Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.1893 (b4aba01002*) started at 2026-03-16T00:02:13.042 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 12.74s ################################################################################ # 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 v3.18.0 [b1df2697] + OrdinaryDiffEqTsit5 v1.9.0 [69de0a69] + Parsers v2.8.3 [f517fe37] + Polyester v0.7.19 [1d0040c9] + PolyesterWeave v0.2.2 [d236fae5] + PreallocationTools v1.1.2 [aea7be01] + PrecompileTools v1.3.3 [21216c6a] + Preferences v1.5.2 [3cdcf5f2] + RecipesBase v1.3.4 [731186ca] + RecursiveArrayTools v3.48.0 [189a3867] + Reexport v1.2.2 [ae029012] + Requires v1.3.1 [7e49a35a] + RuntimeGeneratedFunctions v0.5.17 [94e857df] + SIMDTypes v0.1.0 [0bca4576] + SciMLBase v2.149.0 [19f34311] + SciMLJacobianOperators v0.1.12 [a6db7da4] + SciMLLogging v1.9.1 [c0aeaf25] + SciMLOperators v1.15.1 [431bcebd] + SciMLPublic v1.0.1 [53ae85a6] + SciMLStructures v1.10.0 [7e506255] + ScopedValues v1.6.0 [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 5.88s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling packages... 26349.8 ms ✓ DirectTrajOpt 1 dependency successfully precompiled in 29 seconds. 225 already precompiled. 26 dependencies precompiled but different versions are currently loaded (ArgTools, Base64, Dates, Downloads, JuliaSyntaxHighlighting, LibCURL, LibCURL_jll, LibGit2, LibGit2_jll, LibSSH2_jll, Logging, Markdown, MozillaCACerts_jll, NetworkOptions, OpenSSL_jll, PCRE2_jll, Pkg, Printf, StyledStrings, TOML, Tar, UUIDs, Zlib_jll, Zstd_jll, nghttp2_jll and p7zip_jll). Restart julia to access the new versions. Otherwise, 136 dependents of these packages may trigger further precompilation to work with the unexpected versions. Precompilation completed after 52.18s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_BQ7qpB/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_BQ7qpB/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 v3.18.0 [b1df2697] OrdinaryDiffEqTsit5 v1.9.0 [69de0a69] Parsers v2.8.3 [f517fe37] Polyester v0.7.19 [1d0040c9] PolyesterWeave v0.2.2 [d236fae5] PreallocationTools v1.1.2 [aea7be01] PrecompileTools v1.3.3 [21216c6a] Preferences v1.5.2 [3cdcf5f2] RecipesBase v1.3.4 [731186ca] RecursiveArrayTools v3.48.0 [189a3867] Reexport v1.2.2 [ae029012] Requires v1.3.1 [7e49a35a] RuntimeGeneratedFunctions v0.5.17 [94e857df] SIMDTypes v0.1.0 [0bca4576] SciMLBase v2.149.0 [19f34311] SciMLJacobianOperators v0.1.12 [a6db7da4] SciMLLogging v1.9.1 [c0aeaf25] SciMLOperators v1.15.1 [431bcebd] SciMLPublic v1.0.1 [53ae85a6] SciMLStructures v1.10.0 [7e506255] ScopedValues v1.6.0 [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: 2.154s integrator 2 jacobian structure: 0.053s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 4.441s jacobian structure: 1600 nonzeros (6.71s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.047s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.199s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 2.043s sub-objective 2 (QuadraticRegularizer): 1.374s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.016s objective hessian structure: 3.519s hessian structure: 1749 nonzeros (7.813s) linear index maps built (0.0s) evaluator ready (total: 15.003s) evaluator created (19.485s) NL constraint bounds extracted (0.198s) NLP block data built (0.0s) Ipopt optimizer configured (0.302s) variables set (0.627s) 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 (2.833s) optimizer initialization complete (total: 23.447s) ****************************************************************************** This program contains Ipopt, a library for large-scale nonlinear optimization. Ipopt is released as open source code under the Eclipse Public License (EPL). For more information visit https://github.com/coin-or/Ipopt ****************************************************************************** This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.1406709e+00 4.09e+00 7.48e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8604233e+00 8.04e-02 6.73e+00 -0.9 2.34e+00 0.0 9.97e-01 1.00e+00h 1 2 2.6079403e+00 2.60e-02 8.00e-01 -1.0 3.08e-01 -0.5 9.99e-01 1.00e+00h 1 3 2.3866385e+00 7.81e-03 1.52e-01 -1.7 1.70e-01 -1.0 9.56e-01 1.00e+00h 1 4 2.1457442e+00 6.31e-03 4.99e-02 -2.5 1.55e-01 -1.4 9.49e-01 8.42e-01h 1 5 2.0946060e+00 1.99e-04 5.74e-03 -3.4 2.53e-02 -1.9 9.79e-01 1.00e+00h 1 6 2.0909225e+00 6.70e-06 1.15e-03 -4.0 1.51e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0909074e+00 3.77e-08 6.11e-05 -4.0 3.99e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909008e+00 6.92e-10 1.90e-05 -4.0 4.17e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908882e+00 6.52e-09 1.85e-05 -4.0 1.21e-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 2.0908558e+00 4.65e-08 6.38e-05 -4.0 3.37e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907833e+00 2.48e-07 3.35e-04 -4.0 8.75e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905895e+00 2.32e-06 4.31e-04 -4.0 2.51e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0905117e+00 2.98e-07 2.57e-04 -4.0 9.89e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0901690e+00 4.04e-06 1.33e-03 -4.0 3.42e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0896174e+00 3.74e-05 8.31e-03 -4.0 1.02e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0889525e+00 3.68e-05 7.48e-02 -4.0 1.56e+01 -5.4 1.00e+00 2.63e-01h 1 17 2.0881111e+00 4.62e-05 1.19e-02 -4.0 1.10e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0867510e+00 1.05e-04 3.82e-02 -4.0 2.78e+01 -6.3 1.00e+00 5.79e-01h 1 19 2.0838523e+00 8.69e-04 4.21e-02 -4.0 5.06e+01 -6.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827489e+00 3.21e-04 1.02e-02 -4.0 5.29e+01 -7.3 1.00e+00 5.98e-01h 1 21 2.0825273e+00 9.15e-04 2.86e-02 -4.0 1.32e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0836332e+00 2.25e-05 1.80e-01 -4.0 1.60e+02 -7.3 3.67e-01 1.00e+00H 1 23 2.0834242e+00 3.48e-04 2.14e-01 -3.6 2.96e+00 -5.1 1.00e+00 6.11e-01h 1 24 2.0833273e+00 3.74e-04 1.13e+00 -3.4 8.69e+00 -5.6 1.00e+00 2.35e-02h 2 25 2.0826449e+00 5.46e-04 8.54e-03 -4.0 5.41e+00 -6.0 1.00e+00 1.00e+00h 1 26 2.0822847e+00 1.89e-04 1.84e-03 -4.0 1.40e+01 -6.5 1.00e+00 1.00e+00h 1 27 2.0821356e+00 2.08e-04 2.88e-02 -4.0 4.28e+01 -7.0 5.07e-01 1.00e+00h 1 28 2.0821091e+00 1.91e-05 4.85e-04 -4.0 1.25e+00 -5.7 1.00e+00 1.00e+00h 1 29 2.0822119e+00 1.77e-04 1.36e-03 -4.0 7.25e+00 -6.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0891374e+00 1.78e-06 1.83e-01 -4.1 4.21e+01 -6.6 2.54e-01 1.00e+00H 1 31 2.0827842e+00 3.36e-07 1.77e-02 -4.0 1.57e-01 -0.8 1.00e+00 1.00e+00f 1 32 2.0824287e+00 9.18e-08 2.33e-03 -4.0 3.09e-02 -1.2 1.00e+00 1.00e+00h 1 33 2.0824537e+00 1.03e-06 1.35e-03 -4.0 5.78e-02 -1.7 1.00e+00 1.00e+00h 1 34 2.0822805e+00 5.25e-08 1.67e-04 -4.1 1.87e-02 -2.2 1.00e+00 1.00e+00h 1 35 2.0824240e+00 1.94e-07 4.77e-05 -4.0 8.96e-03 -2.7 1.00e+00 1.00e+00h 1 36 2.0822708e+00 2.19e-07 4.48e-05 -4.1 9.59e-03 -3.2 1.00e+00 1.00e+00h 1 37 2.0824234e+00 5.61e-07 5.38e-05 -4.0 2.46e-02 -3.6 1.00e+00 1.00e+00h 1 38 2.0822629e+00 2.00e-06 3.48e-05 -4.1 8.41e-02 -4.1 1.00e+00 1.00e+00h 1 39 2.0824060e+00 5.01e-06 8.67e-05 -4.0 2.19e-01 -4.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0822063e+00 1.70e-05 7.88e-05 -4.1 7.08e-01 -5.1 1.00e+00 1.00e+00h 1 41 2.0813830e+00 3.39e-04 1.93e-03 -6.1 3.47e+00 -5.5 9.99e-01 1.00e+00h 1 42 2.0811559e+00 4.07e-05 9.77e-03 -4.8 7.82e+00 -6.0 1.00e+00 6.93e-01h 1 43 2.0811369e+00 4.39e-05 3.96e-02 -4.0 1.11e+03 -6.5 1.54e-02 1.36e-02f 2 44 2.0812016e+00 9.94e-05 5.10e-01 -4.0 7.06e+01 -5.2 2.58e-02 4.95e-02h 2 45 2.0811231e+00 1.07e-05 2.13e-03 -4.8 7.58e-01 -5.6 1.00e+00 1.00e+00h 1 46 2.0816172e+00 3.03e-04 2.46e-01 -4.0 1.07e+01 -6.1 1.00e+00 5.23e-01h 1 47 2.0817579e+00 6.00e-05 2.35e-03 -4.1 4.31e+00 -6.6 1.00e+00 1.00e+00h 1 48 2.0817657e+00 6.42e-05 4.75e-04 -4.1 9.94e+00 -7.1 1.00e+00 1.00e+00h 1 49 2.0808010e+00 3.31e-03 1.50e-03 -6.2 4.12e+01 -7.5 9.78e-01 9.69e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0817826e+00 4.53e-03 3.67e-03 -4.0 5.19e+01 -8.0 1.00e+00 8.95e-01f 1 51 2.0816034e+00 9.83e-04 2.56e-03 -4.1 5.78e+01 -8.5 1.00e+00 1.00e+00h 1 52 2.0815748e+00 3.05e-05 9.09e-04 -4.1 3.59e+01 -9.0 1.00e+00 1.00e+00h 1 53 2.0818446e+00 2.55e-04 5.65e-05 -4.0 1.02e+01 -9.5 1.00e+00 1.00e+00h 1 54 2.0815839e+00 2.18e-04 1.36e-05 -4.1 9.90e+00 -9.9 1.00e+00 1.00e+00h 1 55 2.0805954e+00 3.33e-03 1.61e-04 -6.1 4.09e+01 -10.4 9.77e-01 9.64e-01h 1 56 2.0818908e+00 6.59e-03 3.29e-04 -4.0 6.16e+01 -10.9 1.00e+00 1.00e+00f 1 57 2.0816145e+00 4.96e-04 1.14e-05 -4.1 2.08e+01 -11.4 1.00e+00 1.00e+00h 1 58 2.0806042e+00 3.49e-03 2.32e-04 -6.1 4.24e+01 -11.8 9.76e-01 9.58e-01h 1 59 2.0805507e+00 9.69e-05 2.34e-06 -6.1 1.71e+01 -12.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0819818e+00 1.02e-02 3.99e-04 -4.0 8.54e+01 -12.8 1.00e+00 1.00e+00f 1 61 2.0816804e+00 9.65e-04 4.94e-05 -4.1 4.57e+01 -13.3 1.00e+00 1.00e+00h 1 62 2.0816444e+00 4.72e-07 7.73e-07 -4.1 8.40e+00 -13.8 1.00e+00 1.00e+00h 1 63 2.0818441e+00 1.27e-04 5.47e-06 -4.0 7.55e+00 -14.2 1.00e+00 1.00e+00h 1 64 2.0815834e+00 2.14e-04 9.28e-06 -4.1 9.76e+00 -14.7 1.00e+00 1.00e+00h 1 65 2.0805950e+00 3.33e-03 1.58e-04 -6.1 4.09e+01 -15.2 9.77e-01 9.64e-01h 1 66 2.0805497e+00 7.61e-05 1.82e-06 -6.1 1.56e+01 -15.7 1.00e+00 1.00e+00h 1 67 2.0819883e+00 1.06e-02 4.03e-04 -4.0 8.64e+01 -16.1 1.00e+00 1.00e+00f 1 68 2.0816850e+00 9.86e-04 5.24e-05 -4.1 4.71e+01 -16.6 1.00e+00 1.00e+00h 1 69 2.0816467e+00 5.59e-07 8.13e-07 -4.1 8.79e+00 -17.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0805963e+00 3.67e-03 1.56e-04 -6.1 4.25e+01 -17.6 9.76e-01 9.67e-01h 1 71 2.0805509e+00 8.01e-05 1.98e-06 -6.1 1.63e+01 -18.0 1.00e+00 1.00e+00h 1 72 2.0805468e+00 5.50e-08 2.37e-08 -6.1 2.91e+00 -18.5 1.00e+00 1.00e+00h 1 73 2.0820237e+00 1.21e-02 4.23e-04 -4.0 9.79e+01 -19.0 1.00e+00 1.00e+00f 1 74 2.0817108e+00 1.09e-03 6.84e-05 -4.1 5.44e+01 -19.5 1.00e+00 1.00e+00h 1 75 2.0816597e+00 1.20e-06 1.05e-06 -4.1 1.08e+01 -20.0 1.00e+00 1.00e+00h 1 76 2.0805973e+00 3.75e-03 1.59e-04 -6.1 4.29e+01 -20.0 9.76e-01 9.67e-01h 1 77 2.0805512e+00 8.26e-05 2.04e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 78 2.0805470e+00 5.83e-08 2.51e-08 -6.1 3.00e+00 -20.0 1.00e+00 1.00e+00h 1 79 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 80 2.0820411e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 81 2.0817244e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0816662e+00 1.63e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 83 2.0805979e+00 3.78e-03 1.61e-04 -6.1 4.31e+01 -20.0 9.76e-01 9.67e-01h 1 84 2.0805514e+00 8.39e-05 2.07e-06 -6.1 1.67e+01 -20.0 1.00e+00 1.00e+00h 1 85 2.0805470e+00 6.01e-08 2.58e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 86 2.0805365e+00 9.41e-07 8.10e-07 -9.0 9.46e-01 -20.0 1.00e+00 9.97e-01h 1 87 2.0805365e+00 8.66e-11 2.16e-12 -9.0 2.61e-02 -20.0 1.00e+00 1.00e+00h 1 88 2.0820415e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 89 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 90 2.0816664e+00 1.64e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 91 2.0805979e+00 3.78e-03 1.61e-04 -6.1 4.31e+01 -20.0 9.76e-01 9.67e-01h 1 92 2.0805514e+00 8.39e-05 2.07e-06 -6.1 1.67e+01 -20.0 1.00e+00 1.00e+00h 1 93 2.0805470e+00 6.01e-08 2.58e-08 -6.1 3.05e+00 -20.0 1.00e+00 1.00e+00h 1 94 2.0805365e+00 9.41e-07 8.10e-07 -9.0 9.47e-01 -20.0 1.00e+00 9.97e-01h 1 95 2.0805365e+00 8.67e-11 2.17e-12 -9.0 2.61e-02 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 8.88e-16 9.09e-15 -9.0 9.99e-06 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 4.44e-16 9.09e-15 -9.0 1.62e-12 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 4.44e-16 9.09e-15 -9.0 8.80e-14 -20.0 1.00e+00 1.00e+00 0 99 2.0805365e+00 2.22e-16 9.09e-15 -9.0 4.31e-14 -20.0 1.00e+00 1.00e+00T 0 Number of Iterations....: 99 (scaled) (unscaled) Objective...............: 2.0805364595436484e+00 2.0805364595436484e+00 Dual infeasibility......: 9.0909090910998750e-15 9.0909090910998750e-15 Constraint violation....: 2.2204460492503131e-16 2.2204460492503131e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090978348416e-10 9.0909090978348416e-10 Overall NLP error.......: 9.9999090909091550e-05 9.9999090909091550e-05 Number of objective function evaluations = 110 Number of objective gradient evaluations = 100 Number of equality constraint evaluations = 110 Number of inequality constraint evaluations = 110 Number of equality constraint Jacobian evaluations = 100 Number of inequality constraint Jacobian evaluations = 100 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 64.786 EXIT: Search Direction is becoming Too Small. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.055s integrator 2 jacobian structure: 0.052s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 6.318s jacobian structure: 1680 nonzeros (6.425s) integrator 1 hessian structure: 0.046s integrator 2 hessian structure: 0.05s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 9.099s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.346s sub-objective 2 (QuadraticRegularizer): 0.092s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.016s sub-objective 5 (GlobalObjective): 0.718s objective hessian structure: 1.27s hessian structure: 1964 nonzeros (10.466s) linear index maps built (0.0s) evaluator ready (total: 16.892s) evaluator created (16.918s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.113s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (4.7s) optimizer initialization complete (total: 21.732s) 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 1.5609099e+01 3.84e+00 3.24e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.4996111e+00 3.57e-01 7.40e+00 -0.8 2.93e+00 0.0 7.11e-01 9.08e-01f 1 2 3.6414190e+00 2.12e-01 5.48e+00 -0.7 3.41e-01 0.4 9.50e-01 4.06e-01f 1 3 2.3565348e+00 8.74e-03 5.88e+00 -0.9 5.46e-01 -0.1 9.94e-01 1.00e+00f 1 4 2.2695379e+00 9.75e-04 9.46e-01 -4.0 1.56e-01 -0.5 7.80e-01 1.00e+00h 1 5 2.2469529e+00 9.49e-04 3.53e-01 -1.8 2.65e-01 -1.0 9.93e-01 5.48e-02h 2 6 2.1079658e+00 1.60e-03 2.56e-02 -3.1 8.23e-02 -1.5 9.99e-01 9.37e-01h 1 7 2.0910895e+00 3.47e-05 2.39e-03 -4.0 1.48e-02 -2.0 1.00e+00 9.79e-01h 1 8 2.0908756e+00 7.90e-07 5.32e-05 -4.0 7.41e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908733e+00 4.81e-09 2.21e-05 -4.0 1.81e-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 2.0908677e+00 1.31e-09 2.15e-05 -4.0 5.30e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908530e+00 9.91e-09 2.32e-05 -4.0 1.48e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908204e+00 5.68e-08 1.41e-04 -4.0 3.88e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907466e+00 3.55e-07 6.21e-04 -4.0 9.81e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905449e+00 3.17e-06 8.39e-04 -4.0 3.01e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0898787e+00 2.42e-05 1.88e-03 -4.0 8.04e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0901955e+00 1.21e-07 5.34e-02 -4.0 2.69e+01 -6.3 1.00e+00 1.00e+00H 1 17 2.0873265e+00 2.02e-04 5.63e-01 -4.0 2.13e+01 -4.9 1.00e+00 3.08e-01f 1 18 2.0870203e+00 1.59e-04 1.54e-02 -4.0 3.61e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0862717e+00 3.02e-04 2.45e-03 -4.0 1.04e+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 2.0847210e+00 1.99e-04 9.33e-03 -4.0 2.42e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0827740e+00 2.88e-04 2.58e-02 -4.0 3.54e+01 -6.8 1.00e+00 9.86e-01h 1 22 2.0831714e+00 1.43e-03 4.12e-02 -4.0 5.51e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0822005e+00 9.28e-04 7.20e-03 -4.1 1.36e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.9735039e+00 6.23e-04 1.52e+01 -4.0 1.06e+03 -8.3 3.86e-02 1.00e+00H 1 25 2.0898783e+00 9.37e-05 1.39e+00 -4.1 4.53e-01 -0.4 4.01e-01 8.50e-01f 1 26 2.0902259e+00 9.34e-05 8.74e+00 -4.0 1.31e-01 -0.9 1.00e+00 3.91e-03f 9 27 2.0902392e+00 2.46e-07 1.72e-03 -3.9 4.08e-02 -1.4 1.00e+00 1.00e+00h 1 28 2.0898508e+00 1.97e-07 1.62e-03 -3.9 1.15e-01 -1.9 1.00e+00 1.00e+00h 1 29 2.0892227e+00 1.06e-06 1.44e-03 -4.0 3.06e-01 -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 2.0889621e+00 1.20e-06 5.82e-01 -4.0 2.77e-01 -2.8 1.00e+00 5.51e-01h 1 31 2.0891056e+00 1.25e-06 5.25e-05 -4.0 6.61e-02 -3.3 1.00e+00 1.00e+00f 1 32 2.0889147e+00 1.82e-06 4.28e-05 -4.1 8.42e-02 -3.8 1.00e+00 1.00e+00h 1 33 2.0890502e+00 5.20e-06 9.18e-05 -4.0 2.44e-01 -4.2 1.00e+00 1.00e+00h 1 34 2.0888167e+00 1.74e-05 7.91e-05 -4.1 7.48e-01 -4.7 1.00e+00 1.00e+00h 1 35 2.0888096e+00 4.20e-05 5.40e-04 -4.0 2.11e+00 -5.2 1.00e+00 1.00e+00h 1 36 2.0884316e+00 3.19e-05 1.28e-03 -4.0 5.81e+00 -5.7 1.00e+00 1.00e+00h 1 37 2.0878665e+00 5.60e-05 3.08e-03 -4.0 1.53e+01 -6.1 1.00e+00 1.00e+00h 1 38 2.0868071e+00 1.77e-04 7.49e-03 -4.0 4.16e+01 -6.6 1.00e+00 1.00e+00h 1 39 2.0849651e+00 9.20e-04 3.45e-02 -4.0 1.02e+02 -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 2.0827016e+00 9.59e-04 8.96e-02 -4.1 1.92e+02 -7.6 1.00e+00 1.00e+00h 1 41 2.0816489e+00 3.84e-03 4.12e-02 -4.1 2.59e+02 -8.1 6.81e-01 1.00e+00h 1 42 2.0815712e+00 3.12e-04 3.45e-01 -4.0 1.08e+02 -6.7 1.00e+00 8.45e-01H 1 43 2.0821879e+00 1.12e-03 2.77e-02 -3.8 1.92e+01 -7.2 9.91e-01 1.00e+00h 1 44 2.0821388e+00 2.67e-03 4.43e-03 -3.9 4.98e+01 -7.7 1.00e+00 1.00e+00h 1 45 2.0821029e+00 5.28e-07 2.83e-04 -3.9 3.75e-02 -1.8 1.00e+00 1.00e+00h 1 46 2.0820243e+00 1.42e-07 8.03e-05 -4.0 2.44e-02 -2.3 1.00e+00 1.00e+00h 1 47 2.0820195e+00 3.84e-09 3.72e-05 -4.0 2.27e-02 -2.8 1.00e+00 1.00e+00h 1 48 2.0820198e+00 1.09e-08 3.15e-05 -4.0 1.23e-02 -3.3 1.00e+00 1.00e+00h 1 49 2.0818844e+00 7.97e-07 6.85e-05 -4.1 3.80e-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 2.0820223e+00 1.83e-06 6.64e-05 -4.0 1.06e-01 -4.2 1.00e+00 1.00e+00h 1 51 2.0818777e+00 9.00e-06 7.78e-05 -4.1 3.13e-01 -4.7 1.00e+00 1.00e+00h 1 52 2.0820082e+00 1.35e-05 1.35e-04 -4.0 7.05e-01 -5.2 1.00e+00 1.00e+00h 1 53 2.0818211e+00 6.63e-05 2.18e-04 -4.1 1.66e+00 -5.7 1.00e+00 1.00e+00h 1 54 2.0819108e+00 4.38e-05 5.25e-04 -4.0 1.87e+00 -6.1 1.00e+00 1.00e+00h 1 55 2.0816281e+00 9.24e-05 2.33e-04 -4.1 3.80e+00 -6.6 1.00e+00 1.00e+00h 1 56 2.0818332e+00 9.62e-05 9.85e-04 -4.0 5.90e+00 -7.1 1.00e+00 1.00e+00h 1 57 2.0815880e+00 2.43e-04 3.84e-04 -4.1 1.06e+01 -7.6 1.00e+00 1.00e+00h 1 58 2.0806566e+00 2.18e-03 1.55e-03 -6.1 2.65e+01 -8.0 9.81e-01 9.18e-01h 1 59 2.0818706e+00 6.10e-03 3.06e-03 -4.0 6.04e+01 -8.5 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0816210e+00 5.77e-04 6.13e-04 -4.1 2.42e+01 -9.0 1.00e+00 1.00e+00h 1 61 2.0806051e+00 3.32e-03 2.40e-04 -6.1 4.00e+01 -9.5 9.76e-01 9.60e-01h 1 62 2.0818819e+00 6.09e-03 5.09e-04 -4.0 5.72e+01 -9.9 1.00e+00 1.00e+00f 1 63 2.0816079e+00 4.38e-04 3.68e-05 -4.1 1.83e+01 -10.4 1.00e+00 1.00e+00h 1 64 2.0806002e+00 3.45e-03 1.81e-04 -6.1 4.17e+01 -10.9 9.76e-01 9.62e-01h 1 65 2.0818848e+00 6.34e-03 2.97e-04 -4.0 5.94e+01 -11.4 1.00e+00 1.00e+00f 1 66 2.0816090e+00 4.51e-04 2.60e-05 -4.1 1.92e+01 -11.9 1.00e+00 1.00e+00h 1 67 2.0806004e+00 3.46e-03 1.83e-04 -6.1 4.18e+01 -12.3 9.76e-01 9.62e-01h 1 68 2.0805506e+00 8.80e-05 2.20e-06 -6.1 1.68e+01 -12.8 1.00e+00 1.00e+00h 1 69 2.0807510e+00 3.12e-04 2.26e-02 -4.0 8.50e+01 -13.3 1.00e+00 1.53e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0814081e+00 1.28e-03 5.68e-05 -4.2 2.33e+01 -13.8 1.00e+00 1.00e+00f 1 71 2.0814114e+00 2.33e-05 2.13e-05 -4.2 2.50e+01 -14.2 1.00e+00 1.00e+00h 1 72 2.0818439e+00 6.38e-04 3.15e-05 -4.0 1.71e+01 -14.7 1.00e+00 1.00e+00h 1 73 2.0815830e+00 2.26e-04 2.56e-05 -4.1 1.03e+01 -15.2 1.00e+00 1.00e+00h 1 74 2.0805926e+00 3.32e-03 1.40e-04 -6.1 4.05e+01 -15.7 9.77e-01 9.68e-01h 1 75 2.0805497e+00 7.10e-05 1.81e-06 -6.1 1.56e+01 -16.1 1.00e+00 1.00e+00h 1 76 2.0819869e+00 1.06e-02 4.00e-04 -4.0 8.58e+01 -16.6 1.00e+00 1.00e+00f 1 77 2.0816824e+00 9.86e-04 5.23e-05 -4.1 4.70e+01 -17.1 1.00e+00 1.00e+00h 1 78 2.0816443e+00 5.41e-07 2.69e-05 -4.1 8.93e+00 -17.6 1.00e+00 1.00e+00h 1 79 2.0818414e+00 1.23e-04 3.14e-05 -4.0 7.36e+00 -18.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0815817e+00 2.11e-04 2.56e-05 -4.1 9.62e+00 -18.5 1.00e+00 1.00e+00h 1 81 2.0805923e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -19.0 9.77e-01 9.68e-01h 1 82 2.0805497e+00 7.03e-05 1.80e-06 -6.1 1.55e+01 -19.5 1.00e+00 1.00e+00h 1 83 2.0819871e+00 1.06e-02 4.00e-04 -4.0 8.58e+01 -20.0 1.00e+00 1.00e+00f 1 84 2.0816826e+00 9.87e-04 5.24e-05 -4.1 4.71e+01 -20.0 1.00e+00 1.00e+00h 1 85 2.0816444e+00 5.44e-07 2.70e-05 -4.1 8.94e+00 -20.0 1.00e+00 1.00e+00h 1 86 2.0805933e+00 3.65e-03 1.55e-04 -6.1 4.19e+01 -20.0 9.76e-01 9.71e-01h 1 87 2.0805509e+00 7.35e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 88 2.0805468e+00 5.07e-08 2.69e-07 -6.1 2.92e+00 -20.0 1.00e+00 1.00e+00h 1 89 2.0820226e+00 1.22e-02 4.21e-04 -4.0 9.85e+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 2.0817083e+00 1.09e-03 6.84e-05 -4.1 5.45e+01 -20.0 1.00e+00 1.00e+00h 1 91 2.0816573e+00 1.18e-06 2.72e-05 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0805943e+00 3.73e-03 1.58e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.71e-01h 1 93 2.0805512e+00 7.57e-05 2.01e-06 -6.1 1.64e+01 -20.0 1.00e+00 1.00e+00h 1 94 2.0805469e+00 5.37e-08 2.73e-07 -6.1 3.01e+00 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 9.26e-07 7.80e-07 -9.0 9.40e-01 -20.0 1.00e+00 9.97e-01h 1 96 2.0820402e+00 1.30e-02 4.35e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 97 2.0817219e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 98 2.0816639e+00 1.62e-06 2.74e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 99 2.0805948e+00 3.76e-03 1.59e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805513632698283e+00 2.0805513632698283e+00 Dual infeasibility......: 2.0482794633047803e-06 2.0482794633047803e-06 Constraint violation....: 7.6920738249511289e-05 7.6920738249511289e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 3.0429769322563521e-06 3.0429769322563521e-06 Overall NLP error.......: 9.9199836256878507e-05 9.9199836256878507e-05 Number of objective function evaluations = 115 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 115 Number of inequality constraint evaluations = 115 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 48.407 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 1 integrator 1 jacobian structure: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) jacobian structure: 3.98s jacobian structure: 1594 nonzeros (4.04s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) hessian structure: 16.432s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s sub-objective 5 (GlobalObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1804 nonzeros (16.482s) linear index maps built (0.0s) evaluator ready (total: 20.522s) evaluator created (20.543s) 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: 20.545s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 10 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 1 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.0160847e+02 2.66e+00 3.21e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.4856122e+01 1.42e+00 1.79e+01 -0.5 2.40e+00 0.0 1.00e+00 4.39e-01f 1 2 7.2274130e+00 6.74e-01 8.79e+00 0.2 1.71e+00 -0.5 5.49e-01 5.25e-01f 1 3 3.4452885e+00 2.78e-02 7.38e+00 -0.6 7.11e-01 -0.1 7.52e-01 1.00e+00f 1 4 3.1815417e+00 1.87e-02 2.95e+00 -2.3 1.86e-01 0.4 6.97e-01 1.00e+00h 1 5 2.7038130e+00 2.34e-02 1.98e+00 -1.1 2.49e-01 -0.1 5.18e-01 1.00e+00f 1 6 2.3813351e+00 5.25e-03 9.77e-02 -1.6 2.36e-01 -0.6 9.90e-01 1.00e+00h 1 7 2.1779322e+00 3.72e-03 9.59e-02 -2.8 1.24e-01 -1.1 9.61e-01 7.49e-01h 1 8 2.0960471e+00 4.29e-04 8.03e-03 -3.7 4.21e-02 -1.5 9.99e-01 9.24e-01h 1 9 2.0909623e+00 3.40e-06 7.16e-04 -4.0 2.08e-02 -2.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909676e+00 2.91e-08 2.29e-04 -4.0 3.48e-02 -2.5 1.00e+00 1.00e+00h 1 11 2.0909613e+00 7.66e-10 2.29e-04 -4.0 1.80e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0909550e+00 1.44e-09 2.29e-04 -4.0 5.29e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0909394e+00 1.12e-08 2.29e-04 -4.0 1.53e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0909010e+00 7.78e-08 2.29e-04 -4.0 4.15e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0908149e+00 5.24e-07 4.47e-04 -4.0 1.08e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0905695e+00 3.94e-06 4.02e-04 -4.0 3.22e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0904697e+00 5.18e-07 4.12e-04 -4.0 1.28e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0901471e+00 1.52e-06 6.04e-03 -4.0 4.91e+00 -5.4 1.00e+00 6.08e-01H 1 19 2.0893222e+00 6.59e-05 1.24e-02 -4.0 1.33e+01 -5.9 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0886117e+00 5.57e-05 5.16e-02 -4.0 1.21e+01 -5.5 1.00e+00 3.42e-01h 1 21 2.0876871e+00 6.27e-05 1.25e-02 -4.0 1.33e+01 -5.9 1.00e+00 1.00e+00h 1 22 2.0863147e+00 1.22e-04 5.59e-02 -4.0 3.37e+01 -6.4 1.00e+00 4.69e-01h 1 23 2.0833071e+00 9.93e-04 5.17e-02 -4.0 5.45e+01 -6.9 1.00e+00 1.00e+00h 1 24 2.0825246e+00 5.18e-04 1.79e-02 -4.0 7.19e+01 -7.4 1.00e+00 1.00e+00h 1 25 2.0822447e+00 6.18e-04 1.03e-02 -4.0 1.54e+02 -7.8 8.37e-01 1.00e+00h 1 26 2.0824343e+00 1.16e-03 1.72e-02 -4.0 3.09e+01 -6.5 1.00e+00 1.00e+00h 1 27 2.0820590e+00 1.38e-03 1.88e-02 -4.0 2.29e+01 -7.0 1.00e+00 1.00e+00h 1 28 2.0881960e+00 7.36e-04 1.83e-01 -4.0 8.66e+00 -5.7 6.36e-01 9.44e-01h 1 29 2.0843229e+00 1.48e-04 1.31e-01 -4.1 8.68e-02 -0.7 1.00e+00 7.99e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0842879e+00 4.45e-05 1.45e-01 -4.0 4.53e-02 -1.2 6.75e-01 6.98e-01f 1 31 2.0836778e+00 7.79e-07 6.20e-03 -4.0 3.33e-02 -0.8 1.00e+00 1.00e+00h 1 32 2.0833650e+00 2.29e-07 3.65e-03 -4.0 6.07e-02 -1.2 1.00e+00 1.00e+00h 1 33 2.0824973e+00 3.16e-06 2.86e-03 -4.0 2.08e-01 -1.7 1.00e+00 1.00e+00h 1 34 2.0822917e+00 8.08e-07 4.75e-04 -4.0 7.89e-02 -2.2 1.00e+00 1.00e+00h 1 35 2.0823973e+00 7.21e-08 2.29e-04 -4.0 3.02e-02 -2.7 1.00e+00 1.00e+00h 1 36 2.0823846e+00 3.78e-08 2.29e-04 -4.0 1.18e-02 -3.2 1.00e+00 1.00e+00h 1 37 2.0823817e+00 1.33e-09 2.29e-04 -4.0 3.53e-02 -3.6 1.00e+00 1.00e+00h 1 38 2.0823758e+00 3.09e-08 2.29e-04 -4.0 1.07e-01 -4.1 1.00e+00 1.00e+00h 1 39 2.0823578e+00 3.12e-07 2.29e-04 -4.0 3.30e-01 -4.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0822985e+00 3.96e-06 2.29e-04 -4.0 1.10e+00 -5.1 1.00e+00 1.00e+00h 1 41 2.0820890e+00 7.43e-07 1.05e-01 -4.1 5.26e+00 -5.5 5.68e-01 1.00e+00H 1 42 2.0820471e+00 4.53e-07 5.26e-01 -4.0 2.28e-01 -3.3 1.00e+00 4.11e-01h 2 43 2.0819809e+00 2.35e-06 3.16e-04 -4.0 6.97e-02 -3.8 1.00e+00 1.00e+00h 1 44 2.0820839e+00 3.71e-05 7.97e-04 -4.0 2.71e-01 -4.3 1.00e+00 1.00e+00h 1 45 2.0819684e+00 4.18e-05 3.57e-04 -4.1 5.74e-01 -4.7 1.00e+00 1.00e+00h 1 46 2.0821327e+00 1.94e-05 1.70e-03 -4.0 1.07e+00 -5.2 1.00e+00 1.00e+00h 1 47 2.0819733e+00 7.30e-05 4.66e-04 -4.1 1.25e+00 -5.7 1.00e+00 1.00e+00h 1 48 2.0811693e+00 6.26e-04 4.36e-03 -6.1 8.41e+00 -6.2 9.97e-01 1.00e+00h 1 49 2.0816272e+00 2.63e-04 3.46e-01 -4.0 4.53e-01 -3.9 1.00e+00 5.87e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0817171e+00 1.72e-05 3.76e-03 -4.0 1.02e+00 -4.4 1.00e+00 1.00e+00h 1 51 2.0818354e+00 1.43e-05 2.96e-03 -4.0 9.17e-01 -4.9 1.00e+00 1.00e+00h 1 52 2.0817976e+00 1.19e-05 7.76e-04 -4.1 9.22e-01 -5.4 1.00e+00 1.00e+00h 1 53 2.0820160e+00 6.85e-05 2.29e-04 -4.0 2.90e+00 -5.8 1.00e+00 1.00e+00h 1 54 2.0818997e+00 4.52e-05 1.03e-03 -4.1 2.31e+00 -6.3 1.00e+00 1.00e+00h 1 55 2.0818767e+00 3.34e-06 1.83e-04 -4.1 7.19e+00 -6.8 1.00e+00 1.00e+00h 1 56 2.0820474e+00 3.41e-04 1.12e-03 -4.0 1.52e+01 -7.3 1.00e+00 1.00e+00h 1 57 2.0817090e+00 9.36e-04 1.73e-03 -4.1 3.87e+01 -7.8 1.00e+00 1.00e+00h 1 58 2.0816142e+00 1.19e-04 4.85e-03 -4.1 5.41e+01 -8.2 1.00e+00 1.00e+00h 1 59 2.0818439e+00 1.20e-03 1.83e-03 -4.0 5.00e+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 2.0815805e+00 5.02e-04 2.72e-04 -4.1 2.17e+01 -9.2 1.00e+00 1.00e+00h 1 61 2.0818394e+00 1.73e-04 2.29e-04 -4.0 7.23e+00 -9.7 1.00e+00 1.00e+00h 1 62 2.0815804e+00 2.08e-04 1.83e-04 -4.1 9.49e+00 -10.1 1.00e+00 1.00e+00h 1 63 2.0818395e+00 2.09e-04 2.29e-04 -4.0 9.55e+00 -10.6 1.00e+00 1.00e+00h 1 64 2.0815804e+00 2.10e-04 1.83e-04 -4.1 9.60e+00 -11.1 1.00e+00 1.00e+00h 1 65 2.0818395e+00 2.11e-04 2.29e-04 -4.0 9.62e+00 -11.6 1.00e+00 1.00e+00h 1 66 2.0815804e+00 2.11e-04 1.83e-04 -4.1 9.62e+00 -12.0 1.00e+00 1.00e+00h 1 67 2.0818395e+00 2.11e-04 2.29e-04 -4.0 9.62e+00 -12.5 1.00e+00 1.00e+00h 1 68 2.0815804e+00 2.11e-04 1.83e-04 -4.1 9.62e+00 -13.0 1.00e+00 1.00e+00h 1 69 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -13.5 9.78e-01 9.71e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0818882e+00 6.56e-03 2.96e-04 -4.0 6.10e+01 -14.0 1.00e+00 1.00e+00f 1 71 2.0816136e+00 4.88e-04 1.88e-04 -4.1 2.07e+01 -14.4 1.00e+00 1.00e+00h 1 72 2.0805989e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -14.9 9.76e-01 9.65e-01h 1 73 2.0805508e+00 8.46e-05 2.20e-06 -6.1 1.69e+01 -15.4 1.00e+00 1.00e+00h 1 74 2.0819794e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -15.9 1.00e+00 1.00e+00f 1 75 2.0816837e+00 9.34e-04 1.95e-04 -4.1 4.57e+01 -16.3 1.00e+00 1.00e+00h 1 76 2.0816477e+00 4.73e-07 1.95e-04 -4.1 8.52e+00 -16.8 1.00e+00 1.00e+00h 1 77 2.0818389e+00 1.15e-04 2.29e-04 -4.0 7.07e+00 -17.3 1.00e+00 1.00e+00h 1 78 2.0815801e+00 2.08e-04 1.83e-04 -4.1 9.50e+00 -17.8 1.00e+00 1.00e+00h 1 79 2.0805898e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -18.3 9.78e-01 9.71e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805497e+00 