Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.2028 (45a2de3f7a*) started at 2026-04-13T02:32:49.473 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 14.23s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Updating `~/.julia/environments/v1.14/Project.toml` [c823fa1f] + DirectTrajOpt v0.8.10 Updating `~/.julia/environments/v1.14/Manifest.toml` [47edcb42] + ADTypes v1.21.0 ⌃ [c29ec348] + AbstractDifferentiation v0.4.4 [7d9f7c33] + Accessors v0.1.44 [79e6a3ab] + Adapt v4.5.2 [4fba245c] + ArrayInterface v7.23.0 [4c555306] + ArrayLayouts v1.12.2 [6e4b80f9] + BenchmarkTools v1.7.0 [62783981] + BitTwiddlingConvenienceFunctions v0.1.6 [70df07ce] + BracketingNonlinearSolve v1.12.1 [2a0fbf3d] + CPUSummary v0.2.7 [d360d2e6] + ChainRulesCore v1.26.1 [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 v0.19.4 [2b5f629d] + DiffEqBase v6.215.0 [163ba53b] + DiffResults v1.1.0 [b552c78f] + DiffRules v1.15.1 [a0c0ee7d] + DifferentiationInterface v0.7.16 [c823fa1f] + DirectTrajOpt v0.8.10 [ffbed154] + DocStringExtensions v0.9.5 [4e289a0a] + EnumX v1.0.7 [f151be2c] + EnzymeCore v0.8.19 [e24c0720] + ExponentialAction v0.2.10 [e2ba6199] + ExprTools v0.1.10 [55351af7] + ExproniconLite v0.10.14 [7034ab61] + FastBroadcast v1.3.1 [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 v1.3.3 [069b7b12] + FunctionWrappers v1.1.3 [77dc65aa] + FunctionWrappersWrappers v1.4.0 [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 v0.6.4 [692b3bcd] + JLLWrappers v1.7.1 [682c06a0] + JSON v1.5.0 [ae98c720] + Jieko v0.2.1 [b964fa9f] + LaTeXStrings v1.4.0 [10f19ff3] + LayoutPointers v0.1.17 [5078a376] + LazyArrays v2.9.6 [2ab3a3ac] + LogExpFunctions v0.3.29 [e6f89c97] + LoggingExtras v1.2.0 [1914dd2f] + MacroTools v0.5.16 [d125e4d3] + ManualMemory v0.1.8 [b8f27783] + MathOptInterface v1.50.1 [bb5d69b7] + MaybeInplace v0.1.4 [2e0e35c7] + Moshi v0.3.7 [46d2c3a1] + MuladdMacro v0.2.4 [d8a4904e] + MutableArithmetics v1.7.1 [77ba4419] + NaNMath v1.1.3 [538bc3a1] + NamedTrajectories v0.8.4 [be0214bd] + NonlinearSolveBase v2.24.0 [510215fc] + Observables v0.5.5 [bac558e1] + OrderedCollections v1.8.1 [bbf590c4] + OrdinaryDiffEqCore v3.30.0 [b1df2697] + OrdinaryDiffEqTsit5 v1.12.0 [69de0a69] + Parsers v2.8.3 [f517fe37] + Polyester v0.7.19 [1d0040c9] + PolyesterWeave v0.2.2 [d236fae5] + PreallocationTools v1.2.0 [aea7be01] + PrecompileTools v1.3.3 [21216c6a] + Preferences v1.5.2 [3cdcf5f2] + RecipesBase v1.3.4 ⌅ [731186ca] + RecursiveArrayTools v3.54.0 [189a3867] + Reexport v1.2.2 [ae029012] + Requires v1.3.1 [7e49a35a] + RuntimeGeneratedFunctions v0.5.18 [94e857df] + SIMDTypes v0.1.0 ⌅ [0bca4576] + SciMLBase v2.155.0 [19f34311] + SciMLJacobianOperators v0.1.13 [a6db7da4] + SciMLLogging v1.9.1 [c0aeaf25] + SciMLOperators v1.16.0 [431bcebd] + SciMLPublic v1.0.1 [53ae85a6] + SciMLStructures v1.10.0 [7e506255] + ScopedValues v1.6.0 [efcf1570] + Setfield v1.1.2 [276daf66] + SpecialFunctions v2.7.2 [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 v1.1.5 [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+1 [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 v2026.3.19 [4536629a] + OpenBLAS_jll v0.3.30+0 [05823500] + OpenLibm_jll v0.8.7+0 [458c3c95] + OpenSSL_jll v3.5.6+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 v1.68.1+0 [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 6.46s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling project... 42438.2 ms ✓ DirectTrajOpt 1 dependency successfully precompiled in 46 seconds. 229 already precompiled. Precompilation completed after 74.84s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_4RnCNl/Project.toml` [c823fa1f] DirectTrajOpt v0.8.10 [e24c0720] ExponentialAction v0.2.10 [6a86dc24] FiniteDiff v2.29.0 [f6369f11] ForwardDiff v1.3.3 [b6b21f68] Ipopt v1.14.1 [5078a376] LazyArrays v2.9.6 [b8f27783] MathOptInterface v1.50.1 [538bc3a1] NamedTrajectories v0.8.4 [b1df2697] OrdinaryDiffEqTsit5 v1.12.0 [189a3867] Reexport v1.2.2 ⌅ [0bca4576] SciMLBase v2.155.0 [f8b46487] TestItemRunner v1.1.5 [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_4RnCNl/Manifest.toml` [47edcb42] ADTypes v1.21.0 ⌃ [c29ec348] AbstractDifferentiation v0.4.4 [7d9f7c33] Accessors v0.1.44 [79e6a3ab] Adapt v4.5.2 [4fba245c] ArrayInterface v7.23.0 [4c555306] ArrayLayouts v1.12.2 [6e4b80f9] BenchmarkTools v1.7.0 [62783981] BitTwiddlingConvenienceFunctions v0.1.6 [70df07ce] BracketingNonlinearSolve v1.12.1 [2a0fbf3d] CPUSummary v0.2.7 [d360d2e6] ChainRulesCore v1.26.1 [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 v0.19.4 [2b5f629d] DiffEqBase v6.215.0 [163ba53b] DiffResults v1.1.0 [b552c78f] DiffRules v1.15.1 [a0c0ee7d] DifferentiationInterface v0.7.16 [c823fa1f] DirectTrajOpt v0.8.10 [ffbed154] DocStringExtensions v0.9.5 [4e289a0a] EnumX v1.0.7 [f151be2c] EnzymeCore v0.8.19 [e24c0720] ExponentialAction v0.2.10 [e2ba6199] ExprTools v0.1.10 [55351af7] ExproniconLite v0.10.14 [7034ab61] FastBroadcast v1.3.1 [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 v1.3.3 [069b7b12] FunctionWrappers v1.1.3 [77dc65aa] FunctionWrappersWrappers v1.4.0 [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 v0.6.4 [692b3bcd] JLLWrappers v1.7.1 [682c06a0] JSON v1.5.0 [ae98c720] Jieko v0.2.1 [b964fa9f] LaTeXStrings v1.4.0 [10f19ff3] LayoutPointers v0.1.17 [5078a376] LazyArrays v2.9.6 [2ab3a3ac] LogExpFunctions v0.3.29 [e6f89c97] LoggingExtras v1.2.0 [1914dd2f] MacroTools v0.5.16 [d125e4d3] ManualMemory v0.1.8 [b8f27783] MathOptInterface v1.50.1 [bb5d69b7] MaybeInplace v0.1.4 [2e0e35c7] Moshi v0.3.7 [46d2c3a1] MuladdMacro v0.2.4 [d8a4904e] MutableArithmetics v1.7.1 [77ba4419] NaNMath v1.1.3 [538bc3a1] NamedTrajectories v0.8.4 [be0214bd] NonlinearSolveBase v2.24.0 [510215fc] Observables v0.5.5 [bac558e1] OrderedCollections v1.8.1 [bbf590c4] OrdinaryDiffEqCore v3.30.0 [b1df2697] OrdinaryDiffEqTsit5 v1.12.0 [69de0a69] Parsers v2.8.3 [f517fe37] Polyester v0.7.19 [1d0040c9] PolyesterWeave v0.2.2 [d236fae5] PreallocationTools v1.2.0 [aea7be01] PrecompileTools v1.3.3 [21216c6a] Preferences v1.5.2 [3cdcf5f2] RecipesBase v1.3.4 ⌅ [731186ca] RecursiveArrayTools v3.54.0 [189a3867] Reexport v1.2.2 [ae029012] Requires v1.3.1 [7e49a35a] RuntimeGeneratedFunctions v0.5.18 [94e857df] SIMDTypes v0.1.0 ⌅ [0bca4576] SciMLBase v2.155.0 [19f34311] SciMLJacobianOperators v0.1.13 [a6db7da4] SciMLLogging v1.9.1 [c0aeaf25] SciMLOperators v1.16.0 [431bcebd] SciMLPublic v1.0.1 [53ae85a6] SciMLStructures v1.10.0 [7e506255] ScopedValues v1.6.0 [efcf1570] Setfield v1.1.2 [276daf66] SpecialFunctions v2.7.2 [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 v1.1.5 [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+1 [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 v2026.3.19 [4536629a] OpenBLAS_jll v0.3.30+0 [05823500] OpenLibm_jll v0.8.7+0 [458c3c95] OpenSSL_jll v3.5.6+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 v1.68.1+0 [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: 1.802s integrator 2 jacobian structure: 0.051s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 5.181s jacobian structure: 1600 nonzeros (7.097s) integrator 1 hessian structure: 0.043s integrator 2 hessian structure: 0.042s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.014s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 1.995s sub-objective 2 (QuadraticRegularizer): 1.334s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.016s objective hessian structure: 3.472s hessian structure: 1749 nonzeros (7.573s) linear index maps built (0.0s) evaluator ready (total: 15.126s) evaluator created (19.149s) NL constraint bounds extracted (0.19s) NLP block data built (0.0s) Ipopt optimizer configured (0.346s) variables set (0.735s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (2.904s) optimizer initialization complete (total: 23.339s) Hello, world! ****************************************************************************** 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 4.3755798e+00 2.08e+00 6.09e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.6095095e+00 6.94e-02 1.92e+00 -1.1 1.92e+00 0.0 9.84e-01 1.00e+00f 1 Hello, world! 2 2.6448831e+00 6.19e-02 2.89e+00 -0.9 1.80e+00 -0.5 1.00e+00 2.75e-01h 1 Hello, world! 3 2.4196116e+00 1.19e-02 1.59e-01 -1.3 1.26e-01 -0.1 9.90e-01 1.00e+00f 1 Hello, world! 4 2.1574197e+00 1.54e-03 3.10e-02 -2.3 5.11e-02 -0.5 9.97e-01 1.00e+00h 1 Hello, world! 5 2.0934728e+00 2.51e-04 6.62e-03 -3.9 2.68e-02 -1.0 9.83e-01 9.65e-01h 1 Hello, world! 6 2.0908653e+00 7.26e-06 1.62e-03 -4.0 6.82e-03 -1.5 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0908669e+00 4.51e-09 1.57e-05 -4.0 1.43e-03 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908667e+00 1.56e-11 1.56e-05 -4.0 4.26e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908659e+00 6.08e-11 1.55e-05 -4.0 1.27e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908630e+00 4.73e-10 1.54e-05 -4.0 3.80e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908545e+00 4.05e-09 1.53e-05 -4.0 1.13e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908297e+00 3.36e-08 2.54e-05 -4.0 3.30e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0907570e+00 2.90e-07 1.02e-04 -4.0 9.54e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0905234e+00 2.55e-06 4.50e-04 -4.0 2.86e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0904343e+00 2.48e-06 2.00e-02 -4.0 5.66e+01 -5.8 1.56e-01 1.97e-02h 2 Hello, world! 16 2.0885823e+00 1.71e-04 6.51e-03 -4.0 2.35e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0878210e+00 1.74e-04 2.14e-01 -4.0 8.01e+01 -6.7 1.00e+00 1.01e-01h 1 Hello, world! 18 2.0829458e+00 2.66e-03 1.25e-01 -4.0 8.92e+01 -7.2 1.00e+00 8.90e-01h 1 Hello, world! 19 2.0830827e+00 3.77e-03 5.56e-02 -4.0 1.41e+02 -7.7 7.46e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0831536e+00 3.78e-04 6.97e-03 -4.0 1.52e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0827841e+00 3.37e-05 1.44e-03 -4.0 3.62e+00 -5.9 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0824540e+00 1.79e-05 1.54e-03 -4.0 7.11e+00 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0823443e+00 2.51e-05 8.49e-04 -4.0 2.23e+01 -6.9 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0916683e+00 3.44e-05 2.26e-01 -4.0 1.60e+02 -7.4 2.03e-01 1.00e+00H 1 Hello, world! 25 2.0838201e+00 2.66e-03 5.13e+00 -4.1 3.67e+01 -4.2 8.05e-03 6.11e-02f 1 Hello, world! 26 2.0827576e+00 1.91e-03 3.69e+00 -4.1 2.05e+00 -2.9 1.00e+00 2.88e-01f 1 Hello, world! 27 2.0829196e+00 1.39e-03 3.27e+00 -4.1 5.41e-01 -3.4 1.00e+00 2.74e-01f 2 Hello, world! 28 2.0826881e+00 1.08e-05 2.83e-03 -4.1 1.61e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0828650e+00 3.66e-06 6.87e-05 -4.0 1.48e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0828332e+00 4.03e-07 1.38e-05 -4.0 4.31e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0827633e+00 1.16e-06 7.87e-05 -4.0 1.21e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0826165e+00 6.50e-06 4.27e-04 -4.0 3.06e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0824414e+00 1.73e-05 1.06e-03 -4.0 7.75e+00 -6.2 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0822629e+00 1.63e-05 1.52e-03 -4.0 1.99e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0819686e+00 1.44e-04 5.50e-03 -4.0 5.12e+01 -7.2 6.71e-01 1.00e+00h 1 Hello, world! 36 2.0821842e+00 1.34e-04 7.37e-01 -4.0 3.24e+01 -5.9 5.02e-01 1.32e-01h 2 Hello, world! 37 2.0819570e+00 1.25e-04 6.31e-01 -4.1 1.53e+00 -2.7 1.44e-01 6.16e-02h 1 Hello, world! 38 2.0829863e+00 5.58e-05 1.53e+00 -4.0 4.57e-01 -3.2 3.53e-01 4.51e-01f 2 Hello, world! 39 2.0824343e+00 4.75e-05 4.34e+00 -4.0 8.49e-01 -1.9 5.04e-01 1.52e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0821376e+00 5.22e-06 2.62e-03 -4.0 7.64e-02 -1.4 1.00e+00 1.00e+00f 1 Hello, world! 41 2.0819342e+00 3.15e-06 5.49e-02 -4.0 1.24e-01 -1.9 1.00e+00 8.62e-01h 1 Hello, world! 42 2.0821954e+00 5.88e-07 9.77e-04 -4.0 6.30e-02 -2.4 1.00e+00 1.00e+00f 1 Hello, world! 43 2.0820642e+00 2.52e-06 1.82e-03 -4.0 8.57e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 44 2.0820623e+00 1.15e-06 3.25e-04 -4.0 4.30e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0820574e+00 1.02e-06 2.62e-05 -4.0 8.17e-02 -3.8 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0820427e+00 7.68e-07 3.27e-05 -4.0 2.22e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0820122e+00 3.54e-06 1.36e-04 -4.0 4.63e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0818500e+00 1.42e-05 2.30e-04 -4.1 5.44e-01 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0820037e+00 1.88e-05 2.50e-04 -4.0 8.37e-01 -5.7 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 50 2.0818361e+00 2.28e-05 4.33e-04 -4.1 1.81e+00 -6.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0818361366357148e+00 2.0818361366357148e+00 Dual infeasibility......: 4.3258181569747373e-04 4.3258181569747373e-04 Constraint violation....: 2.2785058809704495e-05 2.2785058809704495e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.1035311601715567e-05 8.1035311601715567e-05 Overall NLP error.......: 4.3258181569747373e-04 4.3258181569747373e-04 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 = 74.530 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.002s) 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 4.3755798e+00 2.08e+00 6.09e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.6095095e+00 6.94e-02 1.92e+00 -1.1 1.92e+00 0.0 9.84e-01 1.00e+00f 1 Hello, world! 2 2.6448831e+00 6.19e-02 2.89e+00 -0.9 1.80e+00 -0.5 1.00e+00 2.75e-01h 1 Hello, world! 3 2.4196116e+00 1.19e-02 1.59e-01 -1.3 1.26e-01 -0.1 9.90e-01 1.00e+00f 1 Hello, world! 4 2.1574197e+00 1.54e-03 3.10e-02 -2.3 5.11e-02 -0.5 9.97e-01 1.00e+00h 1 Hello, world! 5 2.0934728e+00 2.51e-04 6.62e-03 -3.9 2.68e-02 -1.0 9.83e-01 9.65e-01h 1 Hello, world! 6 2.0908653e+00 7.26e-06 1.62e-03 -4.0 6.82e-03 -1.5 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0908669e+00 4.51e-09 1.57e-05 -4.0 1.43e-03 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908667e+00 1.56e-11 1.56e-05 -4.0 4.26e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908659e+00 6.08e-11 1.55e-05 -4.0 1.27e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908630e+00 4.73e-10 1.54e-05 -4.0 3.80e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908545e+00 4.05e-09 1.53e-05 -4.0 1.13e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908297e+00 3.36e-08 2.54e-05 -4.0 3.30e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0907570e+00 2.90e-07 1.02e-04 -4.0 9.54e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0905234e+00 2.55e-06 4.50e-04 -4.0 2.86e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0904343e+00 2.48e-06 2.00e-02 -4.0 5.66e+01 -5.8 1.56e-01 1.97e-02h 2 Hello, world! 16 2.0885823e+00 1.71e-04 6.51e-03 -4.0 2.35e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0878210e+00 1.74e-04 2.14e-01 -4.0 8.01e+01 -6.7 1.00e+00 1.01e-01h 1 Hello, world! 18 2.0829458e+00 2.66e-03 1.25e-01 -4.0 8.92e+01 -7.2 1.00e+00 8.90e-01h 1 Hello, world! 19 2.0830827e+00 3.77e-03 5.56e-02 -4.0 1.41e+02 -7.7 7.46e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0831536e+00 3.78e-04 6.97e-03 -4.0 1.52e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0827841e+00 3.37e-05 1.44e-03 -4.0 3.62e+00 -5.9 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0824540e+00 1.79e-05 1.54e-03 -4.0 7.11e+00 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0823443e+00 2.51e-05 8.49e-04 -4.0 2.23e+01 -6.9 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0916683e+00 3.44e-05 2.26e-01 -4.0 1.60e+02 -7.4 2.03e-01 1.00e+00H 1 Hello, world! 25 2.0838201e+00 2.66e-03 5.13e+00 -4.1 3.67e+01 -4.2 8.05e-03 6.11e-02f 1 Hello, world! 26 2.0827576e+00 1.91e-03 3.69e+00 -4.1 2.05e+00 -2.9 1.00e+00 2.88e-01f 1 Hello, world! 27 2.0829196e+00 1.39e-03 3.27e+00 -4.1 5.41e-01 -3.4 1.00e+00 2.74e-01f 2 Hello, world! 28 2.0826881e+00 1.08e-05 2.83e-03 -4.1 1.61e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0828650e+00 3.66e-06 6.87e-05 -4.0 1.48e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0828332e+00 4.03e-07 1.38e-05 -4.0 4.31e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0827633e+00 1.16e-06 7.87e-05 -4.0 1.21e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0826165e+00 6.50e-06 4.27e-04 -4.0 3.06e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0824414e+00 1.73e-05 1.06e-03 -4.0 7.75e+00 -6.2 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0822629e+00 1.63e-05 1.52e-03 -4.0 1.99e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0819686e+00 1.44e-04 5.50e-03 -4.0 5.12e+01 -7.2 6.71e-01 1.00e+00h 1 Hello, world! 36 2.0821842e+00 1.34e-04 7.37e-01 -4.0 3.24e+01 -5.9 5.02e-01 1.32e-01h 2 Hello, world! 37 2.0819570e+00 1.25e-04 6.31e-01 -4.1 1.53e+00 -2.7 1.44e-01 6.16e-02h 1 Hello, world! 38 2.0829863e+00 5.58e-05 1.53e+00 -4.0 4.57e-01 -3.2 3.53e-01 4.51e-01f 2 Hello, world! 39 2.0824343e+00 4.75e-05 4.34e+00 -4.0 8.49e-01 -1.9 5.04e-01 1.52e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0821376e+00 5.22e-06 2.62e-03 -4.0 7.64e-02 -1.4 1.00e+00 1.00e+00f 1 Hello, world! 41 2.0819342e+00 3.15e-06 5.49e-02 -4.0 1.24e-01 -1.9 1.00e+00 8.62e-01h 1 Hello, world! 42 2.0821954e+00 5.88e-07 9.77e-04 -4.0 6.30e-02 -2.4 1.00e+00 1.00e+00f 1 Hello, world! 43 2.0820642e+00 2.52e-06 1.82e-03 -4.0 8.57e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 44 2.0820623e+00 1.15e-06 3.25e-04 -4.0 4.30e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0820574e+00 1.02e-06 2.62e-05 -4.0 8.17e-02 -3.8 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0820427e+00 7.68e-07 3.27e-05 -4.0 2.22e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0820122e+00 3.54e-06 1.36e-04 -4.0 4.63e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0818500e+00 1.42e-05 2.30e-04 -4.1 5.44e-01 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0820037e+00 1.88e-05 2.50e-04 -4.0 8.37e-01 -5.7 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 50 2.0818361e+00 2.28e-05 4.33e-04 -4.1 1.81e+00 -6.