Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.2033 (8c59e8e9f1*) started at 2026-04-14T23:46:34.855 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 14.38s ################################################################################ # 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 v6.216.0 [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 v3.31.0 [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 6.5s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling project... 33.3 s ✓ DirectTrajOpt 1 dependency successfully precompiled in 38 seconds. 229 already precompiled. Precompilation completed after 62.91s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_zPjBpC/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_zPjBpC/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 v6.216.0 [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 v3.31.0 [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: 2.01s integrator 2 jacobian structure: 0.059s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 4.81s jacobian structure: 1600 nonzeros (6.957s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.053s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.044s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 2.117s sub-objective 2 (QuadraticRegularizer): 1.388s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.016s objective hessian structure: 3.619s hessian structure: 1749 nonzeros (7.768s) linear index maps built (0.0s) evaluator ready (total: 15.216s) evaluator created (19.563s) NL constraint bounds extracted (0.215s) NLP block data built (0.0s) Ipopt optimizer configured (0.334s) variables set (0.695s) 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 (2.981s) optimizer initialization complete (total: 23.806s) 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 2.9105566e+00 2.39e+00 3.95e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.6896691e+00 2.63e-01 1.11e+00 -1.0 3.01e+00 -2.0 9.82e-01 1.00e+00h 1 Hello, world! 2 2.3512172e+00 1.71e-01 3.34e-01 -1.5 1.92e+00 -2.5 8.44e-01 9.65e-01h 1 Hello, world! 3 2.1642952e+00 3.21e-02 6.06e-02 -2.3 1.15e+00 -3.0 9.90e-01 1.00e+00h 1 Hello, world! 4 2.0946708e+00 3.03e-03 8.63e-03 -3.4 3.90e-01 -3.4 9.83e-01 9.87e-01h 1 Hello, world! 5 2.0909306e+00 1.05e-04 1.71e-03 -4.0 1.34e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 6 2.0908618e+00 3.12e-06 2.67e-04 -4.0 3.86e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0907766e+00 4.17e-07 1.81e-04 -4.0 1.09e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0904583e+00 3.06e-06 3.96e-03 -4.0 3.94e+00 -5.3 1.00e+00 7.71e-01h 1 Hello, world! 9 2.0898710e+00 4.97e-05 1.25e-02 -4.0 1.18e+01 -5.8 1.00e+00 1.00e+00f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0895063e+00 6.36e-05 9.11e-01 -3.4 1.88e+02 -5.4 8.36e-01 1.68e-02h 2 Hello, world! 11 2.0886851e+00 2.15e-04 1.60e-02 -4.0 9.94e+00 -5.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0872485e+00 5.49e-05 7.58e-02 -4.0 3.76e+01 -6.3 1.00e+00 3.74e-01h 1 Hello, world! 13 2.0837988e+00 1.82e-03 4.48e-02 -4.0 5.66e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0827063e+00 6.71e-04 1.05e-02 -4.0 6.43e+01 -7.3 1.00e+00 5.97e-01h 1 Hello, world! 15 2.0825092e+00 7.96e-04 3.01e-02 -4.0 1.39e+02 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0826126e+00 7.78e-04 6.94e-02 -4.0 2.45e+03 -7.4 4.88e-03 2.52e-02h 6 Hello, world! 17 2.0944797e+00 1.89e-05 8.75e-02 -4.1 2.68e+01 -6.0 9.32e-01 1.00e+00H 1 Hello, world! 18 2.0890747e+00 3.12e-07 4.63e-02 -4.0 6.53e-02 -0.2 1.00e+00 1.00e+00f 1 Hello, world! 19 2.0848837e+00 2.09e-07 2.53e-02 -4.0 1.08e-01 -0.7 1.00e+00 1.00e+00f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0830720e+00 1.94e-07 6.27e-03 -4.0 1.17e-01 -1.1 1.00e+00 1.00e+00f 1 Hello, world! 21 2.0829722e+00 3.59e-07 6.83e-04 -4.0 2.37e-02 -1.6 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0830429e+00 6.07e-08 4.69e-05 -4.0 3.45e-03 -2.1 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0830428e+00 5.79e-09 9.54e-06 -4.0 3.49e-03 -2.6 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0830423e+00 9.36e-10 9.59e-06 -4.0 1.05e-02 -3.0 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0830403e+00 2.89e-10 9.59e-06 -4.0 3.15e-02 -3.5 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0830343e+00 2.38e-09 9.57e-06 -4.0 9.44e-02 -4.0 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0830163e+00 2.13e-08 9.53e-06 -4.0 2.82e-01 -4.5 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0829628e+00 2.12e-07 2.53e-05 -4.0 8.34e-01 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0828064e+00 2.62e-06 2.14e-04 -4.0 2.41e+00 -5.4 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 2.0823828e+00 6.57e-05 2.30e-02 -4.0 7.78e+00 -5.9 7.94e-01 1.00e+00h 1 Hello, world! 31 2.0824618e+00 5.45e-05 5.77e-02 -4.0 1.70e+00 -4.6 6.61e-01 6.99e-01H 1 Hello, world! 32 2.0823802e+00 1.17e-04 2.81e-03 -4.0 1.15e+00 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0823810e+00 9.38e-06 7.85e-04 -4.0 1.17e+00 -5.5 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0823479e+00 1.17e-05 5.40e-04 -4.0 2.00e+00 -6.0 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0823105e+00 9.75e-06 2.31e-04 -4.0 5.15e+00 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0822436e+00 1.23e-05 6.49e-04 -4.0 1.31e+01 -7.0 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0821192e+00 3.14e-05 2.31e-03 -4.0 2.95e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0819644e+00 1.10e-04 5.72e-03 -4.0 5.01e+01 -7.9 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0818705e+00 1.94e-04 5.70e-03 -4.0 6.42e+01 -8.4 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818465e+00 7.88e-05 1.61e-03 -4.0 4.62e+01 -8.9 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0818436e+00 5.22e-06 1.17e-04 -4.0 1.42e+01 -9.3 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0818434e+00 5.03e-08 1.72e-06 -4.0 1.67e+00 -9.8 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0818434e+00 6.70e-11 3.20e-09 -4.0 7.05e-02 -10.