -3.2 1.13e-01 -1.9 9.96e-01 9.24e-01h 1 6 2.0910552e+00 1.01e-05 1.21e-03 -4.0 6.56e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0909647e+00 2.85e-07 3.61e-05 -4.0 2.63e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909603e+00 8.09e-10 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909470e+00 6.85e-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 2.0909072e+00 6.17e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907877e+00 5.56e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0904300e+00 5.03e-06 2.26e-05 -4.0 3.64e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0893641e+00 4.59e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0862306e+00 4.31e-04 1.81e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796247e+00 2.54e-03 8.47e-02 -4.0 8.74e+01 -6.7 1.00e+00 7.64e-01h 1 16 2.0813073e+00 1.47e-04 1.92e-01 -4.0 6.80e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778411e+00 5.63e-03 2.68e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781465e+00 1.63e-02 3.05e-02 -3.7 1.51e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767388e+00 1.30e-02 1.79e-02 -3.8 2.83e+02 -8.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0758648e+00 1.02e-02 2.18e-02 -3.9 4.11e+02 -9.1 1.00e+00 9.92e-01h 1 21 2.0757718e+00 7.06e-03 9.59e-03 -4.0 1.37e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756808e+00 3.84e-04 4.10e-04 -4.0 5.84e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 4.40e-06 7.91e-06 -4.0 2.31e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 5.64e-08 1.49e-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 5.15e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.52e-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...............: 2.0756712122097367e+00 2.0756712122097367e+00 Dual infeasibility......: 2.9565562317162078e-09 2.9565562317162078e-09 Constraint violation....: 7.5194850346349540e-11 7.5194850346349540e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000042e-04 1.0000000000000042e-04 Overall NLP error.......: 2.9565562317162078e-09 2.9565562317162078e-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 = 22.185 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: 0.057s 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 (0.045s) linear index maps built (0.0s) evaluator ready (total: 0.103s) evaluator created (0.103s) 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 (0.552s) optimizer initialization complete (total: 0.655s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 81 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.1373420e+00 3.33e+00 3.92e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8030489e+00 3.20e-02 4.23e+00 -1.0 2.06e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.4022170e+00 5.62e-02 3.18e-01 -1.6 1.43e+00 -2.5 9.96e-01 1.00e+00h 1 3 2.1544370e+00 2.84e-02 8.54e-02 -2.3 9.98e-01 -3.0 9.47e-01 1.00e+00h 1 4 2.1007030e+00 1.86e-03 1.00e-02 -3.0 3.29e-01 -3.4 9.67e-01 1.00e+00h 1 5 2.0909862e+00 1.76e-04 5.28e-04 -4.0 1.68e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0908983e+00 2.88e-06 3.55e-05 -4.0 5.02e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0907505e+00 8.33e-07 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0903080e+00 7.66e-06 3.46e-05 -4.0 4.50e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0889914e+00 6.99e-05 3.08e-04 -4.0 1.34e+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 2.0851407e+00 6.53e-04 2.81e-03 -4.0 3.91e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0797590e+00 1.93e-03 1.46e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.30e-01h 1 12 2.0803490e+00 5.04e-05 1.61e-01 -4.0 6.63e+01 -7.2 1.00e+00 1.00e+00H 1 13 2.0775718e+00 5.56e-03 1.63e-02 -4.0 1.24e+02 -7.7 1.00e+00 9.50e-01h 1 14 2.0770091e+00 1.11e-03 4.75e-02 -4.0 2.07e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0762524e+00 5.70e-04 2.23e-02 -4.0 3.53e+02 -8.7 1.00e+00 7.99e-01h 1 16 2.0756051e+00 8.12e-04 2.61e-02 -4.0 5.73e+02 -9.2 1.00e+00 6.84e-01h 1 17 2.0758685e+00 9.30e-04 1.44e-02 -4.0 1.60e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0754603e+00 1.90e-03 5.67e-04 -4.1 8.34e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0757715e+00 5.10e-04 7.01e-06 -4.0 2.12e+01 -10.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0754219e+00 6.62e-04 8.99e-07 -4.1 2.50e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0757717e+00 3.71e-04 8.27e-07 -4.0 1.40e+01 -11.5 1.00e+00 1.00e+00h 1 22 2.0757704e+00 1.10e-07 1.24e-08 -4.0 2.11e+00 -12.0 1.00e+00 1.00e+00h 1 23 2.0757704e+00 2.14e-14 3.51e-12 -4.0 1.58e-02 -12.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0757703960460989e+00 2.0757703960460989e+00 Dual infeasibility......: 3.5136210347480601e-12 3.5136210347480601e-12 Constraint violation....: 2.1427304375265521e-14 2.1427304375265521e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000015e-04 1.0000000000000015e-04 Overall NLP error.......: 3.5136210347480601e-12 3.5136210347480601e-12 Number of objective function evaluations = 25 Number of objective gradient evaluations = 24 Number of equality constraint evaluations = 25 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 = 25.085 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.052s jacobian structure: 180 nonzeros (0.088s) integrator 1 hessian structure: 0.048s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.351s sub-objective 2 (QuadraticRegularizer): 0.091s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.018s objective hessian structure: 0.556s hessian structure: 375 nonzeros (0.604s) linear index maps built (0.0s) evaluator ready (total: 0.82s) evaluator created (0.82s) NL constraint bounds extracted (0.012s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.124s) applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.907s) optimizer initialization complete (total: 3.864s) 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 1.6002271e+00 7.47e-01 1.04e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7853523e+00 1.03e-01 1.97e+00 -0.8 7.58e-01 0.0 9.12e-01 1.00e+00h 1 2 1.8107507e+00 4.39e-02 1.43e+00 -0.6 4.84e+00 - 7.72e-01 5.73e-01h 1 3 2.3841757e+00 1.47e-02 2.34e+00 -1.4 4.78e-01 -0.5 9.68e-01 1.00e+00h 1 4 1.6238243e+00 9.64e-03 8.65e-01 -1.0 2.13e+00 -1.0 9.94e-01 2.91e-01h 1 5 1.2741660e+00 3.64e-03 1.09e-01 -1.9 2.23e-01 -1.4 9.80e-01 1.00e+00f 1 6 1.1107475e+00 2.11e-05 8.04e-02 -4.0 2.18e+00 - 6.07e-01 1.00e+00f 1 7 1.0942584e+00 6.08e-08 1.38e-02 -4.0 2.04e-01 -1.9 1.00e+00 1.00e+00f 1 8 1.0932202e+00 5.02e-08 3.44e-02 -3.6 6.32e-01 -2.4 1.00e+00 1.74e-01f 1 9 1.0909552e+00 4.97e-10 6.61e-02 -4.0 2.54e+00 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0908971e+00 3.85e-14 3.69e-05 -4.0 4.63e-02 - 1.00e+00 1.00e+00f 1 11 1.0908997e+00 7.17e-22 3.71e-05 -4.0 3.52e-01 - 1.00e+00 1.00e+00f 1 12 1.0907198e+00 1.02e-27 2.62e-05 -4.1 1.26e-01 - 1.00e+00 1.00e+00f 1 13 1.0908997e+00 4.83e-27 1.24e-05 -4.0 3.94e-02 - 1.00e+00 1.00e+00f 1 14 1.0907198e+00 4.67e-28 5.63e-07 -4.1 6.32e-03 - 1.00e+00 1.00e+00f 1 15 1.0900065e+00 1.09e-27 3.46e-08 -6.1 7.93e-05 - 1.00e+00 1.00e+00f 1 16 1.0908999e+00 5.89e-32 5.43e-08 -4.0 2.19e-01 - 1.00e+00 1.00e+00f 1 17 1.0907198e+00 9.63e-28 2.21e-09 -4.1 1.74e-01 - 1.00e+00 1.00e+00f 1 18 1.0900065e+00 1.83e-26 3.46e-08 -6.1 3.89e-04 - 1.00e+00 1.00e+00f 1 19 1.0899999e+00 9.98e-33 2.90e-12 -9.0 5.48e-05 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.0900000e+00 9.98e-33 2.90e-12 -4.0 4.74e+03 - 1.00e+00 6.08e-05f 1 21 1.0903959e+00 1.17e-35 1.07e-08 -4.4 1.08e-01 - 1.00e+00 1.00e+00f 1 22 1.0900026e+00 3.06e-27 1.05e-08 -6.5 9.10e-04 - 1.00e+00 1.00e+00f 1 23 1.0899999e+00 3.76e-34 4.78e-13 -9.0 4.24e-04 - 1.00e+00 1.00e+00f 1 24 1.0899999e+00 3.30e-43 7.18e-16 -9.0 1.36e-01 - 1.00e+00 1.00e+00f 1 25 1.0899999e+00 4.00e-46 2.46e-16 -9.0 6.41e-16 - 1.00e+00 1.00e+00 0 26 1.0899999e+00 5.39e-48 2.46e-16 -9.0 2.79e-17 - 1.00e+00 1.00e+00T 0 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 1.0899999181818181e+00 