Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.1886 (984ad247db*) started at 2026-03-12T23:07:58.366 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 15.11s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Updating `~/.julia/environments/v1.14/Project.toml` [c823fa1f] + DirectTrajOpt v0.8.9 Updating `~/.julia/environments/v1.14/Manifest.toml` [47edcb42] + ADTypes v1.21.0 ⌃ [c29ec348] + AbstractDifferentiation v0.4.4 [7d9f7c33] + Accessors v0.1.43 [79e6a3ab] + Adapt v4.5.0 [4fba245c] + ArrayInterface v7.23.0 [4c555306] + ArrayLayouts v1.12.2 [6e4b80f9] + BenchmarkTools v1.6.3 [62783981] + BitTwiddlingConvenienceFunctions v0.1.6 [70df07ce] + BracketingNonlinearSolve v1.11.0 [2a0fbf3d] + CPUSummary v0.2.7 [d360d2e6] + ChainRulesCore v1.26.0 [0b6fb165] + ChunkCodecCore v1.0.1 [4c0bbee4] + ChunkCodecLibZlib v1.0.0 [55437552] + ChunkCodecLibZstd v1.0.0 [fb6a15b2] + CloseOpenIntervals v0.1.13 [523fee87] + CodecBzip2 v0.8.5 [944b1d66] + CodecZlib v0.7.8 [38540f10] + CommonSolve v0.2.6 [bbf7d656] + CommonSubexpressions v0.3.1 [f70d9fcc] + CommonWorldInvalidations v1.0.0 [34da2185] + Compat v4.18.1 [a33af91c] + CompositionsBase v0.1.2 [95dc2771] + ComputePipeline v0.1.7 [2569d6c7] + ConcreteStructs v0.2.3 [187b0558] + ConstructionBase v1.6.0 [adafc99b] + CpuId v0.3.1 [864edb3b] + DataStructures v0.19.3 [2b5f629d] + DiffEqBase v6.210.1 [163ba53b] + DiffResults v1.1.0 [b552c78f] + DiffRules v1.15.1 [a0c0ee7d] + DifferentiationInterface v0.7.16 [c823fa1f] + DirectTrajOpt v0.8.9 [ffbed154] + DocStringExtensions v0.9.5 [4e289a0a] + EnumX v1.0.7 [f151be2c] + EnzymeCore v0.8.18 [e24c0720] + ExponentialAction v0.2.10 [e2ba6199] + ExprTools v0.1.10 [55351af7] + ExproniconLite v0.10.14 [7034ab61] + FastBroadcast v0.3.5 [9aa1b823] + FastClosures v0.3.2 [a4df4552] + FastPower v1.3.1 [5789e2e9] + FileIO v1.18.0 [1a297f60] + FillArrays v1.16.0 [6a86dc24] + FiniteDiff v2.29.0 [f6369f11] + ForwardDiff v1.3.2 [069b7b12] + FunctionWrappers v1.1.3 [77dc65aa] + FunctionWrappersWrappers v0.1.3 [46192b85] + GPUArraysCore v0.2.0 [076d061b] + HashArrayMappedTries v0.2.0 [615f187c] + IfElse v0.1.1 [3587e190] + InverseFunctions v0.1.17 [b6b21f68] + Ipopt v1.14.1 [92d709cd] + IrrationalConstants v0.2.6 [82899510] + IteratorInterfaceExtensions v1.0.0 [033835bb] + JLD2 v0.6.3 [692b3bcd] + JLLWrappers v1.7.1 [682c06a0] + JSON v1.4.0 [ae98c720] + Jieko v0.2.1 [b964fa9f] + LaTeXStrings v1.4.0 [10f19ff3] + LayoutPointers v0.1.17 [5078a376] + LazyArrays v2.9.5 [2ab3a3ac] + LogExpFunctions v0.3.29 [e6f89c97] + LoggingExtras v1.2.0 [1914dd2f] + MacroTools v0.5.16 [d125e4d3] + ManualMemory v0.1.8 [b8f27783] + MathOptInterface v1.49.0 [bb5d69b7] + MaybeInplace v0.1.4 [2e0e35c7] + Moshi v0.3.7 [46d2c3a1] + MuladdMacro v0.2.4 [d8a4904e] + MutableArithmetics v1.6.7 [77ba4419] + NaNMath v1.1.3 [538bc3a1] + NamedTrajectories v0.8.4 [be0214bd] + NonlinearSolveBase v2.15.0 [510215fc] + Observables v0.5.5 [bac558e1] + OrderedCollections v1.8.1 [bbf590c4] + OrdinaryDiffEqCore v3.17.1 [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 v1.6.0 [efcf1570] + Setfield v1.1.2 [276daf66] + SpecialFunctions v2.7.1 [aedffcd0] + Static v1.3.1 [0d7ed370] + StaticArrayInterface v1.9.0 [90137ffa] + StaticArrays v1.9.18 [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 v17.8.0+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 5.42s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling packages... 34281.5 ms ✓ DirectTrajOpt 1 dependency successfully precompiled in 39 seconds. 225 already precompiled. Precompilation completed after 61.85s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_oU5BOy/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_oU5BOy/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 v3.17.1 [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 v1.6.0 [efcf1570] Setfield v1.1.2 [276daf66] SpecialFunctions v2.7.1 [aedffcd0] Static v1.3.1 [0d7ed370] StaticArrayInterface v1.9.0 [90137ffa] StaticArrays v1.9.18 [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 v17.8.0+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: 2.433s integrator 2 jacobian structure: 0.055s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 4.837s jacobian structure: 1600 nonzeros (7.389s) integrator 1 hessian structure: 0.261s integrator 2 hessian structure: 0.051s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.996s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 2.253s sub-objective 2 (QuadraticRegularizer): 1.433s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.015s objective hessian structure: 3.8s hessian structure: 1749 nonzeros (8.11s) linear index maps built (0.0s) evaluator ready (total: 15.993s) evaluator created (20.842s) NL constraint bounds extracted (0.21s) NLP block data built (0.0s) Ipopt optimizer configured (0.328s) variables set (0.685s) 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 (3.15s) optimizer initialization complete (total: 25.216s) ****************************************************************************** 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 3.9364448e+00 4.95e+00 8.37e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7628788e+00 9.56e-02 3.74e+00 -1.0 3.74e+00 0.0 9.63e-01 1.00e+00h 1 2 2.5042357e+00 1.42e-02 4.42e-01 -1.2 1.32e-01 0.4 9.93e-01 8.87e-01h 1 3 2.2904039e+00 2.17e-03 1.05e-01 -2.0 1.04e-01 -0.1 9.95e-01 1.00e+00h 1 4 2.1560672e+00 1.53e-03 1.50e-01 -3.0 1.13e-01 -0.5 9.95e-01 6.07e-01h 1 5 2.0983333e+00 2.68e-04 3.01e-02 -4.0 2.25e-02 -1.0 1.00e+00 8.92e-01h 1 6 2.0909094e+00 1.57e-05 1.01e-02 -4.0 8.99e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0908921e+00 1.54e-08 8.42e-05 -4.0 6.21e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908926e+00 5.37e-10 3.24e-05 -4.0 8.87e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908920e+00 5.95e-11 1.65e-05 -4.0 1.35e-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 2.0908890e+00 4.80e-10 1.63e-05 -4.0 4.01e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908798e+00 4.14e-09 2.73e-05 -4.0 1.18e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908540e+00 3.33e-08 5.42e-05 -4.0 3.37e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907817e+00 2.68e-07 1.82e-04 -4.0 9.53e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905624e+00 2.71e-06 3.52e-04 -4.0 2.78e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0904745e+00 4.41e-07 3.21e-04 -4.0 1.13e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0903088e+00 1.31e-06 8.57e-03 -4.0 4.12e+00 -5.4 1.00e+00 4.05e-01h 2 17 2.0893696e+00 3.68e-05 2.89e-03 -4.0 1.08e+01 -5.8 1.00e+00 9.65e-01h 1 18 2.0876578e+00 3.02e-04 3.35e-02 -4.0 2.93e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0864225e+00 2.60e-04 1.12e-01 -4.0 2.89e+01 -5.9 1.00e+00 2.89e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0849182e+00 2.14e-04 2.31e-02 -4.0 2.45e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0828081e+00 2.01e-04 2.65e-02 -4.0 3.66e+01 -6.8 1.00e+00 9.81e-01h 1 22 2.0830252e+00 9.31e-04 2.92e-02 -4.0 5.60e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0821459e+00 1.45e-03 8.38e-03 -4.1 1.32e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.0912517e+00 1.19e-05 4.55e-01 -4.0 4.39e+02 -8.3 1.28e-01 1.00e+00H 1 25 2.0833825e+00 4.22e-03 2.88e+00 -4.2 1.97e+01 -5.1 7.84e-02 3.56e-01f 1 26 2.0826842e+00 5.38e-03 2.88e+00 -4.2 8.18e+02 -5.6 1.77e-05 1.93e-03f 1 27 2.0827177e+00 5.42e-03 2.89e+00 -4.2 1.56e+04 -6.1 1.48e-07 4.17e-05f 2 28 2.0827548e+00 4.93e-03 3.60e+00 -4.2 5.13e-01 -2.9 1.00e+00 9.06e-02h 1 29 2.0828158e+00 9.94e-07 6.24e-04 -4.2 3.70e-02 -3.4 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0830471e+00 2.10e-06 1.33e-04 -4.0 5.49e-02 -3.9 1.00e+00 1.00e+00h 1 31 2.0828621e+00 4.85e-06 2.81e-05 -4.1 1.90e-01 -4.4 1.00e+00 1.00e+00h 1 32 2.0821234e+00 9.55e-05 8.56e-03 -6.1 9.69e-01 -4.9 9.22e-01 1.00e+00h 1 33 2.0829511e+00 2.12e-04 2.30e-03 -4.0 1.53e+00 -5.3 1.00e+00 1.00e+00h 1 34 2.0824591e+00 1.62e-04 8.03e-04 -4.1 3.58e+00 -5.8 1.00e+00 1.00e+00h 1 35 2.0822543e+00 1.95e-05 1.57e-03 -4.1 8.49e+00 -6.3 1.00e+00 1.00e+00h 1 36 2.0823359e+00 4.64e-04 1.72e-03 -4.0 2.04e+01 -6.8 1.00e+00 1.00e+00h 1 37 2.0818243e+00 8.23e-04 7.08e-03 -4.1 4.48e+01 -7.2 1.00e+00 1.00e+00h 1 38 2.0817925e+00 2.24e-03 5.92e-03 -4.0 1.06e+02 -7.7 6.49e-01 1.00e+00h 1 39 2.1018829e+00 1.68e-03 2.54e-01 -4.0 9.55e+02 -7.3 5.64e-03 9.47e-02h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0995036e+00 1.64e-03 2.01e+00 -4.1 1.83e+00 -1.4 7.67e-02 2.46e-02h 1 41 2.0822867e+00 2.24e-04 9.02e-02 -4.1 1.55e-01 -1.0 8.36e-01 8.64e-01f 1 42 2.0827133e+00 2.00e-04 6.14e+00 -4.1 1.40e-01 -1.5 7.52e-01 1.07e-01f 3 43 2.0820448e+00 8.44e-05 3.11e+00 -4.1 1.57e-01 -2.0 1.00e+00 5.76e-01h 1 44 2.0818485e+00 1.88e-06 2.69e-03 -4.0 3.80e-02 -2.5 1.00e+00 1.00e+00f 1 45 2.0818449e+00 3.49e-07 4.78e-05 -4.0 8.51e-03 -2.9 1.00e+00 1.00e+00h 1 46 2.0818405e+00 5.19e-08 8.52e-06 -4.0 2.18e-02 -3.4 1.00e+00 1.00e+00h 1 47 2.0818440e+00 1.44e-08 8.37e-06 -4.0 6.43e-02 -3.9 1.00e+00 1.00e+00h 1 48 2.0818540e+00 1.27e-07 8.25e-06 -4.0 1.83e-01 -4.4 1.00e+00 1.00e+00h 1 49 2.0817403e+00 3.81e-06 2.03e-04 -4.1 2.45e-01 -4.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0819200e+00 2.33e-05 2.68e-04 -4.0 1.17e+00 -5.3 1.00e+00 1.00e+00h 1 51 2.0817952e+00 2.26e-05 4.85e-04 -4.1 1.47e+00 -5.8 1.00e+00 1.00e+00h 1 52 2.0808316e+00 7.73e-04 3.88e-03 -6.1 8.12e+00 -6.3 9.87e-01 1.00e+00h 1 53 2.0808362e+00 1.27e-04 2.17e-03 -4.8 7.70e+00 -6.7 1.00e+00 1.00e+00h 1 54 2.0818616e+00 3.58e-03 3.99e-02 -4.0 3.50e+01 -7.2 3.82e-01 1.00e+00h 1 55 2.0811561e+00 2.09e-03 7.12e-03 -4.3 3.05e+01 -7.7 9.24e-01 1.00e+00h 1 56 2.0901142e+00 2.00e-03 3.02e-01 -4.3 2.01e+03 -7.3 5.14e-02 8.70e-03h 1 57 2.0818980e+00 2.36e-04 2.97e-02 -4.3 6.91e+01 -7.8 9.23e-01 1.00e+00f 1 58 2.0811629e+00 1.41e-04 2.43e-03 -4.3 2.35e+01 -8.2 1.00e+00 1.00e+00h 1 59 2.0819382e+00 5.29e-03 5.31e-03 -4.0 8.35e+01 -8.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0816032e+00 5.94e-04 6.70e-04 -4.1 2.50e+01 -9.2 1.00e+00 1.00e+00h 1 61 2.0806500e+00 3.04e-03 7.65e-04 -6.1 4.11e+01 -9.7 9.77e-01 9.13e-01h 1 62 2.0808280e+00 2.72e-03 1.58e-02 -4.0 5.68e+01 -10.1 1.00e+00 1.48e-01f 1 63 2.0818366e+00 3.09e-03 2.00e-04 -4.0 3.59e+01 -10.6 1.00e+00 1.00e+00h 1 64 2.0815823e+00 3.26e-04 7.35e-06 -4.1 1.37e+01 -11.1 1.00e+00 1.00e+00h 1 65 2.0805951e+00 3.30e-03 1.61e-04 -6.1 4.08e+01 -11.6 9.77e-01 9.64e-01h 1 66 2.0818926e+00 6.65e-03 3.02e-04 -4.0 6.21e+01 -12.0 1.00e+00 1.00e+00f 1 67 2.0816156e+00 5.24e-04 1.13e-05 -4.1 2.20e+01 -12.5 1.00e+00 1.00e+00h 1 68 2.0806046e+00 3.49e-03 2.36e-04 -6.1 4.25e+01 -13.0 9.76e-01 9.57e-01h 1 69 2.0805508e+00 9.81e-05 2.27e-06 -6.1 1.71e+01 -13.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0819815e+00 1.02e-02 3.98e-04 -4.0 8.54e+01 -14.0 1.00e+00 1.00e+00f 1 71 2.0816802e+00 9.63e-04 4.93e-05 -4.1 4.56e+01 -14.4 1.00e+00 1.00e+00h 1 72 2.0816443e+00 4.68e-07 7.65e-07 -4.1 8.38e+00 -14.9 1.00e+00 1.00e+00h 1 73 2.0818441e+00 1.27e-04 5.48e-06 -4.0 7.55e+00 -15.4 1.00e+00 1.00e+00h 1 74 2.0815834e+00 2.14e-04 9.28e-06 -4.1 9.76e+00 -15.9 1.00e+00 1.00e+00h 1 75 2.0805950e+00 3.33e-03 1.58e-04 -6.1 4.09e+01 -16.3 9.77e-01 9.64e-01h 1 76 2.0805497e+00 7.61e-05 1.82e-06 -6.1 1.56e+01 -16.8 1.00e+00 1.00e+00h 1 77 2.0819883e+00 1.06e-02 4.03e-04 -4.0 8.64e+01 -17.3 1.00e+00 1.00e+00f 1 78 2.0816850e+00 9.86e-04 5.24e-05 -4.1 4.71e+01 -17.8 1.00e+00 1.00e+00h 1 79 2.0816467e+00 5.59e-07 8.13e-07 -4.1 8.79e+00 -18.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805963e+00 3.67e-03 1.56e-04 -6.1 4.25e+01 -18.7 9.76e-01 9.67e-01h 1 81 2.0805509e+00 8.01e-05 1.98e-06 -6.1 1.63e+01 -19.2 1.00e+00 1.00e+00h 1 82 2.0805468e+00 5.50e-08 2.37e-08 -6.1 2.91e+00 -19.7 1.00e+00 1.00e+00h 1 83 2.0820237e+00 1.21e-02 4.23e-04 -4.0 9.79e+01 -20.0 1.00e+00 1.00e+00f 1 84 2.0817108e+00 1.09e-03 6.84e-05 -4.1 5.44e+01 -20.0 1.00e+00 1.00e+00h 1 85 2.0816597e+00 1.20e-06 1.05e-06 -4.1 1.08e+01 -20.0 1.00e+00 1.00e+00h 1 86 2.0805973e+00 3.75e-03 1.59e-04 -6.1 4.29e+01 -20.0 9.76e-01 9.67e-01h 1 87 2.0805512e+00 8.26e-05 2.04e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 88 2.0805470e+00 5.83e-08 2.51e-08 -6.1 3.00e+00 -20.0 1.00e+00 1.00e+00h 1 89 2.0805365e+00 9.22e-07 7.87e-07 -9.0 9.36e-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 90 2.0820411e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 91 2.0817244e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0816662e+00 1.63e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 93 2.0805979e+00 3.78e-03 1.61e-04 -6.1 4.31e+01 -20.0 9.76e-01 9.67e-01h 1 94 2.0805514e+00 8.39e-05 2.07e-06 -6.1 1.67e+01 -20.0 1.00e+00 1.00e+00h 1 95 2.0805470e+00 6.01e-08 2.58e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 9.41e-07 8.10e-07 -9.0 9.46e-01 -20.0 1.00e+00 9.97e-01h 1 97 2.0805365e+00 8.66e-11 2.16e-12 -9.0 2.61e-02 -20.0 1.00e+00 1.00e+00h 1 98 2.0820415e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 99 2.0817247e+00 1.13e-03 7.75e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0816664e+00 1.64e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0816663822437644e+00 2.0816663822437644e+00 Dual infeasibility......: 1.1621190402690972e-06 1.1621190402690972e-06 Constraint violation....: 1.6406472005403572e-06 1.6406472005403572e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.8042974965724550e-05 8.8042974965724550e-05 Overall NLP error.......: 1.4205492367467249e-05 1.4205492367467249e-05 Number of objective function evaluations = 112 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 112 Number of inequality constraint evaluations = 112 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 65.868 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: 0.057s integrator 2 jacobian structure: 0.056s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 6.483s jacobian structure: 1680 nonzeros (6.597s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.047s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 8.379s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.332s sub-objective 2 (QuadraticRegularizer): 0.115s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.016s sub-objective 5 (GlobalObjective): 0.753s objective hessian structure: 1.312s hessian structure: 1964 nonzeros (9.788s) linear index maps built (0.0s) evaluator ready (total: 16.387s) evaluator created (16.412s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.112s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (4.843s) optimizer initialization complete (total: 21.368s) 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 1.8502342e+01 2.87e+00 4.24e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5007151e+00 2.58e-01 2.06e+00 -0.8 2.47e+00 -2.0 5.96e-01 9.34e-01f 1 2 2.9473473e+00 4.77e-02 6.93e+00 -0.7 1.25e+00 -1.6 1.00e+00 1.00e+00f 1 3 2.7269524e+00 2.40e-02 1.07e+00 -1.1 4.43e-01 -1.1 7.98e-01 1.00e+00h 1 4 2.5666655e+00 1.04e-02 4.40e-01 -1.4 1.44e-01 0.2 8.36e-01 6.15e-01h 1 5 2.2992765e+00 4.24e-03 7.05e-02 -1.9 1.32e-01 -0.3 1.00e+00 1.00e+00f 1 6 2.1399049e+00 4.46e-03 1.03e-01 -2.7 1.49e-01 -0.8 9.34e-01 6.75e-01h 1 7 2.0969230e+00 2.29e-04 1.30e-02 -3.4 9.25e-03 -1.3 1.00e+00 9.55e-01h 1 8 2.0908557e+00 4.75e-06 2.58e-04 -4.0 4.84e-03 -1.7 1.00e+00 1.00e+00h 1 9 2.0908618e+00 1.38e-08 8.79e-05 -4.0 1.41e-02 -2.