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0818361366357148e+00 2.0818361366357148e+00 Dual infeasibility......: 4.3258181569747373e-04 4.3258181569747373e-04 Constraint violation....: 2.2785058809704495e-05 2.2785058809704495e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.1035311601715567e-05 8.1035311601715567e-05 Overall NLP error.......: 4.3258181569747373e-04 4.3258181569747373e-04 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 = 1.625 EXIT: Stopping optimization at current point as requested by user. [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! initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.073s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.073s) integrator 1 hessian structure: 0.064s 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 (0.065s) linear index maps built (0.0s) evaluator ready (total: 0.138s) evaluator created (0.154s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: duration constraint of 4.0 applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.72s) optimizer initialization complete (total: 0.874s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1529 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 73 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.3746955e+00 4.05e+00 9.34e-02 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.1310247e+00 2.72e+00 2.89e+00 -0.4 1.25e+01 -2.0 3.01e-01 3.53e-01f 1 2 1.7068470e+00 2.91e+00 1.05e+01 -0.9 9.38e+00 -1.6 1.87e-01 6.80e-01h 1 3 1.9461641e+00 1.89e+00 6.03e+00 -0.3 1.13e+01 -1.1 6.19e-01 3.82e-01f 1 4 1.9468228e+00 6.13e-01 3.64e+00 -0.8 5.74e+00 -1.6 7.63e-01 6.97e-01f 1 5 1.8654946e+00 1.01e-01 1.46e+00 -1.4 1.62e+00 -2.1 7.53e-01 1.00e+00h 1 6 1.6034280e+00 6.94e-02 6.00e-01 -1.9 2.30e+00 -2.6 9.13e-01 6.44e-01h 1 7 1.5995632e+00 6.48e-02 1.27e+00 -1.4 2.73e+00 -3.1 6.80e-01 6.89e-02h 1 8 1.4355779e+00 7.07e-03 2.10e-02 -1.7 5.11e-01 -3.5 9.81e-01 1.00e+00f 1 9 1.2807644e+00 1.93e-02 1.17e-01 -4.0 2.93e-01 -4.0 5.93e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.1889693e+00 3.96e-01 6.33e-02 -2.8 1.40e+00 -4.5 9.97e-01 1.00e+00h 1 11 1.1770072e+00 7.75e-01 9.14e-02 -3.1 2.46e+01 -5.0 1.00e+00 1.00e+00H 1 12 1.1640904e+00 6.81e-01 2.13e-01 -4.0 3.00e+01 -5.4 1.00e+00 1.00e+00h 1 13 1.1680068e+00 9.57e-02 1.12e-01 -4.0 2.35e+01 -5.9 1.00e+00 1.00e+00h 1 14 1.1619019e+00 6.19e-01 1.06e-01 -4.0 3.96e+01 -6.4 1.00e+00 1.00e+00h 1 15 1.1642375e+00 1.33e-02 4.89e-02 -4.0 4.43e+01 -6.9 1.00e+00 1.00e+00h 1 16 1.1615681e+00 4.92e-01 5.47e-02 -4.0 7.33e+01 -7.4 1.00e+00 1.00e+00h 1 17 1.1619450e+00 2.08e-01 1.12e-02 -4.0 9.34e+01 -7.8 1.00e+00 1.00e+00h 1 18 1.1606618e+00 5.32e-01 4.52e-02 -4.0 1.48e+02 -8.3 1.00e+00 1.00e+00h 1 19 1.1607437e+00 3.22e-01 7.32e-03 -4.0 1.83e+02 -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 1.1604611e+00 3.17e-01 1.84e-02 -4.0 2.07e+02 -9.3 1.00e+00 1.00e+00h 1 21 1.1608701e+00 2.07e-03 8.01e-05 -4.0 9.00e+00 -9.7 1.00e+00 1.00e+00h 1 22 1.1608481e+00 1.55e-03 1.80e-04 -4.0 1.56e+01 -10.2 1.00e+00 1.00e+00h 1 23 1.1608491e+00 2.25e-06 3.10e-08 -4.0 7.25e-01 -10.7 1.00e+00 1.00e+00h 1 24 1.1608491e+00 7.00e-11 8.49e-12 -4.0 3.53e-03 -11.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 24 (scaled) (unscaled) Objective...............: 1.1608491307866626e+00 1.1608491307866626e+00 Dual infeasibility......: 8.4921231830424604e-12 8.4921231830424604e-12 Constraint violation....: 6.9956485049260664e-11 6.9956485049260664e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000472e-04 1.0000000000000472e-04 Overall NLP error.......: 6.9956485049260664e-11 6.9956485049260664e-11 Number of objective function evaluations = 26 Number of objective gradient evaluations = 25 Number of equality constraint evaluations = 26 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 25 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 24 Total seconds in IPOPT = 27.016 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.059s jacobian structure: 180 nonzeros (0.102s) integrator 1 hessian structure: 0.053s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.341s sub-objective 2 (QuadraticRegularizer): 0.089s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.017s objective hessian structure: 0.543s hessian structure: 375 nonzeros (0.596s) linear index maps built (0.0s) evaluator ready (total: 0.821s) evaluator created (0.821s) NL constraint bounds extracted (0.011s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.118s) applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.659s) optimizer initialization complete (total: 3.611s) 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 9.7710494e-01 7.31e-01 1.04e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6149540e+00 1.44e-01 1.74e+00 -0.9 7.89e-01 0.0 9.88e-01 1.00e+00h 1 2 1.5477180e+00 1.28e-01 3.66e+00 -0.4 3.57e+01 - 3.75e-01 5.19e-02f 2 3 1.5171276e+00 6.25e-02 7.22e-01 -1.0 4.61e+00 - 9.76e-01 5.00e-01h 2 4 1.1600476e+00 1.14e-01 1.54e+00 -1.9 8.03e+00 - 7.37e-01 5.22e-01h 1 5 1.5955450e+00 9.23e-02 3.23e+00 -1.2 3.37e-01 -0.5 1.00e+00 1.00e+00h 1 6 1.1682731e+00 1.91e-02 7.55e-01 -1.7 3.05e-01 -1.0 9.98e-01 8.00e-01f 1 7 1.1196209e+00 2.35e-03 3.30e-01 -2.5 1.14e+01 - 1.00e+00 8.39e-01h 1 8 1.0985281e+00 2.90e-04 3.78e-01 -3.3 6.23e+00 - 1.00e+00 8.38e-01h 1 9 1.0917385e+00 9.52e-06 2.91e-02 -3.7 1.61e+00 - 1.00e+00 9.98e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0910329e+00 1.28e-09 9.55e-04 -4.0 2.94e-01 - 1.00e+00 1.00e+00h 1 11 1.0910386e+00 1.26e-14 4.23e-05 -4.0 7.24e-03 - 1.00e+00 1.00e+00h 1 12 1.0910386e+00 1.53e-23 4.21e-05 -4.0 1.59e-06 - 1.00e+00 1.00e+00h 1 13 1.0910386e+00 3.40e-25 3.60e-16 -4.0 5.06e-13 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 13 (scaled) (unscaled) Objective...............: 1.0910385779862031e+00 1.0910385779862031e+00 Dual infeasibility......: 3.6000933137381175e-16 3.6000933137381175e-16 Constraint violation....: 3.3982823436408415e-25 3.3982823436408415e-25 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000000e-04 1.0000000000000000e-04 Overall NLP error.......: 3.6000933137381175e-16 3.6000933137381175e-16 Number of objective function evaluations = 19 Number of objective gradient evaluations = 14 Number of equality constraint evaluations = 19 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 14 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 13 Total seconds in IPOPT = 24.254 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.055s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.056s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.049s) linear index maps built (0.0s) evaluator ready (total: 0.105s) evaluator created (0.106s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.106s) 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 3.2898468e+00 3.98e+00 5.87e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.6708156e+00 3.93e+00 5.82e+01 1.2 5.06e+01 0.0 6.42e-02 1.27e-02h 1 2 3.2823589e+00 5.64e-02 1.21e+01 -0.2 2.43e+00 -0.5 9.96e-01 1.00e+00f 1 3 3.1126409e+00 1.51e-02 8.54e-01 -0.7 1.46e-01 -0.1 9.71e-01 1.00e+00h 1 4 2.6909580e+00 1.59e-02 3.09e-01 -1.6 2.02e-01 -0.5 8.94e-01 1.00e+00f 1 5 2.2452018e+00 1.36e-02 9.56e-02 -1.9 2.08e-01 -1.0 9.90e-01 9.21e-01f 1 6 2.1139453e+00 3.16e-03 4.62e-02 -2.8 1.32e-01 -1.5 9.31e-01 8.33e-01h 1 7 2.0918715e+00 3.66e-05 2.29e-03 -3.8 9.03e-03 -2.0 9.95e-01 1.00e+00h 1 8 2.0908842e+00 8.73e-07 3.26e-05 -4.0 5.63e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908811e+00 5.17e-09 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908761e+00 9.64e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908611e+00 8.70e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908163e+00 7.83e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906820e+00 7.06e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902800e+00 6.39e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890829e+00 5.85e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855739e+00 5.52e-04 2.31e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796252e+00 2.28e-03 1.36e-01 -4.0 9.55e+01 -6.7 1.00e+00 6.28e-01h 1 18 2.0806812e+00 1.29e-04 1.71e-01 -4.0 6.84e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775207e+00 6.95e-03 2.25e-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 2.0769845e+00 1.29e-03 5.44e-02 -4.0 2.04e+02 -8.2 9.98e-01 1.00e+00h 1 21 2.0763001e+00 1.29e-03 3.41e-02 -4.0 3.50e+02 -8.6 1.00e+00 6.57e-01h 1 22 2.0755322e+00 3.36e-03 3.30e-02 -4.0 6.17e+02 -9.1 1.00e+00 7.53e-01h 1 23 2.0758059e+00 3.42e-03 1.82e-02 -4.0 1.84e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0756807e+00 5.46e-04 9.05e-04 -4.0 9.83e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.73e-06 1.46e-05 -4.0 2.29e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 8.78e-08 1.28e-06 -4.0 1.40e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.65e-09 1.11e-07 -4.0 4.67e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.79e-11 1.87e-09 -4.0 7.44e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121651542e+00 2.0756712121651542e+00 Dual infeasibility......: 1.8687347907444477e-09 1.8687347907444477e-09 Constraint violation....: 4.7852277695881185e-11 4.7852277695881185e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000036e-04 1.0000000000000036e-04 Overall NLP error.......: 1.8687347907444477e-09 1.8687347907444477e-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 = 23.760 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.061s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.054s) linear index maps built (0.0s) evaluator ready (total: 0.116s) evaluator created (0.116s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.16s) optimizer initialization complete (total: 0.276s) 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 3.5027671e+00 4.29e+00 6.12e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8057960e+00 5.73e-02 3.10e+00 -1.0 2.46e+00 0.0 9.71e-01 1.00e+00f 1 2 2.5695861e+00 5.63e-03 4.03e-01 -1.2 1.10e-01 0.4 9.94e-01 1.00e+00h 1 3 2.3265337e+00 2.60e-03 1.40e-01 -2.0 1.57e-01 -0.1 9.69e-01 1.00e+00h 1 4 2.1428637e+00 3.03e-03 3.90e-01 -2.8 2.44e-01 -0.5 9.96e-01 5.30e-01f 1 5 2.1067524e+00 7.52e-04 2.32e-01 -3.6 6.89e-02 -1.0 1.00e+00 7.52e-01h 1 6 2.0921120e+00 3.00e-04 4.74e-02 -4.0 1.93e-01 -1.5 1.00e+00 9.46e-01h 1 7 2.0909632e+00 1.19e-04 2.90e-01 -4.0 1.02e-01 -2.0 1.00e+00 6.18e-01h 1 8 2.0908880e+00 2.50e-06 8.00e-03 -4.0 2.23e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908814e+00 2.63e-07 7.90e-05 -4.0 1.70e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908766e+00 1.21e-08 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908617e+00 8.79e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908168e+00 7.90e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906825e+00 7.12e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902805e+00 6.45e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890834e+00 5.90e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855746e+00 5.57e-04 2.31e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796373e+00 2.30e-03 1.37e-01 -4.0 9.55e+01 -6.7 1.00e+00 6.27e-01h 1 18 2.0807253e+00 1.58e-04 1.81e-01 -4.0 6.58e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775345e+00 7.40e-03 2.45e-02 -4.0 1.19e+02 -7.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0769148e+00 1.13e-03 4.60e-02 -4.0 1.76e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0760189e+00 9.63e-04 2.35e-02 -4.0 3.08e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0754507e+00 5.05e-04 2.95e-02 -4.0 4.66e+02 -9.1 1.00e+00 7.19e-01H 1 23 2.0757751e+00 2.05e-03 1.14e-02 -4.0 1.41e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753817e+00 1.43e-03 5.06e-04 -4.1 7.78e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756722e+00 4.05e-04 7.00e-06 -4.0 1.85e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0753425e+00 6.38e-04 8.40e-07 -4.1 2.61e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756725e+00 3.34e-04 8.13e-07 -4.0 1.36e+01 -11.5 1.00e+00 1.00e+00h 1 28 2.0753425e+00 5.01e-04 2.61e-07 -4.1 2.05e+01 -12.0 1.00e+00 1.00e+00h 1 29 2.0756725e+00 5.53e-04 1.18e-07 -4.0 2.26e+01 -12.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0753425e+00 5.53e-04 9.06e-08 -4.1 2.26e+01 -12.9 1.00e+00 1.00e+00h 1 31 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -13.4 9.28e-01 1.00e+00h 1 32 2.0757517e+00 1.59e-01 1.53e-04 -4.0 1.29e+03 -13.9 1.00e+00 1.00e+00h 1 33 2.0753574e+00 2.64e-02 8.69e-05 -4.1 1.05e+03 -14.4 1.00e+00 1.00e+00h 1 34 2.0753474e+00 1.15e-05 2.14e-06 -4.1 1.63e+02 -14.8 1.00e+00 1.00e+00h 1 35 2.0756726e+00 7.25e-04 1.64e-07 -4.0 3.02e+01 -15.3 1.00e+00 1.00e+00h 1 36 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -15.8 1.00e+00 1.00e+00h 1 37 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -16.3 9.28e-01 1.00e+00h 1 38 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -16.8 8.16e-01 1.00e+00h 1 39 2.0742914e+00 4.02e-02 1.95e-02 -4.0 1.50e+04 -17.2 1.00e+00 1.46e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0748877e+00 5.32e-02 4.44e-05 -4.3 1.16e+03 -17.7 1.00e+00 1.00e+00h 1 41 2.0748919e+00 7.80e-04 1.27e-05 -4.3 8.19e+02 -18.2 1.00e+00 1.00e+00h 1 42 2.0756799e+00 8.81e-03 2.72e-06 -4.0 1.52e+02 -18.7 1.00e+00 1.00e+00h 1 43 2.0753438e+00 1.84e-03 6.19e-07 -4.1 7.48e+01 -19.1 1.00e+00 1.00e+00h 1 44 2.0753420e+00 1.03e-06 2.13e-08 -4.1 1.76e+01 -19.6 1.00e+00 1.00e+00h 1 45 2.0756726e+00 7.23e-04 1.61e-07 -4.0 2.96e+01 -20.0 1.00e+00 1.00e+00h 1 46 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -20.0 1.00e+00 1.00e+00h 1 47 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 48 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -20.0 8.16e-01 1.00e+00h 1 49 2.0739622e+00 1.34e-06 1.83e-05 -6.1 8.40e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0741067e+00 2.44e-02 3.22e-02 -4.0 5.48e+04 -20.0 1.00e+00 5.98e-02f 1 51 2.0748071e+00 7.96e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 52 2.0748241e+00 9.52e-04 1.02e-05 -4.3 6.22e+02 -20.0 1.00e+00 1.00e+00h 1 53 2.0748237e+00 1.04e-07 2.35e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 54 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 55 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 56 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 57 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 58 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 59 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0741065e+00 2.43e-02 3.23e-02 -4.0 5.49e+04 -20.0 1.00e+00 5.97e-02f 1 61 2.0748071e+00 7.95e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 62 2.0748240e+00 9.52e-04 1.02e-05 -4.3 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 63 2.0748236e+00 1.04e-07 2.36e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 64 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 65 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 66 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 68 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 69 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0739617e+00 2.11e-08 1.94e-06 -6.1 2.49e+02 -20.0 1.00e+00 1.00e+00h 1 71 2.0740871e+00 2.06e-02 3.56e-02 -4.0 6.55e+04 -20.0 1.00e+00 5.03e-02f 1 72 2.0748016e+00 7.32e-02 4.77e-05 -4.3 1.41e+03 -20.0 1.00e+00 1.00e+00f 1 73 2.0748204e+00 9.23e-04 8.08e-06 -4.3 5.36e+02 -20.0 1.00e+00 1.00e+00h 1 74 2.0748200e+00 1.25e-07 3.57e-07 -4.3 7.03e+01 -20.0 1.00e+00 1.00e+00h 1 75 2.0740036e+00 1.08e-02 5.23e-04 -6.5 1.81e+02 -20.0 8.93e-01 1.00e+00f 1 76 2.0739632e+00 2.51e-04 3.38e-04 -6.5 7.34e+02 -20.0 7.62e-01 1.00e+00h 1 77 2.0739539e+00 4.81e-07 1.83e-05 -6.5 9.12e+02 -20.0 1.00e+00 1.00e+00h 1 78 2.0740681e+00 1.80e-02 3.75e-02 -4.0 7.10e+04 -20.0 1.00e+00 4.51e-02f 1 79 2.0747866e+00 7.58e-02 5.27e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0748068e+00 8.84e-04 6.22e-06 -4.3 4.91e+02 -20.0 1.00e+00 1.00e+00h 1 81 2.0748064e+00 1.21e-07 3.63e-07 -4.3 6.91e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 83 2.0739630e+00 2.41e-04 3.38e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 84 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 85 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 86 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 87 2.0748064e+00 8.81e-04 6.11e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 88 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0739630e+00 2.40e-04 3.37e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 91 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 92 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 93 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 94 2.0748064e+00 8.81e-04 6.10e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 95 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 97 2.0739630e+00 2.40e-04 3.37e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 98 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 99 2.0739527e+00 5.48e-08 5.24e-06 -6.5 3.94e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0740476e+00 1.42e-02 4.44e-02 -4.0 9.26e+04 -20.0 1.00e+00 3.50e-02f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0740476226011366e+00 2.0740476226011366e+00 Dual infeasibility......: 4.4440948322914557e-02 4.4440948322914557e-02 Constraint violation....: 1.4164404722581736e-02 1.4164404722581736e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.3095644031728788e-04 2.3095644031728788e-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 = 25.341 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.059s integrator 2 jacobian structure: 0.055s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.114s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.051s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.354s sub-objective 2 (QuadraticRegularizer): 0.092s sub-objective 3 (MinimumTimeObjective): 0.018s objective hessian structure: 0.561s hessian structure: 1749 nonzeros (0.666s) linear index maps built (0.0s) evaluator ready (total: 0.78s) evaluator created (0.78s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.12s) 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 (4.474s) optimizer initialization complete (total: 5.374s) 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 2.2207247e+00 2.88e+00 4.74e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.0247170e+00 4.58e-01 2.77e+00 -0.9 1.86e+00 0.0 1.00e+00 8.43e-01f 1 2 3.4331072e+00 8.69e-02 9.98e-01 -0.7 7.37e-01 -0.5 1.00e+00 1.00e+00f 1 3 2.7346541e+00 3.29e-02 4.58e-01 -1.4 3.03e-01 -1.0 7.53e-01 1.00e+00h 1 4 2.3600889e+00 5.64e-02 1.18e-01 -1.5 5.31e-01 -1.4 9.15e-01 8.04e-01h 1 5 2.1952632e+00 1.45e-02 1.08e-01 -2.1 4.34e-01 -1.9 8.38e-01 8.08e-01h 1 6 2.1095985e+00 7.79e-03 7.13e-02 -3.0 4.21e-01 -2.4 9.46e-01 8.58e-01h 1 7 2.0909560e+00 1.78e-04 4.68e-03 -4.0 5.23e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908879e+00 2.70e-06 9.61e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908741e+00 2.54e-08 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 2.0908343e+00 6.18e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907148e+00 5.57e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903573e+00 5.04e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892918e+00 4.60e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861599e+00 4.32e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796182e+00 2.51e-03 8.64e-02 -4.0 8.73e+01 -6.7 1.00e+00 7.58e-01h 1 16 2.0812517e+00 1.53e-04 1.95e-01 -4.0 6.83e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778278e+00 5.89e-03 2.77e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781761e+00 1.54e-02 4.79e-02 -3.7 1.53e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767371e+00 1.27e-02 1.94e-02 -3.8 2.93e+02 -8.