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 43 (scaled) (unscaled) Objective...............: 2.0818434105970649e+00 2.0818434105970649e+00 Dual infeasibility......: 3.1989129260811319e-09 3.1989129260811319e-09 Constraint violation....: 6.6979310986425844e-11 6.6979310986425844e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000000e-04 1.0000000000000000e-04 Overall NLP error.......: 3.1989129260811319e-09 3.1989129260811319e-09 Number of objective function evaluations = 56 Number of objective gradient evaluations = 44 Number of equality constraint evaluations = 56 Number of inequality constraint evaluations = 56 Number of equality constraint Jacobian evaluations = 44 Number of inequality constraint Jacobian evaluations = 44 Number of Lagrangian Hessian evaluations = 43 Total seconds in IPOPT = 67.256 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) evaluator created (0.002s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.003s) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.9105566e+00 2.39e+00 3.95e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.6896691e+00 2.63e-01 1.11e+00 -1.0 3.01e+00 -2.0 9.82e-01 1.00e+00h 1 Hello, world! 2 2.3512172e+00 1.71e-01 3.34e-01 -1.5 1.92e+00 -2.5 8.44e-01 9.65e-01h 1 Hello, world! 3 2.1642952e+00 3.21e-02 6.06e-02 -2.3 1.15e+00 -3.0 9.90e-01 1.00e+00h 1 Hello, world! 4 2.0946708e+00 3.03e-03 8.63e-03 -3.4 3.90e-01 -3.4 9.83e-01 9.87e-01h 1 Hello, world! 5 2.0909306e+00 1.05e-04 1.71e-03 -4.0 1.34e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 6 2.0908618e+00 3.12e-06 2.67e-04 -4.0 3.86e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0907766e+00 4.17e-07 1.81e-04 -4.0 1.09e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0904583e+00 3.06e-06 3.96e-03 -4.0 3.94e+00 -5.3 1.00e+00 7.71e-01h 1 Hello, world! 9 2.0898710e+00 4.97e-05 1.25e-02 -4.0 1.18e+01 -5.8 1.00e+00 1.00e+00f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0895063e+00 6.36e-05 9.11e-01 -3.4 1.88e+02 -5.4 8.36e-01 1.68e-02h 2 Hello, world! 11 2.0886851e+00 2.15e-04 1.60e-02 -4.0 9.94e+00 -5.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0872485e+00 5.49e-05 7.58e-02 -4.0 3.76e+01 -6.3 1.00e+00 3.74e-01h 1 Hello, world! 13 2.0837988e+00 1.82e-03 4.48e-02 -4.0 5.66e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0827063e+00 6.71e-04 1.05e-02 -4.0 6.43e+01 -7.3 1.00e+00 5.97e-01h 1 Hello, world! 15 2.0825092e+00 7.96e-04 3.01e-02 -4.0 1.39e+02 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0826126e+00 7.78e-04 6.94e-02 -4.0 2.45e+03 -7.4 4.88e-03 2.52e-02h 6 Hello, world! 17 2.0944797e+00 1.89e-05 8.75e-02 -4.1 2.68e+01 -6.0 9.32e-01 1.00e+00H 1 Hello, world! 18 2.0890747e+00 3.12e-07 4.63e-02 -4.0 6.53e-02 -0.2 1.00e+00 1.00e+00f 1 Hello, world! 19 2.0848837e+00 2.09e-07 2.53e-02 -4.0 1.08e-01 -0.7 1.00e+00 1.00e+00f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0830720e+00 1.94e-07 6.27e-03 -4.0 1.17e-01 -1.1 1.00e+00 1.00e+00f 1 Hello, world! 21 2.0829722e+00 3.59e-07 6.83e-04 -4.0 2.37e-02 -1.6 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0830429e+00 6.07e-08 4.69e-05 -4.0 3.45e-03 -2.1 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0830428e+00 5.79e-09 9.54e-06 -4.0 3.49e-03 -2.6 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0830423e+00 9.36e-10 9.59e-06 -4.0 1.05e-02 -3.0 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0830403e+00 2.89e-10 9.59e-06 -4.0 3.15e-02 -3.5 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0830343e+00 2.38e-09 9.57e-06 -4.0 9.44e-02 -4.0 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0830163e+00 2.13e-08 9.53e-06 -4.0 2.82e-01 -4.5 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0829628e+00 2.12e-07 2.53e-05 -4.0 8.34e-01 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0828064e+00 2.62e-06 2.14e-04 -4.0 2.41e+00 -5.4 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 2.0823828e+00 6.57e-05 2.30e-02 -4.0 7.78e+00 -5.9 7.94e-01 1.00e+00h 1 Hello, world! 31 2.0824618e+00 5.45e-05 5.77e-02 -4.0 1.70e+00 -4.6 6.61e-01 6.99e-01H 1 Hello, world! 32 2.0823802e+00 1.17e-04 2.81e-03 -4.0 1.15e+00 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0823810e+00 9.38e-06 7.85e-04 -4.0 1.17e+00 -5.5 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0823479e+00 1.17e-05 5.40e-04 -4.0 2.00e+00 -6.0 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0823105e+00 9.75e-06 2.31e-04 -4.0 5.15e+00 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0822436e+00 1.23e-05 6.49e-04 -4.0 1.31e+01 -7.0 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0821192e+00 3.14e-05 2.31e-03 -4.0 2.95e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0819644e+00 1.10e-04 5.72e-03 -4.0 5.01e+01 -7.9 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0818705e+00 1.94e-04 5.70e-03 -4.0 6.42e+01 -8.4 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818465e+00 7.88e-05 1.61e-03 -4.0 4.62e+01 -8.9 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0818436e+00 5.22e-06 1.17e-04 -4.0 1.42e+01 -9.3 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0818434e+00 5.03e-08 1.72e-06 -4.0 1.67e+00 -9.8 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0818434e+00 6.70e-11 3.20e-09 -4.0 7.05e-02 -10.