6.51e-05 1.78e-06 -6.1 1.55e+01 -18.7 1.00e+00 1.00e+00h 1 81 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -19.2 1.00e+00 1.00e+00f 1 82 2.0816887e+00 9.54e-04 1.96e-04 -4.1 4.72e+01 -19.7 1.00e+00 1.00e+00h 1 83 2.0816504e+00 5.63e-07 1.96e-04 -4.1 8.93e+00 -20.0 1.00e+00 1.00e+00h 1 84 2.0805906e+00 3.68e-03 1.60e-04 -6.1 4.16e+01 -20.0 9.77e-01 9.75e-01h 1 85 2.0805511e+00 6.76e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 86 2.0805469e+00 4.72e-08 1.81e-06 -6.1 2.95e+00 -20.0 1.00e+00 1.00e+00h 1 87 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.89e+01 -20.0 1.00e+00 1.00e+00f 1 88 2.0817159e+00 1.04e-03 1.98e-04 -4.1 5.46e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0816648e+00 1.22e-06 1.98e-04 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805915e+00 3.76e-03 1.66e-04 -6.1 4.20e+01 -20.0 9.76e-01 9.75e-01h 1 91 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0805471e+00 4.99e-08 1.84e-06 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 93 2.0805365e+00 9.55e-07 8.02e-07 -9.0 9.57e-01 -20.0 1.00e+00 9.97e-01h 1 94 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 95 2.0817306e+00 1.08e-03 1.99e-04 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0816723e+00 1.67e-06 1.99e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 97 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 98 2.0805516e+00 7.07e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 99 2.0805472e+00 5.15e-08 1.86e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805365e+00 9.76e-07 8.28e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805365116288645e+00 2.0805365116288645e+00 Dual infeasibility......: 8.2837255532127859e-07 8.2837255532127859e-07 Constraint violation....: 9.7595277215312137e-07 9.7595277215312137e-07 Variable bound violation: 9.9669091868648252e-09 9.9669091868648252e-09 Complementarity.........: 1.6904531397260425e-08 1.6904531397260425e-08 Overall NLP error.......: 9.9999999338606593e-05 9.9999999338606593e-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 = 32.504 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: 0.068s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.068s) 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: 0.121s) evaluator created (0.135s) 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: 0.135s) 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 3.9100973e+00 2.05e+00 7.57e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6457406e+00 5.75e-02 3.17e+00 -1.0 1.71e+00 0.0 1.00e+00 1.00e+00f 1 2 2.3619597e+00 1.37e-02 1.32e+00 -1.2 1.67e-01 0.4 9.82e-01 8.24e-01h 1 3 2.3620328e+00 2.06e-03 4.03e-01 -1.7 1.27e-01 -0.1 9.93e-01 1.00e+00h 1 4 2.2359993e+00 2.11e-03 3.95e-01 -2.1 2.37e-01 -0.5 9.89e-01 3.94e-01f 1 5 2.1558105e+00 1.55e-03 2.81e-01 -2.9 1.50e-01 -1.0 9.98e-01 4.53e-01h 1 6 2.1093114e+00 4.84e-04 8.81e-02 -4.0 2.91e-02 -1.5 1.00e+00 6.88e-01h 1 7 2.0908928e+00 6.68e-05 1.17e-02 -4.0 1.80e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0908968e+00 9.48e-08 7.80e-05 -4.0 1.54e-02 -2.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 8 (scaled) (unscaled) Objective...............: 2.0908968487465946e+00 2.0908968487465946e+00 Dual infeasibility......: 7.8034422543273718e-05 7.8034422543273718e-05 Constraint violation....: 9.4842257479001157e-08 9.4842257479001157e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0009366226344751e-04 1.0009366226344751e-04 Overall NLP error.......: 7.8034422543273718e-05 7.8034422543273718e-05 Number of objective function evaluations = 9 Number of objective gradient evaluations = 9 Number of equality constraint evaluations = 9 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 9 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 8 Total seconds in IPOPT = 24.298 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.065s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.066s) integrator 1 hessian structure: 0.056s integrator 2 hessian structure: 0.125s 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 (0.182s) linear index maps built (0.0s) evaluator ready (total: 0.248s) evaluator created (0.248s) 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: 0.249s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 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 4.9780232e+00 1.81e+00 3.01e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5634986e+00 2.45e-01 7.08e-01 -1.0 3.41e+00 -2.0 6.72e-01 9.54e-01f 1 2 2.2478932e+00 2.58e-01 6.15e-01 -1.6 2.71e+00 -2.5 7.62e-01 9.97e-01h 1 3 2.1897843e+00 1.23e-01 2.45e-01 -1.9 3.33e+00 -3.0 9.98e-01 8.84e-01h 1 4 2.1195792e+00 1.40e-02 4.58e-02 -2.6 8.14e-01 -3.4 1.00e+00 8.84e-01h 1 5 2.0916256e+00 3.39e-04 5.85e-03 -3.8 1.17e-01 -3.9 9.95e-01 1.00e+00h 1 6 2.0907984e+00 6.04e-05 5.76e-04 -4.0 5.02e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0906485e+00 4.98e-07 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0902075e+00 7.75e-06 3.44e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0888954e+00 7.11e-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 2.0850592e+00 6.74e-04 2.80e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0796441e+00 2.11e-03 1.76e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.35e-01h 1 12 2.0802565e+00 1.34e-04 1.62e-01 -4.0 6.82e+01 -7.2 1.00e+00 1.00e+00H 1 13 2.0774703e+00 7.72e-03 2.44e-02 -4.0 1.24e+02 -7.7 1.00e+00 9.47e-01h 1 14 2.0768743e+00 1.51e-03 4.73e-02 -4.0 2.06e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0762296e+00 1.44e-03 3.72e-02 -4.0 3.51e+02 -8.7 1.00e+00 8.05e-01h 1 16 2.0755297e+00 1.64e-03 3.33e-02 -4.0 5.92e+02 -9.2 1.00e+00 6.86e-01h 1 17 2.0757710e+00 2.98e-03 1.53e-02 -4.0 1.65e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0756767e+00 3.60e-04 5.28e-04 -4.0 7.27e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0756713e+00 2.39e-06 8.23e-06 -4.0 2.19e+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 4.93e-08 1.03e-06 -4.0 1.26e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0756712e+00 1.85e-09 7.66e-08 -4.0 3.89e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0756712e+00 2.71e-11 1.08e-09 -4.0 5.60e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0756712121371308e+00 2.0756712121371308e+00 Dual infeasibility......: 1.0835146072192808e-09 1.0835146072192808e-09 Constraint violation....: 2.7114865908117736e-11 2.7114865908117736e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000029e-04 1.0000000000000029e-04 Overall NLP error.......: 1.0835146072192808e-09 1.0835146072192808e-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 = 22.772 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.053s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.053s) integrator 1 hessian structure: 0.044s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.046s) linear index maps built (0.0s) evaluator ready (total: 0.1s) evaluator created (0.1s) 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: 0.102s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.6813694e+00 2.40e+00 3.42e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4117975e+00 1.97e-01 1.97e+00 -0.8 1.48e+00 0.0 1.00e+00 9.23e-01f 1 2 2.6077717e+00 4.40e-02 1.52e+00 -0.8 5.96e-01 -0.5 7.71e-01 1.00e+00f 1 3 2.5212192e+00 3.53e-03 2.58e-01 -1.2 9.20e-02 -1.0 9.93e-01 1.00e+00h 1 4 2.2456077e+00 7.12e-03 4.43e-02 -2.1 2.12e-01 -1.4 9.89e-01 1.00e+00f 1 5 2.0988803e+00 1.64e-03 1.45e-02 -3.2 8.68e-02 -1.9 9.95e-01 9.50e-01h 1 6 2.0909771e+00 7.51e-06 3.31e-04 -4.0 5.01e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0909218e+00 1.37e-07 2.06e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909174e+00 7.29e-10 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909041e+00 6.88e-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 2.0908643e+00 6.19e-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...............: 2.0908642713614887e+00 2.0908642713614887e+00 Dual infeasibility......: 2.0580911497275681e-05 2.0580911497275681e-05 Constraint violation....: 6.1921912961754311e-08 6.1921912961754311e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999994692e-05 9.9999999999994692e-05 Overall NLP error.......: 2.0580911497275681e-05 2.0580911497275681e-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 = 24.514 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.063s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.064s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.052s) linear index maps built (0.0s) evaluator ready (total: 0.116s) evaluator created (0.116s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.117s) 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.............: 0 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.5614645e+00 2.71e+00 5.77e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.3723340e+00 9.55e-02 4.27e+00 -1.0 1.80e+00 - 9.23e-01 1.00e+00f 1 2 3.1973756e+00 1.18e-01 3.20e+00 -0.4 9.92e-01 - 5.87e-01 8.58e-01f 1 3 3.0870414e+00 2.39e-02 4.57e-01 -0.7 3.89e-01 - 1.00e+00 1.00e+00f 1 4 2.6805070e+00 1.39e-02 3.65e-01 -4.0 4.37e-01 - 8.20e-01 1.00e+00h 1 5 2.2127055e+00 7.22e-02 1.11e-01 -2.1 1.26e+00 - 9.67e-01 8.90e-01f 1 6 2.1067198e+00 1.70e-02 1.01e-01 -2.7 1.13e+00 - 9.90e-01 1.00e+00h 1 7 2.0906509e+00 3.93e-04 8.79e-03 -3.9 6.43e-02 - 1.00e+00 9.78e-01h 1 8 2.0907596e+00 2.57e-07 1.23e-03 -4.0 9.29e-03 - 1.00e+00 1.00e+00h 1 9 2.0907445e+00 1.15e-07 3.99e-03 -4.0 2.28e-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 2.0813594e+00 2.00e-02 4.18e-01 -3.2 1.61e+03 - 7.02e-01 1.31e-01f 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0813593955915706e+00 2.0813593955915706e+00 Dual infeasibility......: 4.1828168248752706e-01 4.1828168248752706e-01 Constraint violation....: 2.0025925536582445e-02 2.0025925536582445e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 5.2216618578681357e-04 5.2216618578681357e-04 Overall NLP error.......: 4.1828168248752706e-01 4.1828168248752706e-01 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 = 8.268 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.06s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.051s) linear index maps built (0.0s) evaluator ready (total: 0.111s) 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: 0.111s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.6583013e+00 3.08e+00 6.06e-01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6764687e+00 6.42e-02 4.51e+00 -1.0 1.89e+00 0.0 2.18e-01 1.00e+00h 1 2 2.5943180e+00 7.80e-03 1.45e+00 -1.0 1.61e-01 0.4 1.00e+00 1.00e+00h 1 3 2.7258119e+00 2.56e-03 3.65e-01 -1.0 6.58e-02 -0.1 1.00e+00 1.00e+00h 1 4 2.3487233e+00 5.11e-03 6.24e-02 -1.7 9.11e-02 -0.5 1.00e+00 1.00e+00f 1 5 2.1422351e+00 3.05e-03 5.91e-02 -2.5 9.18e-02 -1.0 1.00e+00 8.11e-01h 1 6 2.1155737e+00 2.15e-05 1.65e-03 -2.5 8.17e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0914731e+00 9.61e-06 1.90e-04 -3.8 3.62e-03 -2.0 1.00e+00 1.00e+00f 1 8 2.0908684e+00 3.91e-07 2.06e-05 -4.0 5.63e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908667e+00 3.03e-11 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 2.0908617e+00 9.73e-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...............: 2.0908617179548101e+00 2.0908617179548101e+00 Dual infeasibility......: 2.0580349512850651e-05 2.0580349512850651e-05 Constraint violation....: 9.7268655629978440e-10 9.7268655629978440e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999999923e-05 9.9999999999999923e-05 Overall NLP error.......: 2.0580349512850651e-05 2.0580349512850651e-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 = 24.824 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: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.048s) linear index maps built (0.0s) evaluator ready (total: 0.105s) evaluator created (0.105s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.106s) 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: 2.474s jacobian structure: 1600 nonzeros (2.533s) integrator 1 hessian structure: 0.046s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.429s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (3.476s) linear index maps built (0.0s) evaluator ready (total: 6.01s) evaluator created (6.034s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 6.048s) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.1609634e+00 2.36e+00 6.18e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.9076083e+00 6.16e-01 2.77e+00 -0.7 1.62e+00 0.0 1.00e+00 7.38e-01f 1 Hello, world! 2 2.6560515e+00 2.98e-02 5.50e+00 -0.9 7.81e-01 -0.5 6.69e-01 1.00e+00f 1 Hello, world! 3 2.4657508e+00 3.00e-02 3.80e-01 -1.4 3.05e-01 -1.0 9.94e-01 1.00e+00h 1 Hello, world! 4 2.2773380e+00 1.34e-02 3.09e-01 -2.0 6.38e-01 -1.4 9.90e-01 6.19e-01h 1 Hello, world! 5 2.1074957e+00 6.75e-03 3.66e-02 -2.9 2.75e-01 -1.9 9.93e-01 9.70e-01h 1 Hello, world! 6 2.0910434e+00 6.95e-05 1.52e-03 -4.0 1.99e-02 -2.4 9.96e-01 1.00e+00h 1 Hello, world! 7 2.0909563e+00 1.09e-06 7.55e-05 -4.0 3.57e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0909487e+00 1.88e-09 2.11e-05 -4.0 4.61e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909334e+00 8.21e-09 2.04e-05 -4.0 1.34e-01 -3.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908951e+00 5.84e-08 8.71e-05 -4.0 3.65e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908200e+00 2.83e-07 4.72e-04 -4.0 8.92e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0906354e+00 2.12e-06 9.42e-04 -4.0 2.65e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0900600e+00 1.55e-05 4.01e-03 -4.0 7.38e+00 -5.7 1.00e+00 9.13e-01h 1 Hello, world! 14 2.0906232e+00 2.08e-04 5.63e-02 -4.0 2.53e+01 -6.2 1.00e+00 1.00e+00f 1 Hello, world! 15 2.0875460e+00 2.09e-04 3.53e-01 -4.1 1.67e+01 -4.9 1.00e+00 3.62e-01h 1 Hello, world! 16 2.0874765e+00 5.24e-05 1.48e-02 -4.0 3.27e+00 -5.4 1.00e+00 1.00e+00f 1 Hello, world! 17 2.0866076e+00 9.38e-05 4.47e-03 -4.0 9.63e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0851080e+00 1.77e-04 8.48e-03 -4.0 2.29e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0829682e+00 3.70e-04 2.58e-02 -4.0 3.73e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827805e+00 5.00e-04 1.46e-02 -4.0 5.34e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0823243e+00 6.35e-04 8.65e-03 -4.0 1.24e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.4304435e+00 2.97e-04 7.90e+00 -4.0 9.12e+02 -8.2 4.50e-02 1.00e+00H 1 Hello, world! 23 2.0873904e+00 4.20e-05 9.27e-01 -4.1 1.77e-01 -0.4 7.53e-01 8.59e-01f 1 Hello, world! 24 2.0876304e+00 4.18e-05 6.04e+00 -4.0 9.86e-02 -0.8 1.00e+00 3.91e-03f 9 Hello, world! 