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908587e+00 1.58e-10 2.94e-05 -4.0 1.41e-02 -2.7 1.00e+00 1.00e+00h 1 11 2.0908550e+00 5.64e-10 1.88e-05 -4.0 2.70e-02 -3.2 1.00e+00 1.00e+00h 1 12 2.0908469e+00 3.67e-09 1.83e-05 -4.0 7.92e-02 -3.6 1.00e+00 1.00e+00h 1 13 2.0908259e+00 2.74e-08 3.50e-05 -4.0 2.23e-01 -4.1 1.00e+00 1.00e+00h 1 14 2.0907772e+00 1.63e-07 1.82e-04 -4.0 5.97e-01 -4.6 1.00e+00 1.00e+00h 1 15 2.0906531e+00 1.07e-06 5.18e-04 -4.0 1.67e+00 -5.1 1.00e+00 1.00e+00h 1 16 2.0902554e+00 8.46e-06 8.57e-04 -4.0 4.85e+00 -5.5 1.00e+00 1.00e+00h 1 17 2.0900533e+00 7.57e-06 5.03e-02 -4.0 1.83e+01 -6.0 1.00e+00 1.17e-01h 2 18 2.0872105e+00 4.45e-04 1.78e-02 -4.0 3.75e+01 -6.5 1.00e+00 1.00e+00h 1 19 2.0860912e+00 4.25e-04 1.69e-01 -4.0 7.60e+01 -7.0 1.00e+00 1.77e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827240e+00 1.48e-03 1.22e-01 -4.0 8.61e+01 -7.5 1.00e+00 6.99e-01h 1 21 2.0825717e+00 2.97e-03 7.46e-02 -4.0 1.65e+02 -7.9 7.77e-01 1.00e+00h 1 22 2.0830928e+00 2.61e-03 3.73e-02 -4.0 4.75e+01 -6.6 1.00e+00 1.00e+00h 1 23 2.0917026e+00 5.82e-02 1.86e-01 -3.0 4.39e+01 -6.2 1.00e+00 1.00e+00f 1 24 2.1000928e+00 7.99e-03 4.71e-01 -3.0 6.20e+00 -4.8 3.49e-01 7.94e-01h 1 25 2.0935599e+00 6.75e-07 2.60e-02 -3.0 1.08e-01 -0.8 1.00e+00 1.00e+00f 1 26 2.0911740e+00 4.61e-06 7.99e-03 -3.0 7.36e-02 -1.3 1.00e+00 1.00e+00h 1 27 2.0873675e+00 4.60e-05 1.81e-01 -4.6 1.18e-01 -1.8 7.77e-01 1.00e+00h 1 28 2.0865546e+00 4.61e-05 4.21e-01 -3.3 6.04e-01 -2.2 3.75e-01 5.30e-01H 1 29 2.0849766e+00 7.72e-06 7.52e-03 -4.0 6.09e-02 -0.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0840588e+00 4.95e-06 1.76e-03 -4.0 6.02e-02 -1.4 1.00e+00 1.00e+00h 1 31 2.0840319e+00 6.51e-08 6.48e-04 -4.0 5.84e-03 -1.0 1.00e+00 1.00e+00h 1 32 2.0840126e+00 1.67e-08 2.61e-04 -4.0 7.02e-03 -1.4 1.00e+00 1.00e+00h 1 33 2.0840082e+00 8.13e-09 2.07e-04 -4.0 1.70e-02 -1.9 1.00e+00 1.00e+00h 1 34 2.0840046e+00 2.40e-08 1.18e-04 -4.0 2.91e-02 -2.4 1.00e+00 1.00e+00h 1 35 2.0840001e+00 8.23e-08 3.97e-05 -4.0 3.00e-02 -2.9 1.00e+00 1.00e+00h 1 36 2.0839971e+00 1.44e-07 2.28e-05 -4.0 2.43e-02 -3.3 1.00e+00 1.00e+00h 1 37 2.0839944e+00 9.72e-08 2.28e-05 -4.0 7.20e-02 -3.8 1.00e+00 1.00e+00h 1 38 2.0839873e+00 2.26e-07 2.29e-05 -4.0 2.14e-01 -4.3 1.00e+00 1.00e+00h 1 39 2.0839662e+00 1.49e-06 2.30e-05 -4.0 6.27e-01 -4.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0839043e+00 6.90e-06 9.07e-05 -4.0 1.80e+00 -5.3 1.00e+00 1.00e+00h 1 41 2.0837289e+00 1.94e-05 3.73e-04 -4.0 5.08e+00 -5.7 1.00e+00 1.00e+00h 1 42 2.0832805e+00 7.30e-05 1.91e-03 -4.0 1.36e+01 -6.2 1.00e+00 1.00e+00h 1 43 2.0824472e+00 5.10e-04 9.85e-03 -4.0 2.89e+01 -6.7 1.00e+00 1.00e+00h 1 44 2.0819901e+00 1.13e-03 1.56e-02 -4.0 2.68e+01 -7.2 1.00e+00 1.00e+00h 1 45 2.0820108e+00 4.56e-05 5.67e-03 -4.0 2.97e+01 -7.6 1.00e+00 1.00e+00h 1 46 2.0818966e+00 1.06e-04 3.87e-03 -4.0 5.04e+01 -8.1 1.00e+00 1.00e+00h 1 47 2.0818504e+00 1.18e-04 2.96e-03 -4.0 5.49e+01 -8.6 1.00e+00 1.00e+00h 1 48 2.0818416e+00 2.38e-05 4.71e-04 -4.0 2.81e+01 -9.1 1.00e+00 1.00e+00h 1 49 2.0818408e+00 7.21e-07 3.32e-05 -4.0 5.78e+00 -9.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818407e+00 3.03e-09 3.32e-05 -4.0 4.41e-01 -10.0 1.00e+00 1.00e+00h 1 51 2.0818407e+00 1.74e-12 3.32e-05 -4.0 1.19e-02 -10.5 1.00e+00 1.00e+00h 1 52 2.0818407e+00 2.22e-16 3.32e-05 -4.0 1.11e-04 -11.0 1.00e+00 1.00e+00H 1 53 2.0818407e+00 8.88e-16 3.32e-05 -4.0 1.66e-05 -11.5 1.00e+00 1.00e+00h 1 54 2.0815814e+00 2.08e-04 2.70e-05 -4.1 9.47e+00 -11.9 1.00e+00 1.00e+00h 1 55 2.0818419e+00 2.15e-04 3.32e-05 -4.0 9.79e+00 -12.4 1.00e+00 1.00e+00h 1 56 2.0815819e+00 2.14e-04 2.70e-05 -4.1 9.75e+00 -12.9 1.00e+00 1.00e+00h 1 57 2.0805924e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -13.4 9.77e-01 9.68e-01h 1 58 2.0818894e+00 6.59e-03 2.97e-04 -4.0 6.14e+01 -13.8 1.00e+00 1.00e+00f 1 59 2.0816124e+00 4.95e-04 2.76e-05 -4.1 2.07e+01 -14.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0806015e+00 3.47e-03 1.91e-04 -6.1 4.19e+01 -14.8 9.76e-01 9.61e-01h 1 61 2.0805507e+00 9.05e-05 2.22e-06 -6.1 1.70e+01 -15.3 1.00e+00 1.00e+00h 1 62 2.0819806e+00 1.03e-02 3.96e-04 -4.0 8.49e+01 -15.8 1.00e+00 1.00e+00f 1 63 2.0816780e+00 9.65e-04 4.95e-05 -4.1 4.57e+01 -16.2 1.00e+00 1.00e+00h 1 64 2.0816420e+00 4.58e-07 2.84e-05 -4.1 8.54e+00 -16.7 1.00e+00 1.00e+00h 1 65 2.0818414e+00 1.26e-04 3.32e-05 -4.0 7.46e+00 -17.2 1.00e+00 1.00e+00h 1 66 2.0815817e+00 2.11e-04 2.70e-05 -4.1 9.63e+00 -17.7 1.00e+00 1.00e+00h 1 67 2.0805923e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -18.1 9.77e-01 9.68e-01h 1 68 2.0805497e+00 7.03e-05 1.80e-06 -6.1 1.55e+01 -18.6 1.00e+00 1.00e+00h 1 69 2.0819871e+00 1.06e-02 4.00e-04 -4.0 8.58e+01 -19.1 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0816826e+00 9.87e-04 5.24e-05 -4.1 4.71e+01 -19.6 1.00e+00 1.00e+00h 1 71 2.0816444e+00 5.44e-07 2.85e-05 -4.1 8.94e+00 -20.0 1.00e+00 1.00e+00h 1 72 2.0805933e+00 3.65e-03 1.55e-04 -6.1 4.19e+01 -20.0 9.76e-01 9.71e-01h 1 73 2.0805509e+00 7.35e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 74 2.0805468e+00 5.07e-08 2.84e-07 -6.1 2.92e+00 -20.0 1.00e+00 1.00e+00h 1 75 2.0820226e+00 1.22e-02 4.21e-04 -4.0 9.85e+01 -20.0 1.00e+00 1.00e+00f 1 76 2.0817083e+00 1.09e-03 6.84e-05 -4.1 5.45e+01 -20.0 1.00e+00 1.00e+00h 1 77 2.0816573e+00 1.18e-06 2.88e-05 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 78 2.0805943e+00 3.73e-03 1.58e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.71e-01h 1 79 2.0805512e+00 7.57e-05 2.01e-06 -6.1 1.64e+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 2.0805469e+00 5.37e-08 2.89e-07 -6.1 3.01e+00 -20.0 1.00e+00 1.00e+00h 1 81 2.0805365e+00 9.26e-07 7.80e-07 -9.0 9.40e-01 -20.0 1.00e+00 9.97e-01h 1 82 2.0820402e+00 1.30e-02 4.35e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 83 2.0817219e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 84 2.0816639e+00 1.62e-06 2.89e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 85 2.0805948e+00 3.76e-03 1.59e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 86 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 87 2.0805470e+00 5.53e-08 2.91e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 88 2.0805365e+00 9.45e-07 8.03e-07 -9.0 9.51e-01 -20.0 1.00e+00 9.97e-01h 1 89 2.0805365e+00 8.66e-11 3.31e-10 -9.0 2.64e-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 2.0820406e+00 1.30e-02 4.36e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 91 2.0817222e+00 1.13e-03 7.75e-05 -4.1 5.82e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0816640e+00 1.63e-06 2.89e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 93 2.0805948e+00 3.76e-03 1.60e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 94 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 95 2.0805470e+00 5.54e-08 2.91e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 9.45e-07 8.04e-07 -9.0 9.51e-01 -20.0 1.00e+00 9.97e-01h 1 97 2.0805365e+00 8.67e-11 3.31e-10 -9.0 2.64e-02 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 2.22e-16 3.31e-10 -9.0 1.02e-05 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 4.44e-16 3.31e-10 -9.0 1.65e-10 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805365e+00 6.66e-16 3.31e-10 -9.0 1.65e-10 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595436475e+00 2.0805364595436475e+00 Dual infeasibility......: 3.3077868478675946e-10 3.3077868478675946e-10 Constraint violation....: 6.6613381477509392e-16 6.6613381477509392e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090971184536e-10 9.0909090971184536e-10 Overall NLP error.......: 9.9999090909091564e-05 9.9999090909091564e-05 Number of objective function evaluations = 106 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 106 Number of inequality constraint evaluations = 106 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 47.877 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: 0.056s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) jacobian structure: 4.446s jacobian structure: 1594 nonzeros (4.503s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) hessian structure: 16.314s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s sub-objective 5 (GlobalObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1804 nonzeros (16.366s) linear index maps built (0.0s) evaluator ready (total: 20.87s) evaluator created (20.892s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 20.893s) 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 5.7941282e+01 3.24e+00 2.41e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8560164e+01 1.66e+00 1.21e+01 -0.5 2.04e+00 0.0 8.64e-01 4.87e-01f 1 2 2.9097864e+00 5.10e-02 8.95e+00 -0.7 1.05e+00 -0.5 6.62e-01 1.00e+00f 1 3 2.9402154e+00 1.38e-02 1.00e+00 -0.8 1.74e-01 -0.1 9.64e-01 1.00e+00h 1 4 2.5974304e+00 2.68e-03 1.09e-01 -1.4 1.32e-01 -0.5 9.40e-01 1.00e+00h 1 5 2.2383099e+00 7.40e-03 5.55e-02 -2.4 1.25e-01 -1.0 9.16e-01 8.41e-01f 1 6 2.1117575e+00 1.13e-03 1.48e-02 -3.0 5.85e-02 -1.5 9.31e-01 8.64e-01h 1 7 2.0908898e+00 2.94e-05 1.99e-03 -4.0 1.03e-02 -2.0 1.00e+00 9.99e-01h 1 8 2.0908643e+00 3.69e-07 2.39e-04 -4.0 5.72e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908623e+00 1.32e-09 2.40e-04 -4.0 1.71e-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 2.0908572e+00 1.61e-09 2.40e-04 -4.0 5.00e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908438e+00 1.21e-08 2.40e-04 -4.0 1.42e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908126e+00 6.98e-08 2.40e-04 -4.0 3.78e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907391e+00 3.17e-07 5.30e-04 -4.0 9.77e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905359e+00 3.09e-06 7.28e-04 -4.0 3.00e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0900540e+00 4.20e-06 1.18e-02 -4.0 8.55e+00 -5.8 1.00e+00 6.41e-01H 1 16 2.0899527e+00 2.60e-04 5.80e-02 -4.0 2.83e+01 -6.3 1.00e+00 1.00e+00f 1 17 2.0874029e+00 1.79e-04 1.53e-01 -4.0 9.53e+00 -4.9 1.00e+00 4.91e-01h 1 18 2.0873067e+00 5.45e-05 1.17e-02 -4.0 3.59e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0863246e+00 7.08e-05 5.83e-03 -4.0 1.06e+01 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0847813e+00 2.00e-04 9.98e-03 -4.0 2.45e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0827692e+00 3.09e-04 2.64e-02 -4.0 3.62e+01 -6.8 1.00e+00 9.87e-01h 1 22 2.0831791e+00 1.45e-03 4.18e-02 -4.0 5.52e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0822172e+00 7.29e-04 7.20e-03 -4.1 1.36e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.1568256e+00 2.64e-05 2.29e+00 -4.0 6.34e+02 -8.3 7.54e-02 1.00e+00H 1 25 2.0840580e+00 4.27e-06 3.56e-01 -4.1 6.59e-02 -0.4 1.00e+00 8.38e-01f 1 26 2.0844338e+00 4.21e-06 2.26e+00 -4.0 6.81e-02 -0.9 1.00e+00 1.56e-02f 7 27 2.0844987e+00 2.96e-07 9.97e-04 -3.9 2.36e-02 -1.4 1.00e+00 1.00e+00h 1 28 2.0835250e+00 3.05e-06 8.59e-02 -5.9 7.31e-02 -1.9 7.96e-01 1.00e+00h 1 29 2.0841436e+00 3.52e-06 1.39e-03 -4.0 3.87e-02 -2.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0839200e+00 3.68e-07 1.93e-04 -4.1 1.33e-02 -2.8 1.00e+00 1.00e+00h 1 31 2.0832581e+00 3.03e-06 2.88e-02 -6.1 3.80e-02 -3.3 8.12e-01 1.00e+00h 1 32 2.0841629e+00 6.72e-06 1.56e-03 -4.0 5.62e-02 -3.8 1.00e+00 1.00e+00f 1 33 2.0838887e+00 6.39e-06 1.92e-04 -4.1 1.51e-01 -4.2 1.00e+00 1.00e+00h 1 34 2.0831801e+00 7.50e-05 1.72e-02 -6.1 7.74e-01 -4.7 8.82e-01 1.00e+00h 1 35 2.0840055e+00 1.74e-04 2.43e-03 -4.0 1.31e+00 -5.2 1.00e+00 1.00e+00h 1 36 2.0835325e+00 1.52e-04 5.77e-04 -4.1 3.43e+00 -5.7 1.00e+00 1.00e+00h 1 37 2.0823711e+00 8.37e-04 2.62e-03 -6.2 9.88e+00 -6.1 9.87e-01 9.78e-01h 1 38 2.0822343e+00 5.25e-04 4.57e-02 -6.2 2.11e+01 -6.6 1.00e+00 3.86e-01h 1 39 2.0815748e+00 1.30e-04 1.16e-02 -6.2 5.12e+01 -7.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0822279e+00 9.80e-03 3.72e-02 -4.0 1.06e+02 -7.6 7.88e-01 1.00e+00f 1 41 2.0817174e+00 3.54e-03 2.99e-02 -4.1 1.44e+02 -8.1 6.88e-01 1.00e+00h 1 42 2.0831254e+00 2.73e-03 1.66e+00 -4.1 1.78e+02 -6.7 1.00e+00 2.67e-01h 1 43 2.0819913e+00 2.30e-04 7.03e-01 -4.1 6.53e+00 -5.4 8.24e-01 1.00e+00f 1 44 2.0817725e+00 3.86e-07 1.97e-03 -4.1 3.28e-02 -1.4 1.00e+00 1.00e+00h 1 45 2.0817725e+00 1.12e-07 2.60e-04 -4.0 2.67e-02 -1.8 1.00e+00 1.00e+00h 1 46 2.0816609e+00 7.39e-08 1.92e-04 -4.1 5.31e-03 -2.3 1.00e+00 1.00e+00h 1 47 2.0817651e+00 2.08e-07 2.40e-04 -4.0 1.02e-02 -2.8 1.00e+00 1.00e+00h 1 48 2.0816598e+00 3.04e-07 1.92e-04 -4.1 1.74e-02 -3.3 1.00e+00 1.00e+00h 1 49 2.0817724e+00 1.80e-06 2.40e-04 -4.0 8.87e-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 2.0816734e+00 2.38e-06 2.06e-04 -4.1 1.40e-01 -4.2 1.00e+00 1.00e+00h 1 51 2.0811562e+00 6.76e-05 1.04e-01 -6.1 7.04e-01 -4.7 7.15e-01 9.78e-01h 1 52 2.0819498e+00 1.39e-04 2.89e-03 -4.0 1.40e+00 -5.2 1.00e+00 1.00e+00f 1 53 2.0817745e+00 6.59e-05 1.37e-03 -4.1 2.11e+00 -5.7 1.00e+00 1.00e+00h 1 54 2.0823090e+00 8.08e-06 2.50e-01 -4.1 1.52e+01 -6.1 4.57e-01 1.00e+00H 1 55 2.0821274e+00 2.81e-07 2.91e-03 -4.0 3.74e-02 -1.2 1.00e+00 1.00e+00h 1 56 2.0819083e+00 1.66e-07 1.11e-03 -4.1 4.32e-02 -1.7 1.00e+00 1.00e+00h 1 57 2.0818713e+00 3.19e-07 2.29e-04 -4.1 3.20e-02 -2.1 1.00e+00 1.00e+00h 1 58 2.0812987e+00 2.60e-06 5.92e-02 -6.1 4.70e-02 -2.6 8.09e-01 9.88e-01h 1 59 2.0821668e+00 6.33e-06 2.46e-03 -4.0 6.85e-02 -3.1 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0819157e+00 1.29e-06 1.94e-04 -4.1 3.01e-02 -3.6 1.00e+00 1.00e+00h 1 61 2.0812613e+00 1.35e-05 1.25e-01 -6.1 1.39e-01 -4.1 7.86e-01 9.96e-01h 1 62 2.0821153e+00 2.72e-05 2.91e-03 -4.0 2.29e-01 -4.5 1.00e+00 1.00e+00f 1 63 2.0818216e+00 5.04e-05 1.98e-04 -4.1 8.80e-01 -5.0 1.00e+00 1.00e+00h 1 64 2.0816255e+00 3.47e-04 1.23e-01 -6.1 4.74e+00 -5.5 3.06e-01 8.69e-01h 1 65 2.0810788e+00 3.42e-07 7.87e-02 -6.1 1.38e-01 -2.3 5.99e-01 1.00e+00h 1 66 2.0815058e+00 3.38e-06 7.45e-01 -4.0 2.53e-01 -2.8 1.00e+00 5.94e-01f 1 67 2.0814545e+00 9.34e-07 9.14e-04 -4.1 1.06e-01 -3.3 1.00e+00 1.00e+00h 1 68 2.0815192e+00 3.39e-06 1.75e-04 -4.1 6.80e-02 -3.8 1.00e+00 1.00e+00h 1 69 2.0813445e+00 1.25e-05 2.88e-01 -6.2 5.55e-01 -4.3 4.35e-01 2.29e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0809345e+00 4.12e-05 6.19e-02 -6.2 6.05e-01 -4.7 8.09e-01 1.00e+00h 1 71 2.0819968e+00 2.12e-04 4.09e-03 -4.0 1.51e+00 -5.2 1.00e+00 1.00e+00f 1 72 2.0824418e+00 1.49e-04 5.02e-02 -4.0 4.13e+00 -5.7 4.72e-01 6.79e-01h 1 73 2.0818659e+00 2.82e-05 1.75e-01 -4.0 2.53e+00 -6.2 5.31e-01 1.00e+00f 1 74 2.0818078e+00 3.66e-07 4.54e-04 -4.0 2.78e-02 -2.1 1.00e+00 1.00e+00h 1 75 2.0813384e+00 1.78e-06 9.54e-02 -6.1 8.96e-02 -2.6 7.16e-01 9.72e-01h 1 76 2.0811476e+00 2.02e-06 1.08e+00 -6.1 7.81e-01 -3.1 3.70e-01 1.86e-01h 1 77 2.0811610e+00 2.01e-06 1.07e+00 -6.1 2.69e+00 -3.6 9.73e-04 3.90e-03h 4 78 2.0811424e+00 1.92e-06 1.00e+00 -6.1 2.10e-01 -2.2 4.11e-01 4.80e-02h 1 79 2.0811120e+00 8.19e-07 1.40e-01 -6.1 5.93e-02 -2.7 1.00e+00 5.88e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0810626e+00 1.45e-07 3.52e-03 -6.1 3.47e-02 -3.2 1.00e+00 9.02e-01f 1 81 2.0820316e+00 9.51e-06 3.21e-03 -4.0 1.31e-01 -3.7 1.00e+00 1.00e+00f 1 82 2.0817344e+00 3.68e-05 9.24e-02 -4.1 2.97e-01 -4.1 8.45e-01 9.84e-01h 1 83 2.0816741e+00 1.94e-05 5.13e-04 -4.1 4.97e-01 -4.6 1.00e+00 1.00e+00f 1 84 2.0810180e+00 1.65e-04 4.59e-02 -6.1 1.67e+00 -5.1 9.26e-01 9.99e-01h 1 85 2.0808769e+00 3.83e-05 9.19e-02 -6.1 2.82e+00 -5.6 1.00e+00 8.42e-01h 1 86 2.0808871e+00 3.69e-05 1.53e-01 -4.0 1.26e+01 -5.1 1.72e-02 2.79e-02f 1 87 2.0810068e+00 3.72e-05 5.14e-01 -4.0 3.10e+01 -5.6 1.30e-01 3.42e-02f 1 88 2.0809049e+00 3.93e-04 1.32e-02 -4.8 6.08e+00 -6.1 1.00e+00 8.91e-01h 1 89 2.0807803e+00 2.61e-04 5.12e-02 -4.8 7.67e+00 -6.6 9.26e-01 7.71e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0811997e+00 2.63e-04 5.22e-01 -4.0 1.83e+02 -6.1 