Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.1877 (00654c1407*) started at 2026-03-10T23:05:36.543 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 14.12s ################################################################################ # 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 v2.149.0 [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+1 [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 6.28s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling packages... 30336.9 ms ✓ DirectTrajOpt 1 dependency successfully precompiled in 35 seconds. 225 already precompiled. Precompilation completed after 59.82s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_8z4hnB/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 v2.149.0 [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_8z4hnB/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 v2.149.0 [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+1 [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: 2.339s integrator 2 jacobian structure: 0.061s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 4.848s jacobian structure: 1600 nonzeros (7.315s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.049s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.008s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 2.501s sub-objective 2 (QuadraticRegularizer): 1.466s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.017s objective hessian structure: 4.085s hessian structure: 1749 nonzeros (8.195s) linear index maps built (0.0s) evaluator ready (total: 16.103s) evaluator created (21.183s) NL constraint bounds extracted (0.213s) NLP block data built (0.0s) Ipopt optimizer configured (0.339s) variables set (0.706s) 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 (3.279s) optimizer initialization complete (total: 25.721s) ****************************************************************************** This program contains Ipopt, a library for large-scale nonlinear optimization. Ipopt is released as open source code under the Eclipse Public License (EPL). For more information visit https://github.com/coin-or/Ipopt ****************************************************************************** This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.5109741e+00 2.49e+00 4.78e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6805177e+00 7.00e-02 5.84e-01 -1.1 2.03e+00 -2.0 9.65e-01 1.00e+00f 1 2 2.2389797e+00 1.46e-01 2.34e-01 -1.7 2.01e+00 -2.5 9.83e-01 9.39e-01h 1 3 2.1379120e+00 1.05e-02 5.62e-02 -2.3 5.29e-01 -3.0 9.64e-01 1.00e+00h 1 4 2.0941265e+00 1.42e-03 9.44e-03 -3.6 2.44e-01 -3.4 9.94e-01 9.53e-01h 1 5 2.0908564e+00 6.78e-05 1.29e-03 -4.0 1.34e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0908212e+00 7.12e-07 8.95e-05 -4.0 3.73e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0907428e+00 3.78e-07 2.59e-04 -4.0 1.04e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0905058e+00 3.37e-06 3.76e-04 -4.0 3.06e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0904091e+00 5.45e-07 3.83e-04 -4.0 1.24e+00 -4.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0902494e+00 1.34e-06 1.12e-02 -4.0 4.66e+00 -5.4 1.00e+00 3.39e-01h 2 11 2.0892217e+00 4.53e-05 2.33e-03 -4.0 1.16e+01 -5.9 1.00e+00 1.00e+00h 1 12 2.0873095e+00 3.36e-04 3.13e-02 -4.0 3.11e+01 -6.3 1.00e+00 1.00e+00h 1 13 2.0861555e+00 2.54e-04 6.94e-02 -4.0 2.16e+01 -5.9 1.00e+00 3.68e-01h 1 14 2.0846503e+00 2.18e-04 2.09e-02 -4.0 2.54e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0827380e+00 1.67e-04 2.43e-02 -4.0 3.47e+01 -6.9 1.00e+00 9.27e-01h 1 16 2.0830737e+00 1.30e-03 3.77e-02 -4.0 5.92e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0821319e+00 1.31e-03 8.47e-03 -4.1 1.42e+02 -7.8 1.00e+00 1.00e+00h 1 18 3.6946067e+00 9.58e-04 2.46e+01 -4.0 1.26e+03 -8.3 2.96e-02 1.00e+00H 1 19 2.0935105e+00 1.63e-04 2.07e+00 -4.1 7.87e-01 -0.5 2.91e-01 8.30e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0937251e+00 1.62e-04 5.44e+00 -4.1 8.30e-02 -0.9 1.00e+00 3.91e-03h 9 21 2.0935004e+00 2.77e-07 1.97e-03 -4.1 5.11e-02 -1.4 1.00e+00 1.00e+00h 1 22 2.0932769e+00 3.56e-07 1.89e-03 -4.0 1.47e-01 -1.9 1.00e+00 1.00e+00h 1 23 2.0924681e+00 1.40e-06 1.77e-03 -4.0 4.13e-01 -2.4 1.00e+00 1.00e+00h 1 24 2.0918726e+00 1.54e-06 5.53e-01 -4.0 7.51e-01 -2.8 1.00e+00 4.15e-01H 1 25 2.0919076e+00 2.03e-06 8.71e-05 -4.1 8.28e-02 -3.3 1.00e+00 1.00e+00f 1 26 2.0919871e+00 2.92e-06 8.84e-05 -4.0 1.03e-01 -3.8 1.00e+00 1.00e+00h 1 27 2.0917904e+00 7.26e-06 4.20e-05 -4.1 3.19e-01 -4.3 1.00e+00 1.00e+00h 1 28 2.0910021e+00 1.19e-04 1.34e-02 -6.1 1.11e+00 -4.8 9.04e-01 1.00e+00h 1 29 2.0905800e+00 5.55e-05 3.44e-04 -6.1 3.20e+00 -5.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0899445e+00 2.04e-05 3.77e-02 -6.1 9.14e+00 -5.7 1.00e+00 6.43e-01h 1 31 2.0925276e+00 4.06e-04 5.86e+00 -4.0 4.93e+02 -6.2 1.00e+00 7.73e-02f 4 32 2.0918960e+00 1.06e-02 1.70e-02 -3.2 6.07e+01 -6.7 1.00e+00 1.00e+00f 1 33 2.0926449e+00 4.39e-02 5.35e-02 -3.2 1.56e+02 -7.1 1.00e+00 1.00e+00h 1 34 2.0895950e+00 3.15e-02 1.56e-01 -3.2 3.16e+02 -7.6 1.00e+00 1.00e+00h 1 35 2.0881742e+00 9.97e-02 2.00e-01 -3.2 6.11e+02 -8.1 3.69e-01 1.00e+00h 1 36 2.0882246e+00 1.79e-02 3.94e-01 -3.2 2.67e+01 -5.9 7.19e-01 8.90e-01h 1 37 2.0884586e+00 8.14e-03 3.47e-02 -3.2 1.67e+01 -6.3 1.00e+00 1.00e+00f 1 38 2.1119308e+00 5.04e-03 1.08e-01 -3.2 3.10e+01 -6.8 2.91e-01 6.28e-01h 1 39 2.0940080e+00 2.58e-03 2.84e-01 -3.2 2.10e+01 -7.3 3.84e-02 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0932413e+00 1.31e-09 4.57e-02 -3.2 1.28e-02 0.6 1.00e+00 1.00e+00h 1 41 2.0912232e+00 2.01e-06 3.67e-02 -4.0 3.06e-02 0.1 1.00e+00 1.00e+00f 1 42 2.0883641e+00 3.23e-06 2.34e-02 -4.0 5.72e-02 -0.4 1.00e+00 1.00e+00f 1 43 2.0865948e+00 8.72e-06 9.35e-03 -4.0 6.89e-02 -0.9 1.00e+00 1.00e+00h 1 44 2.0850407e+00 2.31e-05 3.62e-03 -4.0 8.23e-02 -1.4 1.00e+00 1.00e+00h 1 45 2.0843786e+00 2.25e-05 2.22e-01 -4.0 1.09e-01 -1.8 1.00e+00 6.24e-01h 1 46 2.0843578e+00 1.61e-06 2.57e-04 -4.0 5.17e-02 -2.3 1.00e+00 1.00e+00f 1 47 2.0843685e+00 2.42e-07 1.44e-05 -4.0 8.86e-03 -2.8 1.00e+00 1.00e+00h 1 48 2.0843634e+00 5.82e-08 1.45e-05 -4.0 2.68e-02 -3.3 1.00e+00 1.00e+00h 1 49 2.0843579e+00 2.55e-09 1.45e-05 -4.0 8.02e-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 50 2.0843418e+00 2.41e-08 1.45e-05 -4.0 2.40e-01 -4.2 1.00e+00 1.00e+00h 1 51 2.0842933e+00 2.16e-07 1.44e-05 -4.0 7.19e-01 -4.7 1.00e+00 1.00e+00h 1 52 2.0841480e+00 1.94e-06 7.07e-05 -4.0 2.14e+00 -5.2 1.00e+00 1.00e+00h 1 53 2.0837020e+00 2.41e-05 6.15e-04 -4.0 6.40e+00 -5.7 1.00e+00 1.00e+00h 1 54 2.1787773e+00 2.42e-06 4.75e-01 -4.0 2.43e+01 -6.1 1.26e-01 1.00e+00H 1 55 2.1599789e+00 2.10e-06 2.60e+00 -4.1 3.85e-01 -0.3 4.86e-01 1.36e-01f 1 56 2.0844649e+00 8.32e-05 3.93e+01 -4.1 1.15e+00 -0.8 4.67e-02 3.56e-01f 1 57 2.0846551e+00 8.19e-05 4.98e+01 -4.1 4.49e-01 -1.2 9.13e-01 1.56e-02f 7 58 2.0849465e+00 7.89e-05 4.24e+01 -4.1 1.25e+00 -1.7 3.61e-01 6.57e-02h 2 59 2.0846728e+00 8.42e-05 3.22e+01 -4.1 2.72e-01 -2.2 2.90e-01 2.46e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0845228e+00 8.38e-05 3.21e+01 -4.1 8.93e+00 -2.7 3.87e-03 3.42e-03f 2 61 2.0845674e+00 8.41e-05 3.52e+01 -4.1 1.73e+00 -1.3 3.51e-01 1.50e-02f 2 62 2.0836954e+00 3.33e-05 1.33e+01 -4.1 1.54e-01 -1.8 8.00e-01 6.23e-01h 1 63 2.0827462e+00 9.37e-05 9.13e-02 -4.1 4.17e-01 -2.3 1.00e+00 1.00e+00f 1 64 2.0824373e+00 6.95e-05 5.92e-01 -4.0 3.44e-01 -2.8 1.00e+00 2.35e-01h 1 65 2.0824449e+00 5.04e-06 5.24e-04 -4.0 8.89e-02 -3.2 1.00e+00 1.00e+00h 1 66 2.0823920e+00 4.27e-07 3.90e-06 -4.0 2.08e-02 -3.7 1.00e+00 1.00e+00h 1 67 2.0823882e+00 2.45e-08 3.86e-06 -4.0 6.16e-02 -4.2 1.00e+00 1.00e+00h 1 68 2.0823796e+00 2.31e-08 3.77e-06 -4.0 1.81e-01 -4.7 1.00e+00 1.00e+00h 1 69 2.0823554e+00 1.98e-07 1.44e-05 -4.0 5.08e-01 -5.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0822961e+00 1.49e-06 9.28e-05 -4.0 1.25e+00 -5.6 1.00e+00 1.00e+00h 1 71 2.0821950e+00 7.86e-06 3.29e-04 -4.0 3.42e+00 -6.1 1.00e+00 1.00e+00h 1 72 2.0821077e+00 1.15e-05 4.28e-04 -4.0 1.04e+01 -6.6 1.00e+00 1.00e+00h 1 73 2.0820274e+00 2.45e-04 1.89e-03 -4.0 3.66e+01 -7.1 9.72e-01 1.00e+00h 1 74 2.0866575e+00 1.57e-05 4.35e-01 -4.0 1.38e+01 -5.7 6.36e-01 1.00e+00H 1 75 2.0839302e+00 1.09e-06 1.40e-02 -4.0 6.64e-02 -0.8 1.00e+00 1.00e+00h 1 76 2.0825692e+00 3.62e-06 1.06e-02 -4.0 1.22e-01 -1.3 1.00e+00 9.73e-01f 1 77 2.0822101e+00 1.53e-06 8.82e-04 -4.0 2.18e-01 -1.7 1.00e+00 1.00e+00f 1 78 2.0824017e+00 1.09e-06 2.22e-03 -4.0 9.69e-02 -2.2 1.00e+00 1.00e+00f 1 79 2.0822955e+00 8.87e-08 9.32e-05 -4.1 2.78e-02 -2.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0823668e+00 2.42e-07 4.99e-05 -4.0 1.75e-02 -3.2 1.00e+00 1.00e+00h 1 81 2.0821978e+00 1.13e-06 6.26e-05 -4.1 4.44e-02 -3.7 1.00e+00 1.00e+00h 1 82 2.0823549e+00 3.25e-06 8.40e-05 -4.0 1.28e-01 -4.1 1.00e+00 1.00e+00h 1 83 2.0821667e+00 1.02e-05 3.63e-05 -4.1 4.06e-01 -4.6 1.00e+00 1.00e+00h 1 84 2.0814244e+00 1.53e-04 9.92e-03 -6.1 1.51e+00 -5.1 9.64e-01 1.00e+00h 1 85 2.0819793e+00 4.80e-04 4.94e-03 -4.1 5.12e+00 -5.6 1.00e+00 1.00e+00h 1 86 2.0816581e+00 4.23e-07 1.16e-03 -4.3 2.93e-02 -1.5 1.00e+00 1.00e+00h 1 87 2.0819909e+00 2.81e-06 5.31e-04 -4.0 6.15e-02 -2.0 1.00e+00 1.00e+00h 1 88 2.0818478e+00 2.05e-07 1.25e-04 -4.1 1.01e-02 -2.5 1.00e+00 1.00e+00h 1 89 2.0819618e+00 3.74e-07 9.79e-05 -4.0 3.36e-02 -3.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0818420e+00 8.21e-07 8.09e-05 -4.1 3.13e-02 -3.4 1.00e+00 1.00e+00h 1 91 2.0813048e+00 1.16e-05 5.54e-02 -6.1 1.05e-01 -3.9 7.38e-01 1.00e+00h 1 92 2.0824693e+00 1.23e-05 9.40e-03 -4.0 2.31e-01 -2.6 1.00e+00 1.00e+00h 1 93 2.0819552e+00 5.84e-07 2.68e-03 -4.1 5.73e-02 -1.3 1.00e+00 1.00e+00h 1 94 2.0818456e+00 1.89e-07 4.62e-04 -4.1 1.90e-02 -1.7 1.00e+00 1.00e+00h 1 95 2.0819622e+00 1.14e-07 2.30e-04 -4.0 3.66e-02 -2.2 1.00e+00 1.00e+00h 1 96 2.0818475e+00 1.74e-07 7.50e-05 -4.1 3.47e-02 -2.7 1.00e+00 1.00e+00h 1 97 2.0813437e+00 2.79e-06 5.46e-02 -6.1 3.28e-02 -3.2 7.41e-01 1.00e+00h 1 98 2.0820601e+00 5.43e-06 1.93e-03 -4.0 4.75e-02 -2.7 1.00e+00 1.00e+00f 1 99 2.0818373e+00 8.21e-07 5.50e-05 -4.1 1.85e-02 -3.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0813214e+00 6.14e-06 5.54e-02 -6.1 7.19e-02 -3.7 7.41e-01 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0813213687991037e+00 2.0813213687991037e+00 Dual infeasibility......: 5.5355136394215354e-02 5.5355136394215354e-02 Constraint violation....: 6.1398598178996622e-06 6.1398598178996622e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.8607806167089027e-05 2.8607806167089027e-05 Overall NLP error.......: 5.5355136394215354e-02 5.5355136394215354e-02 Number of objective function evaluations = 134 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 134 Number of inequality constraint evaluations = 134 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 71.037 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: 0.061s integrator 2 jacobian structure: 0.055s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 6.565s jacobian structure: 1680 nonzeros (6.681s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.047s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 8.417s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.318s sub-objective 2 (QuadraticRegularizer): 0.081s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.016s sub-objective 5 (GlobalObjective): 0.687s objective hessian structure: 1.194s hessian structure: 1964 nonzeros (9.708s) linear index maps built (0.0s) evaluator ready (total: 16.39s) evaluator created (16.414s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.113s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (4.909s) optimizer initialization complete (total: 21.436s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 96 Number of nonzeros in Lagrangian Hessian.............: 1804 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.0545698e+01 2.20e+00 3.18e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.8785611e+00 7.51e-02 3.06e+00 -0.9 1.69e+00 0.0 8.48e-01 1.00e+00f 1 2 3.0430924e+00 1.53e-02 2.79e+00 -0.9 2.76e-01 0.4 6.47e-01 1.00e+00f 1 3 2.6083825e+00 1.47e-02 8.73e-01 -1.6 2.41e-01 -0.1 7.19e-01 1.00e+00h 1 4 2.4624915e+00 1.21e-02 1.11e+00 -1.5 3.79e-01 -0.5 1.00e+00 3.96e-01h 1 5 2.4006628e+00 1.49e-02 6.69e-01 -4.0 1.82e+00 -1.0 1.70e-01 9.48e-02h 1 6 2.3761160e+00 1.41e-02 6.14e-01 -4.0 2.68e-01 -0.6 6.97e-01 5.19e-02h 1 7 2.1757884e+00 8.09e-03 3.96e-01 -3.0 2.15e-01 -1.1 1.00e+00 5.51e-01f 1 8 2.0995102e+00 1.41e-03 8.51e-02 -3.7 7.89e-02 -1.5 1.00e+00 8.35e-01h 1 9 2.0907458e+00 9.06e-05 3.40e-02 -4.0 3.68e-02 -2.0 1.00e+00 9.87e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909552e+00 2.89e-07 2.48e-04 -4.0 2.49e-02 -2.5 1.00e+00 1.00e+00h 1 11 2.0909569e+00 2.25e-08 1.87e-05 -4.0 1.72e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0909512e+00 1.17e-09 1.84e-05 -4.0 5.11e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0909370e+00 8.65e-09 1.77e-05 -4.0 1.47e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0909022e+00 6.11e-08 8.81e-05 -4.0 4.02e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0908191e+00 3.66e-07 3.53e-04 -4.0 1.07e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0903877e+00 6.01e-05 5.14e-04 -4.1 3.12e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0904742e+00 2.61e-05 3.56e-04 -4.0 1.28e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0901778e+00 1.62e-05 9.67e-03 -4.0 5.45e+00 -5.4 1.00e+00 4.86e-01h 1 19 2.0892632e+00 6.75e-05 1.10e-02 -4.0 1.34e+01 -5.9 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0886398e+00 4.58e-05 2.42e-02 -4.0 8.07e+00 -5.5 1.00e+00 4.71e-01h 1 21 2.0877640e+00 5.97e-05 9.60e-03 -4.0 1.32e+01 -5.9 1.00e+00 1.00e+00h 1 22 2.0864427e+00 1.16e-04 6.79e-02 -4.0 3.59e+01 -6.4 1.00e+00 4.04e-01h 1 23 2.0833493e+00 1.06e-03 5.39e-02 -4.0 5.51e+01 -6.9 1.00e+00 1.00e+00h 1 24 2.0824937e+00 6.13e-04 1.11e-02 -4.0 7.16e+01 -7.4 1.00e+00 8.88e-01h 1 25 2.0822858e+00 1.14e-03 1.20e-02 -4.0 1.56e+02 -7.8 8.52e-01 1.00e+00h 1 26 2.0824978e+00 9.07e-04 1.66e-02 -4.0 2.84e+01 -6.5 1.00e+00 1.00e+00h 1 27 2.0822389e+00 8.66e-04 3.20e-02 -4.0 2.99e+01 -7.0 9.03e-01 1.00e+00h 1 28 2.0947252e+00 2.84e-04 7.87e-02 -4.0 6.21e+01 -7.5 2.68e-01 6.90e-01h 1 29 2.0917420e+00 7.31e-08 6.38e-02 -4.1 2.62e-02 0.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0909241e+00 1.20e-08 5.82e-02 -4.1 9.08e-03 0.8 9.68e-01 1.00e+00f 1 31 2.0896895e+00 8.36e-08 9.74e-01 -4.0 1.87e-02 0.3 1.00e+00 7.34e-01f 1 32 2.0881898e+00 1.80e-06 2.93e-02 -3.7 4.08e-02 -0.1 1.00e+00 1.00e+00f 1 33 2.0857904e+00 5.50e-07 1.95e-02 -4.0 7.85e-02 -0.6 1.00e+00 1.00e+00h 1 34 2.0833667e+00 1.48e-06 1.17e-02 -4.0 1.61e-01 -1.1 1.00e+00 1.00e+00h 1 35 2.0827240e+00 1.82e-06 2.20e-01 -3.6 1.48e-01 -1.6 9.14e-01 1.00e+00h 1 36 2.0824266e+00 1.29e-06 3.31e-01 -4.0 5.85e-02 -2.1 1.00e+00 6.77e-01h 1 37 2.0822683e+00 1.89e-06 3.39e-04 -4.0 5.74e-02 -2.5 1.00e+00 1.00e+00f 1 38 2.0822496e+00 9.17e-08 3.60e-05 -4.0 7.68e-03 -3.0 1.00e+00 1.00e+00h 1 39 2.0822477e+00 2.58e-08 3.61e-05 -4.0 1.80e-02 -3.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0822452e+00 3.81e-09 3.61e-05 -4.0 5.41e-02 -4.0 1.00e+00 1.00e+00h 1 41 2.0822378e+00 3.32e-08 3.61e-05 -4.0 1.63e-01 -4.4 1.00e+00 1.00e+00h 1 42 2.0822169e+00 3.07e-07 3.62e-05 -4.0 4.91e-01 -4.9 1.00e+00 1.00e+00h 1 43 2.0821621e+00 3.06e-06 5.62e-05 -4.0 1.51e+00 -5.4 1.00e+00 1.00e+00h 1 44 2.0820159e+00 4.83e-05 3.40e-04 -4.0 5.51e+00 -5.9 1.00e+00 1.00e+00h 1 45 2.0819773e+00 5.37e-05 1.44e-02 -4.0 3.72e+01 -6.4 1.37e-01 1.01e-01h 4 46 2.0822482e+00 6.15e-05 2.83e-01 -4.0 1.35e+01 -6.8 1.00e+00 3.03e-01H 1 47 2.0818274e+00 3.14e-04 1.13e-02 -4.1 1.58e+01 -7.3 1.00e+00 1.00e+00h 1 48 2.0819435e+00 7.22e-04 2.50e-03 -4.0 3.40e+01 -7.8 1.00e+00 1.00e+00h 1 49 2.0816069e+00 1.28e-03 3.44e-03 -4.1 5.22e+01 -8.