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0759034e+00 9.30e-03 2.14e-02 -3.9 4.23e+02 -9.1 1.00e+00 9.90e-01h 1 21 2.0757638e+00 6.61e-03 8.58e-03 -4.0 1.41e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756766e+00 3.89e-04 3.91e-04 -4.0 6.07e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 8.55e-07 6.42e-06 -4.0 2.34e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 4.12e-08 1.54e-06 -4.0 1.53e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.69e-09 1.56e-07 -4.0 5.38e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 8.19e-11 3.18e-09 -4.0 9.50e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122097758e+00 2.0756712122097758e+00 Dual infeasibility......: 3.1839150342095630e-09 3.1839150342095630e-09 Constraint violation....: 8.1870288326513219e-11 8.1870288326513219e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000037e-04 1.0000000000000037e-04 Overall NLP error.......: 3.1839150342095630e-09 3.1839150342095630e-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 = 34.827 EXIT: Optimal Solution Found. Difference in Jacobian [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! initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.06s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.052s) linear index maps built (0.0s) evaluator ready (total: 0.113s) evaluator created (0.113s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.127s) optimizer initialization complete (total: 0.241s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.2992641e+00 2.81e+00 7.58e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7751236e+00 2.15e-02 5.36e-01 -1.0 2.09e+00 - 1.00e+00 1.00e+00f 1 2 2.4317534e+00 5.24e-03 1.08e-01 -1.6 1.11e-01 - 9.06e-01 1.00e+00h 1 3 2.1459762e+00 2.32e-03 1.76e-02 -2.7 5.30e-02 - 8.80e-01 8.82e-01f 1 4 2.0918140e+00 7.02e-05 1.45e-03 -4.0 1.21e-02 - 9.84e-01 1.00e+00h 1 5 2.0908935e+00 2.95e-05 8.16e-04 -4.0 2.71e-01 - 1.00e+00 1.00e+00h 1 6 2.0908974e+00 3.01e-08 4.44e-07 -4.0 1.51e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 6.95e-10 2.08e-10 -4.0 1.23e-02 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971972071733e+00 2.0908971972071733e+00 Dual infeasibility......: 2.0787672657448381e-10 2.0787672657448381e-10 Constraint violation....: 6.9458946130558988e-10 6.9458946130558988e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000438360475790e-04 1.0000438360475790e-04 Overall NLP error.......: 4.3872114118280502e-09 4.3872114118280502e-09 Number of objective function evaluations = 8 Number of objective gradient evaluations = 8 Number of equality constraint evaluations = 8 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 8 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 7 Total seconds in IPOPT = 23.940 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.064s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.064s) integrator 1 hessian structure: 0.055s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.057s) linear index maps built (0.0s) evaluator ready (total: 0.122s) evaluator created (0.122s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.122s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 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 1.9506714e+00 1.41e+00 7.93e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.1835847e+00 6.79e-01 5.82e+00 -0.7 5.61e+00 -2.0 3.34e-01 6.71e-01f 1 2 2.1729225e+00 5.30e-01 4.44e+00 -1.6 1.19e+01 -2.5 2.62e-01 2.18e-01h 1 3 2.5681786e+00 3.04e-01 3.30e+00 -1.4 3.04e+00 -1.1 4.72e-01 4.23e-01h 1 4 2.6887931e+00 3.51e-02 6.28e-01 -2.0 6.19e-01 -1.6 6.80e-01 1.00e+00h 1 5 2.4796830e+00 6.36e-02 4.12e-01 -2.5 1.80e+00 -2.1 4.63e-01 3.84e-01f 1 6 2.5240025e+00 6.03e-02 1.43e+00 0.4 9.67e+01 -1.7 2.93e-02 5.41e-03f 1 7 2.6737477e+00 3.95e-01 1.38e+00 -1.1 3.02e+00 -2.2 1.00e+00 1.00e+00f 1 8 2.5424105e+00 1.74e-01 1.30e+00 -1.1 6.79e+00 -1.7 6.80e-01 3.05e-01h 1 9 2.6780715e+00 1.29e-01 1.24e+00 -1.1 9.89e-01 -1.3 6.57e-01 9.90e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.6348082e+00 1.18e-02 3.81e-01 -1.1 6.03e-01 -1.8 1.00e+00 1.00e+00f 1 11 2.3780781e+00 1.00e-01 1.38e-01 -1.6 7.18e-01 -2.3 8.55e-01 1.00e+00h 1 12 2.2516366e+00 7.43e-02 3.59e-02 -1.8 1.10e+00 -2.7 8.69e-01 8.54e-01h 1 13 2.1470107e+00 4.47e-02 1.08e-01 -2.4 1.69e+00 -3.2 9.63e-01 8.89e-01h 1 14 2.1037447e+00 6.05e-03 8.15e-02 -3.0 8.98e-01 -3.7 1.00e+00 8.67e-01h 1 15 2.0913225e+00 6.47e-04 1.52e-02 -4.0 3.98e-01 -4.2 1.00e+00 9.63e-01h 1 16 2.0907140e+00 7.81e-05 1.59e-03 -4.0 7.54e-01 -4.6 1.00e+00 1.00e+00h 1 17 2.0905346e+00 7.71e-07 5.77e-04 -4.0 1.89e+00 -5.1 1.00e+00 1.00e+00h 1 18 2.0902220e+00 3.82e-06 2.07e-03 -4.0 3.55e+00 -5.6 1.00e+00 1.00e+00h 1 19 2.0899721e+00 5.65e-06 2.65e-03 -4.0 5.79e+00 -6.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0898688e+00 2.64e-06 2.12e-03 -4.0 7.58e+00 -6.5 1.00e+00 1.00e+00h 1 21 2.0898280e+00 5.49e-07 1.29e-03 -4.0 1.19e+01 -7.0 1.00e+00 1.00e+00h 1 22 2.0898237e+00 2.19e-06 8.94e-04 -4.0 1.06e+01 -7.5 1.00e+00 1.00e+00h 1 23 2.0898222e+00 8.16e-07 1.39e-04 -4.0 4.48e+00 -8.0 1.00e+00 1.00e+00h 1 24 2.0898219e+00 1.51e-08 2.47e-06 -4.0 4.65e-01 -8.5 1.00e+00 1.00e+00h 1 25 2.0898219e+00 1.68e-11 4.48e-09 -4.0 2.79e-02 -8.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0898218501697912e+00 2.0898218501697912e+00 Dual infeasibility......: 4.4826663702865217e-09 4.4826663702865217e-09 Constraint violation....: 1.6779078126916147e-11 1.6779078126916147e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 4.4826663702865217e-09 4.4826663702865217e-09 Number of objective function evaluations = 26 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 26 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 24.738 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.058s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.059s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.048s) linear index maps built (0.0s) evaluator ready (total: 0.107s) evaluator created (0.107s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.107s) 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 2.6624389e+00 2.52e+00 6.65e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7215861e+00 2.29e+00 6.17e+00 1.5 1.60e+03 -2.0 4.28e-03 1.86e-03f 1 2 2.4400792e+00 2.21e+00 1.03e+01 -0.4 1.99e+02 -2.5 2.51e-02 3.42e-02h 1 3 1.8666440e+00 1.63e+00 3.41e+01 0.0 1.03e+01 -2.1 3.53e-02 2.58e-01f 1 4 1.7562271e+00 1.36e+00 2.84e+01 -4.0 1.91e+00 -1.6 1.44e-01 1.68e-01h 1 5 1.7618189e+00 1.35e+00 5.51e+01 -2.5 1.17e+01 -1.2 6.46e-02 4.31e-03h 1 6 2.1740130e+00 1.30e+00 9.86e+01 -0.1 1.81e+01 -0.8 6.61e-02 3.68e-02h 1 7 2.2418845e+00 1.28e+00 3.30e+03 0.3 1.86e+01 -0.3 1.00e+00 1.73e-02h 1 8 2.2637909e+00 1.28e+00 1.22e+04 -4.0 1.37e+03 -0.8 2.53e-03 3.59e-04h 1 9 2.4390865e+00 1.28e+00 1.02e+04 1.0 1.80e+03 -1.3 7.41e-03 1.45e-03f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.6710841e+00 1.27e+00 2.96e+04 0.2 3.96e+02 -0.9 6.41e-03 2.68e-03h 1 11 2.6726152e+00 1.27e+00 9.15e+07 0.2 1.00e+02 -0.4 1.11e-01 3.93e-05h 1 12r 2.6726152e+00 1.27e+00 1.00e+03 0.2 0.00e+00 -0.0 0.00e+00 2.59e-07R 2 13r 2.8970853e+00 5.64e-01 9.92e+02 2.2 3.91e+02 - 1.11e-02 3.25e-03f 1 14 2.8965320e+00 5.62e-01 2.26e+01 -4.0 9.74e-01 -0.5 6.66e-02 2.80e-03h 1 15 2.8966000e+00 5.62e-01 1.77e+04 -2.1 7.37e+00 -1.0 2.16e-02 2.96e-05h 1 16 2.8971189e+00 5.62e-01 1.70e+07 -0.3 7.34e+01 -1.5 1.25e-02 1.30e-05h 1 17r 2.8971189e+00 5.62e-01 1.00e+03 -0.2 0.00e+00 -1.9 0.00e+00 1.06e-07R 2 18r 2.7605040e+00 2.50e-01 1.00e+03 1.7 3.84e+02 - 3.98e-04 1.91e-03f 1 19 2.7603646e+00 2.50e-01 1.12e+03 -4.0 1.41e+00 -2.4 5.09e-01 4.49e-04h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20r 2.7603646e+00 2.50e-01 1.00e+03 0.8 0.00e+00 -2.9 0.00e+00 4.26e-07R 5 21r 3.2487177e+00 1.99e-01 9.53e+02 0.3 1.32e+01 - 1.00e+00 3.86e-02f 1 22 3.2487845e+00 1.99e-01 3.09e+03 -1.1 2.31e+00 -3.4 8.21e-01 3.57e-04h 1 23 3.2623884e+00 1.99e-01 9.75e+06 0.3 1.55e+02 -3.8 1.00e+00 3.04e-04h 1 24r 3.2623884e+00 1.99e-01 1.00e+03 0.1 0.00e+00 -4.3 0.00e+00 2.58e-07R 5 25r 3.3691449e+00 1.99e-01 9.26e+02 0.9 9.13e+00 - 1.00e+00 3.68e-02f 1 26r 3.5473668e+00 2.04e-01 3.41e+01 -0.1 9.91e-01 - 1.00e+00 9.65e-01f 1 27r 3.9168022e+00 1.99e-01 3.30e+01 -0.4 3.61e-01 0.0 9.93e-01 7.98e-01f 1 28r 3.9806487e+00 1.99e-01 1.37e+02 -1.3 6.34e-02 0.4 1.00e+00 5.60e-01f 1 29r 3.9947616e+00 1.99e-01 2.32e-01 -1.4 1.28e-02 0.9 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30r 3.7697261e+00 1.99e-01 7.33e+00 -2.3 1.10e+00 - 7.80e-01 1.00e+00f 1 31r 3.7595030e+00 1.99e-01 2.07e-02 -2.4 7.75e-01 - 1.00e+00 1.00e+00h 1 32r 3.6350747e+00 1.99e-01 4.66e-01 -3.3 6.74e-01 - 9.11e-01 1.00e+00f 1 33r 3.5964116e+00 1.99e-01 3.27e-03 -3.9 8.12e-02 - 1.00e+00 1.00e+00h 1 34r 3.6110250e+00 1.99e-01 2.18e-04 -4.0 3.53e-02 - 1.00e+00 1.00e+00h 1 35r 3.6165387e+00 1.99e-01 2.42e-06 -4.0 2.34e-02 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 35 (scaled) (unscaled) Objective...............: 3.6165583725234889e+00 3.6165583725234889e+00 Dual infeasibility......: 1.9773974856622216e+00 1.9773974856622216e+00 Constraint violation....: 1.9875045035548955e-01 1.9875045035548955e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000448816108e-04 1.0000000448816108e-04 Overall NLP error.......: 1.9773974856622216e+00 1.9773974856622216e+00 Number of objective function evaluations = 53 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 53 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 41 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 36 Total seconds in IPOPT = 24.216 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: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.06s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s sub-objective 4 (GlobalObjective): 0.749s objective hessian structure: 0.75s hessian structure: 1804 nonzeros (0.8s) linear index maps built (0.0s) evaluator ready (total: 0.861s) evaluator created (0.862s) 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: 0.862s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 36 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 6.2854411e+00 2.68e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.4973871e+00 9.28e-02 2.43e+00 -0.8 1.77e+00 0.0 8.48e-01 9.61e-01f 1 2 2.5902830e+00 7.33e-02 1.22e+00 -0.8 9.48e-01 -0.5 9.01e-01 6.48e-01f 1 3 2.5552216e+00 5.28e-03 6.81e-01 -1.4 2.03e-01 -1.0 9.88e-01 1.00e+00h 1 4 2.3228892e+00 1.56e-02 3.57e-01 -1.8 5.33e-01 -1.4 9.81e-01 4.41e-01f 1 5 2.1241340e+00 8.28e-03 4.75e-02 -2.6 2.42e-01 -1.9 1.00e+00 1.00e+00h 1 6 2.0927425e+00 3.43e-04 2.64e-03 -3.9 2.46e-02 -2.4 1.00e+00 9.53e-01h 1 7 2.0909024e+00 4.79e-06 5.72e-05 -4.0 1.49e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908970e+00 2.31e-08 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908837e+00 6.93e-09 2.06e-05 -4.0 1.35e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908438e+00 6.22e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907244e+00 5.61e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903669e+00 5.07e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0893013e+00 4.63e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861692e+00 4.35e-04 1.81e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796318e+00 2.51e-03 8.65e-02 -4.0 8.73e+01 -6.7 1.00e+00 7.58e-01h 1 16 2.0812285e+00 1.26e-04 1.79e-01 -4.0 7.05e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778249e+00 5.59e-03 2.40e-02 -4.0 1.13e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781910e+00 1.74e-02 4.67e-02 -3.7 1.72e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0768608e+00 9.63e-03 2.49e-02 -3.8 3.11e+02 -8.6 1.00e+00 9.19e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0761278e+00 6.64e-03 2.49e-02 -3.9 4.58e+02 -9.1 1.00e+00 9.79e-01f 1 21 2.0757457e+00 1.03e-02 1.10e-02 -4.0 1.43e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756763e+00 5.39e-04 4.30e-04 -4.0 6.06e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 1.48e-06 8.46e-06 -4.0 2.33e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 6.05e-08 1.51e-06 -4.0 1.51e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.47e-09 1.49e-07 -4.0 5.12e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.47e-11 2.94e-09 -4.0 8.96e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122106635e+00 2.0756712122106635e+00 Dual infeasibility......: 2.9445616925652396e-09 2.9445616925652396e-09 Constraint violation....: 7.4712236397544984e-11 7.4712236397544984e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000032e-04 1.0000000000000032e-04 Overall NLP error.......: 2.9445616925652396e-09 2.9445616925652396e-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 = 33.114 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! [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! Difference in Hessian initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.062s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.499s jacobian structure: 1600 nonzeros (2.561s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.129s 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 (4.182s) linear index maps built (0.0s) evaluator ready (total: 6.744s) evaluator created (6.77s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.001s) optimizer initialization complete (total: 6.772s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.1047336e+00 2.58e+00 3.87e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7442930e+00 2.70e-01 1.18e+00 -1.0 3.00e+00 -2.0 9.72e-01 9.81e-01f 1 2 2.4171476e+00 1.10e-01 2.64e-01 -1.4 1.67e+00 -2.5 9.29e-01 1.00e+00h 1 3 2.1507408e+00 4.92e-02 7.91e-02 -2.5 1.23e+00 -3.0 9.52e-01 1.00e+00h 1 4 2.0947070e+00 4.09e-03 2.43e-02 -3.4 5.63e-01 -3.4 9.96e-01 9.80e-01h 1 5 2.0908652e+00 7.23e-05 5.60e-04 -4.0 1.41e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0908150e+00 2.41e-06 1.24e-04 -4.0 3.80e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0907365e+00 3.73e-07 3.31e-04 -4.0 1.04e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0905050e+00 3.45e-06 3.32e-04 -4.0 3.14e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0904086e+00 5.21e-07 3.82e-04 -4.0 1.23e+00 -4.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0902519e+00 1.30e-06 1.08e-02 -4.0 4.57e+00 -5.4 1.00e+00 3.44e-01h 2 11 2.0892366e+00 4.39e-05 2.40e-03 -4.0 1.15e+01 -5.9 1.00e+00 9.97e-01h 1 12 2.0874579e+00 3.40e-04 3.68e-02 -4.0 3.13e+01 -6.3 1.00e+00 1.00e+00h 1 13 2.0861509e+00 3.14e-04 1.67e-01 -4.0 4.15e+01 -5.9 1.00e+00 2.33e-01h 1 14 2.0846194e+00 2.37e-04 2.56e-02 -4.0 2.53e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0827749e+00 1.96e-04 2.45e-02 -4.0 3.42e+01 -6.9 1.00e+00 9.46e-01h 1 16 2.0830765e+00 1.24e-03 3.60e-02 -4.0 6.10e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0821294e+00 1.36e-03 9.17e-03 -4.1 1.44e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0823485e+00 2.77e-03 5.08e-02 -4.0 1.03e+02 -7.4 5.36e-01 1.00e+00h 1 19 2.0820723e+00 2.27e-05 4.84e-04 -4.1 8.51e-01 -5.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0821863e+00 6.65e-05 5.95e-04 -4.0 2.54e+00 -5.6 1.00e+00 1.00e+00h 1 21 2.0817881e+00 2.17e-04 4.24e-03 -4.1 8.34e+00 -6.1 9.37e-01 1.00e+00h 1 22 2.0818323e+00 1.86e-04 1.41e+00 -4.0 3.53e+00 -4.8 1.00e+00 2.93e-01h 1 23 2.0818856e+00 1.20e-05 1.17e-03 -4.0 9.34e-01 -5.3 1.00e+00 1.00e+00h 1 24 2.0819695e+00 5.24e-05 3.60e-04 -4.0 1.63e+00 -5.7 1.00e+00 1.00e+00h 1 25 2.0818472e+00 3.13e-05 6.40e-04 -4.1 1.57e+00 -6.2 1.00e+00 1.00e+00h 1 26 2.0820574e+00 1.12e-04 1.90e-04 -4.0 5.19e+00 -6.7 1.00e+00 1.00e+00h 1 27 2.0818043e+00 3.00e-04 1.08e-03 -4.1 1.53e+01 -7.2 1.00e+00 1.00e+00h 1 28 2.0817116e+00 6.56e-05 2.30e-03 -4.1 2.92e+01 -7.7 1.00e+00 1.00e+00h 1 29 2.0818840e+00 1.17e-03 3.61e-03 -4.0 4.90e+01 -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 30 2.0815910e+00 1.13e-03 2.22e-03 -4.1 5.10e+01 -8.6 1.00e+00 1.00e+00h 1 31 2.0818451e+00 5.87e-04 3.95e-04 -4.0 2.51e+01 -9.1 1.00e+00 1.00e+00h 1 32 2.0815838e+00 2.61e-04 1.21e-05 -4.1 1.17e+01 -9.6 1.00e+00 1.00e+00h 1 33 2.0818445e+00 2.06e-04 1.80e-05 -4.0 9.41e+00 -10.0 1.00e+00 1.00e+00h 1 34 2.0815837e+00 2.14e-04 1.16e-05 -4.1 9.78e+00 -10.5 1.00e+00 1.00e+00h 1 35 2.0818446e+00 2.16e-04 1.03e-05 -4.0 9.84e+00 -11.0 1.00e+00 1.00e+00h 1 36 2.0815837e+00 2.16e-04 9.59e-06 -4.1 9.86e+00 -11.5 1.00e+00 1.00e+00h 1 37 2.0818446e+00 2.16e-04 9.59e-06 -4.0 9.87e+00 -12.0 1.00e+00 1.00e+00h 1 38 2.0815837e+00 2.16e-04 9.36e-06 -4.1 9.87e+00 -12.4 1.00e+00 1.00e+00h 1 39 2.0818446e+00 2.16e-04 9.51e-06 -4.0 9.87e+00 -12.