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 43 (scaled) (unscaled) Objective...............: 2.0818434105970649e+00 2.0818434105970649e+00 Dual infeasibility......: 3.1989129260811319e-09 3.1989129260811319e-09 Constraint violation....: 6.6979310986425844e-11 6.6979310986425844e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000000e-04 1.0000000000000000e-04 Overall NLP error.......: 3.1989129260811319e-09 3.1989129260811319e-09 Number of objective function evaluations = 56 Number of objective gradient evaluations = 44 Number of equality constraint evaluations = 56 Number of inequality constraint evaluations = 56 Number of equality constraint Jacobian evaluations = 44 Number of inequality constraint Jacobian evaluations = 44 Number of Lagrangian Hessian evaluations = 43 Total seconds in IPOPT = 1.200 EXIT: Optimal Solution Found. [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=110, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.057s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.058s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.108s) evaluator created (0.12s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.588s) optimizer initialization complete (total: 0.708s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1529 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 73 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.1377727e+00 3.21e+00 6.79e-02 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7181575e+00 3.43e+00 1.29e+01 -0.8 1.61e+01 -2.0 1.26e-01 5.13e-01f 1 2 1.7096532e+00 3.08e+00 2.22e+01 -0.0 7.97e+00 -0.7 7.66e-01 1.12e-01f 1 3 1.7278614e+00 1.72e+00 1.14e+01 0.2 1.16e+01 -1.1 4.88e-01 4.99e-01f 1 4 1.9083593e+00 1.55e+00 1.14e+01 -4.0 6.17e+00 -0.7 3.26e-01 7.58e-01h 1 5 1.9547220e+00 5.03e-01 7.16e+00 -4.0 4.88e+00 -1.2 2.96e-01 1.00e+00h 1 6 1.8876508e+00 6.89e-02 1.31e+00 -1.6 1.54e+00 -1.7 8.98e-01 1.00e+00h 1 7 1.5634332e+00 8.44e-03 7.40e-02 -1.6 8.47e-01 -2.2 9.63e-01 9.42e-01f 1 8 1.3651621e+00 6.69e-03 4.78e-02 -2.2 3.06e-01 -2.6 8.59e-01 1.00e+00h 1 9 1.2094680e+00 3.35e-01 5.42e-02 -2.7 9.48e-01 -3.1 9.50e-01 9.93e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.2491212e+00 8.87e-01 1.79e-01 -2.5 6.27e+00 -3.6 8.18e-01 1.00e+00h 1 11 1.2152913e+00 1.13e-01 3.66e-02 -2.6 1.88e+00 -4.1 1.00e+00 1.00e+00h 1 12 1.1795620e+00 1.82e-01 2.87e-03 -3.6 3.68e+00 -4.5 9.88e-01 1.00e+00h 1 13 1.1710608e+00 2.17e-01 8.81e-03 -4.0 9.45e+00 -5.0 1.00e+00 1.00e+00h 1 14 1.1684094e+00 2.01e-01 1.06e-02 -4.0 1.43e+01 -5.5 1.00e+00 1.00e+00h 1 15 1.1661406e+00 2.29e-01 2.69e-03 -4.0 2.10e+01 -6.0 1.00e+00 1.00e+00h 1 16 1.1645814e+00 2.48e-01 4.35e-04 -4.0 3.14e+01 -6.4 1.00e+00 1.00e+00h 1 17 1.1632410e+00 2.98e-01 7.13e-03 -4.0 4.72e+01 -6.9 1.00e+00 1.00e+00h 1 18 1.1622657e+00 3.39e-01 1.13e-02 -4.0 7.01e+01 -7.4 1.00e+00 1.00e+00h 1 19 1.1614608e+00 3.98e-01 1.88e-02 -4.0 1.03e+02 -7.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.1608937e+00 4.38e-01 2.31e-02 -4.0 1.47e+02 -8.4 1.00e+00 1.00e+00h 1 21 1.1605237e+00 4.41e-01 2.46e-02 -4.0 1.97e+02 -8.8 1.00e+00 1.00e+00h 1 22 1.1605608e+00 2.49e-01 7.89e-03 -4.0 1.99e+02 -9.3 1.00e+00 1.00e+00h 1 23 1.1608626e+00 1.86e-03 4.15e-04 -4.0 1.37e+01 -9.8 1.00e+00 1.00e+00h 1 24 1.1608487e+00 5.60e-04 6.03e-05 -4.0 9.38e+00 -10.3 1.00e+00 1.00e+00h 1 25 1.1608491e+00 2.44e-07 1.80e-08 -4.0 2.43e-01 -10.7 1.00e+00 1.00e+00h 1 26 1.1608491e+00 6.25e-12 6.73e-13 -4.0 1.03e-03 -11.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 1.1608491307807196e+00 1.1608491307807196e+00 Dual infeasibility......: 6.7264314777826240e-13 6.7264314777826240e-13 Constraint violation....: 6.2492233610100811e-12 6.2492233610100811e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000563e-04 1.0000000000000563e-04 Overall NLP error.......: 6.2492233610100811e-12 6.2492233610100811e-12 Number of objective function evaluations = 27 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 27 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 26 Total seconds in IPOPT = 25.087 EXIT: Optimal Solution Found. 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 (0.089s) integrator 1 hessian structure: 0.048s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.336s sub-objective 2 (QuadraticRegularizer): 0.086s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.017s objective hessian structure: 0.535s hessian structure: 375 nonzeros (0.583s) linear index maps built (0.0s) evaluator ready (total: 0.787s) evaluator created (0.787s) NL constraint bounds extracted (0.011s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.116s) applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.633s) optimizer initialization complete (total: 3.548s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 186 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 19 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.9070357e+00 1.90e+00 1.15e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7739803e+00 1.94e-01 2.03e+00 -0.8 8.25e-01 0.0 9.75e-01 1.00e+00h 1 2 1.3963232e+00 1.64e-01 1.08e+00 -4.0 1.01e+01 - 1.31e-01 1.56e-01f 1 3 1.6792217e+00 4.38e-02 1.28e+00 -2.4 3.39e-01 -0.5 6.76e-01 1.00e+00h 1 4 1.4662995e+00 1.50e-02 4.80e-01 -1.2 8.34e-01 -1.0 1.00e+00 3.70e-01h 1 5 1.3060308e+00 6.05e-03 4.20e-01 -1.5 5.47e+00 - 9.70e-01 6.10e-01H 1 6 1.1797217e+00 1.85e-03 9.71e-02 -2.3 1.84e+00 - 9.98e-01 7.01e-01h 1 7 1.0936661e+00 6.22e-05 2.00e-02 -3.7 1.33e+00 - 1.00e+00 9.89e-01h 1 8 1.0910613e+00 3.14e-07 3.86e-02 -4.0 1.77e+00 - 1.00e+00 1.00e+00h 1 9 1.0910381e+00 8.53e-11 2.33e-05 -4.0 4.61e-02 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0910386e+00 8.88e-16 9.92e-11 -4.0 9.59e-05 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 1.0910385779907168e+00 1.0910385779907168e+00 Dual infeasibility......: 9.9158998747477314e-11 9.9158998747477314e-11 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000332090038e-04 1.0000000332090038e-04 Overall NLP error.......: 9.9158998747477314e-11 9.9158998747477314e-11 Number of objective function evaluations = 12 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 12 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 = 23.759 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.054s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.054s) 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 (0.047s) 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: 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: 