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818459e+00 1.17e-03 1.66e-03 -4.0 4.78e+01 -8.7 1.00e+00 1.00e+00h 1 51 2.0815821e+00 4.61e-04 2.26e-04 -4.1 1.99e+01 -9.2 1.00e+00 1.00e+00h 1 52 2.0818418e+00 1.70e-04 3.88e-05 -4.0 7.64e+00 -9.7 1.00e+00 1.00e+00h 1 53 2.0818407e+00 2.43e-08 3.87e-05 -4.0 3.43e-01 -10.2 1.00e+00 1.00e+00h 1 54 2.0818407e+00 2.88e-13 3.87e-05 -4.0 3.89e-03 -10.6 1.00e+00 1.00e+00h 1 55 2.0818407e+00 3.33e-16 3.87e-05 -4.0 1.94e-05 -11.1 1.00e+00 1.00e+00H 1 56 2.0818407e+00 8.88e-16 3.87e-05 -4.0 1.94e-05 -11.6 1.00e+00 1.00e+00h 1 57 2.0815814e+00 2.08e-04 3.15e-05 -4.1 9.47e+00 -12.1 1.00e+00 1.00e+00h 1 58 2.0818419e+00 2.15e-04 3.88e-05 -4.0 9.79e+00 -12.6 1.00e+00 1.00e+00h 1 59 2.0815819e+00 2.14e-04 3.16e-05 -4.1 9.75e+00 -13.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0805924e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -13.5 9.77e-01 9.68e-01h 1 61 2.0818894e+00 6.59e-03 2.97e-04 -4.0 6.14e+01 -14.0 1.00e+00 1.00e+00f 1 62 2.0816124e+00 4.95e-04 3.22e-05 -4.1 2.07e+01 -14.5 1.00e+00 1.00e+00h 1 63 2.0806015e+00 3.47e-03 1.91e-04 -6.1 4.19e+01 -14.9 9.76e-01 9.61e-01h 1 64 2.0805507e+00 9.05e-05 2.22e-06 -6.1 1.70e+01 -15.4 1.00e+00 1.00e+00h 1 65 2.0819806e+00 1.03e-02 3.96e-04 -4.0 8.49e+01 -15.9 1.00e+00 1.00e+00f 1 66 2.0816780e+00 9.65e-04 4.95e-05 -4.1 4.57e+01 -16.4 1.00e+00 1.00e+00h 1 67 2.0816420e+00 4.58e-07 3.32e-05 -4.1 8.54e+00 -16.8 1.00e+00 1.00e+00h 1 68 2.0818414e+00 1.26e-04 3.88e-05 -4.0 7.46e+00 -17.3 1.00e+00 1.00e+00h 1 69 2.0815817e+00 2.11e-04 3.15e-05 -4.1 9.63e+00 -17.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0805923e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -18.3 9.77e-01 9.68e-01h 1 71 2.0805497e+00 7.03e-05 1.80e-06 -6.1 1.55e+01 -18.8 1.00e+00 1.00e+00h 1 72 2.0819871e+00 1.06e-02 4.00e-04 -4.0 8.58e+01 -19.2 1.00e+00 1.00e+00f 1 73 2.0816826e+00 9.87e-04 5.24e-05 -4.1 4.71e+01 -19.7 1.00e+00 1.00e+00h 1 74 2.0816444e+00 5.44e-07 3.32e-05 -4.1 8.94e+00 -20.0 1.00e+00 1.00e+00h 1 75 2.0805933e+00 3.65e-03 1.55e-04 -6.1 4.19e+01 -20.0 9.76e-01 9.71e-01h 1 76 2.0805509e+00 7.35e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 77 2.0805468e+00 5.07e-08 3.32e-07 -6.1 2.92e+00 -20.0 1.00e+00 1.00e+00h 1 78 2.0820226e+00 1.22e-02 4.21e-04 -4.0 9.85e+01 -20.0 1.00e+00 1.00e+00f 1 79 2.0817083e+00 1.09e-03 6.84e-05 -4.1 5.45e+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 80 2.0816573e+00 1.18e-06 3.36e-05 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 81 2.0805943e+00 3.73e-03 1.58e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.71e-01h 1 82 2.0805512e+00 7.57e-05 2.01e-06 -6.1 1.64e+01 -20.0 1.00e+00 1.00e+00h 1 83 2.0805469e+00 5.37e-08 3.37e-07 -6.1 3.01e+00 -20.0 1.00e+00 1.00e+00h 1 84 2.0805365e+00 9.26e-07 7.80e-07 -9.0 9.40e-01 -20.0 1.00e+00 9.97e-01h 1 85 2.0820402e+00 1.30e-02 4.35e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 86 2.0817219e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 87 2.0816639e+00 1.62e-06 3.38e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 88 2.0805948e+00 3.76e-03 1.59e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 89 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805470e+00 5.53e-08 3.40e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 91 2.0805365e+00 9.45e-07 8.03e-07 -9.0 9.51e-01 -20.0 1.00e+00 9.97e-01h 1 92 2.0805365e+00 8.66e-11 3.86e-10 -9.0 2.64e-02 -20.0 1.00e+00 1.00e+00h 1 93 2.0820406e+00 1.30e-02 4.36e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 94 2.0817222e+00 1.13e-03 7.75e-05 -4.1 5.82e+01 -20.0 1.00e+00 1.00e+00h 1 95 2.0816640e+00 1.63e-06 3.38e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0805948e+00 3.76e-03 1.60e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 97 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 98 2.0805470e+00 5.54e-08 3.40e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 9.45e-07 8.04e-07 -9.0 9.51e-01 -20.0 1.00e+00 9.97e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805365e+00 8.67e-11 3.86e-10 -9.0 2.64e-02 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595545663e+00 2.0805364595545663e+00 Dual infeasibility......: 3.8632771092042070e-10 3.8632771092042070e-10 Constraint violation....: 8.6739948557124080e-11 8.6739948557124080e-11 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.1448573344780151e-10 9.1448573344780151e-10 Overall NLP error.......: 9.9999090910175549e-05 9.9999090910175549e-05 Number of objective function evaluations = 108 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 108 Number of inequality constraint evaluations = 108 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 49.402 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 1 integrator 1 jacobian structure: 0.055s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) jacobian structure: 4.373s jacobian structure: 1594 nonzeros (4.43s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) hessian structure: 16.852s 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 (16.903s) linear index maps built (0.0s) evaluator ready (total: 21.333s) evaluator created (21.356s) 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: 21.357s) 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 6.7976799e+01 3.13e+00 2.62e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.4351185e+01 1.24e+00 1.02e+01 -0.5 2.30e+00 0.0 1.00e+00 6.06e-01f 1 2 4.9031431e+00 6.12e-01 5.78e+00 -0.0 3.17e+00 -0.5 6.26e-01 4.91e-01f 1 3 3.1337865e+00 1.31e-02 8.93e-01 -0.8 6.04e-01 -1.0 9.47e-01 1.00e+00f 1 4 2.5903838e+00 1.94e-01 2.52e-01 -1.3 1.32e+00 -1.4 7.62e-01 8.87e-01f 1 5 2.2559081e+00 1.04e-01 4.40e-01 -1.7 1.51e+00 -1.9 9.23e-01 1.00e+00h 1 6 2.1789401e+00 7.65e-03 7.07e-02 -2.1 4.62e-01 -2.4 9.56e-01 1.00e+00h 1 7 2.0968159e+00 3.67e-03 3.18e-02 -3.5 4.81e-01 -2.9 9.97e-01 9.01e-01h 1 8 2.0909972e+00 2.85e-05 2.58e-04 -4.0 3.78e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908629e+00 3.13e-06 2.58e-04 -4.0 1.10e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908361e+00 2.96e-08 2.58e-04 -4.0 3.10e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907685e+00 2.32e-07 2.58e-04 -4.0 8.60e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905634e+00 2.10e-06 3.62e-04 -4.0 2.54e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0904857e+00 3.69e-07 2.58e-04 -4.0 1.02e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0901169e+00 5.68e-08 1.44e-03 -4.0 3.60e+00 -5.3 1.00e+00 9.89e-01H 1 15 2.0895700e+00 4.21e-05 1.06e-02 -4.0 1.06e+01 -5.8 1.00e+00 1.00e+00f 1 16 2.0888507e+00 4.00e-05 5.90e-02 -4.0 1.23e+01 -5.4 1.00e+00 3.25e-01h 1 17 2.0880495e+00 3.95e-05 1.21e-02 -4.0 1.09e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0867124e+00 9.89e-05 4.05e-02 -4.0 2.81e+01 -6.3 1.00e+00 5.51e-01h 1 19 2.0838079e+00 8.73e-04 4.27e-02 -4.0 5.07e+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 2.0827567e+00 3.15e-04 8.75e-03 -4.0 5.53e+01 -7.3 1.00e+00 5.98e-01h 1 21 2.0825149e+00 8.96e-04 2.83e-02 -4.0 1.33e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0835193e+00 2.19e-05 1.74e-01 -4.0 1.58e+02 -7.3 3.77e-01 1.00e+00H 1 23 2.0827726e+00 1.46e-04 1.88e-01 -4.0 2.63e+00 -5.1 1.00e+00 6.43e-01h 1 24 2.0826810e+00 1.57e-04 8.31e-01 -4.0 4.56e+00 -5.6 1.00e+00 2.96e-02h 2 25 2.0824849e+00 1.13e-04 6.15e-03 -4.0 6.18e+00 -6.0 1.00e+00 1.00e+00h 1 26 2.0822548e+00 3.86e-05 2.56e-03 -4.0 1.39e+01 -6.5 1.00e+00 1.00e+00h 1 27 2.0829907e+00 3.99e-07 6.91e-02 -4.0 5.58e+01 -7.0 3.37e-01 1.00e+00H 1 28 2.0819438e+00 9.61e-05 3.71e-01 -4.0 2.23e+00 -4.8 1.00e+00 6.71e-01f 1 29 2.0826334e+00 6.64e-08 4.85e-03 -4.0 1.36e+00 -5.2 1.00e+00 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0823960e+00 3.98e-04 3.47e-03 -4.0 4.12e+00 -5.7 1.00e+00 1.00e+00f 1 31 2.0819757e+00 8.39e-05 1.41e-03 -4.1 1.70e+00 -6.2 1.00e+00 1.00e+00h 1 32 2.0819788e+00 3.69e-04 2.43e-03 -4.1 1.27e+01 -6.7 1.00e+00 1.00e+00h 1 33 2.0840155e+00 1.00e-05 1.38e-01 -4.1 8.57e+01 -7.1 2.89e-01 1.00e+00H 1 34 2.0823151e+00 1.01e-04 1.34e+00 -4.1 1.11e+00 -4.0 1.65e-01 4.52e-01H 1 35 2.0819429e+00 1.38e-04 1.34e+00 -4.0 4.90e+01 -4.5 4.32e-04 4.10e-03f 1 36 2.0820023e+00 1.38e-04 4.45e+00 -4.2 4.80e+01 -3.2 3.26e-01 7.13e-04f 2 37 2.0820545e+00 5.15e-07 2.73e-04 -4.2 2.47e-02 -3.6 1.00e+00 1.00e+00h 1 38 2.0823385e+00 3.03e-06 2.58e-04 -4.0 6.07e-02 -4.1 1.00e+00 1.00e+00h 1 39 2.0821654e+00 5.02e-06 2.06e-04 -4.1 2.11e-01 -4.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0814729e+00 1.30e-04 9.76e-03 -6.1 1.36e+00 -5.1 9.32e-01 1.00e+00h 1 41 2.0822882e+00 2.26e-04 2.59e-03 -4.0 1.75e+00 -5.5 1.00e+00 1.00e+00h 1 42 2.0819189e+00 1.46e-04 4.94e-04 -4.1 3.94e+00 -6.0 1.00e+00 1.00e+00h 1 43 2.0820545e+00 2.78e-04 3.73e-04 -4.0 1.21e+01 -6.5 1.00e+00 1.00e+00h 1 44 2.0859378e+00 1.20e-05 1.09e-01 -4.1 6.79e+01 -7.0 2.49e-01 1.00e+00H 1 45 2.0843358e+00 9.18e-05 2.48e+00 -4.1 1.67e+01 -4.7 3.35e-01 1.00e-01f 1 46 2.0820506e+00 9.32e-04 1.79e+00 -4.1 1.71e+01 -5.2 1.00e+00 3.97e-01f 1 47 2.0815385e+00 9.46e-05 6.29e-01 -4.1 1.81e+00 -5.7 9.97e-01 7.39e-01f 1 48 2.0830234e+00 1.67e-03 4.62e-01 -4.0 6.09e+01 -6.2 1.05e-01 1.00e+00f 1 49 2.0824995e+00 3.75e-04 4.74e-02 -4.0 1.50e+01 -6.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0822399e+00 4.95e-05 6.32e-04 -4.0 6.12e+00 -6.2 1.00e+00 1.00e+00h 1 51 2.0814567e+00 3.68e-04 5.00e-02 -6.1 1.64e+01 -6.7 9.46e-01 4.70e-01h 1 52 2.0810889e+00 2.63e-04 4.09e-03 -4.5 1.77e+01 -7.2 1.00e+00 8.93e-01f 1 53 2.0821220e+00 8.24e-03 2.53e-02 -4.0 9.61e+01 -7.7 4.64e-01 1.00e+00h 1 54 2.0816634e+00 6.58e-05 5.55e-04 -4.3 1.22e+00 -5.4 1.00e+00 1.00e+00h 1 55 2.0809254e+00 3.88e-04 1.43e-03 -6.4 5.84e+00 -5.9 9.89e-01 9.81e-01h 1 56 2.0811144e+00 2.35e-04 1.72e-02 -4.5 7.92e+00 -6.4 1.00e+00 8.98e-01f 1 57 2.0819367e+00 1.80e-03 3.08e-02 -4.0 2.73e+01 -6.9 6.80e-01 1.00e+00f 1 58 2.0816507e+00 2.75e-06 4.59e-04 -4.1 1.48e-01 -4.6 1.00e+00 1.00e+00h 1 59 2.0818954e+00 8.99e-05 8.88e-04 -4.0 1.23e+00 -5.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0818560e+00 4.04e-05 1.64e-02 -4.1 3.50e+00 -5.6 8.18e-01 1.00e+00h 1 61 2.0818911e+00 5.94e-06 7.71e-02 -4.1 2.24e-01 -2.4 1.00e+00 8.53e-01h 1 62 2.0817380e+00 7.18e-07 6.57e-04 -4.1 4.09e-02 -2.9 1.00e+00 1.00e+00f 1 63 2.0819284e+00 4.70e-07 3.53e-04 -4.0 8.13e-02 -3.4 1.00e+00 1.00e+00h 1 64 2.0817841e+00 4.44e-07 2.04e-04 -4.1 6.80e-02 -3.9 1.00e+00 1.00e+00h 1 65 2.0812234e+00 2.31e-05 3.81e-02 -6.2 2.47e-01 -4.3 8.02e-01 1.00e+00h 1 66 2.0820149e+00 1.59e-05 1.74e-03 -4.0 1.30e-01 -4.8 1.00e+00 1.00e+00h 1 67 2.0817565e+00 1.87e-05 2.06e-04 -4.1 4.39e-01 -5.3 1.00e+00 1.00e+00h 1 68 2.0810558e+00 3.38e-04 6.64e-03 -6.1 4.06e+00 -5.8 9.85e-01 1.00e+00h 1 69 2.0810457e+00 2.14e-05 8.69e-03 -5.1 2.50e-01 -3.5 1.00e+00 9.36e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0813053e+00 1.67e-05 2.15e-01 -4.0 1.94e+00 -4.0 1.00e+00 2.50e-01f 1 71 2.0817272e+00 2.91e-05 1.96e-03 -4.0 3.47e-01 -4.5 1.00e+00 1.00e+00h 1 72 2.0816539e+00 7.29e-06 2.24e-04 -4.1 5.01e-01 -5.0 1.00e+00 1.00e+00h 1 73 2.0810531e+00 1.92e-04 6.27e-03 -6.1 2.07e+00 -5.5 9.84e-01 1.00e+00h 1 74 2.0809420e+00 2.07e-05 8.26e-03 -6.1 1.83e-01 -3.2 1.00e+00 8.92e-01h 1 75 2.0812972e+00 1.57e-05 3.51e-02 -4.0 1.26e+00 -3.7 3.30e-01 3.49e-01f 1 76 2.0813705e+00 1.06e-05 9.54e-01 -4.0 1.26e+00 -4.2 1.00e+00 3.84e-01f 1 77 2.0816156e+00 2.64e-05 6.75e-04 -4.0 6.66e-01 -4.7 1.00e+00 1.00e+00h 1 78 2.0815920e+00 1.40e-05 1.31e-03 -4.1 5.58e-01 -5.1 1.00e+00 1.00e+00h 1 79 2.0815870e+00 3.29e-05 1.18e-03 -4.1 9.74e-01 -5.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0818229e+00 6.79e-05 2.96e-04 -4.0 2.70e+00 -6.1 1.00e+00 1.00e+00h 1 81 2.0816794e+00 3.16e-05 6.62e-04 -4.1 2.35e+00 -6.6 1.00e+00 1.00e+00h 1 82 2.0808237e+00 1.32e-03 4.23e-03 -6.1 1.91e+01 -7.0 9.86e-01 8.97e-01h 1 83 2.0818983e+00 2.07e-03 3.64e-03 -4.0 1.92e+01 -7.5 1.00e+00 1.00e+00f 1 84 2.0816560e+00 8.21e-04 1.80e-03 -4.1 2.60e+01 -8.0 1.00e+00 1.00e+00h 1 85 2.0816095e+00 6.60e-05 1.22e-03 -4.1 3.51e+01 -8.5 1.00e+00 1.00e+00h 1 86 2.0816030e+00 1.17e-05 3.11e-04 -4.1 2.39e+01 -8.9 1.00e+00 1.00e+00h 1 87 2.0818391e+00 1.87e-04 2.58e-04 -4.0 8.52e+00 -9.4 1.00e+00 1.00e+00h 1 88 2.0815804e+00 2.09e-04 2.06e-04 -4.1 9.52e+00 -9.9 1.00e+00 1.00e+00h 1 89 2.0805902e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -10.4 9.78e-01 9.71e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0818881e+00 6.54e-03 3.28e-04 -4.0 6.08e+01 -10.9 1.00e+00 1.00e+00f 1 91 2.0816137e+00 4.88e-04 2.11e-04 -4.1 2.07e+01 -11.3 1.00e+00 1.00e+00h 1 92 2.0805990e+00 3.47e-03 1.51e-04 -6.1 4.15e+01 -11.8 9.76e-01 9.65e-01h 1 93 2.0805508e+00 8.47e-05 2.31e-06 -6.1 1.69e+01 -12.3 1.00e+00 1.00e+00h 1 94 2.0819793e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -12.8 1.00e+00 1.00e+00f 1 95 2.0816836e+00 9.34e-04 2.19e-04 -4.1 4.57e+01 -13.2 1.00e+00 1.00e+00h 1 96 2.0816477e+00 4.72e-07 2.19e-04 -4.1 8.52e+00 -13.7 1.00e+00 1.00e+00h 1 97 2.0818389e+00 1.15e-04 2.58e-04 -4.0 7.07e+00 -14.2 1.00e+00 1.00e+00h 1 98 2.0815801e+00 2.08e-04 2.06e-04 -4.1 9.50e+00 -14.7 1.00e+00 1.00e+00h 1 99 2.0805898e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -15.1 9.78e-01 9.71e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805497e+00 6.51e-05 1.84e-06 -6.1 1.55e+01 -15.6 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805496905591410e+00 2.0805496905591410e+00 Dual infeasibility......: 1.8436762690747117e-06 1.8436762690747117e-06 Constraint violation....: 6.5055270721314784e-05 6.5055270721314784e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.6769041782314338e-06 2.6769041782314338e-06 Overall NLP error.......: 9.9284770413429741e-05 9.9284770413429741e-05 Number of objective function evaluations = 113 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 113 Number of inequality constraint evaluations = 113 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 37.320 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: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.066s) integrator 1 hessian structure: 0.055s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.057s) linear index maps built (0.0s) evaluator ready (total: 0.124s) evaluator created (0.137s) 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: 0.138s) 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 3.2552967e+00 2.11e+00 4.31e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7264233e+00 6.24e-02 2.68e+00 -1.0 1.43e+00 0.0 1.00e+00 1.00e+00f 1 2 2.5692055e+00 5.87e-02 2.02e+00 -1.3 1.01e+00 -0.5 8.42e-01 5.77e-01h 1 3 2.4098150e+00 1.63e-02 2.99e-01 -1.3 1.46e-01 -0.1 9.58e-01 7.31e-01f 1 4 2.2957100e+00 2.48e-03 8.19e-02 -1.8 8.68e-02 -0.5 9.38e-01 1.00e+00f 1 5 2.1224981e+00 1.92e-03 5.44e-02 -2.8 1.14e-01 -1.0 9.98e-01 8.22e-01f 1 6 2.0911130e+00 1.58e-04 5.82e-03 -4.0 1.77e-02 -1.5 1.00e+00 9.91e-01h 1 7 2.0908843e+00 4.12e-07 3.39e-04 -4.0 6.48e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908848e+00 2.03e-09 3.67e-05 -4.0 1.00e-02 -2.