1.0899999181818181e+00 Dual infeasibility......: 2.4554468701365462e-16 2.4554468701365462e-16 Constraint violation....: 5.3908570499031381e-48 5.3908570499031381e-48 Variable bound violation: 9.0909090932206338e-09 9.0909090932206338e-09 Complementarity.........: 9.0909090909090920e-10 9.0909090909090920e-10 Overall NLP error.......: 9.9999090909091604e-05 9.9999090909091604e-05 Number of objective function evaluations = 27 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 27 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 27 Total seconds in IPOPT = 24.991 EXIT: Search Direction is becoming Too Small. ┌ Warning: Trajectory has timestep variable :Δt but no bounds on it. │ Adding default lower bound of 0 to prevent negative timesteps. │ │ Recommended: Add explicit bounds when creating the trajectory: │ NamedTrajectory(...; Δt_bounds=(min, max)) │ Example: │ NamedTrajectory(qtraj, N; Δt_bounds=(1e-3, 0.5)) │ │ Or use timesteps_all_equal=true in problem options to fix timesteps. └ @ DirectTrajOpt.Problems ~/.julia/packages/DirectTrajOpt/gniE1/src/problems.jl:66 initializing optimizer... building evaluator: 0 integrators, 0 nonlinear constraints dynamics constraints: 0, nonlinear constraints: 0 jacobian structure: 0 nonzeros (0.0s) computing objective hessian structure (QuadraticRegularizer)... objective hessian structure: 0.091s hessian structure: 30 nonzeros (0.091s) linear index maps built (0.0s) evaluator ready (total: 0.092s) evaluator created (0.092s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.127s) 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 (2.98s) optimizer initialization complete (total: 3.198s) 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 2.0435916e-02 8.33e-17 1.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.0471867e-02 2.17e-13 1.00e-02 -4.0 8.72e-04 -2.0 9.90e-01 1.00e+00f 1 2 7.3905769e-02 7.53e-11 2.06e-02 -2.2 7.74e-01 -1.6 1.00e+00 1.00e+00f 1 3 7.3842029e-02 3.71e-11 7.34e-04 -3.4 1.03e-02 -1.1 1.00e+00 1.00e+00h 1 4 7.3823778e-02 8.56e-13 1.71e-05 -5.1 7.22e-04 -1.6 1.00e+00 1.00e+00h 1 5 7.3823355e-02 4.65e-15 4.96e-08 -7.6 6.27e-06 -2.1 1.00e+00 1.00e+00h 1 6 7.3822467e-02 5.55e-17 7.60e-09 -11.4 2.33e-06 -2.6 1.00e+00 1.00e+00h 1 7 7.3819193e-02 1.67e-16 9.11e-09 -11.4 8.66e-06 -3.1 1.00e+00 1.00e+00h 1 8 7.3807536e-02 1.67e-16 1.06e-08 -11.4 3.11e-05 -3.5 1.00e+00 1.00e+00h 1 9 7.3767073e-02 5.55e-17 1.21e-08 -11.4 1.09e-04 -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 7.3629355e-02 8.33e-17 1.36e-08 -11.4 3.73e-04 -4.5 1.00e+00 1.00e+00h 1 11 7.3168824e-02 1.11e-16 1.51e-08 -11.4 1.26e-03 -5.0 1.00e+00 1.00e+00h 1 12 7.2978534e-02 5.55e-17 1.66e-08 -11.4 5.23e-04 -4.5 1.00e+00 1.00e+00h 1 13 7.2356666e-02 1.11e-16 1.81e-08 -11.4 1.72e-03 -5.0 1.00e+00 1.00e+00h 1 14 7.2104611e-02 1.67e-16 1.95e-08 -11.4 7.03e-04 -4.6 1.00e+00 1.00e+00h 1 15 7.1294564e-02 1.39e-16 2.10e-08 -11.4 2.28e-03 -5.1 1.00e+00 1.00e+00h 1 16 7.0970990e-02 1.11e-16 2.24e-08 -11.4 9.19e-04 -4.6 1.00e+00 1.00e+00h 1 17 7.0841822e-02 5.55e-17 2.39e-08 -11.4 3.68e-04 -4.2 1.00e+00 1.00e+00h 1 18 7.0431437e-02 1.11e-16 2.53e-08 -11.4 1.18e-03 -4.7 1.00e+00 1.00e+00h 1 19 7.0269049e-02 1.67e-16 2.67e-08 -11.4 4.68e-04 -4.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 6.9757265e-02 1.67e-16 2.82e-08 -11.4 1.48e-03 -4.7 1.00e+00 1.00e+00h 1 21 6.9556238e-02 1.11e-16 2.96e-08 -11.4 5.85e-04 -4.3 1.00e+00 1.00e+00h 1 22 6.8927044e-02 1.67e-16 3.10e-08 -11.4 1.84e-03 -4.8 1.00e+00 1.00e+00h 1 23 6.6988131e-02 8.33e-17 3.23e-08 -11.4 5.78e-03 -5.3 1.00e+00 1.00e+00h 1 24 6.6243287e-02 1.67e-16 3.37e-08 -11.4 2.27e-03 -4.8 1.00e+00 1.00e+00h 1 25 6.5954547e-02 8.33e-17 3.50e-08 -11.4 8.85e-04 -4.4 1.00e+00 1.00e+00h 1 26 6.5062263e-02 1.39e-16 3.63e-08 -11.4 2.76e-03 -4.9 1.00e+00 1.00e+00h 1 27 6.4718194e-02 1.67e-16 3.76e-08 -11.4 1.07e-03 -4.5 1.00e+00 1.00e+00h 1 28 6.3660570e-02 1.67e-16 3.89e-08 -11.4 3.34e-03 -4.9 1.00e+00 1.00e+00h 1 29 6.3254840e-02 1.11e-16 4.02e-08 -11.4 1.29e-03 -4.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 6.2014236e-02 1.67e-16 4.14e-08 -11.4 4.01e-03 -5.0 1.00e+00 1.00e+00h 1 31 6.1540763e-02 1.39e-16 4.26e-08 -11.4 1.55e-03 -4.6 1.00e+00 1.00e+00h 1 32 6.0100760e-02 1.67e-16 4.38e-08 -11.4 4.79e-03 -5.1 1.00e+00 1.00e+00h 1 33 5.9554097e-02 1.67e-16 4.50e-08 -11.4 1.85e-03 -4.6 1.00e+00 1.00e+00h 1 34 5.7900754e-02 1.11e-16 4.62e-08 -11.4 5.69e-03 -5.1 1.00e+00 1.00e+00h 1 35 5.7276594e-02 1.11e-16 4.73e-08 -11.4 2.19e-03 -4.7 1.00e+00 1.00e+00h 1 36 5.7038413e-02 5.55e-17 4.84e-08 -11.4 8.41e-04 -4.2 1.00e+00 1.00e+00h 1 37 5.6312773e-02 1.67e-16 4.95e-08 -11.4 2.58e-03 -4.7 1.00e+00 1.00e+00h 1 38 5.4143355e-02 1.11e-16 5.06e-08 -11.4 7.92e-03 -5.2 1.00e+00 1.00e+00h 1 39 5.3333925e-02 5.55e-17 5.16e-08 -11.4 3.03e-03 -4.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 5.3027109e-02 1.67e-16 5.27e-08 -11.4 1.16e-03 -4.4 1.00e+00 1.00e+00h 1 41 5.2098858e-02 1.11e-16 5.37e-08 -11.4 3.55e-03 -4.8 1.00e+00 1.00e+00h 1 42 5.1748108e-02 1.11e-16 5.47e-08 -11.4 1.36e-03 -4.4 1.00e+00 1.00e+00h 1 43 5.0690492e-02 1.11e-16 5.57e-08 -11.4 4.15e-03 -4.9 1.00e+00 1.00e+00h 1 44 5.0292212e-02 1.11e-16 5.66e-08 -11.4 1.58e-03 -4.5 1.00e+00 1.00e+00h 1 45 4.9095649e-02 1.67e-16 5.76e-08 -11.4 4.84e-03 -4.9 1.00e+00 1.00e+00h 1 46 4.8646709e-02 5.55e-17 5.85e-08 -11.4 1.84e-03 -4.5 1.00e+00 1.00e+00h 1 47 4.7303327e-02 1.39e-16 5.94e-08 -11.4 5.62e-03 -5.0 1.00e+00 1.00e+00h 1 48 4.6801352e-02 8.33e-17 6.03e-08 -11.4 2.14e-03 -4.6 1.00e+00 1.00e+00h 1 49 4.5305897e-02 5.55e-17 6.12e-08 -11.4 6.51e-03 -5.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 4.4749625e-02 5.55e-17 6.20e-08 -11.4 2.48e-03 -4.6 1.00e+00 1.00e+00h 1 51 4.3100547e-02 1.67e-16 6.28e-08 -11.4 7.53e-03 -5.1 1.00e+00 1.00e+00h 1 52 4.2490232e-02 1.67e-16 6.36e-08 -11.4 2.86e-03 -4.7 1.00e+00 1.00e+00h 1 53 4.2260615e-02 5.55e-17 6.44e-08 -11.4 1.09e-03 -4.2 1.00e+00 1.00e+00h 1 54 4.1570677e-02 1.11e-16 6.51e-08 -11.4 3.30e-03 -4.7 1.00e+00 1.00e+00h 1 55 4.1311693e-02 5.55e-17 6.59e-08 -11.4 1.25e-03 -4.3 1.00e+00 1.00e+00h 1 56 4.0535424e-02 5.55e-17 6.66e-08 -11.4 3.80e-03 -4.8 1.00e+00 1.00e+00h 1 57 4.0244765e-02 8.33e-17 6.73e-08 -11.4 1.44e-03 -4.3 1.00e+00 1.00e+00h 1 58 3.9375936e-02 5.55e-17 6.80e-08 -11.4 4.37e-03 -4.8 1.00e+00 1.00e+00h 1 59 3.6862147e-02 5.55e-17 6.87e-08 -11.4 1.32e-02 -5.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 3.5955157e-02 5.55e-17 6.93e-08 -11.4 5.02e-03 -4.9 1.00e+00 1.00e+00h 1 61 3.5617840e-02 1.11e-16 6.99e-08 -11.4 1.90e-03 -4.4 1.00e+00 1.00e+00h 1 62 3.4616833e-02 1.67e-16 7.05e-08 -11.4 5.75e-03 -4.9 1.00e+00 1.00e+00h 1 63 3.4245846e-02 5.55e-17 7.11e-08 -11.4 2.17e-03 -4.5 1.00e+00 1.00e+00h 1 64 3.3149110e-02 1.67e-16 7.17e-08 -11.4 6.57e-03 -5.0 1.00e+00 1.00e+00h 1 65 3.2744243e-02 5.55e-17 7.22e-08 -11.4 2.48e-03 -4.5 1.00e+00 1.00e+00h 1 66 3.1552486e-02 5.55e-17 7.27e-08 -11.4 7.51e-03 -5.0 1.00e+00 1.00e+00h 1 67 3.1114501e-02 5.55e-17 7.32e-08 -11.4 2.84e-03 -4.6 1.00e+00 1.00e+00h 1 68 2.9831521e-02 1.11e-16 7.37e-08 -11.4 8.57e-03 -5.1 1.00e+00 1.00e+00h 1 69 2.9362392e-02 1.11e-16 7.42e-08 -11.4 3.23e-03 -4.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.9187263e-02 5.55e-17 7.46e-08 -11.4 1.22e-03 -4.2 1.00e+00 1.00e+00h 1 71 2.8665074e-02 1.11e-16 7.51e-08 -11.4 3.68e-03 -4.7 1.00e+00 1.00e+00h 1 72 2.8470550e-02 1.67e-16 7.55e-08 -11.4 1.39e-03 -4.3 1.00e+00 1.00e+00h 1 73 2.7891871e-02 1.11e-16 7.59e-08 -11.4 4.19e-03 -4.7 1.00e+00 1.00e+00h 1 74 2.7676818e-02 1.11e-16 7.64e-08 -11.4 1.58e-03 -4.3 1.00e+00 1.00e+00h 1 75 2.7038736e-02 1.67e-16 7.68e-08 -11.4 4.77e-03 -4.8 1.00e+00 1.00e+00h 1 76 2.6802246e-02 1.67e-16 7.72e-08 -11.4 1.80e-03 -4.4 1.00e+00 1.00e+00h 1 77 2.6102621e-02 1.11e-16 7.76e-08 -11.4 5.42e-03 -4.8 1.00e+00 1.00e+00h 1 78 2.5844111e-02 1.67e-16 7.79e-08 -11.4 2.04e-03 -4.4 1.00e+00 1.00e+00h 1 79 2.5081884e-02 5.55e-17 7.83e-08 -11.4 6.16e-03 -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 80 2.4801213e-02 1.11e-16 7.86e-08 -11.4 2.32e-03 -4.5 1.00e+00 1.00e+00h 1 81 2.3976752e-02 1.11e-16 7.90e-08 -11.4 6.99e-03 -4.9 1.00e+00 1.00e+00h 1 82 2.3674349e-02 1.67e-16 7.93e-08 -11.4 2.63e-03 -4.5 1.00e+00 1.00e+00h 1 83 2.2789823e-02 1.67e-16 7.96e-08 -11.4 7.93e-03 -5.0 1.00e+00 1.00e+00h 1 84 2.2466820e-02 5.55e-17 7.99e-08 -11.4 2.99e-03 -4.6 1.00e+00 1.00e+00h 1 85 2.1526577e-02 1.67e-16 8.01e-08 -11.4 8.99e-03 -5.1 1.00e+00 1.00e+00h 1 86 2.1184943e-02 8.33e-17 8.04e-08 -11.4 3.38e-03 -4.6 1.00e+00 1.00e+00h 1 87 2.0195843e-02 1.67e-16 8.06e-08 -11.4 1.02e-02 -5.1 1.00e+00 1.00e+00h 1 88 1.9838482e-02 5.55e-17 8.09e-08 -11.4 3.83e-03 -4.7 1.00e+00 1.00e+00h 1 89 1.9705887e-02 1.39e-16 8.11e-08 -11.4 1.44e-03 -4.