0.101s) 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 2.0526459e+00 2.92e+00 5.62e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5107359e+00 1.01e-01 1.85e+00 -1.0 1.77e+00 0.0 9.67e-01 1.00e+00h 1 2 2.9554784e+00 3.36e-02 1.16e+00 -0.8 4.75e-01 -0.5 1.00e+00 1.00e+00f 1 3 2.5605352e+00 1.22e-02 2.88e-01 -1.5 1.67e-01 -1.0 9.87e-01 1.00e+00h 1 4 2.2078128e+00 1.01e-02 7.95e-02 -2.2 2.21e-01 -1.4 9.82e-01 8.78e-01h 1 5 2.1016840e+00 6.37e-04 1.70e-02 -3.0 5.90e-02 -1.9 9.76e-01 1.00e+00h 1 6 2.0908854e+00 3.88e-05 6.74e-03 -4.0 2.44e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0909103e+00 2.79e-07 6.85e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909062e+00 4.45e-09 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908929e+00 6.89e-09 2.06e-05 -4.0 1.35e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908530e+00 6.20e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907336e+00 5.59e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903760e+00 5.06e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0893104e+00 4.62e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861781e+00 4.33e-04 1.81e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796239e+00 2.51e-03 8.60e-02 -4.0 8.73e+01 -6.7 1.00e+00 7.59e-01h 1 16 2.0812686e+00 1.55e-04 1.95e-01 -4.0 6.81e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778340e+00 5.91e-03 2.76e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781610e+00 1.55e-02 4.49e-02 -3.7 1.53e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767348e+00 1.29e-02 1.94e-02 -3.8 2.90e+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 2.0758886e+00 9.53e-03 2.13e-02 -3.9 4.22e+02 -9.1 1.00e+00 9.91e-01h 1 21 2.0757663e+00 6.48e-03 8.55e-03 -4.0 1.41e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756767e+00 3.83e-04 3.92e-04 -4.0 6.07e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 9.16e-07 6.23e-06 -4.0 2.30e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 4.11e-08 1.46e-06 -4.0 1.48e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.32e-09 1.42e-07 -4.0 5.00e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.12e-11 2.82e-09 -4.0 8.79e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122061023e+00 2.0756712122061023e+00 Dual infeasibility......: 2.8154801246752393e-09 2.8154801246752393e-09 Constraint violation....: 7.1198824613816214e-11 7.1198824613816214e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000014e-04 1.0000000000000014e-04 Overall NLP error.......: 2.8154801246752393e-09 2.8154801246752393e-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 = 24.052 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.057s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.057s) integrator 1 hessian structure: 0.047s 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: 0.105s) evaluator created (0.105s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.156s) optimizer initialization complete (total: 0.261s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1488 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1524 Total number of variables............................: 100 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.8924845e+00 3.26e+00 3.77e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7934247e+00 6.02e-02 2.86e+00 -1.1 2.55e+00 0.0 7.45e-01 1.00e+00f 1 2 2.6015191e+00 1.24e-01 2.06e+00 -4.0 3.28e+00 -0.5 9.21e-02 1.94e-01h 1 3 2.4230440e+00 9.00e-02 1.34e+00 -1.9 4.07e-01 -0.1 5.52e-01 3.46e-01f 1 4 2.2716061e+00 4.19e-02 6.94e-01 -1.9 1.67e-01 0.4 9.99e-01 5.34e-01h 1 5 2.1555708e+00 1.28e-02 2.22e-01 -2.7 9.96e-02 -0.1 1.00e+00 7.24e-01h 1 6 2.1247063e+00 5.72e-03 3.68e-01 -3.6 4.22e-02 -0.6 1.00e+00 5.46e-01h 1 7 2.1068948e+00 1.97e-03 3.94e-01 -4.0 1.43e-01 -1.1 8.68e-01 5.81e-01h 1 8 2.1065989e+00 1.48e-03 2.84e-01 -4.0 1.01e-01 -0.6 2.79e-01 2.69e-01h 1 9 2.1028566e+00 8.61e-04 1.78e-01 -4.0 1.76e-01 -1.1 1.00e+00 3.60e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0933047e+00 3.53e-03 1.68e-01 -4.0 3.37e-01 -1.6 1.00e+00 1.00e+00h 1 11 2.0922017e+00 3.04e-03 6.70e-01 -4.0 4.51e-01 -2.1 1.00e+00 1.36e-01h 1 12 2.0908025e+00 1.92e-03 7.15e-01 -4.0 5.61e-01 -2.5 1.00e+00 3.65e-01h 1 13 2.0908686e+00 2.30e-06 3.26e-02 -4.0 5.67e-02 -3.0 1.00e+00 1.00e+00h 1 14 2.0909023e+00 1.54e-06 2.05e-04 -4.0 6.40e-02 -3.5 1.00e+00 1.00e+00h 1 15 2.0908829e+00 9.17e-08 2.06e-05 -4.0 1.92e-01 -4.0 1.00e+00 1.00e+00h 1 16 2.0908262e+00 1.26e-07 2.06e-05 -4.0 5.77e-01 -4.4 1.00e+00 1.00e+00h 1 17 2.0906562e+00 1.14e-06 2.06e-05 -4.0 1.73e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0901478e+00 1.03e-05 4.58e-05 -4.0 5.17e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0886370e+00 9.46e-05 4.08e-04 -4.0 1.54e+01 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0842396e+00 9.03e-04 3.75e-03 -4.0 4.47e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0796338e+00 1.89e-03 2.32e-01 -4.0 1.10e+02 -6.8 1.00e+00 4.17e-01h 1 22 2.0792996e+00 7.68e-03 1.92e-01 -4.1 6.16e+01 -7.3 1.00e+00 7.54e-01h 1 23 2.0772677e+00 7.45e-03 4.46e-02 -4.0 1.31e+02 -7.8 1.00e+00 9.00e-01h 1 24 2.0768414e+00 3.50e-03 6.77e-02 -4.0 2.12e+02 -8.3 1.00e+00 1.00e+00h 1 25 2.0759354e+00 1.45e-03 2.65e-02 -4.0 3.64e+02 -8.7 1.00e+00 1.00e+00h 1 26 2.0754478e+00 1.04e-03 2.92e-02 -4.0 3.63e+02 -9.2 1.00e+00 6.77e-01H 1 27 2.0757168e+00 1.05e-03 6.48e-03 -4.0 1.10e+02 -9.7 1.00e+00 1.00e+00h 1 28 2.0753591e+00 9.35e-04 1.70e-04 -4.1 4.63e+01 -10.2 1.00e+00 1.00e+00h 1 29 2.0756724e+00 4.45e-04 4.86e-06 -4.0 1.89e+01 -10.