8.15e-02 1.90e-02f 1 91 2.0807957e+00 1.77e-04 3.11e-02 -4.8 3.42e+00 -6.6 1.00e+00 8.75e-01h 1 92 2.0817894e+00 4.10e-03 9.76e-02 -4.0 4.01e+01 -7.1 4.25e-01 1.00e+00f 1 93 2.0812130e+00 1.11e-03 5.09e-03 -4.3 1.90e+01 -7.6 1.00e+00 1.00e+00h 1 94 2.0812351e+00 1.65e-05 4.10e-04 -4.3 9.36e+00 -8.1 1.00e+00 1.00e+00h 1 95 2.0805886e+00 1.27e-03 3.47e-04 -6.4 2.43e+01 -8.5 9.84e-01 9.50e-01h 1 96 2.0806959e+00 1.21e-03 2.36e-02 -4.0 6.33e+01 -9.0 1.00e+00 8.49e-02f 1 97 2.0818568e+00 3.55e-03 6.54e-04 -4.0 3.68e+01 -9.5 1.00e+00 1.00e+00h 1 98 2.0815977e+00 7.56e-04 1.92e-04 -4.1 3.26e+01 -10.0 1.00e+00 1.00e+00h 1 99 2.0805862e+00 3.34e-03 1.58e-04 -6.1 4.01e+01 -10.4 9.77e-01 9.76e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0818903e+00 6.64e-03 3.28e-04 -4.0 6.14e+01 -10.9 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0818902877838683e+00 2.0818902877838683e+00 Dual infeasibility......: 3.2810800630782852e-04 3.2810800630782852e-04 Constraint violation....: 6.6377241107264950e-03 6.6377241107264950e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.4399782781013677e-04 1.4399782781013677e-04 Overall NLP error.......: 6.6377241107264950e-03 6.6377241107264950e-03 Number of objective function evaluations = 117 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 117 Number of inequality constraint evaluations = 117 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 34.695 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: 0.057s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.057s) 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: 0.109s) evaluator created (0.12s) 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: 0.12s) 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 1.7204166e+00 2.86e+00 7.82e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5666830e+00 4.03e-01 1.49e+00 -0.9 4.48e+00 -2.0 7.33e-01 9.42e-01h 1 2 2.5053595e+00 4.14e-01 7.45e-01 -1.1 2.75e+00 -2.5 6.63e-01 8.39e-01f 1 3 2.2728996e+00 1.32e-01 4.46e-01 -2.0 2.03e+00 -3.0 6.72e-01 1.00e+00h 1 4 2.1452772e+00 3.06e-02 4.66e-02 -2.4 1.62e+00 -3.4 9.92e-01 1.00e+00h 1 5 2.0942898e+00 2.89e-03 9.83e-03 -3.4 5.01e-01 -3.9 9.85e-01 1.00e+00h 1 6 2.0908798e+00 2.04e-04 8.33e-04 -4.0 5.12e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0907181e+00 6.25e-06 4.28e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0902769e+00 7.62e-06 3.47e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0889643e+00 7.08e-05 3.07e-04 -4.0 1.33e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0851259e+00 6.70e-04 2.79e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0851258895252442e+00 2.0851258895252442e+00 Dual infeasibility......: 2.7851307547963789e-03 2.7851307547963789e-03 Constraint violation....: 6.7048433041116962e-04 6.7048433041116962e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000000e-04 1.0000000000000000e-04 Overall NLP error.......: 2.7851307547963789e-03 2.7851307547963789e-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 = 10 Total seconds in IPOPT = 24.796 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.06s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.051s) linear index maps built (0.0s) evaluator ready (total: 0.111s) evaluator created (0.111s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.112s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.0098463e+00 2.56e+00 6.02e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6237067e+00 8.48e-02 2.61e+00 -1.0 2.01e+00 0.0 1.00e+00 1.00e+00f 1 2 2.3658031e+00 2.35e-02 3.95e-01 -1.2 2.39e-01 -0.5 9.08e-01 1.00e+00h 1 3 2.2063563e+00 8.17e-03 7.92e-02 -2.1 1.25e-01 -1.0 9.79e-01 9.86e-01h 1 4 2.0956847e+00 7.35e-04 2.09e-02 -3.4 3.99e-02 -1.4 9.72e-01 1.00e+00h 1 5 2.0909655e+00 3.94e-05 8.65e-03 -4.0 2.43e-02 -1.9 1.00e+00 1.00e+00h 1 6 2.0909408e+00 6.80e-08 6.77e-05 -4.0 1.57e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0909394e+00 1.63e-09 2.06e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909350e+00 7.61e-10 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909217e+00 6.85e-09 2.06e-05 -4.0 1.35e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908819e+00 6.17e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907624e+00 5.56e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0904048e+00 5.03e-06 2.26e-05 -4.0 3.64e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0893390e+00 4.59e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0862061e+00 4.31e-04 1.81e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796239e+00 2.53e-03 8.53e-02 -4.0 8.74e+01 -6.7 1.00e+00 7.62e-01h 1 16 2.0812450e+00 1.63e-04 2.01e-01 -4.0 7.08e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778255e+00 6.26e-03 2.93e-02 -4.0 1.13e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0782212e+00 1.71e-02 7.61e-02 -3.7 1.78e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0768801e+00 8.68e-03 1.64e-02 -3.8 3.15e+02 -8.6 1.00e+00 9.11e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0760248e+00 8.84e-03 2.21e-02 -3.9 4.71e+02 -9.1 1.00e+00 9.73e-01f 1 21 2.0757562e+00 8.25e-03 1.00e-02 -4.0 1.49e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756815e+00 5.47e-04 4.50e-04 -4.0 6.62e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 8.59e-06 7.44e-06 -4.0 2.31e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 4.67e-08 1.49e-06 -4.0 1.51e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.55e-09 1.51e-07 -4.0 5.31e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.94e-11 3.09e-09 -4.0 9.44e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122120584e+00 2.0756712122120584e+00 Dual infeasibility......: 3.0928074503300176e-09 3.0928074503300176e-09 Constraint violation....: 7.9350748194428888e-11 7.9350748194428888e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000007e-04 1.0000000000000007e-04 Overall NLP error.......: 3.0928074503300176e-09 3.0928074503300176e-09 Number of objective function evaluations = 28 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 26 Total seconds in IPOPT = 26.447 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 (0.06s) 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: 0.111s) evaluator created (0.111s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.112s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.8569939e+00 2.49e+00 9.00e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7593035e+00 8.90e-02 2.04e+00 -0.9 2.09e+00 0.0 9.51e-01 1.00e+00h 1 2 2.6304413e+00 1.02e-02 5.04e-01 -1.0 1.21e-01 0.4 9.15e-01 1.00e+00h 1 3 2.4770119e+00 1.55e-03 1.99e-01 -1.7 6.18e-02 -0.1 9.70e-01 1.00e+00h 1 4 2.2756209e+00 9.06e-03 1.68e-01 -2.0 2.53e-01 -0.5 9.27e-01 4.54e-01f 1 5 2.1132421e+00 9.85e-04 2.19e-02 -2.6 4.48e-02 -1.0 9.83e-01 9.94e-01h 1 6 2.0908951e+00 4.41e-05 5.78e-03 -4.0 1.82e-02 -1.5 1.00e+00 1.00e+00h 1 7 2.0908719e+00 1.15e-07 2.18e-04 -4.0 5.51e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908719e+00 7.02e-10 3.13e-05 -4.0 8.55e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908703e+00 1.08e-10 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908653e+00 9.70e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0908652854337331e+00 2.0908652854337331e+00 Dual infeasibility......: 2.0581075127481562e-05 2.0581075127481562e-05 Constraint violation....: 9.7011225788645739e-10 9.7011225788645739e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999999923e-05 9.9999999999999923e-05 Overall NLP error.......: 2.0581075127481562e-05 2.0581075127481562e-05 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 25.088 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.06s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.054s) linear index maps built (0.0s) evaluator ready (total: 0.114s) 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: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.001s) optimizer initialization complete (total: 0.116s) 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.............: 0 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.5188034e+00 3.19e+00 5.41e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4307369e+00 4.04e-01 1.59e+00 -0.9 1.83e+00 - 1.00e+00 8.74e-01h 1 2 2.7471975e+00 1.29e-02 6.51e-01 -1.0 5.13e-01 - 7.85e-01 1.00e+00f 1 3 2.3603843e+00 3.34e-03 1.19e-01 -1.8 9.45e-02 - 9.78e-01 1.00e+00h 1 4 2.1092586e+00 2.19e-03 7.82e-02 -2.9 7.21e-02 - 9.87e-01 9.88e-01f 1 5 2.0912732e+00 8.90e-05 1.12e-02 -4.0 2.05e-02 - 1.00e+00 9.60e-01h 1 6 2.0908939e+00 4.81e-07 1.93e-03 -4.0 2.61e-03 - 1.00e+00 1.00e+00h 1 7 2.0908908e+00 3.22e-08 6.83e-04 -4.0 2.02e-02 - 1.00e+00 1.00e+00h 1 8 2.0806107e+00 3.80e-03 2.31e-01 -4.0 3.11e+02 - 5.34e-01 5.34e-01f 1 9 2.0850955e+00 3.23e-03 1.03e-01 -4.0 7.91e+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 2.0819254e+00 1.36e-03 2.11e-02 -4.0 5.45e+01 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0819254277735988e+00 2.0819254277735988e+00 Dual infeasibility......: 2.1105964712730057e-02 2.1105964712730057e-02 Constraint violation....: 1.3634657628138758e-03 1.3634657628138758e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.2742466124882842e-03 1.2742466124882842e-03 Overall NLP error.......: 2.1105964712730057e-02 2.1105964712730057e-02 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 0 Total seconds in IPOPT = 8.362 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 (0.056s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.048s) linear index maps built (0.0s) evaluator ready (total: 0.104s) evaluator created (0.104s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.105s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.2782807e+00 3.52e+00 2.99e-01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6252661e+00 1.66e+00 1.81e+00 -1.0 1.93e+00 0.0 2.20e-01 5.28e-01h 1 2 2.5360194e+00 2.59e-01 1.32e+00 -1.0 9.20e-01 -0.5 1.00e+00 8.44e-01f 1 3 2.6971730e+00 8.70e-03 2.10e-01 -1.0 3.02e-01 -1.0 1.00e+00 1.00e+00f 1 4 2.3345137e+00 1.64e-02 4.12e-02 -1.7 2.64e-01 -1.4 1.00e+00 1.00e+00f 1 5 2.1233925e+00 2.98e-03 1.42e-02 -2.5 1.11e-01 -1.9 9.72e-01 1.00e+00h 1 6 2.0913764e+00 1.15e-04 4.00e-03 -3.8 2.11e-02 -2.4 9.95e-01 9.84e-01h 1 7 2.0913016e+00 1.58e-06 6.19e-05 -3.8 1.53e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908443e+00 2.28e-06 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908309e+00 4.86e-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 2.0907911e+00 6.24e-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...............: 2.0907910711031970e+00 2.0907910711031970e+00 Dual infeasibility......: 2.0570746047389273e-05 2.0570746047389273e-05 Constraint violation....: 6.2392589889742611e-08 6.2392589889742611e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999994746e-05 9.9999999999994746e-05 Overall NLP error.......: 2.0570746047389273e-05 2.0570746047389273e-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 = 26.212 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 (0.062s) 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: 0.114s) 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: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.114s) initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.058s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.598s jacobian structure: 1600 nonzeros (2.657s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.397s 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 (3.45s) linear index maps built (0.0s) evaluator ready (total: 6.108s) evaluator created (6.132s) 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: 6.149s) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.8287640e+00 3.53e+00 7.68e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.7520693e+00 1.10e-01 2.03e+00 -0.8 1.91e+00 0.0 8.26e-01 1.00e+00f 1 Hello, world! 2 3.4760043e+00 1.78e-01 1.47e+00 -0.5 1.95e+00 -0.5 2.45e-01 4.05e-01f 1 Hello, world! 3 3.1437362e+00 6.34e-02 1.99e+00 -0.8 3.16e-01 -0.1 4.22e-01 1.00e+00f 1 Hello, world! 4 2.7024956e+00 1.01e-01 9.84e-01 -1.5 7.58e-01 -0.5 9.73e-01 4.47e-01f 1 Hello, world! 5 2.3554405e+00 1.33e-02 1.76e-01 -1.6 1.53e-01 -1.0 9.39e-01 8.48e-01f 1 Hello, world! 6 2.1298673e+00 7.90e-03 2.03e-02 -2.4 1.64e-01 -1.5 9.70e-01 9.76e-01h 1 Hello, world! 7 2.0915837e+00 1.71e-04 3.34e-03 -4.0 2.89e-02 -2.0 9.94e-01 9.78e-01h 1 Hello, world! 8 2.0909258e+00 8.65e-07 2.16e-04 -4.0 1.76e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909211e+00 3.07e-09 2.07e-05 -4.0 1.67e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909153e+00 1.07e-09 1.98e-05 -4.0 4.87e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0909006e+00 7.54e-09 8.48e-05 -4.0 1.39e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908665e+00 4.89e-08 4.64e-04 -4.0 3.73e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0907908e+00 3.17e-07 4.65e-04 -4.0 9.69e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0905849e+00 3.02e-06 6.35e-04 -4.0 2.97e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0908292e+00 6.16e-05 4.68e-03 -3.5 3.14e+01 -5.8 1.16e-01 9.33e-02h 2 Hello, world! 16 2.0891165e+00 3.44e-04 1.16e-02 -4.0 2.69e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0860836e+00 1.54e-03 2.13e-02 -4.0 7.03e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0828350e+00 3.96e-03 9.91e-02 -4.0 1.24e+02 -7.2 1.00e+00 8.98e-01h 1 Hello, world! 19 2.0865689e+00 1.11e-02 2.61e-01 -3.4 2.27e+02 -7.7 1.00e+00 4.21e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0851890e+00 6.76e-03 7.14e-02 -3.5 1.18e+02 -8.2 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0850627e+00 4.38e-06 2.13e-03 -3.5 6.91e-02 -2.3 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0837356e+00 1.03e-05 1.96e-03 -4.0 6.29e-02 -2.8 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0835451e+00 1.62e-06 5.64e-04 -4.0 1.04e-01 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0835148e+00 1.14e-06 4.57e-05 -4.0 9.16e-02 -3.7 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0834900e+00 1.06e-06 4.89e-05 -4.0 2.53e-01 -4.2 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0834341e+00 4.37e-06 2.07e-04 -4.0 5.86e-01 -4.7 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0833651e+00 2.13e-05 6.10e-04 -4.0 1.27e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0832394e+00 9.78e-05 8.99e-04 -4.0 3.20e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0829174e+00 6.57e-05 1.02e-03 -4.0 9.68e+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 2.0823107e+00 4.55e-04 6.02e-03 -4.0 2.06e+01 -6.6 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0819636e+00 6.99e-04 9.03e-03 -4.0 1.82e+01 -7.1 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0819707e+00 2.34e-05 2.99e-03 -4.0 2.13e+01 -7.6 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0818932e+00 6.02e-05 2.08e-03 -4.0 3.87e+01 -8.0 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0818533e+00 8.18e-05 2.16e-03 -4.0 4.64e+01 -8.5 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0818444e+00 2.20e-05 4.61e-04 -4.0 2.70e+01 -9.0 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0818435e+00 9.23e-07 2.49e-05 -4.0 6.49e+00 -9.5 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0818434e+00 5.38e-09 2.14e-07 -4.0 5.84e-01 -10.0 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0818434e+00 4.30e-12 1.00e-09 -4.0 1.87e-02 -10.