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 1.9312972e-02 1.67e-16 8.13e-08 -11.4 4.33e-03 -4.7 1.00e+00 1.00e+00h 1 91 1.8189561e-02 5.55e-17 8.15e-08 -11.4 1.30e-02 -5.2 1.00e+00 1.00e+00h 1 92 1.7788951e-02 1.11e-16 8.17e-08 -11.4 4.90e-03 -4.8 1.00e+00 1.00e+00h 1 93 1.7641071e-02 1.11e-16 8.18e-08 -11.4 1.84e-03 -4.4 1.00e+00 1.00e+00h 1 94 1.7205286e-02 2.78e-17 8.20e-08 -11.4 5.53e-03 -4.8 1.00e+00 1.00e+00h 1 95 1.5978766e-02 1.11e-16 8.21e-08 -11.4 1.66e-02 -5.3 1.00e+00 1.00e+00h 1 96 1.5548505e-02 1.67e-16 8.23e-08 -11.4 6.25e-03 -4.9 1.00e+00 1.00e+00h 1 97 1.5390676e-02 1.11e-16 8.24e-08 -11.4 2.35e-03 -4.5 1.00e+00 1.00e+00h 1 98 1.4928698e-02 8.33e-17 8.25e-08 -11.4 7.05e-03 -4.9 1.00e+00 1.00e+00h 1 99 1.4759830e-02 8.33e-17 8.26e-08 -11.4 2.65e-03 -4.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 1.4267412e-02 1.11e-16 8.27e-08 -11.4 7.95e-03 -5.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.4267412472236446e-10 1.4267412472236446e-02 Dual infeasibility......: 8.2707725560029038e-08 8.2707725560029033e+00 Constraint violation....: 1.1102230246251565e-16 1.1102230246251565e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 4.1784190498023569e-12 4.1784190498023567e-04 Overall NLP error.......: 9.9999995824362969e-05 9.9999995824362959e+03 Number of objective function evaluations = 101 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 101 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 = 3.242 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 0 integrators, 0 nonlinear constraints dynamics constraints: 0, nonlinear constraints: 0 jacobian structure: 0 nonzeros (0.0s) computing objective hessian structure (CompositeObjective)... sub-objective 1 (QuadraticRegularizer): 0.088s sub-objective 2 (QuadraticRegularizer): 0.0s objective hessian structure: 0.177s hessian structure: 40 nonzeros (0.177s) linear index maps built (0.0s) evaluator ready (total: 0.177s) evaluator created (0.177s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.299s) 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 (2.794s) optimizer initialization complete (total: 3.27s) 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 9.9085255e-01 4.32e-01 9.87e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.3580510e-01 1.91e-09 1.80e-01 -4.0 4.61e-01 -2.0 8.42e-01 1.00e+00h 1 2 2.4452887e-01 1.86e-10 1.35e-01 -1.2 6.28e-01 -1.6 1.00e+00 1.00e+00f 1 3 8.1094090e-02 4.88e-10 4.96e-02 -2.6 6.19e-01 -1.1 9.29e-01 1.00e+00f 1 4 2.5302322e-02 3.08e-11 3.43e-02 -2.8 5.70e-01 -1.6 8.61e-01 1.00e+00f 1 5 6.5729057e-03 1.38e-11 1.21e-02 -3.6 5.58e-01 -2.1 9.90e-01 1.00e+00f 1 6 1.4702382e-03 4.46e-12 4.70e-03 -4.0 4.57e-01 -2.6 1.00e+00 1.00e+00f 1 7 4.9449643e-04 1.45e-12 1.37e-03 -4.0 2.30e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.5800390e-04 3.62e-13 2.08e-04 -4.0 5.60e-02 -3.5 1.00e+00 1.00e+00f 1 9 4.5248620e-04 2.86e-14 2.13e-04 -4.0 3.50e-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 4.5965453e-04 1.25e-14 2.15e-04 -4.0 3.54e-02 -4.5 1.00e+00 1.00e+00f 1 11 3.0070296e-04 2.13e-14 3.80e-04 -4.1 6.97e-02 -5.0 1.00e+00 1.00e+00f 1 12 4.6511572e-04 1.40e-14 3.58e-04 -4.0 1.86e-01 -5.4 1.00e+00 5.00e-01f 2 13 2.7139982e-04 8.16e-15 4.90e-04 -4.1 9.32e-02 -5.9 1.00e+00 1.00e+00f 1 14 4.6967903e-04 7.05e-15 4.49e-04 -4.0 2.34e-01 -6.4 1.00e+00 5.00e-01f 2 15 2.6212360e-04 5.00e-15 5.42e-04 -4.1 1.04e-01 -6.9 1.00e+00 1.00e+00f 1 16 4.7038593e-04 5.00e-15 4.85e-04 -4.0 2.53e-01 -7.4 1.00e+00 5.00e-01f 2 17 2.5923077e-04 3.61e-15 5.68e-04 -4.1 1.10e-01 -7.8 1.00e+00 1.00e+00f 1 18 4.7020297e-04 3.89e-15 5.02e-04 -4.0 2.62e-01 -8.3 1.00e+00 5.00e-01f 2 19 2.5835272e-04 2.83e-15 5.86e-04 -4.1 1.13e-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 4.6966631e-04 3.11e-15 5.12e-04 -4.0 2.69e-01 -9.3 1.00e+00 5.00e-01f 2 21 2.5812277e-04 2.44e-15 6.02e-04 -4.1 1.17e-01 -9.7 1.00e+00 1.00e+00f 1 22 4.6902398e-04 2.66e-15 5.19e-04 -4.0 2.74e-01 -10.2 1.00e+00 5.00e-01f 2 23 2.5809115e-04 1.89e-15 6.16e-04 -4.1 1.19e-01 -10.7 1.00e+00 1.00e+00f 1 24 4.6835334e-04 2.11e-15 5.25e-04 -4.0 2.78e-01 -11.2 1.00e+00 5.00e-01f 2 25 2.5811449e-04 1.67e-15 6.30e-04 -4.1 1.22e-01 -11.6 1.00e+00 1.00e+00f 1 26 3.0797148e-05 1.15e-14 7.92e-04 -6.2 3.40e-01 -12.1 9.72e-01 1.00e+00f 1 27 1.7800128e-03 3.11e-15 7.04e-03 -4.0 1.81e+00 -12.6 1.00e+00 5.00e-01f 2 28 2.3716135e-05 2.89e-14 2.59e-03 -4.1 9.22e-01 -13.1 1.00e+00 1.00e+00f 1 29 1.5975613e-03 3.90e-14 7.32e-03 -4.0 8.97e-01 -13.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 9.5378159e-06 2.22e-14 2.05e-03 -4.2 9.93e-01 -14.0 1.00e+00 1.00e+00f 1 31 4.7830913e-04 1.78e-15 2.60e-03 -4.0 1.28e+00 -14.5 1.00e+00 5.00e-01f 2 32 2.1709967e-04 3.77e-15 2.12e-04 -4.2 3.55e-01 -15.0 1.00e+00 5.00e-01f 2 33 1.9923724e-05 5.33e-15 7.22e-04 -6.4 3.74e-01 -15.5 9.68e-01 1.00e+00f 1 34 8.0063786e-06 3.89e-15 8.92e-05 -6.4 9.46e-02 -15.9 1.00e+00 1.00e+00f 1 35 1.6196490e-03 1.33e-15 5.30e-03 -4.0 8.90e+00 -16.4 1.00e+00 1.25e-01f 4 36 9.3865833e-05 6.31e-14 3.25e-03 -4.0 7.48e-01 -16.9 1.00e+00 1.00e+00f 1 37 7.6572150e-04 4.40e-14 3.37e-03 -4.0 5.08e-01 -17.4 1.00e+00 1.00e+00f 1 38 3.8272870e-04 8.44e-15 3.90e-04 -4.0 3.92e-01 -17.8 1.00e+00 5.00e-01f 2 39 3.5444273e-05 6.16e-15 1.21e-03 -6.0 4.64e-01 -18.3 9.60e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.4632117e-05 6.11e-15 1.46e-04 -6.0 1.15e-01 -18.8 1.00e+00 1.00e+00f 1 41 4.0547974e-06 9.99e-16 9.24e-05 -6.0 1.30e-01 -19.3 1.00e+00 1.00e+00f 1 42 1.3725180e-03 8.88e-16 4.42e-03 -4.0 1.43e+01 -19.8 1.00e+00 8.41e-02f 4 43 1.2322126e-04 5.76e-14 3.21e-03 -4.0 6.92e-01 -20.0 1.00e+00 1.00e+00f 1 44 7.3770573e-04 3.38e-14 3.22e-03 -4.0 4.79e-01 -20.0 1.00e+00 1.00e+00f 1 45 3.9211466e-04 6.44e-15 4.17e-04 -4.0 3.87e-01 -20.0 1.00e+00 5.00e-01f 2 46 3.6100552e-05 6.11e-15 1.34e-03 -6.0 5.04e-01 -20.0 9.55e-01 1.00e+00f 1 47 1.4941187e-05 5.55e-15 1.60e-04 -6.0 1.24e-01 -20.0 1.00e+00 1.00e+00f 1 48 4.0757448e-06 9.44e-16 1.02e-04 -6.0 1.43e-01 -20.0 1.00e+00 1.00e+00f 1 49 4.4725426e-06 3.33e-16 8.91e-06 -6.0 1.44e-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 2.6498290e-07 5.55e-17 4.67e-05 -9.0 1.99e-01 -20.0 9.81e-01 1.00e+00f 1 51 6.3112684e-04 3.33e-16 1.15e-04 -4.0 7.00e+01 -20.0 1.00e+00 1.75e-02f 4 52 2.8953239e-04 4.53e-14 1.40e-03 -4.0 2.48e-01 -20.0 1.00e+00 1.00e+00f 1 53 5.2049215e-04 9.55e-15 1.17e-03 -4.0 1.83e-01 -20.0 1.00e+00 1.00e+00f 1 54 4.0197949e-04 1.78e-15 2.25e-04 -4.0 1.68e-01 -20.0 1.00e+00 5.00e-01f 2 55 3.3167426e-05 6.44e-15 1.50e-03 -6.1 5.75e-01 -20.0 9.47e-01 1.00e+00f 1 56 1.4361959e-05 4.77e-15 1.59e-04 -6.1 1.27e-01 -20.0 1.00e+00 1.00e+00f 1 57 3.7472797e-06 6.73e-16 1.10e-04 -6.1 1.60e-01 -20.0 1.00e+00 1.00e+00f 1 58 4.1513686e-06 2.78e-16 9.62e-06 -6.1 1.61e-02 -20.0 1.00e+00 1.00e+00h 1 59 3.9156189e-06 5.55e-17 2.22e-06 -6.1 3.79e-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 2.7033599e-07 4.42e-17 4.75e-05 -9.0 2.06e-01 -20.0 9.80e-01 1.00e+00f 1 61 1.0974018e-07 4.64e-17 4.88e-06 -9.0 4.41e-02 -20.0 1.00e+00 1.00e+00f 1 62 4.0913024e-03 6.87e-16 1.05e-02 -4.0 3.17e+02 -20.0 1.00e+00 7.73e-03f 3 63 3.0189846e-04 1.26e-13 9.50e-03 -3.7 1.26e+00 -20.0 1.00e+00 1.00e+00f 1 64 1.3064966e-03 6.97e-14 5.25e-03 -3.7 5.65e-01 -20.0 1.00e+00 1.00e+00f 1 65 8.9191464e-04 1.91e-14 8.80e-04 -3.7 3.78e-01 -20.0 1.00e+00 5.00e-01f 2 66 8.4492524e-05 1.21e-14 3.15e-03 -5.5 7.52e-01 -20.0 9.29e-01 1.00e+00f 1 67 3.7267089e-05 1.02e-14 3.58e-04 -5.5 1.78e-01 -20.0 1.00e+00 1.00e+00f 1 68 1.2453727e-05 1.67e-15 2.34e-04 -5.5 1.93e-01 -20.0 1.00e+00 1.00e+00f 1 69 1.6343324e-05 6.66e-16 5.92e-05 -5.5 5.09e-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 70 1.3402890e-05 1.11e-16 2.73e-05 -5.5 2.45e-02 -20.0 1.00e+00 1.00e+00f 1 71 1.0872309e-06 1.38e-16 1.38e-04 -8.2 3.00e-01 -20.0 9.71e-01 1.00e+00f 1 72 4.2094404e-07 1.11e-16 1.60e-05 -8.2 7.34e-02 -20.0 1.00e+00 1.00e+00f 1 73 7.1203693e-08 4.08e-17 1.03e-05 -8.2 1.02e-01 -20.0 1.00e+00 1.00e+00f 1 74 2.5040593e-03 5.69e-16 5.80e-03 -4.0 3.72e+02 -20.0 1.00e+00 6.60e-03f 3 75 3.1247059e-04 8.19e-14 7.61e-03 -3.8 1.07e+00 -20.0 1.00e+00 1.00e+00f 1 76 1.0333909e-03 3.80e-14 4.18e-03 -3.8 4.92e-01 -20.0 1.00e+00 1.00e+00f 1 77 7.1648678e-04 1.02e-14 8.77e-04 -3.8 3.95e-01 -20.0 1.00e+00 5.00e-01f 2 78 6.8256418e-05 8.88e-15 3.01e-03 -5.6 7.93e-01 -20.0 9.22e-01 1.00e+00f 1 79 2.9451914e-05 6.88e-15 3.47e-04 -5.6 1.93e-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 9.0985684e-06 1.11e-15 2.27e-04 -5.6 2.17e-01 -20.0 1.00e+00 1.00e+00f 1 81 1.1310474e-05 4.44e-16 4.14e-05 -5.6 4.25e-02 -20.0 1.00e+00 1.00e+00f 1 82 9.7562650e-06 1.11e-16 1.63e-05 -5.6 1.73e-02 -20.0 1.00e+00 1.00e+00h 1 83 7.5637217e-07 1.11e-16 1.21e-04 -8.5 3.14e-01 -20.0 9.69e-01 1.00e+00f 1 84 2.9752100e-07 6.98e-17 1.35e-05 -8.5 7.39e-02 -20.0 1.00e+00 1.00e+00f 1 85 4.8587082e-08 2.93e-17 8.94e-06 -8.5 1.06e-01 -20.0 1.00e+00 1.00e+00f 1 86 1.6094532e-03 6.42e-16 1.08e-03 -4.0 5.46e+02 -20.0 1.00e+00 4.49e-03f 3 87 4.7173210e-04 6.55e-14 5.57e-03 -3.8 7.21e-01 -20.0 1.00e+00 1.00e+00f 1 88 8.9691161e-04 2.00e-14 2.25e-03 -3.8 2.67e-01 -20.0 1.00e+00 1.00e+00f 1 89 5.5845561e-04 8.88e-15 2.28e-03 -3.8 2.99e-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 8.8654862e-04 3.33e-15 1.50e-03 -3.8 1.75e-01 -20.0 1.00e+00 1.00e+00f 1 91 4.9154552e-05 8.66e-15 3.53e-03 -5.7 1.02e+00 -20.0 8.96e-01 1.00e+00f 1 92 2.6381509e-05 6.99e-15 2.34e-04 -5.7 1.42e-01 -20.0 1.00e+00 1.00e+00f 1 93 7.9580931e-06 7.77e-16 2.24e-04 -5.7 2.28e-01 -20.0 1.00e+00 1.00e+00f 1 94 1.1620927e-05 4.44e-16 7.00e-05 -5.7 7.23e-02 -20.0 1.00e+00 1.00e+00f 1 95 1.0152407e-05 1.27e-16 5.45e-06 -5.7 4.17e-02 -20.0 1.00e+00 5.00e-01f 2 96 7.2980392e-07 8.72e-17 1.31e-04 -8.5 3.41e-01 -20.0 9.66e-01 1.00e+00f 1 97 2.9638918e-07 5.90e-17 1.36e-05 -8.5 7.48e-02 -20.0 1.00e+00 1.00e+00f 1 98 4.7065102e-08 2.23e-17 9.40e-06 -8.5 1.13e-01 -20.0 1.00e+00 1.00e+00f 1 99 1.3415239e-03 6.49e-16 3.19e-03 -4.0 5.81e+02 -20.0 1.00e+00 4.22e-03f 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 5.0615089e-04 5.80e-14 4.68e-03 -3.8 6.05e-01 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 5.0615089245254017e-04 5.0615089245254017e-04 Dual infeasibility......: 4.6768039593610509e-03 4.6768039593610509e-03 Constraint violation....: 5.7953641885433171e-14 5.7953641885433171e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.9684895356985560e-04 1.9684895356985560e-04 Overall NLP error.......: 4.6768039593610509e-03 4.6768039593610509e-03 Number of objective function evaluations = 149 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 149 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 = 3.869 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.06s integrator 2 jacobian structure: 0.054s integrator 3 jacobian structure: 0.0s jacobian structure: 1872 nonzeros (0.114s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.049s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.343s sub-objective 2 (QuadraticRegularizer): 0.087s sub-objective 3 (LinearRegularizer): 0.079s sub-objective 4 (MinimumTimeObjective): 0.017s objective hessian structure: 0.609s hessian structure: 2431 nonzeros (0.708s) linear index maps built (0.0s) evaluator ready (total: 0.822s) evaluator created (0.822s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.121s) applying constraint: L1 slack constraint: |du| ≤ s_du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on s_du applying constraint: bounds on Δt linear constraints added: 6 (3.02s) optimizer initialization complete (total: 3.963s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1808 Number of nonzeros in inequality constraint Jacobian.: 80 Number of nonzeros in Lagrangian Hessian.............: 2239 Total number of variables............................: 122 variables with only lower bounds: 30 variables with lower and upper bounds: 0 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 40 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 40 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.2063111e+00 2.79e+00 1.04e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.0001313e+00 2.58e+00 9.96e-01 -4.0 5.53e+01 -4.0 1.24e-01 6.64e-02h 1 2 2.5998232e+00 2.01e+00 2.07e+00 -1.1 2.83e+01 -2.7 3.27e-01 2.97e-01f 1 3 2.6722113e+00 1.17e+00 3.29e+00 -1.7 4.40e+00 -1.3 2.16e-01 4.21e-01h 1 4 2.8065131e+00 3.16e-01 3.28e+00 -4.0 4.00e+00 -1.8 5.94e-02 7.28e-01h 1 5 2.7278096e+00 1.42e-01 1.69e+00 -1.8 3.04e+00 -2.3 6.65e-01 1.00e+00h 1 6 2.4526213e+00 2.00e-01 9.76e-01 -1.4 2.55e+00 -1.9 4.09e-01 6.32e-01f 1 7 2.1452299e+00 1.24e-01 4.61e-01 -2.6 1.52e+00 -2.3 5.42e-01 7.33e-01h 1 8 2.0906395e+00 9.04e-02 3.04e-01 -4.0 2.45e+00 -2.8 3.19e-01 2.32e-01h 1 9 2.0389593e+00 6.31e-02 3.65e-01 -4.0 4.46e+00 -2.4 4.32e-01 3.02e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0337134e+00 5.87e-02 7.24e-01 -4.0 1.34e+00 -2.0 2.87e-01 6.97e-02h 1 11 2.0282916e+00 5.25e-02 6.54e-01 -4.0 1.18e+00 -2.4 1.91e-02 1.07e-01h 1 12 2.0272332e+00 5.02e-02 6.43e-01 -4.0 1.41e-01 -1.1 6.14e-01 4.38e-02h 1 13 2.0259943e+00 4.82e-02 4.68e-01 -3.6 1.50e-01 -1.6 9.50e-01 3.83e-02h 1 14 2.0075503e+00 2.01e-02 1.83e-01 -3.8 2.36e-01 -2.1 9.98e-01 5.83e-01h 1 15 2.0027083e+00 6.73e-03 1.16e-01 -4.0 1.19e-01 -2.6 1.00e+00 6.65e-01h 1 16 2.0010610e+00 1.46e-03 1.29e-01 -4.0 2.05e-01 -3.0 1.00e+00 7.83e-01h 1 17 2.0007437e+00 3.38e-05 2.51e-01 -4.0 4.38e-01 -3.5 1.00e+00 9.77e-01h 1 18 2.0009701e+00 3.34e-06 3.92e-02 -4.0 6.11e-01 -4.0 9.68e-01 1.00e+00h 1 19 2.0010383e+00 1.80e-07 1.39e-02 -4.0 1.02e+00 -4.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0010617e+00 8.31e-10 3.46e-02 -4.0 1.69e+00 -4.9 9.00e-01 1.00e+00f 1 21 2.0010697e+00 1.03e-09 5.49e-02 -4.0 2.78e+00 -5.4 1.00e+00 1.00e+00f 1 22 2.0006050e+00 3.30e-08 6.63e-02 -4.2 3.11e+00 -5.9 9.22e-01 1.00e+00f 1 23 2.0013705e+00 1.46e-08 2.18e-01 -4.0 1.10e+01 -6.4 1.00e+00 1.00e+00f 1 24 2.0008845e+00 3.54e-08 1.32e-01 -4.1 9.46e+00 -6.8 9.27e-01 6.15e-01f 1 25 2.0011009e+00 2.55e-08 4.73e-01 -4.1 2.37e+01 -7.3 1.00e+00 1.00e+00f 1 26 2.0008823e+00 5.73e-08 6.72e-01 -4.1 3.42e+01 -7.8 8.81e-01 9.22e-01f 1 27 2.0012143e+00 4.86e-08 1.16e+00 -4.1 5.78e+01 -8.3 1.00e+00 1.00e+00f 1 28 2.0009590e+00 5.50e-08 1.80e+00 -4.1 9.87e+01 -8.8 8.87e-01 8.45e-01f 1 29 2.0011649e+00 6.86e-08 3.12e+00 -4.1 1.56e+02 -9.2 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0009873e+00 3.88e-08 5.56e+00 -4.1 2.94e+02 -9.7 8.74e-01 8.87e-01f 1 31 2.0011424e+00 5.27e-08 8.65e+00 -4.1 4.32e+02 -10.2 1.00e+00 1.00e+00f 1 32 2.0010440e+00 8.52e-09 1.50e+01 -4.1 7.98e+02 -10.7 8.58e-01 8.64e-01f 1 33 2.0010383e+00 3.38e-08 2.43e+01 -4.1 1.22e+03 -11.1 1.00e+00 1.00e+00f 1 34 2.0010706e+00 2.76e-08 1.21e+01 -4.1 8.15e+03 -11.6 8.47e-01 1.82e-01f 2 35 2.0015254e+00 5.90e-09 8.00e+01 -4.1 3.98e+03 -12.1 9.63e-01 1.00e+00f 1 36 2.0010251e+00 6.05e-08 4.67e+01 -4.1 4.32e+03 -12.6 9.00e-01 4.48e-01f 2 37 2.0013273e+00 6.21e-08 1.92e+02 -4.1 9.61e+03 -13.0 9.98e-01 1.00e+00f 1 38 2.0006864e+00 1.63e-08 2.02e+02 -4.1 1.48e+04 -13.5 8.95e-01 8.14e-01f 1 39 2.0012611e+00 2.21e-08 4.04e+02 -4.1 2.02e+04 -14.