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0753425e+00 5.97e-04 5.18e-07 -4.1 2.44e+01 -11.1 1.00e+00 1.00e+00h 1 31 2.0756725e+00 3.41e-04 6.95e-07 -4.0 1.39e+01 -11.6 1.00e+00 1.00e+00h 1 32 2.0753425e+00 5.09e-04 2.25e-07 -4.1 2.08e+01 -12.1 1.00e+00 1.00e+00h 1 33 2.0756725e+00 5.56e-04 9.42e-08 -4.0 2.27e+01 -12.6 1.00e+00 1.00e+00h 1 34 2.0753425e+00 5.55e-04 9.42e-08 -4.1 2.27e+01 -13.0 1.00e+00 1.00e+00h 1 35 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -13.5 9.28e-01 1.00e+00h 1 36 2.0757517e+00 1.59e-01 1.54e-04 -4.0 1.29e+03 -14.0 1.00e+00 1.00e+00h 1 37 2.0753574e+00 2.65e-02 8.73e-05 -4.1 1.05e+03 -14.5 1.00e+00 1.00e+00h 1 38 2.0753474e+00 1.15e-05 2.13e-06 -4.1 1.63e+02 -14.9 1.00e+00 1.00e+00h 1 39 2.0756726e+00 7.26e-04 1.64e-07 -4.0 3.02e+01 -15.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -15.9 1.00e+00 1.00e+00h 1 41 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -16.4 9.28e-01 1.00e+00h 1 42 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -16.9 8.16e-01 1.00e+00h 1 43 2.0742914e+00 4.02e-02 1.95e-02 -4.0 1.50e+04 -17.3 1.00e+00 1.46e-01f 1 44 2.0748877e+00 5.32e-02 4.44e-05 -4.3 1.16e+03 -17.8 1.00e+00 1.00e+00h 1 45 2.0748919e+00 7.80e-04 1.27e-05 -4.3 8.19e+02 -18.3 1.00e+00 1.00e+00h 1 46 2.0756799e+00 8.81e-03 2.72e-06 -4.0 1.52e+02 -18.8 1.00e+00 1.00e+00h 1 47 2.0753438e+00 1.84e-03 6.19e-07 -4.1 7.48e+01 -19.2 1.00e+00 1.00e+00h 1 48 2.0753420e+00 1.03e-06 2.13e-08 -4.1 1.76e+01 -19.7 1.00e+00 1.00e+00h 1 49 2.0756726e+00 7.23e-04 1.61e-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 50 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -20.0 1.00e+00 1.00e+00h 1 51 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 52 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -20.0 8.16e-01 1.00e+00h 1 53 2.0739622e+00 1.34e-06 1.83e-05 -6.1 8.40e+02 -20.0 1.00e+00 1.00e+00h 1 54 2.0741067e+00 2.44e-02 3.22e-02 -4.0 5.48e+04 -20.0 1.00e+00 5.98e-02f 1 55 2.0748071e+00 7.96e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 56 2.0748241e+00 9.52e-04 1.02e-05 -4.3 6.22e+02 -20.0 1.00e+00 1.00e+00h 1 57 2.0748237e+00 1.04e-07 2.35e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 58 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 59 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 61 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 62 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 63 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 64 2.0741065e+00 2.43e-02 3.23e-02 -4.0 5.49e+04 -20.0 1.00e+00 5.97e-02f 1 65 2.0748071e+00 7.95e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 66 2.0748240e+00 9.52e-04 1.02e-05 -4.3 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 67 2.0748236e+00 1.04e-07 2.36e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 68 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 69 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 71 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 72 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 73 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 74 2.0739617e+00 2.11e-08 1.94e-06 -6.1 2.49e+02 -20.0 1.00e+00 1.00e+00h 1 75 2.0740871e+00 2.06e-02 3.56e-02 -4.0 6.55e+04 -20.0 1.00e+00 5.03e-02f 1 76 2.0748016e+00 7.32e-02 4.77e-05 -4.3 1.41e+03 -20.0 1.00e+00 1.00e+00f 1 77 2.0748204e+00 9.23e-04 8.08e-06 -4.3 5.36e+02 -20.0 1.00e+00 1.00e+00h 1 78 2.0748200e+00 1.25e-07 3.57e-07 -4.3 7.03e+01 -20.0 1.00e+00 1.00e+00h 1 79 2.0740036e+00 1.08e-02 5.23e-04 -6.5 1.81e+02 -20.0 8.93e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0739632e+00 2.51e-04 3.38e-04 -6.5 7.34e+02 -20.0 7.62e-01 1.00e+00h 1 81 2.0739539e+00 4.81e-07 1.83e-05 -6.5 9.12e+02 -20.0 1.00e+00 1.00e+00h 1 82 2.0740681e+00 1.80e-02 3.75e-02 -4.0 7.10e+04 -20.0 1.00e+00 4.51e-02f 1 83 2.0747866e+00 7.58e-02 5.27e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 84 2.0748068e+00 8.84e-04 6.22e-06 -4.3 4.91e+02 -20.0 1.00e+00 1.00e+00h 1 85 2.0748064e+00 1.21e-07 3.63e-07 -4.3 6.91e+01 -20.0 1.00e+00 1.00e+00h 1 86 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 87 2.0739630e+00 2.41e-04 3.38e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 88 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 89 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 91 2.0748064e+00 8.81e-04 6.11e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 92 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 93 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 94 2.0739630e+00 2.40e-04 3.37e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 95 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 96 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 97 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 98 2.0748064e+00 8.81e-04 6.10e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 99 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+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 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0740029855935704e+00 2.0740029855935704e+00 Dual infeasibility......: 5.2112147346577758e-04 5.2112147346577758e-04 Constraint violation....: 1.0803737393221269e-02 1.0803737393221269e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0806576080383962e-05 1.0806576080383962e-05 Overall NLP error.......: 1.0803737393221269e-02 1.0803737393221269e-02 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 = 25.847 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.057s integrator 2 jacobian structure: 0.05s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.108s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.049s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.341s sub-objective 2 (QuadraticRegularizer): 0.086s sub-objective 3 (MinimumTimeObjective): 0.015s objective hessian structure: 0.537s hessian structure: 1749 nonzeros (0.635s) linear index maps built (0.0s) evaluator ready (total: 0.744s) evaluator created (0.744s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.117s) 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 (4.559s) optimizer initialization complete (total: 5.421s) 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 3.7154663e+00 3.32e+00 6.65e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6530843e+00 