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0815837e+00 2.16e-04 9.33e-06 -4.1 9.87e+00 -13.4 1.00e+00 1.00e+00h 1 41 2.0805951e+00 3.33e-03 1.59e-04 -6.1 4.09e+01 -13.9 9.77e-01 9.64e-01h 1 42 2.0818908e+00 6.61e-03 2.98e-04 -4.0 6.18e+01 -14.3 1.00e+00 1.00e+00f 1 43 2.0816145e+00 4.96e-04 1.06e-05 -4.1 2.08e+01 -14.8 1.00e+00 1.00e+00h 1 44 2.0806042e+00 3.49e-03 2.32e-04 -6.1 4.24e+01 -15.3 9.76e-01 9.58e-01h 1 45 2.0805507e+00 9.69e-05 2.24e-06 -6.1 1.71e+01 -15.8 1.00e+00 1.00e+00h 1 46 2.0819819e+00 1.02e-02 3.99e-04 -4.0 8.54e+01 -16.2 1.00e+00 1.00e+00f 1 47 2.0816805e+00 9.65e-04 4.96e-05 -4.1 4.57e+01 -16.7 1.00e+00 1.00e+00h 1 48 2.0816444e+00 4.73e-07 7.69e-07 -4.1 8.40e+00 -17.2 1.00e+00 1.00e+00h 1 49 2.0818441e+00 1.27e-04 5.47e-06 -4.0 7.55e+00 -17.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0815834e+00 2.14e-04 9.28e-06 -4.1 9.76e+00 -18.2 1.00e+00 1.00e+00h 1 51 2.0805950e+00 3.33e-03 1.58e-04 -6.1 4.09e+01 -18.6 9.77e-01 9.64e-01h 1 52 2.0805497e+00 7.61e-05 1.82e-06 -6.1 1.56e+01 -19.1 1.00e+00 1.00e+00h 1 53 2.0819883e+00 1.06e-02 4.03e-04 -4.0 8.64e+01 -19.6 1.00e+00 1.00e+00f 1 54 2.0816850e+00 9.86e-04 5.24e-05 -4.1 4.71e+01 -20.0 1.00e+00 1.00e+00h 1 55 2.0816467e+00 5.59e-07 8.13e-07 -4.1 8.79e+00 -20.0 1.00e+00 1.00e+00h 1 56 2.0805963e+00 3.67e-03 1.56e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.67e-01h 1 57 2.0805509e+00 8.01e-05 1.98e-06 -6.1 1.63e+01 -20.0 1.00e+00 1.00e+00h 1 58 2.0805468e+00 5.50e-08 2.37e-08 -6.1 2.91e+00 -20.0 1.00e+00 1.00e+00h 1 59 2.0820237e+00 1.21e-02 4.23e-04 -4.0 9.79e+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 2.0817108e+00 1.09e-03 6.84e-05 -4.1 5.44e+01 -20.0 1.00e+00 1.00e+00h 1 61 2.0816597e+00 1.20e-06 1.05e-06 -4.1 1.08e+01 -20.0 1.00e+00 1.00e+00h 1 62 2.0805973e+00 3.75e-03 1.59e-04 -6.1 4.29e+01 -20.0 9.76e-01 9.67e-01h 1 63 2.0805512e+00 8.26e-05 2.04e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 64 2.0805470e+00 5.83e-08 2.51e-08 -6.1 3.00e+00 -20.0 1.00e+00 1.00e+00h 1 65 2.0805365e+00 9.22e-07 7.87e-07 -9.0 9.36e-01 -20.0 1.00e+00 9.97e-01h 1 66 2.0820411e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 67 2.0817244e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 68 2.0816662e+00 1.63e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 69 2.0805979e+00 3.78e-03 1.61e-04 -6.1 4.31e+01 -20.0 9.76e-01 9.67e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0805514e+00 8.39e-05 2.07e-06 -6.1 1.67e+01 -20.0 1.00e+00 1.00e+00h 1 71 2.0805470e+00 6.01e-08 2.58e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 72 2.0805365e+00 9.41e-07 8.10e-07 -9.0 9.46e-01 -20.0 1.00e+00 9.97e-01h 1 73 2.0805365e+00 8.66e-11 2.16e-12 -9.0 2.61e-02 -20.0 1.00e+00 1.00e+00h 1 74 2.0820415e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 75 2.0817247e+00 1.13e-03 7.75e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 76 2.0816664e+00 1.64e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 77 2.0805979e+00 3.78e-03 1.61e-04 -6.1 4.31e+01 -20.0 9.76e-01 9.67e-01h 1 78 2.0805514e+00 8.39e-05 2.07e-06 -6.1 1.67e+01 -20.0 1.00e+00 1.00e+00h 1 79 2.0805470e+00 6.01e-08 2.58e-08 -6.1 3.05e+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 80 2.0805365e+00 9.41e-07 8.10e-07 -9.0 9.47e-01 -20.0 1.00e+00 9.97e-01h 1 81 2.0805365e+00 8.67e-11 2.17e-12 -9.0 2.61e-02 -20.0 1.00e+00 1.00e+00h 1 82 2.0805365e+00 8.88e-16 9.09e-15 -9.0 9.99e-06 -20.0 1.00e+00 1.00e+00h 1 83 2.0805365e+00 4.44e-16 9.09e-15 -9.0 1.62e-12 -20.0 1.00e+00 1.00e+00h 1 84 2.0805365e+00 4.44e-16 9.09e-15 -9.0 8.80e-14 -20.0 1.00e+00 1.00e+00 0 85 2.0805365e+00 2.22e-16 9.09e-15 -9.0 4.31e-14 -20.0 1.00e+00 1.00e+00T 0 Number of Iterations....: 85 (scaled) (unscaled) Objective...............: 2.0805364595436484e+00 2.0805364595436484e+00 Dual infeasibility......: 9.0909090910998750e-15 9.0909090910998750e-15 Constraint violation....: 2.2204460492503131e-16 2.2204460492503131e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090978348416e-10 9.0909090978348416e-10 Overall NLP error.......: 9.9999090909091550e-05 9.9999090909091550e-05 Number of objective function evaluations = 89 Number of objective gradient evaluations = 86 Number of equality constraint evaluations = 89 Number of inequality constraint evaluations = 89 Number of equality constraint Jacobian evaluations = 86 Number of inequality constraint Jacobian evaluations = 86 Number of Lagrangian Hessian evaluations = 86 Total seconds in IPOPT = 27.577 EXIT: Search Direction is becoming Too Small. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 3.181s jacobian structure: 1680 nonzeros (3.242s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 10.831s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s sub-objective 5 (GlobalObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1964 nonzeros (10.885s) linear index maps built (0.0s) evaluator ready (total: 14.127s) evaluator created (14.152s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.001s) optimizer initialization complete (total: 14.154s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 96 Number of nonzeros in Lagrangian Hessian.............: 1804 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 8.3830510e+00 3.31e+00 3.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.4622975e+00 7.39e-02 3.98e+00 -1.0 1.84e+00 0.0 7.64e-01 1.00e+00f 1 2 2.7106256e+00 2.47e-02 2.38e+00 -1.0 5.40e-01 -0.5 9.70e-01 1.00e+00f 1 3 2.5166318e+00 5.90e-02 7.42e-01 -1.2 9.25e-01 -1.0 1.00e+00 5.41e-01h 1 4 2.3528012e+00 1.51e-02 1.37e-01 -1.7 4.14e-01 -1.4 9.74e-01 1.00e+00h 1 5 2.1695093e+00 1.44e-02 1.23e-01 -2.2 4.98e-01 -1.9 9.93e-01 7.74e-01h 1 6 2.0980754e+00 1.14e-03 1.23e-02 -3.0 1.24e-01 -2.4 9.80e-01 1.00e+00h 1 7 2.0909663e+00 1.86e-05 4.22e-04 -4.0 1.68e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908783e+00 5.89e-07 4.63e-05 -4.0 4.17e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908645e+00 5.32e-09 1.85e-05 -4.0 1.21e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908333e+00 4.68e-08 7.31e-05 -4.0 3.33e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907639e+00 2.50e-07 3.52e-04 -4.0 8.70e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905780e+00 2.26e-06 5.52e-04 -4.0 2.60e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0903070e+00 3.20e-06 8.80e-03 -4.0 9.61e+00 -5.7 5.68e-01 2.69e-01h 1 14 2.0893949e+00 2.20e-04 4.21e-02 -4.0 2.61e+01 -6.2 1.00e+00 1.00e+00f 1 15 2.0878657e+00 9.20e-05 2.86e-02 -4.0 3.52e+00 -4.9 1.00e+00 6.64e-01h 1 16 2.0878547e+00 1.74e-05 6.24e-03 -4.0 3.33e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0868310e+00 3.99e-05 6.88e-03 -4.0 1.01e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0852809e+00 1.91e-04 9.42e-03 -4.0 2.36e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0830466e+00 4.03e-04 2.69e-02 -4.0 3.92e+01 -6.8 1.00e+00 9.63e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0826264e+00 4.33e-04 1.27e-02 -4.0 5.47e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0823228e+00 4.55e-04 9.63e-03 -4.0 1.23e+02 -7.7 1.00e+00 1.00e+00h 1 22 3.3753074e+00 2.44e-05 2.24e+01 -4.0 1.26e+03 -8.2 2.90e-02 1.00e+00H 1 23 2.0936478e+00 3.49e-06 2.05e+00 -4.1 4.74e-01 -0.4 4.64e-01 8.57e-01f 1 24 2.0937637e+00 3.49e-06 5.90e+00 -4.1 7.16e-02 -0.8 1.00e+00 1.95e-03f 10 25 2.0936110e+00 8.16e-08 1.94e-03 -4.1 4.08e-02 -1.3 1.00e+00 1.00e+00h 1 26 2.0933113e+00 7.00e-08 1.89e-03 -4.1 1.20e-01 -1.8 1.00e+00 1.00e+00h 1 27 2.0926417e+00 7.08e-07 1.76e-03 -4.1 3.34e-01 -2.3 1.00e+00 1.00e+00h 1 28 2.0922581e+00 1.02e-06 7.46e-01 -4.1 5.09e-01 -2.8 1.00e+00 3.85e-01h 1 29 2.0924131e+00 1.24e-06 1.75e-04 -4.1 6.36e-02 -3.2 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0916846e+00 1.10e-05 2.89e-02 -6.1 1.06e-01 -3.7 7.97e-01 1.00e+00h 1 31 2.0915729e+00 5.62e-06 4.88e-05 -6.1 3.04e-01 -4.2 1.00e+00 1.00e+00h 1 32 2.0914699e+00 5.07e-08 1.97e-05 -6.1 9.09e-01 -4.7 1.00e+00 1.00e+00h 1 33 2.0922400e+00 3.48e-04 2.86e-03 -4.0 2.37e+00 -5.1 1.00e+00 1.00e+00f 1 34 2.0914261e+00 2.99e-04 2.03e-03 -4.1 6.38e+00 -5.6 1.00e+00 1.00e+00h 1 35 2.0907300e+00 2.37e-05 4.44e-03 -4.1 1.66e+01 -6.1 1.00e+00 1.00e+00h 1 36 2.0892370e+00 1.77e-04 9.62e-03 -4.1 4.51e+01 -6.6 1.00e+00 1.00e+00h 1 37 2.0866055e+00 9.31e-04 4.42e-02 -4.1 1.12e+02 -7.0 1.00e+00 1.00e+00h 1 38 2.0835175e+00 2.59e-03 1.25e-01 -4.1 2.18e+02 -7.5 1.00e+00 1.00e+00h 1 39 2.0818315e+00 5.45e-03 6.34e-02 -4.1 2.99e+02 -8.0 7.93e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0824794e+00 3.12e-04 3.02e-01 -4.0 9.93e+01 -6.7 1.00e+00 8.87e-01H 1 41 2.0847605e+00 1.41e-02 5.21e-02 -3.4 1.05e+02 -7.2 8.85e-01 1.00e+00f 1 42 2.1298228e+00 1.06e-02 3.65e-01 -3.5 1.27e+02 -7.6 2.40e-01 1.00e+00h 1 43 2.1031419e+00 1.75e-07 1.83e-01 -3.5 1.09e-01 0.2 1.00e+00 1.00e+00h 1 44 2.0867769e+00 7.20e-08 6.79e-02 -3.5 1.31e-01 -0.3 1.00e+00 1.00e+00f 1 45 2.0836440e+00 5.40e-07 9.07e-03 -4.0 6.28e-02 -0.7 1.00e+00 1.00e+00f 1 46 2.0834546e+00 1.86e-06 1.71e-03 -4.0 2.81e-02 -1.2 1.00e+00 1.00e+00h 1 47 2.0830626e+00 2.38e-06 8.77e-04 -4.0 4.31e-02 -1.7 1.00e+00 1.00e+00h 1 48 2.0829146e+00 8.36e-07 3.51e-04 -4.0 4.95e-02 -2.2 1.00e+00 1.00e+00h 1 49 2.0829237e+00 2.53e-08 3.46e-05 -4.0 1.12e-02 -2.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0829261e+00 2.68e-08 3.46e-05 -4.0 9.87e-03 -3.1 1.00e+00 1.00e+00h 1 51 2.0829249e+00 5.57e-09 3.46e-05 -4.0 2.95e-02 -3.6 1.00e+00 1.00e+00h 1 52 2.0829208e+00 2.09e-09 3.46e-05 -4.0 8.83e-02 -4.1 1.00e+00 1.00e+00h 1 53 2.0829088e+00 1.85e-08 3.47e-05 -4.0 2.63e-01 -4.6 1.00e+00 1.00e+00h 1 54 2.0828737e+00 1.58e-07 3.49e-05 -4.0 7.72e-01 -5.0 1.00e+00 1.00e+00h 1 55 2.0827768e+00 1.24e-06 1.13e-04 -4.0 2.17e+00 -5.5 1.00e+00 1.00e+00h 1 56 2.0825498e+00 9.14e-06 7.20e-04 -4.0 5.32e+00 -6.0 1.00e+00 1.00e+00h 1 57 2.0822165e+00 4.40e-05 2.31e-03 -4.0 9.07e+00 -6.5 1.00e+00 1.00e+00h 1 58 2.0820011e+00 4.60e-05 1.77e-03 -4.0 2.45e+01 -6.9 1.00e+00 1.00e+00h 1 59 2.0819838e+00 3.90e-04 2.02e-02 -4.0 1.50e+03 -7.4 1.37e-02 1.79e-02h 6 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0820347e+00 4.22e-04 5.72e-01 -4.0 1.41e+02 -6.1 9.85e-02 1.34e-02h 3 61 2.0821099e+00 3.65e-04 4.97e-01 -4.1 1.47e+00 -3.0 1.31e-01 1.37e-01h 1 62 2.0818803e+00 3.56e-04 6.34e-01 -4.1 5.41e+00 -3.4 1.68e-03 2.72e-02f 1 63 2.0821919e+00 5.29e-05 2.75e-01 -4.0 3.54e-01 -3.9 9.21e-01 1.00e+00f 1 64 2.0819404e+00 2.82e-05 1.98e-03 -4.0 2.27e-01 -4.4 1.00e+00 1.00e+00h 1 65 2.0820081e+00 3.66e-05 7.24e-04 -4.0 3.18e-01 -4.9 1.00e+00 1.00e+00h 1 66 2.0819734e+00 1.22e-05 1.06e-04 -4.0 4.03e-01 -5.3 1.00e+00 1.00e+00h 1 67 2.0819415e+00 2.84e-06 6.24e-05 -4.0 8.08e-01 -5.8 1.00e+00 1.00e+00h 1 68 2.0818895e+00 7.35e-06 1.32e-04 -4.0 1.62e+00 -6.3 1.00e+00 1.00e+00h 1 69 2.0818529e+00 3.23e-06 1.45e-04 -4.0 2.69e+00 -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 70 2.0818432e+00 3.77e-06 8.46e-05 -4.0 5.72e+00 -7.2 1.00e+00 1.00e+00h 1 71 2.0818393e+00 9.73e-06 1.87e-04 -4.0 1.31e+01 -7.7 1.00e+00 1.00e+00h 1 72 2.0818378e+00 2.56e-05 5.12e-04 -4.0 2.19e+01 -8.2 1.00e+00 1.00e+00h 1 73 2.0818394e+00 1.60e-05 3.51e-04 -4.0 2.05e+01 -8.7 1.00e+00 1.00e+00h 1 74 2.0815819e+00 1.87e-04 4.31e-05 -4.1 7.71e+00 -9.2 1.00e+00 1.00e+00h 1 75 2.0818417e+00 2.19e-04 3.85e-05 -4.0 1.00e+01 -9.6 1.00e+00 1.00e+00h 1 76 2.0815820e+00 2.08e-04 3.13e-05 -4.1 9.49e+00 -10.1 1.00e+00 1.00e+00h 1 77 2.0818419e+00 2.12e-04 3.85e-05 -4.0 9.67e+00 -10.6 1.00e+00 1.00e+00h 1 78 2.0815819e+00 2.13e-04 3.13e-05 -4.1 9.72e+00 -11.1 1.00e+00 1.00e+00h 1 79 2.0818419e+00 2.14e-04 3.85e-05 -4.0 9.74e+00 -11.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0815819e+00 2.14e-04 3.13e-05 -4.1 9.74e+00 -12.0 1.00e+00 1.00e+00h 1 81 2.0818419e+00 2.14e-04 3.85e-05 -4.0 9.74e+00 -12.5 1.00e+00 1.00e+00h 1 82 2.0815819e+00 2.14e-04 3.13e-05 -4.1 9.75e+00 -13.0 1.00e+00 1.00e+00h 1 83 2.0805924e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -13.4 9.77e-01 9.68e-01h 1 84 2.0818894e+00 6.59e-03 2.97e-04 -4.0 6.14e+01 -13.9 1.00e+00 1.00e+00f 1 85 2.0816124e+00 4.95e-04 3.19e-05 -4.1 2.07e+01 -14.4 1.00e+00 1.00e+00h 1 86 2.0806015e+00 3.47e-03 1.91e-04 -6.1 4.19e+01 -14.9 9.76e-01 9.61e-01h 1 87 2.0805507e+00 9.05e-05 2.22e-06 -6.1 1.70e+01 -15.4 1.00e+00 1.00e+00h 1 88 2.0819806e+00 1.03e-02 3.96e-04 -4.0 8.49e+01 -15.8 1.00e+00 1.00e+00f 1 89 2.0816780e+00 9.65e-04 4.95e-05 -4.1 4.57e+01 -16.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0816420e+00 4.58e-07 3.29e-05 -4.1 8.54e+00 -16.8 1.00e+00 1.00e+00h 1 91 2.0818414e+00 1.26e-04 3.85e-05 -4.0 7.46e+00 -17.3 1.00e+00 1.00e+00h 1 92 2.0815817e+00 2.11e-04 3.13e-05 -4.1 9.63e+00 -17.7 1.00e+00 1.00e+00h 1 93 2.0805923e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -18.2 9.77e-01 9.68e-01h 1 94 2.0805497e+00 7.03e-05 1.80e-06 -6.1 1.55e+01 -18.7 1.00e+00 1.00e+00h 1 95 2.0819871e+00 1.06e-02 4.00e-04 -4.0 8.58e+01 -19.2 1.00e+00 1.00e+00f 1 96 2.0816826e+00 9.87e-04 5.24e-05 -4.1 4.71e+01 -19.7 1.00e+00 1.00e+00h 1 97 2.0816444e+00 5.44e-07 3.30e-05 -4.1 8.94e+00 -20.0 1.00e+00 1.00e+00h 1 98 2.0805933e+00 3.65e-03 1.55e-04 -6.1 4.19e+01 -20.0 9.76e-01 9.71e-01h 1 99 2.0805509e+00 7.35e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805468e+00 5.07e-08 3.29e-07 -6.1 2.92e+00 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805467651788745e+00 2.0805467651788745e+00 Dual infeasibility......: 3.2900077152190659e-07 3.2900077152190659e-07 Constraint violation....: 5.0692595232604276e-08 5.0692595232604276e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.6467212751190030e-07 8.6467212751190030e-07 Overall NLP error.......: 9.9219996675352926e-05 9.9219996675352926e-05 Number of objective function evaluations = 124 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 124 Number of inequality constraint evaluations = 124 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 36.219 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: 0.064s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) jacobian structure: 2.863s jacobian structure: 1594 nonzeros (2.928s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) hessian structure: 6.456s 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 (6.51s) linear index maps built (0.0s) evaluator ready (total: 9.438s) evaluator created (9.461s) 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: 9.462s) 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 9.9277677e+01 3.27e+00 3.16e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.2680512e+01 2.04e+00 1.96e+01 -0.5 3.03e+00 0.0 1.00e+00 3.73e-01f 1 2 3.8079601e+00 1.32e-01 1.20e+01 0.0 1.52e+00 -0.5 7.02e-01 1.00e+00f 1 3 3.6305239e+00 3.24e-02 2.41e+01 -0.1 4.15e-01 -0.1 4.78e-01 1.00e+00f 1 4 3.4420653e+00 1.39e-03 6.51e-01 -1.1 6.65e-02 0.4 9.97e-01 1.00e+00h 1 5 2.5576587e+00 1.08e-02 1.37e-01 -1.5 1.73e-01 -0.1 9.60e-01 1.00e+00f 1 6 2.1443954e+00 3.21e-03 4.35e-02 -2.2 1.37e-01 -0.6 8.93e-01 9.23e-01h 1 7 2.1016725e+00 5.31e-04 2.40e-02 -3.2 1.72e-02 -1.1 9.67e-01 8.46e-01h 1 8 2.0909302e+00 5.47e-06 7.74e-04 -4.0 3.26e-03 -1.5 1.00e+00 1.00e+00h 1 9 2.0909165e+00 1.01e-08 2.64e-04 -4.0 8.80e-03 -2.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909149e+00 5.37e-11 2.65e-04 -4.0 1.23e-02 -2.5 1.00e+00 1.00e+00h 1 11 2.0909127e+00 1.44e-10 2.65e-04 -4.0 1.66e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0909080e+00 7.46e-10 2.65e-04 -4.0 4.92e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908956e+00 6.69e-09 2.65e-04 -4.0 1.42e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0908641e+00 4.73e-08 2.65e-04 -4.0 3.93e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0907822e+00 3.66e-07 3.32e-04 -4.0 1.08e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0905416e+00 3.65e-06 3.63e-04 -4.0 3.23e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0904412e+00 5.25e-07 4.16e-04 -4.0 1.27e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0901119e+00 1.54e-06 5.54e-03 -4.0 4.81e+00 -5.4 1.00e+00 6.43e-01H 1 19 2.0893167e+00 6.53e-05 1.27e-02 -4.0 1.33e+01 -5.9 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0885818e+00 5.96e-05 6.86e-02 -4.0 1.42e+01 -5.5 1.00e+00 3.04e-01h 1 21 2.0876441e+00 6.32e-05 1.34e-02 -4.0 1.32e+01 -5.9 1.00e+00 1.00e+00h 1 22 2.0862488e+00 1.23e-04 5.15e-02 -4.0 3.30e+01 -6.4 1.00e+00 4.96e-01h 1 23 2.0832933e+00 9.45e-04 5.05e-02 -4.0 5.38e+01 -6.9 1.00e+00 1.00e+00h 1 24 2.0825697e+00 5.35e-04 1.69e-02 -4.0 7.17e+01 -7.4 1.00e+00 1.00e+00h 1 25 2.0822413e+00 7.03e-04 1.01e-02 -4.0 1.56e+02 -7.8 8.34e-01 1.00e+00h 1 26 2.0824321e+00 1.21e-03 1.79e-02 -4.0 3.15e+01 -6.5 1.00e+00 1.00e+00h 1 27 2.0820518e+00 1.38e-03 1.90e-02 -4.0 2.16e+01 -7.0 1.00e+00 1.00e+00h 1 28 2.1145602e+00 9.34e-04 1.31e-01 -4.0 4.23e+02 -7.5 1.24e-02 8.78e-02h 1 29 2.1049162e+00 1.17e-07 1.15e-01 -4.2 4.69e-02 0.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.1063060e+00 4.39e-05 2.97e+01 -2.7 2.27e-01 -0.1 6.91e-01 3.78e-01f 1 31 2.0885572e+00 4.45e-05 6.45e+00 -2.8 2.58e-01 -0.6 1.00e+00 7.77e-01f 1 32 2.0837385e+00 2.41e-06 1.71e-02 -2.8 1.16e-01 -1.1 1.00e+00 1.00e+00f 1 33 2.0831435e+00 8.00e-08 1.10e-01 -3.8 2.88e-02 -1.5 9.89e-01 1.00e+00h 1 34 2.0824165e+00 2.95e-06 7.62e-04 -4.0 6.98e-02 -2.0 1.00e+00 1.00e+00h 1 35 2.0822519e+00 1.12e-07 2.65e-04 -4.0 2.44e-02 -2.5 1.00e+00 1.00e+00h 1 36 2.0822664e+00 4.79e-08 2.65e-04 -4.0 5.82e-03 -3.0 1.00e+00 1.00e+00h 1 37 2.0822656e+00 2.93e-09 2.65e-04 -4.0 1.29e-02 -3.4 1.00e+00 1.00e+00h 1 38 2.0822646e+00 8.26e-10 2.65e-04 -4.0 3.86e-02 -3.9 1.00e+00 1.00e+00h 1 39 2.0822617e+00 7.12e-09 2.65e-04 -4.0 1.16e-01 -4.