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0006516e+00 7.76e-09 3.61e+02 -4.1 2.22e+04 -14.5 1.00e+00 8.33e-01f 1 41 2.0008854e+00 9.54e-09 4.84e+02 -4.1 2.42e+04 -15.0 1.00e+00 1.00e+00f 1 42 2.0006234e+00 8.01e-10 2.87e+02 -4.1 1.44e+04 -15.4 1.00e+00 1.00e+00h 1 43 2.0006829e+00 2.81e-10 2.59e+02 -4.1 1.30e+04 -15.9 1.00e+00 1.00e+00h 1 44 2.0006229e+00 7.96e-13 9.14e+01 -4.1 4.57e+03 -16.4 1.00e+00 1.00e+00h 1 45 2.0006330e+00 1.47e-13 5.91e+01 -4.1 2.96e+03 -16.9 1.00e+00 1.00e+00h 1 46 2.0006223e+00 1.25e-13 1.70e+01 -4.1 8.51e+02 -17.3 1.00e+00 1.00e+00h 1 47 2.0006240e+00 1.93e-13 9.82e+00 -4.1 4.91e+02 -17.8 1.00e+00 1.00e+00h 1 48 2.0006222e+00 1.86e-13 3.05e+00 -4.1 1.52e+02 -18.3 1.00e+00 1.00e+00h 1 49 2.0006225e+00 2.88e-13 1.62e+00 -4.1 8.12e+01 -18.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0006222e+00 2.79e-13 5.15e-01 -4.1 2.57e+01 -19.3 1.00e+00 1.00e+00h 1 51 2.0006222e+00 4.30e-13 2.70e-01 -4.1 1.35e+01 -19.7 1.00e+00 1.00e+00h 1 52 2.0006222e+00 2.60e-13 8.60e-02 -4.1 4.30e+00 -20.0 1.00e+00 1.00e+00h 1 53 2.0006222e+00 1.34e-13 4.50e-02 -4.1 2.25e+00 -20.0 1.00e+00 1.00e+00h 1 54 2.0006222e+00 4.33e-14 1.43e-02 -4.1 7.17e-01 -20.0 1.00e+00 1.00e+00h 1 55 2.0008534e+00 2.12e-09 5.80e+01 -4.0 2.90e+03 -20.0 1.00e+00 1.00e+00f 1 56 2.0005793e+00 5.18e-10 1.09e+02 -4.1 5.44e+03 -20.0 1.00e+00 1.00e+00h 1 57 2.0008750e+00 2.44e-09 1.23e+02 -4.0 6.14e+03 -20.0 1.00e+00 1.00e+00f 1 58 2.0005632e+00 3.37e-10 1.26e+02 -4.1 6.28e+03 -20.0 1.00e+00 1.00e+00h 1 59 2.0008758e+00 2.47e-09 1.31e+02 -4.0 6.55e+03 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0005599e+00 3.19e-10 1.30e+02 -4.1 6.50e+03 -20.0 1.00e+00 1.00e+00h 1 61 2.0006555e+00 4.11e-10 6.78e+01 -4.1 3.39e+03 -20.0 1.00e+00 1.00e+00h 1 62 2.0006196e+00 1.44e-10 2.30e+01 -4.1 1.15e+03 -20.0 1.00e+00 1.00e+00h 1 63 2.0006347e+00 6.36e-11 1.02e+01 -4.1 5.09e+02 -20.0 1.00e+00 1.00e+00h 1 64 2.0006286e+00 2.49e-11 4.09e+00 -4.1 2.05e+02 -20.0 1.00e+00 1.00e+00h 1 65 2.0006311e+00 1.05e-11 1.66e+00 -4.1 8.31e+01 -20.0 1.00e+00 1.00e+00h 1 66 2.0006301e+00 4.16e-12 6.89e-01 -4.1 3.44e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0006306e+00 1.74e-12 2.76e-01 -4.1 1.38e+01 -20.0 1.00e+00 1.00e+00h 1 68 2.0006304e+00 6.94e-13 1.15e-01 -4.1 5.75e+00 -20.0 1.00e+00 1.00e+00h 1 69 2.0006305e+00 2.89e-13 4.60e-02 -4.1 2.30e+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 70 2.0006304e+00 1.16e-13 1.92e-02 -4.1 9.58e-01 -20.0 1.00e+00 1.00e+00h 1 71 2.0006304e+00 4.81e-14 7.66e-03 -4.1 3.83e-01 -20.0 1.00e+00 1.00e+00h 1 72 2.0006304e+00 1.92e-14 3.19e-03 -4.1 1.60e-01 -20.0 1.00e+00 1.00e+00h 1 73 2.0006304e+00 8.01e-15 1.28e-03 -4.1 9.51e-02 -20.0 1.00e+00 1.00e+00h 1 74 2.0006304e+00 3.20e-15 5.32e-04 -4.1 9.51e-02 -20.0 1.00e+00 1.00e+00h 1 75 1.9998548e+00 1.22e-08 2.25e+02 -6.1 1.13e+04 -20.0 1.00e+00 1.00e+00f 1 76 2.0006835e+00 3.09e-09 2.09e+03 -4.0 2.09e+05 -20.0 1.00e+00 5.00e-01f 2 77 2.0004219e+00 9.68e-11 2.30e+03 -3.9 1.15e+05 -20.0 1.00e+00 1.00e+00f 1 78 2.0009584e+00 3.48e-09 5.53e+02 -3.9 2.77e+04 -20.0 1.00e+00 1.00e+00f 1 79 2.0010394e+00 3.03e-09 1.06e+02 -3.9 5.31e+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 80 2.0010519e+00 7.46e-10 2.71e+01 -3.9 1.36e+03 -20.0 1.00e+00 1.00e+00h 1 81 2.0010688e+00 5.73e-10 6.12e+00 -3.9 3.06e+02 -20.0 1.00e+00 1.00e+00h 1 82 2.0010705e+00 1.33e-10 4.72e+00 -3.9 2.36e+02 -20.0 1.00e+00 1.00e+00h 1 83 2.0010733e+00 9.76e-11 1.07e+00 -3.9 5.34e+01 -20.0 1.00e+00 1.00e+00h 1 84 2.0010736e+00 2.24e-11 7.84e-01 -3.9 3.92e+01 -20.0 1.00e+00 1.00e+00h 1 85 2.0010740e+00 1.63e-11 1.79e-01 -3.9 8.97e+00 -20.0 1.00e+00 1.00e+00h 1 86 2.0010741e+00 3.74e-12 1.31e-01 -3.9 6.53e+00 -20.0 1.00e+00 1.00e+00h 1 87 2.0010742e+00 2.72e-12 2.99e-02 -3.9 1.50e+00 -20.0 1.00e+00 1.00e+00h 1 88 2.0010742e+00 6.22e-13 2.18e-02 -3.9 1.09e+00 -20.0 1.00e+00 1.00e+00h 1 89 2.0010742e+00 4.52e-13 4.99e-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 90 2.0010742e+00 1.04e-13 3.63e-03 -3.9 4.93e-01 -20.0 1.00e+00 1.00e+00h 1 91 2.0010742e+00 7.53e-14 8.32e-04 -3.9 4.93e-01 -20.0 1.00e+00 1.00e+00h 1 92 1.9998649e+00 8.64e-08 2.43e+02 -5.9 1.22e+04 -20.0 1.00e+00 1.00e+00f 1 93 1.9998453e+00 3.09e-13 2.18e+02 -5.9 1.18e+04 -20.0 9.30e-01 1.00e+00h 1 94 1.8266002e+00 2.01e-13 1.95e+06 -5.9 9.73e+07 -20.0 1.80e-03 1.00e+00f 1 95 1.8118287e+00 5.20e-13 2.06e+03 -5.5 1.36e+08 -20.0 1.00e+00 7.58e-04f 1 96 1.9416927e+00 5.20e-13 1.31e+06 -4.0 9.41e+10 -20.0 1.00e+00 6.95e-04f 1 97 1.9999589e+00 5.18e-13 6.47e+05 -3.2 6.41e+09 -20.0 1.00e+00 5.05e-03f 1 98 1.9999072e+00 1.94e-11 1.64e+03 -3.2 8.18e+04 -20.0 1.00e+00 1.00e+00f 1 99 2.0294084e+00 5.71e-06 5.13e+01 -3.2 2.56e+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 100 2.0104325e+00 1.30e-03 8.55e+02 -3.2 8.55e+04 -20.0 1.00e+00 5.00e-01f 2 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0104324933607693e+00 2.0104324933607693e+00 Dual infeasibility......: 8.5483210827951598e+02 8.5483210827951598e+02 Constraint violation....: 1.3024313584624604e-03 1.3024313584624604e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.8602864028912838e-03 1.8602864028912838e-03 Overall NLP error.......: 7.7422384390452123e+02 8.5483210827951598e+02 Number of objective function evaluations = 112 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 112 Number of inequality constraint evaluations = 112 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 40.821 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: 0.065s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.065s) integrator 1 hessian structure: 0.054s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.055s) 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: 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 (0.388s) optimizer initialization complete (total: 0.509s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1529 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 73 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.6311072e+00 3.90e+00 1.59e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 9.8124244e-01 3.11e+00 1.53e+00 -0.6 1.67e+01 -2.0 1.48e-01 2.14e-01f 1 2 1.0454876e+00 3.04e+00 1.64e+00 -4.0 1.01e+02 -1.6 2.13e-02 2.54e-02h 1 3 9.0860437e-01 2.85e+00 4.41e+00 -4.0 3.79e+01 -1.1 3.45e-02 6.35e-02h 1 4 9.0369790e-01 2.73e+00 4.19e+00 -4.0 4.02e+01 -1.6 1.93e-02 4.57e-02h 1 5 8.3481857e-01 2.24e+00 3.21e+00 -1.0 5.82e+00 -1.2 4.89e-02 1.83e-01f 1 6 8.4368359e-01 1.94e+00 3.04e+00 -0.7 7.65e+00 -0.8 1.21e-01 1.33e-01f 1 7 9.2392406e-01 1.64e+00 2.66e+00 -2.2 2.89e+00 -0.3 1.31e-01 1.66e-01h 1 8 9.2828515e-01 1.47e+00 2.27e+00 -4.0 3.84e+00 0.1 5.72e-02 7.27e-02h 1 9 9.6488802e-01 1.18e+00 4.76e+00 -1.8 2.56e+00 0.5 5.98e-02 2.00e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0026180e+00 1.12e+00 5.23e+00 -4.0 1.86e+00 0.0 9.83e-02 4.96e-02h 1 11 1.1205602e+00 9.61e-01 4.50e+00 -2.0 1.88e+00 0.5 1.07e-01 1.40e-01h 1 12 1.1370993e+00 9.14e-01 4.43e+00 -1.8 5.57e+00 -0.0 1.26e-01 4.85e-02h 1 13 1.2547507e+00 7.92e-01 3.43e+00 -1.5 5.10e+00 -0.5 2.66e-01 1.34e-01f 1 14 1.2607170e+00 7.82e-01 1.35e+01 -0.7 5.62e+00 -0.1 9.71e-01 1.19e-02h 1 15 1.2743391e+00 7.64e-01 1.15e+01 -1.6 4.78e+00 -0.6 4.82e-01 2.28e-02h 1 16 1.4717264e+00 5.29e-01 6.93e+00 -2.2 3.09e+00 -0.1 1.79e-01 3.08e-01h 1 17 1.6924174e+00 3.27e-01 7.68e+00 -2.8 1.55e+00 0.3 1.61e-01 3.81e-01h 1 18 1.7300934e+00 4.55e-01 7.74e+00 -4.0 5.88e+00 -0.2 5.33e-02 1.79e-01h 1 19 1.7886461e+00 3.50e-01 5.77e+00 -4.0 9.18e-01 0.2 2.19e-01 2.32e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.7905450e+00 3.47e-01 4.63e+00 -2.4 9.48e-01 -0.2 4.10e-01 6.23e-03h 1 21 1.8180804e+00 3.05e-01 4.16e+00 -2.1 5.28e-01 0.2 5.56e-01 1.23e-01h 1 22 2.0141589e+00 1.33e-01 4.34e+00 -1.4 9.73e-01 -0.3 3.48e-01 5.59e-01f 1 23 2.0145422e+00 3.75e-03 2.06e+00 -3.1 1.79e-01 0.1 5.20e-01 1.00e+00h 1 24 1.7193877e+00 1.18e-02 1.13e+00 -1.6 5.69e-01 -0.3 4.58e-01 6.19e-01f 1 25 1.6129561e+00 2.72e-01 6.05e-01 -1.7 2.72e+00 -0.8 4.29e-01 4.62e-01f 1 26 1.5215035e+00 6.57e-02 3.48e-01 -1.8 6.59e-01 -1.3 8.33e-01 9.30e-01f 1 27 1.3832561e+00 5.18e-02 9.02e-02 -2.2 1.29e+00 -1.8 9.14e-01 1.00e+00h 1 28 1.3015618e+00 5.90e-03 1.10e-02 -3.0 1.59e-01 -1.3 9.57e-01 1.00e+00h 1 29 1.2714928e+00 6.71e-03 7.35e-03 -3.1 4.85e-01 -1.