Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.1918 (78a0dc1151*) started at 2026-03-20T07:18:41.651 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 12.43s ################################################################################ # 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 v6.211.0 [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 v3.22.0 [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 v2.150.0 [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 v2.7.1 [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 v8.19.0+0 [e37daf67] + LibGit2_jll v1.9.2+0 [29816b5a] + LibSSH2_jll v1.11.3+1 [14a3606d] + MozillaCACerts_jll v2025.12.2 [4536629a] + OpenBLAS_jll v0.3.30+0 [05823500] + OpenLibm_jll v0.8.7+0 [458c3c95] + OpenSSL_jll v3.5.5+0 [efcefdf7] + PCRE2_jll v10.47.0+0 [bea87d4a] + SuiteSparse_jll v7.10.1+0 [83775a58] + Zlib_jll v1.3.2+0 [3161d3a3] + Zstd_jll v1.5.7+1 [8e850b90] + libblastrampoline_jll v5.15.0+0 [8e850ede] + nghttp2_jll v1.68.0+1 [3f19e933] + p7zip_jll v17.8.0+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 5.9s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling packages... 32924.9 ms ✓ DirectTrajOpt 1 dependency successfully precompiled in 52 seconds. 226 already precompiled. Precompilation completed after 47.77s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_jF0wbZ/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 v2.150.0 [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_jF0wbZ/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 v6.211.0 [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 v3.22.0 [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 v2.150.0 [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 v2.7.1 [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 v8.19.0+0 [e37daf67] LibGit2_jll v1.9.2+0 [29816b5a] LibSSH2_jll v1.11.3+1 [14a3606d] MozillaCACerts_jll v2025.12.2 [4536629a] OpenBLAS_jll v0.3.30+0 [05823500] OpenLibm_jll v0.8.7+0 [458c3c95] OpenSSL_jll v3.5.5+0 [efcefdf7] PCRE2_jll v10.47.0+0 [bea87d4a] SuiteSparse_jll v7.10.1+0 [83775a58] Zlib_jll v1.3.2+0 [3161d3a3] Zstd_jll v1.5.7+1 [8e850b90] libblastrampoline_jll v5.15.0+0 [8e850ede] nghttp2_jll v1.68.0+1 [3f19e933] p7zip_jll v17.8.0+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: 2.213s integrator 2 jacobian structure: 0.055s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 5.48s jacobian structure: 1600 nonzeros (7.807s) integrator 1 hessian structure: 0.065s integrator 2 hessian structure: 0.046s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.264s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 2.167s sub-objective 2 (QuadraticRegularizer): 1.415s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.016s objective hessian structure: 3.718s hessian structure: 1749 nonzeros (8.093s) linear index maps built (0.0s) evaluator ready (total: 16.452s) evaluator created (21.475s) NL constraint bounds extracted (0.202s) NLP block data built (0.0s) Ipopt optimizer configured (0.529s) variables set (0.888s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (3.381s) optimizer initialization complete (total: 26.476s) ****************************************************************************** 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 5.2919867e+00 2.61e+00 4.93e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.3453420e+00 3.48e-01 4.14e+00 -1.0 2.47e+00 0.0 9.96e-01 8.79e-01f 1 2 2.2331804e+00 1.47e-01 2.21e+00 -1.1 2.80e-01 0.4 9.96e-01 5.75e-01h 1 3 2.4697423e+00 1.55e-02 1.85e+00 -1.3 3.91e-01 -0.1 8.00e-01 1.00e+00h 1 4 2.3778631e+00 1.27e-02 9.48e-01 -1.5 2.14e-01 0.4 9.94e-01 4.28e-01h 1 5 2.3111964e+00 8.15e-03 9.23e-01 -2.1 1.18e-01 -0.1 9.97e-01 3.45e-01h 1 6 2.1585309e+00 6.86e-03 5.20e-01 -3.1 3.97e-01 -0.6 7.78e-01 7.22e-01h 1 7 2.1449156e+00 6.49e-03 4.90e-01 -4.0 4.01e-01 -1.1 7.73e-02 5.46e-02h 1 8 2.1176267e+00 5.19e-03 3.20e-01 -3.5 9.92e-02 0.3 1.00e+00 2.00e-01h 1 9 2.1107088e+00 4.58e-03 1.20e+00 -4.0 6.34e-02 -0.2 1.00e+00 1.21e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0919449e+00 5.40e-04 3.83e-01 -3.7 7.46e-02 -0.7 1.00e+00 9.20e-01h 1 11 2.0912621e+00 4.88e-06 8.75e-03 -4.0 2.01e-02 -1.2 1.00e+00 1.00e+00h 1 12 2.0910024e+00 5.91e-08 3.74e-04 -4.0 1.62e-02 -1.6 1.00e+00 1.00e+00h 1 13 2.0909916e+00 1.30e-09 2.17e-04 -4.0 2.81e-02 -2.1 1.00e+00 1.00e+00h 1 14 2.0909810e+00 5.83e-10 6.36e-05 -4.0 2.44e-02 -2.6 1.00e+00 1.00e+00h 1 15 2.0909749e+00 7.53e-10 2.62e-05 -4.0 3.06e-02 -3.1 1.00e+00 1.00e+00h 1 16 2.0909635e+00 3.96e-09 2.99e-05 -4.0 9.12e-02 -3.5 1.00e+00 1.00e+00h 1 17 2.0909302e+00 3.48e-08 1.85e-04 -4.0 2.68e-01 -4.0 1.00e+00 1.00e+00h 1 18 2.0908467e+00 2.60e-07 6.10e-04 -4.0 7.07e-01 -4.5 1.00e+00 1.00e+00h 1 19 2.0907374e+00 6.63e-07 2.34e-03 -4.0 1.38e+00 -5.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0904584e+00 6.99e-06 1.38e-03 -4.0 4.44e+00 -5.5 1.00e+00 1.00e+00h 1 21 2.0896268e+00 5.31e-05 1.82e-03 -4.0 1.25e+01 -5.9 1.00e+00 1.00e+00h 1 22 2.0887569e+00 5.70e-05 6.97e-02 -4.0 3.24e+01 -6.4 1.00e+00 3.17e-01h 1 23 2.0853486e+00 1.70e-03 1.09e-01 -4.0 7.11e+01 -6.9 1.00e+00 1.00e+00f 1 24 2.0835639e+00 7.58e-04 7.51e-02 -4.0 7.66e+00 -5.6 1.00e+00 5.77e-01h 1 25 2.0834084e+00 8.88e-05 6.73e-03 -4.0 5.11e+00 -6.0 1.00e+00 1.00e+00h 1 26 2.0829105e+00 1.60e-05 3.04e-03 -4.0 1.04e+01 -6.5 1.00e+00 1.00e+00h 1 27 2.0827696e+00 6.76e-05 2.46e-03 -4.0 2.92e+01 -7.0 1.00e+00 1.00e+00h 1 28 2.0824966e+00 1.90e-04 3.32e-03 -4.0 7.52e+01 -7.5 1.00e+00 1.00e+00h 1 29 2.0821547e+00 1.03e-03 9.98e-03 -4.0 1.86e+02 -7.9 5.40e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0820638e+00 1.37e-03 3.12e+00 -4.0 3.02e+02 -6.6 1.00e+00 4.98e-02h 3 31 2.0821619e+00 1.99e-04 4.17e-01 -4.0 5.92e+00 -5.3 9.09e-01 1.00e+00h 1 32 2.0832298e+00 2.63e-03 2.66e-02 -3.6 7.85e+00 -5.8 1.00e+00 1.00e+00h 1 33 2.0830082e+00 1.12e-04 3.83e-03 -3.7 2.62e+00 -6.2 1.00e+00 1.00e+00h 1 34 2.0830584e+00 1.53e-04 3.18e-04 -3.7 4.95e+00 -6.7 1.00e+00 1.00e+00h 1 35 2.0809962e+00 6.20e-03 1.32e-02 -5.6 3.43e+01 -7.2 9.72e-01 1.00e+00h 1 36 2.0819902e+00 3.23e-03 5.24e-03 -4.0 3.03e+01 -7.7 1.00e+00 1.00e+00h 1 37 2.0818842e+00 4.35e-04 1.56e-03 -4.0 4.41e+01 -8.1 1.00e+00 1.00e+00h 1 38 2.0818506e+00 7.08e-05 1.92e-03 -4.0 4.73e+01 -8.6 1.00e+00 1.00e+00h 1 39 2.0818441e+00 1.46e-05 3.09e-04 -4.0 2.34e+01 -9.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818434e+00 4.18e-07 1.30e-05 -4.0 4.63e+00 -9.6 1.00e+00 1.00e+00h 1 41 2.0818434e+00 1.64e-09 7.18e-08 -4.0 3.36e-01 -10.1 1.00e+00 1.00e+00h 1 42 2.0818434e+00 8.67e-13 1.00e-09 -4.0 8.57e-03 -10.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 42 (scaled) (unscaled) Objective...............: 2.0818434105343089e+00 2.0818434105343089e+00 Dual infeasibility......: 1.0000000036613750e-09 1.0000000036613750e-09 Constraint violation....: 8.6686213762732223e-13 8.6686213762732223e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000066e-04 1.0000000000000066e-04 Overall NLP error.......: 1.0000000036613750e-09 1.0000000036613750e-09 Number of objective function evaluations = 47 Number of objective gradient evaluations = 43 Number of equality constraint evaluations = 47 Number of inequality constraint evaluations = 47 Number of equality constraint Jacobian evaluations = 43 Number of inequality constraint Jacobian evaluations = 43 Number of Lagrangian Hessian evaluations = 42 Total seconds in IPOPT = 81.908 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.068s integrator 2 jacobian structure: 0.057s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 6.452s jacobian structure: 1680 nonzeros (6.577s) integrator 1 hessian structure: 0.046s integrator 2 hessian structure: 0.046s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 9.169s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.344s sub-objective 2 (QuadraticRegularizer): 0.087s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.017s sub-objective 5 (GlobalObjective): 0.807s objective hessian structure: 1.454s hessian structure: 1964 nonzeros (10.716s) linear index maps built (0.0s) evaluator ready (total: 17.294s) evaluator created (17.317s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.117s) 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 (5.004s) optimizer initialization complete (total: 22.439s) 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 9.4834318e+00 2.57e+00 4.32e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.3388761e+00 8.82e-02 2.88e+00 -1.0 1.65e+00 0.0 7.64e-01 9.84e-01f 1 2 3.0961322e+00 6.57e-02 4.95e+00 -0.6 9.57e-01 -0.5 8.68e-01 3.77e-01f 1 3 2.9153346e+00 6.86e-02 4.17e+00 -0.7 4.21e+00 -1.0 7.59e-01 2.18e-01h 1 4 2.6773277e+00 9.39e-02 1.47e+00 -1.0 1.55e+00 -1.4 7.45e-01 1.00e+00f 1 5 2.5716720e+00 6.84e-02 1.53e+00 -1.2 7.91e-01 -1.9 1.00e+00 3.60e-01h 1 6 2.2168210e+00 5.14e-02 3.05e-01 -1.9 1.35e+00 -2.4 9.92e-01 1.00e+00h 1 7 2.1242137e+00 1.03e-02 4.20e-02 -2.5 7.13e-01 -2.9 9.70e-01 1.00e+00h 1 8 2.0922237e+00 3.30e-04 7.82e-03 -4.0 1.42e-01 -3.3 1.00e+00 9.53e-01h 1 9 2.0908350e+00 1.92e-05 1.26e-04 -4.0 1.09e-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 2.0908060e+00 3.84e-07 4.74e-05 -4.0 3.11e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907402e+00 2.56e-07 2.27e-04 -4.0 8.56e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905510e+00 2.28e-06 2.91e-04 -4.0 2.53e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0904739e+00 3.32e-07 2.55e-04 -4.0 9.84e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0901361e+00 4.21e-06 1.33e-03 -4.0 3.39e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0895749e+00 3.69e-05 7.77e-03 -4.0 1.01e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0889317e+00 3.60e-05 7.04e-02 -4.0 1.38e+01 -5.4 1.00e+00 2.84e-01h 1 17 2.0880947e+00 4.46e-05 1.12e-02 -4.0 1.10e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0867889e+00 9.90e-05 4.12e-02 -4.0 2.80e+01 -6.3 1.00e+00 5.45e-01h 1 19 2.0838537e+00 8.92e-04 4.30e-02 -4.0 5.10e+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 2.0827574e+00 3.36e-04 1.03e-02 -4.0 5.23e+01 -7.3 1.00e+00 5.89e-01h 1 21 2.0825242e+00 9.51e-04 2.94e-02 -4.0 1.32e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0827675e+00 2.80e-03 9.07e-02 -4.0 1.35e+02 -7.3 6.79e-01 1.00e+00h 1 23 2.0823932e+00 7.42e-05 2.35e-03 -4.1 4.78e-01 -5.1 1.00e+00 9.69e-01h 1 24 2.0825953e+00 6.39e-05 3.73e-03 -4.0 2.52e+00 -5.6 1.00e+00 1.00e+00f 1 25 2.0820728e+00 1.70e-04 1.95e-03 -4.1 7.96e+00 -6.0 1.00e+00 1.00e+00h 1 26 2.0821439e+00 4.29e-05 5.53e-04 -4.0 3.63e+00 -5.6 1.00e+00 1.00e+00h 1 27 2.0920682e+00 7.68e-06 3.52e-01 -4.0 2.77e+01 -6.1 2.58e-01 1.00e+00H 1 28 2.0901175e+00 6.91e-06 4.27e+00 -4.1 4.45e-01 -1.1 4.15e-01 9.64e-02f 1 29 2.0881973e+00 6.34e-06 2.91e+01 -3.6 6.55e-01 -1.6 1.00e+00 8.39e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0822903e+00 1.33e-06 1.90e-02 -3.8 1.88e-01 -2.1 1.00e+00 1.00e+00f 1 31 2.0826521e+00 9.06e-06 1.57e+00 -3.6 5.94e-02 -2.6 7.68e-01 1.00e+00h 1 32 2.0822880e+00 8.23e-06 3.51e-03 -3.7 7.98e-02 -3.1 1.00e+00 1.00e+00h 1 33 2.0820573e+00 9.86e-07 1.08e-03 -4.0 3.88e-02 -3.5 1.00e+00 1.00e+00h 1 34 2.0819227e+00 3.82e-06 1.92e-04 -4.0 1.79e-01 -4.0 1.00e+00 1.00e+00h 1 35 2.0819704e+00 1.92e-06 2.13e-04 -4.0 4.08e-01 -4.5 1.00e+00 1.00e+00h 1 36 2.0820380e+00 3.77e-06 4.47e-04 -4.0 8.23e-01 -5.0 1.00e+00 1.00e+00h 1 37 2.0819597e+00 1.59e-05 5.09e-04 -4.1 8.67e-01 -5.4 1.00e+00 1.00e+00h 1 38 2.0811587e+00 3.14e-04 2.02e-03 -6.1 4.02e+00 -5.9 9.68e-01 9.50e-01h 1 39 2.0811386e+00 4.32e-05 1.09e-03 -4.8 3.71e+00 -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 2.0821344e+00 2.55e-03 6.04e-03 -4.0 2.47e+01 -6.9 1.00e+00 1.00e+00f 1 41 2.0818607e+00 6.30e-04 6.17e-03 -4.1 2.31e+01 -7.3 1.00e+00 1.00e+00h 1 42 2.1295872e+00 3.81e-04 1.91e-01 -4.1 5.11e+02 -7.8 1.14e-02 9.98e-02h 1 43 2.0831631e+00 1.57e-04 6.10e-02 -4.1 1.28e+02 -8.3 6.26e-04 1.00e+00f 1 44 2.0819154e+00 6.13e-04 6.88e-01 -4.1 1.03e+01 -5.2 2.09e-01 3.85e-01h 1 45 2.0818026e+00 6.37e-04 6.86e-01 -4.1 8.17e+01 -5.6 6.54e-04 2.19e-03f 2 46 2.0817171e+00 6.34e-04 7.36e-01 -4.1 1.81e+01 -3.4 8.71e-02 4.34e-03h 1 47 2.0823869e+00 3.17e-04 8.84e-01 -4.1 7.99e-01 -3.9 1.00e+00 5.00e-01f 2 48 2.0819472e+00 3.73e-05 4.47e-04 -4.1 3.29e-01 -4.4 1.00e+00 1.00e+00h 1 49 2.0812656e+00 8.34e-05 2.31e-02 -6.1 8.78e-01 -4.8 8.69e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0810488e+00 2.61e-05 4.09e-04 -6.1 2.29e+00 -5.3 1.00e+00 1.00e+00h 1 51 2.0820362e+00 2.57e-04 3.08e-03 -4.0 1.90e+00 -5.8 1.00e+00 1.00e+00f 1 52 2.0817141e+00 1.98e-04 3.99e-04 -4.1 4.57e+00 -6.3 1.00e+00 1.00e+00h 1 53 2.0807513e+00 9.56e-04 2.48e-03 -6.1 1.09e+01 -6.7 9.91e-01 1.00e+00h 1 54 2.0818878e+00 7.18e-03 3.26e-02 -4.0 7.51e+01 -7.2 7.95e-01 1.00e+00h 1 55 2.0815603e+00 1.60e-05 4.92e-04 -4.2 3.98e-01 -5.0 1.00e+00 1.00e+00h 1 56 2.0819538e+00 5.46e-05 1.81e-03 -4.0 1.31e+00 -5.5 1.00e+00 1.00e+00h 1 57 2.0818207e+00 1.79e-04 9.19e-04 -4.1 6.28e+00 -5.9 1.00e+00 1.00e+00h 1 58 2.0818363e+00 6.29e-06 6.03e-05 -4.1 3.25e-01 -4.6 1.00e+00 1.00e+00h 1 59 2.0819934e+00 1.26e-04 5.46e-04 -4.0 1.44e+00 -5.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0818721e+00 2.15e-04 2.22e-03 -4.1 3.49e+00 -5.6 1.00e+00 1.00e+00h 1 61 2.0818788e+00 9.43e-07 9.41e-03 -4.1 3.14e+00 -6.1 1.00e+00 1.00e+00H 1 62 2.0818954e+00 2.48e-05 2.88e-03 -4.0 9.86e-01 -6.5 1.00e+00 1.00e+00f 1 63 2.0816067e+00 1.67e-04 3.84e-04 -4.1 4.68e+00 -7.0 1.00e+00 1.00e+00h 1 64 2.0807071e+00 1.59e-03 1.78e-03 -6.2 2.23e+01 -7.5 9.80e-01 8.93e-01h 1 65 2.0808779e+00 1.40e-03 7.22e-02 -4.0 2.92e+01 -8.0 1.00e+00 1.49e-01f 1 66 2.0815105e+00 1.43e-03 2.13e-03 -4.2 2.79e+01 -8.4 1.00e+00 1.00e+00h 1 67 2.0814650e+00 1.77e-04 1.28e-01 -4.2 8.43e-02 -2.6 1.00e+00 8.76e-01h 1 68 2.0815186e+00 6.71e-07 3.52e-04 -4.2 4.85e-02 -3.1 1.00e+00 1.00e+00f 1 69 2.0817201e+00 1.04e-06 2.99e-04 -4.0 4.17e-02 -3.