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 8 (scaled) (unscaled) Objective...............: 2.0908847589178636e+00 2.0908847589178636e+00 Dual infeasibility......: 3.6687997739403341e-05 3.6687997739403341e-05 Constraint violation....: 2.0262745890897715e-09 2.0262745890897715e-09 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000022670946737e-04 1.0000022670946737e-04 Overall NLP error.......: 3.6687997739403341e-05 3.6687997739403341e-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 = 26.162 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.059s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.052s) linear index maps built (0.0s) evaluator ready (total: 0.112s) evaluator created (0.112s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.112s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.1809098e+00 3.80e+00 3.52e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.3910039e+00 2.04e+00 6.34e-01 -0.8 8.65e+00 -2.0 4.39e-01 4.67e-01f 1 2 2.6109476e+00 9.02e-02 1.43e+00 -1.1 1.04e+00 -1.6 5.91e-01 1.00e+00f 1 3 2.4323294e+00 3.31e-02 1.56e-01 -1.4 4.45e-01 -2.1 9.98e-01 1.00e+00h 1 4 2.1504045e+00 1.60e-02 6.28e-02 -2.3 4.23e-01 -2.5 9.96e-01 1.00e+00h 1 5 2.0943337e+00 5.42e-04 1.04e-02 -3.5 8.59e-02 -3.0 9.16e-01 1.00e+00h 1 6 2.0908915e+00 4.39e-05 2.44e-04 -4.0 7.14e-02 -3.5 1.00e+00 1.00e+00h 1 7 2.0908770e+00 1.64e-06 2.06e-05 -4.0 1.88e-01 -4.0 1.00e+00 1.00e+00h 1 8 2.0908217e+00 1.22e-07 2.06e-05 -4.0 5.62e-01 -4.4 1.00e+00 1.00e+00h 1 9 2.0906559e+00 1.08e-06 2.06e-05 -4.0 1.69e+00 -4.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0901600e+00 9.82e-06 4.36e-05 -4.0 5.04e+00 -5.4 1.00e+00 1.00e+00h 1 11 2.0886857e+00 9.02e-05 3.88e-04 -4.0 1.50e+01 -5.9 1.00e+00 1.00e+00h 1 12 2.0843912e+00 8.60e-04 3.56e-03 -4.0 4.36e+01 -6.3 1.00e+00 1.00e+00h 1 13 2.0796376e+00 1.93e-03 2.23e-01 -4.0 1.09e+02 -6.8 1.00e+00 4.36e-01h 1 14 2.0793001e+00 1.94e-03 1.65e-01 -4.1 6.67e+01 -7.3 1.00e+00 8.21e-01H 1 15 2.0773967e+00 8.72e-03 3.09e-02 -4.0 1.28e+02 -7.8 1.00e+00 8.80e-01h 1 16 2.0766099e+00 1.10e-03 4.15e-02 -4.0 2.16e+02 -8.3 1.00e+00 9.90e-01h 1 17 2.0761210e+00 2.12e-03 4.15e-02 -4.0 3.53e+02 -8.7 1.00e+00 1.00e+00h 1 18 2.0755374e+00 1.57e-03 3.41e-02 -4.0 5.13e+02 -9.2 1.00e+00 6.09e-01h 1 19 2.0757443e+00 2.02e-03 1.24e-02 -4.0 1.48e+02 -9.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0756775e+00 1.76e-04 2.36e-04 -4.0 4.36e+01 -10.2 1.00e+00 1.00e+00h 1 21 2.0756713e+00 4.50e-06 5.03e-06 -4.0 2.24e+01 -10.6 1.00e+00 1.00e+00h 1 22 2.0756712e+00 3.02e-08 9.47e-07 -4.0 1.23e+01 -11.1 1.00e+00 1.00e+00h 1 23 2.0756712e+00 1.54e-09 6.14e-08 -4.0 3.65e+00 -11.6 1.00e+00 1.00e+00h 1 24 2.0756712e+00 1.86e-11 7.31e-10 -4.0 4.78e-01 -12.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 24 (scaled) (unscaled) Objective...............: 2.0756712121166028e+00 2.0756712121166028e+00 Dual infeasibility......: 7.3141766083963285e-10 7.3141766083963285e-10 Constraint violation....: 1.8597678952403385e-11 1.8597678952403385e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000015e-04 1.0000000000000015e-04 Overall NLP error.......: 7.3141766083963285e-10 7.3141766083963285e-10 Number of objective function evaluations = 26 Number of objective gradient evaluations = 25 Number of equality constraint evaluations = 26 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 25 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 24 Total seconds in IPOPT = 27.347 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.062s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.053s) linear index maps built (0.0s) evaluator ready (total: 0.115s) evaluator created (0.115s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.116s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.8482692e+00 3.93e+00 1.06e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7240417e+00 2.73e-01 2.61e+00 -0.9 2.08e+00 0.0 9.89e-01 9.30e-01f 1 2 2.9684328e+00 1.94e-01 2.76e+00 -0.7 1.05e+00 -0.5 8.14e-01 1.00e+00f 1 3 3.0009212e+00 1.44e-01 6.00e-01 -0.7 1.55e+00 -1.0 8.55e-01 8.82e-01f 1 4 2.5672632e+00 3.52e-02 2.91e-01 -1.3 2.22e-01 -0.5 7.92e-01 9.70e-01f 1 5 2.4016136e+00 2.24e-02 4.97e-01 -1.8 2.24e-01 -1.0 1.00e+00 4.49e-01h 1 6 2.1440717e+00 1.73e-02 6.70e-02 -2.4 3.32e-01 -1.5 9.96e-01 9.93e-01h 1 7 2.0996107e+00 3.04e-03 5.02e-02 -3.6 6.66e-02 -2.0 1.00e+00 8.25e-01h 1 8 2.0909262e+00 1.19e-05 5.88e-04 -4.0 8.53e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909332e+00 1.19e-07 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 2.0909282e+00 9.23e-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...............: 2.0909282022417108e+00 2.0909282022417108e+00 Dual infeasibility......: 2.0588522474358259e-05 2.0588522474358259e-05 Constraint violation....: 9.2264311728901260e-10 9.2264311728901260e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000004474e-04 1.0000000000004474e-04 Overall NLP error.......: 2.0588522474358259e-05 2.0588522474358259e-05 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 26.304 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.061s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.052s) linear index maps built (0.0s) evaluator ready (total: 0.113s) evaluator created (0.113s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.114s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 0 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.3025424e+00 3.51e+00 6.83e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8489567e+00 6.50e-02 2.50e+00 -1.1 2.48e+00 - 1.00e+00 1.00e+00h 1 2 2.5916008e+00 3.75e-03 8.39e-02 -1.2 1.52e-01 - 9.84e-01 1.00e+00h 1 3 2.2221332e+00 4.83e-03 1.64e-01 -4.0 1.47e-01 - 8.87e-01 1.00e+00f 1 4 2.1078331e+00 8.56e-04 8.14e-02 -3.3 6.22e-02 - 9.98e-01 8.41e-01h 1 5 2.0908880e+00 4.20e-05 6.09e-03 -4.0 1.42e-02 - 1.00e+00 9.76e-01h 1 6 2.0908994e+00 1.18e-07 1.58e-03 -4.0 1.57e-03 - 1.00e+00 1.00e+00h 1 7 2.0908985e+00 3.82e-12 3.77e-05 -4.0 3.77e-05 - 1.00e+00 1.00e+00h 1 8 2.0908296e+00 8.39e-08 5.95e-03 -4.0 7.42e-01 - 1.00e+00 1.00e+00f 1 9 2.0907626e+00 1.76e-07 5.87e-03 -4.0 7.31e-01 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0906955e+00 1.76e-07 5.87e-03 -4.0 7.30e-01 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0906955496238075e+00 2.0906955496238075e+00 Dual infeasibility......: 5.8658099763217470e-03 5.8658099763217470e-03 Constraint violation....: 1.7570796128837940e-07 1.7570796128837940e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999987658e-05 9.9999999999987658e-05 Overall NLP error.......: 5.8658099763217470e-03 5.8658099763217470e-03 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 0 Total seconds in IPOPT = 8.265 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.061s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.049s) linear index maps built (0.0s) evaluator ready (total: 0.11s) evaluator created (0.111s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.111s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 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 3.3584351e+00 1.85e+00 4.87e-01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5386876e+00 7.03e-02 2.38e+00 -1.0 1.85e+00 0.0 3.89e-01 1.00e+00f 1 2 2.6622855e+00 1.06e-02 1.36e+00 -1.0 2.06e-01 -0.5 5.08e-01 1.00e+00f 1 3 2.7554678e+00 2.54e-03 6.65e-02 -1.0 1.53e-01 -1.0 1.00e+00 1.00e+00h 1 4 2.3047429e+00 2.11e-02 1.15e-01 -2.5 4.27e-01 -1.4 8.87e-01 1.00e+00f 1 5 2.1260458e+00 6.14e-03 5.42e-02 -2.5 2.94e-01 -1.9 8.69e-01 8.97e-01h 1 6 2.1146814e+00 5.99e-05 3.54e-03 -2.5 2.54e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0914246e+00 3.39e-05 8.54e-05 -3.8 1.26e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908539e+00 2.90e-06 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908406e+00 5.35e-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 2.0908008e+00 6.22e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0908007809786957e+00 2.0908007809786957e+00 Dual infeasibility......: 2.0572494443637081e-05 2.0572494443637081e-05 Constraint violation....: 6.2212319851262521e-08 6.2212319851262521e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999994733e-05 9.9999999999994733e-05 Overall NLP error.......: 2.0572494443637081e-05 2.0572494443637081e-05 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 26.517 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: 0.056s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.057s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.108s) 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) initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.063s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.567s jacobian structure: 1600 nonzeros (2.631s) integrator 1 hessian structure: 0.055s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.644s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (3.7s) linear index maps built (0.0s) evaluator ready (total: 6.332s) evaluator created (6.357s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.001s) optimizer initialization complete (total: 6.375s) 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 2.8882255e+00 2.37e+00 5.53e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.8124816e+00 1.07e-01 3.71e+00 -0.7 1.80e+00 0.0 8.87e-01 1.00e+00f 1 Hello, world! 2 2.4190587e+00 4.13e-02 1.66e+00 -0.8 2.74e-01 0.4 1.00e+00 8.83e-01h 1 Hello, world! 3 2.4481051e+00 6.10e-03 8.63e-01 -1.3 3.12e-01 -0.1 9.76e-01 1.00e+00h 1 Hello, world! 4 2.2900025e+00 2.00e-03 3.43e-01 -2.0 5.87e-02 0.4 9.91e-01 6.79e-01h 1 Hello, world! 5 2.1294977e+00 1.97e-03 1.57e-01 -3.1 8.01e-02 -0.1 1.00e+00 7.24e-01h 1 Hello, world! 6 2.0978171e+00 6.50e-04 1.69e-01 -3.4 2.49e-02 -0.6 1.00e+00 6.69e-01h 1 Hello, world! 7 2.0909493e+00 3.53e-05 2.81e-02 -4.0 1.73e-02 -1.1 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0909014e+00 1.31e-07 4.19e-05 -4.0 1.22e-03 -1.5 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908996e+00 4.58e-09 2.06e-05 -4.0 2.11e-03 -2.0 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 10 2.0908988e+00 3.30e-11 2.06e-05 -4.0 6.32e-03 -2.5 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908967e+00 2.25e-10 2.04e-05 -4.0 1.88e-02 -3.0 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908908e+00 1.77e-09 2.00e-05 -4.0 5.53e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0908753e+00 1.32e-08 2.31e-05 -4.0 1.57e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0908401e+00 7.70e-08 1.25e-04 -4.0 4.15e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0907583e+00 3.50e-07 5.49e-04 -4.0 1.08e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0905301e+00 3.70e-06 6.51e-04 -4.0 3.37e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0902962e+00 3.46e-06 7.23e-03 -4.0 1.37e+01 -5.8 3.24e-01 1.56e-01h 1 Hello, world! 18 2.0895466e+00 3.21e-04 5.96e-02 -4.0 3.16e+01 -6.3 1.00e+00 1.00e+00f 1 Hello, world! 19 2.0873683e+00 1.70e-04 6.34e-02 -4.0 6.50e+00 -5.0 1.00e+00 5.72e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0873163e+00 3.87e-05 9.84e-03 -4.0 3.96e+00 -5.5 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0861955e+00 5.96e-05 7.56e-03 -4.0 1.17e+01 -5.9 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0845952e+00 2.22e-04 1.16e-02 -4.0 2.61e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0827831e+00 2.31e-04 2.45e-02 -4.0 3.49e+01 -6.9 1.00e+00 9.19e-01h 1 Hello, world! 24 2.0830910e+00 1.31e-03 3.82e-02 -4.0 6.21e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0821283e+00 1.30e-03 9.27e-03 -4.1 1.48e+02 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0829568e+00 7.84e-06 1.03e-01 -4.0 1.28e+02 -7.4 3.28e-01 1.00e+00H 1 Hello, world! 27 2.0824499e+00 1.20e-04 1.94e-01 -4.0 2.72e+00 -5.2 1.00e+00 6.32e-01h 1 Hello, world! 28 2.0823783e+00 1.42e-04 7.00e-01 -4.0 3.45e+00 -5.7 1.00e+00 1.03e-01h 2 Hello, world! 29 2.0822394e+00 5.81e-05 3.90e-03 -4.0 5.31e+00 -6.1 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0820736e+00 6.39e-05 1.08e-03 -4.0 1.55e+01 -6.6 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0841336e+00 1.58e-07 5.90e-02 -4.0 6.10e+01 -7.1 2.97e-01 1.00e+00H 1 Hello, world! 32 2.0825353e+00 2.57e-04 3.33e+00 -3.7 9.48e+00 -4.9 1.00e+00 3.02e-01f 1 Hello, world! 33 2.0821265e+00 7.68e-05 3.60e-01 -3.8 7.67e-01 -5.3 1.00e+00 7.64e-01h 1 Hello, world! 34 2.0826013e+00 7.33e-04 5.33e-03 -3.8 5.99e+00 -5.8 1.00e+00 1.00e+00f 1 Hello, world! 35 2.0828076e+00 4.06e-04 2.48e-03 -3.8 8.19e+00 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0834139e+00 1.18e-05 9.56e-02 -3.8 4.61e+01 -6.8 4.96e-01 1.00e+00H 1 Hello, world! 37 2.0831505e+00 9.67e-06 7.76e-02 -3.8 7.33e-02 -3.6 1.00e+00 7.73e-01h 1 Hello, world! 38 2.0830299e+00 1.07e-05 6.17e-01 -3.8 4.68e-01 -4.1 1.00e+00 1.69e-01f 2 Hello, world! 39 2.0831107e+00 5.72e-06 2.46e-04 -3.8 2.02e-01 -4.6 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818744e+00 2.84e-04 1.58e-02 -5.7 1.52e+00 -5.1 9.03e-01 1.00e+00h 1 Hello, world! 41 2.0824392e+00 3.83e-04 2.72e-03 -4.0 3.24e+00 -5.5 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0819345e+00 2.74e-04 2.87e-02 -4.1 7.66e+00 -6.0 5.61e-01 1.00e+00h 1 Hello, world! 43 2.0817798e+00 1.18e-05 1.50e-02 -4.1 1.04e-01 -3.8 1.00e+00 9.63e-01h 1 Hello, world! 44 2.0820871e+00 3.63e-06 2.40e-03 -4.0 1.26e-01 -4.3 1.00e+00 1.00e+00f 1 Hello, world! 45 2.0820016e+00 1.28e-04 8.61e-04 -4.0 1.07e+00 -4.7 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0819111e+00 6.48e-08 2.32e-04 -4.1 9.17e-03 -1.6 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0820281e+00 1.33e-07 6.28e-05 -4.0 7.55e-03 -2.1 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0818910e+00 2.10e-07 1.01e-04 -4.1 2.88e-02 -2.6 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0820241e+00 4.97e-07 7.30e-05 -4.0 1.75e-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 2.0818626e+00 2.16e-06 1.22e-04 -4.1 4.22e-02 -3.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0818626164701195e+00 2.0818626164701195e+00 Dual infeasibility......: 1.2156378379615113e-04 1.2156378379615113e-04 Constraint violation....: 2.1608118490057393e-06 2.1608118490057393e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.1019870348481021e-05 8.1019870348481021e-05 Overall NLP error.......: 1.2156378379615113e-04 1.2156378379615113e-04 Number of objective function evaluations = 60 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 60 Number of inequality constraint evaluations = 60 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 27.252 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) evaluator created (0.002s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.003s) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.8882255e+00 2.37e+00 5.53e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.8124816e+00 1.07e-01 3.71e+00 -0.7 1.80e+00 0.0 8.87e-01 1.00e+00f 1 Hello, world! 2 2.4190587e+00 4.13e-02 1.66e+00 -0.8 2.74e-01 0.4 1.00e+00 8.83e-01h 1 Hello, world! 3 2.4481051e+00 6.10e-03 8.63e-01 -1.3 3.12e-01 -0.1 9.76e-01 1.00e+00h 1 Hello, world! 4 2.2900025e+00 2.00e-03 3.43e-01 -2.0 5.87e-02 0.4 9.91e-01 6.79e-01h 1 Hello, world! 5 2.1294977e+00 1.97e-03 1.57e-01 -3.1 8.01e-02 -0.1 1.00e+00 7.24e-01h 1 Hello, world! 6 2.0978171e+00 6.50e-04 1.69e-01 -3.4 2.49e-02 -0.6 1.00e+00 6.69e-01h 1 Hello, world! 7 2.0909493e+00 3.53e-05 2.81e-02 -4.0 1.73e-02 -1.1 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0909014e+00 1.31e-07 4.19e-05 -4.0 1.22e-03 -1.5 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908996e+00 4.58e-09 2.06e-05 -4.0 2.11e-03 -2.0 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 10 2.0908988e+00 3.30e-11 2.06e-05 -4.0 6.32e-03 -2.5 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908967e+00 2.25e-10 2.04e-05 -4.0 1.88e-02 -3.0 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908908e+00 1.77e-09 2.00e-05 -4.0 5.53e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0908753e+00 1.32e-08 2.31e-05 -4.0 1.57e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0908401e+00 7.70e-08 1.25e-04 -4.0 4.15e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0907583e+00 3.50e-07 5.49e-04 -4.0 1.08e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0905301e+00 3.70e-06 6.51e-04 -4.0 3.37e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0902962e+00 3.46e-06 7.23e-03 -4.0 1.37e+01 -5.8 3.24e-01 1.56e-01h 1 Hello, world! 