25 2.0876099e+00 5.39e-08 1.46e-03 -4.0 3.08e-02 -1.3 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0873415e+00 1.23e-07 1.33e-03 -4.0 8.42e-02 -1.8 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0870391e+00 9.13e-07 9.68e-04 -4.0 1.83e-01 -2.3 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0870841e+00 1.40e-07 7.99e-05 -4.0 1.14e-02 -2.8 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0870731e+00 1.32e-07 1.22e-05 -4.0 2.09e-02 -3.2 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0870676e+00 1.35e-08 1.23e-05 -4.0 6.28e-02 -3.7 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0870524e+00 3.91e-08 1.22e-05 -4.0 1.88e-01 -4.2 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0870084e+00 3.37e-07 1.70e-05 -4.0 5.57e-01 -4.7 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0868892e+00 2.61e-06 1.32e-04 -4.0 1.62e+00 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0866242e+00 1.45e-05 7.45e-04 -4.0 4.52e+00 -5.6 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0862095e+00 3.83e-05 2.07e-03 -4.0 1.20e+01 -6.1 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0854723e+00 1.07e-04 4.60e-03 -4.0 3.13e+01 -6.6 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0841669e+00 5.89e-04 2.19e-02 -4.0 7.76e+01 -7.0 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0824415e+00 9.92e-04 6.12e-02 -4.1 1.50e+02 -7.5 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0816184e+00 2.64e-03 3.06e-02 -4.1 2.13e+02 -8.0 6.93e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0817589e+00 7.01e-05 1.35e-01 -4.0 8.93e+01 -6.7 1.00e+00 9.80e-01H 1 Hello, world! 41 2.0816579e+00 2.15e-04 1.09e-01 -4.0 1.53e+01 -7.2 9.23e-01 1.00e+00h 1 Hello, world! 42 2.0821056e+00 1.08e-05 7.83e-03 -4.0 4.70e+01 -7.6 7.86e-01 1.00e+00H 1 Hello, world! 43 2.0818634e+00 2.73e-06 2.53e-01 -4.0 8.46e-02 -1.8 7.99e-01 1.00e+00h 1 Hello, world! 44 2.0819144e+00 1.51e-07 8.21e-05 -4.0 1.28e-02 -2.3 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0819163e+00 1.43e-08 3.04e-05 -4.0 1.67e-02 -2.7 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0819157e+00 4.15e-08 9.16e-06 -4.0 1.50e-02 -3.2 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0819156e+00 1.27e-07 9.06e-06 -4.0 4.46e-02 -3.7 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0819156e+00 8.71e-07 8.80e-06 -4.0 1.30e-01 -4.2 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0817863e+00 1.24e-05 1.25e-04 -4.1 3.72e-01 -4.6 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0819126e+00 1.69e-05 1.07e-04 -4.0 8.62e-01 -5.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0819126149889562e+00 2.0819126149889562e+00 Dual infeasibility......: 1.0737261220924199e-04 1.0737261220924199e-04 Constraint violation....: 1.6882301239640185e-05 1.6882301239640185e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0101959817779772e-04 1.0101959817779772e-04 Overall NLP error.......: 1.0737261220924199e-04 1.0737261220924199e-04 Number of objective function evaluations = 62 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 62 Number of inequality constraint evaluations = 62 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 26.475 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.003s) evaluator created (0.003s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.004s) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.1609634e+00 2.36e+00 6.18e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.9076083e+00 6.16e-01 2.77e+00 -0.7 1.62e+00 0.0 1.00e+00 7.38e-01f 1 Hello, world! 2 2.6560515e+00 2.98e-02 5.50e+00 -0.9 7.81e-01 -0.5 6.69e-01 1.00e+00f 1 Hello, world! 3 2.4657508e+00 3.00e-02 3.80e-01 -1.4 3.05e-01 -1.0 9.94e-01 1.00e+00h 1 Hello, world! 4 2.2773380e+00 1.34e-02 3.09e-01 -2.0 6.38e-01 -1.4 9.90e-01 6.19e-01h 1 Hello, world! 5 2.1074957e+00 6.75e-03 3.66e-02 -2.9 2.75e-01 -1.9 9.93e-01 9.70e-01h 1 Hello, world! 6 2.0910434e+00 6.95e-05 1.52e-03 -4.0 1.99e-02 -2.4 9.96e-01 1.00e+00h 1 Hello, world! 7 2.0909563e+00 1.09e-06 7.55e-05 -4.0 3.57e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0909487e+00 1.88e-09 2.11e-05 -4.0 4.61e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909334e+00 8.21e-09 2.04e-05 -4.0 1.34e-01 -3.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908951e+00 5.84e-08 8.71e-05 -4.0 3.65e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908200e+00 2.83e-07 4.72e-04 -4.0 8.92e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0906354e+00 2.12e-06 9.42e-04 -4.0 2.65e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0900600e+00 1.55e-05 4.01e-03 -4.0 7.38e+00 -5.7 1.00e+00 9.13e-01h 1 Hello, world! 14 2.0906232e+00 2.08e-04 5.63e-02 -4.0 2.53e+01 -6.2 1.00e+00 1.00e+00f 1 Hello, world! 15 2.0875460e+00 2.09e-04 3.53e-01 -4.1 1.67e+01 -4.9 1.00e+00 3.62e-01h 1 Hello, world! 16 2.0874765e+00 5.24e-05 1.48e-02 -4.0 3.27e+00 -5.4 1.00e+00 1.00e+00f 1 Hello, world! 17 2.0866076e+00 9.38e-05 4.47e-03 -4.0 9.63e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0851080e+00 1.77e-04 8.48e-03 -4.0 2.29e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0829682e+00 3.70e-04 2.58e-02 -4.0 3.73e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827805e+00 5.00e-04 1.46e-02 -4.0 5.34e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0823243e+00 6.35e-04 8.65e-03 -4.0 1.24e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.4304435e+00 2.97e-04 7.90e+00 -4.0 9.12e+02 -8.2 4.50e-02 1.00e+00H 1 Hello, world! 23 2.0873904e+00 4.20e-05 9.27e-01 -4.1 1.77e-01 -0.4 7.53e-01 8.59e-01f 1 Hello, world! 24 2.0876304e+00 4.18e-05 6.04e+00 -4.0 9.86e-02 -0.8 1.00e+00 3.91e-03f 9 Hello, world! 25 2.0876099e+00 5.39e-08 1.46e-03 -4.0 3.08e-02 -1.3 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0873415e+00 1.23e-07 1.33e-03 -4.0 8.42e-02 -1.8 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0870391e+00 9.13e-07 9.68e-04 -4.0 1.83e-01 -2.3 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0870841e+00 1.40e-07 7.99e-05 -4.0 1.14e-02 -2.8 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0870731e+00 1.32e-07 1.22e-05 -4.0 2.09e-02 -3.2 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0870676e+00 1.35e-08 1.23e-05 -4.0 6.28e-02 -3.7 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0870524e+00 3.91e-08 1.22e-05 -4.0 1.88e-01 -4.2 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0870084e+00 3.37e-07 1.70e-05 -4.0 5.57e-01 -4.7 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0868892e+00 2.61e-06 1.32e-04 -4.0 1.62e+00 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0866242e+00 1.45e-05 7.45e-04 -4.0 4.52e+00 -5.6 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0862095e+00 3.83e-05 2.07e-03 -4.0 1.20e+01 -6.1 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0854723e+00 1.07e-04 4.60e-03 -4.0 3.13e+01 -6.6 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0841669e+00 5.89e-04 2.19e-02 -4.0 7.76e+01 -7.0 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0824415e+00 9.92e-04 6.12e-02 -4.1 1.50e+02 -7.5 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0816184e+00 2.64e-03 3.06e-02 -4.1 2.13e+02 -8.0 6.93e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0817589e+00 7.01e-05 1.35e-01 -4.0 8.93e+01 -6.7 1.00e+00 9.80e-01H 1 Hello, world! 41 2.0816579e+00 2.15e-04 1.09e-01 -4.0 1.53e+01 -7.2 9.23e-01 1.00e+00h 1 Hello, world! 42 2.0821056e+00 1.08e-05 7.83e-03 -4.0 4.70e+01 -7.6 7.86e-01 1.00e+00H 1 Hello, world! 43 2.0818634e+00 2.73e-06 2.53e-01 -4.0 8.46e-02 -1.8 7.99e-01 1.00e+00h 1 Hello, world! 44 2.0819144e+00 1.51e-07 8.21e-05 -4.0 1.28e-02 -2.3 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0819163e+00 1.43e-08 3.04e-05 -4.0 1.67e-02 -2.7 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0819157e+00 4.15e-08 9.16e-06 -4.0 1.50e-02 -3.2 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0819156e+00 1.27e-07 9.06e-06 -4.0 4.46e-02 -3.7 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0819156e+00 8.71e-07 8.80e-06 -4.0 1.30e-01 -4.2 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0817863e+00 1.24e-05 1.25e-04 -4.1 3.72e-01 -4.6 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0819126e+00 1.69e-05 1.07e-04 -4.0 8.62e-01 -5.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0819126149889562e+00 2.0819126149889562e+00 Dual infeasibility......: 1.0737261220924199e-04 1.0737261220924199e-04 Constraint violation....: 1.6882301239640185e-05 1.6882301239640185e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0101959817779772e-04 1.0101959817779772e-04 Overall NLP error.......: 1.0737261220924199e-04 1.0737261220924199e-04 Number of objective function evaluations = 62 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 62 Number of inequality constraint evaluations = 62 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 0.974 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.06s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.051s) linear index maps built (0.0s) evaluator ready (total: 0.112s) 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 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 (0.128s) optimizer initialization complete (total: 0.24s) 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 5.0719588e+00 2.73e+00 5.21e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7813063e+00 3.58e-02 1.17e+00 -0.9 1.97e+00 - 1.00e+00 1.00e+00f 1 2 2.4770421e+00 8.91e-03 1.24e-01 -1.5 1.08e-01 - 9.94e-01 1.00e+00h 1 3 2.1408718e+00 3.06e-03 2.19e-02 -2.7 6.64e-02 - 8.60e-01 8.28e-01f 1 4 2.0923792e+00 6.99e-05 2.29e-03 -3.8 1.84e-02 - 9.67e-01 1.00e+00h 1 5 2.0908926e+00 2.37e-05 1.88e-04 -4.0 7.23e-02 - 1.00e+00 1.00e+00h 1 6 2.0908963e+00 3.69e-08 3.46e-06 -4.0 2.15e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 1.06e-09 2.13e-10 -4.0 1.72e-02 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971954103421e+00 2.0908971954103421e+00 Dual infeasibility......: 2.1326551752332522e-10 2.1326551752332522e-10 Constraint violation....: 1.0575626460717150e-09 1.0575626460717150e-09 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000744162509287e-04 1.0000744162509287e-04 Overall NLP error.......: 7.4443450525892626e-09 7.4443450525892626e-09 Number of objective function evaluations = 8 Number of objective gradient evaluations = 8 Number of equality constraint evaluations = 8 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 8 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 7 Total seconds in IPOPT = 23.942 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.057s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.057s) integrator 1 hessian structure: 0.045s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.046s) linear index maps built (0.0s) evaluator ready (total: 0.103s) 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: 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: 0.103s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.8547970e+00 1.90e+00 8.03e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8444597e+00 5.58e-01 4.25e+00 -0.9 7.10e+00 -4.0 7.01e-01 1.00e+00f 1 2 2.6363607e+00 2.55e-02 2.55e+00 -1.0 2.89e-01 -0.9 6.80e-01 1.00e+00f 1 3 2.4830975e+00 5.26e-03 3.70e-01 -1.5 2.05e-01 -1.3 9.98e-01 1.00e+00h 1 4 2.2030983e+00 8.70e-03 7.52e-02 -2.0 2.63e-01 -1.8 9.98e-01 9.81e-01f 1 5 2.1329087e+00 3.74e-03 1.70e-01 -2.5 3.11e-01 -2.3 9.95e-01 6.71e-01h 1 6 2.1007824e+00 9.00e-04 1.16e-01 -3.2 1.53e-01 -2.8 1.00e+00 7.84e-01h 1 7 2.0906857e+00 1.51e-04 1.96e-02 -4.0 6.16e-02 -3.3 1.00e+00 1.00e+00h 1 8 2.0908159e+00 3.54e-06 2.72e-04 -4.0 1.02e-01 -3.7 1.00e+00 1.00e+00h 1 9 2.0907894e+00 1.65e-07 1.87e-05 -4.0 2.99e-01 -4.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0907079e+00 2.63e-07 9.78e-05 -4.0 8.45e-01 -4.7 1.00e+00 1.00e+00h 1 11 2.0905051e+00 1.56e-06 6.46e-04 -4.0 2.12e+00 -5.2 1.00e+00 1.00e+00h 1 12 2.0901604e+00 3.99e-06 2.43e-03 -4.0 3.83e+00 -5.6 1.00e+00 1.00e+00h 1 13 2.0899647e+00 3.85e-06 2.71e-03 -4.0 4.75e+00 -6.1 1.00e+00 1.00e+00h 1 14 2.0898677e+00 1.73e-06 1.43e-03 -4.0 7.39e+00 -6.6 1.00e+00 1.00e+00h 1 15 2.0898245e+00 1.54e-06 1.27e-03 -4.0 1.07e+01 -7.1 1.00e+00 1.00e+00h 1 16 2.0898225e+00 1.88e-06 7.54e-04 -4.0 9.24e+00 -7.5 1.00e+00 1.00e+00h 1 17 2.0898219e+00 5.22e-07 1.06e-04 -4.0 3.39e+00 -8.0 1.00e+00 1.00e+00h 1 18 2.0898218e+00 9.23e-09 1.83e-06 -4.0 3.90e-01 -8.5 1.00e+00 1.00e+00h 1 19 2.0898218e+00 1.50e-11 4.26e-09 -4.0 2.61e-02 -9.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 19 (scaled) (unscaled) Objective...............: 2.0898218496639465e+00 2.0898218496639465e+00 Dual infeasibility......: 4.2623163466586067e-09 4.2623163466586067e-09 Constraint violation....: 1.5021150989724674e-11 1.5021150989724674e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000000e-04 1.0000000000000000e-04 Overall NLP error.......: 4.2623163466586067e-09 4.2623163466586067e-09 Number of objective function evaluations = 20 Number of objective gradient evaluations = 20 Number of equality constraint evaluations = 20 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 20 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 19 Total seconds in IPOPT = 24.920 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.057s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.057s) integrator 1 hessian structure: 0.044s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.045s) linear index maps built (0.0s) evaluator ready (total: 0.102s) evaluator created (0.102s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.102s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 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 3.1569246e+00 2.31e+00 5.94e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8696512e+00 1.87e+00 1.92e+01 -0.2 1.74e+01 -2.0 9.01e-03 1.83e-01f 1 2 2.7717156e+00 1.69e+00 1.74e+01 -0.7 7.35e+00 -1.6 1.72e-01 9.59e-02f 1 3 2.8888533e+00 1.47e+00 1.50e+01 -0.5 3.18e+01 -2.1 4.58e-01 1.35e-01f 1 4 3.1716005e+00 1.19e+00 4.81e+01 -0.3 2.28e+01 -2.5 5.40e-01 1.92e-01h 1 5 3.5309037e+00 1.20e+00 6.29e+02 0.8 3.95e+02 -3.0 4.30e-01 3.01e-02f 1 6 3.5952921e+00 1.62e+00 6.49e+02 0.3 3.84e+02 -3.5 1.01e-01 7.01e-02h 1 7 3.9767847e+00 1.18e+00 1.12e+04 1.5 9.58e+02 -4.0 3.74e-01 3.68e-02h 1 8 4.0516386e+00 1.15e+00 1.87e+04 -4.0 2.62e+02 -4.4 4.40e-02 2.68e-02h 1 9 4.4157235e+00 2.90e+00 5.99e+03 1.6 3.80e+02 -4.9 7.49e-01 2.08e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 4.4161540e+00 2.90e+00 1.32e+05 1.4 1.80e+02 -5.4 3.74e-01 1.60e-03h 1 11 4.4248501e+00 2.88e+00 2.44e+07 1.4 1.80e+03 -5.9 8.80e-01 5.06e-03h 1 12 4.4267659e+00 2.88e+00 1.06e+10 1.4 3.69e+02 -5.4 1.83e-01 4.18e-04h 1 13r 4.4267659e+00 2.88e+00 1.00e+03 1.4 0.00e+00 -5.0 0.00e+00 3.09e-07R 5 14r 4.3261183e+00 7.65e-01 1.27e+03 2.1 5.94e+02 - 2.21e-01 9.64e-03f 1 15 4.3248968e+00 7.59e-01 8.04e+01 -4.0 3.98e+00 -5.5 5.64e-01 6.87e-03h 1 16 4.3248388e+00 7.56e-01 2.46e+04 -1.0 4.92e+00 -6.0 1.00e+00 3.96e-03h 1 17 4.3251191e+00 