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0815848e+00 2.43e-06 8.61e-05 -4.1 1.23e-01 -4.0 1.00e+00 1.00e+00h 1 71 2.0810274e+00 5.20e-05 7.19e-02 -6.1 5.34e-01 -4.5 8.28e-01 1.00e+00h 1 72 2.0814763e+00 5.07e-05 3.56e-01 -4.0 6.55e+00 -5.0 1.60e-01 2.79e-01h 1 73 2.0809453e+00 6.76e-05 5.22e-01 -4.7 2.38e+00 -5.5 1.94e-02 8.32e-01h 1 74 2.0810422e+00 6.29e-05 2.00e-01 -4.0 6.02e+02 -5.9 1.47e-02 6.69e-03f 2 75 2.0809155e+00 1.56e-05 3.26e-02 -4.5 7.50e+00 -6.4 9.86e-01 8.35e-01H 1 76 2.0821239e+00 2.12e-03 2.30e-02 -4.0 2.67e+01 -6.9 1.00e+00 1.00e+00f 1 77 2.0818043e+00 1.95e-04 3.66e-03 -4.1 1.28e+01 -7.4 1.00e+00 1.00e+00h 1 78 2.0816934e+00 2.05e-05 5.42e-04 -4.1 1.07e+01 -7.8 1.00e+00 1.00e+00h 1 79 2.0806719e+00 2.72e-03 8.81e-04 -6.1 3.45e+01 -8.3 9.79e-01 9.05e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0818733e+00 3.99e-03 1.91e-03 -4.0 3.94e+01 -8.8 1.00e+00 1.00e+00f 1 81 2.0816059e+00 3.46e-04 2.27e-04 -4.1 1.45e+01 -9.3 1.00e+00 1.00e+00h 1 82 2.0806018e+00 3.42e-03 2.04e-04 -6.1 4.14e+01 -9.7 9.76e-01 9.61e-01h 1 83 2.0818846e+00 6.23e-03 4.19e-04 -4.0 5.84e+01 -10.2 1.00e+00 1.00e+00f 1 84 2.0816093e+00 4.63e-04 4.43e-05 -4.1 1.93e+01 -10.7 1.00e+00 1.00e+00h 1 85 2.0806006e+00 3.46e-03 1.85e-04 -6.1 4.18e+01 -11.2 9.76e-01 9.62e-01h 1 86 2.0818845e+00 6.33e-03 2.91e-04 -4.0 5.93e+01 -11.7 1.00e+00 1.00e+00f 1 87 2.0816087e+00 4.49e-04 4.43e-05 -4.1 1.92e+01 -12.1 1.00e+00 1.00e+00h 1 88 2.0806003e+00 3.46e-03 1.82e-04 -6.1 4.17e+01 -12.6 9.76e-01 9.62e-01h 1 89 2.0808441e+00 3.02e-03 1.41e-02 -4.0 5.94e+01 -13.1 1.00e+00 1.95e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0814089e+00 8.51e-04 4.12e-05 -4.2 1.75e+01 -13.6 1.00e+00 1.00e+00h 1 91 2.0814132e+00 3.63e-06 3.68e-05 -4.2 7.07e+00 -14.0 1.00e+00 1.00e+00h 1 92 2.0818443e+00 6.31e-04 5.36e-05 -4.0 1.74e+01 -14.5 1.00e+00 1.00e+00h 1 93 2.0815832e+00 2.27e-04 4.35e-05 -4.1 1.04e+01 -15.0 1.00e+00 1.00e+00h 1 94 2.0805927e+00 3.32e-03 1.40e-04 -6.1 4.05e+01 -15.5 9.77e-01 9.67e-01h 1 95 2.0818892e+00 6.58e-03 2.97e-04 -4.0 6.13e+01 -16.0 1.00e+00 1.00e+00f 1 96 2.0816122e+00 4.93e-04 4.43e-05 -4.1 2.06e+01 -16.4 1.00e+00 1.00e+00h 1 97 2.0806014e+00 3.47e-03 1.90e-04 -6.1 4.19e+01 -16.9 9.76e-01 9.61e-01h 1 98 2.0805507e+00 9.04e-05 2.22e-06 -6.1 1.70e+01 -17.4 1.00e+00 1.00e+00h 1 99 2.0819807e+00 1.03e-02 3.96e-04 -4.0 8.49e+01 -17.9 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0816780e+00 9.66e-04 4.95e-05 -4.1 4.57e+01 -18.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0816780152830363e+00 2.0816780152830363e+00 Dual infeasibility......: 4.9505962753720179e-05 4.9505962753720179e-05 Constraint violation....: 9.6559342863355990e-04 9.6559342863355990e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0406862228599729e-04 1.0406862228599729e-04 Overall NLP error.......: 9.6559342863355990e-04 9.6559342863355990e-04 Number of objective function evaluations = 109 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 109 Number of inequality constraint evaluations = 109 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 55.450 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: 0.075s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) jacobian structure: 5.398s jacobian structure: 1594 nonzeros (5.476s) integrator 1 hessian structure: 0.079s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) hessian structure: 19.393s 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 (19.474s) linear index maps built (0.0s) evaluator ready (total: 24.95s) evaluator created (24.97s) 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: 24.971s) 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 8.1412326e+01 3.83e+00 2.83e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9238396e+01 2.16e+00 1.57e+01 -0.5 1.94e+00 0.0 1.00e+00 4.36e-01f 1 2 5.7794971e+00 1.01e+00 7.56e+00 0.2 1.57e+00 -0.5 5.50e-01 5.34e-01f 1 3 3.3524854e+00 1.41e-01 8.48e+00 -0.8 1.34e+00 -1.0 7.18e-01 1.00e+00f 1 4 2.8891525e+00 1.49e-01 1.39e+00 -0.7 1.25e+00 -1.4 9.53e-01 1.00e+00f 1 5 2.7861054e+00 7.50e-02 1.11e+00 -0.9 9.36e-01 -1.9 1.00e+00 4.96e-01h 1 6 2.3921618e+00 1.60e-01 2.67e-01 -1.6 2.00e+00 -2.4 9.91e-01 1.00e+00h 1 7 2.1934601e+00 9.83e-02 2.05e-01 -2.4 2.82e+00 -2.9 9.94e-01 6.82e-01h 1 8 2.1022232e+00 1.30e-02 2.02e-02 -3.1 8.31e-01 -3.3 1.00e+00 9.48e-01h 1 9 2.0909320e+00 2.02e-04 8.79e-04 -4.0 1.20e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908395e+00 1.10e-05 1.92e-04 -4.0 3.49e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907664e+00 2.87e-07 4.28e-04 -4.0 8.97e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905849e+00 2.43e-06 9.67e-04 -4.0 2.67e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0900311e+00 2.09e-05 9.51e-04 -4.0 7.71e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0899147e+00 2.02e-05 4.32e-02 -4.0 5.08e+01 -6.2 3.01e-01 2.39e-02h 2 15 2.0864045e+00 9.48e-04 3.09e-02 -4.0 4.96e+01 -6.7 1.00e+00 1.00e+00h 1 16 2.0855649e+00 5.76e-04 5.08e-02 -4.0 2.45e+01 -6.3 1.00e+00 3.98e-01h 1 17 2.0833532e+00 5.48e-04 2.57e-02 -4.0 3.93e+01 -6.7 1.00e+00 1.00e+00h 1 18 2.0825738e+00 1.17e-04 1.60e-02 -4.0 3.90e+01 -7.2 1.00e+00 7.37e-01h 1 19 2.0823963e+00 2.64e-04 1.19e-02 -4.0 1.12e+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 2.0823882e+00 1.13e-03 1.82e-02 -4.0 8.57e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0823094e+00 1.24e-03 8.96e-03 -4.0 6.35e+02 -6.8 9.62e-03 1.72e-02h 4 22 2.0824484e+00 2.46e-04 2.75e-01 -4.0 1.41e+00 -4.6 7.34e-01 1.00e+00h 1 23 2.0822822e+00 2.03e-06 3.16e-03 -4.0 1.81e+00 -5.1 1.00e+00 1.00e+00H 1 24 2.0824298e+00 2.63e-04 2.29e-03 -4.0 1.94e+00 -5.6 1.00e+00 1.00e+00f 1 25 2.0821546e+00 5.33e-04 3.20e-03 -4.1 4.35e+00 -6.0 1.00e+00 1.00e+00h 1 26 2.0822382e+00 1.78e-04 1.57e-03 -4.0 5.52e+00 -6.5 1.00e+00 1.00e+00h 1 27 2.0821802e+00 1.48e-05 8.43e-04 -4.0 1.24e+01 -7.0 1.00e+00 1.00e+00h 1 28 2.0820708e+00 3.55e-05 2.02e-03 -4.0 2.81e+01 -7.5 1.00e+00 1.00e+00h 1 29 2.0819379e+00 1.09e-04 4.95e-03 -4.0 4.70e+01 -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 30 2.0818602e+00 1.68e-04 4.73e-03 -4.0 6.13e+01 -8.4 1.00e+00 1.00e+00h 1 31 2.0818408e+00 6.20e-05 1.27e-03 -4.0 4.24e+01 -8.9 1.00e+00 1.00e+00h 1 32 2.0818384e+00 3.80e-06 1.92e-04 -4.0 1.24e+01 -9.4 1.00e+00 1.00e+00h 1 33 2.0818383e+00 3.33e-08 1.92e-04 -4.0 1.38e+00 -9.8 1.00e+00 1.00e+00h 1 34 2.0818383e+00 3.99e-11 1.92e-04 -4.0 5.49e-02 -10.3 1.00e+00 1.00e+00h 1 35 2.0818383e+00 2.00e-11 9.60e-05 -4.0 7.59e-04 -10.8 1.00e+00 5.00e-01h 2 36 2.0818383e+00 2.22e-16 1.92e-04 -4.0 3.83e-04 -11.8 1.00e+00 1.00e+00H 1 37 2.0818383e+00 8.88e-16 1.92e-04 -4.0 2.00e-05 -12.2 1.00e+00 1.00e+00h 1 38 2.0815797e+00 2.05e-04 1.54e-04 -4.1 9.35e+00 -12.7 1.00e+00 1.00e+00h 1 39 2.0818395e+00 2.13e-04 1.92e-04 -4.0 9.67e+00 -13.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0815804e+00 2.11e-04 1.54e-04 -4.1 9.63e+00 -13.7 1.00e+00 1.00e+00h 1 41 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -14.1 9.78e-01 9.71e-01h 1 42 2.0818882e+00 6.56e-03 2.96e-04 -4.0 6.10e+01 -14.6 1.00e+00 1.00e+00f 1 43 2.0816136e+00 4.88e-04 1.57e-04 -4.1 2.07e+01 -15.1 1.00e+00 1.00e+00h 1 44 2.0805989e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -15.6 9.76e-01 9.65e-01h 1 45 2.0805508e+00 8.46e-05 2.20e-06 -6.1 1.69e+01 -16.1 1.00e+00 1.00e+00h 1 46 2.0819794e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -16.5 1.00e+00 1.00e+00f 1 47 2.0816837e+00 9.34e-04 1.64e-04 -4.1 4.57e+01 -17.0 1.00e+00 1.00e+00h 1 48 2.0816477e+00 4.73e-07 1.64e-04 -4.1 8.53e+00 -17.5 1.00e+00 1.00e+00h 1 49 2.0818389e+00 1.15e-04 1.92e-04 -4.0 7.07e+00 -18.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0815801e+00 2.08e-04 1.54e-04 -4.1 9.50e+00 -18.4 1.00e+00 1.00e+00h 1 51 2.0805898e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -18.9 9.78e-01 9.71e-01h 1 52 2.0805497e+00 6.51e-05 1.78e-06 -6.1 1.55e+01 -19.4 1.00e+00 1.00e+00h 1 53 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -19.9 1.00e+00 1.00e+00f 1 54 2.0816887e+00 9.54e-04 1.64e-04 -4.1 4.72e+01 -20.0 1.00e+00 1.00e+00h 1 55 2.0816504e+00 5.63e-07 1.64e-04 -4.1 8.93e+00 -20.0 1.00e+00 1.00e+00h 1 56 2.0805906e+00 3.68e-03 1.60e-04 -6.1 4.16e+01 -20.0 9.77e-01 9.75e-01h 1 57 2.0805511e+00 6.76e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 58 2.0805469e+00 4.72e-08 1.52e-06 -6.1 2.95e+00 -20.0 1.00e+00 1.00e+00h 1 59 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.89e+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 2.0817159e+00 1.04e-03 1.66e-04 -4.1 5.46e+01 -20.0 1.00e+00 1.00e+00h 1 61 2.0816648e+00 1.22e-06 1.66e-04 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 62 2.0805915e+00 3.76e-03 1.66e-04 -6.1 4.20e+01 -20.0 9.76e-01 9.75e-01h 1 63 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 64 2.0805471e+00 4.99e-08 1.54e-06 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 65 2.0805365e+00 9.55e-07 8.02e-07 -9.0 9.57e-01 -20.0 1.00e+00 9.97e-01h 1 66 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 67 2.0817306e+00 1.08e-03 1.67e-04 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 68 2.0816723e+00 1.67e-06 1.67e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 69 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0805516e+00 7.07e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 71 2.0805472e+00 5.15e-08 1.56e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 72 2.0805365e+00 9.76e-07 8.28e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 73 2.0805365e+00 9.27e-11 1.74e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 74 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 75 2.0817309e+00 1.08e-03 1.67e-04 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 76 2.0816725e+00 1.68e-06 1.67e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 77 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 78 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 79 2.0805472e+00 5.16e-08 1.56e-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 80 2.0805365e+00 9.76e-07 8.29e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 81 2.0805365e+00 9.28e-11 1.74e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 82 2.0805365e+00 8.88e-16 1.74e-09 -9.0 1.10e-05 -20.0 1.00e+00 1.00e+00h 1 83 2.0805365e+00 6.66e-16 1.74e-09 -9.0 8.72e-11 -20.0 1.00e+00 1.00e+00h 1 84 2.0805365e+00 4.44e-16 1.74e-09 -9.0 8.72e-11 -20.0 1.00e+00 1.00e+00h 1 85 2.0805365e+00 4.44e-16 1.74e-09 -9.0 8.72e-11 -20.0 1.00e+00 1.00e+00h 1 86 2.0805365e+00 2.22e-16 1.74e-09 -9.0 8.72e-11 -20.0 1.00e+00 1.00e+00h 1 87 2.0805365e+00 4.44e-16 1.74e-09 -9.0 8.72e-11 -20.0 1.00e+00 1.00e+00h 1 88 2.0805365e+00 4.44e-16 1.74e-09 -9.0 8.72e-11 -20.0 1.00e+00 1.00e+00h 1 89 2.0805365e+00 4.44e-16 1.74e-09 -9.0 8.72e-11 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805365e+00 4.44e-16 1.74e-09 -9.0 8.72e-11 -20.0 1.00e+00 1.00e+00h 1 91 2.0805365e+00 4.44e-16 1.74e-09 -9.0 8.72e-11 -20.0 1.00e+00 1.00e+00h 1 92 2.0805365e+00 2.22e-16 1.74e-09 -9.0 8.72e-11 -20.0 1.00e+00 1.00e+00h 1 93 2.0805365e+00 4.44e-16 1.74e-09 -9.0 8.72e-11 -20.0 1.00e+00 1.00e+00h 1 94 2.0805365e+00 4.44e-16 1.74e-09 -9.0 8.72e-11 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 4.44e-16 1.74e-09 -9.0 8.72e-11 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 4.44e-16 1.74e-09 -9.0 8.72e-11 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 4.44e-16 1.74e-09 -9.0 8.72e-11 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 2.22e-16 1.74e-09 -9.0 8.72e-11 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 4.44e-16 1.74e-09 -9.0 8.72e-11 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805365e+00 4.44e-16 1.74e-09 -9.0 8.72e-11 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595436466e+00 2.0805364595436466e+00 Dual infeasibility......: 1.7447479242036678e-09 1.7447479242036678e-09 Constraint violation....: 4.4408920985006262e-16 4.4408920985006262e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090971179366e-10 9.0909090971179366e-10 Overall NLP error.......: 9.9999090909091550e-05 9.9999090909091550e-05 Number of objective function evaluations = 111 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 111 Number of inequality constraint evaluations = 111 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 42.776 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.056s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.057s) integrator 1 hessian structure: 0.051s 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: 0.109s) evaluator created (0.125s) 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: 0.126s) 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 3.0219125e+00 2.93e+00 7.24e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9552466e+00 4.10e-02 1.92e+00 -1.0 2.01e+00 0.0 5.18e-01 1.00e+00f 1 2 2.5657492e+00 3.66e-02 9.08e-01 -4.0 5.39e-01 -0.5 5.31e-01 5.21e-01h 1 3 2.2521355e+00 1.63e-02 1.91e-01 -1.8 2.01e-01 -0.1 9.92e-01 9.34e-01h 1 4 2.1973538e+00 1.32e-02 3.76e-01 -2.2 3.04e-01 -0.5 9.77e-01 2.22e-01h 1 5 2.1084717e+00 2.11e-03 1.17e-01 -3.1 5.55e-02 -1.0 1.00e+00 8.41e-01h 1 6 2.0910600e+00 4.35e-05 4.27e-03 -4.0 1.24e-02 -1.5 1.00e+00 1.00e+00h 1 7 2.0908976e+00 8.91e-08 1.88e-04 -4.0 1.71e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0908974e+00 4.52e-10 9.09e-05 -4.0 2.48e-02 -2.