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.2584583e+00 2.51e-03 8.38e-03 -4.0 2.04e-01 -1.4 1.00e+00 1.00e+00h 1 31 1.2393065e+00 4.37e-01 2.39e-01 -3.7 2.48e+00 -1.9 9.67e-01 1.00e+00h 1 32 1.2112787e+00 3.25e-01 1.67e-01 -4.0 8.98e-01 -1.4 2.93e-01 2.60e-01h 1 33 1.2124516e+00 3.04e-01 4.73e-01 -3.6 9.62e-01 -1.9 1.00e+00 6.45e-02h 1 34 1.2200071e+00 1.54e-02 1.75e-01 -3.2 1.09e+00 -2.4 1.00e+00 1.00e+00h 1 35 1.1879802e+00 3.65e-01 8.79e-01 -2.4 7.46e+00 -2.9 8.30e-01 2.85e-01f 1 36 1.1906943e+00 3.00e-01 1.28e-01 -2.8 4.86e+00 -3.3 9.32e-01 1.76e-01h 1 37 1.1899808e+00 1.19e-01 6.94e-02 -3.3 4.94e+00 -3.8 1.00e+00 1.00e+00h 1 38 1.1725191e+00 2.04e-01 2.75e-02 -4.0 4.69e+00 -4.3 1.00e+00 1.00e+00h 1 39 1.1731230e+00 3.85e-02 3.57e-02 -4.0 7.24e+00 -4.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.1685718e+00 1.84e-01 7.76e-03 -4.0 1.11e+01 -5.3 1.00e+00 1.00e+00h 1 41 1.1673737e+00 1.31e-01 1.46e-02 -4.0 1.63e+01 -5.7 1.00e+00 1.00e+00h 1 42 1.1650851e+00 2.30e-01 5.62e-03 -4.0 2.54e+01 -6.2 1.00e+00 1.00e+00h 1 43 1.1639653e+00 2.29e-01 1.07e-03 -4.0 3.78e+01 -6.7 1.00e+00 1.00e+00h 1 44 1.1626611e+00 3.17e-01 1.24e-02 -4.0 5.75e+01 -7.2 1.00e+00 1.00e+00h 1 45 1.1618831e+00 3.43e-01 1.22e-02 -4.0 8.45e+01 -7.6 1.00e+00 1.00e+00h 1 46 1.1611297e+00 4.23e-01 2.29e-02 -4.0 1.24e+02 -8.1 1.00e+00 1.00e+00h 1 47 1.1606987e+00 4.34e-01 2.30e-02 -4.0 1.72e+02 -8.6 1.00e+00 1.00e+00h 1 48 1.1604675e+00 3.84e-01 2.01e-02 -4.0 2.12e+02 -9.1 1.00e+00 1.00e+00h 1 49 1.1607732e+00 5.60e-02 3.72e-03 -4.0 1.20e+02 -9.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 1.1608511e+00 1.45e-03 4.10e-04 -4.0 1.22e+01 -10.0 1.00e+00 1.00e+00h 1 51 1.1608491e+00 5.36e-05 6.69e-06 -4.0 3.06e+00 -10.5 1.00e+00 1.00e+00h 1 52 1.1608491e+00 1.32e-08 1.62e-10 -4.0 5.03e-02 -11.0 1.00e+00 1.00e+00h 1 53 1.1608491e+00 9.95e-14 8.90e-15 -4.0 1.28e-04 -11.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 53 (scaled) (unscaled) Objective...............: 1.1608491307787621e+00 1.1608491307787621e+00 Dual infeasibility......: 8.8995380075757025e-15 8.8995380075757025e-15 Constraint violation....: 9.9475983006414026e-14 9.9475983006414026e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000441e-04 1.0000000000000441e-04 Overall NLP error.......: 9.9475983006414026e-14 9.9475983006414026e-14 Number of objective function evaluations = 54 Number of objective gradient evaluations = 54 Number of equality constraint evaluations = 54 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 54 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 53 Total seconds in IPOPT = 26.794 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.055s jacobian structure: 180 nonzeros (0.094s) integrator 1 hessian structure: 0.045s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.347s sub-objective 2 (QuadraticRegularizer): 0.085s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.016s objective hessian structure: 0.54s hessian structure: 375 nonzeros (0.586s) linear index maps built (0.0s) evaluator ready (total: 0.821s) evaluator created (0.821s) NL constraint bounds extracted (0.01s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.117s) applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.874s) optimizer initialization complete (total: 3.823s) 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 1.7411579e+00 1.08e+00 1.04e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5065255e+00 1.42e-01 1.94e+00 -2.2 3.17e+00 - 8.31e-01 1.00e+00h 1 2 1.4340556e+00 6.78e-02 7.91e-01 -1.5 2.79e-01 0.0 8.58e-01 5.43e-01h 1 3 1.2841557e+00 6.52e-02 9.26e-01 -1.6 4.81e+01 - 1.54e-01 3.65e-02f 1 4 2.5753060e+00 1.18e-02 2.65e+01 -1.8 2.10e+01 - 1.00e+00 7.96e-01h 1 5 1.2725774e+00 3.89e-03 8.09e+00 -2.5 3.82e-01 -0.5 1.00e+00 6.70e-01f 1 6 1.1475281e+00 1.83e-03 3.74e+00 -4.0 8.97e-02 -1.0 1.00e+00 5.28e-01f 1 7 1.1184972e+00 4.01e-05 1.62e-03 -3.3 4.38e-02 -1.4 1.00e+00 1.00e+00h 1 8 1.0912833e+00 2.23e-07 9.96e-01 -4.0 1.46e+01 - 6.88e-01 1.00e+00f 1 9 1.0914126e+00 2.20e-07 4.66e-03 -4.0 7.13e-01 - 1.00e+00 1.57e-02f 5 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0909915e+00 1.07e-10 7.38e-04 -4.0 2.37e-01 - 1.00e+00 1.00e+00h 1 11 1.0910386e+00 9.48e-16 1.25e-05 -4.0 8.36e-03 - 1.00e+00 1.00e+00h 1 12 1.0910386e+00 2.03e-23 1.24e-05 -4.0 2.16e-05 - 1.00e+00 1.00e+00h 1 13 1.0910386e+00 2.62e-28 3.10e-16 -4.0 2.70e-11 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 13 (scaled) (unscaled) Objective...............: 1.0910385779862031e+00 1.0910385779862031e+00 Dual infeasibility......: 3.1035287187397564e-16 3.1035287187397564e-16 Constraint violation....: 2.6166362372217124e-28 2.6166362372217124e-28 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000000e-04 1.0000000000000000e-04 Overall NLP error.......: 3.1035287187397564e-16 3.1035287187397564e-16 Number of objective function evaluations = 18 Number of objective gradient evaluations = 14 Number of equality constraint evaluations = 18 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 = 22.438 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: 0.054s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.054s) integrator 1 hessian structure: 0.042s 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 (0.043s) linear index maps built (0.0s) evaluator ready (total: 0.097s) evaluator created (0.097s) 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 (1.603s) optimizer initialization complete (total: 1.701s) 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 4.1381387e+00 2.15e+00 3.17e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9012875e+00 2.13e-02 7.33e-01 -1.0 2.25e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3839104e+00 1.33e-02 5.39e-02 -1.7 1.73e-01 -1.6 9.78e-01 1.00e+00h 1 3 2.1554374e+00 1.03e-02 2.67e-01 -3.0 1.87e-01 -1.1 9.28e-01 1.00e+00h 1 4 2.0968749e+00 1.14e-03 1.31e-01 -3.8 7.09e-02 -1.6 1.00e+00 8.61e-01h 1 5 2.0918045e+00 4.38e-04 6.30e-01 -4.0 7.78e-01 -2.1 1.00e+00 4.29e-01h 1 6 2.0911943e+00 1.51e-04 6.39e-01 -4.0 9.33e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0909269e+00 2.14e-06 1.45e-02 -4.0 5.52e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0909807e+00 1.14e-06 2.74e-05 -4.0 7.04e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909603e+00 4.15e-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 2.0908985e+00 1.47e-07 2.05e-05 -4.0 6.31e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907163e+00 1.29e-06 4.96e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0901970e+00 1.09e-05 4.19e-04 -4.0 5.44e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888544e+00 8.19e-05 3.16e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861672e+00 4.39e-04 1.74e-02 -4.0 3.47e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830952e+00 9.13e-04 4.71e-02 -4.0 5.32e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828484e+00 9.33e-04 2.27e-02 -4.0 5.43e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823441e+00 3.87e-04 1.02e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820400e+00 9.67e-05 1.85e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819518e+00 2.69e-04 8.66e-03 -4.0 9.91e+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 3.67e-05 8.42e-04 -4.0 3.10e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.28e-07 1.38e-05 -4.0 4.42e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.72e-10 3.21e-08 -4.0 2.43e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.49e-13 1.20e-11 -4.0 4.56e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907190800e+00 2.0819382907190800e+00 Dual infeasibility......: 1.1976285306351808e-11 1.1976285306351808e-11 Constraint violation....: 2.4868995751603507e-13 2.4868995751603507e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000053e-04 1.0000000000000053e-04 Overall NLP