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0822537e+00 5.55e-08 2.65e-04 -4.0 3.45e-01 -4.9 1.00e+00 1.00e+00h 1 41 2.0822339e+00 4.04e-07 2.65e-04 -4.0 1.03e+00 -5.3 1.00e+00 1.00e+00h 1 42 2.0821921e+00 3.19e-06 2.65e-04 -4.0 3.10e+00 -5.8 1.00e+00 1.00e+00h 1 43 2.0820700e+00 4.74e-05 5.30e-04 -4.0 1.06e+01 -6.3 1.00e+00 1.00e+00h 1 44 2.0820162e+00 1.17e-04 1.65e-02 -4.0 5.99e+02 -6.8 1.42e-02 1.91e-02h 4 45 2.0822272e+00 1.51e-07 6.98e-01 -4.0 1.52e+00 -4.5 6.18e-01 1.00e+00H 1 46 2.0821086e+00 1.35e-04 3.34e-03 -4.0 1.21e+00 -5.0 1.00e+00 1.00e+00h 1 47 2.0822616e+00 4.99e-05 9.22e-02 -4.1 4.26e+00 -5.5 3.19e-01 4.19e-01h 1 48 2.0819503e+00 8.75e-05 3.35e-03 -4.1 1.44e+00 -6.0 1.00e+00 1.00e+00f 1 49 2.0821070e+00 7.55e-05 9.84e-04 -4.0 3.17e+00 -6.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818595e+00 2.25e-04 1.02e-03 -4.1 1.13e+01 -6.9 1.00e+00 1.00e+00h 1 51 2.0820184e+00 4.25e-04 2.07e-03 -4.0 1.84e+01 -7.4 1.00e+00 1.00e+00h 1 52 2.0816763e+00 1.05e-03 2.25e-03 -4.1 4.18e+01 -7.9 1.00e+00 1.00e+00h 1 53 2.0818592e+00 1.34e-03 3.90e-03 -4.0 5.62e+01 -8.4 1.00e+00 1.00e+00h 1 54 2.0815822e+00 9.62e-04 1.31e-03 -4.1 4.25e+01 -8.8 1.00e+00 1.00e+00h 1 55 2.0818396e+00 3.03e-04 2.65e-04 -4.0 1.29e+01 -9.3 1.00e+00 1.00e+00h 1 56 2.0818383e+00 1.68e-07 2.65e-04 -4.0 1.41e+00 -9.8 1.00e+00 1.00e+00h 1 57 2.0818383e+00 5.97e-11 2.65e-04 -4.0 6.60e-02 -10.3 1.00e+00 1.00e+00h 1 58 2.0818383e+00 2.98e-11 1.32e-04 -4.0 1.07e-03 -10.7 1.00e+00 5.00e-01h 2 59 2.0818383e+00 1.11e-15 2.65e-04 -4.0 5.39e-04 -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 60 2.0818383e+00 2.22e-16 2.65e-04 -4.0 2.00e-05 -12.2 1.00e+00 1.00e+00h 1 61 2.0815797e+00 2.05e-04 2.12e-04 -4.1 9.35e+00 -12.7 1.00e+00 1.00e+00h 1 62 2.0818395e+00 2.13e-04 2.65e-04 -4.0 9.67e+00 -13.1 1.00e+00 1.00e+00h 1 63 2.0815804e+00 2.11e-04 2.12e-04 -4.1 9.63e+00 -13.6 1.00e+00 1.00e+00h 1 64 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -14.1 9.78e-01 9.71e-01h 1 65 2.0818882e+00 6.56e-03 2.96e-04 -4.0 6.10e+01 -14.6 1.00e+00 1.00e+00f 1 66 2.0816136e+00 4.88e-04 2.17e-04 -4.1 2.07e+01 -15.0 1.00e+00 1.00e+00h 1 67 2.0805989e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -15.5 9.76e-01 9.65e-01h 1 68 2.0805508e+00 8.46e-05 2.20e-06 -6.1 1.69e+01 -16.0 1.00e+00 1.00e+00h 1 69 2.0819794e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -16.5 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0816837e+00 9.34e-04 2.25e-04 -4.1 4.57e+01 -16.9 1.00e+00 1.00e+00h 1 71 2.0816477e+00 4.73e-07 2.25e-04 -4.1 8.53e+00 -17.4 1.00e+00 1.00e+00h 1 72 2.0818389e+00 1.15e-04 2.65e-04 -4.0 7.07e+00 -17.9 1.00e+00 1.00e+00h 1 73 2.0815801e+00 2.08e-04 2.12e-04 -4.1 9.50e+00 -18.4 1.00e+00 1.00e+00h 1 74 2.0805898e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -18.9 9.78e-01 9.71e-01h 1 75 2.0805497e+00 6.51e-05 1.89e-06 -6.1 1.55e+01 -19.3 1.00e+00 1.00e+00h 1 76 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -19.8 1.00e+00 1.00e+00f 1 77 2.0816887e+00 9.54e-04 2.26e-04 -4.1 4.72e+01 -20.0 1.00e+00 1.00e+00h 1 78 2.0816504e+00 5.63e-07 2.26e-04 -4.1 8.93e+00 -20.0 1.00e+00 1.00e+00h 1 79 2.0805906e+00 3.68e-03 1.60e-04 -6.1 4.16e+01 -20.0 9.77e-01 9.75e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805511e+00 6.76e-05 2.09e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 81 2.0805469e+00 4.72e-08 2.09e-06 -6.1 2.95e+00 -20.0 1.00e+00 1.00e+00h 1 82 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.89e+01 -20.0 1.00e+00 1.00e+00f 1 83 2.0817159e+00 1.04e-03 2.29e-04 -4.1 5.46e+01 -20.0 1.00e+00 1.00e+00h 1 84 2.0816648e+00 1.22e-06 2.29e-04 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 85 2.0805915e+00 3.76e-03 1.66e-04 -6.1 4.20e+01 -20.0 9.76e-01 9.75e-01h 1 86 2.0805514e+00 6.96e-05 2.13e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 87 2.0805471e+00 4.99e-08 2.13e-06 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 88 2.0805365e+00 9.55e-07 8.02e-07 -9.0 9.57e-01 -20.0 1.00e+00 9.97e-01h 1 89 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0817306e+00 1.08e-03 2.30e-04 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 91 2.0816723e+00 1.67e-06 2.30e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 93 2.0805516e+00 7.07e-05 2.15e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 94 2.0805472e+00 5.15e-08 2.15e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 9.76e-07 8.28e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 96 2.0805365e+00 9.27e-11 2.41e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 97 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 98 2.0817309e+00 1.08e-03 2.30e-04 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 99 2.0816725e+00 1.68e-06 2.30e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805920412657204e+00 2.0805920412657204e+00 Dual infeasibility......: 1.6903437373853731e-04 1.6903437373853731e-04 Constraint violation....: 3.8078436056014908e-03 3.8078436056014908e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.9501918344282636e-05 1.9501918344282636e-05 Overall NLP error.......: 3.8078436056014908e-03 3.8078436056014908e-03 Number of objective function evaluations = 110 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 110 Number of inequality constraint evaluations = 110 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 36.206 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.067s) integrator 1 hessian structure: 0.057s 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 (0.059s) linear index maps built (0.0s) evaluator ready (total: 0.127s) evaluator created (0.127s) 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: 0.128s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 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 3.5967189e+00 2.21e+00 5.69e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9005039e+00 4.63e-02 2.31e+00 -1.0 1.53e+00 0.0 9.79e-01 1.00e+00f 1 2 2.5852941e+00 1.59e-02 5.08e-01 -1.1 1.80e-01 0.4 9.42e-01 1.00e+00h 1 3 2.3426719e+00 4.05e-03 1.95e-01 -2.0 1.08e-01 -0.1 9.86e-01 1.00e+00h 1 4 2.1468269e+00 3.32e-03 1.89e-01 -2.9 1.27e-01 -0.5 9.97e-01 5.66e-01f 1 5 2.0954603e+00 1.62e-04 2.51e-02 -3.6 2.12e-02 -1.0 1.00e+00 9.92e-01h 1 6 2.0908244e+00 8.83e-06 5.61e-03 -4.0 9.18e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0908571e+00 1.02e-08 1.06e-04 -4.0 9.69e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908564e+00 1.76e-10 5.45e-05 -4.0 1.49e-02 -2.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 8 (scaled) (unscaled) Objective...............: 2.0908563770370838e+00 2.0908563770370838e+00 Dual infeasibility......: 5.4481795486154916e-05 5.4481795486154916e-05 Constraint violation....: 1.7557561329296922e-10 1.7557561329296922e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000001765698e-04 1.0000000001765698e-04 Overall NLP error.......: 5.4481795486154916e-05 5.4481795486154916e-05 Number of objective function evaluations = 9 Number of objective gradient evaluations = 9 Number of equality constraint evaluations = 9 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 9 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 8 Total seconds in IPOPT = 26.909 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.073s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.074s) integrator 1 hessian structure: 0.053s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.054s) linear index maps built (0.0s) evaluator ready (total: 0.128s) evaluator created (0.129s) 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: 0.129s) 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 2.4714905e+00 2.87e+00 6.74e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.2925502e+00 2.80e-01 2.90e+00 -0.9 2.75e+00 0.0 1.00e+00 8.99e-01f 1 2 2.6068230e+00 5.21e-02 1.00e+00 -0.9 9.59e-01 -0.5 6.74e-01 8.05e-01h 1 3 2.5498674e+00 4.01e-02 1.59e+00 -1.0 1.86e+00 -1.0 9.83e-01 2.31e-01h 1 4 2.4945922e+00 6.21e-02 1.32e+00 -1.2 2.11e+00 -1.4 9.90e-01 3.01e-01h 1 5 2.4374959e+00 4.92e-02 1.20e+00 -1.6 1.64e-01 -0.1 1.00e+00 2.08e-01h 1 6 2.1629070e+00 5.30e-03 2.18e-01 -2.3 2.19e-01 -0.6 9.97e-01 8.97e-01h 1 7 2.1059805e+00 1.78e-03 3.81e-02 -3.3 7.31e-02 -1.1 9.96e-01 7.23e-01h 1 8 2.0909505e+00 4.11e-05 5.87e-03 -4.0 1.95e-02 -1.5 1.00e+00 1.00e+00h 1 9 2.0908640e+00 7.23e-08 2.61e-04 -4.0 2.90e-03 -2.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908633e+00 7.11e-10 2.06e-05 -4.0 6.33e-03 -2.5 1.00e+00 1.00e+00h 1 11 2.0908614e+00 1.37e-10 2.06e-05 -4.0 1.90e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0908558e+00 1.23e-09 2.06e-05 -4.0 5.70e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908390e+00 1.11e-08 2.06e-05 -4.0 1.71e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0907886e+00 9.96e-08 2.06e-05 -4.0 5.12e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0906375e+00 8.98e-07 2.06e-05 -4.0 1.54e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0901855e+00 8.13e-06 3.62e-05 -4.0 4.59e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0888408e+00 7.45e-05 3.23e-04 -4.0 1.37e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0849124e+00 7.06e-04 2.95e-03 -4.0 3.99e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0796372e+00 2.05e-03 1.87e-01 -4.0 1.03e+02 -6.8 1.00e+00 5.13e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0801593e+00 3.87e-04 1.78e-01 -4.0 6.56e+01 -7.3 1.00e+00 9.73e-01H 1 21 2.0773877e+00 8.52e-03 1.88e-02 -4.0 1.25e+02 -7.7 1.00e+00 9.61e-01h 1 22 2.0770470e+00 1.68e-03 7.37e-02 -4.0 2.09e+02 -8.2 1.00e+00 1.00e+00h 1 23 2.0760757e+00 4.78e-03 2.09e-02 -4.0 3.51e+02 -8.7 1.00e+00 9.14e-01h 1 24 2.0768341e+00 2.63e-02 2.46e-02 -3.7 3.15e+02 -9.2 1.00e+00 1.00e+00h 1 25 2.0764414e+00 8.20e-03 4.28e-03 -3.8 1.23e+02 -9.6 1.00e+00 1.00e+00h 1 26 2.0764173e+00 1.67e-04 1.15e-04 -3.8 2.82e+01 -10.1 1.00e+00 1.00e+00h 1 27 2.0756775e+00 1.64e-03 9.23e-06 -4.0 2.98e+01 -10.6 1.00e+00 1.00e+00h 1 28 2.0756712e+00 6.10e-06 1.39e-06 -4.0 2.14e+01 -11.1 1.00e+00 1.00e+00h 1 29 2.0756712e+00 3.55e-09 1.45e-07 -4.0 4.81e+00 -11.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0756712e+00 4.28e-11 1.59e-09 -4.0 6.44e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 2.0756712121477232e+00 2.0756712121477232e+00 Dual infeasibility......: 1.5929446070040744e-09 1.5929446070040744e-09 Constraint violation....: 4.2781223008603320e-11 4.2781223008603320e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000019e-04 1.0000000000000019e-04 Overall NLP error.......: 1.5929446070040744e-09 1.5929446070040744e-09 Number of objective function evaluations = 32 Number of objective gradient evaluations = 31 Number of equality constraint evaluations = 32 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 31 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 30 Total seconds in IPOPT = 27.007 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.079s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.079s) 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: 0.001s hessian structure: 1749 nonzeros (0.063s) linear index maps built (0.0s) evaluator ready (total: 0.143s) evaluator created (0.143s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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: 0.144s) 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 2.6384444e+00 3.45e+00 4.26e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.3899025e+00 8.36e-02 1.93e+00 -1.0 1.98e+00 0.0 7.28e-01 9.78e-01f 1 2 3.2853422e+00 6.25e-02 3.39e+00 -0.6 3.85e-01 0.4 1.00e+00 1.00e+00f 1 3 2.9180520e+00 7.57e-02 1.70e+00 -0.8 3.58e-01 -0.1 9.69e-01 1.00e+00h 1 4 2.6559923e+00 9.58e-03 7.36e-01 -1.3 1.57e-01 -0.5 7.96e-01 1.00e+00h 1 5 2.4552522e+00 3.32e-02 6.82e-01 -1.6 7.26e-01 -1.0 1.00e+00 4.91e-01h 1 6 2.1819187e+00 3.11e-03 1.49e-01 -2.1 1.01e-01 -1.5 9.92e-01 1.00e+00h 1 7 2.0973801e+00 8.29e-04 1.17e-02 -3.4 7.73e-02 -2.0 1.00e+00 9.21e-01h 1 8 2.0909703e+00 1.62e-05 8.89e-04 -4.0 1.31e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909343e+00 8.93e-08 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 2.0909293e+00 9.89e-10 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0909292913874364e+00 2.0909292913874364e+00 Dual infeasibility......: 2.0588839489461589e-05 2.0588839489461589e-05 Constraint violation....: 9.8863011180339022e-10 9.8863011180339022e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000000e-04 1.0000000000000000e-04 Overall NLP error.......: 2.0588839489461589e-05 2.0588839489461589e-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 = 27.653 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: 0.079s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.079s) integrator 1 hessian structure: 0.059s 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: 0.143s) evaluator created (0.143s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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: 0.143s) 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 2.5636647e+00 2.92e+00 6.20e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8130203e+00 7.30e-02 2.07e+00 -1.0 1.92e+00 - 1.00e+00 1.00e+00f 1 2 2.9682040e+00 2.72e-02 4.08e-01 -0.8 2.43e-01 - 1.00e+00 1.00e+00f 1 3 2.6240977e+00 4.19e-03 1.27e-01 -1.5 1.56e-01 - 9.97e-01 1.00e+00h 1 4 2.1885874e+00 7.47e-03 1.15e-01 -2.3 1.64e-01 - 9.65e-01 9.08e-01f 1 5 2.0984602e+00 7.61e-04 6.43e-02 -3.3 4.08e-02 - 9.97e-01 9.38e-01h 1 6 2.0908053e+00 7.81e-06 2.71e-03 -4.0 7.98e-03 - 1.00e+00 1.00e+00h 1 7 2.0908647e+00 1.39e-08 4.68e-04 -4.0 4.68e-04 - 1.00e+00 1.00e+00h 1 8 2.0908648e+00 3.73e-12 1.10e-04 -4.0 1.10e-04 - 1.00e+00 1.00e+00h 1 9 2.0908648e+00 7.12e-15 1.09e-04 -4.0 1.09e-04 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0906849e+00 7.10e-10 8.72e-05 -4.1 8.72e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0906848970393397e+00 2.0906848970393397e+00 Dual infeasibility......: 8.7236574056436965e-05 8.7236574056436965e-05 Constraint violation....: 7.1000848863439492e-10 7.1000848863439492e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.0006281931324131e-05 8.0006281931324131e-05 Overall NLP error.......: 8.7236574056436965e-05 8.7236574056436965e-05 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 0 Total seconds in IPOPT = 8.263 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.063s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.064s) integrator 1 hessian structure: 0.046s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.046s) linear index maps built (0.0s) evaluator ready (total: 0.11s) evaluator created (0.11s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.11s) 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 5.5173985e+00 2.47e+00 6.23e-01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5311903e+00 1.66e-01 4.15e+00 -1.0 1.82e+00 0.0 1.62e-01 9.37e-01f 1 2 2.7251650e+00 2.91e-02 1.39e+00 -1.0 3.87e-01 -0.5 9.69e-01 1.00e+00f 1 3 2.7392779e+00 3.36e-03 1.15e-01 -1.0 1.15e-01 -1.0 1.00e+00 1.00e+00h 1 4 2.2786148e+00 1.45e-02 8.84e-02 -2.5 2.64e-01 -1.4 8.88e-01 1.00e+00f 1 5 2.1226497e+00 8.23e-03 5.03e-02 -2.5 2.98e-01 -1.9 1.00e+00 9.27e-01h 1 6 2.1152117e+00 3.40e-05 1.21e-03 -2.5 1.28e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0914411e+00 3.33e-05 5.49e-05 -3.8 1.24e-02 -2.9 1.00e+00 1.00e+00f 1 8 2.0908670e+00 2.87e-06 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908537e+00 5.04e-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 2.0908139e+00 6.20e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0908138569417112e+00 2.0908138569417112e+00 Dual infeasibility......: 2.0574052995192490e-05 2.0574052995192490e-05 Constraint violation....: 6.2039694862306427e-08 6.2039694862306427e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999994746e-05 9.9999999999994746e-05 Overall NLP error.......: 2.0574052995192490e-05 2.0574052995192490e-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 = 27.593 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.061s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.111s) evaluator created (0.112s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.112s) initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.061s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.111s) evaluator created (0.112s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (1.98s) optimizer initialization complete (total: 2.091s) 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 1.2217333e+00 2.40e+00 1.38e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8920923e+00 1.91e-02 7.09e-01 -1.0 1.80e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.3154203e+00 2.00e-02 6.60e-02 -1.8 2.63e-01 -1.6 9.78e-01 1.00e+00h 1 3 2.1346512e+00 7.63e-03 2.22e-01 -3.1 1.88e-01 -1.1 9.55e-01 1.00e+00h 1 4 2.0965503e+00 1.93e-03 6.59e-02 -4.0 9.44e-02 -1.6 1.00e+00 7.99e-01h 1 5 2.0914540e+00 2.65e-04 8.07e-01 -4.0 7.06e-01 -2.1 1.00e+00 4.42e-01h 1 6 2.0909668e+00 2.62e-04 4.51e-01 -4.0 1.03e+00 -2.6 1.00e+00 1.00e+00h 1 7 2.0909410e+00 1.38e-06 3.01e-02 -4.0 7.39e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0909598e+00 4.93e-07 2.06e-05 -4.0 7.03e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909388e+00 1.78e-08 2.05e-05 -4.0 2.11e-01 -4.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908771e+00 1.46e-07 2.05e-05 -4.0 6.30e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0906954e+00 1.29e-06 4.94e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0901776e+00 1.09e-05 4.18e-04 -4.0 5.43e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888389e+00 8.17e-05 3.15e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861595e+00 4.38e-04 1.74e-02 -4.0 3.46e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830967e+00 9.11e-04 4.69e-02 -4.0 5.30e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828649e+00 9.34e-04 2.35e-02 -4.0 5.43e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823479e+00 4.02e-04 1.02e-02 -4.0 1.12e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820405e+00 9.23e-05 1.86e-02 -4.0 1.46e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.71e-04 8.72e-03 -4.0 9.95e+01 -8.