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 38 (scaled) (unscaled) Objective...............: 2.0818434105425103e+00 2.0818434105425103e+00 Dual infeasibility......: 1.0000000092450162e-09 1.0000000092450162e-09 Constraint violation....: 4.2978953729289060e-12 4.2978953729289060e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 1.0000000092450162e-09 1.0000000092450162e-09 Number of objective function evaluations = 42 Number of objective gradient evaluations = 39 Number of equality constraint evaluations = 42 Number of inequality constraint evaluations = 42 Number of equality constraint Jacobian evaluations = 39 Number of inequality constraint Jacobian evaluations = 39 Number of Lagrangian Hessian evaluations = 38 Total seconds in IPOPT = 26.221 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.002s) linear index maps built (0.0s) evaluator ready (total: 0.004s) evaluator created (0.005s) 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: 0.005s) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.8287640e+00 3.53e+00 7.68e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.7520693e+00 1.10e-01 2.03e+00 -0.8 1.91e+00 0.0 8.26e-01 1.00e+00f 1 Hello, world! 2 3.4760043e+00 1.78e-01 1.47e+00 -0.5 1.95e+00 -0.5 2.45e-01 4.05e-01f 1 Hello, world! 3 3.1437362e+00 6.34e-02 1.99e+00 -0.8 3.16e-01 -0.1 4.22e-01 1.00e+00f 1 Hello, world! 4 2.7024956e+00 1.01e-01 9.84e-01 -1.5 7.58e-01 -0.5 9.73e-01 4.47e-01f 1 Hello, world! 5 2.3554405e+00 1.33e-02 1.76e-01 -1.6 1.53e-01 -1.0 9.39e-01 8.48e-01f 1 Hello, world! 6 2.1298673e+00 7.90e-03 2.03e-02 -2.4 1.64e-01 -1.5 9.70e-01 9.76e-01h 1 Hello, world! 7 2.0915837e+00 1.71e-04 3.34e-03 -4.0 2.89e-02 -2.0 9.94e-01 9.78e-01h 1 Hello, world! 8 2.0909258e+00 8.65e-07 2.16e-04 -4.0 1.76e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909211e+00 3.07e-09 2.07e-05 -4.0 1.67e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909153e+00 1.07e-09 1.98e-05 -4.0 4.87e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0909006e+00 7.54e-09 8.48e-05 -4.0 1.39e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908665e+00 4.89e-08 4.64e-04 -4.0 3.73e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0907908e+00 3.17e-07 4.65e-04 -4.0 9.69e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0905849e+00 3.02e-06 6.35e-04 -4.0 2.97e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0908292e+00 6.16e-05 4.68e-03 -3.5 3.14e+01 -5.8 1.16e-01 9.33e-02h 2 Hello, world! 16 2.0891165e+00 3.44e-04 1.16e-02 -4.0 2.69e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0860836e+00 1.54e-03 2.13e-02 -4.0 7.03e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0828350e+00 3.96e-03 9.91e-02 -4.0 1.24e+02 -7.2 1.00e+00 8.98e-01h 1 Hello, world! 19 2.0865689e+00 1.11e-02 2.61e-01 -3.4 2.27e+02 -7.7 1.00e+00 4.21e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0851890e+00 6.76e-03 7.14e-02 -3.5 1.18e+02 -8.2 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0850627e+00 4.38e-06 2.13e-03 -3.5 6.91e-02 -2.3 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0837356e+00 1.03e-05 1.96e-03 -4.0 6.29e-02 -2.8 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0835451e+00 1.62e-06 5.64e-04 -4.0 1.04e-01 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0835148e+00 1.14e-06 4.57e-05 -4.0 9.16e-02 -3.7 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0834900e+00 1.06e-06 4.89e-05 -4.0 2.53e-01 -4.2 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0834341e+00 4.37e-06 2.07e-04 -4.0 5.86e-01 -4.7 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0833651e+00 2.13e-05 6.10e-04 -4.0 1.27e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0832394e+00 9.78e-05 8.99e-04 -4.0 3.20e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0829174e+00 6.57e-05 1.02e-03 -4.0 9.68e+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 2.0823107e+00 4.55e-04 6.02e-03 -4.0 2.06e+01 -6.6 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0819636e+00 6.99e-04 9.03e-03 -4.0 1.82e+01 -7.1 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0819707e+00 2.34e-05 2.99e-03 -4.0 2.13e+01 -7.6 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0818932e+00 6.02e-05 2.08e-03 -4.0 3.87e+01 -8.0 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0818533e+00 8.18e-05 2.16e-03 -4.0 4.64e+01 -8.5 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0818444e+00 2.20e-05 4.61e-04 -4.0 2.70e+01 -9.0 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0818435e+00 9.23e-07 2.49e-05 -4.0 6.49e+00 -9.5 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0818434e+00 5.38e-09 2.14e-07 -4.0 5.84e-01 -10.0 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0818434e+00 4.30e-12 1.00e-09 -4.0 1.87e-02 -10.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 38 (scaled) (unscaled) Objective...............: 2.0818434105425103e+00 2.0818434105425103e+00 Dual infeasibility......: 1.0000000092450162e-09 1.0000000092450162e-09 Constraint violation....: 4.2978953729289060e-12 4.2978953729289060e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 1.0000000092450162e-09 1.0000000092450162e-09 Number of objective function evaluations = 42 Number of objective gradient evaluations = 39 Number of equality constraint evaluations = 42 Number of inequality constraint evaluations = 42 Number of equality constraint Jacobian evaluations = 39 Number of inequality constraint Jacobian evaluations = 39 Number of Lagrangian Hessian evaluations = 38 Total seconds in IPOPT = 0.933 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: 0.05s 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: 0.11s) evaluator created (0.11s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.162s) optimizer initialization complete (total: 0.273s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.1196758e+00 3.89e+00 8.55e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8172367e+00 2.72e-02 4.65e-01 -1.0 2.70e+00 - 9.90e-01 1.00e+00f 1 2 2.3230050e+00 7.17e-03 8.10e-02 -1.7 9.79e-02 - 9.56e-01 1.00e+00f 1 3 2.1052322e+00 8.24e-04 1.16e-02 -3.2 3.39e-02 - 9.47e-01 9.45e-01h 1 4 2.0909941e+00 7.79e-05 1.18e-03 -4.0 4.42e-02 - 1.00e+00 1.00e+00h 1 5 2.0909037e+00 3.85e-06 4.58e-05 -4.0 3.43e-01 - 1.00e+00 1.00e+00h 1 6 2.0908971e+00 5.56e-09 2.18e-08 -4.0 1.32e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 5.82e-12 7.14e-12 -4.0 4.84e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971978113313e+00 2.0908971978113313e+00 Dual infeasibility......: 7.1367812918068929e-12 7.1367812918068929e-12 Constraint violation....: 5.8184820893661393e-12 5.8184820893661393e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000048358168317e-04 1.0000048358168317e-04 Overall NLP error.......: 4.8358168316074701e-10 4.8358168316074701e-10 Number of objective function evaluations = 8 Number of objective gradient evaluations = 8 Number of equality constraint evaluations = 8 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 8 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 7 Total seconds in IPOPT = 26.486 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: 0.001s 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 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: 0.117s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 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 1.3116177e+00 1.77e+00 5.45e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5567554e+00 9.13e-01 7.89e-01 -0.9 7.05e+00 -4.0 7.61e-01 4.86e-01f 1 2 2.7607274e+00 1.68e-01 2.91e+00 -0.8 2.06e+00 -1.8 2.32e-01 1.00e+00f 1 3 2.7244724e+00 1.15e-02 4.00e-01 -1.2 1.26e-01 0.5 9.90e-01 1.00e+00h 1 4 2.4649361e+00 3.70e-03 1.21e-01 -1.6 8.85e-02 -0.0 9.22e-01 1.00e+00h 1 5 2.2247650e+00 7.43e-03 1.12e-01 -2.1 1.77e-01 -0.5 9.97e-01 7.21e-01f 1 6 2.1675070e+00 4.34e-03 3.89e-01 -2.3 1.61e-01 -1.0 9.61e-01 4.11e-01h 1 7 2.1137179e+00 2.10e-03 1.47e-01 -3.1 6.22e-02 -1.4 1.00e+00 5.41e-01h 1 8 2.0931430e+00 3.11e-04 6.45e-02 -3.9 2.47e-02 -1.9 1.00e+00 8.69e-01h 1 9 2.0909022e+00 2.88e-06 5.05e-03 -4.0 6.20e-03 -2.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908707e+00 1.37e-07 1.93e-05 -4.0 1.45e-02 -2.9 1.00e+00 1.00e+00h 1 11 2.0908664e+00 9.27e-10 1.92e-05 -4.0 4.33e-02 -3.4 1.00e+00 1.00e+00h 1 12 2.0908538e+00 5.75e-09 1.90e-05 -4.0 1.29e-01 -3.8 1.00e+00 1.00e+00h 1 13 2.0908172e+00 4.85e-08 1.94e-05 -4.0 3.76e-01 -4.3 1.00e+00 1.00e+00h 1 14 2.0907158e+00 3.60e-07 1.52e-04 -4.0 1.04e+00 -4.8 1.00e+00 1.00e+00h 1 15 2.0904759e+00 1.89e-06 9.18e-04 -4.0 2.51e+00 -5.3 1.00e+00 1.00e+00h 1 16 2.0901201e+00 4.25e-06 2.83e-03 -4.0 4.33e+00 -5.7 1.00e+00 1.00e+00h 1 17 2.0899311e+00 3.14e-06 2.70e-03 -4.0 5.47e+00 -6.2 1.00e+00 1.00e+00h 1 18 2.0898552e+00 1.07e-06 1.47e-03 -4.0 8.51e+00 -6.7 1.00e+00 1.00e+00h 1 19 2.0898284e+00 6.86e-07 1.26e-03 -4.0 1.12e+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 20 2.0898236e+00 1.77e-06 5.89e-04 -4.0 8.55e+00 -7.6 1.00e+00 1.00e+00h 1 21 2.0898220e+00 2.85e-07 5.73e-05 -4.0 2.41e+00 -8.1 1.00e+00 1.00e+00h 1 22 2.0898219e+00 3.41e-09 6.64e-07 -4.0 2.68e-01 -8.6 1.00e+00 1.00e+00h 1 23 2.0898218e+00 3.46e-12 1.28e-09 -4.0 1.51e-02 -9.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0898218498663388e+00 2.0898218498663388e+00 Dual infeasibility......: 1.2755456247444050e-09 1.2755456247444050e-09 Constraint violation....: 3.4587888109172127e-12 3.4587888109172127e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000003e-04 1.0000000000000003e-04 Overall NLP error.......: 1.2755456247444050e-09 1.2755456247444050e-09 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 = 26.431 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: 0.051s 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: 0.112s) 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 3.3904921e+00 3.42e+00 3.91e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.1330393e+00 3.13e+00 3.61e+00 -0.5 1.88e+00 0.0 1.68e-01 8.46e-02f 1 2 2.7973584e+00 2.69e+00 5.54e+01 -0.5 2.38e+00 -0.5 3.59e-01 1.41e-01h 1 3 2.8684088e+00 2.53e+00 1.52e+03 0.2 1.76e+01 -1.0 8.48e-01 5.79e-02h 1 4 3.2211827e+00 2.25e+00 1.24e+03 -1.4 2.14e+01 -0.5 8.10e-02 9.92e-02h 1 5 3.2681516e+00 2.23e+00 5.11e+03 2.1 1.71e+01 1.7 2.65e-02 5.42e-03f 1 6 3.2589336e+00 2.21e+00 8.90e+03 -4.0 5.90e+00 1.2 3.47e-02 1.24e-02h 1 7 3.3580148e+00 2.19e+00 2.47e+04 2.5 3.53e+01 1.7 4.05e-02 9.00e-03f 1 8 3.7162135e+00 2.11e+00 2.14e+04 2.5 1.85e+01 1.2 5.22e-02 3.57e-02f 1 9 3.6648068e+00 1.96e+00 1.18e+05 2.5 8.02e+01 0.7 3.66e-01 5.87e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 3.9873964e+00 1.86e+00 4.38e+04 2.5 9.35e+01 0.2 2.94e-01 5.94e-02f 1 11 3.9966774e+00 1.84e+00 1.22e+05 2.5 7.55e+01 -0.3 3.24e-01 1.12e-02h 1 12 4.1285354e+00 1.69e+00 5.43e+05 2.1 1.61e+01 1.1 4.07e-01 7.78e-02h 1 13 4.2904244e+00 1.67e+00 6.00e+05 2.5 3.29e+02 0.6 2.25e-02 3.26e-02f 1 14 4.2884442e+00 1.62e+00 6.94e+05 2.5 2.05e+01 1.9 1.91e-01 2.67e-02h 1 15 4.4106729e+00 1.55e+00 7.54e+05 2.5 9.89e+01 1.4 1.96e-01 4.55e-02h 1 16 4.4153414e+00 1.52e+00 4.08e+06 2.5 5.08e+01 1.0 3.23e-01 1.65e-02h 1 17 4.5010265e+00 1.50e+00 2.58e+06 2.5 2.25e+02 1.4 1.15e-02 2.41e-02h 1 18 4.5747901e+00 1.48e+00 9.11e+05 -3.4 1.83e+02 2.7 7.08e-03 1.22e-02h 1 19 4.5846249e+00 1.48e+00 5.35e+06 2.5 1.18e+02 3.2 1.17e-02 1.33e-03h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 4.5853180e+00 1.48e+00 5.11e+06 -3.6 1.19e+01 4.5 2.25e-03 5.38e-04h 1 21 4.6158418e+00 1.47e+00 5.07e+06 2.1 4.05e+01 4.0 8.99e-03 8.41e-03f 1 22 4.6158223e+00 1.47e+00 5.15e+06 2.5 1.47e+01 4.4 6.54e-03 8.34e-04h 1 23 4.6421309e+00 1.45e+00 4.76e+06 2.5 8.60e+01 4.0 2.43e-04 8.92e-03f 1 24 4.6423484e+00 1.45e+00 3.43e+06 1.3 5.92e+00 4.4 7.22e-02 6.02e-04h 1 25 4.6410881e+00 1.45e+00 3.48e+06 2.5 8.68e+00 4.8 1.98e-04 6.90e-04h 1 26 4.6411668e+00 1.45e+00 2.80e+06 0.7 1.90e+01 4.3 1.84e-02 1.06e-04h 1 27 4.6453723e+00 1.45e+00 2.79e+06 0.7 6.66e+01 3.9 1.02e-02 1.14e-03h 1 28 4.6815296e+00 1.43e+00 1.74e+07 2.5 2.74e+01 4.3 1.51e-01 1.12e-02f 1 29 4.7079675e+00 1.43e+00 1.74e+07 2.5 5.33e+01 3.8 4.18e-02 6.31e-03h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 4.7350767e+00 1.42e+00 4.13e+07 2.5 5.23e+01 4.2 1.55e-01 7.01e-03h 1 31 4.9016280e+00 1.36e+00 4.54e+07 2.5 4.86e+01 3.7 3.74e-03 3.64e-02f 1 32 4.9025123e+00 1.36e+00 5.46e+07 2.5 7.01e+01 3.3 4.57e-01 3.47e-03h 1 33 4.9061602e+00 1.36e+00 5.81e+07 2.5 5.43e+02 2.8 3.48e-03 8.42e-04h 1 34 4.9356866e+00 1.36e+00 5.58e+07 2.5 6.25e+02 2.3 1.59e-02 4.67e-03f 2 35 4.9524030e+00 1.36e+00 5.30e+07 2.5 1.44e+02 1.8 7.86e-03 8.57e-04h 1 36 5.0590411e+00 1.48e+00 5.72e+07 -3.0 1.15e+02 2.3 1.12e-04 1.81e-02h 1 37 5.0590575e+00 1.48e+00 2.83e+07 2.3 3.37e+01 1.8 5.27e-01 5.49e-04h 1 38 4.9910284e+00 1.40e+00 2.78e+07 2.5 1.00e+02 2.2 1.81e-03 1.10e-02f 1 39 5.1647609e+00 1.16e+00 2.70e+07 2.5 6.84e+01 2.6 6.24e-02 3.56e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 5.1718635e+00 1.16e+00 2.79e+07 2.5 5.79e+02 2.2 2.52e-03 7.69e-04h 1 41 5.1819106e+00 1.15e+00 3.07e+07 -3.2 6.22e+02 2.6 2.12e-03 8.01e-04h 1 42 5.2319111e+00 1.15e+00 3.93e+07 2.5 3.33e+03 3.0 3.02e-05 9.91e-04f 1 43 5.1732359e+00 1.15e+00 4.51e+07 -3.1 5.27e+02 2.5 4.08e-04 3.05e-03h 1 44 5.1788480e+00 1.15e+00 3.00e+08 2.5 6.46e+00 4.8 1.01e-01 3.48e-03h 1 45 5.1907945e+00 1.15e+00 3.20e+08 2.5 1.54e+02 4.3 1.46e-03 3.60e-04h 1 46 5.1922534e+00 1.14e+00 3.27e+08 2.5 3.82e+02 3.8 1.22e-03 9.85e-04h 1 47 5.2573517e+00 1.14e+00 2.60e+08 2.5 7.10e+02 3.3 7.03e-04 5.57e-03f 2 48 5.2389013e+00 1.14e+00 3.00e+08 2.5 6.43e+02 3.8 8.03e-04 2.50e-03f 1 49 5.2391747e+00 1.13e+00 3.00e+08 1.8 9.43e+01 3.3 1.76e-04 2.37e-04h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 5.2908598e+00 1.12e+00 3.47e+08 1.8 1.22e+02 2.8 2.61e-04 1.32e-02f 1 51 5.2883127e+00 1.12e+00 3.49e+08 -2.4 1.31e+03 2.3 3.06e-04 1.26e-03h 1 52 5.2946845e+00 1.11e+00 6.58e+07 1.8 2.82e+02 2.8 3.56e-01 7.56e-03h 1 53 5.2950005e+00 1.11e+00 1.81e+08 1.5 1.12e+02 2.3 2.69e-01 6.14e-04h 1 54 5.4143301e+00 1.37e+00 1.33e+08 2.5 3.33e+02 1.8 1.51e-03 3.68e-02h 2 55 5.5425500e+00 1.19e+00 3.52e+07 2.5 2.97e+01 2.2 3.67e-01 4.02e-02h 1 56 5.5464318e+00 1.18e+00 3.68e+07 -3.0 4.36e+02 1.8 2.77e-03 1.21e-03h 1 57 5.5739773e+00 1.17e+00 6.37e+07 2.5 1.52e+03 1.3 1.42e-03 1.17e-02f 1 58 5.5742133e+00 1.17e+00 6.63e+07 2.5 4.12e+02 0.8 5.59e-02 3.19e-04h 1 59 5.5793102e+00 1.17e+00 1.18e+08 2.5 1.35e+03 1.2 5.13e-02 1.97e-03h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 5.4207676e+00 1.17e+00 1.18e+08 -2.7 1.41e+03 1.7 2.59e-04 1.78e-03f 1 61 5.4275410e+00 1.16e+00 1.61e+08 2.5 1.14e+03 1.2 7.99e-02 2.36e-03h 1 62 5.4681385e+00 1.15e+00 3.67e+08 1.9 9.53e+02 0.7 1.00e+00 1.20e-02f 4 63 5.6111134e+00 2.83e+00 3.47e+08 2.5 3.04e+02 0.2 5.45e-02 4.37e-02f 2 64 5.7541149e+00 2.17e+00 8.99e+07 2.5 6.02e+01 -0.3 6.58e-01 5.31e-02h 1 65 5.7550988e+00 2.17e+00 2.93e+09 2.5 1.23e+01 0.2 4.48e-01 1.36e-03h 1 66 5.7540310e+00 2.15e+00 3.53e+11 2.5 6.67e+00 -0.3 1.00e+00 8.09e-03h 1 67 5.7540002e+00 2.15e+00 1.56e+15 2.4 4.73e+00 0.1 1.00e+00 2.22e-04h 1 68 7.8025568e+00 2.01e+00 6.72e+19 2.5 2.61e+02 -0.4 1.80e-06 5.29e-02f 1 69 7.8017031e+00 2.01e+00 6.72e+19 2.5 2.96e+00 19.5 3.72e-04 2.20e-04h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70r 7.8017031e+00 2.01e+00 9.69e+02 1.8 0.00e+00 19.9 0.00e+00 2.82e-07R 4 71r 6.1029460e+00 8.58e-01 3.28e+03 2.6 7.39e+01 - 2.13e-01 4.84e-02f 1 72r 6.1029460e+00 8.58e-01 9.85e+02 1.1 0.00e+00 19.0 0.00e+00 4.77e-07R 22 73r 2.4453521e+00 4.81e-01 7.44e+02 1.2 6.42e+01 - 1.00e+00 1.93e-02f 1 74 2.3811782e+00 3.88e-01 3.79e+17 1.4 6.48e-01 18.5 6.27e-01 1.94e-01h 1 75 2.3805597e+00 3.87e-01 3.79e+17 2.5 5.46e-01 18.0 4.36e-01 2.35e-03h 1 76 2.3805598e+00 3.87e-01 3.79e+17 2.3 5.48e-01 18.4 1.00e+00 2.39e-05h 1 77r 