18 2.0895466e+00 3.21e-04 5.96e-02 -4.0 3.16e+01 -6.3 1.00e+00 1.00e+00f 1 Hello, world! 19 2.0873683e+00 1.70e-04 6.34e-02 -4.0 6.50e+00 -5.0 1.00e+00 5.72e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0873163e+00 3.87e-05 9.84e-03 -4.0 3.96e+00 -5.5 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0861955e+00 5.96e-05 7.56e-03 -4.0 1.17e+01 -5.9 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0845952e+00 2.22e-04 1.16e-02 -4.0 2.61e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0827831e+00 2.31e-04 2.45e-02 -4.0 3.49e+01 -6.9 1.00e+00 9.19e-01h 1 Hello, world! 24 2.0830910e+00 1.31e-03 3.82e-02 -4.0 6.21e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0821283e+00 1.30e-03 9.27e-03 -4.1 1.48e+02 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0829568e+00 7.84e-06 1.03e-01 -4.0 1.28e+02 -7.4 3.28e-01 1.00e+00H 1 Hello, world! 27 2.0824499e+00 1.20e-04 1.94e-01 -4.0 2.72e+00 -5.2 1.00e+00 6.32e-01h 1 Hello, world! 28 2.0823783e+00 1.42e-04 7.00e-01 -4.0 3.45e+00 -5.7 1.00e+00 1.03e-01h 2 Hello, world! 29 2.0822394e+00 5.81e-05 3.90e-03 -4.0 5.31e+00 -6.1 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0820736e+00 6.39e-05 1.08e-03 -4.0 1.55e+01 -6.6 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0841336e+00 1.58e-07 5.90e-02 -4.0 6.10e+01 -7.1 2.97e-01 1.00e+00H 1 Hello, world! 32 2.0825353e+00 2.57e-04 3.33e+00 -3.7 9.48e+00 -4.9 1.00e+00 3.02e-01f 1 Hello, world! 33 2.0821265e+00 7.68e-05 3.60e-01 -3.8 7.67e-01 -5.3 1.00e+00 7.64e-01h 1 Hello, world! 34 2.0826013e+00 7.33e-04 5.33e-03 -3.8 5.99e+00 -5.8 1.00e+00 1.00e+00f 1 Hello, world! 35 2.0828076e+00 4.06e-04 2.48e-03 -3.8 8.19e+00 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0834139e+00 1.18e-05 9.56e-02 -3.8 4.61e+01 -6.8 4.96e-01 1.00e+00H 1 Hello, world! 37 2.0831505e+00 9.67e-06 7.76e-02 -3.8 7.33e-02 -3.6 1.00e+00 7.73e-01h 1 Hello, world! 38 2.0830299e+00 1.07e-05 6.17e-01 -3.8 4.68e-01 -4.1 1.00e+00 1.69e-01f 2 Hello, world! 39 2.0831107e+00 5.72e-06 2.46e-04 -3.8 2.02e-01 -4.6 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818744e+00 2.84e-04 1.58e-02 -5.7 1.52e+00 -5.1 9.03e-01 1.00e+00h 1 Hello, world! 41 2.0824392e+00 3.83e-04 2.72e-03 -4.0 3.24e+00 -5.5 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0819345e+00 2.74e-04 2.87e-02 -4.1 7.66e+00 -6.0 5.61e-01 1.00e+00h 1 Hello, world! 43 2.0817798e+00 1.18e-05 1.50e-02 -4.1 1.04e-01 -3.8 1.00e+00 9.63e-01h 1 Hello, world! 44 2.0820871e+00 3.63e-06 2.40e-03 -4.0 1.26e-01 -4.3 1.00e+00 1.00e+00f 1 Hello, world! 45 2.0820016e+00 1.28e-04 8.61e-04 -4.0 1.07e+00 -4.7 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0819111e+00 6.48e-08 2.32e-04 -4.1 9.17e-03 -1.6 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0820281e+00 1.33e-07 6.28e-05 -4.0 7.55e-03 -2.1 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0818910e+00 2.10e-07 1.01e-04 -4.1 2.88e-02 -2.6 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0820241e+00 4.97e-07 7.30e-05 -4.0 1.75e-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 2.0818626e+00 2.16e-06 1.22e-04 -4.1 4.22e-02 -3.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0818626164701195e+00 2.0818626164701195e+00 Dual infeasibility......: 1.2156378379615113e-04 1.2156378379615113e-04 Constraint violation....: 2.1608118490057393e-06 2.1608118490057393e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.1019870348481021e-05 8.1019870348481021e-05 Overall NLP error.......: 1.2156378379615113e-04 1.2156378379615113e-04 Number of objective function evaluations = 60 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 60 Number of inequality constraint evaluations = 60 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 1.017 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: 0.062s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.063s) integrator 1 hessian structure: 0.053s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.054s) linear index maps built (0.0s) evaluator ready (total: 0.117s) evaluator created (0.117s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: bounds constraint on trajectory variable ddu applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.132s) optimizer initialization complete (total: 0.249s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.0348990e+00 4.13e+00 6.53e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8420021e+00 2.21e-02 5.03e-01 -1.0 2.22e+00 - 1.00e+00 1.00e+00f 1 2 2.3402930e+00 3.89e-03 4.18e-01 -2.1 8.41e-02 - 8.40e-01 1.00e+00h 1 3 2.1481406e+00 2.98e-03 6.80e-02 -2.3 1.17e-01 - 9.68e-01 8.71e-01h 1 4 2.0928418e+00 1.25e-04 2.69e-03 -3.7 5.43e-02 - 9.99e-01 1.00e+00h 1 5 2.0909037e+00 4.31e-05 2.19e-04 -4.0 1.56e-01 - 1.00e+00 1.00e+00h 1 6 2.0908980e+00 1.20e-07 1.15e-06 -4.0 2.22e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 5.85e-11 1.94e-10 -4.0 1.39e-02 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971970838870e+00 2.0908971970838870e+00 Dual infeasibility......: 1.9386625364401465e-10 1.9386625364401465e-10 Constraint violation....: 5.8509720533188661e-11 5.8509720533188661e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000381191877333e-04 1.0000381191877333e-04 Overall NLP error.......: 3.8119187733225536e-09 3.8119187733225536e-09 Number of objective function evaluations = 8 Number of objective gradient evaluations = 8 Number of equality constraint evaluations = 8 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 8 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 7 Total seconds in IPOPT = 25.283 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.059s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.109s) evaluator created (0.109s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: bounds constraint on 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: 0.109s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.5660122e+00 1.80e+00 8.91e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4934015e+00 3.02e-01 2.51e+01 -0.8 1.84e+00 0.0 3.30e-02 8.33e-01f 1 2 2.5271368e+00 2.79e-01 2.33e+01 -1.0 1.27e+00 0.4 1.24e-01 7.56e-02f 1 3 2.6916500e+00 2.04e-01 1.71e+01 -4.0 4.74e-01 0.9 2.51e-01 2.67e-01h 1 4 3.1786149e+00 3.53e-03 4.38e+00 -1.3 2.31e-01 1.3 9.97e-01 1.00e+00f 1 5 2.8370058e+00 2.97e-03 5.25e-01 -1.7 7.46e-02 0.8 1.00e+00 1.00e+00f 1 6 2.4504772e+00 4.62e-03 3.96e-01 -2.2 1.45e-01 0.3 9.97e-01 6.37e-01f 1 7 2.1910968e+00 1.03e-02 3.42e-01 -2.5 3.17e-01 -0.2 9.99e-01 3.88e-01f 1 8 2.1451554e+00 7.74e-03 4.64e-01 -2.9 9.61e-02 -0.6 1.00e+00 2.60e-01h 1 9 2.1069059e+00 3.65e-03 2.94e-01 -3.9 1.05e-01 -1.1 1.00e+00 5.29e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0912628e+00 1.18e-04 2.41e-02 -4.0 1.96e-02 -1.6 1.00e+00 9.68e-01h 1 11 2.0909129e+00 3.98e-07 6.00e-04 -4.0 1.20e-02 -2.1 1.00e+00 1.00e+00h 1 12 2.0909081e+00 1.15e-08 4.74e-05 -4.0 1.64e-02 -2.5 1.00e+00 1.00e+00h 1 13 2.0909061e+00 1.58e-10 1.99e-05 -4.0 2.06e-02 -3.0 1.00e+00 1.00e+00h 1 14 2.0909001e+00 1.39e-09 1.98e-05 -4.0 6.16e-02 -3.5 1.00e+00 1.00e+00h 1 15 2.0908826e+00 1.22e-08 1.95e-05 -4.0 1.83e-01 -4.0 1.00e+00 1.00e+00h 1 16 2.0908318e+00 1.00e-07 3.78e-05 -4.0 5.28e-01 -4.4 1.00e+00 1.00e+00h 1 17 2.0906954e+00 7.02e-07 2.80e-04 -4.0 1.43e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0903994e+00 3.05e-06 1.48e-03 -4.0 3.19e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0900507e+00 5.75e-06 3.34e-03 -4.0 4.78e+00 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0899058e+00 3.14e-06 2.38e-03 -4.0 6.14e+00 -6.4 1.00e+00 1.00e+00h 1 21 2.0898400e+00 1.44e-06 1.38e-03 -4.0 1.05e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0898257e+00 9.04e-07 1.33e-03 -4.0 1.14e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0898228e+00 1.57e-06 4.10e-04 -4.0 7.25e+00 -7.8 1.00e+00 1.00e+00h 1 24 2.0898219e+00 1.11e-07 2.32e-05 -4.0 1.34e+00 -8.3 1.00e+00 1.00e+00h 1 25 2.0898219e+00 7.74e-10 1.56e-07 -4.0 1.47e-01 -8.7 1.00e+00 1.00e+00h 1 26 2.0898218e+00 3.97e-13 1.90e-10 -4.0 6.16e-03 -9.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0898218498110923e+00 2.0898218498110923e+00 Dual infeasibility......: 1.9008170552966761e-10 1.9008170552966761e-10 Constraint violation....: 3.9718228705964975e-13 3.9718228705964975e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000055e-04 1.0000000000000055e-04 Overall NLP error.......: 1.9008170552966761e-10 1.9008170552966761e-10 Number of objective function evaluations = 27 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 27 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 26 Total seconds in IPOPT = 26.056 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.06s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.051s) linear index maps built (0.0s) evaluator ready (total: 0.112s) evaluator created (0.112s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.112s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 35 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.7152105e+00 1.97e+00 4.49e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6308242e+00 1.66e+00 4.70e+00 -0.5 1.68e+00 0.0 2.79e-01 1.54e-01f 1 2 2.9207625e+00 1.41e+00 1.01e+01 -0.2 2.88e+00 -0.5 1.81e-01 1.46e-01f 1 3 3.1612097e+00 1.21e+00 2.64e+00 -0.5 3.04e+00 -1.0 2.34e-01 1.38e-01h 1 4 3.5095485e+00 9.35e-01 1.63e+01 -1.0 3.84e+00 -1.4 3.66e-01 2.19e-01h 1 5 3.8685674e+00 8.87e-01 1.05e+02 -0.3 2.65e+01 -1.9 5.83e-01 7.44e-02f 1 6 4.1824631e+00 8.76e-01 1.25e+03 0.6 6.47e+01 -1.5 5.85e-01 2.14e-02h 1 7 4.2345684e+00 8.60e-01 1.84e+03 0.8 2.56e+01 -2.0 2.85e-01 1.77e-02h 1 8 4.6938930e+00 7.75e-01 9.27e+03 0.8 3.13e+01 -2.4 1.00e+00 1.21e-01h 1 9 4.8450101e+00 8.36e-01 9.20e+04 1.1 5.91e+01 -2.9 9.94e-01 7.04e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 4.8834421e+00 9.39e-01 2.56e+06 1.4 2.61e+02 -3.4 1.00e+00 2.35e-02h 1 11 4.8830350e+00 9.40e-01 2.05e+08 2.5 7.29e+03 -3.9 1.00e+00 1.40e-04h 6 12 4.8820143e+00 9.42e-01 1.63e+09 2.5 7.86e+03 -4.3 6.05e-02 1.64e-04h 6 13 4.8810536e+00 9.43e-01 5.40e+10 2.5 8.17e+03 -4.8 1.97e-01 1.68e-04h 6 14 4.8806002e+00 9.43e-01 1.01e+11 2.5 8.29e+03 -5.3 5.39e-03 8.93e-05h 7 15 4.8803190e+00 9.44e-01 1.10e+11 2.5 2.28e+04 -5.8 6.92e-04 5.92e-05h 7 16 4.8800540e+00 9.44e-01 1.20e+11 2.5 2.46e+04 -5.4 7.11e-04 5.49e-05h 7 17 4.8798068e+00 9.44e-01 1.51e+11 2.5 2.58e+04 -5.8 1.79e-03 5.26e-05h 7 18 4.8795604e+00 9.44e-01 3.76e+12 2.5 2.67e+04 -5.4 1.64e-01 5.12e-05h 7 19 4.8793142e+00 9.44e-01 4.21e+12 2.5 2.60e+04 -5.9 8.90e-04 5.35e-05h 7 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 4.8790693e+00 9.44e-01 5.32e+12 2.5 2.73e+04 -5.5 1.84e-03 5.10e-05h 7 21 4.8788542e+00 9.44e-01 7.57e+13 2.5 3.86e+04 -5.9 8.93e-02 4.90e-05h 7 22 4.8786211e+00 9.44e-01 8.65e+13 2.5 2.88e+04 -5.5 1.01e-03 4.89e-05h 7 23 4.8783965e+00 9.44e-01 1.30e+16 2.5 3.01e+04 -5.1 1.00e+00 4.69e-05h 7 24 4.8781815e+00 9.44e-01 1.50e+16 2.5 2.82e+04 -5.6 1.17e-03 5.00e-05h 7 25 4.8779684e+00 9.44e-01 1.46e+17 2.5 3.19e+04 -5.1 5.76e-02 4.45e-05h 7 26 4.8764599e+00 9.49e-01 1.63e+17 2.5 1.54e+04 -5.6 3.92e-03 1.99e-04h 4 27 4.8741759e+00 9.64e-01 1.80e+17 2.5 1.83e+04 -5.2 3.49e-03 2.95e-04h 3 28 4.8680189e+00 1.11e+00 1.97e+17 2.5 2.20e+04 -5.7 3.57e-03 8.38e-04h 1 29r 4.8680189e+00 1.11e+00 9.65e+02 2.5 0.00e+00 -5.2 0.00e+00 2.87e-07R 6 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30r 4.7677383e+00 3.31e-01 5.80e+02 -3.6 5.49e+01 - 4.60e-01 2.49e-01f 1 31 4.7680518e+00 3.31e-01 4.74e+02 -4.0 7.22e+02 -5.7 1.03e-01 2.14e-04h 1 32 5.0354782e+00 2.30e+02 4.80e+05 1.2 4.49e+05 -6.2 1.00e+00 2.08e-03f 1 33 5.0779058e+00 2.27e+02 4.84e+05 1.2 2.91e+04 -6.7 3.75e-03 3.08e-03h 1 34 5.1668300e+00 2.12e+02 5.66e+05 1.2 5.60e+04 -7.1 1.40e-02 3.47e-03h 1 35 5.3109555e+00 1.87e+02 6.61e+05 1.2 2.95e+04 -7.6 1.81e-02 6.75e-03h 1 36 5.3135611e+00 1.86e+02 2.43e+07 1.2 2.00e+03 -8.1 6.54e-02 5.98e-04h 1 37 5.3147447e+00 1.86e+02 1.20e+10 1.2 4.07e+02 -8.6 2.87e-01 5.64e-04h 1 38 5.3147880e+00 1.86e+02 6.15e+14 1.2 3.95e+02 -9.0 1.00e+00 1.93e-05h 1 39 5.3467341e+00 1.47e+02 3.88e+14 1.2 3.84e+02 -9.5 3.69e-01 2.10e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 5.3468880e+00 1.47e+02 1.72e+18 1.2 3.04e+02 -10.0 9.93e-01 1.64e-04h 1 41 5.3470504e+00 1.47e+02 2.56e+19 1.2 3.04e+02 -10.5 1.00e+00 1.71e-03h 1 42 5.3482829e+00 1.46e+02 1.08e+19 1.2 2.99e+00 9.4 5.78e-01 1.60e-01h 3 43r 5.3482829e+00 1.46e+02 9.99e+02 2.2 0.00e+00 8.9 0.00e+00 2.68e-07R 6 44r 5.3441860e+00 9.62e+00 9.77e+02 2.4 2.71e+05 - 3.98e-02 1.07e-03f 1 45 5.3441024e+00 9.61e+00 3.05e+05 0.5 2.23e+00 8.4 1.00e+00 5.32e-04h 1 46 5.3440981e+00 9.61e+00 3.12e+05 0.5 1.98e+00 7.9 9.98e-04 3.81e-05h 1 47 5.3435401e+00 9.60e+00 3.53e+05 0.5 2.13e+00 7.5 6.29e-04 6.78e-04h 1 48 5.3435036e+00 9.60e+00 2.93e+06 0.5 2.13e+00 7.0 1.88e-03 3.43e-05h 1 49r 5.3435036e+00 9.60e+00 9.99e+02 1.0 0.00e+00 6.5 0.00e+00 3.99e-07R 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50r 5.0866920e+00 1.97e+00 1.03e+03 2.8 1.17e+04 - 2.21e-02 1.31e-03f 1 51 5.0878961e+00 1.97e+00 2.59e+03 -0.2 1.19e+00 6.0 1.00e+00 2.05e-03h 1 52 5.0881426e+00 1.97e+00 3.60e+03 -0.2 1.37e+00 5.5 8.67e-03 2.10e-03h 1 53 5.0881532e+00 1.97e+00 3.47e+06 -0.2 1.70e+00 5.1 1.50e-02 2.11e-05h 1 54 5.0915857e+00 1.97e+00 3.63e+06 -0.2 1.64e+02 4.6 1.35e-04 1.23e-04h 1 55r 5.0915857e+00 1.97e+00 1.00e+03 0.3 0.00e+00 4.1 0.00e+00 3.11e-07R 3 56r 4.9024138e+00 1.45e+00 1.01e+03 2.0 2.09e+03 - 3.70e-03 5.14e-04f 1 57 4.9024607e+00 1.44e+00 2.36e+03 -0.9 1.03e+00 3.6 3.93e-01 2.65e-04h 1 58r 4.9024607e+00 1.44e+00 9.99e+02 0.2 0.00e+00 3.2 0.00e+00 3.79e-07R 4 59r 4.1046709e+00 3.79e-01 9.92e+02 2.0 1.68e+03 - 3.39e-02 1.52e-03f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 4.1058177e+00 3.79e-01 2.62e+03 1.4 2.25e+00 2.7 6.24e-03 7.95e-04h 1 61r 4.1058177e+00 3.79e-01 9.99e+02 0.9 0.00e+00 2.2 0.00e+00 2.84e-07R 6 62r 4.2383120e+00 1.99e-01 1.03e+03 0.6 6.96e+01 - 6.09e-01 2.53e-02f 1 63 4.2384764e+00 1.99e-01 2.00e+03 -1.2 3.51e-01 1.7 8.22e-01 5.30e-04h 1 64 4.2388799e+00 1.99e-01 8.88e+06 1.0 6.41e+01 1.3 9.70e-02 2.42e-05h 1 65 4.2395477e+00 1.99e-01 3.03e+11 1.9 2.40e+02 0.8 1.00e+00 2.86e-05h 1 66r 4.2395477e+00 1.99e-01 9.53e+02 2.5 0.00e+00 0.3 0.00e+00 1.44e-07R 2 67r 4.2321309e+00 2.00e-01 3.38e+02 0.3 4.18e+00 - 6.94e-01 8.01e-01f 1 68r 4.2698144e+00 2.00e-01 1.11e+02 0.0 4.16e+00 - 6.12e-01 7.15e-01f 1 69r 4.3185144e+00 2.00e-01 2.91e+01 -0.2 7.90e-01 - 1.00e+00 8.72e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70r 4.3897324e+00 2.02e-01 5.29e+00 0.1 2.91e+00 - 1.00e+00 1.00e+00f 1 71r 4.4221873e+00 3.02e-01 7.05e+00 -0.7 8.32e+00 - 9.44e-01 8.99e-01f 1 72r 4.4066670e+00 1.99e-01 6.65e+01 -4.0 1.46e+00 - 7.15e-01 5.63e-01f 1 73r 4.3935506e+00 1.99e-01 5.23e-01 -1.5 9.89e-02 0.0 1.00e+00 1.00e+00f 1 74r 4.3930520e+00 1.99e-01 6.99e-01 -2.1 3.91e-01 - 9.75e-01 1.00e+00f 1 75r 4.2818843e+00 1.99e-01 1.51e-02 -2.6 1.44e-01 - 1.00e+00 1.00e+00f 1 76r 4.2549583e+00 1.99e-01 2.19e-01 -3.8 1.12e-01 - 9.58e-01 1.00e+00f 1 77r 4.2584985e+00 1.99e-01 3.84e-04 -4.0 1.74e-01 - 1.00e+00 1.00e+00h 1 78r 4.2725907e+00 1.99e-01 2.53e-05 -4.0 1.72e-01 - 1.00e+00 1.00e+00h 1 79r 4.2740810e+00 1.99e-01 4.58e-07 -4.0 2.48e-02 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 79 (scaled) (unscaled) Objective...............: 4.2741007368847512e+00 4.2741007368847512e+00 Dual infeasibility......: 1.9661095764608869e+00 1.9661095764608869e+00 Constraint violation....: 1.9875045035053229e-01 1.9875045035053229e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000002161652056e-04 1.0000002161652056e-04 Overall NLP error.......: 1.9661095764608869e+00 1.9661095764608869e+00 Number of objective function evaluations = 224 Number of objective gradient evaluations = 68 Number of equality constraint evaluations = 224 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 88 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 80 Total seconds in IPOPT = 28.330 EXIT: Converged to a point of local infeasibility. Problem may be infeasible. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.06s) integrator 1 hessian structure: 0.053s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s sub-objective 4 (GlobalObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1804 nonzeros (0.055s) linear index maps built (0.0s) evaluator ready (total: 0.114s) evaluator created (0.114s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.001s) optimizer initialization complete (total: 0.115s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 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 7.1319606e+00 2.21e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.2656752e+00 5.43e-01 2.77e+00 -0.7 1.98e+00 0.0 9.52e-01 7.54e-01f 1 2 2.6773346e+00 1.21e-02 4.27e-01 -1.1 5.36e-01 -0.5 9.22e-01 1.00e+00f 1 3 2.3805370e+00 3.90e-02 1.71e-01 -1.5 4.17e-01 -1.0 9.96e-01 8.66e-01h 1 4 2.1431780e+00 5.59e-03 2.93e-02 -2.3 1.49e-01 -1.4 9.63e-01 1.00e+00h 1 5 2.0927131e+00 2.28e-04 9.72e-03 -3.5 3.66e-02 -1.9 9.75e-01 9.94e-01h 1 6 2.0908797e+00 1.60e-06 5.22e-04 -4.0 5.23e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0908684e+00 2.44e-08 2.06e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908639e+00 7.46e-10 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908507e+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 2.0908108e+00 6.20e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0906914e+00 5.59e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903339e+00 5.06e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892686e+00 4.62e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861374e+00 4.34e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796342e+00 2.49e-03 8.74e-02 -4.0 8.72e+01 -6.7 1.00e+00 7.54e-01h 1 16 2.0812062e+00 1.64e-04 2.00e-01 -4.0 7.05e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778253e+00 6.35e-03 2.92e-02 -4.0 1.13e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0782284e+00 1.73e-02 7.96e-02 -3.7 1.82e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0768852e+00 8.25e-03 1.59e-02 -3.8 3.18e+02 -8.6 1.00e+00 8.99e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0760205e+00 9.17e-03 2.22e-02 -3.9 4.76e+02 -9.1 1.00e+00 9.70e-01f 1 21 2.0757571e+00 8.26e-03 1.03e-02 -4.0 1.50e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756785e+00 5.51e-04 4.65e-04 -4.0 6.77e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 3.29e-06 7.66e-06 -4.0 2.31e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 4.92e-08 1.48e-06 -4.0 1.49e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.44e-09 1.47e-07 -4.0 5.15e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.52e-11 2.95e-09 -4.0 9.10e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122090604e+00 2.0756712122090604e+00 Dual infeasibility......: 2.9525366792573175e-09 2.9525366792573175e-09 Constraint violation....: 7.5183193004590976e-11 7.5183193004590976e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000032e-04 1.0000000000000032e-04 Overall NLP error.......: 2.9525366792573175e-09 2.9525366792573175e-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 = 29.270 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: 0.063s integrator 2 jacobian structure: 0.143s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.207s) integrator 1 hessian structure: 0.062s 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 (0.064s) linear index maps built (0.0s) evaluator ready (total: 0.271s) evaluator created (0.271s) 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 (0.672s) optimizer initialization complete (total: 0.944s) 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 1.4375103e+00 3.13e+00 5.85e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4698597e+00 2.98e+00 6.85e+00 -0.9 5.56e+01 -4.0 9.82e-01 1.00e+00h 1 2 2.3684788e+00 3.65e-02 3.16e+00 -1.3 6.07e+00 -3.6 8.70e-01 1.00e+00h 1 3 2.2092690e+00 1.23e-01 4.38e-01 -2.2 6.90e+00 -4.1 1.00e+00 1.00e+00h 1 4 2.1153803e+00 1.17e-01 3.50e-01 -2.7 1.14e+01 -4.5 9.98e-01 1.00e+00h 1 5 2.1035277e+00 2.11e-03 6.50e-02 -3.0 2.61e+00 -5.0 1.00e+00 1.00e+00h 1 6 2.0904519e+00 8.10e-03 1.60e-03 -4.0 5.95e+00 -5.5 1.00e+00 1.00e+00h 1 7 2.0891260e+00 5.39e-04 1.54e-03 -4.0 1.86e+01 -6.0 1.00e+00 1.00e+00h 1 8 2.0838358e+00 1.29e-03 5.31e-03 -4.0 5.37e+01 -6.4 1.00e+00 1.00e+00h 1 9 2.0797482e+00 1.87e-03 2.41e-01 -4.0 1.25e+02 -6.9 1.00e+00 3.25e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0792552e+00 6.31e-03 1.53e-01 -4.0 7.36e+01 -7.4 1.00e+00 1.00e+00h 1 11 2.0782891e+00 2.38e-02 2.29e-02 -3.7 1.34e+02 -7.9 1.00e+00 1.00e+00h 1 12 2.0765828e+00 2.68e-02 2.70e-02 -4.0 2.16e+02 -8.3 1.00e+00 1.00e+00h 1 13 2.0759504e+00 1.55e-03 2.25e-02 -4.0 3.88e+02 -8.8 1.00e+00 1.00e+00h 1 14 2.0755725e+00 5.92e-05 1.38e-02 -4.0 2.35e+02 -9.3 1.00e+00 7.86e-01h 1 15 2.0757975e+00 2.07e-04 3.86e-03 -4.0 1.02e+02 -9.8 1.00e+00 1.00e+00h 1 16 2.0754322e+00 7.31e-04 7.73e-05 -4.1 2.88e+01 -10.3 1.00e+00 1.00e+00h 1 17 2.0757716e+00 4.96e-04 1.80e-06 -4.0 1.92e+01 -10.7 1.00e+00 1.00e+00h 1 18 2.0754220e+00 6.07e-04 5.65e-07 -4.1 2.29e+01 -11.2 1.00e+00 1.00e+00h 1 19 2.0757717e+00 4.31e-04 6.39e-07 -4.0 1.63e+01 -11.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0754219e+00 5.60e-04 2.07e-07 -4.1 2.11e+01 -12.2 1.00e+00 1.00e+00h 1 21 2.0757717e+00 6.04e-04 9.83e-08 -4.0 2.28e+01 -12.6 1.00e+00 1.00e+00h 1 22 2.0754219e+00 6.02e-04 1.05e-07 -4.1 2.27e+01 -13.1 1.00e+00 1.00e+00h 1 23 2.0757717e+00 6.06e-04 1.18e-07 -4.0 2.29e+01 -13.6 1.00e+00 1.00e+00h 1 24 2.0754219e+00 6.06e-04 1.21e-07 -4.1 2.29e+01 -14.1 1.00e+00 1.00e+00h 1 25 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -14.5 9.28e-01 1.00e+00h 1 26 2.0758523e+00 1.72e-01 1.58e-04 -4.0 1.29e+03 -15.0 1.00e+00 1.00e+00h 1 27 2.0754378e+00 2.85e-02 8.92e-05 -4.1 1.05e+03 -15.5 1.00e+00 1.00e+00h 1 28 2.0754277e+00 1.25e-05 2.07e-06 -4.1 1.63e+02 -16.0 1.00e+00 1.00e+00h 1 29 2.0757717e+00 7.85e-04 1.74e-07 -4.0 3.02e+01 -16.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0754219e+00 6.34e-04 1.30e-07 -4.1 2.39e+01 -16.9 1.00e+00 1.00e+00h 1 31 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -17.4 9.28e-01 1.00e+00h 1 32 2.0739729e+00 7.49e-04 2.53e-04 -6.1 8.48e+02 -17.9 8.16e-01 1.00e+00h 1 33 2.0743069e+00 2.58e-02 1.46e-02 -4.0 8.97e+03 -18.4 1.00e+00 1.46e-01f 1 34 2.0749156e+00 3.43e-02 4.23e-05 -4.3 7.15e+02 -18.8 1.00e+00 1.00e+00h 1 35 2.0749194e+00 4.29e-04 1.42e-05 -4.3 5.34e+02 -19.3 1.00e+00 1.00e+00h 1 36 2.0757799e+00 1.06e-02 3.26e-06 -4.0 1.65e+02 -19.8 1.00e+00 1.00e+00h 1 37 2.0754236e+00 2.17e-03 7.34e-07 -4.1 8.12e+01 -20.0 1.00e+00 1.00e+00h 1 38 2.0754217e+00 1.05e-06 2.50e-08 -4.1 1.90e+01 -20.0 1.00e+00 1.00e+00h 1 39 2.0757718e+00 7.83e-04 1.70e-07 -4.0 2.96e+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 40 2.0754219e+00 6.34e-04 1.30e-07 -4.1 2.39e+01 -20.0 1.00e+00 1.00e+00h 1 41 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 42 2.0739729e+00 7.49e-04 2.53e-04 -6.1 8.48e+02 -20.0 8.16e-01 1.00e+00h 1 43 2.0739618e+00 7.48e-07 1.83e-05 -6.1 5.36e+02 -20.0 1.00e+00 1.00e+00h 1 44 2.0741610e+00 2.72e-02 1.81e-02 -4.0 3.03e+04 -20.0 1.00e+00 8.17e-02f 1 45 2.0748450e+00 7.42e-02 5.83e-05 -4.3 1.43e+03 -20.0 1.00e+00 1.00e+00f 1 46 2.0748594e+00 4.17e-04 5.58e-06 -4.3 3.96e+02 -20.0 1.00e+00 1.00e+00h 1 47 2.0740038e+00 1.17e-02 4.14e-04 -6.5 1.83e+02 -20.0 8.92e-01 1.00e+00h 1 48 2.0739628e+00 2.48e-04 2.84e-04 -6.5 7.31e+02 -20.0 7.61e-01 1.00e+00h 1 49 2.0739529e+00 2.78e-07 2.04e-05 -6.5 6.29e+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 2.0741325e+00 2.58e-02 1.91e-02 -4.0 3.70e+04 -20.0 1.00e+00 7.19e-02f 1 51 2.0748276e+00 8.42e-02 6.63e-05 -4.3 1.60e+03 -20.0 1.00e+00 1.00e+00f 1 52 2.0748443e+00 3.56e-04 3.40e-06 -4.3 3.15e+02 -20.0 1.00e+00 1.00e+00h 1 53 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 54 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 55 2.0739527e+00 2.69e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 56 2.0741318e+00 2.58e-02 1.92e-02 -4.0 3.72e+04 -20.0 1.00e+00 7.16e-02f 1 57 2.0748272e+00 8.45e-02 6.65e-05 -4.3 1.61e+03 -20.0 1.00e+00 1.00e+00f 1 58 2.0748440e+00 3.54e-04 3.34e-06 -4.3 3.13e+02 -20.0 1.00e+00 1.00e+00h 1 59 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 61 2.0739527e+00 2.68e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 62 2.0741318e+00 2.58e-02 1.92e-02 -4.0 3.72e+04 -20.0 1.00e+00 7.16e-02f 1 63 2.0748272e+00 8.45e-02 6.65e-05 -4.3 1.61e+03 -20.0 1.00e+00 1.00e+00f 1 64 2.0748440e+00 3.54e-04 3.34e-06 -4.3 3.13e+02 -20.0 1.00e+00 1.00e+00h 1 65 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 66 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 67 2.0739527e+00 2.68e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 68 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 69 2.0741226e+00 2.63e-02 1.95e-02 -4.0 4.26e+04 -20.0 1.00e+00 6.77e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0748234e+00 8.99e-02 7.10e-05 -4.3 1.70e+03 -20.0 1.00e+00 1.00e+00f 1 71 2.0748412e+00 3.13e-04 2.43e-06 -4.3 2.70e+02 -20.0 1.00e+00 1.00e+00h 1 72 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 73 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 74 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 75 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 76 2.0741225e+00 2.63e-02 1.95e-02 -4.0 4.27e+04 -20.0 1.00e+00 6.76e-02f 1 77 2.0748233e+00 9.00e-02 7.11e-05 -4.3 1.70e+03 -20.0 1.00e+00 1.00e+00f 1 78 2.0748411e+00 3.13e-04 2.42e-06 -4.3 2.70e+02 -20.0 1.00e+00 1.00e+00h 1 79 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 81 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 82 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 83 2.0739440e+00 6.21e-05 3.00e-06 -9.0 1.42e+02 -20.0 9.56e-01 1.00e+00h 1 84 2.0740989e+00 2.54e-02 2.06e-02 -4.0 5.21e+04 -20.0 1.00e+00 5.99e-02f 1 85 2.0748092e+00 1.02e-01 8.36e-05 -4.3 1.92e+03 -20.0 1.00e+00 1.00e+00f 1 86 2.0748293e+00 2.04e-04 1.06e-06 -4.3 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 87 2.0740026e+00 1.16e-02 4.11e-04 -6.5 1.88e+02 -20.0 8.89e-01 1.00e+00h 1 88 2.0739622e+00 2.30e-04 2.84e-04 -6.5 7.25e+02 -20.0 7.59e-01 1.00e+00h 1 89 2.0739525e+00 2.60e-07 1.99e-05 -6.5 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0739518e+00 4.59e-09 7.61e-07 -6.5 1.66e+02 -20.0 1.00e+00 1.00e+00h 1 91 2.0741220e+00 2.63e-02 1.96e-02 -4.0 4.28e+04 -20.0 1.00e+00 6.75e-02f 1 92 2.0748230e+00 9.02e-02 7.13e-05 -4.3 1.71e+03 -20.0 1.00e+00 1.00e+00f 1 93 2.0748409e+00 3.11e-04 2.38e-06 -4.3 2.68e+02 -20.0 1.00e+00 1.00e+00h 1 94 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 95 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 96 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 97 2.0739520e+00 4.54e-09 7.53e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 98 2.0739440e+00 6.21e-05 3.00e-06 -9.0 1.42e+02 -20.0 9.56e-01 1.00e+00h 1 99 2.0740989e+00 2.54e-02 2.06e-02 -4.0 5.21e+04 -20.0 1.00e+00 5.99e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0748092e+00 1.02e-01 8.37e-05 -4.3 1.92e+03 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0748092138579128e+00 2.0748092138579128e+00 Dual infeasibility......: 8.3650444729679976e-05 8.3650444729679976e-05 Constraint violation....: 1.0240270858532030e-01 1.0240270858532030e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 6.8229653538553963e-05 6.8229653538553963e-05 Overall NLP error.......: 1.0240270858532030e-01 1.0240270858532030e-01 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 = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 27.411 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.057s jacobian structure: 180 nonzeros (0.098s) integrator 1 hessian structure: 0.049s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.346s sub-objective 2 (QuadraticRegularizer): 0.09s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.017s objective hessian structure: 0.548s hessian structure: 375 nonzeros (0.597s) linear index maps built (0.0s) evaluator ready (total: 0.852s) evaluator created (0.852s) NL constraint bounds extracted (0.011s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.117s) applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.358s) optimizer initialization complete (total: 4.34s) 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 1.0300518e+00 8.19e-01 1.05e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8470609e+00 1.60e-01 2.05e+00 -0.8 7.05e-01 0.0 9.51e-01 1.00e+00h 1 2 1.8705608e+00 7.54e-02 6.92e-01 -0.5 2.37e+00 - 6.92e-01 5.28e-01h 1 3 2.2754034e+00 1.56e-02 9.66e+00 -1.4 1.48e+01 - 9.65e-01 1.00e+00h 1 4 1.4304948e+00 4.88e-02 3.54e+00 -1.7 4.03e-01 -0.5 1.00e+00 6.03e-01f 1 5 1.1986897e+00 1.47e-02 8.44e-01 -2.6 8.39e-02 -1.0 1.00e+00 6.99e-01h 1 6 1.0936009e+00 7.30e-05 9.83e-01 -4.0 1.33e+01 - 7.04e-01 9.93e-01h 1 7 1.0932760e+00 7.05e-05 3.85e-02 -4.0 1.30e+00 - 1.00e+00 3.39e-02h 1 8 1.0923069e+00 4.69e-05 2.69e-02 -4.0 1.25e+00 - 1.00e+00 3.36e-01h 1 9 1.0908928e+00 4.50e-07 8.58e-03 -4.0 8.93e-01 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0908998e+00 3.38e-11 4.97e-05 -4.0 2.99e-01 - 1.00e+00 1.00e+00h 1 11 1.0908998e+00 2.50e-19 1.06e-04 -4.0 8.94e-02 - 1.00e+00 1.00e+00f 1 12 1.0908997e+00 1.33e-27 2.66e-05 -4.0 1.40e-02 - 1.00e+00 1.00e+00f 1 13 1.0908997e+00 1.76e-27 1.01e-08 -4.0 1.48e-04 - 1.00e+00 1.00e+00f 1 14 1.0908997e+00 3.02e-27 1.32e-13 -4.0 1.69e-06 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 14 (scaled) (unscaled) Objective...............: 1.0908997263265459e+00 1.0908997263265459e+00 Dual infeasibility......: 1.3231724759606742e-13 1.3231724759606742e-13 Constraint violation....: 3.0233542490898088e-27 3.0233542490898088e-27 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 1.3231724759606742e-13 1.3231724759606742e-13 Number of objective function evaluations = 15 Number of objective gradient evaluations = 15 Number of equality constraint evaluations = 15 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 15 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 14 Total seconds in IPOPT = 30.434 EXIT: Optimal Solution Found. ┌ Warning: Trajectory has timestep variable :Δt but no bounds on it. │ Adding default lower bound of 0 to prevent negative timesteps. │ │ Recommended: Add explicit bounds when creating the trajectory: │ NamedTrajectory(...; Δt_bounds=(min, max)) │ Example: │ NamedTrajectory(qtraj, N; Δt_bounds=(1e-3, 0.5)) │ │ Or use timesteps_all_equal=true in problem options to fix timesteps. └ @ DirectTrajOpt.Problems ~/.julia/packages/DirectTrajOpt/gniE1/src/problems.jl:66 initializing optimizer... building evaluator: 0 integrators, 0 nonlinear constraints dynamics constraints: 0, nonlinear constraints: 0 jacobian structure: 0 nonzeros (0.0s) computing objective hessian structure (QuadraticRegularizer)... objective hessian structure: 0.091s hessian structure: 30 nonzeros (0.092s) linear index maps built (0.0s) evaluator ready (total: 0.093s) evaluator created (0.093s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.13s) 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 (3.499s) optimizer initialization complete (total: 3.722s) 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 Number of Iterations....: 0 Number of objective function evaluations = 0 Number of objective gradient evaluations = 1 Number of equality constraint evaluations = 0 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 = 0 Total seconds in IPOPT = 1.857 EXIT: Invalid number in NLP function or derivative detected. 