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 8 (scaled) (unscaled) Objective...............: 2.0908973920950862e+00 2.0908973920950862e+00 Dual infeasibility......: 9.0879211514367146e-05 9.0879211514367146e-05 Constraint violation....: 4.5215055137493021e-10 4.5215055137493021e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000003379172661e-04 1.0000003379172661e-04 Overall NLP error.......: 9.0879211514367146e-05 9.0879211514367146e-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 = 32.832 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.086s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.086s) integrator 1 hessian structure: 0.122s 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 (0.123s) linear index maps built (0.0s) evaluator ready (total: 0.21s) evaluator created (0.21s) 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: 0.21s) 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 2.5864221e+00 1.92e+00 4.04e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6087894e+00 7.31e-02 2.57e+00 -1.0 1.81e+00 0.0 6.41e-01 1.00e+00f 1 2 2.3970071e+00 1.95e-02 9.69e-01 -1.3 1.91e-01 0.4 8.30e-01 9.96e-01h 1 3 2.2203179e+00 2.93e-03 1.29e-01 -1.9 1.07e-01 -0.1 9.92e-01 1.00e+00h 1 4 2.1722146e+00 4.45e-03 1.38e+00 -2.3 4.01e-01 -0.5 9.59e-01 1.49e-01h 1 5 2.1117059e+00 1.51e-03 9.78e-02 -3.2 2.93e-02 -1.0 1.00e+00 6.62e-01h 1 6 2.0914823e+00 1.25e-04 4.18e-02 -4.0 1.75e-02 -1.5 1.00e+00 1.00e+00h 1 7 2.0908716e+00 6.76e-07 1.81e-03 -4.0 1.28e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0908908e+00 5.40e-08 7.03e-05 -4.0 1.92e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908891e+00 1.58e-10 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908842e+00 9.69e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908692e+00 8.72e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908244e+00 7.85e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906901e+00 7.08e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902880e+00 6.41e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890909e+00 5.86e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855817e+00 5.52e-04 2.31e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796303e+00 2.28e-03 1.36e-01 -4.0 9.55e+01 -6.7 1.00e+00 6.28e-01h 1 18 2.0806561e+00 1.77e-04 1.92e-01 -4.0 7.03e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775821e+00 7.84e-03 2.89e-02 -4.0 1.19e+02 -7.7 1.00e+00 9.79e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0769105e+00 1.86e-03 7.18e-02 -4.0 2.05e+02 -8.2 9.86e-01 8.41e-01h 1 21 2.0763363e+00 1.57e-03 4.39e-02 -4.0 3.64e+02 -8.6 1.00e+00 6.36e-01h 1 22 2.0755291e+00 2.63e-03 3.32e-02 -4.0 6.65e+02 -9.1 1.00e+00 7.59e-01h 1 23 2.0758343e+00 4.71e-03 1.96e-02 -4.0 2.00e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0754041e+00 1.36e-03 1.06e-03 -4.1 1.19e+02 -10.1 1.00e+00 1.00e+00h 1 25 2.0756720e+00 4.60e-04 1.18e-05 -4.0 2.23e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 5.73e-07 1.19e-06 -4.0 1.23e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.39e-09 8.96e-08 -4.0 4.44e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.05e-11 1.61e-09 -4.0 7.01e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121584795e+00 2.0756712121584795e+00 Dual infeasibility......: 1.6054999146277154e-09 1.6054999146277154e-09 Constraint violation....: 4.0541014989514679e-11 4.0541014989514679e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000061e-04 1.0000000000000061e-04 Overall NLP error.......: 1.6054999146277154e-09 1.6054999146277154e-09 Number of objective function evaluations = 30 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 30 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 31.109 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.179s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.179s) integrator 1 hessian structure: 0.111s 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 (0.112s) linear index maps built (0.0s) evaluator ready (total: 0.292s) evaluator created (0.292s) 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: 0.292s) 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 2.1610982e+00 2.10e+00 4.16e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4279451e+00 1.86e-01 1.91e+00 -1.0 1.92e+00 0.0 3.90e-01 9.15e-01h 1 2 2.5803119e+00 3.98e-02 1.57e+00 -1.0 4.85e-01 -0.5 1.00e+00 9.89e-01h 1 3 2.4127144e+00 6.89e-03 6.94e-02 -1.5 1.08e-01 -1.0 9.90e-01 1.00e+00h 1 4 2.1322798e+00 5.95e-03 5.03e-02 -2.6 1.38e-01 -1.4 9.59e-01 9.48e-01f 1 5 2.0933184e+00 3.85e-04 7.28e-03 -3.6 4.21e-02 -1.9 9.83e-01 9.58e-01h 1 6 2.0909268e+00 2.73e-06 3.57e-04 -4.0 6.73e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0909303e+00 2.12e-08 2.31e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909259e+00 7.59e-10 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909126e+00 6.87e-09 2.06e-05 -4.0 1.35e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908728e+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...............: 2.0908727703860630e+00 2.0908727703860630e+00 Dual infeasibility......: 2.0581859481935873e-05 2.0581859481935873e-05 Constraint violation....: 6.1893183370999305e-08 6.1893183370999305e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999994774e-05 9.9999999999994774e-05 Overall NLP error.......: 2.0581859481935873e-05 2.0581859481935873e-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 = 34.109 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: 0.128s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.129s) integrator 1 hessian structure: 0.086s 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 (0.089s) linear index maps built (0.0s) evaluator ready (total: 0.218s) evaluator created (0.218s) 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: 0.218s) 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 5.2655685e+00 3.76e+00 4.31e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5807285e+00 7.54e-01 2.03e+00 -0.9 2.59e+00 - 1.00e+00 8.00e-01f 1 2 2.7542720e+00 1.73e-02 5.63e-01 -0.9 6.10e-01 - 9.83e-01 1.00e+00f 1 3 2.4783419e+00 7.97e-03 3.70e-01 -1.8 2.25e-01 - 9.39e-01 1.00e+00h 1 4 2.1610869e+00 2.19e-02 1.40e-01 -2.5 5.09e-01 - 9.97e-01 7.75e-01f 1 5 2.0978025e+00 5.83e-03 4.40e-02 -3.5 5.39e-01 - 1.00e+00 8.77e-01h 1 6 2.0906774e+00 9.53e-05 8.75e-03 -4.0 1.26e-01 - 1.00e+00 1.00e+00h 1 7 2.0907853e+00 1.94e-07 8.60e-04 -4.0 1.05e-02 - 1.00e+00 1.00e+00h 1 8 2.0907850e+00 1.30e-12 2.06e-05 -4.0 2.06e-05 - 1.00e+00 1.00e+00h 1 9 2.0901104e+00 5.96e-06 3.07e-02 -4.0 6.96e+00 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0894458e+00 1.08e-05 3.06e-02 -4.0 6.92e+00 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0894458185770213e+00 2.0894458185770213e+00 Dual infeasibility......: 3.0569673917081680e-02 3.0569673917081680e-02 Constraint violation....: 1.0816902151267183e-05 1.0816902151267183e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000003456423444e-04 1.0000003456423444e-04 Overall NLP error.......: 3.0569673917081680e-02 3.0569673917081680e-02 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 0 Total seconds in IPOPT = 13.547 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: 0.107s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.108s) integrator 1 hessian structure: 0.088s 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 (0.091s) linear index maps built (0.0s) evaluator ready (total: 0.2s) evaluator created (0.2s) 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: 0.2s) 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 2.4924572e+00 2.70e+00 5.74e-01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.0084582e+00 1.17e-01 1.96e+00 -1.0 1.97e+00 0.0 8.25e-01 1.00e+00h 1 2 2.6093899e+00 9.06e-03 5.51e-01 -1.0 1.94e-01 0.4 1.00e+00 1.00e+00h 1 3 2.4174486e+00 2.72e-03 1.84e-01 -1.7 1.20e-01 -0.1 1.00e+00 1.00e+00h 1 4 2.2134853e+00 3.01e-03 1.40e-01 -2.5 1.84e-01 -0.5 8.40e-01 5.53e-01f 1 5 2.1192930e+00 7.59e-04 6.33e-02 -2.5 6.45e-02 -1.0 1.00e+00 8.35e-01h 1 6 2.1156753e+00 2.81e-05 1.19e-02 -2.5 2.05e-02 -1.5 1.00e+00 1.00e+00f 1 7 2.0912531e+00 1.26e-05 1.81e-04 -3.8 8.17e-03 -2.0 1.00e+00 1.00e+00f 1 8 2.0908615e+00 2.57e-07 2.06e-05 -4.0 5.63e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908599e+00 2.55e-10 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908549e+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...............: 2.0908549139909760e+00 2.0908549139909760e+00 Dual infeasibility......: 2.0579155236056801e-05 2.0579155236056801e-05 Constraint violation....: 9.7300006419998031e-10 9.7300006419998031e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999999978e-05 9.9999999999999978e-05 Overall NLP error.......: 2.0579155236056801e-05 2.0579155236056801e-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 = 34.143 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: 0.077s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.077s) integrator 1 hessian structure: 0.076s integrator 2 hessian structure: 0.001s 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 (0.077s) linear index maps built (0.0s) evaluator ready (total: 0.155s) evaluator created (0.155s) 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: 0.155s) initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.14s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 5.526s jacobian structure: 1600 nonzeros (5.666s) integrator 1 hessian structure: 0.189s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 8.078s 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 (8.268s) linear index maps built (0.0s) evaluator ready (total: 13.934s) evaluator created (13.968s) 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: 13.991s) 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 4.6915493e+00 3.33e+00 6.91e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.4994141e+00 1.55e+00 1.22e+00 -0.9 2.14e+00 0.0 8.88e-01 5.34e-01f 1 Hello, world! 2 2.6257720e+00 2.58e-02 1.30e+00 -1.0 9.15e-01 -0.5 9.29e-01 1.00e+00f 1 Hello, world! 3 2.4226609e+00 1.80e-02 7.62e-02 -1.5 2.46e-01 -1.0 9.78e-01 1.00e+00h 1 Hello, world! 4 2.1594932e+00 4.78e-03 5.76e-02 -2.5 1.12e-01 -1.4 9.97e-01 9.10e-01h 1 Hello, world! 5 2.0938481e+00 4.27e-04 7.03e-03 -3.5 4.31e-02 -1.9 9.89e-01 9.90e-01h 1 Hello, world! 6 2.0909785e+00 6.06e-06 1.69e-03 -4.0 1.64e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0909572e+00 2.87e-08 1.05e-04 -4.0 4.98e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0909488e+00 1.10e-09 2.25e-05 -4.0 4.92e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909318e+00 9.15e-09 8.20e-05 -4.0 1.43e-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 2.0908889e+00 6.56e-08 2.14e-04 -4.0 3.85e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908101e+00 3.07e-07 5.67e-04 -4.0 9.16e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0906271e+00 2.21e-06 1.27e-03 -4.0 2.68e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0900707e+00 2.08e-05 9.68e-04 -4.0 7.64e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0897610e+00 1.81e-05 5.50e-02 -4.0 3.35e+01 -6.2 6.22e-01 8.97e-02H 1 Hello, world! 15 2.0859423e+00 1.15e-03 6.74e-02 -4.0 5.86e+01 -6.7 1.00e+00 1.00e+00f 1 Hello, world! 16 2.0847209e+00 1.07e-03 3.59e-01 -4.0 1.20e+02 -6.3 1.00e+00 1.12e-01h 1 Hello, world! 17 2.0832650e+00 2.00e-04 3.26e-02 -4.0 2.71e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0826588e+00 2.20e-04 1.06e-02 -4.0 5.20e+01 -7.2 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0823838e+00 3.13e-04 9.55e-03 -4.0 1.17e+02 -7.7 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 2.1960212e+00 1.39e-04 3.47e+00 -4.0 7.40e+02 -8.2 5.99e-02 1.00e+00H 1 Hello, world! 21 2.0852754e+00 2.21e-05 5.36e-01 -4.1 6.60e-02 -0.3 1.00e+00 8.40e-01f 1 Hello, world! 22 2.0857498e+00 2.18e-05 2.87e+00 -4.0 5.65e-02 -0.8 1.00e+00 1.56e-02f 7 Hello, world! 23 2.0857634e+00 1.95e-07 1.15e-03 -3.9 2.16e-02 -1.3 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0853263e+00 8.00e-08 9.52e-04 -4.0 5.33e-02 -1.7 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0851813e+00 3.26e-07 4.83e-04 -4.0 8.12e-02 -2.2 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0852053e+00 3.95e-08 1.72e-05 -4.0 5.18e-03 -2.7 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0852025e+00 2.33e-08 1.01e-05 -4.0 1.54e-02 -3.2 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0851991e+00 2.10e-09 1.01e-05 -4.0 4.61e-02 -3.7 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0851890e+00 2.06e-08 1.01e-05 -4.0 1.38e-01 -4.1 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0851597e+00 1.77e-07 1.00e-05 -4.0 4.10e-01 -4.6 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0850798e+00 1.38e-06 7.44e-05 -4.0 1.20e+00 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0848979e+00 8.24e-06 4.36e-04 -4.0 3.35e+00 -5.6 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0846106e+00 2.54e-05 1.32e-03 -4.0 8.92e+00 -6.0 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0841558e+00 5.01e-05 2.66e-03 -4.0 2.33e+01 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0833433e+00 3.23e-04 1.21e-02 -4.0 5.52e+01 -7.0 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0821467e+00 1.12e-03 3.64e-02 -4.1 1.09e+02 -7.5 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0818130e+00 4.65e-03 2.70e-02 -4.0 1.79e+02 -8.0 6.33e-01 1.00e+00h 1 Hello, world! 38 2.0816878e+00 2.54e-03 3.13e-02 -4.0 4.66e+01 -6.6 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0817442e+00 1.04e-04 5.39e-02 -4.0 1.04e+01 -7.1 9.22e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0929055e+00 8.64e-05 7.41e-02 -4.0 1.45e+02 -7.6 3.62e-02 1.76e-01H 1 Hello, world! 41 2.0898581e+00 2.53e-07 5.62e-02 -4.1 2.98e-02 0.3 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0862793e+00 1.11e-06 8.32e-02 -4.1 6.23e-02 -0.2 7.12e-01 1.00e+00f 1 Hello, world! 43 2.0832573e+00 2.31e-06 1.98e-02 -4.1 8.90e-02 -0.7 1.00e+00 1.00e+00f 1 Hello, world! 44 2.0821475e+00 1.56e-06 4.95e-03 -4.0 8.43e-02 -1.2 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0820303e+00 1.09e-07 9.79e-04 -4.0 2.64e-02 -1.6 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0820306e+00 1.40e-08 4.02e-04 -4.0 5.21e-02 -2.1 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0820275e+00 4.40e-08 1.76e-04 -4.0 7.04e-02 -2.6 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0820212e+00 3.36e-07 2.54e-04 -4.0 7.10e-02 -3.1 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0820097e+00 1.98e-06 3.13e-04 -4.0 5.81e-02 -3.5 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 2.0818879e+00 1.08e-06 2.10e-02 -4.0 2.19e-01 -3.1 1.00e+00 7.19e-01H 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0818878636719176e+00 2.0818878636719176e+00 Dual infeasibility......: 2.1035033504398813e-02 2.1035033504398813e-02 Constraint violation....: 1.0816221678311422e-06 1.0816221678311422e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0016354500225506e-04 1.0016354500225506e-04 Overall NLP error.......: 2.1035033504398813e-02 2.1035033504398813e-02 Number of objective function evaluations = 61 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 61 Number of inequality constraint evaluations = 61 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 43.623 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: 0.001s 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 (0.002s) linear index maps built (0.0s) evaluator ready (total: 0.003s) evaluator created (0.003s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.004s) 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 4.6915493e+00 3.33e+00 6.91e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.4994141e+00 1.55e+00 1.22e+00 -0.9 2.14e+00 0.0 8.88e-01 5.34e-01f 1 Hello, world! 2 2.6257720e+00 2.58e-02 1.30e+00 -1.0 9.15e-01 -0.5 9.29e-01 1.00e+00f 1 Hello, world! 3 2.4226609e+00 1.80e-02 7.62e-02 -1.5 2.46e-01 -1.0 9.78e-01 1.00e+00h 1 Hello, world! 4 2.1594932e+00 4.78e-03 5.76e-02 -2.5 1.12e-01 -1.4 9.97e-01 9.10e-01h 1 Hello, world! 5 2.0938481e+00 4.27e-04 7.03e-03 -3.5 4.31e-02 -1.9 9.89e-01 9.90e-01h 1 Hello, world! 