7.56e-01 1.44e+08 -0.5 7.77e+00 -6.4 1.00e+00 1.69e-04h 1 18r 4.3251191e+00 7.56e-01 1.00e+03 2.1 0.00e+00 -6.9 0.00e+00 3.01e-07R 4 19r 4.1261025e+00 2.03e-01 3.13e+02 0.5 5.18e+00 - 7.48e-01 1.33e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 4.1262976e+00 2.03e-01 3.56e+02 -1.8 3.70e+00 -7.4 7.16e-01 2.15e-03h 1 21 4.1279217e+00 2.02e-01 3.80e+05 -0.7 3.34e+01 -7.9 1.00e+00 9.83e-04h 1 22 4.1281453e+00 2.02e-01 1.35e+10 0.6 1.88e+02 -8.4 1.00e+00 2.79e-05h 1 23r 4.1281453e+00 2.02e-01 9.97e+02 1.5 0.00e+00 -8.8 0.00e+00 1.65e-07R 2 24r 4.3126603e+00 2.02e-01 8.25e+02 0.5 4.18e+00 - 5.81e-01 1.75e-01f 1 25r 4.5389594e+00 2.01e-01 3.80e+02 -0.3 1.24e+00 - 3.94e-01 5.68e-01f 1 26r 4.7988654e+00 2.11e-01 2.56e+01 0.3 3.11e+00 - 1.00e+00 9.37e-01f 1 27r 4.6773655e+00 1.99e-01 6.43e+00 -0.4 2.20e+00 - 9.99e-01 9.25e-01f 1 28r 4.6306556e+00 1.99e-01 1.49e+01 -0.9 2.50e-01 0.0 9.32e-01 9.87e-01f 1 29r 4.4676616e+00 1.99e-01 4.93e+01 -2.1 2.55e-01 -0.5 4.75e-01 9.34e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30r 4.5459170e+00 1.99e-01 1.99e-01 -1.2 3.06e-01 - 1.00e+00 1.00e+00f 1 31r 4.3052086e+00 1.99e-01 2.31e-01 -1.3 1.06e+00 - 1.00e+00 1.00e+00f 1 32r 4.2731313e+00 1.99e-01 6.39e+00 -2.0 4.73e-01 - 8.33e-01 1.00e+00f 1 33r 4.2165719e+00 1.99e-01 1.80e-02 -2.7 1.75e-01 - 1.00e+00 1.00e+00f 1 34r 4.0960729e+00 1.99e-01 1.01e-02 -3.8 1.77e-01 - 9.99e-01 1.00e+00f 1 35r 4.1070486e+00 1.99e-01 1.28e-03 -4.0 3.34e-02 - 1.00e+00 1.00e+00h 1 36r 4.1041761e+00 1.99e-01 4.73e-05 -4.0 2.99e-02 - 1.00e+00 1.00e+00h 1 37r 4.1096735e+00 1.99e-01 4.06e-06 -4.0 3.83e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 37 (scaled) (unscaled) Objective...............: 4.1097657118042257e+00 4.1097657118042257e+00 Dual infeasibility......: 1.9902001511025755e+00 1.9902001511025755e+00 Constraint violation....: 1.9875045035068484e-01 1.9875045035068484e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000006760294346e-04 1.0000006760294346e-04 Overall NLP error.......: 1.9902001511025755e+00 1.9902001511025755e+00 Number of objective function evaluations = 50 Number of objective gradient evaluations = 25 Number of equality constraint evaluations = 50 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 42 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 38 Total seconds in IPOPT = 24.607 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: 0.054s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.055s) integrator 1 hessian structure: 0.045s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s sub-objective 4 (GlobalObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1804 nonzeros (0.046s) linear index maps built (0.0s) evaluator ready (total: 0.101s) evaluator created (0.101s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.102s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 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 4.5462882e+00 3.26e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.2506324e+00 2.07e-01 1.18e+00 -1.0 2.58e+00 -2.0 6.51e-01 1.00e+00f 1 2 2.6200201e+00 1.56e-01 1.36e+00 -1.1 1.75e+00 -2.5 5.70e-01 1.00e+00f 1 3 2.4293904e+00 3.71e-02 3.04e-01 -1.3 6.91e-01 -3.0 9.58e-01 1.00e+00h 1 4 2.1691001e+00 5.00e-02 3.60e-02 -2.5 1.34e+00 -3.4 9.54e-01 1.00e+00h 1 5 2.0973344e+00 4.06e-03 1.47e-02 -3.1 5.25e-01 -3.9 9.21e-01 9.84e-01h 1 6 2.0907798e+00 2.46e-04 9.91e-04 -4.0 4.50e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0906086e+00 1.29e-05 1.63e-04 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0901678e+00 7.63e-06 3.62e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0888560e+00 7.05e-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 2.0850209e+00 6.68e-04 2.80e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0796111e+00 2.08e-03 1.76e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.35e-01h 1 12 2.0802675e+00 1.53e-04 1.74e-01 -4.0 6.48e+01 -7.2 1.00e+00 1.00e+00H 1 13 2.0773730e+00 8.14e-03 2.48e-02 -4.0 1.24e+02 -7.7 1.00e+00 9.76e-01h 1 14 2.0771924e+00 1.80e-03 7.79e-02 -4.0 2.10e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0760661e+00 7.51e-04 1.94e-02 -4.0 3.50e+02 -8.7 1.00e+00 8.36e-01H 1 16 2.0754938e+00 3.45e-03 2.22e-02 -4.0 4.46e+02 -9.2 1.00e+00 7.48e-01h 1 17 2.0757441e+00 2.15e-03 9.23e-03 -4.0 1.27e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0756772e+00 1.97e-04 3.10e-04 -4.0 5.93e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0756713e+00 1.27e-06 5.71e-06 -4.0 2.20e+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 3.38e-08 1.05e-06 -4.0 1.28e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0756712e+00 1.92e-09 7.88e-08 -4.0 3.97e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0756712e+00 2.83e-11 1.12e-09 -4.0 5.74e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0756712121371264e+00 2.0756712121371264e+00 Dual infeasibility......: 1.1231756898513485e-09 1.1231756898513485e-09 Constraint violation....: 2.8279045771739675e-11 2.8279045771739675e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000060e-04 1.0000000000000060e-04 Overall NLP error.......: 1.1231756898513485e-09 1.1231756898513485e-09 Number of objective function evaluations = 25 Number of objective gradient evaluations = 23 Number of equality constraint evaluations = 25 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 = 25.603 EXIT: Optimal Solution Found. [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=120, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.057s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.058s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.052s) linear index maps built (0.0s) evaluator ready (total: 0.11s) 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: 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 (0.585s) optimizer initialization complete (total: 0.696s) 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 2.3622055e+00 5.21e+00 1.33e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.0820775e+00 9.13e+00 1.88e+01 -0.9 1.03e+02 -4.0 1.00e+00 9.91e-01h 1 2 2.3994199e+00 5.31e+00 2.45e+01 -1.1 1.54e+02 -4.5 5.20e-01 1.00e+00f 1 3 2.1461227e+00 1.88e+00 4.44e+00 -1.3 6.54e+01 -5.0 1.00e+00 9.97e-01h 1 4 2.0930825e+00 3.13e-01 7.34e+00 -1.6 5.66e+01 -5.4 8.43e-01 1.00e+00h 1 5 2.1038787e+00 2.14e-02 1.60e+00 -2.1 2.06e+01 -5.9 8.37e-01 1.00e+00h 1 6 2.1307388e+00 2.41e-01 9.78e-01 -2.1 8.33e+01 -6.4 9.92e-01 1.00e+00h 1 7 2.1463054e+00 8.68e-02 1.94e-01 -2.2 5.27e+01 -6.9 1.00e+00 1.00e+00h 1 8 2.1524796e+00 4.69e-02 2.35e-02 -2.2 5.87e+01 -7.3 1.00e+00 1.00e+00h 1 9 2.0906805e+00 3.17e-01 6.13e-03 -3.3 4.64e+01 -7.8 9.72e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0779809e+00 1.34e-01 1.92e-02 -4.0 1.99e+02 -8.3 9.91e-01 1.00e+00h 1 11 2.0760940e+00 2.84e-02 1.81e-02 -4.0 4.16e+02 -8.8 1.00e+00 1.00e+00h 1 12 2.0768850e+00 3.61e-02 2.53e-02 -3.7 3.52e+02 -9.2 1.00e+00 1.00e+00h 1 13 2.0764594e+00 6.47e-03 3.32e-03 -3.9 1.09e+02 -9.7 1.00e+00 1.00e+00h 1 14 2.0757774e+00 2.20e-03 1.56e-04 -4.0 4.50e+01 -10.2 1.00e+00 1.00e+00h 1 15 2.0757704e+00 7.62e-06 5.05e-06 -4.0 2.63e+01 -10.7 1.00e+00 1.00e+00h 1 16 2.0757704e+00 4.57e-09 7.36e-07 -4.0 1.11e+01 -11.2 1.00e+00 1.00e+00h 1 17 2.0757704e+00 5.13e-11 2.44e-08 -4.0 2.33e+00 -11.6 1.00e+00 1.00e+00h 1 18 2.0757704e+00 2.17e-13 2.38e-10 -4.0 2.30e-01 -12.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 18 (scaled) (unscaled) Objective...............: 2.0757703960608613e+00 2.0757703960608613e+00 Dual infeasibility......: 2.3761758318895272e-10 2.3761758318895272e-10 Constraint violation....: 2.1691914757482333e-13 2.1691914757482333e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000037e-04 1.0000000000000037e-04 Overall NLP error.......: 2.3761758318895272e-10 2.3761758318895272e-10 Number of objective function evaluations = 19 Number of objective gradient evaluations = 19 Number of equality constraint evaluations = 19 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 19 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 18 Total seconds in IPOPT = 25.325 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.049s jacobian structure: 180 nonzeros (0.085s) integrator 1 hessian structure: 0.045s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.308s sub-objective 2 (QuadraticRegularizer): 0.078s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.014s objective hessian structure: 0.486s hessian structure: 375 nonzeros (0.531s) linear index maps built (0.0s) evaluator ready (total: 0.734s) evaluator created (0.734s) NL constraint bounds extracted (0.01s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.105s) applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.438s) optimizer initialization complete (total: 3.288s) 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 1.6703332e+00 7.49e-01 1.07e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.3667510e+00 1.52e-01 1.62e+00 -1.0 7.46e-01 0.0 9.97e-01 1.00e+00h 1 2 4.1293519e+00 3.54e-02 9.30e+00 -0.6 6.51e+00 - 8.82e-01 7.66e-01H 1 3 2.7063422e+00 2.18e-02 3.61e+00 -4.0 1.69e+00 -0.5 4.43e-01 8.13e-01f 1 4 1.7624162e+00 1.32e-02 7.82e-01 -1.8 2.20e+00 -0.1 8.50e-01 4.00e-01f 1 5 1.3501837e+00 4.08e-02 1.80e+00 -1.9 3.24e-01 -0.5 9.55e-01 4.04e-01f 1 6 1.1430571e+00 2.12e-04 1.29e-01 -2.5 7.17e-02 -1.0 1.00e+00 9.95e-01h 1 7 1.0970849e+00 4.95e-06 6.89e-03 -4.0 2.93e-02 -1.5 1.00e+00 9.93e-01h 1 8 1.0937390e+00 2.09e-09 4.12e-03 -4.0 5.55e-02 -2.0 1.00e+00 1.00e+00h 1 9 1.0928455e+00 1.03e-12 3.91e-03 -4.0 1.23e-01 -2.4 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0913315e+00 5.13e-13 1.87e-02 -4.0 8.54e+00 - 2.22e-01 5.00e-01f 2 11 1.0912457e+00 4.20e-16 6.91e-04 -4.0 3.20e-01 -2.9 1.00e+00 1.00e+00f 1 12 1.0912197e+00 8.69e-19 8.56e-03 -4.0 1.12e+00 -3.4 4.84e-01 1.00e+00f 1 13 1.0911135e+00 5.12e-19 3.07e-03 -4.0 6.78e-02 -2.1 1.00e+00 4.10e-01f 2 14 1.0910889e+00 3.19e-23 4.94e-04 -4.0 1.58e-01 -2.5 1.00e+00 1.00e+00f 1 15 1.0911724e+00 1.59e-23 4.16e-03 -4.0 1.02e+00 -3.0 2.88e-01 5.00e-01f 2 16 1.0908200e+00 1.18e-27 7.79e-04 -4.1 5.01e-02 -1.7 1.00e+00 1.00e+00f 1 17 1.0910524e+00 2.47e-30 1.27e-03 -4.0 9.70e-02 -2.2 1.00e+00 1.00e+00f 1 18 1.0909301e+00 4.92e-30 3.48e-04 -4.1 2.58e-01 -2.6 6.06e-01 5.00e-01f 2 19 1.0901101e+00 4.46e-30 7.47e-05 -6.1 1.20e-02 -2.2 9.82e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.0912383e+00 1.83e-29 1.51e-02 -4.0 4.70e-01 -2.7 1.00e+00 8.66e-01f 1 21 1.0908701e+00 6.16e-22 2.21e-03 -4.0 7.02e-01 - 2.64e-01 1.00e+00f 1 22 1.0908435e+00 8.40e-29 1.18e-04 -4.0 2.18e-02 -2.3 1.00e+00 1.00e+00f 1 23 1.0900144e+00 2.72e-29 1.03e-04 -6.1 3.27e-02 -2.7 9.63e-01 1.00e+00f 1 24 1.0909016e+00 1.89e-29 4.45e-04 -4.0 9.07e-02 -2.3 1.00e+00 1.00e+00f 1 25 1.0907353e+00 4.55e-25 6.75e-05 -4.1 1.63e-02 - 1.00e+00 1.00e+00f 1 26 1.0900067e+00 6.84e-24 2.79e-07 -6.1 1.05e-03 - 1.00e+00 1.00e+00f 1 27 1.0904820e+00 5.55e-23 3.37e-07 -4.0 4.67e-01 - 1.00e+00 5.32e-01f 1 28 1.0905694e+00 2.84e-25 1.02e-07 -4.2 1.55e-01 - 1.00e+00 1.00e+00f 1 29 1.0900045e+00 1.30e-23 6.36e-08 -6.3 7.16e-04 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.0900214e+00 1.27e-23 6.25e-08 -4.0 1.77e+01 - 1.00e+00 1.88e-02f 1 31 1.0904036e+00 5.85e-24 2.91e-08 -4.3 1.10e-01 - 1.00e+00 1.00e+00f 1 32 1.0900027e+00 5.39e-24 3.20e-08 -6.5 9.05e-04 - 1.00e+00 1.00e+00f 1 33 1.0900103e+00 3.39e-23 3.18e-08 -4.0 4.47e+01 - 1.00e+00 8.49e-03f 1 34 1.0903996e+00 3.61e-23 3.02e-08 -4.4 1.09e-01 - 1.00e+00 1.00e+00f 1 35 1.0900026e+00 5.93e-24 3.14e-08 -6.5 9.07e-04 - 1.00e+00 1.00e+00f 1 36 1.0900101e+00 1.19e-23 3.12e-08 -4.0 4.57e+01 - 1.00e+00 8.32e-03f 1 37 1.0903995e+00 1.14e-22 3.02e-08 -4.4 1.09e-01 - 1.00e+00 1.00e+00f 1 38 1.0900026e+00 1.24e-23 3.14e-08 -6.5 9.07e-04 - 1.00e+00 1.00e+00f 1 39 1.0899999e+00 3.87e-24 1.41e-12 -9.0 4.16e-04 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.0899999e+00 3.87e-24 1.41e-12 -4.0 1.48e+04 - 1.00e+00 2.56e-05f 1 41 1.0903958e+00 3.53e-18 3.12e-08 -4.4 1.08e-01 - 1.00e+00 1.00e+00f 1 42 1.0900026e+00 2.84e-22 3.08e-08 -6.5 9.10e-04 - 1.00e+00 1.00e+00f 1 43 1.0899999e+00 4.38e-24 1.37e-12 -9.0 4.24e-04 - 1.00e+00 1.00e+00f 1 44 1.0899999e+00 1.42e-36 4.37e-16 -9.0 1.36e-01 - 1.00e+00 1.00e+00f 1 45 1.0899999e+00 2.06e-46 1.90e-16 -9.0 6.41e-16 - 1.00e+00 1.00e+00 0 46 1.0899999e+00 2.06e-46 1.90e-16 -9.0 2.79e-17 - 1.00e+00 1.00e+00T 0 Number of Iterations....: 46 (scaled) (unscaled) Objective...............: 1.0899999181818181e+00 1.0899999181818181e+00 Dual infeasibility......: 1.9035879643414244e-16 1.9035879643414244e-16 Constraint violation....: 2.0569727259589506e-46 2.0569727259589506e-46 Variable bound violation: 9.0909090932206338e-09 9.0909090932206338e-09 Complementarity.........: 9.0909090909090920e-10 9.0909090909090920e-10 Overall NLP error.......: 9.9999090909091604e-05 9.9999090909091604e-05 Number of objective function evaluations = 53 Number of objective gradient evaluations = 47 Number of equality constraint evaluations = 53 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 47 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 47 Total seconds in IPOPT = 24.247 EXIT: Search Direction is becoming Too Small. ┌ Warning: Trajectory has timestep variable :Δt but no bounds on it. │ Adding default lower bound of 0 to prevent negative timesteps. │ │ Recommended: Add explicit bounds when creating the trajectory: │ NamedTrajectory(...; Δt_bounds=(min, max)) │ Example: │ NamedTrajectory(qtraj, N; Δt_bounds=(1e-3, 0.5)) │ │ Or use timesteps_all_equal=true in problem options to fix timesteps. └ @ DirectTrajOpt.Problems ~/.julia/packages/DirectTrajOpt/gniE1/src/problems.jl:66 initializing optimizer... building evaluator: 0 integrators, 0 nonlinear constraints dynamics constraints: 0, nonlinear constraints: 0 jacobian structure: 0 nonzeros (0.0s) computing objective hessian structure (QuadraticRegularizer)... objective hessian structure: 0.081s hessian structure: 30 nonzeros (0.081s) linear index maps built (0.0s) evaluator ready (total: 0.081s) evaluator created (0.081s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.105s) 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 (2.744s) optimizer initialization complete (total: 2.93s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 30 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.6786629e-02 8.33e-17 1.