error.......: 1.1976285306351808e-11 1.1976285306351808e-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 = 24.843 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: 0.047s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.048s) 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: 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 (0.059s) optimizer initialization complete (total: 0.165s) 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 4.7926154e+00 2.26e+00 3.14e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8784032e+00 1.45e-02 5.57e-01 -1.1 1.95e+00 -2.0 9.96e-01 1.00e+00f 1 2 2.2260597e+00 2.60e-02 6.83e-02 -1.7 4.23e-01 -1.6 9.78e-01 9.29e-01f 1 3 2.1653603e+00 8.62e-03 6.18e-01 -2.6 8.40e-02 -1.1 9.98e-01 6.69e-01h 1 4 2.1166551e+00 3.55e-03 3.46e+00 -3.5 4.30e-01 -1.6 1.00e+00 9.77e-01h 1 5 2.0984216e+00 2.45e-03 6.48e-01 -4.0 8.84e-01 -2.1 1.00e+00 2.99e-01h 1 6 2.1041268e+00 1.53e-03 1.53e+00 -2.5 1.41e+00 -2.6 1.00e+00 3.83e-01f 1 7 2.1029961e+00 1.49e-03 1.28e+00 -3.5 2.35e+00 -2.2 1.00e+00 2.14e-02h 1 8 2.0928664e+00 5.40e-04 1.33e-01 -4.0 5.07e-01 -2.6 1.00e+00 1.00e+00h 1 9 2.0910698e+00 3.27e-05 1.95e-02 -4.0 1.44e-01 -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 2.0909353e+00 2.57e-06 1.47e-04 -4.0 9.14e-02 -3.6 1.00e+00 1.00e+00h 1 11 2.0909072e+00 9.65e-08 5.05e-05 -4.0 2.51e-01 -4.1 1.00e+00 1.00e+00h 1 12 2.0908536e+00 1.53e-07 3.33e-04 -4.0 6.07e-01 -4.5 1.00e+00 1.00e+00h 1 13 2.0907414e+00 7.37e-07 1.20e-03 -4.0 1.48e+00 -5.0 1.00e+00 1.00e+00h 1 14 2.0904314e+00 7.90e-06 8.17e-04 -4.0 4.84e+00 -5.5 1.00e+00 1.00e+00h 1 15 2.0902964e+00 9.05e-07 6.24e-04 -4.0 1.70e+00 -5.1 1.00e+00 1.00e+00h 1 16 2.0901731e+00 1.33e-06 2.43e-02 -4.0 7.75e+00 -5.5 1.00e+00 1.56e-01h 2 17 2.0890088e+00 6.87e-05 3.08e-03 -4.0 1.46e+01 -6.0 1.00e+00 1.00e+00h 1 18 2.0883796e+00 7.48e-05 1.86e-01 -4.0 6.61e+01 -6.5 1.00e+00 9.78e-02h 1 19 2.0834824e+00 2.49e-03 8.45e-02 -4.0 7.72e+01 -7.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0836601e+00 1.14e-02 3.17e-02 -3.8 1.37e+02 -7.5 1.00e+00 1.00e+00h 1 21 2.0836980e+00 1.41e-03 8.85e-02 -3.9 8.78e+01 -7.0 5.77e-01 1.00e+00h 1 22 2.0831248e+00 1.48e-04 9.63e-03 -4.0 7.02e-01 -4.8 1.00e+00 9.02e-01h 1 23 2.0830583e+00 1.67e-04 4.56e-03 -4.0 1.84e+00 -5.3 1.00e+00 1.00e+00h 1 24 2.0827033e+00 3.25e-04 1.47e-03 -4.0 5.80e+00 -5.7 1.00e+00 1.00e+00h 1 25 2.0825258e+00 6.84e-05 7.53e-04 -4.0 3.12e+00 -5.3 1.00e+00 1.00e+00h 1 26 2.0824797e+00 4.33e-09 4.82e-02 -4.0 4.70e+00 -5.8 7.44e-01 1.00e+00H 1 27 2.0824628e+00 6.24e-07 1.08e+00 -4.0 1.44e+00 -3.6 1.95e-01 3.66e-02h 3 28 2.0823451e+00 5.83e-06 3.31e-04 -4.0 1.94e-01 -4.0 1.00e+00 1.00e+00h 1 29 2.0825118e+00 6.15e-08 3.20e-03 -4.0 5.68e-01 -4.5 1.00e+00 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0823037e+00 1.50e-04 7.20e-04 -4.1 9.42e-01 -5.0 1.00e+00 1.00e+00h 1 31 2.0824712e+00 1.59e-05 4.15e-04 -4.0 6.63e-01 -5.5 1.00e+00 1.00e+00h 1 32 2.0822991e+00 6.45e-05 5.93e-04 -4.1 2.44e+00 -6.0 1.00e+00 1.00e+00h 1 33 2.0824494e+00 9.91e-05 7.54e-04 -4.0 4.42e+00 -6.4 1.00e+00 1.00e+00h 1 34 2.0821624e+00 3.36e-04 9.49e-04 -4.1 1.58e+01 -6.9 1.00e+00 1.00e+00h 1 35 2.0822103e+00 6.66e-04 4.16e-03 -4.0 3.04e+01 -7.4 1.00e+00 1.00e+00h 1 36 2.0817554e+00 1.54e-03 6.48e-03 -4.1 6.03e+01 -7.9 1.00e+00 1.00e+00h 1 37 2.0818719e+00 1.70e-03 8.36e-03 -4.0 7.08e+01 -8.3 1.00e+00 1.00e+00h 1 38 2.0818425e+00 1.50e-04 2.26e-03 -4.0 5.32e+01 -8.8 1.00e+00 1.00e+00h 1 39 2.0818386e+00 8.47e-06 1.86e-04 -4.0 1.80e+01 -9.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818383e+00 1.05e-07 3.40e-06 -4.0 2.35e+00 -9.8 1.00e+00 1.00e+00h 1 41 2.0818383e+00 1.72e-10 7.90e-09 -4.0 1.11e-01 -10.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 41 (scaled) (unscaled) Objective...............: 2.0818383022901581e+00 2.0818383022901581e+00 Dual infeasibility......: 7.8966557961633252e-09 7.8966557961633252e-09 Constraint violation....: 1.7189716317034254e-10 1.7189716317034254e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000000e-04 1.0000000000000000e-04 Overall NLP error.......: 7.8966557961633252e-09 7.8966557961633252e-09 Number of objective function evaluations = 51 Number of objective gradient evaluations = 42 Number of equality constraint evaluations = 51 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 42 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 41 Total seconds in IPOPT = 25.516 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.047s jacobian structure: 180 nonzeros (0.08s) integrator 1 hessian structure: 0.043s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.306s sub-objective 2 (QuadraticRegularizer): 0.078s sub-objective 3 (MinimumTimeObjective): 0.015s objective hessian structure: 0.48s hessian structure: 375 nonzeros (0.523s) linear index maps built (0.0s) evaluator ready (total: 0.734s) evaluator created (0.734s) NL constraint bounds extracted (0.01s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.109s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.049s) optimizer initialization complete (total: 3.902s) 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 1.4930723e+00 9.78e-01 1.03e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5899918e+00 2.52e-01 1.65e+00 -1.0 9.78e-01 0.0 9.88e-01 1.00e+00h 1 2 1.6390605e+00 1.01e-01 4.05e-01 -0.8 3.16e-01 -0.5 9.51e-01 5.98e-01h 1 3 1.3552932e+00 4.91e-02 6.03e-01 -1.8 1.93e+00 - 9.41e-01 1.00e+00h 1 4 1.1658115e+00 3.55e-02 1.19e+00 -2.6 6.74e+00 - 9.93e-01 2.79e-01h 1 5 1.1990539e+00 2.24e-02 3.31e-01 -3.6 9.26e-01 - 1.00e+00 9.38e-01h 1 6 1.0916592e+00 7.91e-04 2.07e-01 -4.0 2.31e+00 - 1.00e+00 1.00e+00h 1 7 1.0908411e+00 7.47e-06 2.99e-02 -4.0 1.57e+00 - 1.00e+00 1.00e+00h 1 8 1.0909003e+00 8.47e-10 7.95e-05 -4.0 8.56e-02 - 1.00e+00 1.00e+00h 1 9 1.0908997e+00 7.19e-15 5.94e-05 -4.0 5.65e-04 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0908997e+00 1.26e-25 2.53e-14 -4.0 4.73e-08 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 1.0908997263265459e+00 1.0908997263265459e+00 Dual infeasibility......: 2.5271451598030126e-14 2.5271451598030126e-14 Constraint violation....: 1.2632085925832816e-25 1.2632085925832816e-25 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000091e-04 1.0000000000000091e-04 Overall NLP error.......: 2.5271451598030126e-14 2.5271451598030126e-14 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 22.921 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.056s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.057s) integrator 1 hessian structure: 0.044s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.045s) linear index maps built (0.0s) evaluator ready (total: 0.103s) evaluator created (0.103s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.103s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.0023975e+00 1.91e+00 4.50e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6387239e+00 6.33e-02 7.50e+00 -1.1 1.91e+00 0.0 1.20e-01 9.74e-01f 1 2 2.5264304e+00 2.14e-02 1.81e+00 -1.1 2.99e-01 0.4 9.67e-01 7.69e-01f 1 3 2.4457707e+00 3.41e-03 3.92e-01 -1.6 1.19e-01 -0.1 9.99e-01 1.00e+00h 1 4 2.1712598e+00 4.40e-03 1.09e-01 -2.3 1.37e-01 -0.5 9.99e-01 6.55e-01f 1 5 2.0978542e+00 2.98e-04 3.27e-02 -3.2 2.23e-02 -1.0 9.95e-01 1.00e+00h 1 6 2.0908558e+00 1.57e-05 7.80e-03 -4.0 8.19e-03 -1.5 1.00e+00 9.96e-01h 1 7 2.0909044e+00 1.45e-07 1.43e-04 -4.0 1.30e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0909031e+00 4.00e-09 7.14e-05 -4.0 1.95e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909015e+00 1.08e-10 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908965e+00 9.71e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908816e+00 8.74e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908367e+00 7.87e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907024e+00 7.10e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903003e+00 6.42e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891031e+00 5.88e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855937e+00 