6 2.0909785e+00 6.06e-06 1.69e-03 -4.0 1.64e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0909572e+00 2.87e-08 1.05e-04 -4.0 4.98e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0909488e+00 1.10e-09 2.25e-05 -4.0 4.92e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909318e+00 9.15e-09 8.20e-05 -4.0 1.43e-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 2.0908889e+00 6.56e-08 2.14e-04 -4.0 3.85e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908101e+00 3.07e-07 5.67e-04 -4.0 9.16e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0906271e+00 2.21e-06 1.27e-03 -4.0 2.68e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0900707e+00 2.08e-05 9.68e-04 -4.0 7.64e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0897610e+00 1.81e-05 5.50e-02 -4.0 3.35e+01 -6.2 6.22e-01 8.97e-02H 1 Hello, world! 15 2.0859423e+00 1.15e-03 6.74e-02 -4.0 5.86e+01 -6.7 1.00e+00 1.00e+00f 1 Hello, world! 16 2.0847209e+00 1.07e-03 3.59e-01 -4.0 1.20e+02 -6.3 1.00e+00 1.12e-01h 1 Hello, world! 17 2.0832650e+00 2.00e-04 3.26e-02 -4.0 2.71e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0826588e+00 2.20e-04 1.06e-02 -4.0 5.20e+01 -7.2 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0823838e+00 3.13e-04 9.55e-03 -4.0 1.17e+02 -7.7 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 2.1960212e+00 1.39e-04 3.47e+00 -4.0 7.40e+02 -8.2 5.99e-02 1.00e+00H 1 Hello, world! 21 2.0852754e+00 2.21e-05 5.36e-01 -4.1 6.60e-02 -0.3 1.00e+00 8.40e-01f 1 Hello, world! 22 2.0857498e+00 2.18e-05 2.87e+00 -4.0 5.65e-02 -0.8 1.00e+00 1.56e-02f 7 Hello, world! 23 2.0857634e+00 1.95e-07 1.15e-03 -3.9 2.16e-02 -1.3 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0853263e+00 8.00e-08 9.52e-04 -4.0 5.33e-02 -1.7 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0851813e+00 3.26e-07 4.83e-04 -4.0 8.12e-02 -2.2 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0852053e+00 3.95e-08 1.72e-05 -4.0 5.18e-03 -2.7 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0852025e+00 2.33e-08 1.01e-05 -4.0 1.54e-02 -3.2 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0851991e+00 2.10e-09 1.01e-05 -4.0 4.61e-02 -3.7 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0851890e+00 2.06e-08 1.01e-05 -4.0 1.38e-01 -4.1 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0851597e+00 1.77e-07 1.00e-05 -4.0 4.10e-01 -4.6 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0850798e+00 1.38e-06 7.44e-05 -4.0 1.20e+00 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0848979e+00 8.24e-06 4.36e-04 -4.0 3.35e+00 -5.6 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0846106e+00 2.54e-05 1.32e-03 -4.0 8.92e+00 -6.0 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0841558e+00 5.01e-05 2.66e-03 -4.0 2.33e+01 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0833433e+00 3.23e-04 1.21e-02 -4.0 5.52e+01 -7.0 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0821467e+00 1.12e-03 3.64e-02 -4.1 1.09e+02 -7.5 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0818130e+00 4.65e-03 2.70e-02 -4.0 1.79e+02 -8.0 6.33e-01 1.00e+00h 1 Hello, world! 38 2.0816878e+00 2.54e-03 3.13e-02 -4.0 4.66e+01 -6.6 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0817442e+00 1.04e-04 5.39e-02 -4.0 1.04e+01 -7.1 9.22e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0929055e+00 8.64e-05 7.41e-02 -4.0 1.45e+02 -7.6 3.62e-02 1.76e-01H 1 Hello, world! 41 2.0898581e+00 2.53e-07 5.62e-02 -4.1 2.98e-02 0.3 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0862793e+00 1.11e-06 8.32e-02 -4.1 6.23e-02 -0.2 7.12e-01 1.00e+00f 1 Hello, world! 43 2.0832573e+00 2.31e-06 1.98e-02 -4.1 8.90e-02 -0.7 1.00e+00 1.00e+00f 1 Hello, world! 44 2.0821475e+00 1.56e-06 4.95e-03 -4.0 8.43e-02 -1.2 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0820303e+00 1.09e-07 9.79e-04 -4.0 2.64e-02 -1.6 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0820306e+00 1.40e-08 4.02e-04 -4.0 5.21e-02 -2.1 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0820275e+00 4.40e-08 1.76e-04 -4.0 7.04e-02 -2.6 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0820212e+00 3.36e-07 2.54e-04 -4.0 7.10e-02 -3.1 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0820097e+00 1.98e-06 3.13e-04 -4.0 5.81e-02 -3.5 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 2.0818879e+00 1.08e-06 2.10e-02 -4.0 2.19e-01 -3.1 1.00e+00 7.19e-01H 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0818878636719176e+00 2.0818878636719176e+00 Dual infeasibility......: 2.1035033504398813e-02 2.1035033504398813e-02 Constraint violation....: 1.0816221678311422e-06 1.0816221678311422e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0016354500225506e-04 1.0016354500225506e-04 Overall NLP error.......: 2.1035033504398813e-02 2.1035033504398813e-02 Number of objective function evaluations = 61 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 61 Number of inequality constraint evaluations = 61 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 1.164 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: 0.085s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.085s) integrator 1 hessian structure: 0.071s 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 (0.072s) linear index maps built (0.0s) evaluator ready (total: 0.157s) evaluator created (0.157s) 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 (0.22s) optimizer initialization complete (total: 0.377s) 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 5.6486187e+00 3.50e+00 1.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7094695e+00 3.10e-02 6.45e-01 -1.1 2.11e+00 - 1.00e+00 1.00e+00f 1 2 2.4076075e+00 1.58e-02 1.47e-01 -1.4 2.16e-01 - 9.06e-01 9.06e-01f 1 3 2.1322013e+00 1.48e-03 2.48e-02 -2.4 4.49e-02 - 9.98e-01 1.00e+00h 1 4 2.0915384e+00 1.46e-04 1.91e-03 -3.8 1.68e-02 - 9.87e-01 1.00e+00h 1 5 2.0908957e+00 2.97e-05 4.04e-04 -4.0 1.41e-01 - 1.00e+00 1.00e+00h 1 6 2.0908983e+00 2.66e-08 7.56e-07 -4.0 1.79e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 3.14e-10 5.21e-10 -4.0 3.46e-02 - 1.00e+00 1.00e+00h 1 8 2.0908972e+00 2.91e-15 3.91e-15 -4.0 1.10e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 8 (scaled) (unscaled) Objective...............: 2.0908971978678852e+00 2.0908971978678852e+00 Dual infeasibility......: 3.9137258971838618e-15 3.9137258971838618e-15 Constraint violation....: 2.9078302266061229e-15 2.9078302266061229e-15 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000025201629e-04 1.0000000025201629e-04 Overall NLP error.......: 2.5201628978122059e-13 2.5201628978122059e-13 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 = 34.442 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.142s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.145s) integrator 1 hessian structure: 0.087s 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 (0.09s) linear index maps built (0.0s) evaluator ready (total: 0.236s) evaluator created (0.236s) 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: 0.236s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.9556294e+00 1.92e+00 6.46e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.0953112e+00 7.96e-01 1.18e+00 -0.9 7.60e+00 -4.0 6.59e-01 6.27e-01f 1 2 2.3471331e+00 3.13e-01 7.82e+00 -1.4 9.22e+00 -2.7 2.88e-01 9.24e-01h 1 3 2.7074377e+00 6.56e-02 1.46e+00 -0.9 1.55e+00 -1.3 7.84e-01 9.35e-01f 1 4 2.4790748e+00 3.85e-02 2.57e-01 -1.2 2.86e-01 -0.9 9.94e-01 1.00e+00f 1 5 2.3120480e+00 2.86e-02 1.30e-01 -1.8 4.71e-01 -1.4 6.60e-01 5.96e-01h 1 6 2.2143350e+00 5.71e-03 4.61e-01 -2.3 3.16e-01 -1.9 6.86e-01 1.00e+00h 1 7 2.1234970e+00 3.75e-03 1.47e-02 -2.5 2.31e-01 -2.3 1.00e+00 1.00e+00h 1 8 2.0947429e+00 4.72e-04 2.24e-02 -3.8 4.74e-02 -2.8 1.00e+00 8.79e-01h 1 9 2.0908486e+00 2.47e-05 1.30e-03 -4.0 3.99e-02 -3.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908391e+00 2.36e-07 2.16e-05 -4.0 1.17e-01 -3.8 1.00e+00 1.00e+00h 1 11 2.0908065e+00 4.87e-08 1.90e-05 -4.0 3.42e-01 -4.3 1.00e+00 1.00e+00h 1 12 2.0907159e+00 3.71e-07 1.30e-04 -4.0 9.54e-01 -4.7 1.00e+00 1.00e+00h 1 13 2.0904978e+00 2.16e-06 8.04e-04 -4.0 2.33e+00 -5.2 1.00e+00 1.00e+00h 1 14 2.0901548e+00 6.21e-06 2.69e-03 -4.0 4.25e+00 -5.7 1.00e+00 1.00e+00h 1 15 2.0899494e+00 4.14e-06 3.05e-03 -4.0 5.51e+00 -6.2 1.00e+00 1.00e+00h 1 16 2.0898657e+00 1.64e-06 1.68e-03 -4.0 8.18e+00 -6.6 1.00e+00 1.00e+00h 1 17 2.0898307e+00 1.86e-06 1.36e-03 -4.0 1.15e+01 -7.1 1.00e+00 1.00e+00h 1 18 2.0898239e+00 1.65e-06 7.41e-04 -4.0 9.35e+00 -7.6 1.00e+00 1.00e+00h 1 19 2.0898221e+00 4.17e-07 9.11e-05 -4.0 3.06e+00 -8.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0898219e+00 7.45e-09 1.43e-06 -4.0 4.10e-01 -8.5 1.00e+00 1.00e+00h 1 21 2.0898218e+00 9.26e-12 3.73e-09 -4.0 2.68e-02 -9.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 21 (scaled) (unscaled) Objective...............: 2.0898218497480796e+00 2.0898218497480796e+00 Dual infeasibility......: 3.7274525498240309e-09 3.7274525498240309e-09 Constraint violation....: 9.2610086266375902e-12 9.2610086266375902e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 3.7274525498240309e-09 3.7274525498240309e-09 Number of objective function evaluations = 22 Number of objective gradient evaluations = 22 Number of equality constraint evaluations = 22 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 22 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 21 Total seconds in IPOPT = 32.007 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.074s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.074s) integrator 1 hessian structure: 0.062s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.063s) linear index maps built (0.0s) evaluator ready (total: 0.137s) evaluator created (0.137s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.138s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 35 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.1359250e+00 1.95e+00 6.45e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.1264839e+00 9.51e-01 1.71e+01 -0.6 1.74e+00 0.0 2.97e-02 5.13e-01h 1 2 2.1297927e+00 9.41e-01 1.75e+02 -0.5 9.68e-01 -0.5 7.44e-01 1.05e-02h 1 3 2.1396034e+00 9.41e-01 2.77e+03 -4.0 2.08e+02 -1.0 2.30e-03 1.47e-04h 1 4 2.5994362e+00 8.59e-01 2.87e+03 1.1 2.47e+03 -1.4 1.01e-03 1.18e-03h 1 5 2.7593387e+00 8.97e-01 8.58e+04 1.5 1.03e+03 -1.0 7.75e-02 2.74e-03f 1 6 2.7613683e+00 8.97e-01 3.36e+06 0.3 8.47e+01 -1.5 1.83e-02 6.92e-05h 1 7 2.7615751e+00 8.97e-01 1.94e+10 0.3 1.18e+01 -2.0 8.33e-01 1.40e-04h 1 8r 2.7615751e+00 8.97e-01 9.99e+02 0.3 0.00e+00 -2.4 0.00e+00 3.03e-07R 5 9r 3.1997882e+00 3.96e-01 9.77e+02 2.3 2.48e+02 - 3.51e-02 3.43e-03f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 3.1974937e+00 3.95e-01 1.56e+02 -4.0 2.64e+00 -2.9 5.59e-01 3.54e-03h 1 11 3.1989925e+00 3.95e-01 3.86e+06 0.7 5.80e+02 -3.4 1.00e+00 4.92e-05h 1 12r 3.1989925e+00 3.95e-01 1.00e+03 1.1 0.00e+00 -3.9 0.00e+00 2.80e-07R 5 13r 4.5358017e+00 7.24e-01 1.58e+03 2.7 6.34e+01 - 3.14e-01 2.66e-02f 1 14r 4.4597535e+00 5.24e-01 7.99e+02 1.9 4.58e+00 - 4.34e-01 2.05e-01f 1 15r 3.9442674e+00 3.20e-01 2.71e+02 1.6 6.56e+00 - 9.97e-01 5.87e-01f 1 16 3.7877663e+00 2.00e-01 1.30e+00 -4.0 3.22e+00 -4.3 4.81e-01 3.75e-01h 1 17 3.7792636e+00 1.99e-01 2.04e+02 -1.2 3.02e+00 -4.8 6.03e-01 6.00e-03h 1 18 3.7735115e+00 1.99e-01 3.29e+03 1.1 1.50e+03 -5.3 2.31e-02 6.62e-04f 2 19 3.7942894e+00 1.99e-01 2.63e+06 -0.0 5.18e+01 -5.8 1.00e+00 5.63e-04h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 3.8154063e+00 1.99e-01 6.10e+07 0.6 4.66e+01 -6.3 1.49e-02 6.13e-04h 1 21 3.8156205e+00 1.99e-01 5.38e+12 0.6 2.54e+01 -6.7 1.00e+00 1.12e-05h 1 22r 3.8156205e+00 1.99e-01 9.97e+02 0.6 0.00e+00 -7.2 0.00e+00 1.89e-07R 2 23r 3.8886899e+00 1.99e-01 8.99e+02 0.9 3.01e+00 - 1.00e+00 6.55e-02f 1 24r 4.2167985e+00 2.10e-01 4.53e+01 0.1 2.61e-01 - 1.00e+00 9.51e-01f 1 25r 4.8446689e+00 1.99e-01 7.10e+01 -0.4 8.97e-01 - 9.85e-01 6.03e-01f 1 26r 4.7701206e+00 2.00e-01 7.42e+01 -0.3 8.51e-02 2.0 1.00e+00 8.21e-01f 1 27r 4.7869214e+00 1.99e-01 9.88e+01 -1.6 2.72e-02 1.5 1.00e+00 7.14e-01f 1 28r 4.7967324e+00 1.99e-01 2.74e-01 -1.8 2.49e-02 1.0 1.00e+00 1.00e+00f 1 29r 4.7401753e+00 1.99e-01 2.58e-01 -2.1 3.77e-01 - 8.56e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30r 4.6215693e+00 1.99e-01 3.88e-02 -2.4 1.05e-01 - 9.85e-01 1.00e+00h 1 31r 4.4337984e+00 1.99e-01 7.13e-02 -3.3 2.80e-01 - 9.57e-01 1.00e+00f 1 32r 4.4205196e+00 1.99e-01 6.68e-02 -3.2 1.41e-01 - 9.65e-01 1.00e+00h 1 33r 4.3820422e+00 1.99e-01 5.39e-03 -4.0 3.38e-02 - 1.00e+00 1.00e+00h 1 34r 4.4179143e+00 1.99e-01 1.32e-04 -4.0 2.53e-02 - 1.00e+00 1.00e+00h 1 35r 4.4135070e+00 1.99e-01 2.66e-07 -4.0 1.22e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 35 (scaled) (unscaled) Objective...............: 4.4135117140813138e+00 4.4135117140813138e+00 Dual infeasibility......: 2.0283644645366294e+00 2.0283644645366294e+00 Constraint violation....: 1.9875045033516936e-01 1.9875045033516936e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000035400627e-04 1.0000000035400627e-04 Overall NLP error.......: 2.0283644645366294e+00 2.0283644645366294e+00 Number of objective function evaluations = 53 Number of objective gradient evaluations = 22 Number of equality constraint evaluations = 53 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 40 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 36 Total seconds in IPOPT = 30.761 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: 0.053s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.053s) 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 sub-objective 4 (GlobalObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1804 nonzeros (0.044s) linear index maps built (0.0s) evaluator ready (total: 0.098s) evaluator created (0.098s) 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: 0.098s) 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 5.8768038e+00 2.03e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.7193772e+00 8.35e-02 2.79e+00 -0.8 1.94e+00 0.0 8.08e-01 9.66e-01f 1 2 2.8409678e+00 6.01e-02 7.39e-01 -0.8 5.26e-01 -0.5 7.23e-01 6.66e-01f 1 3 2.6887120e+00 1.10e-01 8.23e-01 -1.0 2.91e+00 -1.0 3.56e-01 2.22e-01h 1 4 2.6572139e+00 7.72e-02 1.05e+00 -0.9 5.14e-01 -0.5 7.64e-01 3.11e-01f 1 5 2.4873059e+00 5.34e-02 5.36e-01 -1.4 6.01e-01 -1.0 9.91e-01 9.79e-01f 1 6 2.2024265e+00 1.52e-02 1.24e-01 -2.1 3.62e-01 -1.5 9.93e-01 7.15e-01h 1 7 2.0981391e+00 9.77e-04 1.23e-02 -3.2 4.56e-02 -2.0 9.96e-01 1.00e+00h 1 8 2.0908724e+00 1.78e-05 2.74e-04 -4.0 9.24e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908613e+00 1.59e-07 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908563e+00 9.75e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908414e+00 8.70e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0907966e+00 