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0819393e+00 3.71e-05 8.50e-04 -4.0 3.11e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.36e-07 1.40e-05 -4.0 4.47e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.87e-10 3.29e-08 -4.0 2.46e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.53e-13 1.23e-11 -4.0 4.61e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907191057e+00 2.0819382907191057e+00 Dual infeasibility......: 1.2262055926843748e-11 1.2262055926843748e-11 Constraint violation....: 2.5313084961453569e-13 2.5313084961453569e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000061e-04 1.0000000000000061e-04 Overall NLP error.......: 1.2262055926843748e-11 1.2262055926843748e-11 Number of objective function evaluations = 24 Number of objective gradient evaluations = 24 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 24 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 23 Total seconds in IPOPT = 27.428 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.061s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.111s) evaluator created (0.111s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.06s) optimizer initialization complete (total: 0.171s) 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 1.8240893e+00 2.88e+00 1.66e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8752486e+00 2.73e-02 4.50e-01 -1.1 2.37e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.2318711e+00 2.71e-02 5.86e-02 -1.7 2.85e-01 -1.6 9.75e-01 9.62e-01h 1 3 2.1377441e+00 3.56e-03 2.43e-01 -2.8 8.36e-02 -1.1 9.70e-01 8.69e-01h 1 4 2.1130600e+00 1.06e-03 4.27e-01 -4.0 2.48e-01 -1.6 1.00e+00 7.01e-01h 1 5 2.0921791e+00 6.98e-03 1.31e+00 -4.0 9.70e-01 -2.1 1.00e+00 6.82e-01h 1 6 2.0911553e+00 5.63e-03 1.41e+00 -4.0 1.39e+00 -2.6 1.00e+00 1.93e-01h 1 7 2.0907921e+00 2.35e-04 6.88e-01 -4.0 1.30e+00 -3.1 1.00e+00 1.00e+00h 1 8 2.0907999e+00 3.69e-06 1.26e-03 -4.0 6.92e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908695e+00 3.54e-06 3.63e-05 -4.0 1.93e-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 2.0908300e+00 9.30e-08 2.25e-04 -4.0 5.04e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907315e+00 6.22e-07 6.86e-04 -4.0 1.31e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904504e+00 5.98e-06 5.86e-04 -4.0 4.20e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0903279e+00 7.71e-07 5.63e-04 -4.0 1.53e+00 -5.0 1.00e+00 1.00e+00h 1 14 2.0901907e+00 1.32e-06 1.85e-02 -4.0 6.37e+00 -5.5 1.00e+00 2.13e-01h 2 15 2.0890571e+00 6.05e-05 2.40e-03 -4.0 1.36e+01 -6.0 1.00e+00 1.00e+00h 1 16 2.0875370e+00 1.40e-04 5.99e-02 -4.0 3.76e+01 -6.4 1.00e+00 4.75e-01h 1 17 2.0837370e+00 1.64e-03 5.61e-02 -4.0 6.71e+01 -6.9 1.00e+00 1.00e+00h 1 18 2.0827699e+00 5.21e-04 1.42e-02 -4.0 1.22e+01 -6.5 1.00e+00 6.49e-01h 1 19 2.0828099e+00 1.39e-04 8.83e-03 -4.0 2.88e+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 2.0825120e+00 2.90e-04 3.21e-03 -4.0 7.44e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0821283e+00 8.32e-04 8.79e-03 -4.0 1.73e+02 -7.9 6.52e-01 1.00e+00h 1 22 2.0821833e+00 8.42e-04 5.57e-01 -4.0 9.74e+01 -6.6 6.79e-01 6.96e-02h 4 23 2.0816643e+00 3.20e-04 6.55e-02 -4.1 2.08e+01 -7.1 8.78e-01 7.80e-01H 1 24 2.0819657e+00 1.86e-04 5.83e-01 -4.0 1.22e+01 -4.8 1.06e-01 2.01e-01f 1 25 2.0821424e+00 8.44e-04 2.53e-01 -4.0 1.13e+01 -5.3 1.96e-01 2.53e-01h 2 26 2.0816474e+00 3.48e-07 2.33e-03 -4.2 4.72e-02 -1.3 1.00e+00 1.00e+00h 1 27 2.0817723e+00 2.53e-07 7.02e-04 -4.0 3.79e-02 -1.8 1.00e+00 1.00e+00h 1 28 2.0817547e+00 8.81e-09 2.58e-04 -4.0 4.44e-02 -2.2 1.00e+00 1.00e+00h 1 29 2.0817544e+00 1.08e-08 1.14e-04 -4.0 5.91e-02 -2.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0817560e+00 2.46e-08 2.06e-05 -4.0 3.23e-02 -3.2 1.00e+00 1.00e+00h 1 31 2.0816832e+00 6.67e-07 1.31e-04 -4.1 4.45e-02 -3.7 1.00e+00 1.00e+00h 1 32 2.0812746e+00 1.59e-05 1.38e-01 -6.1 2.13e-01 -4.1 6.56e-01 1.00e+00h 1 33 2.0819527e+00 3.48e-05 2.22e-03 -4.0 3.18e-01 -4.6 1.00e+00 1.00e+00h 1 34 2.0817230e+00 2.10e-05 2.55e-04 -4.1 6.55e-01 -5.1 1.00e+00 1.00e+00h 1 35 2.0811421e+00 1.97e-04 2.71e-03 -6.1 2.39e+00 -5.6 1.00e+00 1.00e+00h 1 36 2.0818303e+00 1.81e-05 3.45e-02 -4.0 9.04e-02 -3.3 1.00e+00 9.23e-01h 1 37 2.0814390e+00 1.16e-05 1.85e-03 -4.1 2.27e-01 -3.8 1.00e+00 1.00e+00f 1 38 2.0816522e+00 1.57e-05 5.41e-04 -4.0 5.06e-01 -4.3 1.00e+00 1.00e+00h 1 39 2.0816479e+00 2.90e-06 1.00e-03 -4.1 4.55e-01 -4.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0816858e+00 1.93e-06 2.32e-04 -4.1 9.91e-01 -5.3 1.00e+00 1.00e+00h 1 41 2.0810988e+00 2.10e-04 1.60e-02 -6.1 2.68e+00 -5.7 9.71e-01 1.00e+00h 1 42 2.0811098e+00 9.33e-05 1.21e-01 -4.8 4.53e-01 -4.4 1.00e+00 5.52e-01h 1 43 2.0813411e+00 8.37e-05 3.48e-01 -4.0 1.84e+00 -4.9 1.00e+00 2.98e-01f 1 44 2.0815725e+00 5.40e-05 9.18e-04 -4.1 1.51e+00 -5.4 1.00e+00 1.00e+00h 1 45 2.0816783e+00 1.44e-05 8.21e-04 -4.1 1.89e+00 -5.8 1.00e+00 1.00e+00h 1 46 2.0817307e+00 5.51e-06 4.14e-04 -4.1 2.47e+00 -6.3 1.00e+00 1.00e+00h 1 47 2.0809106e+00 1.07e-03 5.23e-03 -6.2 1.45e+01 -6.8 9.94e-01 1.00e+00h 1 48 2.0809990e+00 5.79e-05 3.37e-03 -4.9 2.92e+00 -6.4 1.00e+00 9.37e-01h 1 49 2.0812654e+00 1.73e-04 6.56e-02 -4.0 1.73e+01 -6.8 7.39e-01 2.83e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0832287e+00 4.67e-07 1.80e-02 -4.3 2.75e+01 -7.3 1.00e+00 1.00e+00H 1 51 2.0825028e+00 4.27e-07 2.52e+00 -4.3 2.72e-01 -1.5 8.40e-01 2.18e-01h 1 52 2.0820096e+00 3.60e-05 1.29e+00 -4.3 2.19e-01 -1.9 1.00e+00 5.96e-01f 1 53 2.0817288e+00 2.27e-05 2.03e+00 -4.3 7.14e-02 -2.4 5.31e-01 1.00e+00f 1 54 2.0814616e+00 5.04e-06 8.19e-04 -4.3 2.78e-02 -2.9 1.00e+00 1.00e+00h 1 55 2.0818353e+00 2.00e-06 5.86e-04 -4.0 2.40e-02 -3.4 1.00e+00 1.00e+00h 1 56 2.0816794e+00 9.24e-07 1.13e-04 -4.1 4.00e-02 -3.9 1.00e+00 1.00e+00h 1 57 2.0811603e+00 2.79e-05 9.46e-02 -6.1 3.17e-01 -4.3 7.01e-01 1.00e+00h 1 58 2.0819605e+00 4.30e-05 2.07e-03 -4.0 3.73e-01 -4.8 1.00e+00 1.00e+00h 1 59 2.0817378e+00 2.96e-05 2.64e-04 -4.1 8.43e-01 -5.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0810682e+00 2.32e-04 1.70e-02 -6.1 3.76e+00 -5.8 9.29e-01 8.16e-01h 1 61 2.0808748e+00 1.35e-04 1.18e-02 -6.1 4.98e+00 -6.2 1.00e+00 5.36e-01h 1 62 2.0819515e+00 2.42e-03 6.47e-02 -4.0 2.02e+01 -6.7 4.95e-01 1.00e+00f 1 63 2.0813117e+00 7.64e-04 5.99e-03 -4.3 1.16e+01 -7.2 9.79e-01 1.00e+00h 1 64 2.0817537e+00 2.69e-04 8.71e-02 -4.3 3.81e+00 -5.0 4.64e-01 5.13e-01h 1 65 2.0814619e+00 2.93e-04 3.69e-02 -4.3 2.56e+00 -5.4 7.94e-01 7.54e-01f 1 66 2.0812789e+00 2.05e-04 1.87e+00 -4.3 1.10e+00 -3.2 4.44e-02 2.88e-01f 1 67 2.0815686e+00 1.68e-04 2.51e+00 -4.3 8.06e-01 -3.7 1.00e+00 1.74e-01f 3 68 2.0814430e+00 1.91e-05 1.01e-03 -4.3 1.33e-01 -4.2 1.00e+00 1.00e+00h 1 69 2.0817523e+00 1.78e-05 7.63e-04 -4.0 4.65e-01 -4.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0815984e+00 2.39e-05 1.27e-04 -4.1 1.24e+00 -5.1 1.00e+00 1.00e+00h 1 71 2.0809795e+00 2.53e-04 2.10e-01 -6.1 2.65e+00 -5.6 6.34e-01 1.00e+00h 1 72 2.0809226e+00 2.32e-04 9.20e-02 -6.1 4.83e+00 -4.3 5.74e-02 8.03e-02h 1 73 2.0809951e+00 2.12e-04 1.39e+00 -6.1 2.81e+00 -4.7 6.83e-01 8.73e-02h 2 74 2.0808686e+00 1.26e-05 3.37e-03 -6.1 2.08e+00 -5.2 9.66e-01 1.00e+00h 1 75 2.0808619e+00 1.15e-05 2.86e+00 -5.4 1.23e+00 -3.9 1.00e+00 8.22e-02h 1 76 2.0808677e+00 5.49e-06 3.19e-01 -5.5 3.17e-01 -4.4 1.00e+00 5.41e-01h 1 77 2.0811467e+00 2.33e-05 5.11e-01 -4.0 2.46e+00 -4.8 1.00e+00 2.61e-01f 1 78 2.0814420e+00 1.71e-04 3.77e-03 -4.1 2.65e+00 -5.3 1.00e+00 1.00e+00h 1 79 2.0815860e+00 2.36e-05 1.48e-03 -4.1 1.62e+00 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0816670e+00 6.87e-06 2.75e-04 -4.1 3.30e+00 -6.3 1.00e+00 1.00e+00h 1 81 2.0808151e+00 7.76e-04 6.21e-03 -6.1 1.11e+01 -6.8 9.92e-01 1.00e+00h 1 82 2.0807143e+00 1.84e-04 1.92e-03 -5.5 1.62e+01 -7.2 1.00e+00 9.78e-01h 1 83 2.0819489e+00 6.87e-03 1.43e-02 -4.0 5.88e+01 -7.7 8.09e-01 1.00e+00f 1 84 2.0816246e+00 2.08e-03 1.33e-02 -4.1 5.72e+01 -8.2 1.00e+00 1.00e+00h 1 85 2.0814887e+00 2.21e-05 9.77e-04 -4.1 3.68e+01 -8.7 1.00e+00 1.00e+00h 1 86 2.0814857e+00 5.95e-06 1.79e-04 -4.1 1.80e+01 -9.1 1.00e+00 1.00e+00h 1 87 2.0818405e+00 3.60e-04 5.17e-05 -4.0 1.21e+01 -9.6 1.00e+00 1.00e+00h 1 88 2.0815812e+00 2.12e-04 1.60e-05 -4.1 9.68e+00 -10.1 1.00e+00 1.00e+00h 1 89 2.0805904e+00 3.30e-03 1.39e-04 -6.1 3.99e+01 -10.6 9.78e-01 9.71e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0818880e+00 6.54e-03 3.16e-04 -4.0 6.08e+01 -11.0 1.00e+00 1.00e+00f 1 91 2.0816141e+00 4.86e-04 9.95e-06 -4.1 2.06e+01 -11.5 1.00e+00 1.00e+00h 1 92 2.0805989e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -12.0 9.76e-01 9.65e-01h 1 93 2.0805508e+00 8.46e-05 2.27e-06 -6.1 1.69e+01 -12.5 1.00e+00 1.00e+00h 1 94 2.0819794e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -13.0 1.00e+00 1.00e+00f 1 95 2.0816850e+00 9.29e-04 4.92e-05 -4.1 4.57e+01 -13.4 1.00e+00 1.00e+00h 1 96 2.0816490e+00 4.77e-07 7.47e-07 -4.1 8.50e+00 -13.9 1.00e+00 1.00e+00h 1 97 2.0818389e+00 1.13e-04 4.87e-06 -4.0 7.02e+00 -14.4 1.00e+00 1.00e+00h 1 98 2.0815801e+00 2.08e-04 9.04e-06 -4.1 9.49e+00 -14.9 1.00e+00 1.00e+00h 1 99 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -15.3 9.78e-01 9.71e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805497e+00 6.51e-05 1.78e-06 -6.1 1.55e+01 -15.8 1.00e+00 1.00e+00h 1 101 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -16.3 1.00e+00 1.00e+00f 1 102 2.0816901e+00 9.49e-04 5.23e-05 -4.1 4.72e+01 -16.8 1.00e+00 1.00e+00h 1 103 2.0816518e+00 5.68e-07 7.86e-07 -4.1 8.91e+00 -17.3 1.00e+00 1.00e+00h 1 104 2.0805907e+00 3.69e-03 1.61e-04 -6.1 4.17e+01 -17.7 9.77e-01 9.75e-01h 1 105 2.0805511e+00 6.76e-05 1.95e-06 -6.1 1.62e+01 -18.2 1.00e+00 1.00e+00h 1 106 2.0805469e+00 4.72e-08 2.03e-08 -6.1 2.96e+00 -18.7 1.00e+00 1.00e+00h 1 107 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.88e+01 -19.2 1.00e+00 1.00e+00f 1 108 2.0817176e+00 1.03e-03 6.82e-05 -4.1 5.46e+01 -19.6 1.00e+00 1.00e+00h 1 109 2.0816664e+00 1.23e-06 1.00e-06 -4.1 1.09e+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 110 2.0805915e+00 3.77e-03 1.67e-04 -6.1 4.21e+01 -20.0 9.76e-01 9.75e-01h 1 111 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 112 2.0805471e+00 5.00e-08 2.15e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 113 2.0805365e+00 9.59e-07 8.07e-07 -9.0 9.59e-01 -20.0 1.00e+00 9.97e-01h 1 114 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 115 2.0817324e+00 1.07e-03 7.73e-05 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 116 2.0816741e+00 1.68e-06 1.10e-06 -4.1 1.18e+01 -20.0 1.00e+00 1.00e+00h 1 117 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 118 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 119 2.0805472e+00 5.16e-08 2.22e-08 -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 120 2.0805365e+00 9.80e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 121 2.0805365e+00 9.37e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 122 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 123 2.0817328e+00 1.07e-03 7.75e-05 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 124 2.0816743e+00 1.69e-06 1.10e-06 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 125 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 126 2.0805516e+00 7.08e-05 2.06e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 127 2.0805472e+00 5.17e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 128 2.0805365e+00 9.81e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 129 2.0805365e+00 9.39e-11 2.34e-12 -9.0 2.75e-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 130 2.0805365e+00 4.44e-16 3.37e-16 -9.0 1.11e-05 -20.0 1.00e+00 1.00e+00h 1 131 2.0805365e+00 6.66e-16 2.22e-16 -9.0 2.01e-12 -20.0 1.00e+00 1.00e+00h 1 132 2.0805365e+00 2.22e-16 2.41e-16 -9.0 7.59e-14 -20.0 1.00e+00 1.00e+00 0 133 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....: 133 (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 = 150 Number of objective gradient evaluations = 134 Number of equality constraint evaluations = 150 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 134 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 134 Total seconds in IPOPT = 28.092 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: 0.051s jacobian structure: 180 nonzeros (0.093s) integrator 1 hessian structure: 0.047s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.333s sub-objective 2 (QuadraticRegularizer): 0.084s sub-objective 3 (MinimumTimeObjective): 0.017s objective hessian structure: 0.527s hessian structure: 375 nonzeros (0.575s) linear index maps built (0.0s) evaluator ready (total: 0.828s) evaluator created (0.828s) NL constraint bounds extracted (0.011s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.109s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.355s) optimizer initialization complete (total: 4.305s) 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 1.9580383e+00 8.89e-01 1.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5229576e+00 2.36e-01 1.72e+00 -1.0 8.89e-01 0.0 9.96e-01 1.00e+00h 1 2 1.6285201e+00 8.18e-02 2.72e-01 -0.7 3.04e-01 -0.5 1.00e+00 6.53e-01h 1 3 1.1895305e+00 3.59e-02 6.96e-01 -2.0 2.16e+00 - 8.88e-01 1.00e+00f 1 4 9.2396805e-01 3.14e-02 1.72e+00 -2.1 6.72e+00 - 9.94e-01 2.79e-01h 1 5 9.5248771e-01 7.46e-02 1.57e+00 -2.9 5.19e+00 - 1.00e+00 8.36e-01h 1 6 1.1013336e+00 1.66e-02 9.21e-01 -2.5 3.11e-01 -1.0 1.00e+00 6.20e-01h 1 7 1.0943966e+00 1.02e-02 1.36e+00 -4.0 7.58e+00 - 9.04e-01 3.65e-01h 1 8 1.1055452e+00 4.99e-03 2.15e-01 -2.7 1.99e-02 -1.4 1.00e+00 5.06e-01h 1 9 1.0981787e+00 9.52e-04 5.76e-01 -4.0 5.66e+00 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0935495e+00 5.04e-04 7.89e-02 -4.0 4.49e-01 - 1.00e+00 4.70e-01h 1 11 1.0908964e+00 4.62e-07 1.74e-03 -4.0 3.12e-01 - 1.00e+00 1.00e+00h 1 12 1.0908997e+00 1.71e-11 5.30e-06 -4.0 1.79e-02 - 1.00e+00 1.00e+00h 1 13 1.0908997e+00 2.78e-20 3.29e-06 -4.0 1.56e-06 - 1.00e+00 1.00e+00h 1 14 1.0908997e+00 2.34e-27 6.11e-16 -4.0 3.99e-13 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 14 (scaled) (unscaled) Objective...............: 1.0908997263265459e+00 1.0908997263265459e+00 Dual infeasibility......: 6.1064976859814823e-16 6.1064976859814823e-16 Constraint violation....: 2.3424857874610093e-27 2.3424857874610093e-27 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000000e-04 1.0000000000000000e-04 Overall NLP error.......: 6.1064976859814823e-16 6.1064976859814823e-16 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 = 24.027 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/rJgT4/src/problems.jl:66 initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.061s integrator 2 jacobian structure: 0.055s integrator 3 jacobian structure: 0.0s jacobian structure: 1872 nonzeros (0.117s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.048s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.352s sub-objective 2 (QuadraticRegularizer): 0.091s sub-objective 3 (LinearRegularizer): 0.084s sub-objective 4 (MinimumTimeObjective): 0.018s objective hessian structure: 0.642s hessian structure: 2431 nonzeros (0.74s) 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 (0.123s) applying constraint: L1 slack constraint: |du| ≤ s_du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on s_du applying constraint: bounds on Δt linear constraints added: 6 (2.938s) optimizer initialization complete (total: 3.92s) 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 2.0043674e+00 2.22e+00 1.04e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.3758217e+00 1.09e+00 1.59e+00 -1.3 2.16e+01 -4.0 9.29e-01 9.01e-01f 1 2 2.5031512e+00 1.09e+00 1.58e+00 -1.1 1.27e+03 -2.7 1.03e-03 1.30e-03f 3 3 2.2263532e+00 5.22e-01 9.07e-01 -1.4 1.49e+00 -1.3 3.88e-01 5.21e-01f 1 4 2.3614585e+00 6.74e-02 5.90e-01 -1.8 9.46e-01 -1.8 6.45e-01 1.00e+00h 1 5 2.1789196e+00 5.16e-02 5.19e-01 -2.1 2.55e+00 -2.3 7.11e-01 3.92e-01h 1 6 2.0361010e+00 4.35e-02 1.08e-01 -2.8 1.47e+00 -2.8 8.21e-01 7.84e-01h 1 7 2.0031929e+00 4.26e-03 8.34e-03 -4.0 2.95e-01 -3.3 9.52e-01 9.69e-01h 1 8 2.0010021e+00 4.26e-05 3.23e-03 -4.0 3.63e-01 -3.7 1.00e+00 1.00e+00h 1 9 2.0010587e+00 1.49e-06 1.38e-02 -4.0 7.75e-01 -4.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0009985e+00 6.46e-10 2.30e-02 -4.0 1.19e+00 -4.7 1.00e+00 1.00e+00h 1 11 2.0011244e+00 6.08e-10 4.28e-02 -4.0 2.15e+00 -5.2 1.00e+00 1.00e+00f 1 12 2.0006511e+00 1.66e-08 4.21e-02 -4.2 2.41e+00 -5.6 1.00e+00 8.85e-01f 1 13 2.0013323e+00 1.50e-08 1.71e-01 -4.0 8.57e+00 -6.1 1.00e+00 1.00e+00f 1 14 2.0008901e+00 2.97e-08 8.87e-02 -4.1 7.26e+00 -6.6 1.00e+00 6.13e-01f 1 15 2.0011356e+00 3.21e-08 4.03e-01 -4.1 2.01e+01 -7.1 1.00e+00 1.00e+00f 1 16 2.0008818e+00 9.42e-08 4.97e-01 -4.1 2.65e+01 -7.5 1.00e+00 9.36e-01f 1 17 2.0012840e+00 8.36e-08 1.03e+00 -4.1 4.98e+01 -8.0 9.23e-01 1.00e+00f 1 18 2.0009244e+00 1.70e-07 1.20e+00 -4.1 7.00e+01 -8.5 1.00e+00 8.55e-01f 1 19 2.0013112e+00 1.11e-07 2.79e+00 -4.1 1.33e+02 -9.0 8.98e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0008820e+00 2.19e-07 3.35e+00 -4.1 1.93e+02 -9.5 1.00e+00 8.68e-01f 1 21 2.0014134e+00 5.88e-08 7.99e+00 -4.1 3.74e+02 -9.9 8.51e-01 1.00e+00f 1 22 2.0008232e+00 1.62e-07 8.46e+00 -4.1 5.30e+02 -10.4 1.00e+00 7.98e-01f 1 23 2.0015155e+00 1.43e-08 2.30e+01 -4.1 1.08e+03 -10.9 8.39e-01 1.00e+00f 1 24 2.0006806e+00 1.30e-07 2.30e+01 -4.1 1.45e+03 -11.4 1.00e+00 7.93e-01f 1 25 2.0016662e+00 3.69e-09 6.52e+01 -4.1 3.06e+03 -11.8 8.24e-01 1.00e+00f 1 26 2.0005640e+00 2.79e-07 7.26e+01 -4.1 4.52e+03 -12.8 9.59e-01 7.72e-01f 1 27 2.0027237e+00 2.29e-08 2.73e+02 -4.0 1.26e+04 -13.3 7.23e-01 1.00e+00f 1 28 2.0000271e+00 3.54e-07 2.03e+01 -4.2 1.97e+03 -13.7 1.00e+00 5.17e-01f 1 29 2.0021218e+00 6.04e-08 5.43e+02 -4.0 2.72e+04 -14.2 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0009677e+00 4.29e-08 4.66e+01 -4.3 7.66e+03 -14.7 1.00e+00 3.04e-01f 2 31 2.0005338e+00 1.58e-09 2.21e+02 -4.3 1.10e+04 -15.2 1.00e+00 1.00e+00h 1 32 2.0004900e+00 1.84e-11 3.39e+02 -4.3 1.69e+04 -15.7 1.00e+00 1.00e+00f 1 33 2.0003892e+00 6.30e-12 2.36e+02 -4.3 1.18e+04 -16.1 1.00e+00 1.00e+00f 1 34 2.0003761e+00 1.07e-13 1.20e+02 -4.3 6.01e+03 -16.6 1.00e+00 1.00e+00h 1 35 2.0003517e+00 3.33e-14 3.96e+01 -4.3 1.98e+03 -17.1 1.00e+00 1.00e+00h 1 36 2.0003487e+00 1.90e-14 1.98e+01 -4.3 9.92e+02 -17.6 1.00e+00 1.00e+00h 1 37 2.0003444e+00 4.52e-14 5.88e+00 -4.3 2.94e+02 -18.0 1.00e+00 1.00e+00h 1 38 2.0003439e+00 2.70e-14 3.30e+00 -4.3 1.65e+02 -18.5 1.00e+00 1.00e+00h 1 39 2.0003431e+00 6.67e-14 9.60e-01 -4.3 4.80e+01 -19.