3.91e-01 4.27e+00 -0.8 2.06e+00 0.0 1.00e+00 8.80e-01f 1 2 2.6444808e+00 9.25e-03 5.07e-01 -0.8 3.52e-01 -0.5 8.59e-01 1.00e+00f 1 3 2.4779374e+00 1.13e-02 2.21e-01 -1.7 3.13e-01 -1.0 1.00e+00 1.00e+00h 1 4 2.2216898e+00 1.58e-02 6.19e-02 -1.8 3.07e-01 -1.4 8.94e-01 8.97e-01h 1 5 2.1050577e+00 1.25e-03 1.73e-02 -2.8 9.93e-02 -1.9 9.15e-01 1.00e+00h 1 6 2.0910343e+00 3.88e-05 6.12e-04 -4.0 1.37e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0907995e+00 6.73e-07 2.06e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0907950e+00 2.02e-09 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0907818e+00 6.92e-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 2.0907420e+00 6.23e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0906226e+00 5.61e-07 2.05e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0902653e+00 5.08e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892004e+00 4.63e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0860706e+00 4.35e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796278e+00 2.46e-03 8.90e-02 -4.0 8.70e+01 -6.7 1.00e+00 7.48e-01h 1 16 2.0811888e+00 1.28e-04 1.81e-01 -4.0 6.88e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778209e+00 5.45e-03 2.45e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0782008e+00 1.69e-02 4.20e-02 -3.7 1.62e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0768119e+00 1.05e-02 2.23e-02 -3.8 3.05e+02 -8.6 1.00e+00 9.47e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0760302e+00 8.36e-03 2.43e-02 -3.9 4.40e+02 -9.1 1.00e+00 9.84e-01f 1 21 2.0757506e+00 9.00e-03 1.04e-02 -4.0 1.40e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756801e+00 4.87e-04 4.22e-04 -4.0 5.98e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 5.21e-06 8.27e-06 -4.0 2.32e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 5.93e-08 1.50e-06 -4.0 1.51e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.55e-09 1.51e-07 -4.0 5.25e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.79e-11 3.05e-09 -4.0 9.22e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122105623e+00 2.0756712122105623e+00 Dual infeasibility......: 3.0516465406612951e-09 3.0516465406612951e-09 Constraint violation....: 7.7887252203368007e-11 7.7887252203368007e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000028e-04 1.0000000000000028e-04 Overall NLP error.......: 3.0516465406612951e-09 3.0516465406612951e-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 = 37.289 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: 0.058s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.059s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.109s) evaluator created (0.109s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: bounds constraint on trajectory variable 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 (0.129s) optimizer initialization complete (total: 0.239s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.6673407e+00 3.79e+00 6.48e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6886239e+00 4.33e-02 4.49e-01 -0.9 2.37e+00 - 9.82e-01 1.00e+00f 1 2 2.5192111e+00 4.68e-03 8.01e-02 -1.4 1.21e-01 - 9.72e-01 1.00e+00h 1 3 2.1518017e+00 1.78e-03 3.87e-02 -2.4 5.11e-02 - 9.70e-01 1.00e+00f 1 4 2.0915890e+00 2.02e-04 1.35e-03 -4.0 1.95e-02 - 9.82e-01 9.92e-01h 1 5 2.0909017e+00 1.31e-05 5.40e-04 -4.0 2.27e-01 - 1.00e+00 1.00e+00h 1 6 2.0908983e+00 3.01e-08 2.36e-07 -4.0 1.25e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 8.63e-10 2.27e-10 -4.0 6.02e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971976192157e+00 2.0908971976192157e+00 Dual infeasibility......: 2.2699476367039721e-10 2.2699476367039721e-10 Constraint violation....: 8.6266233134795061e-10 8.6266233134795061e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000172756762467e-04 1.0000172756762467e-04 Overall NLP error.......: 1.7275676246665409e-09 1.7275676246665409e-09 Number of objective function evaluations = 8 Number of objective gradient evaluations = 8 Number of equality constraint evaluations = 8 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 8 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 7 Total seconds in IPOPT = 25.287 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.062s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.053s) 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: 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: 0.116s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.1429506e+00 1.55e+00 4.30e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6293005e+00 7.79e-01 8.78e-01 -0.9 7.26e+00 -4.0 8.14e-01 5.17e-01f 1 2 2.3290282e+00 1.92e-01 2.77e+00 -1.0 7.52e+00 -2.7 3.21e-01 8.70e-01f 1 3 2.7004303e+00 1.74e-01 1.95e+01 0.1 4.30e+00 -0.4 5.76e-01 8.65e-02f 1 4 2.8877585e+00 7.44e-03 8.18e-01 -0.6 4.62e-01 -0.9 9.99e-01 1.00e+00f 1 5 2.7015919e+00 2.28e-02 6.83e-01 -1.8 6.22e-01 -1.4 8.43e-01 1.00e+00h 1 6 2.3183320e+00 3.32e-02 2.86e-01 -1.5 5.65e-01 -1.9 9.59e-01 8.71e-01f 1 7 2.1883260e+00 1.25e-02 4.66e-02 -2.1 4.24e-01 -2.3 9.93e-01 1.00e+00h 1 8 2.1136023e+00 1.12e-03 3.77e-02 -2.9 2.28e-01 -2.8 9.88e-01 8.66e-01h 1 9 2.0913940e+00 4.07e-04 1.24e-02 -4.0 1.48e-01 -3.3 9.97e-01 9.84e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0907744e+00 3.15e-05 3.59e-04 -4.0 1.15e-01 -3.8 1.00e+00 1.00e+00h 1 11 2.0907466e+00 1.34e-06 2.69e-05 -4.0 3.27e-01 -4.3 1.00e+00 1.00e+00h 1 12 2.0906586e+00 3.10e-07 1.17e-04 -4.0 9.18e-01 -4.7 1.00e+00 1.00e+00h 1 13 2.0904459e+00 1.75e-06 7.50e-04 -4.0 2.26e+00 -5.2 1.00e+00 1.00e+00h 1 14 2.0901165e+00 3.86e-06 2.51e-03 -4.0 3.85e+00 -5.7 1.00e+00 1.00e+00h 1 15 2.0899379e+00 2.27e-06 2.45e-03 -4.0 4.72e+00 -6.2 1.00e+00 1.00e+00h 1 16 2.0898509e+00 9.74e-07 1.22e-03 -4.0 7.62e+00 -6.6 1.00e+00 1.00e+00h 1 17 2.0898251e+00 3.80e-07 1.17e-03 -4.0 1.05e+01 -7.1 1.00e+00 1.00e+00h 1 18 2.0898229e+00 1.76e-06 6.20e-04 -4.0 8.48e+00 -7.6 1.00e+00 1.00e+00h 1 19 2.0898220e+00 3.52e-07 7.37e-05 -4.0 2.70e+00 -8.