2.3805598e+00 3.87e-01 8.99e+02 2.5 0.00e+00 18.0 0.00e+00 1.17e-07R 2 78r 2.7109722e+00 2.18e-01 3.40e+02 0.3 1.02e+00 - 6.91e-01 5.87e-01f 1 79r 2.7109722e+00 2.18e-01 9.99e+02 -0.7 0.00e+00 17.0 0.00e+00 4.77e-07R 22 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80r 2.6007917e+00 2.48e-01 1.15e+03 1.2 2.62e+02 - 1.00e+00 2.39e-03f 1 81r 3.0213883e+00 2.03e-01 1.68e+02 0.7 4.84e-01 - 9.97e-01 8.27e-01f 1 82r 3.3982429e+00 2.04e-01 2.61e+00 -0.0 6.11e-01 - 9.91e-01 1.00e+00f 1 83r 4.0988031e+00 2.00e-01 1.65e+02 -0.6 1.99e+00 0.0 5.14e-01 2.64e-01f 1 84r 4.2943878e+00 1.99e-01 1.14e+01 -0.6 3.05e-01 -0.5 1.00e+00 9.69e-01f 1 85r 3.9047648e+00 1.99e-01 5.05e+01 -1.3 7.22e-01 - 7.45e-01 1.00e+00f 1 86r 3.9705615e+00 1.99e-01 1.56e+01 -1.5 3.71e-01 - 8.16e-01 1.00e+00h 1 87r 3.9026901e+00 1.99e-01 8.57e-02 -1.9 3.72e-01 - 1.00e+00 1.00e+00f 1 88r 3.7726607e+00 1.99e-01 5.08e-01 -2.8 6.54e-01 - 9.41e-01 1.00e+00f 1 89r 3.6281883e+00 1.99e-01 1.01e-02 -3.7 2.24e-01 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90r 3.5601659e+00 1.99e-01 2.31e-03 -4.0 6.39e-02 - 1.00e+00 1.00e+00h 1 91r 3.5880268e+00 1.99e-01 8.97e-05 -4.0 1.88e-02 - 1.00e+00 1.00e+00h 1 92r 3.5884035e+00 1.99e-01 1.19e-06 -4.0 6.56e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 92 (scaled) (unscaled) Objective...............: 3.5884165946207078e+00 3.5884165946207078e+00 Dual infeasibility......: 1.9619810454340989e+00 1.9619810454340989e+00 Constraint violation....: 1.9875045056304441e-01 1.9875045056304441e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000024964707747e-04 1.0000024964707747e-04 Overall NLP error.......: 1.9619810454340989e+00 1.9619810454340989e+00 Number of objective function evaluations = 159 Number of objective gradient evaluations = 81 Number of equality constraint evaluations = 159 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 98 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 93 Total seconds in IPOPT = 28.945 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: 0.067s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.067s) 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 sub-objective 4 (GlobalObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1804 nonzeros (0.053s) linear index maps built (0.0s) evaluator ready (total: 0.121s) evaluator created (0.121s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: bounds constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.0s) optimizer initialization complete (total: 0.122s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 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 4.9233616e+00 4.31e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9452325e+00 8.13e-01 3.03e+00 -0.8 2.96e+00 0.0 7.98e-01 8.10e-01f 1 2 2.1802981e+00 5.43e-01 1.41e+01 -0.3 2.73e+00 -0.5 1.00e+00 2.31e-01f 1 3 2.8446550e+00 5.66e-02 3.21e+00 -0.5 9.26e-01 -1.0 7.58e-01 1.00e+00f 1 4 2.7733077e+00 4.88e-02 2.86e+00 -1.0 1.18e+00 -1.4 3.77e-01 2.08e-01H 1 5 2.5102311e+00 1.06e-01 9.65e-01 -1.3 7.32e-01 -1.0 6.75e-01 8.19e-01f 1 6 2.4762915e+00 9.65e-02 8.09e-01 -1.7 4.46e-01 -1.5 1.00e+00 9.42e-02h 1 7 2.2279047e+00 3.83e-02 3.54e-01 -2.4 1.07e+00 -2.0 9.97e-01 6.28e-01h 1 8 2.1345253e+00 2.08e-02 1.83e-01 -2.9 1.21e+00 -2.4 1.00e+00 6.75e-01h 1 9 2.0951673e+00 2.74e-03 1.18e-02 -3.8 3.08e-01 -2.9 1.00e+00 8.99e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909694e+00 5.97e-05 1.42e-03 -4.0 5.78e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909135e+00 2.42e-06 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908687e+00 7.92e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907343e+00 7.09e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903322e+00 6.41e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891347e+00 5.87e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856245e+00 5.54e-04 2.30e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796351e+00 2.32e-03 1.36e-01 -4.0 9.57e+01 -6.7 1.00e+00 6.32e-01h 1 18 2.0807142e+00 1.32e-04 1.73e-01 -4.0 6.84e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775300e+00 7.04e-03 2.29e-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 2.0769583e+00 1.32e-03 5.30e-02 -4.0 2.00e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0762971e+00 1.38e-03 3.52e-02 -4.0 3.47e+02 -8.6 1.00e+00 6.67e-01h 1 22 2.0755293e+00 3.33e-03 3.30e-02 -4.0 6.16e+02 -9.1 1.00e+00 7.50e-01h 1 23 2.0758062e+00 3.40e-03 1.82e-02 -4.0 1.84e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0756806e+00 5.40e-04 8.95e-04 -4.0 9.73e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.81e-06 1.47e-05 -4.0 2.34e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 8.99e-08 1.34e-06 -4.0 1.44e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.79e-09 1.16e-07 -4.0 4.75e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.98e-11 1.94e-09 -4.0 7.52e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121664656e+00 2.0756712121664656e+00 Dual infeasibility......: 1.9413634882612871e-09 1.9413634882612871e-09 Constraint violation....: 4.9804604884684522e-11 4.9804604884684522e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000010e-04 1.0000000000000010e-04 Overall NLP error.......: 1.9413634882612871e-09 1.9413634882612871e-09 Number of objective function evaluations = 31 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 31 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 27.514 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: 0.062s 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 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.048s) linear index maps built (0.0s) evaluator ready (total: 0.111s) evaluator created (0.111s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: timesteps all equal constraint applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.629s) optimizer initialization complete (total: 0.74s) 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 2.2378115e+00 3.02e+00 1.67e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7292866e+00 4.11e-02 1.39e+00 -1.0 1.75e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.4780545e+00 2.07e-02 2.35e-01 -1.4 8.91e-01 -2.5 9.61e-01 1.00e+00h 1 3 2.1607758e+00 3.86e-02 6.88e-02 -2.7 1.09e+00 -3.0 9.64e-01 1.00e+00h 1 4 2.0947274e+00 1.47e-03 3.21e-03 -3.4 1.97e-01 -3.4 9.68e-01 1.00e+00h 1 5 2.0909736e+00 5.95e-05 3.95e-04 -4.0 1.65e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0909234e+00 1.85e-07 2.06e-05 -4.0 5.02e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0907755e+00 8.45e-07 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0903330e+00 7.65e-06 3.46e-05 -4.0 4.50e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0890162e+00 6.98e-05 3.08e-04 -4.0 1.34e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0851648e+00 6.52e-04 2.81e-03 -4.0 3.91e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0797636e+00 1.94e-03 1.46e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.31e-01h 1 12 2.0803695e+00 5.02e-05 1.63e-01 -4.0 6.59e+01 -7.2 1.00e+00 1.00e+00H 1 13 2.0775613e+00 5.64e-03 1.72e-02 -4.0 1.25e+02 -7.7 1.00e+00 9.56e-01h 1 14 2.0770596e+00 1.01e-03 4.83e-02 -4.0 2.09e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0762383e+00 7.11e-04 2.33e-02 -4.0 3.55e+02 -8.7 1.00e+00 7.80e-01h 1 16 2.0755980e+00 7.65e-04 2.61e-02 -4.0 5.58e+02 -9.2 1.00e+00 6.93e-01h 1 17 2.0758657e+00 9.00e-04 1.37e-02 -4.0 1.55e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0754596e+00 1.91e-03 5.49e-04 -4.1 8.33e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0757715e+00 5.15e-04 7.19e-06 -4.0 2.14e+01 -10.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0754219e+00 6.65e-04 9.03e-07 -4.1 2.51e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0757717e+00 3.71e-04 8.27e-07 -4.0 1.40e+01 -11.5 1.00e+00 1.00e+00h 1 22 2.0757704e+00 1.10e-07 1.25e-08 -4.0 2.10e+00 -12.0 1.00e+00 1.00e+00h 1 23 2.0757704e+00 2.12e-14 3.54e-12 -4.0 1.57e-02 -12.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0757703960460976e+00 2.0757703960460976e+00 Dual infeasibility......: 3.5369356911601341e-12 3.5369356911601341e-12 Constraint violation....: 2.1205259770340490e-14 2.1205259770340490e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000032e-04 1.0000000000000032e-04 Overall NLP error.......: 3.5369356911601341e-12 3.5369356911601341e-12 Number of objective function evaluations = 25 Number of objective gradient evaluations = 24 Number of equality constraint evaluations = 25 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 24 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 23 Total seconds in IPOPT = 27.450 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 (0.101s) integrator 1 hessian structure: 0.046s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.32s sub-objective 2 (QuadraticRegularizer): 0.082s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.015s objective hessian structure: 0.504s hessian structure: 375 nonzeros (0.551s) linear index maps built (0.0s) evaluator ready (total: 0.81s) evaluator created (0.81s) NL constraint bounds extracted (0.01s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.11s) applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.815s) optimizer initialization complete (total: 3.745s) 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 1.7580673e+00 6.84e-01 1.29e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8291756e+00 2.32e-01 1.47e+00 -0.8 7.36e-01 0.0 9.87e-01 8.45e-01h 1 2 1.8010896e+00 1.18e-01 1.69e+00 -1.0 4.85e-01 -0.5 7.54e-01 9.90e-01f 1 3 1.5921345e+00 6.83e-02 5.38e-01 -1.0 1.48e+00 -1.0 8.00e-01 5.85e-01f 1 4 1.2716806e+00 4.45e-02 3.22e+00 -2.0 1.30e+01 - 8.38e-01 9.63e-01h 1 5 1.1886944e+00 5.02e-03 1.01e+00 -2.0 2.97e-01 -1.4 1.00e+00 5.09e-01h 1 6 1.1239385e+00 2.39e-03 1.00e+00 -2.8 1.35e+01 - 6.56e-01 8.52e-01h 1 7 1.1121930e+00 1.30e-03 9.80e-02 -2.9 2.95e+00 - 1.00e+00 4.54e-01h 1 8 1.0907773e+00 9.70e-06 1.34e-02 -4.0 1.00e+00 - 1.00e+00 1.00e+00h 1 9 1.0909020e+00 8.67e-08 4.57e-03 -4.0 6.75e-01 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0908997e+00 2.41e-12 4.33e-07 -4.0 4.19e-01 - 1.00e+00 1.00e+00f 1 11 1.0908997e+00 5.12e-21 3.82e-05 -4.0 1.99e-01 - 1.00e+00 1.00e+00f 1 12 1.0907198e+00 1.09e-24 8.57e-08 -4.1 5.79e-04 - 1.00e+00 1.00e+00f 1 13 1.0908997e+00 3.82e-25 5.58e-09 -4.0 5.53e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 13 (scaled) (unscaled) Objective...............: 1.0908997336741411e+00 1.0908997336741411e+00 Dual infeasibility......: 5.5835989621764916e-09 5.5835989621764916e-09 Constraint violation....: 3.8152553210291926e-25 3.8152553210291926e-25 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000450822521434e-04 1.0000450822521434e-04 Overall NLP error.......: 5.5835989621764916e-09 5.5835989621764916e-09 Number of objective function evaluations = 14 Number of objective gradient evaluations = 14 Number of equality constraint evaluations = 14 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 14 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 13 Total seconds in IPOPT = 25.713 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: 0.086s hessian structure: 30 nonzeros (0.086s) linear index maps built (0.0s) evaluator ready (total: 0.086s) evaluator created (0.086s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.134s) applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: bounds on u applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial time t₁ = 0 linear constraints added: 5 (2.538s) optimizer initialization complete (total: 2.759s) 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 = 1.451 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): 0.071s sub-objective 2 (QuadraticRegularizer): 0.0s objective hessian structure: 0.158s hessian structure: 40 nonzeros (0.158s) linear index maps built (0.0s) evaluator ready (total: 0.158s) evaluator created (0.158s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.098s) 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 (2.329s) optimizer initialization complete (total: 2.585s) 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 1.9315225e+00 7.70e-01 8.49e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.3854407e+00 2.92e-09 1.48e-01 -0.4 5.64e-01 -2.0 9.30e-01 1.00e+00f 1 2 5.0740973e-01 1.73e-09 2.14e-01 -0.9 9.53e-01 -1.6 9.90e-01 1.00e+00f 1 3 2.0897915e-01 6.00e-10 8.38e-02 -2.1 7.38e-01 -1.1 9.97e-01 1.00e+00f 1 4 5.2985333e-02 6.99e-11 5.46e-02 -2.8 9.60e-01 -1.6 1.00e+00 1.00e+00f 1 5 1.0398460e-02 3.74e-11 2.26e-02 -3.8 7.99e-01 -2.1 1.00e+00 1.00e+00f 1 6 2.0936808e-03 8.84e-12 7.02e-03 -4.0 5.18e-01 -2.6 1.00e+00 1.00e+00f 1 7 6.4806591e-04 1.75e-12 1.99e-03 -4.0 2.72e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.3524403e-04 2.45e-13 3.86e-04 -4.0 7.81e-02 -3.5 1.00e+00 1.00e+00f 1 9 4.6985963e-04 2.27e-14 1.97e-04 -4.0 2.72e-02 -4.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.9792821e-04 1.22e-14 4.87e-04 -4.1 8.97e-02 -4.5 1.00e+00 1.00e+00f 1 11 4.5733456e-04 6.19e-15 3.75e-04 -4.0 2.08e-01 -5.0 1.00e+00 5.00e-01f 2 12 2.7433439e-04 3.33e-15 5.58e-04 -4.1 1.06e-01 -5.4 1.00e+00 1.00e+00f 1 13 4.6470033e-04 2.22e-15 4.79e-04 -4.0 2.58e-01 -5.9 1.00e+00 5.00e-01f 2 14 2.6360870e-04 1.67e-15 6.33e-04 -4.1 1.22e-01 -6.4 1.00e+00 1.00e+00f 1 15 4.6543022e-04 1.44e-15 5.21e-04 -4.0 2.80e-01 -6.9 1.00e+00 5.00e-01f 2 16 2.6000066e-04 1.34e-15 6.62e-04 -4.1 1.28e-01 -7.4 1.00e+00 1.00e+00f 1 17 4.6542756e-04 1.33e-15 5.39e-04 -4.0 2.90e-01 -7.8 1.00e+00 5.00e-01f 2 18 2.5880436e-04 1.12e-15 6.80e-04 -4.1 1.32e-01 -8.3 1.00e+00 1.00e+00f 1 19 4.6500942e-04 1.11e-15 5.48e-04 -4.0 2.96e-01 -8.8 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.5842892e-04 9.99e-16 6.94e-04 -4.1 1.34e-01 -9.3 1.00e+00 1.00e+00f 1 21 4.6449748e-04 9.99e-16 5.53e-04 -4.0 3.00e-01 -9.7 1.00e+00 5.00e-01f 2 22 2.5831576e-04 9.16e-16 7.06e-04 -4.1 1.37e-01 -10.2 1.00e+00 1.00e+00f 1 23 4.6396792e-04 7.77e-16 5.57e-04 -4.0 3.03e-01 -10.7 1.00e+00 5.00e-01f 2 24 2.5828540e-04 8.74e-16 7.17e-04 -4.1 1.39e-01 -11.2 1.00e+00 1.00e+00f 1 25 4.6344911e-04 7.77e-16 5.60e-04 -4.0 3.06e-01 -11.6 1.00e+00 5.00e-01f 2 26 2.5828004e-04 8.19e-16 7.27e-04 -4.1 1.41e-01 -12.1 1.00e+00 1.00e+00f 1 27 3.1001283e-05 8.88e-15 9.08e-04 -6.2 3.85e-01 -12.6 9.67e-01 1.00e+00f 1 28 1.7321651e-03 2.22e-15 7.77e-03 -4.0 2.03e+00 -13.1 1.00e+00 5.00e-01f 2 29 2.4703007e-05 2.30e-14 2.93e-03 -4.1 1.03e+00 -13.