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): 0.076s sub-objective 2 (QuadraticRegularizer): 0.0s objective hessian structure: 0.142s hessian structure: 40 nonzeros (0.142s) linear index maps built (0.0s) evaluator ready (total: 0.143s) evaluator created (0.143s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.085s) 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 (2.896s) optimizer initialization complete (total: 3.124s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 39 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 19 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.9023371e+00 4.03e-01 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.3496526e+00 2.12e-09 1.24e-01 -0.4 4.23e-01 -2.0 9.95e-01 1.00e+00f 1 2 3.5888503e-01 1.43e-09 2.72e-01 -1.3 1.31e+00 -1.6 9.38e-01 1.00e+00f 1 3 1.6406386e-01 3.09e-10 5.46e-02 -2.2 5.80e-01 -1.1 9.97e-01 1.00e+00f 1 4 4.4169139e-02 4.38e-11 4.02e-02 -3.0 8.70e-01 -1.6 1.00e+00 1.00e+00f 1 5 9.1284219e-03 2.80e-11 1.90e-02 -4.0 7.75e-01 -2.1 1.00e+00 1.00e+00f 1 6 1.8000005e-03 7.19e-12 6.30e-03 -4.0 5.31e-01 -2.6 1.00e+00 1.00e+00f 1 7 5.4584711e-04 2.11e-12 1.65e-03 -4.0 2.55e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.5760590e-04 3.94e-13 2.20e-04 -4.0 1.01e-01 -3.5 1.00e+00 1.00e+00f 1 9 4.5252390e-04 3.03e-14 1.54e-04 -4.0 2.52e-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 4.5851654e-04 1.17e-14 1.70e-04 -4.0 2.76e-02 -4.5 1.00e+00 1.00e+00f 1 11 3.0139697e-04 1.38e-14 4.02e-04 -4.1 7.37e-02 -5.0 1.00e+00 1.00e+00f 1 12 4.6349480e-04 8.44e-15 3.70e-04 -4.0 1.95e-01 -5.4 1.00e+00 5.00e-01f 2 13 2.7196756e-04 5.05e-15 5.21e-04 -4.1 9.91e-02 -5.9 1.00e+00 1.00e+00f 1 14 4.6795750e-04 4.11e-15 4.66e-04 -4.0 2.45e-01 -6.4 1.00e+00 5.00e-01f 2 15 2.6250371e-04 3.00e-15 5.78e-04 -4.1 1.11e-01 -6.9 1.00e+00 1.00e+00f 1 16 4.6859632e-04 2.89e-15 5.02e-04 -4.0 2.65e-01 -7.4 1.00e+00 5.00e-01f 2 17 2.5950521e-04 2.22e-15 6.05e-04 -4.1 1.17e-01 -7.8 1.00e+00 1.00e+00f 1 18 4.6839076e-04 2.44e-15 5.18e-04 -4.0 2.74e-01 -8.3 1.00e+00 5.00e-01f 2 19 2.5856080e-04 1.78e-15 6.23e-04 -4.1 1.21e-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 4.6786171e-04 2.00e-15 5.27e-04 -4.0 2.80e-01 -9.3 1.00e+00 5.00e-01f 2 21 2.5828344e-04 1.55e-15 6.38e-04 -4.1 1.23e-01 -9.7 1.00e+00 1.00e+00f 1 22 4.6724646e-04 1.67e-15 5.34e-04 -4.0 2.84e-01 -10.2 1.00e+00 5.00e-01f 2 23 2.5821602e-04 1.44e-15 6.52e-04 -4.1 1.26e-01 -10.7 1.00e+00 1.00e+00f 1 24 4.6661551e-04 1.55e-15 5.39e-04 -4.0 2.88e-01 -11.2 1.00e+00 5.00e-01f 2 25 2.5821181e-04 1.22e-15 6.65e-04 -4.1 1.29e-01 -11.6 1.00e+00 1.00e+00f 1 26 3.0874134e-05 1.03e-14 8.33e-04 -6.2 3.56e-01 -12.1 9.70e-01 1.00e+00f 1 27 1.7623823e-03 2.89e-15 7.31e-03 -4.0 1.89e+00 -12.6 1.00e+00 5.00e-01f 2 28 2.4075260e-05 2.63e-14 2.71e-03 -4.1 9.62e-01 -13.1 1.00e+00 1.00e+00f 1 29 1.5882520e-03 3.51e-14 7.61e-03 -4.0 9.33e-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 9.8240272e-06 2.03e-14 2.15e-03 -4.2 1.03e+00 -14.0 1.00e+00 1.00e+00f 1 31 4.7266247e-04 1.78e-15 2.67e-03 -4.0 1.32e+00 -14.5 1.00e+00 5.00e-01f 2 32 2.1829512e-04 3.44e-15 2.23e-04 -4.2 3.63e-01 -15.0 1.00e+00 5.00e-01f 2 33 2.0059429e-05 4.88e-15 7.57e-04 -6.4 3.90e-01 -15.5 9.66e-01 1.00e+00f 1 34 8.0646546e-06 3.61e-15 9.35e-05 -6.4 9.87e-02 -15.9 1.00e+00 1.00e+00f 1 35 1.5923305e-03 1.11e-15 5.41e-03 -4.0 9.22e+00 -16.4 1.00e+00 1.25e-01f 4 36 9.5254072e-05 5.86e-14 3.36e-03 -4.0 7.72e-01 -16.9 1.00e+00 1.00e+00f 1 37 7.5929510e-04 4.02e-14 3.46e-03 -4.0 5.22e-01 -17.4 1.00e+00 1.00e+00f 1 38 3.8161198e-04 7.66e-15 4.11e-04 -4.0 4.05e-01 -17.8 1.00e+00 5.00e-01f 2 39 3.5487116e-05 5.88e-15 1.26e-03 -6.0 4.81e-01 -18.3 9.58e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.4634373e-05 5.77e-15 1.52e-04 -6.0 1.20e-01 -18.8 1.00e+00 1.00e+00f 1 41 4.0433246e-06 9.44e-16 9.62e-05 -6.0 1.36e-01 -19.3 1.00e+00 1.00e+00f 1 42 1.2146722e-03 6.66e-16 3.80e-03 -4.0 1.49e+01 -19.8 1.00e+00 8.08e-02f 4 43 1.4099005e-04 5.28e-14 3.06e-03 -4.0 6.41e-01 -20.0 1.00e+00 1.00e+00f 1 44 7.0967326e-04 2.82e-14 3.03e-03 -4.0 4.53e-01 -20.0 1.00e+00 1.00e+00f 1 45 3.9153816e-04 5.22e-15 4.21e-04 -4.0 3.77e-01 -20.0 1.00e+00 5.00e-01f 2 46 3.5834168e-05 5.88e-15 1.39e-03 -6.0 5.23e-01 -20.0 9.53e-01 1.00e+00f 1 47 1.4854591e-05 5.22e-15 1.64e-04 -6.0 1.28e-01 -20.0 1.00e+00 1.00e+00f 1 48 4.0049781e-06 8.88e-16 1.06e-04 -6.0 1.49e-01 -20.0 1.00e+00 1.00e+00f 1 49 9.7269979e-04 4.44e-16 2.74e-03 -4.0 1.59e+01 -20.0 1.00e+00 7.53e-02f 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 1.7535013e-04 4.49e-14 2.72e-03 -4.0 5.46e-01 -20.0 1.00e+00 1.00e+00f 1 51 6.4933868e-04 1.98e-14 2.61e-03 -4.0 3.96e-01 -20.0 1.00e+00 1.00e+00f 1 52 3.8846805e-04 3.55e-15 4.13e-04 -4.0 3.46e-01 -20.0 1.00e+00 5.00e-01f 2 53 3.5023413e-05 5.77e-15 1.48e-03 -6.1 5.59e-01 -20.0 9.48e-01 1.00e+00f 1 54 1.4597210e-05 4.66e-15 1.72e-04 -6.1 1.35e-01 -20.0 1.00e+00 1.00e+00f 1 55 3.8598221e-06 7.22e-16 1.12e-04 -6.1 1.61e-01 -20.0 1.00e+00 1.00e+00f 1 56 7.9283991e-04 4.44e-16 1.77e-03 -4.0 1.73e+01 -20.0 1.00e+00 6.91e-02f 4 57 2.1207358e-04 3.93e-14 2.32e-03 -4.0 4.47e-01 -20.0 1.00e+00 1.00e+00f 1 58 5.8722776e-04 1.38e-14 2.12e-03 -4.0 3.27e-01 -20.0 1.00e+00 1.00e+00f 1 59 3.8577719e-04 2.22e-15 3.85e-04 -4.0 2.99e-01 -20.0 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 3.4072124e-05 5.55e-15 1.57e-03 -6.1 5.94e-01 -20.0 9.44e-01 1.00e+00f 1 61 1.4329144e-05 4.22e-15 1.77e-04 -6.1 1.41e-01 -20.0 1.00e+00 1.00e+00f 1 62 3.7354198e-06 6.66e-16 1.18e-04 -6.1 1.71e-01 -20.0 1.00e+00 1.00e+00f 1 63 6.6215222e-04 4.44e-16 9.38e-04 -4.0 1.87e+01 -20.0 1.00e+00 6.40e-02f 4 64 2.4620624e-04 3.46e-14 1.91e-03 -4.1 3.56e-01 -20.0 1.00e+00 1.00e+00f 1 65 5.3052773e-04 9.33e-15 1.63e-03 -4.1 2.57e-01 -20.0 1.00e+00 1.00e+00f 1 66 3.8192897e-04 1.55e-15 3.42e-04 -4.1 2.47e-01 -20.0 1.00e+00 5.00e-01f 2 67 3.2994103e-05 5.33e-15 1.64e-03 -6.1 6.26e-01 -20.0 9.40e-01 1.00e+00f 1 68 1.4020025e-05 3.89e-15 1.81e-04 -6.1 1.45e-01 -20.0 1.00e+00 1.00e+00f 1 69 3.6201795e-06 6.11e-16 1.22e-04 -6.1 1.80e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 5.6567808e-04 4.30e-16 2.16e-04 -4.0 2.00e+01 -20.0 1.00e+00 5.96e-02f 4 71 2.7669675e-04 3.11e-14 1.50e-03 -4.1 2.74e-01 -20.0 1.00e+00 1.00e+00f 1 72 4.8183859e-04 6.22e-15 1.17e-03 -4.1 1.89e-01 -20.0 1.00e+00 1.00e+00f 1 73 3.7750094e-04 8.88e-16 2.93e-04 -4.1 1.95e-01 -20.0 1.00e+00 5.00e-01f 2 74 3.1908462e-05 5.11e-15 1.69e-03 -6.1 6.56e-01 -20.0 9.37e-01 1.00e+00f 1 75 1.3702427e-05 3.66e-15 1.83e-04 -6.1 1.49e-01 -20.0 1.00e+00 1.00e+00f 1 76 3.5176714e-06 6.11e-16 1.26e-04 -6.1 1.88e-01 -20.0 1.00e+00 1.00e+00f 1 77 4.9359293e-04 2.29e-16 4.07e-04 -4.0 2.13e+01 -20.0 1.00e+00 5.60e-02f 4 78 3.0280829e-04 2.82e-14 1.11e-03 -4.1 2.00e-01 -20.0 1.00e+00 1.00e+00f 1 79 4.4169662e-04 3.77e-15 7.67e-04 -4.1 1.27e-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 2.3868394e-05 4.33e-15 1.90e-03 -6.1 8.00e-01 -20.0 9.21e-01 1.00e+00f 1 81 1.2271048e-05 3.55e-15 1.31e-04 -6.1 1.16e-01 -20.0 1.00e+00 1.00e+00f 1 82 3.0634866e-06 4.44e-16 1.22e-04 -6.1 1.95e-01 -20.0 1.00e+00 1.00e+00f 1 83 4.1758428e-04 3.85e-16 1.27e-03 -4.0 2.44e+01 -20.0 1.00e+00 4.87e-02f 4 84 3.3809123e-04 2.58e-14 5.76e-04 -4.1 1.01e-01 -20.0 1.00e+00 1.00e+00f 1 85 3.2022598e-05 5.11e-15 1.73e-03 -6.1 6.74e-01 -20.0 9.34e-01 1.00e+00f 1 86 1.3162625e-05 2.89e-15 2.07e-04 -6.1 1.72e-01 -20.0 1.00e+00 1.00e+00f 1 87 3.4668619e-06 5.01e-16 1.33e-04 -6.1 2.02e-01 -20.0 1.00e+00 1.00e+00f 1 88 3.6574086e-06 2.25e-16 7.07e-06 -6.1 1.25e-02 -20.0 1.00e+00 1.00e+00h 1 89 2.2948933e-07 5.55e-17 5.74e-05 -9.0 2.63e-01 -20.0 9.74e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0767385e-03 3.75e-16 1.05e-02 -4.0 1.11e+02 -20.0 1.00e+00 2.18e-02f 3 91 9.4192494e-05 4.37e-14 6.75e-03 -4.0 1.46e+00 -20.0 1.00e+00 1.00e+00f 1 92 7.4663919e-04 2.46e-14 5.22e-03 -4.0 7.91e-01 -20.0 1.00e+00 1.00e+00f 1 93 4.2168721e-04 4.66e-15 8.11e-04 -4.0 5.65e-01 -20.0 1.00e+00 5.00e-01f 2 94 4.1981468e-05 4.11e-15 2.17e-03 -5.9 7.34e-01 -20.0 9.27e-01 1.00e+00f 1 95 1.7222691e-05 3.55e-15 2.67e-04 -5.9 1.94e-01 -20.0 1.00e+00 1.00e+00f 1 96 4.8361080e-06 6.66e-16 1.69e-04 -5.9 2.18e-01 -20.0 1.00e+00 1.00e+00f 1 97 5.3835857e-06 2.24e-16 1.49e-05 -5.9 2.19e-02 -20.0 1.00e+00 1.00e+00h 1 98 5.0478930e-06 7.03e-17 1.36e-06 -5.9 2.03e-03 -20.0 1.00e+00 1.00e+00h 1 99 3.5848095e-07 5.55e-17 7.88e-05 -8.9 2.94e-01 -20.0 9.71e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 1.4493046e-07 5.90e-17 8.17e-06 -8.9 6.43e-02 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.4493046433308168e-07 1.4493046433308168e-07 Dual infeasibility......: 8.1739963571209362e-06 8.1739963571209362e-06 Constraint violation....: 5.8980598183211441e-17 5.8980598183211441e-17 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 4.9777998236011249e-08 4.9777998236011249e-08 Overall NLP error.......: 9.9998804037435712e-05 9.9998804037435712e-05 Number of objective function evaluations = 173 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 173 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 1 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 4.228 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.054s integrator 2 jacobian structure: 0.056s integrator 3 jacobian structure: 0.0s jacobian structure: 1872 nonzeros (0.111s) integrator 1 hessian structure: 0.044s integrator 2 hessian structure: 0.045s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.272s sub-objective 2 (QuadraticRegularizer): 0.069s sub-objective 3 (LinearRegularizer): 0.059s sub-objective 4 (MinimumTimeObjective): 0.012s objective hessian structure: 0.515s hessian structure: 2431 nonzeros (0.606s) linear index maps built (0.0s) evaluator ready (total: 0.717s) evaluator created (0.717s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.082s) 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 (3.119s) optimizer initialization complete (total: 3.918s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1808 Number of nonzeros in inequality constraint Jacobian.: 80 Number of nonzeros in Lagrangian Hessian.............: 2239 Total number of variables............................: 122 variables with only lower bounds: 30 variables with lower and upper bounds: 0 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 40 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 40 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.1272144e+00 2.48e+00 1.10e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.0220843e+00 2.09e-01 2.73e+01 -0.4 2.73e+00 0.0 1.40e-01 9.79e-01f 1 2 2.8214951e+00 1.30e-01 1.32e+01 -0.8 7.61e-01 0.4 6.23e-01 4.77e-01f 1 3 2.8272696e+00 1.62e-02 2.56e+00 -0.9 1.85e-01 0.9 9.67e-01 9.75e-01h 1 4 2.6567849e+00 4.86e-03 7.63e-01 -1.7 8.09e-02 0.4 9.92e-01 1.00e+00f 1 5 2.4282056e+00 4.40e-03 3.17e-01 -2.2 1.66e-01 -0.1 9.97e-01 7.13e-01f 1 6 2.2754672e+00 6.10e-03 5.46e-01 -2.4 2.78e-01 -0.6 9.95e-01 4.68e-01f 1 7 2.1559159e+00 4.30e-03 7.22e-01 -2.5 4.93e-01 -1.1 1.00e+00 4.36e-01f 1 8 2.0715748e+00 7.42e-02 4.24e-01 -4.0 7.01e+00 -1.5 1.67e-01 1.09e-01f 1 9 2.0630165e+00 6.52e-02 3.99e-01 -4.0 9.86e-02 -0.2 8.06e-02 1.21e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0613042e+00 6.09e-02 3.77e-01 -4.0 1.21e-01 -0.7 8.42e-03 6.68e-02h 1 11 2.0559591e+00 5.64e-02 1.49e+00 -4.0 2.81e-02 0.6 9.77e-01 7.45e-02h 1 12 2.0259291e+00 2.35e-02 4.63e-01 -3.7 4.37e-02 0.2 1.00e+00 5.84e-01h 1 13 2.0124141e+00 7.43e-03 1.07e-01 -4.0 3.86e-02 -0.3 1.00e+00 6.83e-01h 1 14 2.0060510e+00 1.29e-03 6.38e-02 -4.0 1.15e-01 -0.8 1.00e+00 8.26e-01h 1 15 2.0003688e+00 2.98e-04 2.56e-01 -4.0 3.35e-01 -1.3 1.00e+00 7.69e-01h 1 16 2.0008713e+00 1.20e-04 1.39e+00 -4.0 5.45e-02 -1.7 1.00e+00 5.99e-01h 1 17 2.0004867e+00 2.13e-06 3.08e+00 -4.0 1.19e-01 -2.2 1.00e+00 1.00e+00h 1 18 2.0003904e+00 5.43e-07 1.90e+00 -4.0 1.16e-01 -2.7 1.00e+00 1.00e+00h 1 19 2.0006034e+00 3.05e-07 1.62e-01 -4.0 1.94e-01 -3.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0006993e+00 1.07e-07 4.72e-02 -4.1 2.58e-01 -3.6 1.00e+00 1.00e+00h 1 21 2.0010495e+00 5.60e-08 1.17e-02 -4.0 7.61e-01 -4.1 1.00e+00 1.00e+00f 1 22 2.0010234e+00 1.29e-10 1.93e-02 -4.0 9.87e-01 -4.6 1.00e+00 1.00e+00f 1 23 2.0010888e+00 1.06e-11 4.12e-02 -4.0 2.07e+00 -5.1 1.00e+00 1.00e+00f 1 24 2.0006576e+00 2.62e-09 4.39e-02 -4.2 2.20e+00 -5.6 1.00e+00 1.00e+00f 1 25 2.0013007e+00 1.77e-09 1.53e-01 -4.0 7.67e+00 -6.0 1.00e+00 1.00e+00f 1 26 2.0008703e+00 1.42e-09 9.04e-02 -4.1 6.71e+00 -6.5 1.00e+00 6.75e-01f 1 27 2.0011229e+00 8.21e-10 3.63e-01 -4.1 1.82e+01 -7.0 1.00e+00 1.00e+00f 1 28 2.0008849e+00 2.05e-09 4.18e-01 -4.1 2.25e+01 -7.5 1.00e+00 9.28e-01f 1 29 2.0012620e+00 2.22e-09 9.10e-01 -4.1 4.55e+01 -7.9 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0009335e+00 5.34e-09 1.17e+00 -4.1 6.58e+01 -8.4 1.00e+00 8.89e-01f 1 31 2.0012879e+00 4.10e-09 2.40e+00 -4.1 1.20e+02 -8.9 1.00e+00 1.00e+00f 1 32 2.0009185e+00 7.87e-09 3.89e+00 -4.1 2.09e+02 -9.4 1.00e+00 9.33e-01f 1 33 2.0013338e+00 3.21e-09 6.62e+00 -4.1 3.31e+02 -9.8 1.00e+00 1.00e+00f 1 34 2.0008998e+00 6.59e-09 1.09e+01 -4.1 5.87e+02 -10.3 1.00e+00 9.27e-01f 1 35 2.0013512e+00 1.88e-09 1.87e+01 -4.1 9.37e+02 -10.8 1.00e+00 1.00e+00f 1 36 2.0008509e+00 5.01e-09 3.38e+01 -4.1 1.79e+03 -11.3 1.00e+00 9.44e-01f 1 37 2.0013877e+00 7.18e-10 5.29e+01 -4.1 2.64e+03 -11.8 1.00e+00 1.00e+00f 1 38 2.0007818e+00 3.44e-09 8.94e+01 -4.1 4.70e+03 -12.2 1.00e+00 9.51e-01f 1 39 2.0013831e+00 1.56e-10 1.39e+02 -4.1 6.94e+03 -12.7 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0006744e+00 2.06e-09 2.07e+02 -4.1 1.05e+04 -13.2 1.00e+00 9.87e-01f 1 41 2.0012823e+00 1.38e-11 2.89e+02 -4.1 1.45e+04 -13.7 1.00e+00 1.00e+00f 1 42 2.0006272e+00 6.34e-10 2.98e+02 -4.1 1.49e+04 -14.1 1.00e+00 1.00e+00f 1 43 2.0009637e+00 3.00e-12 4.05e+02 -4.1 2.03e+04 -14.6 1.00e+00 1.00e+00f 1 44 2.0006516e+00 3.03e-11 1.30e+02 -4.1 6.50e+03 -15.1 1.00e+00 1.00e+00f 1 45 2.0007289e+00 3.71e-15 2.30e+02 -4.1 1.15e+04 -15.6 1.00e+00 1.00e+00f 1 46 2.0006563e+00 5.14e-14 3.48e+01 -4.1 1.74e+03 -16.1 1.00e+00 1.00e+00h 1 47 2.0006691e+00 2.13e-15 5.27e+01 -4.1 2.63e+03 -16.5 1.00e+00 1.00e+00h 1 48 2.0006561e+00 7.20e-14 1.13e+01 -4.1 5.65e+02 -17.0 1.00e+00 1.00e+00h 1 49 2.0006583e+00 3.58e-15 9.01e+00 -4.1 4.50e+02 -17.