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Number of Iterations....: 1 Number of objective function evaluations = 2 Number of objective gradient evaluations = 2 Number of equality constraint evaluations = 2 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 1 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 1 Total seconds in IPOPT = 2.659 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): 0.078s sub-objective 2 (QuadraticRegularizer): 0.0s objective hessian structure: 0.162s hessian structure: 40 nonzeros (0.162s) linear index maps built (0.0s) evaluator ready (total: 0.163s) evaluator created (0.163s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.105s) 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 (2.489s) optimizer initialization complete (total: 2.757s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 39 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 19 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.5573150e+00 1.07e+00 1.18e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.1356455e+00 2.94e-09 3.40e-01 -0.2 6.92e-01 -2.0 9.95e-01 1.00e+00f 1 2 5.6343232e-01 2.68e-09 5.24e-01 -1.2 1.58e+00 -1.6 8.03e-01 1.00e+00f 1 3 2.6610368e-01 2.57e-10 8.93e-02 -2.0 7.03e-01 -1.1 1.00e+00 1.00e+00f 1 4 6.4529339e-02 7.25e-11 6.92e-02 -2.7 1.08e+00 -1.6 9.99e-01 1.00e+00f 1 5 1.2327875e-02 4.97e-11 2.75e-02 -3.7 8.75e-01 -2.1 1.00e+00 1.00e+00f 1 6 2.4247268e-03 1.05e-11 8.47e-03 -4.0 5.71e-01 -2.6 1.00e+00 1.00e+00f 1 7 6.8857069e-04 1.99e-12 2.51e-03 -4.0 3.18e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.2291898e-04 3.34e-13 5.90e-04 -4.0 9.76e-02 -3.5 1.00e+00 1.00e+00f 1 9 4.7729566e-04 4.36e-14 2.35e-04 -4.0 3.60e-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 2.9212629e-04 1.24e-14 5.00e-04 -4.1 9.27e-02 -4.5 1.00e+00 1.00e+00f 1 11 4.5909657e-04 6.97e-15 3.85e-04 -4.0 2.10e-01 -5.0 1.00e+00 5.00e-01f 2 12 2.7261636e-04 4.11e-15 5.38e-04 -4.1 1.02e-01 -5.4 1.00e+00 1.00e+00f 1 13 4.6645924e-04 2.89e-15 4.75e-04 -4.0 2.53e-01 -5.9 1.00e+00 5.00e-01f 2 14 2.6300601e-04 2.11e-15 6.08e-04 -4.1 1.17e-01 -6.4 1.00e+00 1.00e+00f 1 15 4.6692030e-04 2.00e-15 5.13e-04 -4.0 2.73e-01 -6.9 1.00e+00 5.00e-01f 2 16 2.5977922e-04 1.67e-15 6.35e-04 -4.1 1.23e-01 -7.4 1.00e+00 1.00e+00f 1 17 4.6683615e-04 1.78e-15 5.30e-04 -4.0 2.83e-01 -7.8 1.00e+00 5.00e-01f 2 18 2.5870505e-04 1.33e-15 6.53e-04 -4.1 1.26e-01 -8.3 1.00e+00 1.00e+00f 1 19 4.6635492e-04 1.44e-15 5.39e-04 -4.0 2.89e-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 2.5837382e-04 1.23e-15 6.68e-04 -4.1 1.29e-01 -9.3 1.00e+00 1.00e+00f 1 21 4.6578964e-04 1.22e-15 5.44e-04 -4.0 2.93e-01 -9.7 1.00e+00 5.00e-01f 2 22 2.5827943e-04 1.12e-15 6.80e-04 -4.1 1.32e-01 -10.2 1.00e+00 1.00e+00f 1 23 4.6520827e-04 9.99e-16 5.49e-04 -4.0 2.96e-01 -10.7 1.00e+00 5.00e-01f 2 24 2.5825919e-04 1.01e-15 6.92e-04 -4.1 1.34e-01 -11.2 1.00e+00 1.00e+00f 1 25 4.6463796e-04 8.88e-16 5.53e-04 -4.0 2.99e-01 -11.6 1.00e+00 5.00e-01f 2 26 2.5826047e-04 9.30e-16 7.04e-04 -4.1 1.36e-01 -12.1 1.00e+00 1.00e+00f 1 27 3.0954907e-05 9.33e-15 8.80e-04 -6.2 3.75e-01 -12.6 9.68e-01 1.00e+00f 1 28 1.7433027e-03 2.44e-15 7.60e-03 -4.0 1.97e+00 -13.1 1.00e+00 5.00e-01f 2 29 2.4469530e-05 2.41e-14 2.85e-03 -4.1 1.01e+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 1.5778798e-03 3.15e-14 7.92e-03 -4.0 9.73e-01 -14.0 1.00e+00 1.00e+00f 1 31 1.0147244e-05 1.87e-14 2.26e-03 -4.2 1.08e+00 -14.5 1.00e+00 1.00e+00f 1 32 4.6668009e-04 1.55e-15 2.74e-03 -4.0 1.37e+00 -15.0 1.00e+00 5.00e-01f 2 33 2.1958951e-04 3.11e-15 2.36e-04 -4.2 3.71e-01 -15.5 1.00e+00 5.00e-01f 2 34 2.0205394e-05 4.55e-15 7.97e-04 -6.4 4.08e-01 -15.9 9.64e-01 1.00e+00f 1 35 8.1278319e-06 3.33e-15 9.82e-05 -6.4 1.03e-01 -16.4 1.00e+00 1.00e+00f 1 36 1.5633805e-03 1.07e-15 5.52e-03 -4.0 9.56e+00 -16.9 1.00e+00 1.25e-01f 4 37 9.6752337e-05 5.44e-14 3.48e-03 -4.0 7.98e-01 -17.4 1.00e+00 1.00e+00f 1 38 7.5229394e-04 3.66e-14 3.55e-03 -4.0 5.37e-01 -17.8 1.00e+00 1.00e+00f 1 39 3.8040729e-04 6.88e-15 4.35e-04 -4.0 4.20e-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 3.5533839e-05 5.55e-15 1.32e-03 -6.0 5.00e-01 -18.8 9.55e-01 1.00e+00f 1 41 1.4636985e-05 5.38e-15 1.59e-04 -6.0 1.25e-01 -19.3 1.00e+00 1.00e+00f 1 42 4.0311842e-06 8.88e-16 1.00e-04 -6.0 1.42e-01 -19.8 1.00e+00 1.00e+00f 1 43 1.0696736e-03 5.83e-16 3.17e-03 -4.0 1.55e+01 -20.0 1.00e+00 7.75e-02f 4 44 1.6091658e-04 4.83e-14 2.88e-03 -4.0 5.86e-01 -20.0 1.00e+00 1.00e+00f 1 45 6.7643842e-04 2.31e-14 2.80e-03 -4.0 4.21e-01 -20.0 1.00e+00 1.00e+00f 1 46 3.9058903e-04 4.22e-15 4.19e-04 -4.0 3.61e-01 -20.0 1.00e+00 5.00e-01f 2 47 3.5455595e-05 5.88e-15 1.44e-03 -6.0 5.43e-01 -20.0 9.50e-01 1.00e+00f 1 48 1.4740019e-05 4.88e-15 1.69e-04 -6.0 1.32e-01 -20.0 1.00e+00 1.00e+00f 1 49 3.9293453e-06 8.33e-16 1.09e-04 -6.0 1.56e-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 8.6514373e-04 4.44e-16 2.18e-03 -4.0 1.67e+01 -20.0 1.00e+00 7.18e-02f 4 51 1.9593879e-04 4.15e-14 2.50e-03 -4.0 4.90e-01 -20.0 1.00e+00 1.00e+00f 1 52 6.1426373e-04 1.62e-14 2.34e-03 -4.0 3.58e-01 -20.0 1.00e+00 1.00e+00f 1 53 3.8703917e-04 2.66e-15 4.00e-04 -4.0 3.21e-01 -20.0 1.00e+00 5.00e-01f 2 54 3.4510250e-05 5.55e-15 1.53e-03 -6.1 5.79e-01 -20.0 9.46e-01 1.00e+00f 1 55 1.4451521e-05 4.33e-15 1.75e-04 -6.1 1.39e-01 -20.0 1.00e+00 1.00e+00f 1 56 3.7885383e-06 6.66e-16 1.15e-04 -6.1 1.67e-01 -20.0 1.00e+00 1.00e+00f 1 57 7.1458982e-04 4.44e-16 1.29e-03 -4.0 1.81e+01 -20.0 1.00e+00 6.61e-02f 4 58 2.3161314e-04 3.66e-14 2.09e-03 -4.1 3.95e-01 -20.0 1.00e+00 1.00e+00f 1 59 5.5453317e-04 1.11e-14 1.84e-03 -4.1 2.88e-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 3.8372147e-04 2.00e-15 3.62e-04 -4.1 2.71e-01 -20.0 1.00e+00 5.00e-01f 2 61 3.3474665e-05 5.44e-15 1.61e-03 -6.1 6.12e-01 -20.0 9.42e-01 1.00e+00f 1 62 1.4158549e-05 4.00e-15 1.79e-04 -6.1 1.44e-01 -20.0 1.00e+00 1.00e+00f 1 63 3.6693735e-06 6.66e-16 1.20e-04 -6.1 1.76e-01 -20.0 1.00e+00 1.00e+00f 1 64 6.0454338e-04 3.96e-16 5.20e-04 -4.0 1.94e+01 -20.0 1.00e+00 6.14e-02f 4 65 2.6381935e-04 3.26e-14 1.67e-03 -4.1 3.09e-01 -20.0 1.00e+00 1.00e+00f 1 66 5.0216024e-04 7.33e-15 1.36e-03 -4.1 2.19e-01 -20.0 1.00e+00 1.00e+00f 1 67 3.7949094e-04 1.11e-15 3.15e-04 -4.1 2.18e-01 -20.0 1.00e+00 5.00e-01f 2 68 3.2380203e-05 5.11e-15 1.67e-03 -6.1 6.43e-01 -20.0 9.38e-01 1.00e+00f 1 69 1.3841354e-05 3.66e-15 1.82e-04 -6.1 1.47e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 3.5610316e-06 6.11e-16 1.24e-04 -6.1 1.85e-01 -20.0 1.00e+00 1.00e+00f 1 71 5.2274744e-04 3.47e-16 1.62e-04 -4.0 2.07e+01 -20.0 1.00e+00 5.75e-02f 4 72 2.9189566e-04 2.95e-14 1.28e-03 -4.1 2.31e-01 -20.0 1.00e+00 1.00e+00f 1 73 4.5830444e-04 4.66e-15 9.37e-04 -4.1 1.54e-01 -20.0 1.00e+00 1.00e+00f 1 74 3.0343097e-04 3.55e-15 9.20e-04 -4.1 1.67e-01 -20.0 1.00e+00 1.00e+00f 1 75 4.5191278e-04 2.44e-15 8.14e-04 -4.1 1.34e-01 -20.0 1.00e+00 1.00e+00f 1 76 2.3653387e-05 4.55e-15 1.86e-03 -6.1 7.85e-01 -20.0 9.23e-01 1.00e+00f 1 77 1.2291820e-05 3.77e-15 1.24e-04 -6.1 1.10e-01 -20.0 1.00e+00 1.00e+00f 1 78 3.0678816e-06 4.44e-16 1.18e-04 -6.1 1.88e-01 -20.0 1.00e+00 1.00e+00f 1 79 4.6104693e-04 4.44e-16 8.43e-04 -4.0 2.36e+01 -20.0 1.00e+00 5.04e-02f 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 3.2162612e-04 2.78e-14 8.67e-04 -4.1 1.54e-01 -20.0 1.00e+00 1.00e+00f 1 81 4.2344073e-04 2.66e-15 5.29e-04 -4.1 8.83e-02 -20.0 1.00e+00 1.00e+00f 1 82 2.5401769e-05 4.55e-15 1.89e-03 -6.1 7.80e-01 -20.0 9.23e-01 1.00e+00f 1 83 1.2569205e-05 3.44e-15 1.44e-04 -6.1 1.25e-01 -20.0 1.00e+00 1.00e+00f 1 84 3.1512472e-06 4.44e-16 1.25e-04 -6.1 1.97e-01 -20.0 1.00e+00 1.00e+00f 1 85 3.8921055e-06 2.22e-16 1.84e-05 -6.1 3.23e-02 -20.0 1.00e+00 1.00e+00h 1 86 3.4346907e-06 7.11e-17 4.44e-06 -6.1 7.96e-03 -20.0 1.00e+00 1.00e+00h 1 87 2.5556021e-07 6.16e-17 5.38e-05 -9.0 2.41e-01 -20.0 9.76e-01 1.00e+00f 1 88 2.2973400e-03 3.30e-16 1.13e-02 -4.0 1.07e+02 -20.0 1.00e+00 2.27e-02f 3 89 9.0736481e-05 4.69e-14 7.02e-03 -3.9 1.51e+00 -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 7.6634886e-04 2.73e-14 5.32e-03 -3.9 8.01e-01 -20.0 1.00e+00 1.00e+00f 1 91 4.3639431e-04 5.33e-15 7.90e-04 -3.9 5.46e-01 -20.0 1.00e+00 5.00e-01f 2 92 4.3231221e-05 4.33e-15 2.17e-03 -5.9 7.24e-01 -20.0 9.29e-01 1.00e+00f 1 93 1.7817950e-05 3.89e-15 2.66e-04 -5.9 1.89e-01 -20.0 1.00e+00 1.00e+00f 1 94 5.0650374e-06 6.66e-16 1.69e-04 -5.9 2.13e-01 -20.0 1.00e+00 1.00e+00f 1 95 5.7200436e-06 2.84e-16 1.68e-05 -5.9 2.40e-02 -20.0 1.00e+00 1.00e+00h 1 96 5.3104264e-06 6.51e-17 2.33e-06 -5.9 3.38e-03 -20.0 1.00e+00 1.00e+00h 1 97 3.8048546e-07 5.94e-17 8.00e-05 -8.9 2.90e-01 -20.0 9.71e-01 1.00e+00f 1 98 1.5330511e-07 7.07e-17 8.37e-06 -8.9 6.40e-02 -20.0 1.00e+00 1.00e+00f 1 99 1.4931311e-03 4.51e-16 2.31e-03 -4.0 3.23e+02 -20.0 1.00e+00 7.53e-03f 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 4.9178572e-04 6.08e-14 5.33e-03 -3.8 6.87e-01 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 4.9178571870447452e-04 4.9178571870447452e-04 Dual infeasibility......: 5.3340360332395321e-03 5.3340360332395321e-03 Constraint violation....: 6.0840221749458578e-14 6.0840221749458578e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.0354669700226003e-04 2.0354669700226003e-04 Overall NLP error.......: 5.3340360332395321e-03 5.3340360332395321e-03 Number of objective function evaluations = 170 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 170 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 = 3.275 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: 0.055s integrator 2 jacobian structure: 1.294s integrator 3 jacobian structure: 0.0s jacobian structure: 1872 nonzeros (1.35s) integrator 1 hessian structure: 0.046s integrator 2 hessian structure: 0.046s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.318s sub-objective 2 (QuadraticRegularizer): 0.079s sub-objective 3 (LinearRegularizer): 0.07s sub-objective 4 (MinimumTimeObjective): 0.015s objective hessian structure: 0.571s hessian structure: 2431 nonzeros (0.664s) linear index maps built (0.0s) evaluator ready (total: 2.015s) evaluator created (2.016s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.107s) 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 (2.618s) optimizer initialization complete (total: 4.741s) 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 1.8015359e+00 2.29e+00 1.05e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7361129e+00 2.55e+00 1.03e+00 -0.6 3.64e+01 -4.0 2.57e-01 1.99e-01f 1 2 2.6997263e+00 4.34e-01 1.27e+01 -0.9 3.64e+00 -1.8 1.44e-01 8.37e-01f 1 3 3.1270513e+00 1.91e-01 2.18e+00 -1.6 5.28e+00 -1.3 4.42e-01 5.50e-01h 1 4 2.9980467e+00 3.78e-02 6.89e-01 -2.7 4.66e-01 -0.9 5.72e-01 1.00e+00h 1 5 2.7229759e+00 4.64e-03 1.06e-01 -1.6 3.36e-01 -0.5 9.43e-01 1.00e+00f 1 6 2.4811867e+00 6.30e-02 1.83e-01 -4.0 5.82e-01 -1.0 6.33e-01 1.00e+00f 1 7 2.0342875e+00 3.04e-02 2.35e-01 -2.2 8.70e-01 -1.4 8.79e-01 1.00e+00f 1 8 1.8233308e+00 6.83e-02 8.01e-02 -2.3 1.28e+00 -1.9 9.45e-01 1.00e+00h 1 9 1.6451513e+00 8.76e-02 1.44e-01 -2.6 2.20e+00 -2.4 8.93e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.4641499e+00 9.94e-02 1.53e-01 -2.8 4.93e+00 -2.9 9.89e-01 1.00e+00h 1 11 1.3196770e+00 2.75e-01 1.97e-01 -2.6 1.00e+01 -3.4 1.00e+00 1.00e+00h 1 12 1.2830842e+00 4.97e+00 3.80e-01 -3.4 4.79e+01 -3.8 1.02e-01 6.15e-01h 1 13 1.1371701e+00 2.45e-01 9.14e-02 -2.9 6.63e+00 -3.4 9.93e-01 1.00e+00h 1 14 1.0481612e+00 3.44e-01 6.85e-02 -3.3 1.30e+01 -3.9 1.00e+00 9.98e-01h 1 15 9.5075031e-01 5.62e-01 1.04e-01 -3.7 2.30e+01 -4.4 1.00e+00 1.00e+00h 1 16 8.6176878e-01 1.33e+00 1.07e-01 -4.0 3.36e+01 -4.8 1.00e+00 1.00e+00h 1 17 7.9315150e-01 1.77e+00 1.56e-01 -3.5 4.98e+01 -5.3 1.00e+00 1.00e+00h 1 18 7.2425478e-01 2.54e+00 1.68e-01 -3.6 7.26e+01 -5.8 1.00e+00 1.00e+00h 1 19 7.2376674e-01 2.79e-01 3.94e-02 -3.9 3.64e+01 -5.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 6.8838916e-01 2.24e+00 1.68e-01 -3.7 8.94e+01 -5.8 1.00e+00 1.00e+00h 1 21 6.8370761e-01 2.36e-01 2.51e-02 -3.9 2.12e+01 -5.4 1.00e+00 1.00e+00h 1 22 6.6515300e-01 9.43e-01 1.13e-01 -4.0 7.14e+01 -5.9 1.00e+00 1.00e+00h 1 23 6.3927260e-01 1.12e+00 1.44e-01 -4.0 8.00e+01 -6.4 1.00e+00 1.00e+00h 1 24 6.3867417e-01 2.85e-01 5.50e-02 -4.0 4.00e+01 -5.9 1.00e+00 1.00e+00h 1 25 6.2382511e-01 2.97e-01 1.32e-01 -4.0 9.58e+01 -6.4 1.00e+00 1.00e+00h 1 26 6.0375058e-01 2.48e+00 2.55e-01 -4.0 2.29e+02 -6.9 1.00e+00 1.00e+00h 1 27 6.0072001e-01 8.57e-01 1.01e-01 -4.0 6.72e+01 -6.5 1.00e+00 1.00e+00h 1 28 5.9053927e-01 2.22e+00 2.34e-01 -4.0 1.70e+02 -6.9 1.00e+00 1.00e+00h 1 29 5.9000105e-01 3.84e-01 8.76e-02 -4.0 5.20e+01 -6.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 5.8291808e-01 1.60e+00 2.19e-01 -4.0 1.54e+02 -7.0 1.00e+00 1.00e+00h 1 31 5.8162711e-01 4.29e-01 8.06e-02 -4.0 4.73e+01 -6.6 1.00e+00 1.00e+00h 1 32 5.7645548e-01 1.71e+00 2.10e-01 -4.0 1.52e+02 -7.1 1.00e+00 1.00e+00h 1 33 5.7503999e-01 5.16e-01 8.42e-02 -4.0 4.61e+01 -6.6 1.00e+00 1.00e+00h 1 34 5.7090325e-01 2.03e+00 2.05e-01 -4.0 1.55e+02 -7.1 1.00e+00 1.00e+00h 1 35 5.6941985e-01 6.33e-01 8.61e-02 -4.0 4.69e+01 -6.7 1.00e+00 1.00e+00h 1 36 5.6596985e-01 2.41e+00 2.51e-01 -4.0 1.60e+02 -7.2 1.00e+00 1.00e+00h 1 37 5.6453179e-01 7.58e-01 8.31e-02 -4.0 4.91e+01 -6.7 1.00e+00 1.00e+00h 1 38 5.6164403e-01 2.75e+00 3.19e-01 -4.0 1.65e+02 -7.2 1.00e+00 1.00e+00h 1 39 5.6032327e-01 8.79e-01 7.86e-02 -4.0 5.19e+01 -6.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 5.5787527e-01 3.04e+00 3.78e-01 -4.0 1.71e+02 -7.3 1.00e+00 1.00e+00h 1 41 5.5668051e-01 9.94e-01 7.64e-02 -4.0 5.96e+01 -6.8 1.00e+00 1.00e+00h 1 42 5.5451841e-01 3.28e+00 4.30e-01 -4.0 1.76e+02 -7.3 1.00e+00 1.00e+00h 1 43 5.5347703e-01 1.12e+00 7.81e-02 -4.0 6.73e+01 -6.9 1.00e+00 1.00e+00h 1 44 5.5143553e-01 3.48e+00 4.72e-01 -4.0 1.81e+02 -7.4 1.00e+00 1.00e+00h 1 45 5.5064695e-01 1.25e+00 8.26e-02 -4.0 7.50e+01 -6.9 1.00e+00 1.00e+00h 1 46 5.4853528e-01 3.59e+00 5.00e-01 -4.0 1.83e+02 -7.4 1.00e+00 1.00e+00h 1 47 5.4820330e-01 1.47e+00 9.82e-02 -4.0 8.23e+01 -7.0 1.00e+00 1.00e+00h 1 48 5.4579410e-01 3.56e+00 5.09e-01 -4.0 1.81e+02 -7.5 1.00e+00 1.00e+00h 1 49 5.4622132e-01 1.71e+00 1.25e-01 -4.0 8.80e+01 -7.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 5.4330287e-01 3.38e+00 5.01e-01 -4.0 1.75e+02 -7.5 1.00e+00 1.00e+00h 1 51 5.4466886e-01 1.79e+00 1.55e-01 -4.0 8.97e+01 -7.1 1.00e+00 1.00e+00h 1 52 5.4117778e-01 3.18e+00 4.92e-01 -4.0 1.71e+02 -7.6 1.00e+00 1.00e+00h 1 53 5.4297563e-01 1.98e+00 1.57e-01 -4.0 9.12e+01 -7.1 1.00e+00 1.00e+00h 1 54 5.3912097e-01 3.28e+00 5.21e-01 -4.0 1.84e+02 -7.6 1.00e+00 1.00e+00h 1 55 5.4051941e-01 2.39e+00 2.93e-01 -4.0 1.02e+02 -7.2 1.00e+00 1.00e+00h 1 56 5.3651521e-01 3.66e+00 5.89e-01 -4.0 2.06e+02 -7.7 1.00e+00 1.00e+00h 1 57 5.5464597e-01 1.65e+00 3.72e-01 -4.0 1.19e+02 -7.2 1.00e+00 1.00e+00H 1 58 5.3651524e-01 1.49e+00 2.91e-01 -4.0 1.30e+02 -7.7 1.00e+00 1.00e+00h 1 59 5.4447319e-01 3.75e-01 2.94e-01 -4.0 7.01e+01 -7.