7.83e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906623e+00 7.06e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902603e+00 6.39e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890633e+00 5.85e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855550e+00 5.52e-04 2.31e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796254e+00 2.27e-03 1.37e-01 -4.0 9.55e+01 -6.7 1.00e+00 6.27e-01h 1 18 2.0806784e+00 1.31e-04 1.72e-01 -4.0 6.78e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775220e+00 6.87e-03 2.28e-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 2.0769847e+00 1.22e-03 5.18e-02 -4.0 1.98e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0762784e+00 1.13e-03 2.90e-02 -4.0 3.45e+02 -8.6 1.00e+00 6.78e-01h 1 22 2.0755182e+00 3.10e-03 3.22e-02 -4.0 6.02e+02 -9.1 1.00e+00 7.52e-01h 1 23 2.0758038e+00 3.28e-03 1.74e-02 -4.0 1.79e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0756805e+00 5.10e-04 8.56e-04 -4.0 9.55e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.35e-06 1.38e-05 -4.0 2.28e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 8.14e-08 1.24e-06 -4.0 1.38e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.49e-09 1.04e-07 -4.0 4.46e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.39e-11 1.73e-09 -4.0 7.09e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121641634e+00 2.0756712121641634e+00 Dual infeasibility......: 1.7318369949649148e-09 1.7318369949649148e-09 Constraint violation....: 4.3880454825284687e-11 4.3880454825284687e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000038e-04 1.0000000000000038e-04 Overall NLP error.......: 1.7318369949649148e-09 1.7318369949649148e-09 Number of objective function evaluations = 30 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 30 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 33.215 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: 0.074s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.076s) integrator 1 hessian structure: 0.066s 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 (0.068s) linear index maps built (0.0s) evaluator ready (total: 0.144s) evaluator created (0.144s) 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 (0.703s) optimizer initialization complete (total: 0.847s) 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 4.2124567e+00 2.69e+00 2.55e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.3379408e+00 5.40e+00 9.77e+00 -1.0 7.71e+01 -4.0 9.39e-01 1.00e+00h 1 2 2.0963914e+00 3.52e-01 9.24e+00 -1.7 1.89e+01 -3.6 6.57e-01 1.00e+00h 1 3 2.3683668e+00 8.41e-01 2.67e+00 -1.1 2.80e+01 -4.1 1.00e+00 1.00e+00f 1 4 2.2303782e+00 1.97e-01 1.17e+00 -1.3 1.25e+01 -4.5 1.00e+00 1.00e+00h 1 5 2.1608539e+00 1.33e-01 4.72e-01 -2.5 1.68e+01 -5.0 9.97e-01 1.00e+00h 1 6 2.1077775e+00 6.71e-02 1.68e-01 -2.8 1.26e+01 -5.5 9.97e-01 1.00e+00h 1 7 2.0937777e+00 3.07e-02 4.71e-02 -3.3 1.98e+01 -6.0 1.00e+00 1.00e+00h 1 8 2.0850087e+00 2.22e-02 1.41e-02 -3.8 4.42e+01 -6.4 1.00e+00 1.00e+00h 1 9 2.0940477e+00 5.62e-02 5.98e-02 -2.8 3.80e+01 -6.9 1.00e+00 9.40e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0911628e+00 2.32e-02 7.50e-03 -3.0 3.89e+01 -7.4 1.00e+00 1.00e+00h 1 11 2.0793184e+00 1.06e-01 7.98e-03 -3.9 9.83e+01 -7.9 9.57e-01 1.00e+00h 1 12 2.0765698e+00 2.17e-02 7.62e-03 -4.0 2.54e+02 -8.3 1.00e+00 1.00e+00h 1 13 2.0760040e+00 2.16e-03 3.09e-02 -4.0 3.92e+02 -8.8 1.00e+00 1.00e+00h 1 14 2.0756021e+00 6.02e-04 1.72e-02 -4.0 2.78e+02 -9.3 1.00e+00 7.55e-01h 1 15 2.0757985e+00 3.12e-04 4.14e-03 -4.0 1.08e+02 -9.8 1.00e+00 1.00e+00h 1 16 2.0757712e+00 9.85e-06 4.21e-05 -4.0 2.33e+01 -10.3 1.00e+00 1.00e+00h 1 17 2.0757705e+00 1.47e-08 2.81e-06 -4.0 1.96e+01 -10.7 1.00e+00 1.00e+00h 1 18 2.0757704e+00 9.24e-10 5.91e-07 -4.0 9.92e+00 -11.2 1.00e+00 1.00e+00h 1 19 2.0757704e+00 6.63e-11 3.03e-08 -4.0 2.69e+00 -11.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0757704e+00 4.58e-13 2.52e-10 -4.0 2.77e-01 -12.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 20 (scaled) (unscaled) Objective...............: 2.0757703960678513e+00 2.0757703960678513e+00 Dual infeasibility......: 2.5233559065493925e-10 2.5233559065493925e-10 Constraint violation....: 4.5812203856854250e-13 4.5812203856854250e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000014e-04 1.0000000000000014e-04 Overall NLP error.......: 2.5233559065493925e-10 2.5233559065493925e-10 Number of objective function evaluations = 21 Number of objective gradient evaluations = 21 Number of equality constraint evaluations = 21 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 21 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 20 Total seconds in IPOPT = 33.060 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 (0.084s) integrator 1 hessian structure: 0.044s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.703s sub-objective 2 (QuadraticRegularizer): 0.203s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.039s objective hessian structure: 1.033s hessian structure: 375 nonzeros (1.078s) linear index maps built (0.0s) evaluator ready (total: 1.439s) evaluator created (1.439s) NL constraint bounds extracted (0.019s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.271s) applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (5.161s) optimizer initialization complete (total: 6.891s) 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 1.7283394e+00 1.03e+00 1.06e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5342585e+00 1.10e-01 1.45e+00 -1.1 7.21e-01 0.0 9.95e-01 1.00e+00h 1 2 1.4920715e+00 5.26e-02 3.95e-01 -0.9 3.61e-01 -0.5 8.95e-01 4.59e-01h 1 3 1.5498606e+00 3.06e-02 1.37e+00 -1.6 5.88e-01 -1.0 9.79e-01 1.00e+00h 1 4 1.3668947e+00 2.18e-02 5.58e-01 -1.4 5.03e-01 -0.5 1.00e+00 3.22e-01h 1 5 1.2522177e+00 1.88e-02 2.35e-01 -2.0 1.87e-01 -1.0 9.90e-01 6.46e-01h 1 6 1.1120914e+00 3.78e-04 1.09e-02 -2.9 1.29e-01 -1.5 1.00e+00 1.00e+00h 1 7 1.0918989e+00 3.60e-06 8.59e-03 -4.0 1.11e-01 -2.0 1.00e+00 1.00e+00h 1 8 1.0916059e+00 3.29e-09 1.22e-03 -4.0 1.04e-01 -2.4 1.00e+00 1.00e+00h 1 9 1.0914338e+00 5.09e-13 1.36e-03 -4.0 2.35e-01 -2.9 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0913086e+00 2.55e-13 2.57e-03 -4.0 7.02e-01 -3.4 5.25e-01 5.00e-01f 2 11 1.0912939e+00 5.14e-17 2.03e-04 -4.0 2.40e-02 -2.1 1.00e+00 1.00e+00f 1 12 1.0912602e+00 2.68e-21 1.28e-04 -4.0 4.43e-02 -2.5 1.00e+00 1.00e+00f 1 13 1.0911605e+00 1.54e-24 3.45e-04 -4.0 1.20e-01 -3.0 1.00e+00 1.00e+00f 1 14 1.0911434e+00 1.23e-24 2.06e-03 -4.0 4.90e-01 -3.5 2.24e-01 2.02e-01f 3 15 1.0911206e+00 2.22e-28 1.09e-04 -4.0 2.87e-02 -2.2 1.00e+00 1.00e+00f 1 16 1.0909048e+00 1.29e-23 1.14e-02 -4.0 1.06e+00 - 1.00e+00 1.00e+00f 1 17 1.0908997e+00 1.11e-26 3.45e-05 -4.0 1.49e-02 - 1.00e+00 1.00e+00f 1 18 1.0908997e+00 7.95e-28 2.74e-07 -4.0 1.04e-03 - 1.00e+00 1.00e+00f 1 19 1.0907198e+00 2.23e-27 2.91e-09 -4.1 2.00e-05 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.0908997e+00 5.24e-27 2.91e-09 -4.0 2.00e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 20 (scaled) (unscaled) Objective...............: 1.0908997336736401e+00 1.0908997336736401e+00 Dual infeasibility......: 2.9142238844532056e-09 2.9142238844532056e-09 Constraint violation....: 5.2386062040539344e-27 5.2386062040539344e-27 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000081634387956e-04 1.0000081634387956e-04 Overall NLP error.......: 2.9142238844532056e-09 2.9142238844532056e-09 Number of objective function evaluations = 24 Number of objective gradient evaluations = 21 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 21 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 20 Total seconds in IPOPT = 48.303 EXIT: Optimal Solution Found. ┌ Warning: Trajectory has timestep variable :Δt but no bounds on it. │ Adding default lower bound of 0 to prevent negative timesteps. │ │ Recommended: Add explicit bounds when creating the trajectory: │ NamedTrajectory(...; Δt_bounds=(min, max)) │ Example: │ NamedTrajectory(qtraj, N; Δt_bounds=(1e-3, 0.5)) │ │ Or use timesteps_all_equal=true in problem options to fix timesteps. └ @ DirectTrajOpt.Problems ~/.julia/packages/DirectTrajOpt/gniE1/src/problems.jl:66 initializing optimizer... building evaluator: 0 integrators, 0 nonlinear constraints dynamics constraints: 0, nonlinear constraints: 0 jacobian structure: 0 nonzeros (0.0s) computing objective hessian structure (QuadraticRegularizer)... objective hessian structure: 0.145s hessian structure: 30 nonzeros (0.145s) linear index maps built (0.0s) evaluator ready (total: 0.145s) evaluator created (0.145s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.251s) applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: bounds on u applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial time t₁ = 0 linear constraints added: 5 (3.537s) optimizer initialization complete (total: 3.938s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 30 Number of Iterations....: 0 Number of objective function evaluations = 0 Number of objective gradient evaluations = 1 Number of equality constraint evaluations = 0 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 1 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 0 Total seconds in IPOPT = 1.965 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): 0.216s sub-objective 2 (QuadraticRegularizer): 0.0s objective hessian structure: 0.384s hessian structure: 40 nonzeros (0.384s) linear index maps built (0.0s) evaluator ready (total: 0.384s) evaluator created (0.384s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.219s) 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 (4.86s) optimizer initialization complete (total: 5.467s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 39 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 19 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.9088007e+00 9.11e-01 9.95e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6724450e+00 4.86e-09 3.61e-01 -0.2 6.41e-01 -2.0 9.92e-01 1.00e+00f 1 2 3.8910320e-01 4.19e-09 4.50e-01 -4.0 1.45e+00 -1.6 7.48e-01 1.00e+00f 1 3 1.9947433e-01 4.19e-11 6.25e-02 -2.0 5.52e-01 -1.1 9.98e-01 1.00e+00f 1 4 5.1917386e-02 2.73e-11 5.35e-02 -2.9 9.44e-01 -1.6 1.00e+00 1.00e+00f 1 5 1.0378336e-02 3.17e-11 2.30e-02 -3.8 8.08e-01 -2.1 1.00e+00 1.00e+00f 1 6 2.0581937e-03 8.00e-12 7.44e-03 -4.0 5.40e-01 -2.6 1.00e+00 1.00e+00f 1 7 6.1863545e-04 1.79e-12 2.13e-03 -4.0 2.84e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.3180175e-04 2.88e-13 3.66e-04 -4.0 7.90e-02 -3.5 1.00e+00 1.00e+00f 1 9 4.7360171e-04 2.80e-14 2.13e-04 -4.0 3.12e-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 2.9569248e-04 1.37e-14 4.74e-04 -4.1 8.75e-02 -4.5 1.00e+00 1.00e+00f 1 11 4.5935426e-04 7.64e-15 3.76e-04 -4.0 2.04e-01 -5.0 1.00e+00 5.00e-01f 2 12 2.7335782e-04 4.22e-15 5.31e-04 -4.1 1.01e-01 -5.4 1.00e+00 1.00e+00f 1 13 4.6656713e-04 3.00e-15 4.71e-04 -4.0 2.50e-01 -5.9 1.00e+00 5.00e-01f 2 14 2.6322529e-04 2.22e-15 6.01e-04 -4.1 1.16e-01 -6.4 1.00e+00 1.00e+00f 1 15 4.6714458e-04 2.22e-15 5.10e-04 -4.0 2.71e-01 -6.9 1.00e+00 5.00e-01f 2 16 2.5983787e-04 1.78e-15 6.30e-04 -4.1 1.22e-01 -7.4 1.00e+00 1.00e+00f 1 17 4.6707085e-04 1.78e-15 5.28e-04 -4.0 2.81e-01 -7.8 1.00e+00 5.00e-01f 2 18 2.5871722e-04 1.44e-15 6.48e-04 -4.1 1.25e-01 -8.3 1.00e+00 1.00e+00f 1 19 4.6659092e-04 1.55e-15 5.37e-04 -4.0 2.87e-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 2.5837215e-04 1.33e-15 6.63e-04 -4.1 1.28e-01 -9.3 1.00e+00 1.00e+00f 1 21 4.6602008e-04 1.33e-15 5.43e-04 -4.0 2.91e-01 -9.7 1.00e+00 5.00e-01f 2 22 2.5827450e-04 1.12e-15 6.76e-04 -4.1 1.31e-01 -10.2 1.00e+00 1.00e+00f 1 23 4.6543119e-04 1.11e-15 5.47e-04 -4.0 2.95e-01 -10.7 1.00e+00 5.00e-01f 2 24 2.5825416e-04 9.99e-16 6.88e-04 -4.1 1.33e-01 -11.2 1.00e+00 1.00e+00f 1 25 4.6485253e-04 9.99e-16 5.51e-04 -4.0 2.98e-01 -11.6 1.00e+00 5.00e-01f 2 26 2.5825617e-04 9.85e-16 6.99e-04 -4.1 1.35e-01 -12.1 1.00e+00 1.00e+00f 1 27 3.0946398e-05 9.44e-15 8.75e-04 -6.2 3.73e-01 -12.6 9.69e-01 1.00e+00f 1 28 1.7453370e-03 2.44e-15 7.57e-03 -4.0 1.97e+00 -13.1 1.00e+00 5.00e-01f 2 29 2.4427179e-05 2.43e-14 2.84e-03 -4.1 1.00e+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 1.5789903e-03 3.18e-14 7.88e-03 -4.0 9.69e-01 -14.0 1.00e+00 1.00e+00f 1 31 1.0112234e-05 1.87e-14 2.25e-03 -4.2 1.07e+00 -14.5 1.00e+00 1.00e+00f 1 32 4.6730998e-04 1.67e-15 2.73e-03 -4.0 1.36e+00 -15.0 1.00e+00 5.00e-01f 2 33 2.1945203e-04 3.11e-15 2.35e-04 -4.2 3.70e-01 -15.5 1.00e+00 5.00e-01f 2 34 2.0189941e-05 4.61e-15 7.93e-04 -6.4 4.06e-01 -15.9 9.64e-01 1.00e+00f 1 35 8.1211201e-06 3.39e-15 9.77e-05 -6.4 1.03e-01 -16.4 1.00e+00 1.00e+00f 1 36 1.5664226e-03 1.13e-15 5.51e-03 -4.0 9.53e+00 -16.9 1.00e+00 1.25e-01f 4 37 9.6593517e-05 5.47e-14 3.47e-03 -4.0 7.95e-01 -17.4 1.00e+00 1.00e+00f 1 38 7.5303888e-04 3.71e-14 3.54e-03 -4.0 5.35e-01 -17.8 1.00e+00 1.00e+00f 1 39 3.8053497e-04 6.99e-15 4.32e-04 -4.0 4.18e-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 3.5528864e-05 5.55e-15 1.31e-03 -6.0 4.98e-01 -18.8 9.56e-01 1.00e+00f 1 41 1.4636702e-05 5.44e-15 1.58e-04 -6.0 1.24e-01 -19.3 1.00e+00 1.00e+00f 1 42 4.0324593e-06 8.88e-16 1.00e-04 -6.0 1.41e-01 -19.8 1.00e+00 1.00e+00f 1 43 1.0839300e-03 5.55e-16 3.24e-03 -4.0 1.54e+01 -20.0 1.00e+00 7.78e-02f 4 44 1.5877734e-04 4.86e-14 2.90e-03 -4.0 5.92e-01 -20.0 1.00e+00 1.00e+00f 1 45 6.8006853e-04 2.38e-14 2.83e-03 -4.0 4.25e-01 -20.0 1.00e+00 1.00e+00f 1 46 3.9070951e-04 4.22e-15 4.19e-04 -4.0 3.63e-01 -20.0 1.00e+00 5.00e-01f 2 47 3.5500223e-05 5.88e-15 1.44e-03 -6.0 5.41e-01 -20.0 9.51e-01 1.00e+00f 1 48 1.4753288e-05 4.88e-15 1.69e-04 -6.0 1.32e-01 -20.0 1.00e+00 1.00e+00f 1 49 3.9373406e-06 8.33e-16 1.09e-04 -6.0 1.55e-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 8.7574672e-04 5.62e-16 2.24e-03 -4.0 1.66e+01 -20.0 1.00e+00 7.22e-02f 4 51 1.9375081e-04 4.17e-14 2.53e-03 -4.0 4.96e-01 -20.0 1.00e+00 1.00e+00f 1 52 6.1798711e-04 1.64e-14 2.37e-03 -4.0 3.62e-01 -20.0 1.00e+00 1.00e+00f 1 53 3.8720987e-04 2.89e-15 4.01e-04 -4.0 3.24e-01 -20.0 1.00e+00 5.00e-01f 2 54 3.4568118e-05 5.55e-15 1.52e-03 -6.1 5.76e-01 -20.0 9.46e-01 1.00e+00f 1 55 1.4467914e-05 4.44e-15 1.75e-04 -6.1 1.38e-01 -20.0 1.00e+00 1.00e+00f 1 56 3.7960346e-06 7.22e-16 1.15e-04 -6.1 1.66e-01 -20.0 1.00e+00 1.00e+00f 1 57 7.2232494e-04 5.24e-16 1.34e-03 -4.0 1.80e+01 -20.0 1.00e+00 6.64e-02f 4 58 2.2956584e-04 3.66e-14 2.11e-03 -4.1 4.01e-01 -20.0 1.00e+00 1.00e+00f 1 59 5.5792977e-04 1.13e-14 1.87e-03 -4.1 2.92e-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 3.8395453e-04 1.78e-15 3.65e-04 -4.1 