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0003430e+00 4.02e-14 5.49e-01 -4.3 2.75e+01 -19.5 1.00e+00 1.00e+00h 1 41 2.0003429e+00 9.96e-14 1.59e-01 -4.3 7.97e+00 -19.9 1.00e+00 1.00e+00h 1 42 2.0009047e+00 1.99e-09 1.80e+02 -4.0 8.99e+03 -20.0 1.00e+00 1.00e+00f 1 43 2.0005281e+00 3.64e-10 2.52e+02 -4.1 1.26e+04 -20.0 1.00e+00 1.00e+00f 1 44 2.0006671e+00 6.26e-10 6.75e+01 -4.1 3.38e+03 -20.0 1.00e+00 1.00e+00h 1 45 2.0006371e+00 8.80e-11 3.86e+01 -4.1 1.93e+03 -20.0 1.00e+00 1.00e+00h 1 46 2.0006577e+00 1.12e-10 6.33e+00 -4.1 3.17e+02 -20.0 1.00e+00 1.00e+00h 1 47 2.0006527e+00 1.59e-11 6.39e+00 -4.1 3.20e+02 -20.0 1.00e+00 1.00e+00h 1 48 2.0006561e+00 1.87e-11 9.37e-01 -4.1 4.68e+01 -20.0 1.00e+00 1.00e+00h 1 49 2.0006552e+00 2.68e-12 1.06e+00 -4.1 5.31e+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 50 2.0006558e+00 3.12e-12 1.53e-01 -4.1 7.64e+00 -20.0 1.00e+00 1.00e+00h 1 51 2.0006557e+00 4.47e-13 1.77e-01 -4.1 8.84e+00 -20.0 1.00e+00 1.00e+00h 1 52 2.0006558e+00 5.19e-13 2.54e-02 -4.1 1.27e+00 -20.0 1.00e+00 1.00e+00h 1 53 2.0006557e+00 7.45e-14 2.95e-02 -4.1 1.47e+00 -20.0 1.00e+00 1.00e+00h 1 54 2.0006557e+00 8.64e-14 4.23e-03 -4.1 2.11e-01 -20.0 1.00e+00 1.00e+00h 1 55 2.0006557e+00 1.24e-14 4.91e-03 -4.1 2.45e-01 -20.0 1.00e+00 1.00e+00h 1 56 2.0006557e+00 1.44e-14 7.04e-04 -4.1 1.07e-01 -20.0 1.00e+00 1.00e+00h 1 57 1.9998555e+00 1.40e-08 2.27e+02 -6.1 1.13e+04 -20.0 1.00e+00 1.00e+00f 1 58 2.0006712e+00 3.78e-09 2.02e+03 -4.0 2.02e+05 -20.0 1.00e+00 5.00e-01f 2 59 2.0004394e+00 1.10e-10 2.16e+03 -3.9 1.08e+05 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0009339e+00 3.15e-09 4.85e+02 -3.9 2.43e+04 -20.0 1.00e+00 1.00e+00f 1 61 2.0010131e+00 2.68e-09 1.01e+02 -3.9 5.05e+03 -20.0 1.00e+00 1.00e+00h 1 62 2.0010279e+00 7.33e-10 2.68e+01 -3.9 1.34e+03 -20.0 1.00e+00 1.00e+00h 1 63 2.0010439e+00 5.16e-10 6.66e+00 -3.9 3.33e+02 -20.0 1.00e+00 1.00e+00h 1 64 2.0010460e+00 1.31e-10 4.67e+00 -3.9 2.33e+02 -20.0 1.00e+00 1.00e+00h 1 65 2.0010486e+00 8.81e-11 1.15e+00 -3.9 5.77e+01 -20.0 1.00e+00 1.00e+00h 1 66 2.0010490e+00 2.21e-11 7.77e-01 -3.9 3.88e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0010494e+00 1.47e-11 1.94e-01 -3.9 9.69e+00 -20.0 1.00e+00 1.00e+00h 1 68 2.0010495e+00 3.68e-12 1.29e-01 -3.9 6.47e+00 -20.0 1.00e+00 1.00e+00h 1 69 2.0010496e+00 2.45e-12 3.23e-02 -3.9 1.62e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0010496e+00 6.13e-13 2.16e-02 -3.9 1.08e+00 -20.0 1.00e+00 1.00e+00h 1 71 2.0010496e+00 4.08e-13 5.39e-03 -3.9 4.59e-01 -20.0 1.00e+00 1.00e+00h 1 72 2.0010496e+00 1.02e-13 3.59e-03 -3.9 4.59e-01 -20.0 1.00e+00 1.00e+00h 1 73 2.0010496e+00 6.80e-14 8.98e-04 -3.9 4.59e-01 -20.0 1.00e+00 1.00e+00h 1 74 1.9998644e+00 7.92e-08 2.43e+02 -5.9 1.21e+04 -20.0 1.00e+00 1.00e+00f 1 75 1.9998442e+00 2.91e-13 2.23e+02 -5.9 1.20e+04 -20.0 9.27e-01 1.00e+00h 1 76 1.9525949e+00 2.81e-13 5.52e+05 -5.5 1.10e+08 -20.0 1.00e+00 2.50e-01f 3 77 1.9763602e+00 2.71e-13 3.64e+05 -4.0 4.21e+10 -20.0 1.00e+00 4.33e-04f 1 78 1.9998440e+00 2.54e-12 2.90e+05 -2.2 1.32e+09 -20.0 1.00e+00 1.10e-02f 1 79 2.0035020e+00 6.35e-09 3.63e+02 -2.2 1.81e+04 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0675059e+00 3.27e-04 1.81e+02 -2.2 9.07e+03 -20.0 1.00e+00 1.00e+00f 1 81 2.0666582e+00 3.27e-04 1.74e+03 -2.2 2.18e+111 -16.0 2.25e-98 1.14e-107f 3 82 2.0606401e+00 5.32e-04 3.73e+02 -2.2 1.86e+04 -15.5 9.94e-01 1.00e+00h 1 83 2.0614207e+00 2.35e-03 2.19e+02 -2.2 2.18e+04 -16.0 9.94e-01 1.00e+00h 1 84 2.0599945e+00 1.47e-05 1.66e+02 -2.2 1.67e+04 -16.5 9.94e-01 1.00e+00h 1 85 2.0607979e+00 1.00e-05 4.02e+01 -2.2 3.97e+03 -17.0 1.00e+00 1.00e+00h 1 86 2.0607204e+00 1.17e-05 8.84e+01 -2.2 6.87e+03 -17.4 1.00e+00 1.00e+00h 1 87 2.0606209e+00 1.95e-06 5.67e+00 -2.2 3.54e+02 -16.1 1.00e+00 1.00e+00h 1 88 2.0606214e+00 8.32e-09 1.65e+01 -2.2 8.23e+02 -15.7 1.00e+00 1.00e+00h 1 89 2.0606012e+00 3.63e-07 2.33e-01 -2.2 1.40e+01 -16.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0606014e+00 1.55e-09 2.80e+00 -2.2 1.40e+02 -15.7 1.00e+00 1.00e+00h 1 91 2.0605979e+00 1.06e-09 2.24e-02 -2.2 1.12e+00 -14.4 1.00e+00 1.00e+00h 1 92 2.0038708e+00 4.41e-06 2.55e+02 -3.3 1.28e+04 -14.9 1.00e+00 1.00e+00f 1 93 2.0047658e+00 2.78e-09 8.87e+01 -3.3 4.44e+03 -15.8 1.00e+00 1.00e+00h 1 94 2.0045943e+00 3.27e-13 6.29e+00 -3.3 3.14e+02 -11.8 1.00e+00 1.00e+00h 1 95 2.0047112e+00 1.82e-15 4.13e+01 -3.3 2.07e+03 -12.8 1.00e+00 1.00e+00f 1 96 2.0045838e+00 1.50e-13 1.93e+00 -3.3 9.66e+01 -11.4 1.00e+00 1.00e+00h 1 97 2.0045988e+00 6.28e-17 5.89e+00 -3.3 2.94e+02 -11.9 1.00e+00 1.00e+00h 1 98 2.0045872e+00 2.71e-15 2.16e+00 -3.3 1.08e+02 -11.5 1.00e+00 1.00e+00h 1 99 2.0045986e+00 3.52e-16 6.12e+00 -3.3 3.06e+02 -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 100 2.0046789e+00 4.85e-15 3.39e+01 -3.3 1.69e+03 -12.9 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0046789082188678e+00 2.0046789082188678e+00 Dual infeasibility......: 3.3879975255166073e+01 3.3879975255166073e+01 Constraint violation....: 4.8505578893742740e-15 4.8505578893742740e-15 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 4.7365772966976937e-04 4.7365772966976937e-04 Overall NLP error.......: 3.3879975255166073e+01 3.3879975255166073e+01 Number of objective function evaluations = 112 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 112 Number of inequality constraint evaluations = 112 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 47.661 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: 0.05s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.05s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.051s) linear index maps built (0.0s) evaluator ready (total: 0.101s) evaluator created (0.101s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.272s) optimizer initialization complete (total: 0.374s) 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 4.1529273e+00 3.16e+00 2.38e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.2713956e+00 1.04e+01 1.76e+01 -0.9 1.19e+02 -4.0 1.00e+00 9.79e-01h 1 2 2.3946982e+00 6.21e+00 4.57e+01 -1.1 1.85e+02 -4.5 1.83e-01 1.00e+00f 1 3 2.0919930e+00 1.19e+00 2.78e+01 -1.2 3.68e+02 -4.1 6.40e-01 3.52e-01h 1 4 2.1175329e+00 6.88e-01 4.35e+01 -1.4 2.31e+02 -4.5 5.42e-01 4.12e-01f 1 5 2.1102817e+00 5.99e-02 3.11e+01 -2.7 6.86e+01 -5.0 6.71e-01 9.13e-01h 1 6 2.1084658e+00 1.09e-03 1.59e+00 -4.0 9.14e+00 -5.5 9.10e-01 1.00e+00h 1 7 2.0992466e+00 2.18e-02 6.72e-01 -4.0 2.62e+01 -6.0 6.61e-01 1.00e+00h 1 8 2.0867225e+00 3.49e-02 3.77e-01 -4.0 2.68e+01 -6.4 4.90e-01 1.00e+00h 1 9 2.0809337e+00 2.34e-02 4.72e-02 -4.0 3.51e+01 -6.9 7.93e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0784861e+00 1.41e-02 2.11e-02 -4.0 6.56e+01 -7.4 6.76e-01 1.00e+00h 1 11 2.0771439e+00 3.85e-04 1.77e-02 -4.0 1.22e+02 -7.9 1.00e+00 9.98e-01h 1 12 2.0765520e+00 6.35e-05 1.55e-02 -4.0 2.44e+02 -8.3 1.00e+00 8.27e-01h 1 13 2.0759636e+00 6.73e-05 3.32e-02 -4.0 4.13e+02 -8.8 1.00e+00 1.00e+00h 1 14 2.0756261e+00 5.24e-05 1.81e-02 -4.0 2.92e+02 -9.3 1.00e+00 6.91e-01H 1 15 2.0757951e+00 3.52e-04 4.88e-03 -4.0 1.10e+02 -9.8 1.00e+00 1.00e+00h 1 16 2.0754307e+00 1.90e-03 1.04e-04 -4.1 7.47e+01 -10.3 1.00e+00 1.00e+00h 1 17 2.0757717e+00 1.58e-03 2.11e-05 -4.0 6.10e+01 -10.7 1.00e+00 1.00e+00h 1 18 2.0754219e+00 6.82e-04 2.87e-06 -4.1 2.57e+01 -11.2 1.00e+00 1.00e+00h 1 19 2.0757717e+00 3.71e-04 6.40e-07 -4.0 1.40e+01 -11.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0754219e+00 5.56e-04 1.95e-07 -4.1 2.10e+01 -12.2 1.00e+00 1.00e+00h 1 21 2.0757717e+00 6.05e-04 9.83e-08 -4.0 2.28e+01 -12.6 1.00e+00 1.00e+00h 1 22 2.0754219e+00 6.03e-04 1.05e-07 -4.1 2.27e+01 -13.1 1.00e+00 1.00e+00h 1 23 2.0757717e+00 6.06e-04 1.18e-07 -4.0 2.29e+01 -13.6 1.00e+00 1.00e+00h 1 24 2.0754219e+00 6.06e-04 1.21e-07 -4.1 2.29e+01 -14.1 1.00e+00 1.00e+00h 1 25 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -14.5 9.28e-01 1.00e+00h 1 26 2.0758523e+00 1.72e-01 1.58e-04 -4.0 1.29e+03 -15.0 1.00e+00 1.00e+00h 1 27 2.0754378e+00 2.85e-02 8.92e-05 -4.1 1.05e+03 -15.5 1.00e+00 1.00e+00h 1 28 2.0754277e+00 1.25e-05 2.07e-06 -4.1 1.63e+02 -16.0 1.00e+00 1.00e+00h 1 29 2.0757717e+00 7.85e-04 1.74e-07 -4.0 3.02e+01 -16.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0754219e+00 6.34e-04 1.30e-07 -4.1 2.39e+01 -16.9 1.00e+00 1.00e+00h 1 31 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -17.4 9.28e-01 1.00e+00h 1 32 2.0739729e+00 7.49e-04 2.53e-04 -6.1 8.48e+02 -17.9 8.16e-01 1.00e+00h 1 33 2.0743069e+00 2.58e-02 1.46e-02 -4.0 8.97e+03 -18.4 1.00e+00 1.46e-01f 1 34 2.0749156e+00 3.43e-02 4.23e-05 -4.3 7.15e+02 -18.8 1.00e+00 1.00e+00h 1 35 2.0749194e+00 4.29e-04 1.42e-05 -4.3 5.34e+02 -19.3 1.00e+00 1.00e+00h 1 36 2.0757799e+00 1.06e-02 3.26e-06 -4.0 1.65e+02 -19.8 1.00e+00 1.00e+00h 1 37 2.0754236e+00 2.17e-03 7.34e-07 -4.1 8.12e+01 -20.0 1.00e+00 1.00e+00h 1 38 2.0754217e+00 1.05e-06 2.50e-08 -4.1 1.90e+01 -20.0 1.00e+00 1.00e+00h 1 39 2.0757718e+00 7.83e-04 1.70e-07 -4.0 2.96e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0754219e+00 6.34e-04 1.30e-07 -4.1 2.39e+01 -20.0 1.00e+00 1.00e+00h 1 41 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 42 2.0739729e+00 7.49e-04 2.53e-04 -6.1 8.48e+02 -20.0 8.16e-01 1.00e+00h 1 43 2.0739618e+00 7.48e-07 1.83e-05 -6.1 5.36e+02 -20.0 1.00e+00 1.00e+00h 1 44 2.0741610e+00 2.72e-02 1.81e-02 -4.0 3.03e+04 -20.0 1.00e+00 8.17e-02f 1 45 2.0748450e+00 7.42e-02 5.83e-05 -4.3 1.43e+03 -20.0 1.00e+00 1.00e+00f 1 46 2.0748594e+00 4.17e-04 5.58e-06 -4.3 3.96e+02 -20.0 1.00e+00 1.00e+00h 1 47 2.0740038e+00 1.17e-02 4.14e-04 -6.5 1.83e+02 -20.0 8.92e-01 1.00e+00h 1 48 2.0739628e+00 2.48e-04 2.84e-04 -6.5 7.31e+02 -20.0 7.61e-01 1.00e+00h 1 49 2.0739529e+00 2.78e-07 2.04e-05 -6.5 6.29e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0741325e+00 2.58e-02 1.91e-02 -4.0 3.70e+04 -20.0 1.00e+00 7.19e-02f 1 51 2.0748276e+00 8.42e-02 6.63e-05 -4.3 1.60e+03 -20.0 1.00e+00 1.00e+00f 1 52 2.0748443e+00 3.56e-04 3.40e-06 -4.3 3.15e+02 -20.0 1.00e+00 1.00e+00h 1 53 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 54 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 55 2.0739527e+00 2.69e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 56 2.0741318e+00 2.58e-02 1.92e-02 -4.0 3.72e+04 -20.0 1.00e+00 7.16e-02f 1 57 2.0748272e+00 8.45e-02 6.65e-05 -4.3 1.61e+03 -20.0 1.00e+00 1.00e+00f 1 58 2.0748440e+00 3.54e-04 3.34e-06 -4.3 3.13e+02 -20.0 1.00e+00 1.00e+00h 1 59 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 61 2.0739527e+00 2.68e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 62 2.0741318e+00 2.58e-02 1.92e-02 -4.0 3.72e+04 -20.0 1.00e+00 7.16e-02f 1 63 2.0748272e+00 8.45e-02 6.65e-05 -4.3 1.61e+03 -20.0 1.00e+00 1.00e+00f 1 64 2.0748440e+00 3.54e-04 3.34e-06 -4.3 3.13e+02 -20.0 1.00e+00 1.00e+00h 1 65 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 66 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 67 2.0739527e+00 2.68e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 68 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 69 2.0741226e+00 2.63e-02 1.95e-02 -4.0 4.26e+04 -20.0 1.00e+00 6.77e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0748234e+00 8.99e-02 7.10e-05 -4.3 1.70e+03 -20.0 1.00e+00 1.00e+00f 1 71 2.0748412e+00 3.13e-04 2.43e-06 -4.3 2.70e+02 -20.0 1.00e+00 1.00e+00h 1 72 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 73 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 74 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 75 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 76 2.0741225e+00 2.63e-02 1.95e-02 -4.0 4.27e+04 -20.0 1.00e+00 6.76e-02f 1 77 2.0748233e+00 9.00e-02 7.11e-05 -4.3 1.70e+03 -20.0 1.00e+00 1.00e+00f 1 78 2.0748411e+00 3.13e-04 2.42e-06 -4.3 2.70e+02 -20.0 1.00e+00 1.00e+00h 1 79 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 81 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 82 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 83 2.0739440e+00 6.21e-05 3.00e-06 -9.0 1.42e+02 -20.0 9.56e-01 1.00e+00h 1 84 2.0740989e+00 2.54e-02 2.06e-02 -4.0 5.21e+04 -20.0 1.00e+00 5.99e-02f 1 85 2.0748092e+00 1.02e-01 8.36e-05 -4.3 1.92e+03 -20.0 1.00e+00 1.00e+00f 1 86 2.0748293e+00 2.04e-04 1.06e-06 -4.3 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 87 2.0740026e+00 1.16e-02 4.11e-04 -6.5 1.88e+02 -20.0 8.89e-01 1.00e+00h 1 88 2.0739622e+00 2.30e-04 2.84e-04 -6.5 7.25e+02 -20.0 7.59e-01 1.00e+00h 1 89 2.0739525e+00 2.60e-07 1.99e-05 -6.5 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0739518e+00 4.59e-09 7.61e-07 -6.5 1.66e+02 -20.0 1.00e+00 1.00e+00h 1 91 2.0741220e+00 2.63e-02 1.96e-02 -4.0 4.28e+04 -20.0 1.00e+00 6.75e-02f 1 92 2.0748230e+00 9.02e-02 7.13e-05 -4.3 1.71e+03 -20.0 1.00e+00 1.00e+00f 1 93 2.0748409e+00 3.11e-04 2.38e-06 -4.3 2.68e+02 -20.0 1.00e+00 1.00e+00h 1 94 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 95 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 96 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 97 2.0739520e+00 4.54e-09 7.53e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 98 2.0739440e+00 6.21e-05 3.00e-06 -9.0 1.42e+02 -20.0 9.56e-01 1.00e+00h 1 99 2.0740989e+00 2.54e-02 2.06e-02 -4.0 5.21e+04 -20.0 1.00e+00 5.99e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0748092e+00 1.02e-01 8.37e-05 -4.3 1.92e+03 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0748092138579128e+00 2.0748092138579128e+00 Dual infeasibility......: 8.3650444729679990e-05 8.3650444729679990e-05 Constraint violation....: 1.0240270858532519e-01 1.0240270858532519e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 6.8229653538553949e-05 6.8229653538553949e-05 Overall NLP error.......: 1.0240270858532519e-01 1.0240270858532519e-01 Number of objective function evaluations = 102 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 102 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 = 23.447 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.056s jacobian structure: 180 nonzeros (0.099s) integrator 1 hessian structure: 0.052s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.361s sub-objective 2 (QuadraticRegularizer): 0.093s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.018s objective hessian structure: 0.572s hessian structure: 375 nonzeros (0.624s) linear index maps built (0.0s) evaluator ready (total: 0.893s) evaluator created (0.893s) NL constraint bounds extracted (0.012s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.123s) applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.741s) optimizer initialization complete (total: 3.769s) 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 9.4156233e-01 9.94e-01 1.06e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.1607127e+00 6.31e-01 5.98e+00 -0.7 3.75e+00 -2.0 9.04e-01 1.00e+00h 1 2 1.4448273e+00 4.80e-01 1.40e+00 -0.5 7.66e+00 -0.7 1.81e-01 2.40e-01h 1 3 1.8204047e+00 5.25e-02 1.31e+00 -1.7 7.81e-01 -1.1 8.78e-01 1.00e+00h 1 4 1.7920441e+00 2.37e-02 6.58e-01 -1.1 8.58e-01 -0.7 8.25e-01 4.38e-01h 1 5 1.5714967e+00 1.70e-02 5.61e-01 -1.1 7.18e-01 -1.2 6.13e-01 4.39e-01H 1 6 1.2342425e+00 2.30e-03 2.45e-01 -2.0 2.17e-01 -1.7 9.98e-01 9.66e-01h 1 7 1.1046307e+00 5.77e-05 9.48e-02 -3.6 9.05e-01 - 9.95e-01 1.00e+00f 1 8 1.0926605e+00 7.94e-07 1.36e-01 -4.0 2.43e+00 - 1.00e+00 1.00e+00h 1 9 1.0908451e+00 3.34e-10 3.84e-02 -4.0 1.72e+00 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0909018e+00 2.84e-15 2.15e-03 -4.0 4.63e-01 - 1.00e+00 1.00e+00f 1 11 1.0907204e+00 7.16e-20 2.56e-07 -4.1 5.03e-03 - 1.00e+00 1.00e+00f 1 12 1.0908997e+00 3.01e-24 7.13e-09 -4.0 2.22e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 12 (scaled) (unscaled) Objective...............: 1.0908997336247430e+00 1.0908997336247430e+00 Dual infeasibility......: 7.1254838973633383e-09 7.1254838973633383e-09 Constraint violation....: 3.0146484738042928e-24 3.0146484738042928e-24 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000081716759515e-04 1.0000081716759515e-04 Overall NLP error.......: 7.1254838973633383e-09 7.1254838973633383e-09 Number of objective function evaluations = 14 Number of objective gradient evaluations = 13 Number of equality constraint evaluations = 14 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 13 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 12 Total seconds in IPOPT = 23.301 EXIT: Optimal Solution Found. 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: 0.09s hessian structure: 30 nonzeros (0.09s) linear index maps built (0.0s) evaluator ready (total: 0.091s) evaluator created (0.091s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.126s) applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: bounds on u applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial time t₁ = 0 linear constraints added: 5 (2.721s) optimizer initialization complete (total: 2.939s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 30 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.0415847e-02 8.33e-17 1.