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 5.4353537e-01 2.52e+00 3.50e-01 -4.0 3.06e+02 -7.8 1.00e+00 1.00e+00h 1 61 5.4208217e-01 1.83e+00 2.16e-01 -3.8 1.13e+02 -7.3 1.00e+00 1.00e+00h 1 62 5.3736496e-01 4.70e+00 7.43e-01 -3.8 2.43e+02 -7.8 1.00e+00 1.00e+00h 1 63 5.3318520e-01 3.92e+00 2.80e-01 -4.0 2.17e+02 -7.4 5.57e-01 6.98e-01h 1 64 5.3338861e-01 4.69e+00 4.47e-01 -4.0 5.05e+02 -7.9 1.00e+00 5.00e-01h 2 65 5.3867605e-01 2.16e+00 3.18e-01 -4.1 1.27e+02 -7.4 1.00e+00 1.00e+00h 1 66 5.2982015e-01 4.06e+00 5.59e-01 -4.1 2.30e+02 -7.9 1.00e+00 1.00e+00h 1 67 5.6437326e-01 4.05e+00 8.11e-01 -3.9 2.66e+02 -7.5 1.00e+00 9.45e-01H 1 68 5.3445612e-01 3.66e+00 4.66e-01 -4.0 2.73e+02 -8.0 2.86e-01 1.00e+00h 1 69 5.3873252e-01 7.59e-01 2.57e-01 -4.0 1.48e+02 -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 70 5.4363457e-01 5.37e-01 4.04e-01 -4.0 2.98e+02 -8.0 1.00e+00 1.00e+00H 1 71 5.3111304e-01 9.12e+00 1.03e+00 -4.0 6.93e+02 -8.5 1.00e+00 1.00e+00h 1 72 5.3119622e-01 1.28e+01 6.50e-01 -4.1 1.59e+03 -8.1 4.52e-01 3.37e-01h 2 73 5.5365751e-01 5.24e+00 1.53e+00 -4.1 1.77e+03 -8.6 9.39e-01 8.10e-01H 1 74 5.4826532e-01 4.81e+00 2.15e+00 -4.1 9.56e+02 -7.2 3.63e-04 8.38e-02h 2 75 5.3043893e-01 4.30e+00 6.21e-01 -4.1 4.06e+02 -7.7 7.92e-01 5.46e-01h 1 76 5.2962703e-01 5.50e+00 2.73e-01 -4.1 1.92e+03 -8.2 3.36e-01 1.41e-01h 3 77 5.3791901e-01 2.71e+00 8.25e-01 -4.0 2.43e+02 -7.7 1.00e+00 1.00e+00h 1 78 5.3183013e-01 1.37e+01 2.76e-01 -4.1 1.69e+03 -8.2 4.08e-01 4.63e-01h 2 79 5.2996744e-01 4.03e+01 8.84e-01 -4.1 4.42e+03 -8.7 4.33e-01 4.35e-01h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 5.2454419e-01 2.54e+01 1.34e-01 -4.1 3.56e+02 -7.4 1.00e+00 4.23e-01h 2 81 5.2273049e-01 2.42e+01 9.08e-01 -4.0 1.33e+03 -7.9 2.80e-01 1.65e-01h 2 82 5.4463382e-01 2.02e+01 4.86e-01 -4.0 5.78e+02 -7.4 2.24e-01 3.66e-01H 1 83 5.3507690e-01 1.20e+01 1.87e+00 -4.2 3.63e+02 -7.0 6.15e-01 4.04e-01h 1 84 5.1470462e-01 2.25e+00 9.45e-01 -4.2 1.91e+02 -7.5 7.41e-03 1.00e+00h 1 85 5.1159088e-01 3.35e+00 5.04e-01 -3.7 1.89e+03 -7.1 3.27e-01 8.99e-02h 2 86 5.0686563e-01 3.92e+00 1.20e+00 -4.0 9.59e+02 -7.5 1.25e-01 1.35e-01h 2 87 5.2629651e-01 1.14e+00 7.79e-01 -4.0 1.36e+02 -6.2 1.00e+00 1.00e+00h 1 88 5.2434807e-01 1.08e+00 5.85e-01 -4.0 1.20e+02 -6.7 1.00e+00 1.00e+00h 1 89 5.5565476e-01 3.51e-01 8.76e-01 -3.8 2.05e+02 -7.2 1.00e+00 8.15e-01H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 5.2979255e-01 1.25e+00 1.85e-01 -3.9 1.31e+02 -7.6 2.28e-02 9.28e-01h 1 91 5.3099401e-01 5.65e+00 8.17e-01 -3.9 1.15e+03 -8.1 1.00e+00 4.89e-01h 2 92 5.2755477e-01 5.96e+00 1.95e-01 -3.9 4.38e+02 -7.7 4.09e-01 4.84e-01h 2 93 5.2495313e-01 9.47e+00 8.31e-01 -3.9 1.34e+03 -8.2 3.33e-01 3.04e-01h 2 94 5.2481319e-01 1.03e+01 2.11e-01 -3.9 9.40e+02 -7.7 4.97e-01 2.39e-01h 2 95 5.2286950e-01 1.38e+01 9.33e-01 -3.9 2.82e+03 -8.2 3.11e-01 1.44e-01h 2 96 5.1806035e-01 7.13e+00 4.16e-01 -3.9 2.18e+02 -6.9 6.15e-01 5.00e-01h 2 97 5.1279566e-01 6.80e+00 1.01e+00 -3.9 8.71e+02 -7.4 2.61e-01 1.52e-01h 2 98 5.1432209e-01 6.12e+00 4.67e-01 -3.9 9.49e+02 -6.9 2.78e-01 1.76e-01h 2 99 5.1177356e-01 6.55e+00 1.05e+00 -3.9 5.37e+03 -7.4 3.08e-02 1.98e-02h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 5.1404331e-01 1.43e+00 1.80e+00 -3.9 1.30e+02 -6.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 5.1404331222248345e-01 5.1404331222248345e-01 Dual infeasibility......: 1.7955458223012211e+00 1.7955458223012211e+00 Constraint violation....: 1.4271989510124776e+00 1.4271989510124776e+00 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.6343509973543608e-04 1.6343509973543608e-04 Overall NLP error.......: 1.7955458223012211e+00 1.7955458223012211e+00 Number of objective function evaluations = 169 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 169 Number of inequality constraint evaluations = 169 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 40.765 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: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.061s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.05s) 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: 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 (0.379s) optimizer initialization complete (total: 0.491s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1529 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 73 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.4100765e+00 3.90e+00 3.55e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.2257546e+00 2.62e+00 9.73e+00 -0.3 1.71e+01 -2.0 1.92e-01 3.86e-01h 1 2 3.0686536e+00 2.24e+00 7.96e+00 -4.0 9.23e+00 -0.7 5.07e-02 1.48e-01h 1 3 2.8636297e+00 2.16e+00 1.60e+01 0.2 3.24e+01 -1.1 2.95e-01 7.32e-02f 1 4 2.7512508e+00 1.91e+00 9.20e+00 0.0 7.68e+00 -1.6 4.01e-01 1.13e-01f 1 5 2.4789786e+00 1.47e+00 6.81e+00 -4.0 1.14e+01 -2.1 3.18e-01 2.29e-01h 1 6 2.2836009e+00 1.93e+00 6.15e+00 -0.5 2.13e+01 -1.7 9.49e-01 2.84e-01f 1 7 1.9973462e+00 1.17e+00 4.62e+00 -0.9 6.15e+00 -2.2 4.43e-01 6.37e-01h 1 8 1.8258960e+00 2.26e-01 1.32e+00 -1.4 3.98e+00 -2.6 6.81e-01 9.74e-01h 1 9 1.6226221e+00 9.17e-02 4.59e-02 -1.7 1.04e+00 -3.1 9.70e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.3432191e+00 1.21e-02 1.29e-01 -2.7 3.04e-01 -3.6 5.75e-01 1.00e+00h 1 11 1.2502439e+00 2.01e-01 9.61e-02 -2.4 9.80e-01 -4.1 9.72e-01 7.18e-01h 1 12 1.1970579e+00 2.10e-01 1.50e-02 -2.9 5.19e+00 -4.5 9.75e-01 1.00e+00h 1 13 1.1686220e+00 4.56e-01 6.79e-02 -4.0 1.09e+01 -5.0 9.83e-01 1.00e+00h 1 14 1.1703288e+00 1.10e-02 5.27e-02 -4.0 1.83e+01 -5.5 1.00e+00 1.00e+00h 1 15 1.1648327e+00 3.58e-01 3.34e-02 -4.0 2.15e+01 -6.0 1.00e+00 1.00e+00h 1 16 1.1651840e+00 1.37e-01 2.57e-02 -4.0 3.10e+01 -6.4 1.00e+00 1.00e+00h 1 17 1.1627737e+00 3.82e-01 2.79e-02 -4.0 4.88e+01 -6.9 1.00e+00 1.00e+00h 1 18 1.1625265e+00 2.59e-01 3.70e-03 -4.0 6.86e+01 -7.4 1.00e+00 1.00e+00h 1 19 1.1612731e+00 4.57e-01 3.12e-02 -4.0 1.05e+02 -7.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.1610169e+00 3.79e-01 1.32e-02 -4.0 1.45e+02 -8.4 1.00e+00 1.00e+00h 1 21 1.1604419e+00 4.83e-01 3.22e-02 -4.0 2.00e+02 -8.8 1.00e+00 1.00e+00h 1 22 1.1606091e+00 2.16e-01 3.58e-03 -4.0 1.93e+02 -9.3 1.00e+00 1.00e+00h 1 23 1.1608578e+00 1.38e-03 7.25e-04 -4.0 1.89e+01 -9.8 1.00e+00 1.00e+00h 1 24 1.1608490e+00 2.10e-04 1.95e-05 -4.0 5.74e+00 -10.3 1.00e+00 1.00e+00h 1 25 1.1608491e+00 2.61e-08 5.53e-09 -4.0 8.17e-02 -10.7 1.00e+00 1.00e+00h 1 26 1.1608491e+00 7.44e-13 7.22e-14 -4.0 3.50e-04 -11.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 1.1608491307793321e+00 1.1608491307793321e+00 Dual infeasibility......: 7.2172275751222759e-14 7.2172275751222759e-14 Constraint violation....: 7.4429351570870494e-13 7.4429351570870494e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000513e-04 1.0000000000000513e-04 Overall NLP error.......: 7.4429351570870494e-13 7.4429351570870494e-13 Number of objective function evaluations = 27 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 27 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 26 Total seconds in IPOPT = 26.004 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.053s jacobian structure: 180 nonzeros (0.091s) integrator 1 hessian structure: 0.047s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.341s sub-objective 2 (QuadraticRegularizer): 0.082s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.014s objective hessian structure: 0.53s hessian structure: 375 nonzeros (0.577s) linear index maps built (0.0s) evaluator ready (total: 0.806s) evaluator created (0.806s) NL constraint bounds extracted (0.01s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.116s) applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.807s) optimizer initialization complete (total: 3.741s) 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 1.4022839e+00 7.76e-01 1.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.9421163e+00 1.09e-01 1.70e+00 -0.8 9.11e-01 0.0 9.94e-01 1.00e+00h 1 2 1.9213355e+00 2.15e-02 6.44e-01 -0.8 3.74e-01 -0.5 7.46e-01 8.05e-01h 1 3 1.8149866e+00 3.51e-02 6.69e+00 -1.1 1.07e+01 - 8.55e-01 7.09e-01H 1 4 1.2844872e+00 8.84e-03 1.90e+00 -1.7 1.03e+00 -1.0 1.00e+00 7.47e-01f 1 5 1.1123097e+00 6.70e-05 8.69e-01 -2.9 9.05e+00 - 1.00e+00 1.00e+00h 1 6 1.1070335e+00 5.48e-05 1.46e-01 -3.9 1.73e+00 - 1.00e+00 1.83e-01h 1 7 1.0911553e+00 1.79e-07 6.23e-02 -4.0 2.15e+00 - 1.00e+00 1.00e+00f 1 8 1.0910397e+00 8.82e-10 5.09e-03 -4.0 6.94e-01 - 1.00e+00 1.00e+00h 1 9 1.0910386e+00 9.09e-15 5.41e-06 -4.0 2.56e-03 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0910386e+00 8.88e-16 5.41e-06 -4.0 5.45e-07 - 1.00e+00 1.00e+00h 1 11 1.0908587e+00 2.00e-30 5.40e-06 -4.1 1.99e-05 - 1.00e+00 1.00e+00f 1 12 1.0910386e+00 8.88e-16 2.42e-09 -4.0 1.99e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 12 (scaled) (unscaled) Objective...............: 1.0910385864123910e+00 1.0910385864123910e+00 Dual infeasibility......: 2.4245709467907162e-09 2.4245709467907162e-09 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000114091619610e-04 1.0000114091619610e-04 Overall NLP error.......: 2.4245709467907162e-09 2.4245709467907162e-09 Number of objective function evaluations = 14 Number of objective gradient evaluations = 13 Number of equality constraint evaluations = 14 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 = 21.234 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: 0.063s 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 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.052s) linear index maps built (0.0s) evaluator ready (total: 0.115s) evaluator created (0.115s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (1.788s) optimizer initialization complete (total: 1.903s) 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 3.4061752e+00 2.85e+00 2.71e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8912865e+00 2.87e-02 5.46e-01 -1.0 2.17e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.3448029e+00 1.66e-02 6.06e-02 -1.8 2.82e-01 -1.6 9.73e-01 1.00e+00h 1 3 2.1636072e+00 2.62e-03 1.48e-01 -2.8 9.25e-02 -1.1 9.28e-01 9.99e-01h 1 4 2.1010740e+00 1.27e-03 1.25e-01 -4.0 1.40e-01 -1.6 9.99e-01 9.00e-01h 1 5 2.0952374e+00 9.76e-04 1.07e+00 -4.0 6.71e-01 -2.1 1.00e+00 2.81e-01h 1 6 2.0906217e+00 1.09e-03 8.46e-01 -4.0 1.15e+00 -2.6 1.00e+00 9.46e-01h 1 7 2.0910026e+00 5.71e-06 5.50e-02 -4.0 1.12e-01 -3.1 1.00e+00 1.00e+00h 1 8 2.0910076e+00 1.91e-06 1.08e-04 -4.0 7.05e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909822e+00 1.86e-07 2.06e-05 -4.0 2.11e-01 -4.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909202e+00 1.47e-07 2.05e-05 -4.0 6.32e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907375e+00 1.30e-06 4.97e-05 -4.0 1.88e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0902167e+00 1.10e-05 4.21e-04 -4.0 5.45e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888704e+00 8.21e-05 3.16e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861761e+00 4.40e-04 1.75e-02 -4.0 3.47e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830970e+00 9.17e-04 4.72e-02 -4.0 5.33e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828461e+00 9.27e-04 2.26e-02 -4.0 5.42e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823449e+00 3.85e-04 1.01e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820407e+00 9.29e-05 1.85e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819520e+00 2.70e-04 8.72e-03 -4.0 9.95e+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 3.72e-05 8.51e-04 -4.0 3.12e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.37e-07 1.40e-05 -4.0 4.46e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.90e-10 3.28e-08 -4.0 2.45e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.54e-13 1.22e-11 -4.0 4.61e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907191062e+00 2.0819382907191062e+00 Dual infeasibility......: 1.2225973515913105e-11 1.2225973515913105e-11 Constraint violation....: 2.5401902803423582e-13 2.5401902803423582e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000019e-04 1.0000000000000019e-04 Overall NLP error.......: 1.2225973515913105e-11 1.2225973515913105e-11 Number of objective function evaluations = 24 Number of objective gradient evaluations = 24 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 24 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 23 Total seconds in IPOPT = 26.272 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 (0.061s) 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: 0.107s) evaluator created (0.107s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.057s) optimizer initialization complete (total: 0.164s) 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 2.6947296e+00 2.61e+00 1.77e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8019064e+00 2.13e-02 4.32e-01 -1.0 1.93e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3353837e+00 2.38e-02 8.70e-02 -1.7 3.68e-01 -1.6 9.52e-01 1.00e+00h 1 3 2.1441971e+00 3.33e-03 3.21e-01 -3.1 1.43e-01 -1.1 9.90e-01 1.00e+00h 1 4 2.0976038e+00 9.34e-04 2.13e-01 -4.0 7.98e-02 -1.6 1.00e+00 8.09e-01h 1 5 2.0927767e+00 5.99e-04 1.65e+00 -3.7 8.15e-01 -2.1 1.00e+00 3.89e-01h 1 6 2.0912686e+00 2.10e-04 4.91e-01 -4.0 1.15e+00 -2.6 1.00e+00 6.86e-01h 1 7 2.0909067e+00 3.71e-05 1.25e-01 -4.0 4.81e-01 -3.1 1.00e+00 1.00e+00h 1 8 2.0909061e+00 2.17e-06 5.52e-04 -4.0 5.52e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908959e+00 8.55e-07 1.59e-05 -4.0 1.63e-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 2.0908580e+00 6.61e-08 3.26e-05 -4.0 4.72e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907487e+00 5.89e-07 1.17e-04 -4.0 1.37e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0905995e+00 1.14e-06 1.22e-02 -4.0 5.00e+00 -5.4 1.00e+00 3.06e-01h 2 13 2.0895541e+00 4.53e-05 3.87e-03 -4.0 1.25e+01 -5.9 1.00e+00 9.51e-01h 1 14 2.0876737e+00 4.23e-04 4.69e-02 -4.0 3.53e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0865361e+00 9.79e-05 9.00e-03 -4.0 2.63e+00 -5.1 1.00e+00 7.99e-01h 1 16 2.0863431e+00 1.37e-05 3.53e-03 -4.0 4.66e+00 -5.5 1.00e+00 1.00e+00h 1 17 2.0853623e+00 5.76e-05 3.21e-03 -4.0 1.27e+01 -6.0 1.00e+00 1.00e+00h 1 18 2.0838316e+00 1.96e-04 1.26e-02 -4.0 2.65e+01 -6.5 1.00e+00 1.00e+00h 1 19 2.0827409e+00 6.27e-05 1.01e-02 -4.0 3.24e+01 -7.0 1.00e+00 7.88e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827727e+00 7.24e-04 2.42e-02 -4.0 7.58e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0819420e+00 2.54e-03 6.96e-03 -4.1 1.71e+02 -7.9 7.88e-01 1.00e+00h 1 22 2.2221952e+00 3.36e-04 1.03e+00 -4.0 1.15e+02 -6.6 5.78e-01 1.00e+00H 1 23 2.1762962e+00 1.86e-08 8.44e-01 -3.9 4.81e-02 1.2 1.00e+00 1.00e+00f 1 24 2.1170926e+00 9.17e-09 5.09e-01 -3.9 8.70e-02 0.8 1.00e+00 1.00e+00f 1 25 2.0869040e+00 1.64e-08 1.71e-01 -3.9 8.86e-02 0.3 1.00e+00 1.00e+00f 1 26 2.0832377e+00 1.20e-08 3.50e-02 -4.0 3.74e-02 -0.2 1.00e+00 9.23e-01f 1 27 2.0833868e+00 8.68e-09 4.10e-02 -4.0 1.33e-02 -0.7 1.00e+00 2.50e-01f 3 28 2.0832212e+00 8.22e-08 1.26e-03 -4.1 1.74e-02 -1.1 1.00e+00 1.00e+00h 1 29 2.0832110e+00 3.14e-07 8.09e-04 -4.0 3.37e-02 -1.