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.5717724e-03 2.98e-14 8.10e-03 -4.0 9.96e-01 -14.0 1.00e+00 1.00e+00f 1 31 1.0341510e-05 1.77e-14 2.32e-03 -4.2 1.10e+00 -14.5 1.00e+00 1.00e+00f 1 32 4.6326368e-04 1.55e-15 2.78e-03 -4.0 1.39e+00 -15.0 1.00e+00 5.00e-01f 2 33 2.2034062e-04 3.00e-15 2.44e-04 -4.2 3.75e-01 -15.5 1.00e+00 5.00e-01f 2 34 2.0289664e-05 4.39e-15 8.21e-04 -6.4 4.18e-01 -15.9 9.63e-01 1.00e+00f 1 35 8.1645177e-06 3.22e-15 1.01e-04 -6.4 1.06e-01 -16.4 1.00e+00 1.00e+00f 1 36 1.4527656e-03 1.33e-15 5.13e-03 -4.0 9.77e+00 -16.9 1.00e+00 1.22e-01f 4 37 1.0557562e-04 5.15e-14 3.43e-03 -4.0 7.70e-01 -17.4 1.00e+00 1.00e+00f 1 38 7.3962776e-04 3.33e-14 3.48e-03 -4.0 5.26e-01 -17.8 1.00e+00 1.00e+00f 1 39 3.8008384e-04 6.11e-15 4.43e-04 -4.0 4.19e-01 -18.3 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 3.5453274e-05 5.44e-15 1.35e-03 -6.0 5.12e-01 -18.8 9.54e-01 1.00e+00f 1 41 1.4601606e-05 5.16e-15 1.62e-04 -6.0 1.28e-01 -19.3 1.00e+00 1.00e+00f 1 42 3.9909758e-06 8.33e-16 1.03e-04 -6.0 1.46e-01 -19.8 1.00e+00 1.00e+00f 1 43 9.9381897e-04 6.66e-16 2.82e-03 -4.0 1.59e+01 -20.0 1.00e+00 7.53e-02f 4 44 1.7310314e-04 4.59e-14 2.76e-03 -4.0 5.53e-01 -20.0 1.00e+00 1.00e+00f 1 45 6.5569316e-04 2.04e-14 2.65e-03 -4.0 4.00e-01 -20.0 1.00e+00 1.00e+00f 1 46 3.8985807e-04 3.55e-15 4.14e-04 -4.0 3.48e-01 -20.0 1.00e+00 5.00e-01f 2 47 3.5185116e-05 5.77e-15 1.48e-03 -6.1 5.55e-01 -20.0 9.49e-01 1.00e+00f 1 48 1.4660774e-05 4.72e-15 1.71e-04 -6.1 1.34e-01 -20.0 1.00e+00 1.00e+00f 1 49 3.8846188e-06 7.77e-16 1.12e-04 -6.1 1.59e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 8.0991317e-04 4.44e-16 1.87e-03 -4.0 1.71e+01 -20.0 1.00e+00 6.98e-02f 4 51 2.0796477e-04 3.97e-14 2.37e-03 -4.0 4.58e-01 -20.0 1.00e+00 1.00e+00f 1 52 5.9387171e-04 1.44e-14 2.17e-03 -4.0 3.35e-01 -20.0 1.00e+00 1.00e+00f 1 53 3.8602261e-04 2.44e-15 3.89e-04 -4.0 3.05e-01 -20.0 1.00e+00 5.00e-01f 2 54 3.4178999e-05 5.55e-15 1.56e-03 -6.1 5.90e-01 -20.0 9.45e-01 1.00e+00f 1 55 1.4357691e-05 4.33e-15 1.77e-04 -6.1 1.40e-01 -20.0 1.00e+00 1.00e+00f 1 56 3.7476260e-06 7.22e-16 1.17e-04 -6.1 1.70e-01 -20.0 1.00e+00 1.00e+00f 1 57 6.7424415e-04 4.44e-16 1.02e-03 -4.0 1.85e+01 -20.0 1.00e+00 6.45e-02f 4 58 2.4273519e-04 3.51e-14 1.95e-03 -4.1 3.66e-01 -20.0 1.00e+00 1.00e+00f 1 59 5.3621611e-04 9.77e-15 1.68e-03 -4.1 2.64e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 3.8238214e-04 1.55e-15 3.47e-04 -4.1 2.53e-01 -20.0 1.00e+00 5.00e-01f 2 61 3.3111511e-05 5.33e-15 1.63e-03 -6.1 6.23e-01 -20.0 9.41e-01 1.00e+00f 1 62 1.4054072e-05 3.89e-15 1.80e-04 -6.1 1.45e-01 -20.0 1.00e+00 1.00e+00f 1 63 3.6319615e-06 6.11e-16 1.22e-04 -6.1 1.79e-01 -20.0 1.00e+00 1.00e+00f 1 64 5.7467886e-04 3.68e-16 2.88e-04 -4.0 1.99e+01 -20.0 1.00e+00 6.00e-02f 4 65 2.7364020e-04 3.15e-14 1.54e-03 -4.1 2.82e-01 -20.0 1.00e+00 1.00e+00f 1 66 4.8662905e-04 6.44e-15 1.22e-03 -4.1 1.96e-01 -20.0 1.00e+00 1.00e+00f 1 67 3.7798924e-04 8.88e-16 2.98e-04 -4.1 2.00e-01 -20.0 1.00e+00 5.00e-01f 2 68 3.2022101e-05 5.00e-15 1.69e-03 -6.1 6.53e-01 -20.0 9.37e-01 1.00e+00f 1 69 1.3736026e-05 3.66e-15 1.82e-04 -6.1 1.49e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 3.5279750e-06 5.55e-16 1.25e-04 -6.1 1.87e-01 -20.0 1.00e+00 1.00e+00f 1 71 5.0035926e-04 4.44e-16 3.46e-04 -4.0 2.11e+01 -20.0 1.00e+00 5.63e-02f 4 72 3.0023333e-04 2.86e-14 1.15e-03 -4.1 2.08e-01 -20.0 1.00e+00 1.00e+00f 1 73 4.4559463e-04 4.00e-15 8.08e-04 -4.1 1.33e-01 -20.0 1.00e+00 1.00e+00f 1 74 2.3639124e-05 4.33e-15 1.90e-03 -6.1 8.03e-01 -20.0 9.21e-01 1.00e+00f 1 75 1.2234962e-05 3.66e-15 1.28e-04 -6.1 1.14e-01 -20.0 1.00e+00 1.00e+00f 1 76 3.0551450e-06 3.89e-16 1.21e-04 -6.1 1.94e-01 -20.0 1.00e+00 1.00e+00f 1 77 4.2177076e-04 3.96e-16 1.24e-03 -4.0 2.44e+01 -20.0 1.00e+00 4.88e-02f 4 78 3.3668838e-04 2.60e-14 6.04e-04 -4.1 1.06e-01 -20.0 1.00e+00 1.00e+00f 1 79 3.2253880e-05 5.22e-15 1.72e-03 -6.1 6.69e-01 -20.0 9.34e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 1.3190746e-05 3.00e-15 2.08e-04 -6.1 1.72e-01 -20.0 1.00e+00 1.00e+00f 1 81 3.4826594e-06 5.55e-16 1.33e-04 -6.1 2.01e-01 -20.0 1.00e+00 1.00e+00f 1 82 3.6618080e-06 2.22e-16 6.81e-06 -6.1 1.21e-02 -20.0 1.00e+00 1.00e+00h 1 83 2.3047399e-07 7.98e-17 5.73e-05 -9.0 2.62e-01 -20.0 9.74e-01 1.00e+00f 1 84 2.1037620e-03 5.79e-16 1.07e-02 -4.0 1.11e+02 -20.0 1.00e+00 2.20e-02f 3 85 9.2781948e-05 4.40e-14 6.77e-03 -4.0 1.47e+00 -20.0 1.00e+00 1.00e+00f 1 86 7.4799433e-04 2.51e-14 5.23e-03 -4.0 7.94e-01 -20.0 1.00e+00 1.00e+00f 1 87 4.2206655e-04 4.88e-15 8.08e-04 -4.0 5.64e-01 -20.0 1.00e+00 5.00e-01f 2 88 4.2007852e-05 4.00e-15 2.16e-03 -5.9 7.32e-01 -20.0 9.28e-01 1.00e+00f 1 89 1.7238240e-05 3.66e-15 2.67e-04 -5.9 1.93e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 4.8463250e-06 6.66e-16 1.68e-04 -5.9 2.17e-01 -20.0 1.00e+00 1.00e+00f 1 91 5.4017401e-06 2.49e-16 1.51e-05 -5.9 2.21e-02 -20.0 1.00e+00 1.00e+00h 1 92 5.0605415e-06 7.63e-17 1.43e-06 -5.9 2.13e-03 -20.0 1.00e+00 1.00e+00h 1 93 3.5961742e-07 5.55e-17 7.87e-05 -8.9 2.93e-01 -20.0 9.71e-01 1.00e+00f 1 94 1.4534650e-07 4.03e-17 8.17e-06 -8.9 6.42e-02 -20.0 1.00e+00 1.00e+00f 1 95 1.3827658e-03 6.59e-16 3.50e-03 -4.0 3.43e+02 -20.0 1.00e+00 7.09e-03f 3 96 5.1642117e-04 5.88e-14 4.90e-03 -3.8 6.27e-01 -20.0 1.00e+00 1.00e+00f 1 97 8.4159404e-04 1.51e-14 1.59e-03 -3.8 1.90e-01 -20.0 1.00e+00 1.00e+00f 1 98 4.8433821e-05 7.55e-15 3.77e-03 -5.7 1.10e+00 -20.0 8.86e-01 1.00e+00f 1 99 2.5727744e-05 6.00e-15 2.60e-04 -5.7 1.59e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 7.8338232e-06 7.77e-16 2.46e-04 -5.7 2.52e-01 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 7.8338231894594209e-06 7.8338231894594209e-06 Dual infeasibility......: 2.4585262243148555e-04 2.4585262243148555e-04 Constraint violation....: 7.7715611723760958e-16 7.7715611723760958e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 3.1164912842994709e-06 3.1164912842994709e-06 Overall NLP error.......: 2.4585262243148555e-04 2.4585262243148555e-04 Number of objective function evaluations = 171 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 171 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 1 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 3.182 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: 0.049s integrator 3 jacobian structure: 0.0s jacobian structure: 1872 nonzeros (0.103s) integrator 1 hessian structure: 0.046s integrator 2 hessian structure: 0.048s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.37s sub-objective 2 (QuadraticRegularizer): 0.078s sub-objective 3 (LinearRegularizer): 0.086s sub-objective 4 (MinimumTimeObjective): 0.015s objective hessian structure: 0.635s hessian structure: 2431 nonzeros (0.731s) linear index maps built (0.0s) evaluator ready (total: 0.834s) evaluator created (0.834s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.108s) applying constraint: L1 slack constraint: |du| ≤ s_du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on s_du applying constraint: bounds on Δt linear constraints added: 6 (2.777s) optimizer initialization complete (total: 3.719s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1808 Number of nonzeros in inequality constraint Jacobian.: 80 Number of nonzeros in Lagrangian Hessian.............: 2239 Total number of variables............................: 122 variables with only lower bounds: 30 variables with lower and upper bounds: 0 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 40 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 40 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.0485230e+00 2.47e+00 1.05e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7310838e+00 1.46e+00 1.61e+00 -0.9 1.34e+01 -2.0 4.05e-01 3.30e-01f 1 2 3.5914401e+00 1.13e+00 3.70e+00 -0.4 6.98e+00 -2.5 4.56e-01 1.00e+00f 1 3 2.8010467e+00 7.02e-01 1.96e+00 -0.9 2.80e+00 -1.1 6.88e-01 8.65e-01f 1 4 2.8072940e+00 1.23e-01 1.11e+00 -2.8 1.28e+00 -1.6 7.20e-01 1.00e+00h 1 5 2.6104785e+00 1.64e-02 8.54e-02 -2.2 4.06e-01 -1.2 9.48e-01 1.00e+00h 1 6 2.5406609e+00 6.55e-03 2.89e-02 -3.2 1.73e-01 -0.8 9.96e-01 1.00e+00h 1 7 2.5087525e+00 2.33e-03 9.03e-02 -4.0 8.22e-02 -0.3 1.00e+00 7.23e-01h 1 8 2.4667465e+00 3.28e-03 2.98e-01 -4.0 2.69e-01 -0.8 1.00e+00 4.44e-01h 1 9 2.4276766e+00 1.57e-03 3.77e-02 -4.0 9.43e-02 -0.4 1.00e+00 8.53e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.3841709e+00 3.64e-03 6.76e-01 -4.0 4.08e-01 -0.9 1.00e+00 3.30e-01h 1 11 2.3657424e+00 2.64e-03 3.97e-01 -4.0 1.30e-01 -0.4 1.00e+00 3.60e-01h 1 12 2.2995760e+00 6.71e-03 3.52e-01 -4.0 5.36e-01 -0.9 1.00e+00 3.58e-01f 1 13 2.2507880e+00 9.35e-03 1.79e+00 -3.6 4.03e+00 -1.4 1.00e+00 3.89e-02f 1 14 2.1740680e+00 9.41e-03 4.42e-01 -3.8 3.60e-01 -1.0 1.00e+00 6.23e-01h 1 15 2.1174251e+00 1.13e-02 1.15e+00 -3.5 1.12e+00 -1.5 1.00e+00 1.74e-01h 1 16 2.0521730e+00 2.10e-02 4.28e-01 -3.2 4.15e-01 -1.9 1.00e+00 1.00e+00h 1 17 2.0056474e+00 2.76e-02 6.95e-01 -2.9 2.29e+00 -2.4 1.00e+00 3.86e-01h 1 18 2.0041483e+00 4.48e-04 2.69e-01 -3.3 2.92e-01 -2.9 1.00e+00 9.84e-01h 1 19 2.0015122e+00 3.45e-06 2.03e-03 -4.0 1.09e-01 -3.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0010162e+00 7.94e-07 7.00e-03 -4.0 3.72e-01 -3.8 1.00e+00 1.00e+00h 1 21 2.0010307e+00 3.86e-09 1.36e-02 -4.0 6.86e-01 -4.3 1.00e+00 1.00e+00h 1 22 2.0010493e+00 4.99e-11 2.57e-02 -4.0 1.33e+00 -4.8 1.00e+00 1.00e+00f 1 23 2.0007237e+00 6.30e-09 3.28e-02 -4.1 1.65e+00 -5.3 1.00e+00 1.00e+00f 1 24 2.0011912e+00 4.64e-09 1.02e-01 -4.0 5.18e+00 -5.7 1.00e+00 1.00e+00f 1 25 2.0007821e+00 4.66e-09 8.83e-02 -4.1 4.92e+00 -6.2 1.00e+00 9.00e-01f 1 26 2.0010480e+00 2.07e-10 2.48e-01 -4.1 1.24e+01 -6.7 1.00e+00 1.00e+00f 1 27 2.0008524e+00 8.19e-10 3.10e-01 -4.1 1.67e+01 -7.2 1.00e+00 9.28e-01f 1 28 2.0011609e+00 6.26e-10 6.50e-01 -4.1 3.26e+01 -7.7 1.00e+00 1.00e+00f 1 29 2.0009124e+00 1.10e-09 8.87e-01 -4.1 4.87e+01 -8.1 1.00e+00 9.11e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0012172e+00 5.80e-10 1.74e+00 -4.1 8.69e+01 -8.6 1.00e+00 1.00e+00f 1 31 2.0009201e+00 6.01e-10 2.58e+00 -4.1 1.40e+02 -9.1 1.00e+00 9.24e-01f 1 32 2.0012522e+00 3.42e-10 4.78e+00 -4.1 2.39e+02 -9.6 1.00e+00 1.00e+00f 1 33 2.0009050e+00 4.88e-10 7.81e+00 -4.1 4.21e+02 -10.0 1.00e+00 9.27e-01f 1 34 2.0012781e+00 2.34e-10 1.35e+01 -4.1 6.77e+02 -10.5 1.00e+00 1.00e+00f 1 35 2.0008674e+00 3.32e-10 2.37e+01 -4.1 1.26e+03 -11.0 1.00e+00 9.36e-01f 1 36 2.0013591e+00 1.57e-08 8.69e+01 -4.1 2.89e+04 -11.5 5.27e-01 1.00e+00F 1 37 2.0007476e+00 2.07e-07 6.02e+01 -4.1 1.19e+04 -12.0 1.00e+00 6.38e-01f 1 38 2.0015129e+00 5.22e-08 1.56e+02 -4.1 8.08e+03 -12.4 1.00e+00 1.00e+00f 1 39 2.0005468e+00 1.66e-08 1.44e+02 -4.1 1.13e+04 -12.9 1.00e+00 7.42e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0022770e+00 1.78e-09 3.44e+02 -4.0 1.75e+04 -13.4 1.00e+00 1.00e+00f 1 41 2.0001220e+00 1.01e-09 5.83e+01 -4.2 5.81e+03 -13.9 1.00e+00 6.52e-01f 1 42 2.0018490e+00 2.27e-10 6.54e+02 -4.0 3.27e+04 -14.3 1.00e+00 1.00e+00f 1 43 2.0008497e+00 4.74e-11 5.48e+01 -4.2 7.18e+03 -14.8 1.00e+00 3.81e-01f 2 44 2.0006265e+00 1.93e-11 2.00e+02 -4.2 1.03e+04 -15.3 1.00e+00 1.00e+00f 1 45 2.0005729e+00 1.23e-12 1.91e+02 -4.2 9.55e+03 -15.8 1.00e+00 1.00e+00f 1 46 2.0005231e+00 1.72e-13 8.76e+01 -4.2 4.38e+03 -16.2 1.00e+00 1.00e+00h 1 47 2.0005108e+00 3.09e-14 3.86e+01 -4.2 1.93e+03 -16.7 1.00e+00 1.00e+00h 1 48 2.0005010e+00 5.57e-14 1.34e+01 -4.2 6.69e+02 -17.2 1.00e+00 1.00e+00h 1 49 2.0004987e+00 4.58e-14 6.26e+00 -4.2 3.13e+02 -17.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0004970e+00 8.05e-14 2.17e+00 -4.2 1.08e+02 -18.2 1.00e+00 1.00e+00h 1 51 2.0004967e+00 6.76e-14 1.04e+00 -4.2 5.20e+01 -18.6 1.00e+00 1.00e+00h 1 52 2.0004964e+00 1.20e-13 3.59e-01 -4.2 1.80e+01 -19.1 1.00e+00 1.00e+00h 1 53 2.0004963e+00 1.01e-13 1.73e-01 -4.2 8.67e+00 -19.6 1.00e+00 1.00e+00h 1 54 2.0004963e+00 1.55e-13 5.98e-02 -4.2 2.99e+00 -20.0 1.00e+00 1.00e+00h 1 55 2.0004963e+00 4.36e-14 2.89e-02 -4.2 1.44e+00 -20.0 1.00e+00 1.00e+00h 1 56 2.0004963e+00 2.59e-14 9.97e-03 -4.2 4.98e-01 -20.0 1.00e+00 1.00e+00h 1 57 2.0004963e+00 7.26e-15 4.81e-03 -4.2 2.41e-01 -20.0 1.00e+00 1.00e+00h 1 58 2.0004963e+00 4.31e-15 1.66e-03 -4.2 8.31e-02 -20.0 1.00e+00 1.00e+00h 1 59 2.0004963e+00 1.21e-15 8.02e-04 -4.2 4.52e-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 2.0004963e+00 7.17e-16 2.77e-04 -4.2 4.52e-02 -20.0 1.00e+00 1.00e+00h 1 61 2.0008741e+00 2.52e-09 1.06e+02 -4.0 5.28e+03 -20.0 1.00e+00 1.00e+00f 1 62 2.0005578e+00 4.24e-10 1.62e+02 -4.1 8.09e+03 -20.0 1.00e+00 1.00e+00h 1 63 2.0006577e+00 4.45e-10 6.17e+01 -4.1 3.08e+03 -20.0 1.00e+00 1.00e+00h 1 64 2.0006258e+00 1.21e-10 2.57e+01 -4.1 1.29e+03 -20.0 1.00e+00 1.00e+00h 1 65 2.0006413e+00 7.13e-11 8.38e+00 -4.1 4.19e+02 -20.0 1.00e+00 1.00e+00h 1 66 2.0006360e+00 2.10e-11 4.44e+00 -4.1 2.22e+02 -20.0 1.00e+00 1.00e+00h 1 67 2.0006385e+00 1.18e-11 1.35e+00 -4.1 6.74e+01 -20.0 1.00e+00 1.00e+00h 1 68 2.0006376e+00 3.53e-12 7.43e-01 -4.1 3.71e+01 -20.0 1.00e+00 1.00e+00h 1 69 2.0006381e+00 1.96e-12 2.23e-01 -4.1 1.12e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0006379e+00 5.88e-13 1.24e-01 -4.1 6.19e+00 -20.0 1.00e+00 1.00e+00h 1 71 2.0006380e+00 3.26e-13 3.71e-02 -4.1 1.86e+00 -20.0 1.00e+00 1.00e+00h 1 72 2.0006380e+00 9.79e-14 2.06e-02 -4.1 1.03e+00 -20.0 1.00e+00 1.00e+00h 1 73 2.0006380e+00 5.43e-14 6.19e-03 -4.1 3.10e-01 -20.0 1.00e+00 1.00e+00h 1 74 2.0006380e+00 1.63e-14 3.44e-03 -4.1 1.72e-01 -20.0 1.00e+00 1.00e+00h 1 75 2.0006380e+00 9.05e-15 1.03e-03 -4.1 9.87e-02 -20.0 1.00e+00 1.00e+00h 1 76 2.0006380e+00 2.71e-15 5.73e-04 -4.1 9.87e-02 -20.0 1.00e+00 1.00e+00h 1 77 1.9998550e+00 1.27e-08 2.26e+02 -6.1 1.13e+04 -20.0 1.00e+00 1.00e+00f 1 78 2.0006798e+00 3.29e-09 2.07e+03 -4.0 2.07e+05 -20.0 1.00e+00 5.00e-01f 2 79 2.0004274e+00 1.01e-10 2.25e+03 -3.9 1.13e+05 -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 2.0009509e+00 3.38e-09 5.32e+02 -3.9 2.66e+04 -20.0 1.00e+00 1.00e+00f 1 81 2.0010313e+00 2.92e-09 1.05e+02 -3.9 5.23e+03 -20.0 1.00e+00 1.00e+00h 1 82 2.0010446e+00 7.44e-10 2.70e+01 -3.9 1.35e+03 -20.0 1.00e+00 1.00e+00h 1 83 2.0010612e+00 5.55e-10 6.29e+00 -3.9 3.15e+02 -20.0 1.00e+00 1.00e+00h 1 84 2.0010631e+00 1.33e-10 4.70e+00 -3.9 2.35e+02 -20.0 1.00e+00 1.00e+00h 1 85 2.0010658e+00 9.46e-11 1.10e+00 -3.9 5.48e+01 -20.0 1.00e+00 1.00e+00h 1 86 2.0010661e+00 2.24e-11 7.82e-01 -3.9 3.91e+01 -20.0 1.00e+00 1.00e+00h 1 87 2.0010665e+00 1.58e-11 1.84e-01 -3.9 9.20e+00 -20.0 1.00e+00 1.00e+00h 1 88 2.0010666e+00 3.73e-12 1.30e-01 -3.9 6.51e+00 -20.0 1.00e+00 1.00e+00h 1 89 2.0010667e+00 2.63e-12 3.07e-02 -3.9 1.54e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0010667e+00 6.21e-13 2.17e-02 -3.9 1.09e+00 -20.0 1.00e+00 1.00e+00h 1 91 2.0010667e+00 4.39e-13 5.12e-03 -3.9 4.82e-01 -20.0 1.00e+00 1.00e+00h 1 92 2.0010667e+00 1.03e-13 3.62e-03 -3.9 4.82e-01 -20.0 1.00e+00 1.00e+00h 1 93 2.0010667e+00 7.30e-14 8.53e-04 -3.9 4.82e-01 -20.0 1.00e+00 1.00e+00h 1 94 1.9998647e+00 8.41e-08 2.43e+02 -5.9 1.22e+04 -20.0 1.00e+00 1.00e+00f 1 95 1.9998449e+00 3.03e-13 2.19e+02 -5.9 1.18e+04 -20.0 9.29e-01 1.00e+00h 1 96 1.9766055e+00 2.81e-13 2.68e+05 -5.5 1.07e+08 -20.0 1.00e+00 1.25e-01f 4 97 1.9878292e+00 2.54e-13 1.40e+05 -4.9 1.06e+09 -20.0 1.00e+00 6.59e-03f 1 98 1.9999800e+00 1.83e-13 1.30e+05 -3.4 2.66e+08 -20.0 1.00e+00 2.44e-02f 1 99 1.9998750e+00 6.91e-09 1.96e+03 -3.4 9.81e+04 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0168273e+00 1.86e-04 1.67e+00 -3.4 1.60e+03 -20.0 1.00e+00 1.25e-01f 4 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0168273273157586e+00 2.0168273273157586e+00 Dual infeasibility......: 1.6678943153533510e+00 1.6678943153533510e+00 Constraint violation....: 1.8610657987605793e-04 1.8610657987605793e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.8837897972071038e-03 1.8837897972071038e-03 Overall NLP error.......: 1.5015639364530089e+00 1.6678943153533510e+00 Number of objective function evaluations = 116 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 116 Number of inequality constraint evaluations = 116 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 38.206 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: 0.057s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.057s) integrator 1 hessian structure: 0.045s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.046s) linear index maps built (0.0s) evaluator ready (total: 0.103s) evaluator created (0.103s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.333s) optimizer initialization complete (total: 0.437s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1529 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 73 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.6387053e+00 3.49e+00 1.35e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.0877784e+00 2.58e+00 4.71e+00 -0.9 1.05e+01 -2.0 1.42e-01 3.53e-01f 1 2 9.7906828e-01 1.58e+00 5.91e+00 -0.6 4.04e+00 -0.7 6.77e-02 3.57e-01f 1 3 1.0482438e+00 1.46e+00 7.00e+00 -0.0 4.05e+00 -0.2 4.29e-01 7.77e-02f 1 4 1.1985472e+00 1.42e+00 2.05e+01 0.2 1.11e+01 -0.7 6.55e-01 2.77e-01f 1 5 1.5943773e+00 7.49e-01 2.17e+01 -0.2 5.55e+00 -0.3 4.44e-01 5.96e-01h 1 6 1.9556649e+00 2.11e-01 1.16e+01 -0.8 1.27e+00 0.1 6.12e-01 8.36e-01h 1 7 1.9706349e+00 3.18e-02 1.02e+00 -0.7 2.75e-01 0.6 9.55e-01 1.00e+00f 1 8 1.8582467e+00 6.05e-03 3.25e-01 -1.5 1.16e-01 0.1 9.21e-01 1.00e+00h 1 9 1.5792119e+00 6.07e-03 5.93e-02 -2.0 1.48e-01 -0.4 9.96e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.3961536e+00 1.87e-02 4.75e-02 -2.2 3.49e-01 -0.9 9.15e-01 8.91e-01h 1 11 1.3306058e+00 2.47e-02 2.00e-01 -2.4 1.41e+00 -1.4 8.33e-01 3.37e-01h 1 12 1.2716251e+00 2.28e-02 2.19e-01 -2.7 6.24e-01 -1.8 9.98e-01 5.36e-01h 1 13 1.2089839e+00 7.54e-02 1.13e-02 -3.5 8.94e-01 -2.3 1.00e+00 1.00e+00h 1 14 1.1969815e+00 3.59e-02 3.02e-02 -4.0 1.39e+00 -2.8 1.00e+00 1.00e+00h 1 15 1.1868960e+00 7.55e-02 1.64e-02 -4.0 2.06e+00 -3.3 1.00e+00 1.00e+00h 1 16 1.1812123e+00 7.36e-02 1.99e-02 -4.0 2.88e+00 -3.7 1.00e+00 1.00e+00h 1 17 1.1762667e+00 9.60e-02 1.28e-02 -4.0 4.27e+00 -4.2 1.00e+00 1.00e+00h 1 18 1.1727527e+00 1.08e-01 1.31e-02 -4.0 6.54e+00 -4.7 1.00e+00 1.00e+00h 1 19 1.1697388e+00 1.38e-01 8.37e-03 -4.0 1.00e+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 20 1.1674553e+00 1.64e-01 6.28e-03 -4.0 1.53e+01 -5.6 1.00e+00 1.00e+00h 1 21 1.1655668e+00 2.02e-01 1.61e-03 -4.0 2.34e+01 -6.1 1.00e+00 1.00e+00h 1 22 1.1640974e+00 2.43e-01 2.40e-03 -4.0 3.54e+01 -6.6 1.00e+00 1.00e+00h 1 23 1.1629089e+00 2.94e-01 8.07e-03 -4.0 5.33e+01 -7.1 1.00e+00 1.00e+00h 1 24 1.1619851e+00 3.48e-01 1.37e-02 -4.0 7.92e+01 -7.6 1.00e+00 1.00e+00h 1 25 1.1612643e+00 4.04e-01 1.99e-02 -4.0 1.16e+02 -8.0 1.00e+00 1.00e+00h 1 26 1.1607491e+00 4.42e-01 2.43e-02 -4.0 1.63e+02 -8.5 1.00e+00 1.00e+00h 1 27 1.1604838e+00 4.06e-01 2.15e-02 -4.0 2.08e+02 -9.0 1.00e+00 1.00e+00h 1 28 1.1606930e+00 1.22e-01 6.65e-04 -4.0 1.57e+02 -9.5 1.00e+00 1.00e+00h 1 29 1.1608550e+00 3.01e-03 9.75e-04 -4.0 1.55e+01 -9.