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0006561e+00 1.07e-13 2.10e+00 -4.1 1.05e+02 -18.0 1.00e+00 1.00e+00h 1 51 2.0006564e+00 5.41e-15 1.50e+00 -4.1 7.51e+01 -18.4 1.00e+00 1.00e+00h 1 52 2.0006561e+00 1.60e-13 3.56e-01 -4.1 1.78e+01 -18.9 1.00e+00 1.00e+00h 1 53 2.0006561e+00 8.11e-15 2.50e-01 -4.1 1.25e+01 -19.4 1.00e+00 1.00e+00h 1 54 2.0006561e+00 2.39e-13 5.95e-02 -4.1 2.98e+00 -19.9 1.00e+00 1.00e+00h 1 55 2.0008486e+00 1.87e-09 4.70e+01 -4.0 2.35e+03 -20.0 1.00e+00 1.00e+00f 1 56 2.0005847e+00 5.47e-10 9.68e+01 -4.1 4.84e+03 -20.0 1.00e+00 1.00e+00h 1 57 2.0006533e+00 2.82e-10 5.90e+01 -4.1 2.95e+03 -20.0 1.00e+00 1.00e+00h 1 58 2.0006219e+00 1.38e-10 1.48e+01 -4.1 7.38e+02 -20.0 1.00e+00 1.00e+00h 1 59 2.0006329e+00 4.20e-11 9.48e+00 -4.1 4.74e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0006276e+00 2.35e-11 2.71e+00 -4.1 1.35e+02 -20.0 1.00e+00 1.00e+00h 1 61 2.0006294e+00 6.89e-12 1.57e+00 -4.1 7.86e+01 -20.0 1.00e+00 1.00e+00h 1 62 2.0006286e+00 3.91e-12 4.58e-01 -4.1 2.29e+01 -20.0 1.00e+00 1.00e+00h 1 63 2.0006289e+00 1.14e-12 2.62e-01 -4.1 1.31e+01 -20.0 1.00e+00 1.00e+00h 1 64 2.0008525e+00 2.08e-09 5.57e+01 -4.0 2.79e+03 -20.0 1.00e+00 1.00e+00f 1 65 2.0005804e+00 5.24e-10 1.06e+02 -4.1 5.32e+03 -20.0 1.00e+00 1.00e+00h 1 66 2.0006538e+00 3.08e-10 5.93e+01 -4.1 2.96e+03 -20.0 1.00e+00 1.00e+00h 1 67 2.0006221e+00 1.36e-10 1.64e+01 -4.1 8.22e+02 -20.0 1.00e+00 1.00e+00h 1 68 2.0006339e+00 4.63e-11 9.34e+00 -4.1 4.67e+02 -20.0 1.00e+00 1.00e+00h 1 69 2.0006285e+00 2.31e-11 2.98e+00 -4.1 1.49e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0006305e+00 7.61e-12 1.54e+00 -4.1 7.72e+01 -20.0 1.00e+00 1.00e+00h 1 71 2.0006296e+00 3.87e-12 5.02e-01 -4.1 2.51e+01 -20.0 1.00e+00 1.00e+00h 1 72 2.0006299e+00 1.26e-12 2.57e-01 -4.1 1.28e+01 -20.0 1.00e+00 1.00e+00h 1 73 2.0006297e+00 6.44e-13 8.39e-02 -4.1 4.20e+00 -20.0 1.00e+00 1.00e+00h 1 74 2.0006298e+00 2.10e-13 4.28e-02 -4.1 2.14e+00 -20.0 1.00e+00 1.00e+00h 1 75 2.0006298e+00 1.07e-13 1.40e-02 -4.1 7.00e-01 -20.0 1.00e+00 1.00e+00h 1 76 2.0006298e+00 3.50e-14 7.14e-03 -4.1 3.57e-01 -20.0 1.00e+00 1.00e+00h 1 77 2.0006298e+00 1.79e-14 2.33e-03 -4.1 1.17e-01 -20.0 1.00e+00 1.00e+00h 1 78 2.0006298e+00 5.83e-15 1.19e-03 -4.1 9.48e-02 -20.0 1.00e+00 1.00e+00h 1 79 2.0006298e+00 2.97e-15 3.89e-04 -4.1 9.48e-02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 1.9998548e+00 1.21e-08 2.25e+02 -6.1 1.13e+04 -20.0 1.00e+00 1.00e+00f 1 81 2.0006838e+00 3.07e-09 2.09e+03 -4.0 2.09e+05 -20.0 1.00e+00 5.00e-01f 2 82 2.0004214e+00 9.65e-11 2.30e+03 -3.9 1.15e+05 -20.0 1.00e+00 1.00e+00f 1 83 2.0009591e+00 3.49e-09 5.55e+02 -3.9 2.78e+04 -20.0 1.00e+00 1.00e+00f 1 84 2.0010401e+00 3.04e-09 1.06e+02 -3.9 5.32e+03 -20.0 1.00e+00 1.00e+00h 1 85 2.0010525e+00 7.46e-10 2.71e+01 -3.9 1.36e+03 -20.0 1.00e+00 1.00e+00h 1 86 2.0010694e+00 5.74e-10 6.10e+00 -3.9 3.05e+02 -20.0 1.00e+00 1.00e+00h 1 87 2.0010712e+00 1.33e-10 4.72e+00 -3.9 2.36e+02 -20.0 1.00e+00 1.00e+00h 1 88 2.0010739e+00 9.79e-11 1.06e+00 -3.9 5.32e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0010742e+00 2.24e-11 7.85e-01 -3.9 3.92e+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 2.0010747e+00 1.64e-11 1.79e-01 -3.9 8.94e+00 -20.0 1.00e+00 1.00e+00h 1 91 2.0010747e+00 3.74e-12 1.31e-01 -3.9 6.54e+00 -20.0 1.00e+00 1.00e+00h 1 92 2.0010748e+00 2.72e-12 2.99e-02 -3.9 1.49e+00 -20.0 1.00e+00 1.00e+00h 1 93 2.0010748e+00 6.22e-13 2.18e-02 -3.9 1.09e+00 -20.0 1.00e+00 1.00e+00h 1 94 2.0010748e+00 4.54e-13 4.98e-03 -3.9 4.93e-01 -20.0 1.00e+00 1.00e+00h 1 95 2.0010748e+00 1.04e-13 3.63e-03 -3.9 4.93e-01 -20.0 1.00e+00 1.00e+00h 1 96 2.0010748e+00 7.55e-14 8.30e-04 -3.9 4.93e-01 -20.0 1.00e+00 1.00e+00h 1 97 1.9998649e+00 8.66e-08 2.43e+02 -5.9 1.22e+04 -20.0 1.00e+00 1.00e+00f 1 98 1.9998453e+00 3.09e-13 2.18e+02 -5.9 1.17e+04 -20.0 9.30e-01 1.00e+00h 1 99 1.8268133e+00 2.01e-13 1.94e+06 -5.9 9.72e+07 -20.0 1.81e-03 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 1.8120463e+00 5.21e-13 2.05e+03 -5.5 1.35e+08 -20.0 1.00e+00 7.59e-04f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.8120462941632129e+00 1.8120462941632129e+00 Dual infeasibility......: 2.0481170233527664e+03 2.0481170233527664e+03 Constraint violation....: 5.2132141501362099e-13 5.2132141501362099e-13 Variable bound violation: 9.9920051832047158e-09 9.9920051832047158e-09 Complementarity.........: 3.4712066235568367e-04 3.4712066235568367e-04 Overall NLP error.......: 1.9802527834651866e+00 2.0481170233527664e+03 Number of objective function evaluations = 102 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 102 Number of inequality constraint evaluations = 102 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 41.210 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: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.06s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s 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 (0.049s) linear index maps built (0.0s) evaluator ready (total: 0.109s) evaluator created (0.109s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.4s) 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 2.8684808e+00 3.15e+00 3.55e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6193184e+00 2.33e+00 3.05e+00 -0.4 1.04e+01 -2.0 1.65e-01 3.46e-01f 1 2 1.4326261e+00 1.17e+00 3.35e+00 -0.8 6.63e+00 -1.6 3.63e-01 5.22e-01h 1 3 1.6181308e+00 2.17e+00 1.80e+00 -0.9 1.15e+01 -2.1 1.89e-01 5.54e-01h 1 4 1.8422491e+00 7.49e-01 4.50e+00 -1.1 2.53e+00 -0.7 7.45e-02 7.55e-01h 1 5 1.8417002e+00 1.00e-01 7.16e-01 -1.2 6.28e-01 -0.3 8.72e-01 8.14e-01h 1 6 1.6755807e+00 1.95e-02 4.61e-01 -1.4 5.00e-01 -0.8 9.29e-01 1.00e+00h 1 7 1.4525192e+00 2.52e-03 1.07e-01 -1.9 5.27e-01 -1.3 1.00e+00 1.00e+00h 1 8 1.3565848e+00 9.82e-03 1.01e-01 -2.5 6.14e-01 -1.7 9.95e-01 7.60e-01h 1 9 1.3494615e+00 7.30e-02 1.81e-01 -2.2 6.28e+00 -2.2 8.82e-01 2.81e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.2775856e+00 9.36e-03 4.55e-02 -2.6 8.33e-01 -1.8 9.97e-01 1.00e+00h 1 11 1.2347236e+00 1.03e-01 3.75e-02 -3.2 3.52e+00 -2.3 8.15e-01 6.52e-01h 1 12 1.2168625e+00 3.68e-02 6.28e-02 -4.0 2.64e-01 -0.9 8.90e-01 6.48e-01h 1 13 1.2088886e+00 1.53e-02 2.10e-01 -3.6 1.96e-01 -1.4 9.76e-01 5.66e-01h 1 14 1.2014154e+00 1.00e-02 5.91e-03 -4.0 4.12e-01 -1.9 1.00e+00 1.00e+00h 1 15 1.1965381e+00 1.21e-02 4.13e-03 -4.0 6.41e-01 -2.4 1.00e+00 1.00e+00h 1 16 1.1908515e+00 2.60e-02 8.99e-03 -4.0 1.17e+00 -2.8 1.00e+00 1.00e+00h 1 17 1.1852426e+00 4.40e-02 1.30e-02 -4.0 1.85e+00 -3.3 4.90e-01 1.00e+00h 1 18 1.1880649e+00 5.12e-04 1.59e-03 -3.7 1.51e-01 -2.0 1.00e+00 1.00e+00h 1 19 1.1859212e+00 8.68e-04 1.04e-03 -4.0 3.04e-01 -2.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.1842175e+00 5.13e-03 1.26e-03 -4.0 7.71e-01 -2.9 1.00e+00 1.00e+00h 1 21 1.1838898e+00 4.49e-04 8.45e-04 -4.0 2.74e-01 -2.5 1.00e+00 1.00e+00h 1 22 1.1827085e+00 3.69e-03 2.79e-03 -4.0 6.97e-01 -3.0 1.00e+00 1.00e+00h 1 23 1.1827741e+00 2.12e-03 1.14e-02 -4.0 5.73e-01 -2.6 1.00e+00 4.44e-01h 1 24 1.1815978e+00 2.94e-03 2.47e-03 -4.0 6.79e-01 -3.0 1.00e+00 1.00e+00h 1 25 1.1795373e+00 1.34e-02 2.40e-03 -4.0 1.52e+00 -3.5 1.00e+00 1.00e+00h 1 26 1.1766408e+00 3.55e-02 5.30e-03 -4.0 2.88e+00 -4.0 1.00e+00 1.00e+00h 1 27 1.1735679e+00 6.44e-02 7.25e-03 -4.0 4.87e+00 -4.5 1.00e+00 1.00e+00h 1 28 1.1707543e+00 9.63e-02 7.38e-03 -4.0 7.83e+00 -4.9 1.00e+00 1.00e+00h 1 29 1.1683450e+00 1.31e-01 5.93e-03 -4.0 1.23e+01 -5.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.1663500e+00 1.70e-01 3.19e-03 -4.0 1.90e+01 -5.9 1.00e+00 1.00e+00h 1 31 1.1647280e+00 2.13e-01 6.17e-04 -4.0 2.90e+01 -6.4 1.00e+00 1.00e+00h 1 32 1.1634243e+00 2.63e-01 5.37e-03 -4.0 4.39e+01 -6.9 1.00e+00 1.00e+00h 1 33 1.1623874e+00 3.17e-01 1.09e-02 -4.0 6.58e+01 -7.3 1.00e+00 1.00e+00h 1 34 1.1615757e+00 3.75e-01 1.70e-02 -4.0 9.72e+01 -7.8 1.00e+00 1.00e+00h 1 35 1.1609643e+00 4.26e-01 2.26e-02 -4.0 1.40e+02 -8.3 1.00e+00 1.00e+00h 1 36 1.1605674e+00 4.38e-01 2.44e-02 -4.0 1.90e+02 -8.8 1.00e+00 1.00e+00h 1 37 1.1605260e+00 2.90e-01 1.14e-02 -4.0 2.06e+02 -9.2 1.00e+00 1.00e+00h 1 38 1.1608564e+00 8.32e-04 1.97e-03 -4.0 3.81e+01 -9.7 1.00e+00 1.00e+00h 1 39 1.1608489e+00 1.48e-04 6.45e-06 -4.0 4.85e+00 -10.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.1608491e+00 3.10e-09 2.17e-09 -4.0 1.44e-02 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 40 (scaled) (unscaled) Objective...............: 1.1608491307020423e+00 1.1608491307020423e+00 Dual infeasibility......: 2.1697150178953684e-09 2.1697150178953684e-09 Constraint violation....: 3.1038602799071668e-09 3.1038602799071668e-09 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000002552116190e-04 1.0000002552116190e-04 Overall NLP error.......: 3.1038602799071668e-09 3.1038602799071668e-09 Number of objective function evaluations = 41 Number of objective gradient evaluations = 41 Number of equality constraint evaluations = 41 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 41 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 40 Total seconds in IPOPT = 26.951 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.05s jacobian structure: 180 nonzeros (0.085s) integrator 1 hessian structure: 0.047s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.311s sub-objective 2 (QuadraticRegularizer): 0.08s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.015s objective hessian structure: 0.491s hessian structure: 375 nonzeros (0.538s) linear index maps built (0.0s) evaluator ready (total: 0.752s) evaluator created (0.752s) NL constraint bounds extracted (0.01s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.105s) applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.658s) optimizer initialization complete (total: 3.524s) 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 1.3448954e+00 8.19e-01 1.07e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.2436837e+00 2.69e-01 1.76e+00 -1.0 7.87e-01 0.0 1.00e+00 1.00e+00h 1 2 1.3331889e+00 1.14e-01 4.41e-01 -0.8 3.14e-01 -0.5 1.00e+00 5.77e-01h 1 3 1.1880859e+00 1.09e-01 1.17e+00 -1.7 4.90e+00 - 8.82e-01 1.00e+00h 1 4 1.2663233e+00 8.27e-02 6.87e-01 -1.3 3.68e-01 -1.0 9.84e-01 7.90e-01h 1 5 1.1371444e+00 1.34e-01 1.26e+00 -1.6 2.09e+01 - 3.74e-01 1.27e-01h 1 6 1.0919917e+00 1.15e-01 2.67e+00 -1.7 7.67e-01 -1.4 9.62e-01 2.14e-01f 1 7 1.2491145e+00 1.93e-02 3.50e-01 -2.6 5.69e+00 - 1.00e+00 7.39e-01h 1 8 1.1440474e+00 6.72e-03 3.68e-01 -3.6 3.88e+00 - 1.00e+00 6.51e-01h 1 9 1.0906096e+00 4.50e-04 2.47e-01 -4.0 3.77e+00 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0910159e+00 1.42e-07 5.87e-03 -4.0 6.24e-01 - 1.00e+00 1.00e+00h 1 11 1.0910386e+00 7.75e-12 6.34e-05 -4.0 1.10e-02 - 1.00e+00 1.00e+00h 1 12 1.0910386e+00 8.88e-16 6.29e-05 -4.0 2.22e-05 - 1.00e+00 1.00e+00h 1 13 1.0910386e+00 3.33e-25 1.24e-15 -4.0 6.09e-11 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 13 (scaled) (unscaled) Objective...............: 1.0910385779862031e+00 1.0910385779862031e+00 Dual infeasibility......: 1.2440135727098678e-15 1.2440135727098678e-15 Constraint violation....: 3.3299025342062479e-25 3.3299025342062479e-25 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000000e-04 1.0000000000000000e-04 Overall NLP error.......: 1.2440135727098678e-15 1.2440135727098678e-15 Number of objective function evaluations = 14 Number of objective gradient evaluations = 14 Number of equality constraint evaluations = 14 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 14 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 13 Total seconds in IPOPT = 21.676 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: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.062s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.113s) evaluator created (0.113s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (1.881s) optimizer initialization complete (total: 1.995s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 82 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.8684982e+00 2.41e+00 1.56e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9143570e+00 3.18e-02 7.74e-01 -1.1 2.24e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3785391e+00 1.89e-02 6.12e-02 -1.6 3.35e-01 -1.6 9.68e-01 1.00e+00h 1 3 2.1622382e+00 6.62e-03 1.73e-01 -3.4 1.51e-01 -1.1 9.23e-01 9.98e-01h 1 4 2.1003721e+00 2.00e-03 1.35e-01 -3.9 1.04e-01 -1.6 9.99e-01 9.21e-01h 1 5 2.0940886e+00 1.29e-03 8.63e-01 -4.0 5.56e-01 -2.1 1.00e+00 3.33e-01h 1 6 2.0908499e+00 5.48e-04 5.21e-01 -4.0 1.22e+00 -2.6 1.00e+00 7.18e-01h 1 7 2.0909493e+00 7.54e-05 1.35e-01 -4.0 5.73e-01 -3.1 1.00e+00 1.00e+00h 1 8 2.0909935e+00 1.28e-06 9.19e-04 -4.0 7.05e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909753e+00 3.16e-07 2.06e-05 -4.0 2.11e-01 -4.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909132e+00 1.47e-07 2.05e-05 -4.0 6.32e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907303e+00 1.30e-06 4.97e-05 -4.0 1.88e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0902090e+00 1.10e-05 4.21e-04 -4.0 5.45e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888615e+00 8.23e-05 3.17e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861651e+00 4.41e-04 1.75e-02 -4.0 3.47e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830854e+00 9.19e-04 4.72e-02 -4.0 5.33e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828511e+00 9.29e-04 2.33e-02 -4.0 5.38e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823426e+00 3.92e-04 9.98e-03 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820393e+00 9.64e-05 1.83e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819518e+00 2.68e-04 8.59e-03 -4.0 9.87e+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 3.65e-05 8.37e-04 -4.0 3.09e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.27e-07 1.37e-05 -4.0 4.42e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.70e-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...............: 2.0819382907190751e+00 2.0819382907190751e+00 Dual infeasibility......: 1.1961074735918412e-11 1.1961074735918412e-11 Constraint violation....: 2.4868995751603507e-13 2.4868995751603507e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000028e-04 1.0000000000000028e-04 Overall NLP error.......: 1.1961074735918412e-11 1.1961074735918412e-11 Number of objective function evaluations = 24 Number of objective gradient evaluations = 24 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 24 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 23 Total seconds in IPOPT = 26.335 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.059s) integrator 1 hessian structure: 0.043s 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 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.045s) linear index maps built (0.0s) evaluator ready (total: 0.104s) evaluator created (0.105s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.053s) optimizer initialization complete (total: 0.158s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1528 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 77 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.0455564e+00 2.78e+00 2.85e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8789166e+00 1.54e-02 4.43e-01 -1.1 2.24e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.2493751e+00 4.20e-02 9.20e-02 -1.8 5.63e-01 -1.6 9.71e-01 1.00e+00f 1 3 2.1315441e+00 2.33e-03 3.41e-01 -3.0 9.03e-02 -1.1 9.82e-01 9.75e-01h 1 4 2.1011024e+00 9.35e-04 1.52e-01 -4.0 8.96e-02 -1.6 1.00e+00 6.34e-01h 1 5 2.0929832e+00 7.92e-04 4.97e-01 -4.0 5.03e-01 -2.1 1.00e+00 5.02e-01h 1 6 2.0916017e+00 2.94e-04 8.57e-01 -4.0 1.10e+00 -2.6 1.00e+00 4.73e-01h 1 7 2.0909402e+00 7.54e-05 6.61e-02 -4.0 7.45e-01 -3.1 1.00e+00 1.00e+00h 1 8 2.0908818e+00 4.31e-06 3.35e-03 -4.0 6.74e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908825e+00 1.84e-06 3.32e-05 -4.0 1.88e-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 2.0908441e+00 8.54e-08 2.05e-04 -4.0 4.97e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907456e+00 5.35e-07 6.17e-04 -4.0 1.31e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904620e+00 5.81e-06 5.00e-04 -4.0 4.17e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0903379e+00 7.96e-07 5.84e-04 -4.0 1.55e+00 -5.0 1.00e+00 1.00e+00h 1 14 2.0901970e+00 1.39e-06 1.94e-02 -4.0 6.41e+00 -5.5 1.00e+00 2.16e-01h 2 15 2.0890460e+00 6.20e-05 2.45e-03 -4.0 1.37e+01 -6.0 1.00e+00 1.00e+00h 1 16 2.0872974e+00 1.75e-04 5.22e-02 -4.0 3.73e+01 -6.4 1.00e+00 5.59e-01h 1 17 2.0836822e+00 1.53e-03 5.49e-02 -4.0 6.52e+01 -6.9 1.00e+00 1.00e+00h 1 18 2.0827212e+00 3.57e-04 1.10e-02 -4.0 1.04e+01 -6.5 1.00e+00 7.26e-01h 1 19 2.0828092e+00 1.14e-04 8.21e-03 -4.0 2.86e+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 2.0825121e+00 2.85e-04 3.07e-03 -4.0 7.41e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0821291e+00 8.40e-04 8.75e-03 -4.0 1.73e+02 -7.9 6.48e-01 1.00e+00h 1 22 2.0821633e+00 8.65e-04 1.18e-02 -4.0 2.01e+03 -7.5 1.71e-03 5.66e-03h 5 23 2.0821558e+00 7.22e-04 8.94e-01 -4.1 7.58e+00 -5.3 1.00e+00 4.45e-01H 1 24 2.0851908e+00 3.07e-03 7.58e-01 -3.1 8.72e+00 -4.8 1.00e+00 6.51e-01f 1 25 2.0855076e+00 1.99e-03 5.05e-01 -3.2 8.56e+00 -5.3 7.88e-01 1.00e+00h 1 26 2.0860597e+00 6.67e-04 2.93e-01 -3.2 1.48e+01 -5.8 6.01e-01 1.00e+00h 1 27 2.0868047e+00 7.02e-04 5.68e-02 -3.2 1.34e+01 -6.3 8.79e-01 1.00e+00h 1 28 2.0876593e+00 1.42e-03 8.70e-03 -3.2 1.56e+01 -6.8 1.00e+00 1.00e+00h 1 29 2.0881203e+00 5.29e-04 3.01e-03 -3.2 1.28e+01 -7.