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8020413e-02 7.56e-12 1.79e-02 -4.0 3.26e-02 -2.0 9.82e-01 1.00e+00f 1 2 8.7363349e-03 8.03e-13 9.65e-02 -2.9 1.12e-01 -1.6 9.96e-01 1.00e+00f 1 3 1.0285150e-03 1.80e-11 7.11e-02 -3.5 1.35e-01 -1.1 1.00e+00 8.89e-01f 1 4 6.8164469e-05 9.69e-12 2.19e-02 -3.0 5.22e-01 -1.6 1.00e+00 9.27e-01f 1 5 3.3066967e-04 7.57e-12 1.27e-02 -2.8 1.34e+00 -2.1 1.00e+00 3.11e-01f 2 6 3.3066967e-04 7.57e-12 1.43e-02 -3.0 2.20e+00 -2.6 6.25e-01 5.71e-15h 47 7 1.2582234e-03 5.94e-12 1.02e-02 -3.0 2.09e+00 -3.1 4.39e-01 4.39e-01S 62 8 4.1745948e-04 3.78e-12 1.82e-02 -4.4 1.07e+00 -3.5 5.56e-01 4.26e-01f 1 9 2.7972773e-04 3.09e-12 1.87e-02 -4.4 3.57e-01 -4.0 1.00e+00 2.21e-01f 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.1982462e-04 2.81e-12 2.11e-02 -4.4 5.97e-01 -4.5 1.00e+00 1.11e-01f 4 11 2.1982462e-04 2.81e-12 2.02e-02 -4.4 4.32e-01 -5.0 1.00e+00 3.96e-13h 42 12 3.2032900e-06 8.44e-13 1.17e-02 -4.4 4.17e-01 -5.4 8.96e-01 8.96e-01S 60 13 4.2403629e-06 5.64e-13 7.28e-03 -4.0 4.52e-01 -5.9 1.00e+00 3.62e-01f 1 14 4.2502681e-06 5.63e-13 7.03e-03 -4.2 3.37e+01 -6.4 3.44e-02 7.65e-04f 6 15 4.3083257e-06 5.61e-13 1.19e-02 -4.2 2.04e+01 -6.9 1.00e+00 4.90e-03f 4 16 4.4440624e-06 4.97e-13 2.34e-03 -4.2 6.92e-01 -7.4 1.00e+00 1.25e-01f 4 17 1.5505123e-05 3.84e-13 2.50e-03 -4.2 6.02e-01 -7.8 1.00e+00 2.50e-01f 3 18 1.5505123e-05 3.84e-13 2.43e-03 -4.2 4.52e-01 -8.3 1.00e+00 5.68e-14h 45 19 2.1644293e-05 3.42e-14 2.51e-03 -4.2 4.52e-01 -8.8 1.00e+00 1.00e+00S 62 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.1155847e-05 3.00e-14 6.60e-03 -4.2 1.29e-03 -9.3 1.00e+00 1.25e-01h 4 21 2.1148226e-05 2.99e-14 8.50e-03 -4.2 2.74e-03 -9.7 1.00e+00 4.88e-04h 12 22 2.1146830e-05 2.99e-14 9.66e-03 -4.2 4.02e-03 -10.2 1.00e+00 6.10e-05h 15 23 2.1146416e-05 2.99e-14 1.03e-02 -4.2 4.79e-03 -10.7 1.00e+00 1.53e-05h 17 24 2.1146412e-05 2.99e-14 1.07e-02 -4.2 5.27e-03 -11.2 1.00e+00 1.19e-07h 24 25 2.1146412e-05 2.99e-14 1.10e-02 -4.2 5.59e-03 -11.6 1.00e+00 5.68e-14h 45 26 2.1146412e-05 2.99e-14 1.12e-02 -4.2 5.83e-03 -12.1 1.00e+00 4.44e-16h 52 27 2.1146412e-05 2.99e-14 1.13e-02 -4.2 6.01e-03 -12.6 1.00e+00 2.27e-13h 43 28 2.1146410e-05 2.99e-14 1.14e-02 -4.2 6.17e-03 -13.1 1.00e+00 5.96e-08h 25 29 2.1146410e-05 2.99e-14 1.14e-02 -4.2 6.29e-03 -13.6 1.00e+00 8.88e-16h 51 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.1146410e-05 2.99e-14 1.15e-02 -4.2 6.41e-03 -14.0 1.00e+00 1.42e-14h 47 31 2.1146410e-05 2.99e-14 1.15e-02 -4.2 6.51e-03 -14.5 1.00e+00 9.31e-10h 31 32 2.1146402e-05 2.99e-14 1.16e-02 -4.2 6.60e-03 -15.0 1.00e+00 2.38e-07h 23 33 2.1146402e-05 2.99e-14 1.16e-02 -4.2 6.68e-03 -15.5 1.00e+00 2.84e-14h 46 34 2.1146402e-05 2.99e-14 1.16e-02 -4.2 6.75e-03 -15.9 1.00e+00 1.42e-14h 47 35 2.1146402e-05 2.99e-14 1.17e-02 -4.2 6.82e-03 -16.4 1.00e+00 8.88e-16h 51 36 2.1146402e-05 2.99e-14 1.17e-02 -4.2 6.89e-03 -16.9 1.00e+00 1.42e-14h 47 37 2.1146402e-05 2.99e-14 1.17e-02 -4.2 6.95e-03 -17.4 1.00e+00 7.11e-15h 48 38 2.1146402e-05 2.99e-14 1.17e-02 -4.2 7.01e-03 -17.8 1.00e+00 1.42e-14h 47 39 2.1146402e-05 2.99e-14 1.17e-02 -4.2 7.06e-03 -18.3 1.00e+00 5.68e-14h 45 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.1146402e-05 2.99e-14 1.17e-02 -4.2 7.11e-03 -18.8 1.00e+00 5.68e-14h 45 41 2.1146402e-05 2.99e-14 1.18e-02 -4.2 7.16e-03 -19.3 1.00e+00 9.09e-13h 41 42 2.1146402e-05 2.99e-14 1.18e-02 -4.2 7.21e-03 -19.8 1.00e+00 1.14e-13h 44 43 2.1146402e-05 2.99e-14 1.18e-02 -4.2 7.25e-03 -20.0 1.00e+00 1.42e-14h 47 44 2.1146397e-05 2.99e-14 1.18e-02 -4.2 7.30e-03 -20.0 1.00e+00 1.19e-07h 24 45 2.1146397e-05 2.99e-14 1.18e-02 -4.2 7.34e-03 -20.0 1.00e+00 5.68e-14h 45 46 2.1146396e-05 2.99e-14 1.18e-02 -4.2 7.38e-03 -20.0 1.00e+00 2.98e-08h 26 47 2.1146396e-05 2.99e-14 1.18e-02 -4.2 7.42e-03 -20.0 1.00e+00 1.14e-13h 44 48 2.1146396e-05 2.99e-14 1.18e-02 -4.2 7.45e-03 -20.0 1.00e+00 1.11e-16h 54 49 2.1146396e-05 2.99e-14 1.18e-02 -4.2 7.49e-03 -20.0 1.00e+00 4.66e-10h 32 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.1146396e-05 2.99e-14 1.18e-02 -4.2 7.53e-03 -20.0 1.00e+00 2.84e-14h 46 51 2.1146396e-05 2.99e-14 1.18e-02 -4.2 7.56e-03 -20.0 1.00e+00 1.14e-13h 44 52 2.1146396e-05 2.99e-14 1.18e-02 -4.2 7.59e-03 -20.0 1.00e+00 1.14e-13h 44 53 1.1683781e-06 4.34e-19 6.00e-03 -4.2 7.62e-03 -20.0 1.00e+00 1.00e+00S 65 54 2.6390135e-06 4.34e-19 6.53e-04 -4.0 1.23e-02 -20.0 1.00e+00 1.00e+00f 1 55 2.6390135e-06 2.17e-19 1.16e-03 -4.1 7.42e-03 -20.0 1.00e+00 5.68e-14h 45 56 2.6390135e-06 2.17e-19 1.17e-03 -4.1 7.44e-03 -20.0 1.00e+00 2.22e-16h 53 57 2.6390135e-06 2.17e-19 1.18e-03 -4.1 7.42e-03 -20.0 1.00e+00 2.22e-16h 53 58 2.6390135e-06 2.17e-19 1.18e-03 -4.1 7.41e-03 -20.0 1.00e+00 2.22e-16h 53 59 2.6390135e-06 2.17e-19 1.19e-03 -4.1 7.40e-03 -20.0 1.00e+00 2.22e-16h 53 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.6390135e-06 2.17e-19 1.20e-03 -4.1 7.39e-03 -20.0 1.00e+00 2.22e-16h 53 61 2.6390135e-06 5.42e-19 1.20e-03 -4.1 7.38e-03 -20.0 1.00e+00 3.55e-15h 49 62 2.6390135e-06 6.51e-19 1.21e-03 -4.1 7.36e-03 -20.0 1.00e+00 4.44e-16h 52 63 2.6390135e-06 3.25e-19 1.22e-03 -4.1 7.35e-03 -20.0 1.00e+00 1.42e-14h 47 64 2.6390135e-06 3.25e-19 1.22e-03 -4.1 7.34e-03 -20.0 1.00e+00 2.22e-16h 53 65 2.6390135e-06 3.25e-19 1.23e-03 -4.1 7.33e-03 -20.0 1.00e+00 2.22e-16h 53 66 2.6390135e-06 4.34e-19 1.24e-03 -4.1 7.32e-03 -20.0 1.00e+00 4.44e-16h 52 67 2.6390135e-06 4.34e-19 1.24e-03 -4.1 7.30e-03 -20.0 1.00e+00 2.22e-16h 53 68 2.6390135e-06 4.34e-19 1.25e-03 -4.1 7.29e-03 -20.0 1.00e+00 2.22e-16h 53 69 2.6390135e-06 4.34e-19 1.26e-03 -4.1 7.28e-03 -20.0 1.00e+00 2.22e-16h 53 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.6390135e-06 4.34e-19 1.26e-03 -4.1 7.27e-03 -20.0 1.00e+00 2.22e-16h 53 71 2.6390135e-06 4.88e-19 1.27e-03 -4.1 7.25e-03 -20.0 1.00e+00 5.68e-14h 45 72 2.6390135e-06 4.34e-19 1.27e-03 -4.1 7.24e-03 -20.0 1.00e+00 2.84e-14h 46 73 2.6390135e-06 2.17e-19 1.28e-03 -4.1 7.23e-03 -20.0 1.00e+00 2.84e-14h 46 74 2.6390135e-06 3.25e-19 1.28e-03 -4.1 7.22e-03 -20.0 1.00e+00 7.11e-15h 48 75 1.3340645e-06 6.51e-19 9.66e-04 -4.1 7.21e-03 -20.0 1.00e+00 1.00e+00s 78 76 1.3260830e-06 6.51e-19 6.47e-04 -4.1 1.32e-05 -20.0 1.00e+00 1.00e+00s 78 77 1.3260830e-06 5.42e-19 1.24e-03 -6.1 2.99e-02 -20.0 9.94e-01 1.14e-13h 44 78 1.3260830e-06 3.79e-19 1.25e-03 -6.1 3.03e-02 -20.0 1.00e+00 1.14e-13h 44 79 1.3260830e-06 2.71e-19 1.25e-03 -6.1 3.03e-02 -20.0 1.00e+00 3.55e-15h 49 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 3.8338803e-11 2.17e-19 6.05e-04 -6.1 3.03e-02 -20.0 1.00e+00 1.00e+00S 82 81 2.0067826e-06 1.08e-18 6.12e-05 -4.0 3.85e-02 -20.0 1.00e+00 1.00e+00f 1 82 2.0067826e-06 1.08e-18 9.25e-04 -4.1 8.12e-03 -20.0 1.00e+00 1.46e-11h 37 83 2.0067826e-06 7.59e-19 9.31e-04 -4.1 8.14e-03 -20.0 1.00e+00 1.16e-10h 34 84 2.0067826e-06 6.51e-19 9.35e-04 -4.1 8.14e-03 -20.0 1.00e+00 3.64e-12h 39 85 2.0067826e-06 4.34e-19 9.38e-04 -4.1 8.13e-03 -20.0 1.00e+00 5.82e-11h 35 86 2.0067826e-06 3.25e-19 9.42e-04 -4.1 8.12e-03 -20.0 1.00e+00 2.84e-14h 46 87 2.0067826e-06 3.25e-19 9.46e-04 -4.1 8.11e-03 -20.0 1.00e+00 1.16e-10h 34 88 2.0067826e-06 4.34e-19 9.50e-04 -4.1 8.10e-03 -20.0 1.00e+00 9.09e-13h 41 89 2.0067826e-06 3.25e-19 9.54e-04 -4.1 8.10e-03 -20.0 1.00e+00 8.88e-16h 51 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0067826e-06 3.25e-19 9.57e-04 -4.1 8.09e-03 -20.0 1.00e+00 5.82e-11h 35 91 2.0067826e-06 3.25e-19 9.61e-04 -4.1 8.08e-03 -20.0 1.00e+00 2.22e-16h 53 92 2.0067826e-06 3.25e-19 9.64e-04 -4.1 8.07e-03 -20.0 1.00e+00 3.55e-15h 49 93 2.0067826e-06 2.17e-19 9.68e-04 -4.1 8.06e-03 -20.0 1.00e+00 4.44e-16h 52 94 2.0067826e-06 2.17e-19 9.71e-04 -4.1 8.06e-03 -20.0 1.00e+00 2.22e-16h 53 95 2.0067826e-06 2.17e-19 9.75e-04 -4.1 8.05e-03 -20.0 1.00e+00 2.22e-16h 53 96 2.0067826e-06 7.59e-19 9.78e-04 -4.1 8.04e-03 -20.0 1.00e+00 7.11e-15h 48 97 2.0067826e-06 5.42e-19 9.82e-04 -4.1 8.03e-03 -20.0 1.00e+00 1.78e-15h 50 98 2.0067826e-06 5.42e-19 9.85e-04 -4.1 8.02e-03 -20.0 1.00e+00 2.22e-16h 53 99 2.0067826e-06 5.42e-19 9.88e-04 -4.1 8.02e-03 -20.0 1.00e+00 2.22e-16h 53 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0067826e-06 5.42e-19 9.91e-04 -4.1 8.01e-03 -20.0 1.00e+00 2.22e-16h 53 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0067826223313109e-06 2.0067826223313109e-06 Dual infeasibility......: 9.9145866087391177e-04 9.9145866087391177e-04 Constraint violation....: 5.4210108624275222e-19 5.4210108624275222e-19 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.1278231329347488e-04 1.1278231329347488e-04 Overall NLP error.......: 9.9145866087391177e-04 9.9145866087391177e-04 Number of objective function evaluations = 3878 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 3878 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 = 4.196 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 0 integrators, 0 nonlinear constraints dynamics constraints: 0, nonlinear constraints: 0 jacobian structure: 0 nonzeros (0.0s) computing objective hessian structure (CompositeObjective)... sub-objective 1 (QuadraticRegularizer): 0.083s sub-objective 2 (QuadraticRegularizer): 0.0s objective hessian structure: 0.157s hessian structure: 40 nonzeros (0.157s) linear index maps built (0.0s) evaluator ready (total: 0.158s) evaluator created (0.158s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.114s) applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial value of t applying constraint: bounds on u applying constraint: bounds on t applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) linear constraints added: 6 (2.59s) optimizer initialization complete (total: 2.862s) 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 1.0144331e+00 4.05e-01 9.67e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 6.0147492e-01 2.06e-09 7.24e-02 -0.7 3.63e-01 -2.0 9.31e-01 1.00e+00h 1 2 2.2995049e-01 1.20e-09 1.11e-01 -1.4 6.53e-01 -1.6 9.76e-01 1.00e+00f 1 3 9.8827689e-02 2.34e-10 3.85e-02 -2.5 5.08e-01 -1.1 9.97e-01 1.00e+00f 1 4 2.8843264e-02 2.38e-11 2.72e-02 -3.5 6.99e-01 -1.6 1.00e+00 1.00e+00f 1 5 6.3724532e-03 1.44e-11 1.27e-02 -4.0 6.51e-01 -2.1 1.00e+00 1.00e+00f 1 6 1.2819243e-03 5.88e-12 4.40e-03 -4.0 4.53e-01 -2.6 1.00e+00 1.00e+00f 1 7 4.7498169e-04 1.90e-12 1.04e-03 -4.0 1.78e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.6709817e-04 3.03e-13 3.47e-04 -4.0 9.08e-02 -3.5 1.00e+00 1.00e+00f 1 9 4.4344015e-04 2.00e-14 9.81e-05 -4.0 1.60e-02 -4.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 4.6487462e-04 9.10e-15 1.72e-04 -4.0 2.78e-02 -4.5 1.00e+00 1.00e+00f 1 11 2.9674480e-04 1.02e-14 4.59e-04 -4.1 8.46e-02 -5.0 1.00e+00 1.00e+00f 1 12 4.6182423e-04 6.33e-15 3.89e-04 -4.0 2.07e-01 -5.4 1.00e+00 5.00e-01f 2 13 2.7111056e-04 3.89e-15 5.50e-04 -4.1 1.05e-01 -5.9 1.00e+00 1.00e+00f 1 14 4.6673912e-04 2.89e-15 4.80e-04 -4.0 2.55e-01 -6.4 1.00e+00 5.00e-01f 2 15 2.6229571e-04 2.22e-15 6.08e-04 -4.1 1.17e-01 -6.9 1.00e+00 1.00e+00f 1 16 4.6718414e-04 2.11e-15 5.15e-04 -4.0 2.74e-01 -7.4 1.00e+00 5.00e-01f 2 17 2.5950487e-04 1.67e-15 6.34e-04 -4.1 1.23e-01 -7.8 1.00e+00 1.00e+00f 1 18 4.6698162e-04 1.67e-15 5.30e-04 -4.0 2.83e-01 -8.3 1.00e+00 5.00e-01f 2 19 2.5861116e-04 1.35e-15 6.52e-04 -4.1 1.26e-01 -8.8 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 4.6647310e-04 1.44e-15 5.38e-04 -4.0 2.88e-01 -9.3 1.00e+00 5.00e-01f 2 21 2.5834075e-04 1.22e-15 6.66e-04 -4.1 1.29e-01 -9.7 1.00e+00 1.00e+00f 1 22 4.6589458e-04 1.33e-15 5.44e-04 -4.0 2.92e-01 -10.2 1.00e+00 5.00e-01f 2 23 2.5826696e-04 1.08e-15 6.78e-04 -4.1 1.31e-01 -10.7 1.00e+00 1.00e+00f 1 24 4.6530669e-04 9.99e-16 5.48e-04 -4.0 2.96e-01 -11.2 1.00e+00 5.00e-01f 2 25 2.5825374e-04 1.04e-15 6.90e-04 -4.1 1.34e-01 -11.6 1.00e+00 1.00e+00f 1 26 4.6473167e-04 9.99e-16 5.52e-04 -4.0 2.99e-01 -12.1 1.00e+00 5.00e-01f 2 27 2.5825759e-04 9.44e-16 7.02e-04 -4.1 1.36e-01 -12.6 1.00e+00 1.00e+00f 1 28 3.0951219e-05 9.38e-15 8.78e-04 -6.2 3.74e-01 -13.1 9.68e-01 1.00e+00f 1 29 1.7441922e-03 2.44e-15 7.59e-03 -4.0 1.97e+00 -13.6 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.4451035e-05 2.42e-14 2.84e-03 -4.1 1.00e+00 -14.0 1.00e+00 1.00e+00f 1 31 1.5783590e-03 3.15e-14 7.90e-03 -4.0 9.71e-01 -14.5 1.00e+00 1.00e+00f 1 32 1.0132031e-05 1.87e-14 2.25e-03 -4.2 1.08e+00 -15.0 1.00e+00 1.00e+00f 1 33 4.6695425e-04 1.67e-15 2.74e-03 -4.0 1.36e+00 -15.5 1.00e+00 5.00e-01f 2 34 2.1952982e-04 3.00e-15 2.35e-04 -4.2 3.70e-01 -15.9 1.00e+00 5.00e-01f 2 35 2.0198697e-05 4.61e-15 7.95e-04 -6.4 4.07e-01 -16.4 9.64e-01 1.00e+00f 1 36 8.1249206e-06 3.33e-15 9.80e-05 -6.4 1.03e-01 -16.9 1.00e+00 1.00e+00f 1 37 1.5646989e-03 1.11e-15 5.52e-03 -4.0 9.55e+00 -17.4 1.00e+00 1.25e-01f 4 38 9.6683470e-05 5.46e-14 3.48e-03 -4.0 7.96e-01 -17.8 1.00e+00 1.00e+00f 1 39 7.5261715e-04 3.69e-14 3.55e-03 -4.0 5.36e-01 -18.3 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 3.8046267e-04 6.99e-15 4.34e-04 -4.0 4.19e-01 -18.8 1.00e+00 5.00e-01f 2 41 3.5531677e-05 5.55e-15 1.31e-03 -6.0 4.99e-01 -19.3 9.56e-01 1.00e+00f 1 42 1.4636861e-05 5.38e-15 1.59e-04 -6.0 1.24e-01 -19.8 1.00e+00 1.00e+00f 1 43 4.0317366e-06 8.88e-16 1.00e-04 -6.0 1.42e-01 -20.0 1.00e+00 1.00e+00f 1 44 1.0758282e-03 4.65e-16 3.20e-03 -4.0 1.55e+01 -20.0 1.00e+00 7.76e-02f 4 45 1.5998784e-04 4.84e-14 2.89e-03 -4.0 5.89e-01 -20.0 1.00e+00 1.00e+00f 1 46 6.7801588e-04 2.33e-14 2.81e-03 -4.0 4.23e-01 -20.0 1.00e+00 1.00e+00f 1 47 3.9064192e-04 4.22e-15 4.19e-04 -4.0 3.61e-01 -20.0 1.00e+00 5.00e-01f 2 48 3.5475086e-05 5.88e-15 1.44e-03 -6.0 5.42e-01 -20.0 9.50e-01 1.00e+00f 1 49 1.4745809e-05 4.94e-15 1.69e-04 -6.0 1.32e-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 3.9328136e-06 7.77e-16 1.09e-04 -6.0 1.55e-01 -20.0 1.00e+00 1.00e+00f 1 51 8.6972199e-04 4.44e-16 2.21e-03 -4.0 1.67e+01 -20.0 1.00e+00 7.19e-02f 4 52 1.9498949e-04 4.17e-14 2.51e-03 -4.0 4.93e-01 -20.0 1.00e+00 1.00e+00f 1 53 6.1587886e-04 1.64e-14 2.35e-03 -4.0 3.60e-01 -20.0 1.00e+00 1.00e+00f 1 54 3.8711379e-04 2.89e-15 4.00e-04 -4.0 3.23e-01 -20.0 1.00e+00 5.00e-01f 2 55 3.4535451e-05 5.66e-15 1.53e-03 -6.1 5.78e-01 -20.0 9.46e-01 1.00e+00f 1 56 1.4458660e-05 4.44e-15 1.75e-04 -6.1 1.38e-01 -20.0 1.00e+00 1.00e+00f 1 57 3.7917888e-06 7.22e-16 1.15e-04 -6.1 1.66e-01 -20.0 1.00e+00 1.00e+00f 1 58 7.1793037e-04 4.86e-16 1.31e-03 -4.0 1.80e+01 -20.0 1.00e+00 6.63e-02f 4 59 2.3072571e-04 3.64e-14 2.10e-03 -4.1 3.98e-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 5.5600456e-04 1.11e-14 1.85e-03 -4.1 2.90e-01 -20.0 1.00e+00 1.00e+00f 1 61 3.8382301e-04 1.78e-15 3.63e-04 -4.1 2.72e-01 -20.0 1.00e+00 5.00e-01f 2 62 3.3502942e-05 5.44e-15 1.60e-03 -6.1 6.12e-01 -20.0 9.42e-01 1.00e+00f 1 63 1.4166657e-05 4.00e-15 1.79e-04 -6.1 1.43e-01 -20.0 1.00e+00 1.00e+00f 1 64 3.6723625e-06 6.66e-16 1.20e-04 -6.1 1.76e-01 -20.0 1.00e+00 1.00e+00f 1 65 6.0701081e-04 4.44e-16 5.39e-04 -4.0 1.94e+01 -20.0 1.00e+00 6.15e-02f 4 66 2.6302952e-04 3.26e-14 1.69e-03 -4.1 3.11e-01 -20.0 1.00e+00 1.00e+00f 1 67 5.0341829e-04 7.55e-15 1.38e-03 -4.1 2.20e-01 -20.0 1.00e+00 1.00e+00f 1 68 3.7960722e-04 1.11e-15 3.16e-04 -4.1 2.19e-01 -20.0 1.00e+00 5.00e-01f 2 69 3.2408522e-05 5.22e-15 1.67e-03 -6.1 6.42e-01 -20.0 9.38e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 1.3849647e-05 3.77e-15 1.82e-04 -6.1 1.47e-01 -20.0 1.00e+00 1.00e+00f 1 71 3.5636865e-06 6.66e-16 1.24e-04 -6.1 1.85e-01 -20.0 1.00e+00 1.00e+00f 1 72 5.2459280e-04 2.74e-16 1.48e-04 -4.0 2.07e+01 -20.0 1.00e+00 5.76e-02f 4 73 2.9122099e-04 2.95e-14 1.29e-03 -4.1 2.33e-01 -20.0 1.00e+00 1.00e+00f 1 74 4.5933896e-04 4.66e-15 9.48e-04 -4.1 1.55e-01 -20.0 1.00e+00 1.00e+00f 1 75 3.0287881e-04 3.55e-15 9.27e-04 -4.1 1.68e-01 -20.0 1.00e+00 1.00e+00f 1 76 4.5288793e-04 2.66e-15 8.24e-04 -4.1 1.35e-01 -20.0 1.00e+00 1.00e+00f 1 77 2.3603444e-05 4.44e-15 1.86e-03 -6.1 7.85e-01 -20.0 9.23e-01 1.00e+00f 1 78 1.2284711e-05 3.89e-15 1.24e-04 -6.1 1.09e-01 -20.0 1.00e+00 1.00e+00f 1 79 3.0662135e-06 4.44e-16 1.18e-04 -6.1 1.88e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 4.6214774e-04 2.22e-16 8.34e-04 -4.0 2.36e+01 -20.0 1.00e+00 5.04e-02f 4 81 3.2126149e-04 2.78e-14 8.73e-04 -4.1 1.55e-01 -20.0 1.00e+00 1.00e+00f 1 82 4.2410098e-04 2.66e-15 5.36e-04 -4.1 8.94e-02 -20.0 1.00e+00 1.00e+00f 1 83 2.5369329e-05 4.44e-15 1.89e-03 -6.1 7.80e-01 -20.0 9.23e-01 1.00e+00f 1 84 1.2566587e-05 3.55e-15 1.44e-04 -6.1 1.25e-01 -20.0 1.00e+00 1.00e+00f 1 85 3.1504575e-06 4.44e-16 1.25e-04 -6.1 1.97e-01 -20.0 1.00e+00 1.00e+00f 1 86 3.8953328e-06 2.22e-16 1.85e-05 -6.1 3.24e-02 -20.0 1.00e+00 1.00e+00h 1 87 3.4350360e-06 7.20e-17 4.49e-06 -6.1 8.05e-03 -20.0 1.00e+00 1.00e+00h 1 88 2.5575310e-07 6.98e-17 5.37e-05 -9.0 2.41e-01 -20.0 9.76e-01 1.00e+00f 1 89 2.3033067e-03 6.80e-16 1.13e-02 -4.0 1.07e+02 -20.0 1.00e+00 2.27e-02f 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 9.0466001e-05 4.69e-14 7.03e-03 -3.9 1.51e+00 -20.0 1.00e+00 1.00e+00f 1 91 7.6658936e-04 2.73e-14 5.32e-03 -3.9 8.02e-01 -20.0 1.00e+00 1.00e+00f 1 92 4.3649603e-04 5.33e-15 7.89e-04 -3.9 5.45e-01 -20.0 1.00e+00 5.00e-01f 2 93 4.3237907e-05 4.22e-15 2.16e-03 -5.9 7.24e-01 -20.0 9.29e-01 1.00e+00f 1 94 1.7821931e-05 3.89e-15 2.66e-04 -5.9 1.89e-01 -20.0 1.00e+00 1.00e+00f 1 95 5.0674100e-06 6.66e-16 1.68e-04 -5.9 2.13e-01 -20.0 1.00e+00 1.00e+00f 1 96 5.7242040e-06 2.38e-16 1.69e-05 -5.9 2.41e-02 -20.0 1.00e+00 1.00e+00h 1 97 5.3133146e-06 8.33e-17 2.35e-06 -5.9 3.40e-03 -20.0 1.00e+00 1.00e+00h 1 98 3.8074696e-07 5.55e-17 8.00e-05 -8.9 2.90e-01 -20.0 9.71e-01 1.00e+00f 1 99 1.5340071e-07 5.59e-17 8.37e-06 -8.9 6.40e-02 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 1.4964335e-03 6.04e-16 2.28e-03 -4.0 3.23e+02 -20.0 1.00e+00 7.54e-03f 3 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.4964334552149340e-03 1.4964334552149340e-03 Dual infeasibility......: 2.2758869782553565e-03 2.2758869782553565e-03 Constraint violation....: 6.0368376963992887e-16 6.0368376963992887e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 4.0679759171563415e-04 4.0679759171563415e-04 Overall NLP error.......: 2.2758869782553565e-03 2.2758869782553565e-03 Number of objective function evaluations = 171 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 171 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 1 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 3.248 EXIT: Maximum Number of Iterations Exceeded. Test Summary: | Pass Total Time Package | 225 225 26m42.6s Testing DirectTrajOpt tests passed Testing completed after 1696.17s PkgEval succeeded after 1808.15s