2.74e-01 -20.0 1.00e+00 5.00e-01f 2 61 3.3539740e-05 5.33e-15 1.60e-03 -6.1 6.10e-01 -20.0 9.42e-01 1.00e+00f 1 62 1.4177202e-05 4.11e-15 1.79e-04 -6.1 1.43e-01 -20.0 1.00e+00 1.00e+00f 1 63 3.6762703e-06 6.66e-16 1.20e-04 -6.1 1.76e-01 -20.0 1.00e+00 1.00e+00f 1 64 6.1025558e-04 3.37e-16 5.63e-04 -4.0 1.93e+01 -20.0 1.00e+00 6.17e-02f 4 65 2.6199581e-04 3.29e-14 1.70e-03 -4.1 3.14e-01 -20.0 1.00e+00 1.00e+00f 1 66 5.0506684e-04 7.55e-15 1.39e-03 -4.1 2.23e-01 -20.0 1.00e+00 1.00e+00f 1 67 3.7975840e-04 1.11e-15 3.18e-04 -4.1 2.21e-01 -20.0 1.00e+00 5.00e-01f 2 68 3.2445475e-05 5.11e-15 1.67e-03 -6.1 6.41e-01 -20.0 9.38e-01 1.00e+00f 1 69 1.3860461e-05 3.77e-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 3.5671607e-06 5.66e-16 1.24e-04 -6.1 1.84e-01 -20.0 1.00e+00 1.00e+00f 1 71 5.2701858e-04 3.68e-16 1.29e-04 -4.0 2.06e+01 -20.0 1.00e+00 5.77e-02f 4 72 2.9033704e-04 2.98e-14 1.30e-03 -4.1 2.36e-01 -20.0 1.00e+00 1.00e+00f 1 73 4.6069577e-04 4.88e-15 9.61e-04 -4.1 1.57e-01 -20.0 1.00e+00 1.00e+00f 1 74 3.0215595e-04 3.55e-15 9.35e-04 -4.1 1.70e-01 -20.0 1.00e+00 1.00e+00f 1 75 4.5416776e-04 2.66e-15 8.35e-04 -4.1 1.37e-01 -20.0 1.00e+00 1.00e+00f 1 76 2.3537965e-05 4.55e-15 1.86e-03 -6.1 7.86e-01 -20.0 9.23e-01 1.00e+00f 1 77 1.2275290e-05 3.89e-15 1.23e-04 -6.1 1.09e-01 -20.0 1.00e+00 1.00e+00f 1 78 3.0640299e-06 4.44e-16 1.18e-04 -6.1 1.88e-01 -20.0 1.00e+00 1.00e+00f 1 79 4.6359408e-04 3.61e-16 8.22e-04 -4.0 2.36e+01 -20.0 1.00e+00 5.05e-02f 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 3.2078393e-04 2.80e-14 8.82e-04 -4.1 1.56e-01 -20.0 1.00e+00 1.00e+00f 1 81 4.2496745e-04 2.66e-15 5.44e-04 -4.1 9.07e-02 -20.0 1.00e+00 1.00e+00f 1 82 2.5326794e-05 4.55e-15 1.89e-03 -6.1 7.80e-01 -20.0 9.23e-01 1.00e+00f 1 83 1.2563114e-05 3.44e-15 1.43e-04 -6.1 1.24e-01 -20.0 1.00e+00 1.00e+00f 1 84 3.1494270e-06 4.44e-16 1.25e-04 -6.1 1.97e-01 -20.0 1.00e+00 1.00e+00f 1 85 3.8995801e-06 1.79e-16 1.86e-05 -6.1 3.26e-02 -20.0 1.00e+00 1.00e+00h 1 86 3.4354891e-06 7.72e-17 4.55e-06 -6.1 8.16e-03 -20.0 1.00e+00 1.00e+00h 1 87 2.5600693e-07 4.29e-17 5.37e-05 -9.0 2.40e-01 -20.0 9.76e-01 1.00e+00f 1 88 2.3111488e-03 3.33e-16 1.13e-02 -4.0 1.07e+02 -20.0 1.00e+00 2.27e-02f 3 89 9.0112466e-05 4.69e-14 7.03e-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 7.6690176e-04 2.75e-14 5.32e-03 -3.9 8.02e-01 -20.0 1.00e+00 1.00e+00f 1 91 4.3662984e-04 5.33e-15 7.88e-04 -3.9 5.45e-01 -20.0 1.00e+00 5.00e-01f 2 92 4.3246670e-05 4.22e-15 2.16e-03 -5.9 7.24e-01 -20.0 9.29e-01 1.00e+00f 1 93 1.7827158e-05 3.89e-15 2.66e-04 -5.9 1.89e-01 -20.0 1.00e+00 1.00e+00f 1 94 5.0705231e-06 6.66e-16 1.68e-04 -5.9 2.13e-01 -20.0 1.00e+00 1.00e+00f 1 95 5.7296646e-06 2.86e-16 1.69e-05 -5.9 2.41e-02 -20.0 1.00e+00 1.00e+00h 1 96 5.3171039e-06 7.98e-17 2.37e-06 -5.9 3.43e-03 -20.0 1.00e+00 1.00e+00h 1 97 3.8109019e-07 5.64e-17 8.00e-05 -8.9 2.90e-01 -20.0 9.71e-01 1.00e+00f 1 98 1.5352616e-07 5.98e-17 8.37e-06 -8.9 6.39e-02 -20.0 1.00e+00 1.00e+00f 1 99 1.5007726e-03 7.39e-16 2.24e-03 -4.0 3.22e+02 -20.0 1.00e+00 7.55e-03f 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 4.9049530e-04 6.13e-14 5.36e-03 -3.8 6.90e-01 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 4.9049530034980598e-04 4.9049530034980598e-04 Dual infeasibility......: 5.3604777872228960e-03 5.3604777872228960e-03 Constraint violation....: 6.1284310959308641e-14 6.1284310959308641e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.0373040342241416e-04 2.0373040342241416e-04 Overall NLP error.......: 5.3604777872228960e-03 5.3604777872228960e-03 Number of objective function evaluations = 168 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 168 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 1 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 4.426 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: 0.056s integrator 3 jacobian structure: 0.0s jacobian structure: 1872 nonzeros (0.123s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.05s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.347s sub-objective 2 (QuadraticRegularizer): 0.086s sub-objective 3 (LinearRegularizer): 0.079s sub-objective 4 (MinimumTimeObjective): 0.016s objective hessian structure: 0.634s hessian structure: 2431 nonzeros (0.734s) linear index maps built (0.0s) evaluator ready (total: 0.858s) evaluator created (0.858s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.115s) applying constraint: L1 slack constraint: |du| ≤ s_du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on s_du applying constraint: bounds on Δt linear constraints added: 6 (3.689s) optimizer initialization complete (total: 4.662s) 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 2.6059638e+00 2.57e+00 1.06e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 5.0616936e+00 1.01e+01 2.46e+01 -0.5 3.27e+01 -4.0 6.58e-01 1.00e+00f 1 2 2.8656975e+00 1.21e-01 8.40e-01 -0.7 4.91e-01 0.0 1.00e+00 1.00e+00f 1 3 2.9047958e+00 2.81e-03 1.10e+00 -1.1 3.76e-01 -0.4 9.54e-01 1.00e+00h 1 4 2.6681668e+00 6.89e-03 3.79e-01 -1.7 4.53e-01 -0.9 9.87e-01 1.00e+00f 1 5 2.4437611e+00 1.60e-02 3.81e-01 -2.0 7.86e-01 -1.4 8.28e-01 4.87e-01f 1 6 2.1826395e+00 2.08e-02 2.33e-01 -2.1 1.29e+00 -1.9 9.54e-01 5.93e-01f 1 7 2.0701624e+00 2.18e-02 2.14e-01 -2.2 1.33e+00 -2.3 9.65e-01 6.05e-01h 1 8 2.0342764e+00 1.35e-02 2.54e-01 -2.7 1.15e+00 -2.8 9.87e-01 4.80e-01h 1 9 2.0054415e+00 1.73e-03 4.49e-02 -3.5 3.95e-01 -3.3 1.00e+00 8.86e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0010317e+00 1.44e-05 3.90e-03 -4.0 2.51e-01 -3.8 1.00e+00 1.00e+00h 1 11 2.0010311e+00 5.64e-07 1.12e-02 -4.0 6.73e-01 -4.3 1.00e+00 1.00e+00h 1 12 2.0010483e+00 1.12e-09 2.27e-02 -4.0 1.15e+00 -4.7 1.00e+00 1.00e+00f 1 13 2.0010715e+00 6.16e-11 4.31e-02 -4.0 2.16e+00 -5.2 1.00e+00 1.00e+00f 1 14 2.0006682e+00 2.23e-08 5.10e-02 -4.2 2.55e+00 -5.7 1.00e+00 1.00e+00f 1 15 2.0013188e+00 1.49e-08 1.71e-01 -4.0 8.57e+00 -6.2 1.00e+00 1.00e+00f 1 16 2.0008770e+00 1.26e-08 9.94e-02 -4.1 7.74e+00 -6.6 1.00e+00 6.43e-01f 1 17 2.0011186e+00 3.67e-09 4.12e-01 -4.1 2.06e+01 -7.1 1.00e+00 1.00e+00f 1 18 2.0008784e+00 6.97e-09 4.89e-01 -4.1 2.65e+01 -7.6 1.00e+00 9.21e-01f 1 19 2.0012576e+00 8.01e-09 1.04e+00 -4.1 5.18e+01 -8.1 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0009201e+00 1.74e-08 1.33e+00 -4.1 7.54e+01 -8.5 1.00e+00 8.85e-01f 1 21 2.0012760e+00 1.25e-08 2.74e+00 -4.1 1.37e+02 -9.0 1.00e+00 1.00e+00f 1 22 2.0008985e+00 2.40e-08 4.55e+00 -4.1 2.44e+02 -9.5 1.00e+00 9.33e-01f 1 23 2.0013244e+00 8.74e-09 7.59e+00 -4.1 3.79e+02 -10.0 1.00e+00 1.00e+00f 1 24 2.0008769e+00 1.93e-08 1.25e+01 -4.1 6.76e+02 -10.5 1.00e+00 9.27e-01f 1 25 2.0013408e+00 4.78e-09 2.15e+01 -4.1 1.08e+03 -10.9 1.00e+00 1.00e+00f 1 26 2.0008239e+00 1.43e-08 3.90e+01 -4.1 2.06e+03 -11.4 1.00e+00 9.46e-01f 1 27 2.0013777e+00 1.65e-09 6.04e+01 -4.1 3.02e+03 -11.9 1.00e+00 1.00e+00f 1 28 2.0007512e+00 9.70e-09 1.01e+02 -4.1 5.29e+03 -12.4 1.00e+00 9.53e-01f 1 29 2.0013642e+00 2.77e-10 1.56e+02 -4.1 7.79e+03 -12.8 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0006395e+00 5.61e-09 2.24e+02 -4.1 1.12e+04 -13.3 1.00e+00 9.95e-01f 1 31 2.0018247e+00 1.37e-10 3.95e+02 -4.0 1.98e+04 -13.8 1.00e+00 1.00e+00f 1 32 2.0009994e+00 1.62e-09 3.02e+01 -4.2 3.59e+03 -14.3 1.00e+00 4.21e-01f 2 33 2.0007435e+00 4.71e-10 2.56e+02 -4.2 1.28e+04 -14.8 1.00e+00 1.00e+00f 1 34 2.0006391e+00 1.99e-11 2.86e+02 -4.2 1.43e+04 -15.2 1.00e+00 1.00e+00f 1 35 2.0005868e+00 1.81e-12 1.75e+02 -4.2 8.75e+03 -15.7 1.00e+00 1.00e+00f 1 36 2.0009475e+00 2.02e-12 2.12e+02 -4.0 1.06e+04 -16.2 1.00e+00 1.00e+00f 1 37 2.0005509e+00 6.29e-13 1.66e+02 -4.1 8.30e+03 -16.7 1.00e+00 1.00e+00f 1 38 2.0008785e+00 3.32e-12 1.58e+02 -4.0 7.92e+03 -17.1 1.00e+00 1.00e+00f 1 39 2.0005556e+00 1.12e-12 1.36e+02 -4.1 6.81e+03 -17.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0006547e+00 5.21e-12 7.18e+01 -4.1 3.59e+03 -18.1 1.00e+00 1.00e+00h 1 41 2.0006178e+00 5.39e-12 2.52e+01 -4.1 1.26e+03 -18.6 1.00e+00 1.00e+00h 1 42 2.0006335e+00 7.27e-12 1.06e+01 -4.1 5.32e+02 -19.0 1.00e+00 1.00e+00h 1 43 2.0006273e+00 8.42e-12 4.48e+00 -4.1 2.24e+02 -19.5 1.00e+00 1.00e+00h 1 44 2.0006299e+00 1.07e-11 1.73e+00 -4.1 8.66e+01 -20.0 1.00e+00 1.00e+00h 1 45 2.0006288e+00 4.22e-12 7.54e-01 -4.1 3.77e+01 -20.0 1.00e+00 1.00e+00h 1 46 2.0006293e+00 1.78e-12 2.87e-01 -4.1 1.44e+01 -20.0 1.00e+00 1.00e+00h 1 47 2.0006291e+00 7.03e-13 1.26e-01 -4.1 6.29e+00 -20.0 1.00e+00 1.00e+00h 1 48 2.0006292e+00 2.97e-13 4.79e-02 -4.1 2.39e+00 -20.0 1.00e+00 1.00e+00h 1 49 2.0006291e+00 1.17e-13 2.10e-02 -4.1 1.05e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0006291e+00 4.94e-14 7.98e-03 -4.1 3.99e-01 -20.0 1.00e+00 1.00e+00h 1 51 2.0006291e+00 1.95e-14 3.50e-03 -4.1 1.75e-01 -20.0 1.00e+00 1.00e+00h 1 52 2.0006291e+00 8.23e-15 1.33e-03 -4.1 9.45e-02 -20.0 1.00e+00 1.00e+00h 1 53 2.0006291e+00 3.25e-15 5.83e-04 -4.1 9.45e-02 -20.0 1.00e+00 1.00e+00h 1 54 1.9998548e+00 1.21e-08 2.25e+02 -6.1 1.13e+04 -20.0 1.00e+00 1.00e+00f 1 55 2.0006842e+00 3.06e-09 2.09e+03 -4.0 2.09e+05 -20.0 1.00e+00 5.00e-01f 2 56 2.0004209e+00 9.62e-11 2.30e+03 -3.9 1.15e+05 -20.0 1.00e+00 1.00e+00f 1 57 2.0009597e+00 3.50e-09 5.57e+02 -3.9 2.79e+04 -20.0 1.00e+00 1.00e+00f 1 58 2.0010408e+00 3.05e-09 1.07e+02 -3.9 5.33e+03 -20.0 1.00e+00 1.00e+00h 1 59 2.0010532e+00 7.46e-10 2.71e+01 -3.9 1.36e+03 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0010701e+00 5.76e-10 6.08e+00 -3.9 3.04e+02 -20.0 1.00e+00 1.00e+00h 1 61 2.0010718e+00 1.33e-10 4.72e+00 -3.9 2.36e+02 -20.0 1.00e+00 1.00e+00h 1 62 2.0010746e+00 9.81e-11 1.06e+00 -3.9 5.31e+01 -20.0 1.00e+00 1.00e+00h 1 63 2.0010749e+00 2.24e-11 7.85e-01 -3.9 3.92e+01 -20.0 1.00e+00 1.00e+00h 1 64 2.0010753e+00 1.64e-11 1.78e-01 -3.9 8.92e+00 -20.0 1.00e+00 1.00e+00h 1 65 2.0010754e+00 3.74e-12 1.31e-01 -3.9 6.54e+00 -20.0 1.00e+00 1.00e+00h 1 66 2.0010755e+00 2.73e-12 2.98e-02 -3.9 1.49e+00 -20.0 1.00e+00 1.00e+00h 1 67 2.0010755e+00 6.22e-13 2.18e-02 -3.9 1.09e+00 -20.0 1.00e+00 1.00e+00h 1 68 2.0010755e+00 4.55e-13 4.97e-03 -3.9 4.94e-01 -20.0 1.00e+00 1.00e+00h 1 69 2.0010755e+00 1.04e-13 3.63e-03 -3.9 4.94e-01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0010755e+00 7.57e-14 8.28e-04 -3.9 4.94e-01 -20.0 1.00e+00 1.00e+00h 1 71 1.9998649e+00 8.68e-08 2.43e+02 -5.9 1.22e+04 -20.0 1.00e+00 1.00e+00f 1 72 1.9998453e+00 3.10e-13 2.18e+02 -5.9 1.17e+04 -20.0 9.30e-01 1.00e+00h 1 73 1.8270264e+00 2.01e-13 1.94e+06 -5.9 9.71e+07 -20.0 1.81e-03 1.00e+00f 1 74 1.8122639e+00 5.22e-13 2.04e+03 -5.5 1.34e+08 -20.0 1.00e+00 7.60e-04f 1 75 1.9420189e+00 5.21e-13 1.31e+06 -4.0 9.40e+10 -20.0 1.00e+00 6.95e-04f 1 76 1.9999568e+00 5.19e-13 6.43e+05 -3.2 6.33e+09 -20.0 1.00e+00 5.07e-03f 1 77 1.9999073e+00 1.89e-11 1.64e+03 -3.2 8.20e+04 -20.0 1.00e+00 1.00e+00f 1 78 2.0290805e+00 5.63e-06 5.13e+01 -3.2 2.57e+03 -20.0 1.00e+00 1.00e+00f 1 79 2.0103043e+00 1.34e-03 8.60e+02 -3.2 8.60e+04 -20.0 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0086290e+00 2.56e-04 1.45e+02 -3.2 7.25e+03 -20.0 1.00e+00 1.00e+00h 1 81 2.0061487e+00 1.58e-05 1.42e+02 -3.2 7.11e+03 -20.0 1.00e+00 1.00e+00h 1 82 2.0064804e+00 2.61e-06 1.63e+02 -3.2 8.13e+03 -20.0 1.00e+00 1.00e+00h 1 83 2.0059324e+00 4.15e-06 3.24e+01 -3.2 1.62e+03 -20.0 1.00e+00 1.00e+00h 1 84 2.0059947e+00 2.73e-07 3.37e+01 -3.2 1.68e+03 -20.0 1.00e+00 1.00e+00h 1 85 2.0058907e+00 6.65e-07 2.94e+00 -3.2 1.47e+02 -20.0 1.00e+00 1.00e+00h 1 86 2.0059011e+00 4.25e-08 5.82e+00 -3.2 2.91e+02 -20.0 1.00e+00 1.00e+00h 1 87 2.0058834e+00 1.09e-07 3.96e-01 -3.2 8.65e+01 -20.0 1.00e+00 1.00e+00h 1 88 2.0058852e+00 6.99e-09 9.76e-01 -3.2 8.65e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0058822e+00 1.81e-08 6.31e-02 -3.2 8.63e+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 2.0058825e+00 1.16e-09 1.63e-01 -3.2 8.63e+01 -20.0 1.00e+00 1.00e+00h 1 91 2.0058820e+00 3.02e-09 1.04e-02 -3.2 8.63e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0058820e+00 1.93e-10 2.71e-02 -3.2 8.63e+01 -20.0 1.00e+00 1.00e+00h 1 93 2.0058820e+00 5.02e-10 1.73e-03 -3.2 8.63e+01 -20.0 1.00e+00 1.00e+00h 1 94 1.9999841e+00 6.10e-05 2.65e+02 -4.8 1.32e+04 -20.0 1.00e+00 1.00e+00f 1 95 2.0000041e+00 4.86e-10 7.05e+01 -4.8 3.52e+03 -20.0 1.00e+00 1.00e+00h 1 96 2.0000005e+00 4.51e-16 5.22e+02 -4.8 2.61e+04 -20.0 1.00e+00 1.00e+00h 1 97 1.9999301e+00 9.74e-15 5.17e+00 -4.8 2.59e+02 -20.0 1.00e+00 1.00e+00h 1 98 1.9999447e+00 3.74e-14 1.58e+02 -4.8 7.88e+03 -20.0 1.00e+00 1.00e+00h 1 99 1.9999333e+00 3.24e-14 3.55e+01 -4.8 1.78e+03 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 1.9999357e+00 8.25e-15 3.03e+01 -4.8 1.51e+03 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.9999356507435884e+00 1.9999356507435884e+00 Dual infeasibility......: 3.0259182903725105e+01 3.0259182903725105e+01 Constraint violation....: 8.2462408712371290e-15 8.2462408712371290e-15 Variable bound violation: 2.9905140242024948e-09 2.9905140242024948e-09 Complementarity.........: 1.4876816464903522e-05 1.4876816464903522e-05 Overall NLP error.......: 2.5910119813505784e+01 3.0259182903725105e+01 Number of objective function evaluations = 110 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 110 Number of inequality constraint evaluations = 110 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 56.164 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: 0.117s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.117s) integrator 1 hessian structure: 0.123s 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 (0.124s) linear index maps built (0.006s) evaluator ready (total: 0.247s) evaluator created (0.247s) 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 (1.086s) optimizer initialization complete (total: 1.334s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1529 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 73 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.5603167e+00 3.10e+00 1.59e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.0170326e+00 2.09e+00 3.26e+00 -1.3 7.47e+00 -2.0 8.72e-02 3.27e-01h 1 2 2.0947544e+00 2.06e+00 1.05e+02 1.1 2.00e+01 0.2 2.06e-01 1.23e-02f 1 3 2.1450007e+00 1.19e+00 8.65e+01 0.8 4.53e+00 -0.2 1.00e+00 6.45e-01f 1 4 2.0659384e+00 2.47e+00 8.48e+01 -4.0 5.54e+01 -0.7 8.44e-02 1.74e-01h 1 5 2.0258318e+00 2.29e+00 2.49e+02 1.4 9.32e+01 -1.2 2.59e-01 1.54e-01f 1 6 1.9893603e+00 1.53e+00 8.70e+02 0.9 3.23e+01 -1.7 9.84e-01 3.36e-01h 1 7 1.9867925e+00 2.05e+00 3.14e+04 1.4 4.11e+02 -1.3 1.00e+00 6.21e-02h 1 8 2.0102865e+00 1.83e+00 3.28e+04 2.0 4.02e+01 -1.7 1.00e+00 9.55e-02h 1 9 2.0086442e+00 1.80e+00 8.28e+04 -4.0 2.00e+03 -2.2 2.72e-01 2.78e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.9956552e+00 2.17e-01 4.20e+03 1.7 2.54e+01 -2.7 8.72e-01 8.85e-01h 1 11 1.9976585e+00 2.43e-02 2.49e+03 -4.0 1.58e+01 -3.2 2.35e-01 1.00e+00h 1 12 1.9968491e+00 4.06e-06 4.86e+01 -4.0 1.18e+00 -3.6 9.85e-01 1.00e+00h 1 13 1.9382741e+00 2.09e-03 4.25e+00 -2.2 1.27e+00 -4.1 9.19e-01 1.00e+00f 1 14 1.4910254e+00 9.85e-03 1.15e+00 -2.7 4.21e+00 -4.6 6.83e-01 1.00e+00f 1 15 1.3456288e+00 2.68e-01 5.93e-01 -3.6 3.05e+01 -5.1 4.48e-01 7.35e-01h 1 16 1.3040428e+00 9.37e-02 2.46e-01 -2.9 3.14e+01 -5.5 8.80e-01 6.90e-01h 1 17 1.2862450e+00 8.47e-01 1.77e-01 -4.0 1.57e+02 -6.0 3.28e-01 3.58e-01h 1 18 1.3261722e+00 6.31e+00 5.01e-01 -2.2 1.90e+02 -6.5 1.00e+00 5.48e-01f 1 19 1.3259883e+00 4.86e+00 1.37e-01 -2.3 1.02e+02 -7.0 8.26e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.3203484e+00 5.30e+00 1.83e-01 -2.3 3.34e+02 -7.5 5.23e-02 1.59e-01h 1 21 1.3006215e+00 1.03e+00 1.37e-01 -2.3 1.28e+01 -3.4 1.00e+00 1.00e+00h 1 22 1.2383835e+00 7.89e-01 1.69e-01 -4.0 2.85e+01 -3.0 1.23e-01 2.29e-01h 1 23 1.1920715e+00 1.53e-01 8.63e-02 -3.3 3.93e+00 -3.5 9.99e-01 1.00e+00h 1 24 1.1817233e+00 2.72e-02 4.58e-02 -4.0 3.96e+00 -3.9 1.00e+00 1.00e+00h 1 25 1.1735179e+00 1.58e-01 6.17e-03 -4.0 5.39e+00 -4.4 1.00e+00 1.00e+00h 1 26 1.1719683e+00 8.64e-02 2.36e-02 -4.0 7.91e+00 -4.9 1.00e+00 1.00e+00h 1 27 1.1683648e+00 1.76e-01 4.63e-04 -4.0 1.22e+01 -5.4 1.00e+00 1.00e+00h 1 28 1.1667663e+00 1.60e-01 9.69e-03 -4.0 1.83e+01 -5.9 1.00e+00 1.00e+00h 1 29 1.1647932e+00 2.34e-01 3.74e-03 -4.0 2.81e+01 -6.