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.1608490e+00 3.63e-04 4.36e-05 -4.0 7.87e+00 -10.4 1.00e+00 1.00e+00h 1 31 1.1608491e+00 2.79e-07 3.01e-09 -4.0 2.40e-01 -10.9 1.00e+00 1.00e+00h 1 32 1.1608491e+00 3.23e-12 3.35e-13 -4.0 7.44e-04 -11.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 32 (scaled) (unscaled) Objective...............: 1.1608491307796851e+00 1.1608491307796851e+00 Dual infeasibility......: 3.3540656146566206e-13 3.3540656146566206e-13 Constraint violation....: 3.2258640203508548e-12 3.2258640203508548e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000521e-04 1.0000000000000521e-04 Overall NLP error.......: 3.2258640203508548e-12 3.2258640203508548e-12 Number of objective function evaluations = 33 Number of objective gradient evaluations = 33 Number of equality constraint evaluations = 33 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 33 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 32 Total seconds in IPOPT = 24.404 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.047s jacobian structure: 180 nonzeros (0.08s) integrator 1 hessian structure: 0.041s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.273s sub-objective 2 (QuadraticRegularizer): 0.074s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.015s objective hessian structure: 0.438s hessian structure: 375 nonzeros (0.479s) linear index maps built (0.0s) evaluator ready (total: 0.676s) evaluator created (0.676s) NL constraint bounds extracted (0.01s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.095s) applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.22s) optimizer initialization complete (total: 3.001s) 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 1.3949029e+00 1.82e+00 1.02e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.3118161e+00 1.79e-01 1.94e+00 -0.9 8.35e-01 0.0 9.89e-01 1.00e+00h 1 2 1.4876163e+00 5.09e-02 5.40e-01 -0.7 4.04e-01 -0.5 1.00e+00 7.21e-01h 1 3 2.0075724e+00 4.98e-02 2.59e+00 -1.5 7.68e+00 - 9.10e-01 1.00e+00H 1 4 1.9552773e+00 1.65e-02 5.21e+00 -1.5 8.77e-01 -1.0 9.99e-01 5.81e-01h 1 5 1.6297461e+00 3.14e-02 3.23e+00 -1.7 8.23e-01 -0.5 5.99e-01 4.06e-01F 1 6 1.3406406e+00 2.70e-02 2.19e+00 -1.9 8.44e-01 -1.0 1.00e+00 3.19e-01f 1 7 1.1282732e+00 2.68e-03 1.85e-01 -2.6 7.20e-02 -1.5 1.00e+00 9.91e-01h 1 8 1.0963218e+00 3.98e-05 5.65e-01 -4.0 5.83e+00 - 1.00e+00 1.00e+00h 1 9 1.0925880e+00 2.13e-05 7.57e-02 -4.0 2.17e+00 - 1.00e+00 4.64e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0910203e+00 4.86e-08 1.98e-02 -4.0 1.33e+00 - 1.00e+00 1.00e+00h 1 11 1.0910389e+00 1.64e-12 1.52e-04 -4.0 1.22e-01 - 1.00e+00 1.00e+00h 1 12 1.0910386e+00 7.66e-20 1.17e-09 -4.0 3.40e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 12 (scaled) (unscaled) Objective...............: 1.0910385779420100e+00 1.0910385779420100e+00 Dual infeasibility......: 1.1670395445926955e-09 1.1670395445926955e-09 Constraint violation....: 7.6608914594893731e-20 7.6608914594893731e-20 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 1.1670395445926955e-09 1.1670395445926955e-09 Number of objective function evaluations = 17 Number of objective gradient evaluations = 13 Number of equality constraint evaluations = 17 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 13 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 12 Total seconds in IPOPT = 19.993 EXIT: Optimal Solution Found. Difference in Jacobian initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.062s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.063s) integrator 1 hessian structure: 0.05s 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 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.051s) linear index maps built (0.0s) evaluator ready (total: 0.115s) evaluator created (0.115s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (1.799s) optimizer initialization complete (total: 1.915s) 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 3.0168169e+00 3.66e+00 2.66e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8575106e+00 1.98e-02 5.04e-01 -1.0 2.17e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.3119190e+00 1.57e-02 6.74e-02 -1.8 2.55e-01 -1.6 9.66e-01 1.00e+00h 1 3 2.1270700e+00 1.02e-02 3.17e-01 -3.4 1.92e-01 -1.1 9.52e-01 1.00e+00h 1 4 2.0945859e+00 2.12e-03 1.33e-01 -4.0 8.31e-02 -1.6 1.00e+00 7.76e-01h 1 5 2.0913432e+00 7.35e-04 9.48e-01 -4.0 8.64e-01 -2.1 1.00e+00 5.85e-01h 1 6 2.0910036e+00 3.60e-05 1.32e-01 -4.0 4.52e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0910167e+00 7.84e-07 1.05e-03 -4.0 2.35e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0910075e+00 1.41e-07 2.06e-05 -4.0 7.05e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909866e+00 1.60e-08 2.06e-05 -4.0 2.11e-01 -4.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909246e+00 1.47e-07 2.05e-05 -4.0 6.32e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907416e+00 1.30e-06 4.98e-05 -4.0 1.88e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0902202e+00 1.10e-05 4.21e-04 -4.0 5.45e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888722e+00 8.23e-05 3.17e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861747e+00 4.41e-04 1.75e-02 -4.0 3.47e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830925e+00 9.22e-04 4.73e-02 -4.0 5.33e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828466e+00 9.28e-04 2.30e-02 -4.0 5.40e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823432e+00 3.87e-04 1.01e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820398e+00 9.52e-05 1.84e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.68e-04 8.63e-03 -4.0 9.90e+01 -8.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0819393e+00 3.67e-05 8.42e-04 -4.0 3.10e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.30e-07 1.38e-05 -4.0 4.44e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.78e-10 3.24e-08 -4.0 2.44e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.51e-13 1.21e-11 -4.0 4.58e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907190884e+00 2.0819382907190884e+00 Dual infeasibility......: 1.2087639998095354e-11 1.2087639998095354e-11 Constraint violation....: 2.5135449277513544e-13 2.5135449277513544e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000055e-04 1.0000000000000055e-04 Overall NLP error.......: 1.2087639998095354e-11 1.2087639998095354e-11 Number of objective function evaluations = 24 Number of objective gradient evaluations = 24 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 24 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 23 Total seconds in IPOPT = 27.173 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.058s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.059s) integrator 1 hessian structure: 0.044s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (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: 0.105s) evaluator created (0.105s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.056s) optimizer initialization complete (total: 0.162s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1528 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 77 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.4404601e+00 2.32e+00 2.29e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8534142e+00 5.10e-02 1.17e+00 -1.1 1.92e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.3642946e+00 1.25e-01 2.04e-01 -1.4 1.09e+00 -1.6 9.20e-01 8.18e-01h 1 3 2.1453655e+00 2.74e-03 5.19e-01 -2.5 1.40e-01 -1.1 9.75e-01 1.00e+00h 1 4 2.1179441e+00 1.40e-03 1.61e+00 -3.5 2.72e-01 -1.6 9.99e-01 5.03e-01h 1 5 2.0972060e+00 1.97e-03 1.33e+00 -4.0 5.96e-01 -2.1 1.00e+00 9.10e-01h 1 6 2.0918142e+00 8.12e-04 6.47e-01 -4.0 4.10e-01 -2.6 1.00e+00 5.85e-01h 1 7 2.0908610e+00 7.93e-05 1.03e-01 -4.0 2.55e-01 -3.1 1.00e+00 9.96e-01h 1 8 2.0909568e+00 2.80e-06 3.29e-04 -4.0 8.78e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909367e+00 6.72e-07 6.53e-05 -4.0 2.43e-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 2.0908820e+00 1.56e-07 3.05e-04 -4.0 5.77e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907803e+00 5.81e-07 1.39e-03 -4.0 1.34e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0905045e+00 6.30e-06 1.02e-03 -4.0 4.32e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0898108e+00 2.89e-05 1.11e-02 -4.0 1.11e+01 -5.9 1.00e+00 7.66e-01h 1 14 2.0886324e+00 1.14e-04 6.04e-02 -4.0 3.61e+01 -6.4 1.00e+00 5.00e-01f 2 15 2.0880499e+00 3.32e-05 9.75e-03 -4.0 2.78e+00 -5.1 1.00e+00 7.91e-01h 1 16 2.0877742e+00 4.68e-06 3.39e-03 -4.0 5.42e+00 -5.5 1.00e+00 1.00e+00h 1 17 2.0866252e+00 6.43e-05 1.02e-02 -4.0 1.56e+01 -6.0 1.00e+00 8.02e-01h 1 18 2.0846612e+00 3.64e-04 1.86e-02 -4.0 3.28e+01 -6.5 1.00e+00 1.00e+00h 1 19 2.0830203e+00 2.81e-04 3.43e-02 -4.0 4.00e+01 -7.0 1.00e+00 6.14e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0825043e+00 4.87e-04 1.73e-02 -4.0 7.52e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0821576e+00 7.10e-04 9.47e-03 -4.0 1.61e+02 -7.9 8.59e-01 1.00e+00h 1 22 2.0828066e+00 6.27e-06 3.69e-02 -4.0 4.85e+01 -6.6 1.00e+00 1.00e+00H 1 23 2.0865610e+00 1.44e-02 9.69e-02 -3.3 3.04e+01 -6.2 1.00e+00 1.00e+00f 1 24 2.0894114e+00 1.15e-03 3.04e-01 -3.3 3.94e+00 -4.8 5.45e-01 9.07e-01h 1 25 2.0871768e+00 3.29e-06 1.41e-02 -3.3 7.52e-02 -0.8 1.00e+00 1.00e+00f 1 26 2.0851171e+00 1.15e-05 4.79e-03 -4.0 1.04e-01 -1.3 1.00e+00 1.00e+00h 1 27 2.0829460e+00 4.35e-05 2.99e-03 -4.1 1.21e-01 -1.8 1.00e+00 1.00e+00h 1 28 2.0829976e+00 3.06e-06 4.19e-04 -4.1 2.77e-02 -2.2 1.00e+00 1.00e+00h 1 29 2.0823052e+00 4.24e-06 9.10e-03 -6.1 3.50e-02 -2.7 9.38e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0831586e+00 5.59e-06 1.05e-03 -4.0 3.19e-01 -3.2 1.00e+00 9.91e-01f 1 31 2.0829683e+00 1.08e-06 7.94e-04 -4.1 2.39e-01 -3.7 1.00e+00 1.00e+00h 1 32 2.0822818e+00 1.42e-05 9.93e-03 -6.1 1.43e-01 -4.1 9.40e-01 1.00e+00h 1 33 2.0823048e+00 3.97e-06 4.64e-04 -5.1 4.07e-01 -4.6 1.00e+00 1.00e+00h 1 34 2.0826463e+00 6.10e-05 2.71e-01 -4.0 2.50e+00 -5.1 1.00e+00 4.02e-01f 1 35 2.0828260e+00 2.94e-04 1.92e-03 -4.1 2.68e+00 -5.6 1.00e+00 1.00e+00f 1 36 2.0825292e+00 6.77e-04 2.04e-03 -4.1 8.57e+00 -6.1 1.00e+00 1.00e+00h 1 37 2.0820237e+00 4.70e-04 4.99e-03 -4.1 1.92e+01 -6.5 1.00e+00 1.00e+00h 1 38 2.0820784e+00 2.25e-04 8.71e-03 -4.0 1.40e+01 -7.0 1.00e+00 1.00e+00h 1 39 2.0817588e+00 8.57e-04 2.29e-03 -4.1 2.82e+01 -7.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0819089e+00 1.04e-03 4.50e-03 -4.0 4.30e+01 -8.0 1.00e+00 1.00e+00h 1 41 2.0815965e+00 1.28e-03 3.36e-03 -4.1 5.49e+01 -8.4 1.00e+00 1.00e+00h 1 42 2.0818411e+00 8.78e-04 7.85e-04 -4.0 3.73e+01 -8.9 1.00e+00 1.00e+00h 1 43 2.0818384e+00 4.39e-06 6.27e-05 -4.0 9.76e+00 -9.4 1.00e+00 1.00e+00h 1 44 2.0818383e+00 1.67e-08 6.91e-07 -4.0 1.05e+00 -9.9 1.00e+00 1.00e+00h 1 45 2.0818383e+00 2.01e-11 1.05e-09 -4.0 4.01e-02 -10.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 45 (scaled) (unscaled) Objective...............: 2.0818383022075793e+00 2.0818383022075793e+00 Dual infeasibility......: 1.0462226174648166e-09 1.0462226174648166e-09 Constraint violation....: 2.0086154961518332e-11 2.0086154961518332e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000017e-04 1.0000000000000017e-04 Overall NLP error.......: 1.0462226174648166e-09 1.0462226174648166e-09 Number of objective function evaluations = 52 Number of objective gradient evaluations = 46 Number of equality constraint evaluations = 52 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 46 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 45 Total seconds in IPOPT = 25.668 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.055s jacobian structure: 180 nonzeros (0.095s) integrator 1 hessian structure: 0.049s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.298s sub-objective 2 (QuadraticRegularizer): 0.08s sub-objective 3 (MinimumTimeObjective): 0.017s objective hessian structure: 0.487s hessian structure: 375 nonzeros (0.536s) linear index maps built (0.0s) evaluator ready (total: 0.777s) evaluator created (0.778s) NL constraint bounds extracted (0.012s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.112s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.15s) optimizer initialization complete (total: 4.052s) 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 1.7418302e+00 9.52e-01 1.07e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5058318e+00 1.67e-01 1.10e+00 -1.0 8.55e-01 0.0 9.56e-01 8.34e-01h 1 2 1.4455934e+00 1.49e-01 8.08e-01 -0.8 1.12e+01 - 2.68e-01 1.43e-01h 1 3 1.4939216e+00 5.89e-02 1.63e+00 -1.7 2.67e-01 -0.5 1.00e+00 1.00e+00h 1 4 1.4086478e+00 4.84e-02 1.06e+00 -1.1 1.72e+00 -1.0 7.91e-01 1.35e-01f 2 5 1.3378346e+00 2.35e-02 6.32e-01 -2.1 8.62e-01 -1.4 9.97e-01 5.41e-01h 1 6 1.4278777e+00 4.29e-02 1.55e+00 -1.8 1.27e+00 -1.9 9.92e-01 7.94e-01h 1 7 1.3061531e+00 3.57e-02 1.47e+00 -1.6 1.20e+00 -1.5 1.00e+00 1.38e-01f 1 8 1.1436965e+00 8.64e-03 3.15e-01 -2.5 4.31e-01 -2.0 1.00e+00 7.68e-01h 1 9 1.0993644e+00 9.67e-05 1.21e-01 -4.0 1.81e+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 1.0910086e+00 5.44e-06 3.08e-02 -4.0 1.30e+00 - 1.00e+00 9.75e-01h 1 11 1.0908994e+00 5.17e-08 2.64e-03 -4.0 5.02e-01 - 1.00e+00 1.00e+00h 1 12 1.0908997e+00 8.47e-13 3.91e-05 -4.0 3.57e-03 - 1.00e+00 1.00e+00h 