5.55e-04 2.31e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796336e+00 2.30e-03 1.36e-01 -4.0 9.56e+01 -6.7 1.00e+00 6.29e-01h 1 18 2.0806673e+00 1.32e-04 1.65e-01 -4.0 7.04e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775843e+00 7.07e-03 2.28e-02 -4.0 1.19e+02 -7.7 1.00e+00 9.79e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0769177e+00 1.53e-03 4.38e-02 -4.0 2.04e+02 -8.2 9.83e-01 8.36e-01h 1 21 2.0763457e+00 1.73e-03 5.00e-02 -4.0 3.63e+02 -8.6 1.00e+00 6.37e-01h 1 22 2.0755365e+00 4.56e-03 3.63e-02 -4.0 6.68e+02 -9.1 1.00e+00 7.55e-01h 1 23 2.0758276e+00 4.02e-03 2.11e-02 -4.0 2.00e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0754015e+00 1.66e-03 1.15e-03 -4.1 1.19e+02 -10.1 1.00e+00 1.00e+00h 1 25 2.0756721e+00 4.59e-04 1.33e-05 -4.0 2.22e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 5.30e-07 1.21e-06 -4.0 1.24e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.42e-09 9.20e-08 -4.0 4.54e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.22e-11 1.67e-09 -4.0 7.17e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121609615e+00 2.0756712121609615e+00 Dual infeasibility......: 1.6670548208465481e-09 1.6670548208465481e-09 Constraint violation....: 4.2241210529425643e-11 4.2241210529425643e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000013e-04 1.0000000000000013e-04 Overall NLP error.......: 1.6670548208465481e-09 1.6670548208465481e-09 Number of objective function evaluations = 30 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 30 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 27.394 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.054s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.054s) 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: 0.103s) evaluator created (0.103s) 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 (0.147s) optimizer initialization complete (total: 0.25s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1488 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1524 Total number of variables............................: 100 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.5217576e+00 2.83e+00 6.87e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7551297e+00 6.97e-02 1.98e+00 -0.9 1.79e+00 0.0 1.00e+00 9.75e-01f 1 2 2.6105037e+00 2.95e-02 7.33e-01 -1.1 5.50e-01 -0.5 9.90e-01 5.93e-01h 1 3 2.2926563e+00 2.51e-02 4.17e-01 -1.7 3.86e-01 -1.0 9.91e-01 1.00e+00h 1 4 2.1329467e+00 3.62e-03 1.02e-01 -2.5 1.86e-01 -1.4 9.87e-01 1.00e+00h 1 5 2.0965733e+00 8.12e-04 3.03e-02 -3.7 9.88e-02 -1.9 9.98e-01 8.90e-01h 1 6 2.0910257e+00 5.26e-05 1.52e-02 -4.0 7.97e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0909152e+00 7.54e-07 5.23e-04 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909099e+00 5.07e-08 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908966e+00 7.10e-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 2.0908567e+00 6.22e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907373e+00 5.61e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903797e+00 5.07e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0893141e+00 4.63e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861818e+00 4.35e-04 1.81e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796343e+00 2.53e-03 8.62e-02 -4.0 8.73e+01 -6.7 1.00e+00 7.59e-01h 1 16 2.0812894e+00 1.54e-04 1.92e-01 -4.0 6.74e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778440e+00 5.74e-03 2.68e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781400e+00 1.62e-02 3.31e-02 -3.7 1.51e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767347e+00 1.31e-02 1.83e-02 -3.8 2.80e+02 -8.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0758199e+00 1.12e-02 2.14e-02 -3.9 4.12e+02 -9.1 1.00e+00 9.92e-01h 1 21 2.0757788e+00 6.54e-03 9.57e-03 -4.0 1.37e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756779e+00 3.52e-04 4.17e-04 -4.0 5.91e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 1.52e-06 7.37e-06 -4.0 2.08e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756713e+00 5.49e-08 1.33e-06 -4.0 1.45e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756713e+00 3.70e-09 1.56e-07 -4.0 5.98e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756713e+00 9.45e-11 3.68e-09 -4.0 1.09e+00 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712528789905e+00 2.0756712528789905e+00 Dual infeasibility......: 3.6808773231570939e-09 3.6808773231570939e-09 Constraint violation....: 9.4527830007962166e-11 9.4527830007962166e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000029e-04 1.0000000000000029e-04 Overall NLP error.......: 3.6808773231570939e-09 3.6808773231570939e-09 Number of objective function evaluations = 28 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 26 Total seconds in IPOPT = 25.198 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.057s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.057s) integrator 1 hessian structure: 0.043s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.044s) 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: 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: 0.102s) 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 4.2998795e+00 3.94e+00 5.70e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5925860e+00 1.10e-01 5.25e+00 -0.9 2.42e+00 0.0 2.42e-01 9.85e-01f 1 2 2.6186363e+00 5.96e-03 3.33e-01 -1.1 1.80e-01 -0.5 1.00e+00 1.00e+00f 1 3 2.3438135e+00 1.11e-02 1.05e-01 -1.8 2.05e-01 -1.0 9.21e-01 1.00e+00h 1 4 2.1430402e+00 5.85e-03 5.39e-02 -2.4 1.74e-01 -1.4 9.68e-01 8.73e-01h 1 5 2.0950677e+00 2.37e-04 3.79e-03 -3.3 2.67e-02 -1.9 9.86e-01 1.00e+00h 1 6 2.0908743e+00 3.55e-06 1.65e-04 -4.0 5.58e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0908679e+00 5.19e-08 2.77e-05 -4.0 2.02e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908635e+00 7.76e-10 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908502e+00 6.93e-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 2.0908103e+00 6.24e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0906909e+00 5.62e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903335e+00 5.09e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892682e+00 4.65e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861370e+00 4.36e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796473e+00 2.50e-03 8.78e-02 -4.0 8.72e+01 -6.7 1.00e+00 7.53e-01h 1 16 2.0811902e+00 1.30e-04 1.71e-01 -4.0 7.20e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778222e+00 5.97e-03 2.44e-02 -4.0 1.14e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0782846e+00 2.00e-02 5.79e-02 -3.7 2.07e+02 -8.1 9.05e-01 1.00e+00h 1 19 2.0769860e+00 9.27e-03 3.73e-02 -3.8 3.40e+02 -8.6 1.00e+00 8.12e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0762454e+00 6.20e-03 2.79e-02 -3.8 5.06e+02 -9.1 1.00e+00 9.65e-01f 1 21 2.0757444e+00 1.23e-02 1.30e-02 -4.0 1.53e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756796e+00 7.33e-04 5.11e-04 -4.0 6.74e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 4.09e-06 9.81e-06 -4.0 2.33e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 7.08e-08 1.53e-06 -4.0 1.52e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.65e-09 1.55e-07 -4.0 5.37e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 8.15e-11 3.17e-09 -4.0 9.49e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122105800e+00 2.0756712122105800e+00 Dual infeasibility......: 3.1719024180744577e-09 3.1719024180744577e-09 Constraint violation....: 8.1512907534886381e-11 8.1512907534886381e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000049e-04 1.0000000000000049e-04 Overall NLP error.......: 3.1719024180744577e-09 3.1719024180744577e-09 Number of objective function evaluations = 28 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 26 Total seconds in IPOPT = 24.941 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 22m10.0s Testing DirectTrajOpt tests passed Testing completed after 1413.93s PkgEval succeeded after 1537.49s