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.1636132e+00 2.52e-01 2.08e-03 -4.0 4.21e+01 -6.8 1.00e+00 1.00e+00h 1 31 1.1624469e+00 3.26e-01 1.24e-02 -4.0 6.34e+01 -7.3 1.00e+00 1.00e+00h 1 32 1.1616759e+00 3.64e-01 1.48e-02 -4.0 9.32e+01 -7.8 1.00e+00 1.00e+00h 1 33 1.1610015e+00 4.31e-01 2.35e-02 -4.0 1.35e+02 -8.2 1.00e+00 1.00e+00h 1 34 1.1606072e+00 4.37e-01 2.37e-02 -4.0 1.85e+02 -8.7 1.00e+00 1.00e+00h 1 35 1.1604951e+00 3.27e-01 1.48e-02 -4.0 2.11e+02 -9.2 1.00e+00 1.00e+00h 1 36 1.1608429e+00 6.25e-03 3.24e-03 -4.0 6.21e+01 -9.7 1.00e+00 1.00e+00h 1 37 1.1608492e+00 4.68e-07 1.33e-06 -4.0 8.49e-02 -10.1 1.00e+00 1.00e+00h 1 38 1.1608491e+00 1.55e-08 1.79e-09 -4.0 5.04e-02 -10.6 1.00e+00 1.00e+00h 1 39 1.1608491e+00 5.72e-13 4.57e-14 -4.0 3.06e-04 -11.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 39 (scaled) (unscaled) Objective...............: 1.1608491307794429e+00 1.1608491307794429e+00 Dual infeasibility......: 4.5733572094294739e-14 4.5733572094294739e-14 Constraint violation....: 5.7198690228688065e-13 5.7198690228688065e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000057e-04 1.0000000000000057e-04 Overall NLP error.......: 5.7198690228688065e-13 5.7198690228688065e-13 Number of objective function evaluations = 40 Number of objective gradient evaluations = 40 Number of equality constraint evaluations = 40 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 40 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 39 Total seconds in IPOPT = 54.681 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.11s jacobian structure: 180 nonzeros (0.192s) integrator 1 hessian structure: 0.088s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.751s sub-objective 2 (QuadraticRegularizer): 0.191s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.033s objective hessian structure: 1.166s hessian structure: 375 nonzeros (1.253s) linear index maps built (0.0s) evaluator ready (total: 1.74s) evaluator created (1.74s) NL constraint bounds extracted (0.019s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.283s) applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (5.795s) optimizer initialization complete (total: 7.837s) 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 2.0173599e+00 8.12e-01 1.10e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5652285e+00 2.23e-01 1.89e+00 -0.8 8.12e-01 0.0 9.77e-01 1.00e+00h 1 2 1.6229843e+00 5.06e-02 7.03e-01 -0.8 3.28e-01 -0.5 6.91e-01 8.92e-01f 1 3 1.7343157e+00 4.14e-02 1.17e+00 -1.5 6.88e-01 -1.0 8.75e-01 1.00e+00h 1 4 1.5281134e+00 3.04e-02 6.73e-01 -1.1 3.32e+00 -1.4 1.00e+00 2.80e-01h 1 5 1.2534979e+00 7.76e-03 8.27e-01 -1.9 6.34e+00 - 9.96e-01 9.45e-01h 1 6 1.1344180e+00 5.38e-05 1.74e-01 -2.3 4.07e+00 - 1.00e+00 1.00e+00h 1 7 1.0958079e+00 3.24e-06 9.92e-02 -3.7 3.00e+00 - 1.00e+00 9.15e-01f 1 8 1.0910359e+00 1.72e-08 9.55e-03 -4.0 9.70e-01 - 1.00e+00 1.00e+00h 1 9 1.0910386e+00 3.81e-11 1.04e-04 -4.0 1.01e-01 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0910386e+00 1.78e-15 3.72e-05 -4.0 1.39e-04 - 1.00e+00 1.00e+00h 1 11 1.0908587e+00 8.88e-16 3.70e-05 -4.1 1.99e-05 - 1.00e+00 1.00e+00f 1 12 1.0910386e+00 1.13e-27 3.89e-09 -4.0 1.99e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 12 (scaled) (unscaled) Objective...............: 1.0910385864123908e+00 1.0910385864123908e+00 Dual infeasibility......: 3.8863378348796829e-09 3.8863378348796829e-09 Constraint violation....: 1.1342057917968973e-27 1.1342057917968973e-27 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000114091616992e-04 1.0000114091616992e-04 Overall NLP error.......: 3.8863378348796829e-09 3.8863378348796829e-09 Number of objective function evaluations = 13 Number of objective gradient evaluations = 13 Number of equality constraint evaluations = 13 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 = 40.152 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: 0.061s 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 (0.062s) linear index maps built (0.0s) evaluator ready (total: 0.125s) evaluator created (0.125s) 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 (2.497s) optimizer initialization complete (total: 2.623s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 82 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.2602449e+00 1.70e+00 1.99e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7717125e+00 2.42e-02 9.23e-01 -1.1 1.82e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.3067048e+00 2.70e-02 1.35e-01 -1.8 3.33e-01 -1.6 9.82e-01 1.00e+00h 1 3 2.1439944e+00 2.22e-03 2.75e-01 -3.1 1.29e-01 -1.1 9.77e-01 1.00e+00h 1 4 2.0986084e+00 6.68e-04 9.83e-02 -4.0 3.77e-02 -1.6 1.00e+00 7.34e-01h 1 5 2.0927381e+00 3.16e-04 1.01e+00 -4.0 9.14e-01 -2.1 1.00e+00 3.84e-01h 1 6 2.0912641e+00 9.21e-05 4.38e-01 -4.0 1.19e+00 -2.6 1.00e+00 1.00e+00h 1 7 2.0909997e+00 3.34e-06 2.08e-02 -4.0 2.90e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0910349e+00 7.34e-07 2.07e-05 -4.0 7.07e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0910137e+00 1.91e-08 2.07e-05 -4.0 2.12e-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 2.0909515e+00 1.47e-07 2.06e-05 -4.0 6.33e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907681e+00 1.30e-06 4.99e-05 -4.0 1.88e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0902455e+00 1.10e-05 4.22e-04 -4.0 5.46e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888943e+00 8.24e-05 3.18e-03 -4.0 1.50e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861902e+00 4.42e-04 1.75e-02 -4.0 3.48e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830995e+00 9.22e-04 4.74e-02 -4.0 5.35e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828348e+00 9.28e-04 2.20e-02 -4.0 5.43e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823428e+00 3.75e-04 1.02e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820403e+00 9.60e-05 1.84e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.69e-04 8.67e-03 -4.0 9.92e+01 -8.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0819393e+00 3.69e-05 8.45e-04 -4.0 3.10e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.32e-07 1.39e-05 -4.0 4.45e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.79e-10 3.26e-08 -4.0 2.45e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.52e-13 1.21e-11 -4.0 4.59e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907190933e+00 2.0819382907190933e+00 Dual infeasibility......: 1.2145927032148826e-11 1.2145927032148826e-11 Constraint violation....: 2.5224267119483557e-13 2.5224267119483557e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000060e-04 1.0000000000000060e-04 Overall NLP error.......: 1.2145927032148826e-11 1.2145927032148826e-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 = 48.591 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.119s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.119s) integrator 1 hessian structure: 0.114s 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 (0.114s) linear index maps built (0.0s) evaluator ready (total: 0.234s) evaluator created (0.234s) 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 (0.159s) optimizer initialization complete (total: 0.393s) 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 2.5191529e+00 3.37e+00 2.41e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8076537e+00 3.23e-02 4.17e-01 -1.1 1.98e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.2480943e+00 2.15e-02 3.68e-02 -1.8 2.49e-01 -1.6 9.63e-01 1.00e+00h 1 3 2.1330468e+00 2.81e-03 1.60e-01 -2.9 6.14e-02 -1.1 1.00e+00 8.68e-01h 1 4 2.1066770e+00 9.52e-04 9.35e-01 -3.6 1.32e-01 -1.6 1.00e+00 7.46e-01h 1 5 2.0937317e+00 2.90e-04 2.84e-01 -4.0 4.67e-01 -2.1 1.00e+00 5.46e-01h 1 6 2.0916729e+00 1.64e-04 4.07e-01 -4.0 8.23e-01 -2.6 1.00e+00 4.37e-01h 1 7 2.0909993e+00 1.06e-04 7.51e-02 -4.0 5.29e-01 -3.1 1.00e+00 1.00e+00h 1 8 2.0908877e+00 4.18e-06 5.94e-04 -4.0 7.82e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908644e+00 4.81e-07 5.24e-05 -4.0 2.13e-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 2.0908184e+00 8.72e-08 2.57e-04 -4.0 5.34e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907180e+00 6.81e-07 9.50e-04 -4.0 1.32e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904410e+00 6.21e-06 8.18e-04 -4.0 4.26e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0903477e+00 5.83e-06 9.26e-03 -4.0 1.91e+01 -5.9 1.97e-01 4.88e-02h 2 14 2.0887400e+00 1.59e-04 3.86e-02 -4.0 3.01e+01 -6.4 1.00e+00 6.83e-01h 1 15 2.0859324e+00 1.58e-03 1.19e-01 -4.0 7.00e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0835795e+00 8.33e-04 1.54e-01 -4.0 1.21e+01 -5.5 1.00e+00 5.21e-01h 1 17 2.0833784e+00 1.38e-04 9.91e-03 -4.0 5.12e+00 -6.0 1.00e+00 1.00e+00h 1 18 2.0828995e+00 5.75e-05 3.16e-03 -4.0 1.01e+01 -6.5 1.00e+00 1.00e+00h 1 19 2.0827649e+00 6.73e-05 2.63e-03 -4.0 2.83e+01 -7.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0824951e+00 1.84e-04 3.13e-03 -4.0 7.34e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0821463e+00 9.86e-04 9.82e-03 -4.0 1.82e+02 -7.9 5.58e-01 1.00e+00h 1 22 2.0821443e+00 1.31e-03 2.22e+00 -4.0 2.14e+02 -6.6 1.00e+00 6.90e-02h 3 23 2.0820892e+00 6.13e-05 3.09e-03 -4.0 2.81e+00 -5.3 1.00e+00 1.00e+00h 1 24 2.0821381e+00 1.38e-04 1.85e-02 -4.0 9.69e+01 -4.8 5.78e-03 6.09e-03h 3 25 2.0818911e+00 5.94e-05 2.99e-02 -4.1 2.98e+00 -5.3 1.00e+00 8.98e-01H 1 26 2.0823820e+00 1.68e-04 1.44e-02 -4.0 5.89e+00 -5.8 2.45e-01 3.21e-01f 1 27 2.0817549e+00 2.97e-04 6.89e-03 -4.2 6.04e+00 -6.3 1.00e+00 1.00e+00h 1 28 2.0820763e+00 2.71e-04 1.45e-03 -4.0 6.28e+00 -6.8 1.00e+00 1.00e+00h 1 29 2.0817847e+00 4.82e-04 1.28e-03 -4.1 1.59e+01 -7.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0816894e+00 8.14e-05 2.32e-03 -4.1 3.02e+01 -7.7 1.00e+00 1.00e+00h 1 31 2.0818701e+00 1.16e-03 3.36e-03 -4.0 4.84e+01 -8.2 1.00e+00 1.00e+00h 1 32 2.0815854e+00 1.06e-03 1.80e-03 -4.1 4.72e+01 -8.7 1.00e+00 1.00e+00h 1 33 2.0818398e+00 4.93e-04 2.90e-04 -4.0 2.11e+01 -9.1 1.00e+00 1.00e+00h 1 34 2.0815805e+00 2.42e-04 1.05e-05 -4.1 1.09e+01 -9.6 1.00e+00 1.00e+00h 1 35 2.0818395e+00 2.03e-04 1.61e-05 -4.0 9.26e+00 -10.1 1.00e+00 1.00e+00h 1 36 2.0815804e+00 2.09e-04 1.10e-05 -4.1 9.54e+00 -10.6 1.00e+00 1.00e+00h 1 37 2.0818395e+00 2.10e-04 9.91e-06 -4.0 9.60e+00 -11.0 1.00e+00 1.00e+00h 1 38 2.0815804e+00 2.11e-04 9.31e-06 -4.1 9.61e+00 -11.5 1.00e+00 1.00e+00h 1 39 2.0818395e+00 2.11e-04 9.32e-06 -4.0 9.62e+00 -12.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0815804e+00 2.11e-04 9.11e-06 -4.1 9.62e+00 -12.5 1.00e+00 1.00e+00h 1 41 2.0818395e+00 2.11e-04 9.26e-06 -4.0 9.62e+00 -13.0 1.00e+00 1.00e+00h 1 42 2.0815804e+00 2.11e-04 9.09e-06 -4.1 9.62e+00 -13.4 1.00e+00 1.00e+00h 1 43 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -13.9 9.78e-01 9.71e-01h 1 44 2.0818882e+00 6.56e-03 2.96e-04 -4.0 6.10e+01 -14.4 1.00e+00 1.00e+00f 1 45 2.0816141e+00 4.87e-04 1.05e-05 -4.1 2.07e+01 -14.9 1.00e+00 1.00e+00h 1 46 2.0805989e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -15.3 9.76e-01 9.65e-01h 1 47 2.0805508e+00 8.46e-05 2.20e-06 -6.1 1.69e+01 -15.8 1.00e+00 1.00e+00h 1 48 2.0819794e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -16.3 1.00e+00 1.00e+00f 1 49 2.0816850e+00 9.29e-04 4.93e-05 -4.1 4.57e+01 -16.