1 13 1.0908997e+00 7.90e-21 3.86e-05 -4.0 8.56e-07 - 1.00e+00 1.00e+00h 1 14 1.0907198e+00 2.60e-25 8.32e-09 -4.1 2.00e-05 - 1.00e+00 1.00e+00f 1 15 1.0908997e+00 3.44e-27 8.95e-09 -4.0 2.00e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 15 (scaled) (unscaled) Objective...............: 1.0908997336734827e+00 1.0908997336734827e+00 Dual infeasibility......: 8.9454913199116248e-09 8.9454913199116248e-09 Constraint violation....: 3.4373004286226461e-27 3.4373004286226461e-27 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000081632638662e-04 1.0000081632638662e-04 Overall NLP error.......: 8.9454913199116248e-09 8.9454913199116248e-09 Number of objective function evaluations = 19 Number of objective gradient evaluations = 16 Number of equality constraint evaluations = 19 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 16 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 15 Total seconds in IPOPT = 23.778 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.063s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.063s) 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: 0.115s) 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 4.0199813e+00 2.95e+00 3.46e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5847618e+00 1.16e-01 1.98e+00 -1.3 2.01e+00 0.0 3.60e-01 9.62e-01h 1 2 2.3696995e+00 4.46e-02 1.37e+00 -1.0 2.40e-01 0.4 9.05e-01 6.57e-01f 1 3 2.3320847e+00 1.27e-02 5.17e-01 -1.4 2.31e-01 -0.1 9.88e-01 1.00e+00h 1 4 2.2078542e+00 9.55e-04 2.33e-01 -2.3 6.82e-02 -0.5 9.91e-01 1.00e+00h 1 5 2.0957698e+00 4.16e-04 3.82e-02 -3.7 4.35e-02 -1.0 1.00e+00 8.74e-01f 1 6 2.0910811e+00 1.77e-05 2.00e-02 -4.0 1.23e-02 -1.5 1.00e+00 1.00e+00h 1 7 2.0909192e+00 9.11e-08 1.40e-04 -4.0 1.28e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0909216e+00 5.15e-09 7.11e-05 -4.0 1.94e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909199e+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 2.0909149e+00 9.69e-10 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909000e+00 8.72e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908551e+00 7.85e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907208e+00 7.08e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903187e+00 6.41e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891213e+00 5.86e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856115e+00 5.53e-04 2.31e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796395e+00 2.29e-03 1.36e-01 -4.0 9.56e+01 -6.7 1.00e+00 6.30e-01h 1 18 2.0807170e+00 1.66e-04 1.86e-01 -4.0 6.76e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775357e+00 7.73e-03 2.58e-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 2.0769465e+00 1.33e-03 6.92e-02 -4.0 1.89e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0762815e+00 2.10e-03 2.04e-02 -4.0 3.35e+02 -8.6 1.00e+00 7.51e-01h 1 22 2.0755131e+00 1.71e-03 2.79e-02 -4.0 5.85e+02 -9.1 1.00e+00 7.51e-01h 1 23 2.0758033e+00 3.63e-03 1.51e-02 -4.0 1.75e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753923e+00 1.37e-03 7.74e-04 -4.1 9.98e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756722e+00 4.63e-04 7.55e-06 -4.0 2.17e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 5.91e-07 1.14e-06 -4.0 1.21e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.28e-09 8.56e-08 -4.0 4.34e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 3.86e-11 1.53e-09 -4.0 6.85e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121573124e+00 2.0756712121573124e+00 Dual infeasibility......: 1.5341093179328281e-09 1.5341093179328281e-09 Constraint violation....: 3.8563929827262200e-11 3.8563929827262200e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000053e-04 1.0000000000000053e-04 Overall NLP error.......: 1.5341093179328281e-09 1.5341093179328281e-09 Number of objective function evaluations = 30 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 30 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 29.427 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.067s) integrator 1 hessian structure: 0.042s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.043s) linear index maps built (0.0s) evaluator ready (total: 0.111s) evaluator created (0.111s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.134s) optimizer initialization complete (total: 0.245s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1488 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1524 Total number of variables............................: 100 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.3208961e+00 4.28e+00 4.70e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9346869e+00 3.96e-02 2.26e+00 -0.9 2.26e+00 0.0 9.94e-01 1.00e+00f 1 2 2.6215515e+00 2.65e-03 3.21e-01 -1.4 1.20e-01 0.4 9.98e-01 1.00e+00h 1 3 2.1844020e+00 4.61e-03 1.54e-01 -2.1 1.74e-01 -0.1 9.69e-01 1.00e+00f 1 4 2.1181648e+00 2.01e-03 2.22e-01 -3.2 6.01e-02 -0.5 9.98e-01 5.73e-01h 1 5 2.0925646e+00 3.17e-04 5.85e-02 -4.0 4.14e-02 -1.0 1.00e+00 8.62e-01h 1 6 2.0908535e+00 4.62e-05 6.24e-02 -4.0 1.02e-01 -1.5 1.00e+00 9.68e-01h 1 7 2.0907934e+00 1.38e-06 6.28e-03 -4.0 1.56e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0909009e+00 1.57e-07 1.18e-04 -4.0 1.93e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908993e+00 1.63e-08 2.07e-05 -4.0 1.70e-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 2.0908943e+00 1.12e-09 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908793e+00 8.77e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908345e+00 7.89e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907002e+00 7.11e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902981e+00 6.43e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891009e+00 5.89e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855917e+00 5.55e-04 2.31e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796448e+00 2.28e-03 1.36e-01 -4.0 9.55e+01 -6.7 1.00e+00 6.28e-01h 1 18 2.0807370e+00 1.64e-04 1.81e-01 -4.0 6.58e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775416e+00 7.53e-03 2.45e-02 -4.0 1.19e+02 -7.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0769249e+00 1.13e-03 5.11e-02 -4.0 1.77e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0760067e+00 1.10e-03 2.38e-02 -4.0 3.13e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0754492e+00 5.08e-04 3.10e-02 -4.0 4.76e+02 -9.1 1.00e+00 7.21e-01H 1 23 2.0757737e+00 2.23e-03 1.08e-02 -4.0 1.44e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753813e+00 1.37e-03 5.00e-04 -4.1 7.94e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756722e+00 3.99e-04 6.76e-06 -4.0 1.82e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0753425e+00 6.34e-04 7.73e-07 -4.1 2.59e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756725e+00 3.34e-04 8.14e-07 -4.0 1.36e+01 -11.5 1.00e+00 1.00e+00h 1 28 2.0753425e+00 5.01e-04 2.61e-07 -4.1 2.05e+01 -12.0 1.00e+00 1.00e+00h 1 29 2.0756725e+00 5.53e-04 1.18e-07 -4.0 2.26e+01 -12.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0753425e+00 5.53e-04 9.06e-08 -4.1 2.26e+01 -12.9 1.00e+00 1.00e+00h 1 31 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -13.4 9.28e-01 1.00e+00h 1 32 2.0757517e+00 1.59e-01 1.53e-04 -4.0 1.29e+03 -13.9 1.00e+00 1.00e+00h 1 33 2.0753574e+00 2.64e-02 8.69e-05 -4.1 1.05e+03 -14.4 1.00e+00 1.00e+00h 1 34 2.0753474e+00 1.15e-05 2.14e-06 -4.1 1.63e+02 -14.8 1.00e+00 1.00e+00h 1 35 2.0756726e+00 7.25e-04 1.64e-07 -4.0 3.02e+01 -15.3 1.00e+00 1.00e+00h 1 36 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -15.8 1.00e+00 1.00e+00h 1 37 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -16.3 9.28e-01 1.00e+00h 1 38 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -16.8 8.16e-01 1.00e+00h 1 39 2.0742914e+00 4.02e-02 1.95e-02 -4.0 1.50e+04 -17.2 1.00e+00 1.46e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0748877e+00 5.32e-02 4.44e-05 -4.3 1.16e+03 -17.7 1.00e+00 1.00e+00h 1 41 2.0748919e+00 7.80e-04 1.27e-05 -4.3 8.19e+02 -18.2 1.00e+00 1.00e+00h 1 42 2.0756799e+00 8.81e-03 2.72e-06 -4.0 1.52e+02 -18.7 1.00e+00 1.00e+00h 1 43 2.0753438e+00 1.84e-03 6.19e-07 -4.1 7.48e+01 -19.1 1.00e+00 1.00e+00h 1 44 2.0753420e+00 1.03e-06 2.13e-08 -4.1 1.76e+01 -19.6 1.00e+00 1.00e+00h 1 45 2.0756726e+00 7.23e-04 1.61e-07 -4.0 2.96e+01 -20.0 1.00e+00 1.00e+00h 1 46 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -20.0 1.00e+00 1.00e+00h 1 47 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 48 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -20.0 8.16e-01 1.00e+00h 1 49 2.0739622e+00 1.34e-06 1.83e-05 -6.1 8.40e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0741067e+00 2.44e-02 3.22e-02 -4.0 5.48e+04 -20.0 1.00e+00 5.98e-02f 1 51 2.0748071e+00 7.96e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 52 2.0748241e+00 9.52e-04 1.02e-05 -4.3 6.22e+02 -20.0 1.00e+00 1.00e+00h 1 53 2.0748237e+00 1.04e-07 2.35e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 54 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 55 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 56 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 57 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 58 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 59 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0741065e+00 2.43e-02 3.23e-02 -4.0 5.49e+04 -20.0 1.00e+00 5.97e-02f 1 61 2.0748071e+00 7.95e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 62 2.0748240e+00 9.52e-04 1.02e-05 -4.3 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 63 2.0748236e+00 1.04e-07 2.36e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 64 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 65 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 66 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 68 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 69 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0739617e+00 2.11e-08 1.94e-06 -6.1 2.49e+02 -20.0 1.00e+00 1.00e+00h 1 71 2.0740871e+00 2.06e-02 3.56e-02 -4.0 6.55e+04 -20.0 1.00e+00 5.03e-02f 1 72 2.0748016e+00 7.32e-02 4.77e-05 -4.3 1.41e+03 -20.0 1.00e+00 1.00e+00f 1 73 2.0748204e+00 9.23e-04 8.08e-06 -4.3 5.36e+02 -20.0 1.00e+00 1.00e+00h 1 74 2.0748200e+00 1.25e-07 3.57e-07 -4.3 7.03e+01 -20.0 1.00e+00 1.00e+00h 1 75 2.0740036e+00 1.08e-02 5.23e-04 -6.5 1.81e+02 -20.0 8.93e-01 1.00e+00f 1 76 2.0739632e+00 2.51e-04 3.38e-04 -6.5 7.34e+02 -20.0 7.62e-01 1.00e+00h 1 77 2.0739539e+00 4.81e-07 1.83e-05 -6.5 9.12e+02 -20.0 1.00e+00 1.00e+00h 1 78 2.0740681e+00 1.80e-02 3.75e-02 -4.0 7.10e+04 -20.0 1.00e+00 4.51e-02f 1 79 2.0747866e+00 7.58e-02 5.27e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0748068e+00 8.84e-04 6.22e-06 -4.3 4.91e+02 -20.0 1.00e+00 1.00e+00h 1 81 2.0748064e+00 1.21e-07 3.63e-07 -4.3 6.91e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 83 2.0739630e+00 2.41e-04 3.38e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 84 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 85 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 86 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 87 2.0748064e+00 8.81e-04 6.11e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 88 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0739630e+00 2.40e-04 3.37e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 91 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 92 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 93 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 94 2.0748064e+00 8.81e-04 6.10e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 95 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 97 2.0739630e+00 2.40e-04 3.37e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 98 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 99 2.0739527e+00 5.48e-08 5.24e-06 -6.5 3.94e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0740476e+00 1.42e-02 4.44e-02 -4.0 9.26e+04 -20.0 1.00e+00 3.50e-02f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0740476226011366e+00 2.0740476226011366e+00 Dual infeasibility......: 4.4440948322914557e-02 4.4440948322914557e-02 Constraint violation....: 1.4164404722581736e-02 1.4164404722581736e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.3095644031728815e-04 2.3095644031728815e-04 Overall NLP error.......: 4.4440948322914557e-02 4.4440948322914557e-02 Number of objective function evaluations = 103 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 103 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 26.415 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: 0.054s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.056s) linear index maps built (0.0s) evaluator ready (total: 0.118s) evaluator created (0.118s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.001s) optimizer initialization complete (total: 0.12s) 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 2.0922250e+00 2.52e+00 7.47e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7012651e+00 6.75e-02 5.34e-01 -1.1 2.22e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.2584173e+00 1.40e-01 3.64e-01 -1.6 2.17e+00 -2.5 9.22e-01 9.77e-01h 1 3 2.1428770e+00 3.02e-02 7.47e-02 -2.3 1.31e+00 -3.0 9.57e-01 1.00e+00h 1 4 2.0959913e+00 1.38e-03 7.77e-03 -3.3 2.49e-01 -3.4 9.88e-01 1.00e+00h 1 5 2.0908919e+00 1.03e-04 1.92e-04 -4.0 1.67e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0908140e+00 2.51e-06 2.06e-05 -4.0 5.00e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0906666e+00 8.50e-07 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0902255e+00 7.78e-06 3.44e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0889133e+00 7.13e-05 3.07e-04 -4.0 1.33e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0850765e+00 6.76e-04 2.79e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0796423e+00 2.13e-03 1.76e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.37e-01h 1 12 2.0802659e+00 1.36e-04 1.64e-01 -4.0 6.82e+01 -7.2 1.00e+00 1.00e+00H 1 13 2.0774602e+00 7.83e-03 2.44e-02 -4.0 1.24e+02 -7.7 1.00e+00 9.50e-01h 1 14 2.0768805e+00 1.53e-03 4.73e-02 -4.0 2.06e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0762221e+00 1.33e-03 3.58e-02 -4.0 3.51e+02 -8.7 1.00e+00 8.12e-01h 1 16 2.0755287e+00 1.69e-03 3.28e-02 -4.0 5.84e+02 -9.2 1.00e+00 6.86e-01h 1 17 2.0757686e+00 2.94e-03 1.49e-02 -4.0 1.63e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0756766e+00 3.48e-04 5.12e-04 -4.0 7.15e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0756713e+00 2.27e-06 8.01e-06 -4.0 2.18e+01 -10.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0756712e+00 4.77e-08 1.02e-06 -4.0 1.25e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0756712e+00 1.81e-09 7.50e-08 -4.0 3.85e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0756712e+00 2.66e-11 1.06e-09 -4.0 5.57e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0756712121355800e+00 2.0756712121355800e+00 Dual infeasibility......: 1.0619713905729144e-09 1.0619713905729144e-09 Constraint violation....: 2.6580737610970573e-11 2.6580737610970573e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000013e-04 1.0000000000000013e-04 Overall NLP error.......: 1.0619713905729144e-09 1.0619713905729144e-09 Number of objective function evaluations = 24 Number of objective gradient evaluations = 23 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 23 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 22 Total seconds in IPOPT = 27.789 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 23m41.4s Testing DirectTrajOpt tests passed Testing completed after 1507.39s PkgEval succeeded after 1608.14s