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0831870e+00 2.01e-07 1.92e-04 -4.0 2.40e-02 -2.1 1.00e+00 1.00e+00h 1 31 2.0832027e+00 8.74e-09 9.07e-06 -4.0 3.40e-03 -2.6 1.00e+00 1.00e+00h 1 32 2.0832024e+00 1.40e-09 9.10e-06 -4.0 1.02e-02 -3.1 1.00e+00 1.00e+00h 1 33 2.0832004e+00 3.10e-10 9.09e-06 -4.0 3.06e-02 -3.5 1.00e+00 1.00e+00h 1 34 2.0831943e+00 3.63e-09 9.06e-06 -4.0 9.16e-02 -4.0 1.00e+00 1.00e+00h 1 35 2.0831762e+00 3.22e-08 8.98e-06 -4.0 2.72e-01 -4.5 1.00e+00 1.00e+00h 1 36 2.0831238e+00 2.76e-07 2.61e-05 -4.0 7.94e-01 -5.0 1.00e+00 1.00e+00h 1 37 2.0829822e+00 2.13e-06 2.01e-04 -4.0 2.18e+00 -5.4 1.00e+00 1.00e+00h 1 38 2.0826774e+00 1.12e-05 1.12e-03 -4.0 5.30e+00 -5.9 1.00e+00 1.00e+00h 1 39 2.0823544e+00 4.18e-05 2.79e-03 -4.0 1.11e+01 -6.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0821408e+00 1.71e-05 2.93e-03 -4.0 2.68e+01 -6.9 1.00e+00 1.00e+00h 1 41 2.0830538e+00 4.43e-08 5.39e-02 -4.0 9.00e+01 -7.3 2.91e-01 1.00e+00H 1 42 2.0818510e+00 1.38e-04 3.55e-01 -4.0 3.91e+00 -5.1 1.00e+00 6.30e-01f 1 43 2.0826527e+00 7.38e-08 7.74e-03 -4.0 3.15e+00 -5.6 1.00e+00 1.00e+00H 1 44 2.0823742e+00 6.65e-04 5.42e-03 -4.0 7.83e+00 -6.1 1.00e+00 1.00e+00f 1 45 2.0819390e+00 5.06e-04 3.37e-03 -4.1 7.47e+00 -6.5 1.00e+00 1.00e+00h 1 46 2.0818658e+00 7.02e-04 5.35e-03 -4.1 3.62e+01 -7.0 9.73e-01 1.00e+00h 1 47 2.0819920e+00 4.43e-04 4.79e-03 -4.1 6.67e+00 -5.7 1.00e+00 1.00e+00h 1 48 2.0818758e+00 7.24e-04 5.62e-03 -4.1 6.07e+00 -6.2 1.00e+00 1.00e+00h 1 49 2.0818741e+00 2.30e-04 4.65e-02 -4.1 9.57e+00 -6.6 1.00e+00 5.00e-01h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818707e+00 1.06e-04 6.78e-03 -4.1 8.92e+00 -7.1 1.00e+00 1.00e+00h 1 51 2.0819361e+00 3.77e-04 1.93e-03 -4.0 2.01e+01 -7.6 1.00e+00 1.00e+00h 1 52 2.0816131e+00 9.34e-04 1.56e-03 -4.1 3.71e+01 -8.1 1.00e+00 1.00e+00h 1 53 2.0818459e+00 1.09e-03 1.67e-03 -4.0 4.49e+01 -8.6 1.00e+00 1.00e+00h 1 54 2.0818390e+00 2.14e-05 3.52e-04 -4.0 2.40e+01 -9.0 1.00e+00 1.00e+00h 1 55 2.0818383e+00 5.61e-07 1.84e-05 -4.0 5.50e+00 -9.5 1.00e+00 1.00e+00h 1 56 2.0818383e+00 3.16e-09 1.37e-07 -4.0 4.64e-01 -10.0 1.00e+00 1.00e+00h 1 57 2.0818383e+00 2.27e-12 1.26e-10 -4.0 1.38e-02 -10.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 57 (scaled) (unscaled) Objective...............: 2.0818383021849054e+00 2.0818383021849054e+00 Dual infeasibility......: 1.2581503818376999e-10 1.2581503818376999e-10 Constraint violation....: 2.2737367544323206e-12 2.2737367544323206e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000018e-04 1.0000000000000018e-04 Overall NLP error.......: 1.2581503818376999e-10 1.2581503818376999e-10 Number of objective function evaluations = 67 Number of objective gradient evaluations = 58 Number of equality constraint evaluations = 67 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 58 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 57 Total seconds in IPOPT = 27.265 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.052s jacobian structure: 180 nonzeros (0.088s) integrator 1 hessian structure: 0.046s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.32s sub-objective 2 (QuadraticRegularizer): 0.084s sub-objective 3 (MinimumTimeObjective): 0.017s objective hessian structure: 0.509s hessian structure: 375 nonzeros (0.555s) linear index maps built (0.0s) evaluator ready (total: 0.777s) evaluator created (0.777s) NL constraint bounds extracted (0.011s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.111s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.456s) optimizer initialization complete (total: 4.356s) 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 1.5847659e+00 7.52e-01 1.04e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6172066e+00 1.41e-01 1.48e+00 -1.0 7.09e-01 0.0 9.98e-01 1.00e+00h 1 2 1.5694765e+00 9.07e-02 1.39e+00 -0.7 7.03e+00 - 6.10e-01 3.20e-01h 1 3 1.6437932e+00 8.06e-02 1.73e+00 -1.3 2.12e-01 -0.5 9.99e-01 1.00e+00f 1 4 1.4607159e+00 7.91e-02 1.47e+00 -1.4 6.30e-01 -1.0 9.92e-01 6.43e-01h 1 5 2.4320167e+00 3.86e-01 2.31e+00 -0.4 1.16e+01 -1.4 3.54e-01 8.90e-02f 1 6 2.7497826e+00 3.47e-02 3.13e+01 -1.0 2.68e+00 - 7.91e-01 1.00e+00f 1 7 2.7397847e+00 4.34e-02 3.38e+01 -0.7 3.61e+00 -1.9 1.00e+00 4.51e-02f 3 8 2.6741381e+00 6.12e-02 2.70e+01 -0.7 4.97e-01 0.3 9.98e-01 2.16e-01h 3 9 1.5364291e+00 7.55e-02 9.35e+01 -1.1 3.18e-01 -0.2 1.00e+00 9.57e-01F 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.3749441e+00 7.30e-03 1.99e+02 -1.7 3.36e+00 - 1.00e+00 1.00e+00h 1 11 1.1988476e+00 3.19e-03 7.37e+01 -2.4 9.35e-01 - 1.00e+00 5.64e-01f 1 12 1.0945421e+00 1.96e-06 9.62e+00 -3.6 4.43e-01 - 1.00e+00 1.00e+00f 1 13 1.0909786e+00 5.49e-09 1.75e-01 -4.0 2.11e+00 - 1.00e+00 1.00e+00f 1 14 1.0908962e+00 5.29e-14 9.28e-05 -4.0 7.36e-02 - 1.00e+00 1.00e+00h 1 15 1.0908997e+00 3.92e-20 1.21e-09 -4.0 2.66e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 15 (scaled) (unscaled) Objective...............: 1.0908997263956695e+00 1.0908997263956695e+00 Dual infeasibility......: 1.2075880027114395e-09 1.2075880027114395e-09 Constraint violation....: 3.9168719926019850e-20 3.9168719926019850e-20 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000002963061321e-04 1.0000002963061321e-04 Overall NLP error.......: 1.2075880027114395e-09 1.2075880027114395e-09 Number of objective function evaluations = 24 Number of objective gradient evaluations = 16 Number of equality constraint evaluations = 24 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 = 24.875 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.065s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.065s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.052s) linear index maps built (0.0s) evaluator ready (total: 0.117s) evaluator created (0.117s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.117s) 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: 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 4.6999569e+00 2.02e+00 5.40e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6400271e+00 1.76e-01 1.87e+00 -1.0 1.80e+00 0.0 1.00e+00 9.19e-01f 1 2 2.6362760e+00 1.28e-02 2.66e-01 -1.1 1.88e-01 -0.5 8.87e-01 1.00e+00f 1 3 2.2937255e+00 5.55e-03 7.08e-02 -2.0 1.08e-01 -1.0 9.08e-01 1.00e+00h 1 4 2.1239762e+00 5.84e-03 8.83e-02 -2.6 2.27e-01 -1.4 9.62e-01 8.04e-01h 1 5 2.0931653e+00 5.12e-05 1.99e-03 -3.6 1.08e-02 -1.9 9.97e-01 1.00e+00h 1 6 2.0908728e+00 1.21e-06 7.16e-05 -4.0 5.21e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0908681e+00 9.14e-09 2.06e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908637e+00 7.65e-10 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908504e+00 6.91e-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 2.0908106e+00 6.22e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0906912e+00 5.61e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903337e+00 5.07e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892684e+00 4.63e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861371e+00 4.35e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796278e+00 2.49e-03 8.72e-02 -4.0 8.72e+01 -6.7 1.00e+00 7.55e-01h 1 16 2.0811993e+00 1.67e-04 2.01e-01 -4.0 7.09e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778187e+00 6.45e-03 2.94e-02 -4.0 1.13e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0782425e+00 1.78e-02 8.35e-02 -3.7 1.90e+02 -8.1 9.71e-01 1.00e+00h 1 19 2.0769190e+00 7.33e-03 1.66e-02 -3.8 3.24e+02 -8.6 1.00e+00 8.73e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0760234e+00 9.80e-03 2.24e-02 -3.9 4.88e+02 -9.1 1.00e+00 9.64e-01f 1 21 2.0757585e+00 8.44e-03 1.07e-02 -4.0 1.53e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756821e+00 5.99e-04 4.91e-04 -4.0 6.99e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 9.16e-06 8.11e-06 -4.0 2.31e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 5.08e-08 1.49e-06 -4.0 1.50e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.50e-09 1.49e-07 -4.0 5.21e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.68e-11 3.01e-09 -4.0 9.17e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122106147e+00 2.0756712122106147e+00 Dual infeasibility......: 3.0105903717258034e-09 3.0105903717258034e-09 Constraint violation....: 7.6768924550663087e-11 7.6768924550663087e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000017e-04 1.0000000000000017e-04 Overall NLP error.......: 3.0105903717258034e-09 3.0105903717258034e-09 Number of objective function evaluations = 28 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 26 Total seconds in IPOPT = 29.106 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.056s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.057s) integrator 1 hessian structure: 0.042s 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: 0.1s) evaluator created (0.1s) 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 (0.15s) optimizer initialization complete (total: 0.251s) 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 6.2836928e+00 2.15e+00 5.48e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.0421492e+00 8.88e-02 2.93e+00 -0.9 1.94e+00 0.0 6.35e-01 1.00e+00f 1 2 2.6009196e+00 1.53e-02 6.24e-01 -0.9 1.45e-01 0.4 9.97e-01 1.00e+00f 1 3 2.3038944e+00 7.20e-03 2.51e-01 -1.8 1.06e-01 -0.1 9.90e-01 9.62e-01h 1 4 2.1422821e+00 3.94e-03 1.49e-01 -2.6 1.17e-01 -0.5 1.00e+00 7.77e-01h 1 5 2.0965346e+00 5.44e-04 8.50e-02 -4.0 4.43e-02 -1.0 1.00e+00 8.58e-01h 1 6 2.0928159e+00 4.61e-04 2.68e-01 -4.0 6.29e-01 -1.5 3.70e-01 3.37e-01h 1 7 2.1004057e+00 1.71e-03 4.81e-01 -4.0 7.80e-01 -2.0 1.00e+00 1.00e+00H 1 8 2.0909683e+00 1.03e-03 1.55e-01 -4.0 7.32e-01 -2.4 1.00e+00 4.83e-01h 1 9 2.0909335e+00 5.25e-06 1.77e-02 -4.0 5.10e-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 2.0909458e+00 2.21e-06 2.52e-04 -4.0 5.22e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909317e+00 1.00e-07 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908868e+00 7.88e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907524e+00 7.06e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903503e+00 6.39e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891527e+00 5.85e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856420e+00 5.52e-04 2.30e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796342e+00 2.32e-03 1.35e-01 -4.0 9.57e+01 -6.7 1.00e+00 6.33e-01h 1 18 2.0807582e+00 1.60e-04 1.82e-01 -4.0 6.62e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775366e+00 7.39e-03 2.47e-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 2.0769281e+00 1.14e-03 4.89e-02 -4.0 1.76e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0760077e+00 1.01e-03 2.36e-02 -4.0 3.09e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0754460e+00 5.01e-04 2.97e-02 -4.0 4.66e+02 -9.1 1.00e+00 7.24e-01H 1 23 2.0757767e+00 2.14e-03 1.10e-02 -4.0 1.40e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753825e+00 1.42e-03 4.93e-04 -4.1 7.78e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756722e+00 3.97e-04 6.86e-06 -4.0 1.81e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0753425e+00 6.28e-04 7.67e-07 -4.1 2.57e+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....: 1.4164404722585289e-02 1.4164404722585289e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.3095644031728805e-04 2.3095644031728805e-04 Overall NLP error.......: 4.4440948322914557e-02 4.4440948322914557e-02 Number of objective function evaluations = 105 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 105 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 28.808 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.067s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.068s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.049s) linear index maps built (0.0s) evaluator ready (total: 0.117s) evaluator created (0.117s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: equality constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.0s) optimizer initialization complete (total: 0.118s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.9641254e+00 2.63e+00 4.31e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6482323e+00 1.40e-01 6.61e-01 -1.1 1.96e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.4158569e+00 4.85e-02 3.24e-01 -1.3 1.27e+00 -2.5 9.04e-01 1.00e+00h 1 3 2.1893504e+00 6.92e-02 2.38e-01 -2.1 2.26e+00 -3.0 9.96e-01 9.39e-01h 1 4 2.1092784e+00 5.11e-03 1.72e-02 -2.7 4.93e-01 -3.4 9.91e-01 1.00e+00h 1 5 2.0908141e+00 2.98e-04 1.32e-03 -4.0 1.45e-01 -3.9 9.98e-01 1.00e+00h 1 6 2.0907597e+00 1.44e-05 9.61e-05 -4.0 5.00e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0906124e+00 8.49e-07 2.05e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0901715e+00 7.78e-06 3.44e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0888596e+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 2.0850245e+00 6.75e-04 2.80e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0796329e+00 2.08e-03 1.77e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.34e-01h 1 12 2.0802272e+00 4.46e-04 1.83e-01 -4.0 6.72e+01 -7.2 1.00e+00 9.69e-01H 1 13 2.0774498e+00 8.36e-03 1.92e-02 -4.0 1.23e+02 -7.7 1.00e+00 9.58e-01h 1 14 2.0769263e+00 1.59e-03 7.29e-02 -4.0 2.06e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0761877e+00 3.02e-03 2.06e-02 -4.0 3.50e+02 -8.7 1.00e+00 8.37e-01h 1 16 2.0755135e+00 1.60e-03 3.59e-02 -4.0 5.53e+02 -9.2 1.00e+00 6.95e-01h 1 17 2.0757626e+00 2.90e-03 1.21e-02 -4.0 1.54e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0753760e+00 1.18e-03 4.88e-04 -4.1 7.92e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0756723e+00 4.71e-04 5.91e-06 -4.0 2.11e+01 -10.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0756712e+00 5.71e-07 9.30e-07 -4.0 1.09e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0756712e+00 1.63e-09 6.04e-08 -4.0 3.73e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0756712e+00 2.32e-11 9.30e-10 -4.0 5.39e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0756712121314549e+00 2.0756712121314549e+00 Dual infeasibility......: 9.3007851818967778e-10 9.3007851818967778e-10 Constraint violation....: 2.3161916828939866e-11 2.3161916828939866e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000051e-04 1.0000000000000051e-04 Overall NLP error.......: 9.3007851818967778e-10 9.3007851818967778e-10 Number of objective function evaluations = 24 Number of objective gradient evaluations = 23 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 23 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 22 Total seconds in IPOPT = 27.265 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 23m12.6s Testing DirectTrajOpt tests passed Testing completed after 1469.74s PkgEval succeeded after 1556.02s