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0816490e+00 4.77e-07 7.43e-07 -4.1 8.50e+00 -17.3 1.00e+00 1.00e+00h 1 51 2.0818389e+00 1.13e-04 4.87e-06 -4.0 7.02e+00 -17.7 1.00e+00 1.00e+00h 1 52 2.0815801e+00 2.08e-04 9.04e-06 -4.1 9.49e+00 -18.2 1.00e+00 1.00e+00h 1 53 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -18.7 9.78e-01 9.71e-01h 1 54 2.0805497e+00 6.51e-05 1.78e-06 -6.1 1.55e+01 -19.2 1.00e+00 1.00e+00h 1 55 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -19.6 1.00e+00 1.00e+00f 1 56 2.0816901e+00 9.49e-04 5.23e-05 -4.1 4.72e+01 -20.0 1.00e+00 1.00e+00h 1 57 2.0816518e+00 5.68e-07 7.86e-07 -4.1 8.91e+00 -20.0 1.00e+00 1.00e+00h 1 58 2.0805907e+00 3.69e-03 1.61e-04 -6.1 4.17e+01 -20.0 9.77e-01 9.75e-01h 1 59 2.0805511e+00 6.76e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0805469e+00 4.72e-08 2.03e-08 -6.1 2.96e+00 -20.0 1.00e+00 1.00e+00h 1 61 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.88e+01 -20.0 1.00e+00 1.00e+00f 1 62 2.0817176e+00 1.03e-03 6.82e-05 -4.1 5.46e+01 -20.0 1.00e+00 1.00e+00h 1 63 2.0816664e+00 1.23e-06 1.00e-06 -4.1 1.09e+01 -20.0 1.00e+00 1.00e+00h 1 64 2.0805915e+00 3.77e-03 1.67e-04 -6.1 4.21e+01 -20.0 9.76e-01 9.75e-01h 1 65 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 66 2.0805471e+00 5.00e-08 2.15e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 67 2.0805365e+00 9.59e-07 8.07e-07 -9.0 9.59e-01 -20.0 1.00e+00 9.97e-01h 1 68 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 69 2.0817324e+00 1.07e-03 7.73e-05 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0816741e+00 1.68e-06 1.10e-06 -4.1 1.18e+01 -20.0 1.00e+00 1.00e+00h 1 71 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 72 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 73 2.0805472e+00 5.16e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 74 2.0805365e+00 9.80e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 75 2.0805365e+00 9.37e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 76 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 77 2.0817328e+00 1.07e-03 7.75e-05 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 78 2.0816743e+00 1.69e-06 1.10e-06 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 79 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805516e+00 7.08e-05 2.06e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 81 2.0805472e+00 5.17e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 82 2.0805365e+00 9.81e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 83 2.0805365e+00 9.39e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 84 2.0805365e+00 4.44e-16 3.37e-16 -9.0 1.11e-05 -20.0 1.00e+00 1.00e+00h 1 85 2.0805365e+00 6.66e-16 2.22e-16 -9.0 1.99e-12 -20.0 1.00e+00 1.00e+00h 1 86 2.0805365e+00 2.22e-16 2.41e-16 -9.0 8.86e-14 -20.0 1.00e+00 1.00e+00 0 87 2.0805365e+00 8.88e-16 2.03e-16 -9.0 6.79e-14 -20.0 1.00e+00 1.00e+00T 0 Number of Iterations....: 87 (scaled) (unscaled) Objective...............: 2.0805364715330508e+00 2.0805364715330508e+00 Dual infeasibility......: 2.0309745975833971e-16 2.0309745975833971e-16 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 9.0909103283437487e-09 9.0909103283437487e-09 Complementarity.........: 9.0909090969342984e-10 9.0909090969342984e-10 Overall NLP error.......: 9.9999090909091523e-05 9.9999090909091523e-05 Number of objective function evaluations = 100 Number of objective gradient evaluations = 88 Number of equality constraint evaluations = 100 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 88 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 88 Total seconds in IPOPT = 46.113 EXIT: Search Direction is becoming Too Small. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.053s jacobian structure: 180 nonzeros (0.088s) integrator 1 hessian structure: 0.046s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.39s sub-objective 2 (QuadraticRegularizer): 0.091s sub-objective 3 (MinimumTimeObjective): 0.017s objective hessian structure: 0.624s hessian structure: 375 nonzeros (0.67s) linear index maps built (0.0s) evaluator ready (total: 0.913s) evaluator created (0.913s) NL constraint bounds extracted (0.011s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.117s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (4.513s) optimizer initialization complete (total: 5.555s) 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 1.6663453e+00 9.01e-01 1.10e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6268128e+00 3.40e-01 1.29e+00 -1.0 8.39e-01 0.0 9.11e-01 6.92e-01h 1 2 1.6536956e+00 1.36e-01 1.66e+00 -1.2 4.50e-01 -0.5 8.64e-01 8.92e-01h 1 3 1.7799958e+00 7.13e-02 6.08e-01 -0.8 8.61e-01 -1.0 8.39e-01 5.74e-01f 1 4 1.4387880e+00 3.06e-02 9.61e-01 -1.4 1.23e+00 - 9.64e-01 1.00e+00f 1 5 1.1685022e+00 3.12e-02 1.50e+00 -1.9 5.24e+00 - 9.97e-01 3.44e-01h 1 6 1.2474273e+00 2.08e-02 6.37e-01 -2.7 2.23e+00 - 1.00e+00 8.09e-01h 1 7 1.1170902e+00 1.30e-03 3.01e-01 -2.8 2.65e+00 - 1.00e+00 9.59e-01h 1 8 1.0961980e+00 2.57e-04 2.55e-01 -4.0 2.71e+00 - 1.00e+00 7.77e-01h 1 9 1.0912430e+00 3.63e-05 3.27e-02 -4.0 1.05e+00 - 1.00e+00 8.47e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0909012e+00 2.83e-07 3.74e-03 -4.0 4.49e-01 - 1.00e+00 1.00e+00h 1 11 1.0908997e+00 1.88e-12 1.52e-05 -4.0 3.57e-03 - 1.00e+00 1.00e+00h 1 12 1.0908997e+00 3.53e-21 1.52e-05 -4.0 1.01e-06 - 1.00e+00 1.00e+00h 1 13 1.0907198e+00 5.76e-26 1.51e-05 -4.1 2.00e-05 - 1.00e+00 1.00e+00f 1 14 1.0908997e+00 4.27e-28 2.64e-09 -4.0 2.00e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 14 (scaled) (unscaled) Objective...............: 1.0908997336734827e+00 1.0908997336734827e+00 Dual infeasibility......: 2.6353315379261995e-09 2.6353315379261995e-09 Constraint violation....: 4.2702584507584822e-28 4.2702584507584822e-28 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000081632638662e-04 1.0000081632638662e-04 Overall NLP error.......: 2.6353315379261995e-09 2.6353315379261995e-09 Number of objective function evaluations = 15 Number of objective gradient evaluations = 15 Number of equality constraint evaluations = 15 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 15 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 14 Total seconds in IPOPT = 51.533 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.152s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.152s) integrator 1 hessian structure: 0.131s 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 (0.132s) linear index maps built (0.0s) evaluator ready (total: 0.285s) evaluator created (0.285s) 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 (0.007s) optimizer initialization complete (total: 0.292s) 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 4.2109947e+00 3.24e+00 5.27e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4232860e+00 3.40e-01 4.36e+00 -1.1 2.22e+00 0.0 2.03e-01 8.95e-01f 1 2 2.7624391e+00 7.13e-02 1.47e+00 -0.9 9.32e-01 -0.5 9.07e-01 8.27e-01f 1 3 2.6311174e+00 7.28e-02 6.44e-01 -0.9 6.47e-01 -1.0 7.57e-01 5.48e-01f 1 4 2.4096437e+00 3.80e-02 3.04e-01 -1.6 5.47e-01 -1.4 9.41e-01 1.00e+00h 1 5 2.2401540e+00 8.60e-03 5.78e-02 -2.0 3.60e-01 -1.9 9.27e-01 1.00e+00h 1 6 2.1216217e+00 1.05e-02 1.50e-01 -3.0 7.77e-01 -2.4 9.96e-01 7.31e-01h 1 7 2.0934221e+00 9.96e-05 1.33e-03 -3.7 2.79e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908032e+00 1.66e-05 9.37e-05 -4.0 4.62e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0907876e+00 1.19e-07 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 2.0907478e+00 6.24e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0906284e+00 5.64e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0902711e+00 5.10e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892062e+00 4.65e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0860763e+00 4.37e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796359e+00 2.46e-03 8.90e-02 -4.0 8.70e+01 -6.7 1.00e+00 7.48e-01h 1 16 2.0811871e+00 1.62e-04 1.96e-01 -4.0 6.92e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778256e+00 6.30e-03 2.83e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781938e+00 1.62e-02 6.69e-02 -3.7 1.69e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0768389e+00 9.70e-03 1.76e-02 -3.8 3.09e+02 -8.6 1.00e+00 9.32e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0760073e+00 8.09e-03 2.20e-02 -3.9 4.57e+02 -9.1 1.00e+00 9.78e-01f 1 21 2.0757567e+00 7.98e-03 9.57e-03 -4.0 1.46e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756814e+00 5.12e-04 4.27e-04 -4.0 6.42e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 8.74e-06 7.12e-06 -4.0 2.33e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 4.39e-08 1.52e-06 -4.0 1.52e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.57e-09 1.52e-07 -4.0 5.25e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.83e-11 3.06e-09 -4.0 9.25e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122089773e+00 2.0756712122089773e+00 Dual infeasibility......: 3.0607172954964790e-09 3.0607172954964790e-09 Constraint violation....: 7.8252293533864759e-11 7.8252293533864759e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000022e-04 1.0000000000000022e-04 Overall NLP error.......: 3.0607172954964790e-09 3.0607172954964790e-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 = 46.607 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.159s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.16s) integrator 1 hessian structure: 0.115s 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 (0.12s) linear index maps built (0.0s) evaluator ready (total: 0.28s) evaluator created (0.287s) 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 (0.288s) optimizer initialization complete (total: 0.575s) 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 5.5377990e+00 2.64e+00 3.06e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7747460e+00 2.56e-01 2.51e+00 -1.1 2.06e+00 0.0 6.55e-01 9.10e-01f 1 2 2.5550773e+00 3.37e-02 1.68e+00 -0.8 3.95e-01 0.4 1.00e+00 1.00e+00f 1 3 2.5044957e+00 4.40e-03 3.47e-01 -1.3 1.19e-01 -0.1 9.91e-01 1.00e+00h 1 4 2.3315617e+00 7.57e-03 5.84e-01 -1.9 2.56e-01 -0.5 9.94e-01 5.34e-01f 1 5 2.1746236e+00 2.54e-03 9.96e-02 -2.7 1.03e-01 -1.0 9.97e-01 7.59e-01h 1 6 2.1057608e+00 2.80e-03 1.10e-01 -4.0 2.65e-01 -1.5 1.00e+00 9.27e-01h 1 7 2.0927909e+00 1.16e-03 2.17e-01 -4.0 4.78e-01 -2.0 1.00e+00 7.05e-01h 1 8 2.0909403e+00 3.40e-04 3.67e-01 -4.0 1.32e-01 -2.4 1.00e+00 7.04e-01h 1 9 2.0908458e+00 4.48e-06 4.52e-03 -4.0 3.57e-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 2.0908485e+00 1.54e-07 1.61e-04 -4.0 5.08e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908335e+00 1.18e-08 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0907887e+00 7.91e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906544e+00 7.14e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902525e+00 6.46e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890556e+00 5.91e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855476e+00 5.58e-04 2.31e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796474e+00 2.28e-03 1.37e-01 -4.0 9.54e+01 -6.7 1.00e+00 6.24e-01h 1 18 2.0807156e+00 1.62e-04 1.80e-01 -4.0 6.56e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775400e+00 7.53e-03 2.43e-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 2.0769046e+00 1.12e-03 4.70e-02 -4.0 1.76e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0760249e+00 1.05e-03 2.38e-02 -4.0 3.07e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0754483e+00 5.09e-04 3.03e-02 -4.0 4.70e+02 -9.1 1.00e+00 7.22e-01H 1 23 2.0757787e+00 2.16e-03 1.11e-02 -4.0 1.41e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753831e+00 1.41e-03 4.96e-04 -4.1 7.80e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756722e+00 4.04e-04 6.69e-06 -4.0 1.85e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0753425e+00 6.36e-04 8.32e-07 -4.1 2.60e+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....: 1.4164404722574631e-02 1.4164404722574631e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.3095644031728799e-04 2.3095644031728799e-04 Overall NLP error.......: 4.4440948322914557e-02 4.4440948322914557e-02 Number of objective function evaluations = 103 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 103 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 34.731 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.065s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.065s) integrator 1 hessian structure: 0.048s 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: 0.114s) evaluator created (0.114s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.114s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 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 4.6758466e+00 3.24e+00 4.85e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7594472e+00 6.63e-02 2.02e+00 -1.1 2.02e+00 0.0 9.78e-01 9.99e-01h 1 2 2.5037639e+00 2.61e-02 8.31e-01 -1.1 1.74e-01 0.4 9.25e-01 6.17e-01h 1 3 2.3577247e+00 4.57e-03 4.51e-01 -1.7 1.87e-01 -0.1 9.85e-01 1.00e+00h 1 4 2.2762213e+00 1.38e-02 3.33e-01 -4.0 2.09e+00 -0.5 1.74e-01 7.05e-02f 1 5 2.1970381e+00 3.85e-04 1.97e-01 -3.0 3.33e-02 0.8 9.99e-01 9.77e-01h 1 6 2.1599226e+00 2.16e-04 1.68e-01 -4.0 6.29e-02 0.3 1.00e+00 5.16e-01h 1 7 2.0961676e+00 2.30e-03 3.37e-01 -4.0 2.55e-01 -0.2 1.00e+00 2.46e-01f 1 8 2.0953989e+00 2.26e-03 1.50e+00 -4.0 6.62e-02 -0.6 1.00e+00 1.52e-02h 1 9 2.0907154e+00 4.04e-04 2.24e-01 -4.0 9.28e-03 -1.1 1.00e+00 8.21e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909122e+00 3.58e-07 5.27e-03 -4.0 6.68e-03 -1.6 1.00e+00 1.00e+00h 1 11 2.0909367e+00 1.78e-08 1.21e-04 -4.0 1.40e-02 -2.1 1.00e+00 1.00e+00h 1 12 2.0909360e+00 3.05e-10 5.53e-05 -4.0 1.91e-02 -2.5 1.00e+00 1.00e+00h 1 13 2.0909339e+00 1.72e-10 2.06e-05 -4.0 2.14e-02 -3.0 1.00e+00 1.00e+00h 1 14 2.0909276e+00 1.55e-09 2.06e-05 -4.0 6.41e-02 -3.5 1.00e+00 1.00e+00h 1 15 2.0909087e+00 1.40e-08 2.06e-05 -4.0 1.92e-01 -4.0 1.00e+00 1.00e+00h 1 16 2.0908520e+00 1.26e-07 2.06e-05 -4.0 5.77e-01 -4.4 1.00e+00 1.00e+00h 1 17 2.0906820e+00 1.13e-06 2.06e-05 -4.0 1.73e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0901735e+00 1.03e-05 4.58e-05 -4.0 5.17e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0886625e+00 9.45e-05 4.07e-04 -4.0 1.54e+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 2.0842641e+00 9.02e-04 3.74e-03 -4.0 4.47e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0796415e+00 1.90e-03 2.32e-01 -4.0 1.11e+02 -6.8 1.00e+00 4.18e-01h 1 22 2.0792576e+00 2.12e-03 1.74e-01 -4.1 6.58e+01 -7.3 1.00e+00 7.89e-01H 1 23 2.0773640e+00 8.58e-03 3.52e-02 -4.0 1.30e+02 -7.8 1.00e+00 8.86e-01h 1 24 2.0767196e+00 2.13e-03 4.70e-02 -4.0 2.15e+02 -8.3 1.00e+00 1.00e+00h 1 25 2.0760373e+00 2.76e-03 2.82e-02 -4.0 3.59e+02 -8.7 1.00e+00 1.00e+00h 1 26 2.0755064e+00 1.66e-03 3.19e-02 -4.0 4.37e+02 -9.2 1.00e+00 6.30e-01h 1 27 2.0757279e+00 1.57e-03 9.49e-03 -4.0 1.28e+02 -9.7 1.00e+00 1.00e+00h 1 28 2.0756749e+00 1.12e-04 1.70e-04 -4.0 3.74e+01 -10.2 1.00e+00 1.00e+00h 1 29 2.0756713e+00 1.80e-06 4.28e-06 -4.0 2.18e+01 -10.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0756712e+00 2.31e-08 8.53e-07 -4.0 1.16e+01 -11.1 1.00e+00 1.00e+00h 1 31 2.0756712e+00 1.31e-09 5.23e-08 -4.0 3.34e+00 -11.6 1.00e+00 1.00e+00h 1 32 2.0756712e+00 1.48e-11 5.90e-10 -4.0 4.26e-01 -12.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 32 (scaled) (unscaled) Objective...............: 2.0756712121108265e+00 2.0756712121108265e+00 Dual infeasibility......: 5.8979650305909619e-10 5.8979650305909619e-10 Constraint violation....: 1.4801604386605050e-11 1.4801604386605050e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000052e-04 1.0000000000000052e-04 Overall NLP error.......: 5.8979650305909619e-10 5.8979650305909619e-10 Number of objective function evaluations = 34 Number of objective gradient evaluations = 33 Number of equality constraint evaluations = 34 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 33 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 32 Total seconds in IPOPT = 32.151 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 35m02.6s Testing DirectTrajOpt tests passed Testing completed after 1487.04s PkgEval succeeded after 2328.48s