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0815475e+00 4.24e-02 2.84e-02 -4.8 7.35e+01 -7.7 9.20e-01 1.00e+00h 1 31 2.0818804e+00 3.30e-03 1.04e-02 -4.0 6.28e+01 -8.2 1.00e+00 1.00e+00h 1 32 2.0818469e+00 1.73e-04 3.02e-03 -4.0 5.01e+01 -8.7 1.00e+00 1.00e+00h 1 33 2.0818389e+00 1.54e-05 3.07e-04 -4.0 2.26e+01 -9.1 1.00e+00 1.00e+00h 1 34 2.0818383e+00 3.42e-07 9.99e-06 -4.0 4.07e+00 -9.6 1.00e+00 1.00e+00h 1 35 2.0818383e+00 1.07e-09 4.62e-08 -4.0 2.70e-01 -10.1 1.00e+00 1.00e+00h 1 36 2.0818383e+00 4.68e-13 2.59e-11 -4.0 6.28e-03 -10.6 1.00e+00 1.00e+00h 1 Number of Iterations....: 36 (scaled) (unscaled) Objective...............: 2.0818383021798295e+00 2.0818383021798295e+00 Dual infeasibility......: 2.5861578232654753e-11 2.5861578232654753e-11 Constraint violation....: 4.6807002718196600e-13 4.6807002718196600e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000009e-04 1.0000000000000009e-04 Overall NLP error.......: 2.5861578232654753e-11 2.5861578232654753e-11 Number of objective function evaluations = 47 Number of objective gradient evaluations = 37 Number of equality constraint evaluations = 47 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 37 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 36 Total seconds in IPOPT = 29.183 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: 0.047s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.35s sub-objective 2 (QuadraticRegularizer): 0.084s sub-objective 3 (MinimumTimeObjective): 0.016s objective hessian structure: 0.543s hessian structure: 375 nonzeros (0.591s) linear index maps built (0.0s) evaluator ready (total: 0.827s) evaluator created (0.827s) NL constraint bounds extracted (0.01s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.11s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.535s) optimizer initialization complete (total: 4.484s) 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 1.7247270e+00 9.92e-01 1.13e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6074207e+00 1.93e-01 1.63e+00 -1.0 7.51e-01 0.0 9.93e-01 1.00e+00h 1 2 4.0348094e+00 1.06e-01 7.27e+00 -0.5 7.51e+00 - 5.99e-01 6.63e-01H 1 3 2.3827978e+00 4.83e-02 1.18e+00 -0.5 3.91e-01 -0.5 8.93e-01 7.34e-01f 1 4 2.2118559e+00 2.54e-02 1.00e+00 -1.2 4.11e-01 -1.0 9.16e-01 1.00e+00f 1 5 1.4728703e+00 7.75e-03 3.33e-01 -1.5 1.02e+00 -1.4 9.90e-01 6.32e-01f 1 6 1.1793601e+00 4.09e-04 3.38e-02 -2.5 7.58e-02 -1.9 9.87e-01 1.00e+00f 1 7 1.1023947e+00 2.26e-06 1.31e-02 -4.0 1.04e-01 -2.4 1.00e+00 1.00e+00f 1 8 1.0956867e+00 3.69e-09 1.38e-02 -4.0 3.42e-01 -2.9 1.00e+00 1.00e+00f 1 9 1.0937335e+00 1.07e-11 1.32e-02 -4.0 8.50e-01 -3.3 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0920876e+00 1.55e-14 4.96e-02 -4.0 1.69e+00 -3.8 3.89e-01 1.00e+00f 1 11 1.0919109e+00 1.09e-14 8.08e-03 -4.0 1.20e-01 -2.5 1.00e+00 3.01e-01f 2 12 1.0917031e+00 8.41e-19 4.33e-04 -4.0 1.95e-01 -3.0 1.00e+00 1.00e+00f 1 13 1.0913906e+00 4.31e-27 6.80e-03 -4.0 6.06e-01 -3.4 5.66e-01 1.00e+00f 1 14 1.0913790e+00 1.15e-26 3.71e-04 -4.0 4.49e-02 -2.1 1.00e+00 1.00e+00f 1 15 1.0913488e+00 9.96e-29 1.83e-03 -4.0 1.96e-01 -2.6 6.56e-01 1.00e+00f 1 16 1.0913273e+00 1.70e-32 5.47e-04 -4.0 9.84e-03 -1.3 1.00e+00 1.00e+00f 1 17 1.0912962e+00 4.98e-31 4.18e-04 -4.0 2.29e-02 -1.7 1.00e+00 1.00e+00f 1 18 1.0913014e+00 2.58e-25 5.53e-03 -4.0 1.53e+00 - 2.14e-01 2.59e-01f 2 19 1.0909251e+00 4.89e-30 1.27e-03 -4.1 2.51e-02 -1.3 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.0909092e+00 1.39e-23 1.45e-02 -4.0 1.13e+00 - 1.00e+00 1.00e+00f 1 21 1.0909006e+00 4.86e-28 3.17e-04 -4.0 8.31e-02 - 1.00e+00 1.00e+00f 1 22 1.0908998e+00 8.91e-29 7.23e-05 -4.0 4.83e-02 - 1.00e+00 1.00e+00f 1 23 1.0908997e+00 3.77e-29 4.50e-06 -4.0 7.28e-03 - 1.00e+00 1.00e+00f 1 24 1.0908997e+00 3.51e-28 6.63e-09 -4.0 1.89e-04 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 24 (scaled) (unscaled) Objective...............: 1.0908997263265534e+00 1.0908997263265534e+00 Dual infeasibility......: 6.6271324224626665e-09 6.6271324224626665e-09 Constraint violation....: 3.5100269381761248e-28 3.5100269381761248e-28 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000000e-04 1.0000000000000000e-04 Overall NLP error.......: 6.6271324224626665e-09 6.6271324224626665e-09 Number of objective function evaluations = 29 Number of objective gradient evaluations = 25 Number of equality constraint evaluations = 29 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 25 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 24 Total seconds in IPOPT = 24.188 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.069s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.07s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.053s) linear index maps built (0.0s) evaluator ready (total: 0.122s) evaluator created (0.122s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.123s) 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 2.6326136e+00 2.71e+00 6.07e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6843333e+00 9.14e-02 3.29e+00 -1.0 1.98e+00 0.0 6.04e-01 9.87e-01f 1 2 2.5486548e+00 6.88e-03 9.46e-01 -1.0 1.40e-01 0.4 9.93e-01 1.00e+00f 1 3 2.3583139e+00 2.04e-03 1.54e-01 -2.0 6.80e-02 -0.1 9.87e-01 1.00e+00h 1 4 2.1521482e+00 2.78e-03 1.13e-01 -2.9 1.05e-01 -0.5 9.96e-01 6.55e-01f 1 5 2.0941734e+00 1.81e-04 1.40e-02 -3.7 1.72e-02 -1.0 1.00e+00 9.35e-01h 1 6 2.0909375e+00 1.64e-06 2.34e-03 -4.0 4.17e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0909345e+00 1.36e-08 1.14e-04 -4.0 1.04e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0909340e+00 8.44e-11 5.81e-05 -4.0 1.59e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909323e+00 1.07e-10 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909273e+00 9.66e-10 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909124e+00 8.69e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908676e+00 7.83e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907332e+00 7.06e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903311e+00 6.39e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891336e+00 5.84e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856234e+00 5.52e-04 2.30e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796318e+00 2.31e-03 1.35e-01 -4.0 9.57e+01 -6.7 1.00e+00 6.32e-01h 1 18 2.0807349e+00 1.44e-04 1.79e-01 -4.0 6.68e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775334e+00 7.09e-03 2.41e-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 2.0769547e+00 1.05e-03 4.35e-02 -4.0 1.78e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0761351e+00 1.02e-03 1.88e-02 -4.0 3.26e+02 -8.6 1.00e+00 8.40e-01h 1 22 2.0754788e+00 2.07e-03 2.85e-02 -4.0 5.40e+02 -9.1 1.00e+00 7.31e-01h 1 23 2.0757867e+00 2.65e-03 1.44e-02 -4.0 1.61e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0756790e+00 3.62e-04 6.49e-04 -4.0 8.16e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756713e+00 2.12e-06 1.04e-05 -4.0 2.31e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 6.62e-08 1.31e-06 -4.0 1.42e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.70e-09 1.12e-07 -4.0 4.65e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.77e-11 1.87e-09 -4.0 7.38e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121657728e+00 2.0756712121657728e+00 Dual infeasibility......: 1.8672484108233928e-09 1.8672484108233928e-09 Constraint violation....: 4.7722603646604966e-11 4.7722603646604966e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000036e-04 1.0000000000000036e-04 Overall NLP error.......: 1.8672484108233928e-09 1.8672484108233928e-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 = 26.117 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.062s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.063s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.113s) evaluator created (0.113s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.158s) optimizer initialization complete (total: 0.271s) 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 4.0469966e+00 1.89e+00 5.16e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6833197e+00 8.47e-01 9.58e-01 -1.0 1.73e+00 0.0 8.68e-01 5.54e-01f 1 2 2.6341719e+00 2.11e-02 1.08e+00 -1.1 7.59e-01 -0.5 9.52e-01 1.00e+00h 1 3 2.5190768e+00 7.62e-02 9.13e-01 -1.3 2.06e+00 -1.0 9.36e-01 3.42e-01h 1 4 2.3286064e+00 4.17e-02 8.43e-01 -1.8 1.61e+00 -1.4 9.98e-01 4.55e-01h 1 5 2.1517563e+00 1.89e-02 1.06e-01 -2.5 5.12e-01 -1.9 9.97e-01 8.93e-01h 1 6 2.1061445e+00 5.95e-03 2.07e-01 -3.8 5.88e-01 -2.4 1.00e+00 8.01e-01h 1 7 2.0945373e+00 2.33e-03 3.19e-01 -4.0 9.41e-01 -2.9 1.00e+00 5.47e-01h 1 8 2.0907471e+00 5.72e-04 7.18e-02 -4.0 5.59e-01 -3.3 1.00e+00 9.95e-01h 1 9 2.0908080e+00 1.05e-05 4.23e-03 -4.0 1.82e-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 2.0907758e+00 1.49e-06 3.00e-04 -4.0 4.06e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0906564e+00 5.92e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0902990e+00 5.10e-06 2.20e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892339e+00 4.66e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861035e+00 4.38e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796418e+00 2.49e-03 8.85e-02 -4.0 8.71e+01 -6.7 1.00e+00 7.50e-01h 1 16 2.0812481e+00 1.55e-04 1.90e-01 -4.0 6.68e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778416e+00 5.84e-03 2.65e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781306e+00 1.61e-02 3.32e-02 -3.7 1.51e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767322e+00 1.31e-02 1.85e-02 -3.8 2.80e+02 -8.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0758211e+00 1.10e-02 2.14e-02 -3.9 4.13e+02 -9.1 1.00e+00 9.92e-01h 1 21 2.0757793e+00 6.57e-03 9.57e-03 -4.0 1.37e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756779e+00 3.54e-04 4.17e-04 -4.0 5.93e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 1.56e-06 7.48e-06 -4.0 2.12e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756713e+00 5.73e-08 1.41e-06 -4.0 1.50e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756713e+00 4.04e-09 1.69e-07 -4.0 6.27e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756713e+00 1.04e-10 4.07e-09 -4.0 1.15e+00 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712528823469e+00 2.0756712528823469e+00 Dual infeasibility......: 4.0682661903168344e-09 4.0682661903168344e-09 Constraint violation....: 1.0443990117181556e-10 1.0443990117181556e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000019e-04 1.0000000000000019e-04 Overall NLP error.......: 4.0682661903168344e-09 4.0682661903168344e-09 Number of objective function evaluations = 28 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 26 Total seconds in IPOPT = 27.630 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.064s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.065s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.051s) linear index maps built (0.0s) evaluator ready (total: 0.116s) evaluator created (0.117s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: equality constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.0s) optimizer initialization complete (total: 0.118s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.6411547e+00 4.18e+00 4.02e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5572156e+00 1.26e-01 3.16e+00 -0.9 3.25e+00 0.0 6.96e-01 9.70e-01h 1 2 2.7418823e+00 5.02e-02 2.87e+00 -0.7 5.11e-01 0.4 1.00e+00 9.69e-01f 1 3 2.5553402e+00 1.71e-02 1.48e+00 -4.0 1.85e-01 -0.1 5.98e-01 1.00e+00h 1 4 2.4390515e+00 2.23e-02 7.55e-01 -1.4 2.70e-01 -0.5 9.79e-01 5.96e-01f 1 5 2.2501888e+00 1.62e-02 1.52e-01 -1.7 2.22e-01 -1.0 9.35e-01 8.22e-01f 1 6 2.1142901e+00 1.10e-03 1.59e-02 -2.6 6.22e-02 -1.5 9.71e-01 1.00e+00h 1 7 2.0912101e+00 8.28e-05 1.24e-02 -4.0 2.92e-02 -2.0 9.90e-01 9.69e-01h 1 8 2.0909378e+00 6.18e-07 6.13e-04 -4.0 6.81e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909340e+00 8.53e-09 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909290e+00 9.55e-10 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909141e+00 8.70e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908692e+00 7.84e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907349e+00 7.07e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903327e+00 6.39e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891352e+00 5.85e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856249e+00 5.51e-04 2.30e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796225e+00 2.30e-03 1.35e-01 -4.0 9.57e+01 -6.7 1.00e+00 6.33e-01h 1 18 2.0807404e+00 1.58e-04 1.84e-01 -4.0 6.63e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775276e+00 7.44e-03 2.50e-02 -4.0 1.19e+02 -7.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0769494e+00 1.14e-03 5.50e-02 -4.0 1.76e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0759847e+00 1.11e-03 2.34e-02 -4.0 3.18e+02 -8.6 1.00e+00 9.96e-01h 1 22 2.0754519e+00 1.74e-03 3.12e-02 -4.0 4.78e+02 -9.1 1.00e+00 7.21e-01h 1 23 2.0757672e+00 2.25e-03 1.09e-02 -4.0 1.45e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753789e+00 1.33e-03 5.08e-04 -4.1 7.96e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756723e+00 4.78e-04 6.38e-06 -4.0 2.16e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 6.20e-07 1.12e-06 -4.0 1.20e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.25e-09 8.45e-08 -4.0 4.33e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 3.82e-11 1.52e-09 -4.0 6.85e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121601311e+00 2.0756712121601311e+00 Dual infeasibility......: 1.5229913198091215e-09 1.5229913198091215e-09 Constraint violation....: 3.8232750299016516e-11 3.8232750299016516e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000066e-04 1.0000000000000066e-04 Overall NLP error.......: 1.5229913198091215e-09 1.5229913198091215e-09 Number of objective function evaluations = 30 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 30 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 28.954 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 24m21.5s Testing DirectTrajOpt tests passed Testing completed after 1547.17s PkgEval succeeded after 1645.33s