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0898219e+00 5.84e-09 1.11e-06 -4.0 3.46e-01 -8.5 1.00e+00 1.00e+00h 1 21 2.0898218e+00 1.08e-11 2.61e-09 -4.0 2.91e-02 -9.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 21 (scaled) (unscaled) Objective...............: 2.0898218499934922e+00 2.0898218499934922e+00 Dual infeasibility......: 2.6067746411158419e-09 2.6067746411158419e-09 Constraint violation....: 1.0770995206854650e-11 1.0770995206854650e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000000e-04 1.0000000000000000e-04 Overall NLP error.......: 2.6067746411158419e-09 2.6067746411158419e-09 Number of objective function evaluations = 22 Number of objective gradient evaluations = 22 Number of equality constraint evaluations = 22 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 22 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 21 Total seconds in IPOPT = 25.921 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.062s) integrator 1 hessian structure: 0.046s 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: 0.001s hessian structure: 1749 nonzeros (0.048s) linear index maps built (0.0s) evaluator ready (total: 0.111s) evaluator created (0.111s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.111s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 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 1.5798073e+00 2.45e+00 7.25e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.9264482e+00 2.10e+00 1.44e+01 -0.1 1.98e+00 0.0 9.39e-03 1.43e-01f 1 2 1.9806880e+00 1.98e+00 3.20e+01 -0.6 2.72e+00 0.4 2.11e-01 5.87e-02h 1 3 2.4620658e+00 1.79e+00 7.94e+01 -0.2 5.72e+00 -0.1 4.91e-01 9.69e-02f 1 4 3.0037842e+00 1.55e+00 3.95e+02 0.1 5.20e+00 -0.5 1.00e+00 1.30e-01h 1 5 3.2760738e+00 1.34e+00 3.28e+02 -4.0 4.38e+01 -1.0 7.66e-02 1.10e-01h 1 6 3.7228026e+00 1.16e+00 9.76e+02 1.2 2.94e+01 -0.6 1.36e-01 6.23e-02f 1 7 3.7929049e+00 1.11e+00 6.69e+03 1.0 6.64e+00 -0.2 1.00e+00 4.72e-02h 1 8 3.7964152e+00 1.09e+00 1.90e+04 0.7 2.12e+01 -0.6 9.32e-02 1.77e-02h 1 9 3.8417455e+00 1.08e+00 1.48e+05 2.5 6.58e+02 -0.2 5.31e-02 1.42e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 3.9778519e+00 1.29e+00 1.95e+05 2.5 1.17e+03 -0.7 1.24e-02 8.55e-03h 1 11 4.2701720e+00 1.03e+00 7.26e+04 2.5 1.17e+02 -1.2 1.14e-01 2.34e-02f 1 12 4.2981048e+00 1.03e+00 7.17e+04 2.5 2.76e+03 -0.7 6.58e-04 8.37e-04h 2 13 4.3569527e+00 1.19e+00 8.37e+04 0.6 4.65e+03 -0.3 6.88e-04 1.13e-03f 3 14 4.3608846e+00 1.19e+00 2.35e+05 1.6 1.27e+01 2.8 5.24e-02 4.02e-04h 1 15 4.4857692e+00 1.18e+00 3.08e+05 1.6 1.25e+02 2.4 1.27e-02 1.01e-02h 1 16 4.4969084e+00 1.13e+00 3.18e+05 2.5 5.24e+01 1.9 1.54e-02 1.66e-02f 1 17 4.5115835e+00 1.09e+00 3.20e+05 2.5 1.16e+02 1.4 1.60e-02 1.28e-02h 1 18 4.6310869e+00 9.59e-01 1.77e+05 2.1 1.68e+02 0.9 9.19e-02 3.65e-02f 1 19 4.7322334e+00 9.29e-01 1.33e+05 2.3 4.34e+01 0.4 2.34e-01 2.99e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 4.7410735e+00 9.29e-01 5.93e+05 2.5 5.01e+01 -0.0 7.55e-02 8.56e-04h 1 21 4.7503507e+00 9.25e-01 6.94e+07 2.5 8.51e+00 -0.5 4.58e-01 3.92e-03h 1 22 4.7537123e+00 9.24e-01 1.47e+10 2.5 1.25e+01 -1.0 3.25e-01 1.52e-03h 1 23 4.7537573e+00 9.24e-01 5.02e+14 2.5 1.61e+01 -1.5 9.47e-01 2.73e-05h 1 24 4.9950442e+00 3.25e-01 1.48e+14 2.5 2.68e+00 -1.9 7.06e-01 6.92e-01h 1 25 4.9992766e+00 3.17e-01 1.48e+12 1.6 9.46e-01 -2.4 9.90e-01 2.36e-02h 1 26 5.0054734e+00 3.07e-01 1.51e+10 1.3 7.01e+00 -2.9 9.90e-01 3.23e-02h 1 27r 5.0054734e+00 3.07e-01 9.86e+02 2.5 0.00e+00 -3.4 0.00e+00 7.95e-08R 2 28r 4.7731998e+00 2.17e-01 3.24e+02 1.4 8.19e-01 - 6.96e-01 6.45e-01f 1 29 4.7145975e+00 1.99e-01 1.59e+01 -0.8 1.36e+00 -3.9 8.36e-01 8.18e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 4.6917655e+00 1.99e-01 5.71e+03 0.2 4.76e+01 -4.3 2.14e-01 9.85e-04h 1 31 4.7123149e+00 1.99e-01 1.18e+05 -4.0 9.71e+01 -4.8 1.09e-02 5.23e-04h 1 32 4.7164919e+00 1.99e-01 9.42e+08 0.7 1.12e+02 -5.3 9.32e-01 1.16e-04h 1 33r 4.7164919e+00 1.99e-01 9.97e+02 1.8 0.00e+00 -5.8 0.00e+00 3.00e-07R 3 34r 4.7961279e+00 1.99e-01 5.57e+02 -0.4 3.63e-01 - 8.10e-01 4.16e-01f 1 35r 4.7901043e+00 1.99e-01 1.44e+02 -0.5 1.49e-01 - 1.00e+00 7.57e-01f 1 36r 4.7635463e+00 1.99e-01 2.55e-01 -0.7 7.14e-02 - 1.00e+00 1.00e+00f 1 37r 4.7605813e+00 1.99e-01 9.57e+00 -4.0 1.61e-01 - 9.28e-01 8.57e-01f 1 38r 4.7689749e+00 1.99e-01 2.67e-01 -2.8 1.08e-02 0.0 1.00e+00 9.90e-01f 1 39r 4.7800574e+00 1.99e-01 3.76e-03 -3.8 9.43e-02 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40r 4.8048771e+00 1.99e-01 3.66e-04 -4.0 2.00e-02 - 1.00e+00 1.00e+00h 1 41r 4.8040623e+00 1.99e-01 1.21e-05 -4.0 1.03e-02 - 1.00e+00 1.00e+00h 1 42r 4.8038205e+00 1.99e-01 2.83e-07 -4.0 1.72e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 42 (scaled) (unscaled) Objective...............: 4.8038073228617950e+00 4.8038073228617950e+00 Dual infeasibility......: 1.9237840963292077e+00 1.9237840963292077e+00 Constraint violation....: 1.9875045035304606e-01 1.9875045035304606e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000764398026e-04 1.0000000764398026e-04 Overall NLP error.......: 1.9237840963292077e+00 1.9237840963292077e+00 Number of objective function evaluations = 54 Number of objective gradient evaluations = 35 Number of equality constraint evaluations = 54 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 46 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 43 Total seconds in IPOPT = 24.635 EXIT: Converged to a point of local infeasibility. Problem may be infeasible. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.053s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.054s) integrator 1 hessian structure: 0.043s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s sub-objective 4 (GlobalObjective): 0.684s objective hessian structure: 0.685s hessian structure: 1804 nonzeros (0.729s) linear index maps built (0.0s) evaluator ready (total: 0.783s) evaluator created (0.783s) 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: 0.783s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 36 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.3187657e+00 2.71e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.6904149e+00 2.50e-01 7.11e-01 -0.9 3.20e+00 -2.0 6.83e-01 1.00e+00f 1 2 2.3534703e+00 1.25e-01 3.66e-01 -1.8 2.21e+00 -2.5 8.08e-01 1.00e+00f 1 3 2.1617537e+00 3.88e-02 1.77e-01 -2.1 1.65e+00 -3.0 9.94e-01 1.00e+00h 1 4 2.1060053e+00 2.70e-03 1.01e-02 -2.8 4.26e-01 -3.4 9.72e-01 1.00e+00h 1 5 2.0909335e+00 2.50e-04 1.36e-03 -4.0 1.22e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0908109e+00 1.41e-05 8.06e-05 -4.0 5.00e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0906635e+00 8.52e-07 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0902225e+00 7.70e-06 3.44e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0889103e+00 7.06e-05 3.07e-04 -4.0 1.33e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0850735e+00 6.69e-04 2.80e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0796256e+00 2.11e-03 1.76e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.38e-01h 1 12 2.0802784e+00 1.66e-04 1.78e-01 -4.0 6.64e+01 -7.2 1.00e+00 1.00e+00H 1 13 2.0774113e+00 8.32e-03 2.63e-02 -4.0 1.24e+02 -7.7 1.00e+00 9.65e-01h 1 14 2.0770561e+00 1.65e-03 7.63e-02 -4.0 2.09e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0761327e+00 3.25e-03 1.74e-02 -4.0 3.52e+02 -8.7 1.00e+00 8.23e-01h 1 16 2.0755338e+00 1.76e-03 2.76e-02 -4.0 5.02e+02 -9.2 1.00e+00 7.24e-01h 1 17 2.0757509e+00 2.93e-03 1.05e-02 -4.0 1.39e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0753660e+00 1.25e-03 4.14e-04 -4.1 7.49e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0756724e+00 4.73e-04 6.71e-06 -4.0 2.06e+01 -10.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0756712e+00 5.89e-07 8.89e-07 -4.0 1.07e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0756712e+00 1.58e-09 5.84e-08 -4.0 3.69e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0756712e+00 2.25e-11 9.06e-10 -4.0 5.34e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0756712121307972e+00 2.0756712121307972e+00 Dual infeasibility......: 9.0615042335970286e-10 9.0615042335970286e-10 Constraint violation....: 2.2523316545175476e-11 2.2523316545175476e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000059e-04 1.0000000000000059e-04 Overall NLP error.......: 9.0615042335970286e-10 9.0615042335970286e-10 Number of objective function evaluations = 24 Number of objective gradient evaluations = 23 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 23 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 22 Total seconds in IPOPT = 32.417 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: 0.065s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.526s jacobian structure: 1600 nonzeros (2.591s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.14s 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 (4.189s) linear index maps built (0.0s) evaluator ready (total: 6.781s) evaluator created (6.805s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 6.806s) 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 4.7617687e+00 3.07e+00 6.12e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.3012170e+00 1.35e+00 1.81e+00 -0.8 2.02e+00 0.0 9.82e-01 5.59e-01h 1 2 2.7178628e+00 2.21e-02 1.56e+00 -0.9 1.07e+00 -0.5 6.78e-01 1.00e+00f 1 3 2.4788664e+00 7.99e-03 5.84e-02 -1.6 1.65e-01 -1.0 9.92e-01 1.00e+00h 1 4 2.1993703e+00 1.10e-02 6.27e-02 -2.7 2.45e-01 -1.4 8.46e-01 7.47e-01f 1 5 2.0985151e+00 6.55e-04 6.91e-03 -3.0 6.34e-02 -1.9 9.47e-01 9.96e-01h 1 6 2.0909148e+00 1.08e-05 6.02e-04 -4.0 1.02e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0908698e+00 2.25e-07 1.72e-04 -4.0 6.28e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908631e+00 1.63e-09 1.72e-05 -4.0 3.77e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908527e+00 4.14e-09 1.69e-05 -4.0 1.11e-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 2.0908248e+00 3.31e-08 3.63e-05 -4.0 3.18e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907535e+00 2.37e-07 1.59e-04 -4.0 8.79e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905071e+00 2.10e-06 5.37e-04 -4.0 2.74e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0898537e+00 3.80e-06 7.71e-03 -4.0 8.87e+00 -5.7 1.00e+00 7.90e-01H 1 14 2.0885378e+00 2.21e-04 3.19e-02 -4.0 2.50e+01 -6.2 1.00e+00 1.00e+00f 1 15 2.0880542e+00 2.95e-04 8.46e-01 -3.1 2.05e+02 -5.8 8.73e-01 2.82e-02h 2 16 2.0866333e+00 1.24e-03 2.00e-02 -3.9 1.69e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0845531e+00 4.09e-04 5.04e-02 -4.0 4.40e+01 -6.7 1.00e+00 5.64e-01h 1 18 2.0827006e+00 1.02e-03 3.02e-02 -4.0 5.30e+01 -7.2 1.00e+00 8.13e-01h 1 19 2.0826306e+00 1.03e-03 2.85e-02 -4.0 1.14e+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 2.0885329e+00 7.39e-07 3.58e-01 -4.0 4.42e+02 -8.2 1.24e-01 1.00e+00H 1 21 2.0832086e+00 1.22e-03 1.34e+00 -4.0 7.00e+00 -5.0 1.90e-01 4.94e-01f 1 22 2.0828935e+00 1.21e-03 1.32e+00 -4.0 4.85e+01 -3.7 2.00e-03 6.55e-03h 1 23 2.0830193e+00 1.18e-03 1.28e+00 -4.0 6.18e+00 -4.2 2.27e-02 3.43e-02h 1 24 2.0827371e+00 1.19e-03 1.28e+00 -4.0 5.90e+01 -4.7 4.88e-04 3.62e-03f 1 25 2.0827659e+00 1.19e-03 5.69e+00 -4.0 1.15e+02 -3.3 2.78e-01 2.94e-04f 2 26 2.0831719e+00 9.02e-07 9.69e-04 -3.9 3.08e-02 -3.8 1.00e+00 1.00e+00h 1 27 2.0829871e+00 3.35e-06 7.90e-05 -4.0 1.27e-01 -4.3 1.00e+00 1.00e+00h 1 28 2.0829492e+00 7.53e-07 1.20e-05 -4.0 3.69e-01 -4.8 1.00e+00 1.00e+00h 1 29 2.0828817e+00 1.14e-06 6.83e-05 -4.0 1.04e+00 -5.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0827361e+00 7.02e-06 3.81e-04 -4.0 2.82e+00 -5.7 1.00e+00 1.00e+00h 1 31 2.0825520e+00 2.16e-05 9.94e-04 -4.0 7.10e+00 -6.2 1.00e+00 1.00e+00h 1 32 2.0823789e+00 1.56e-05 1.46e-03 -4.0 1.77e+01 -6.7 1.00e+00 1.00e+00h 1 33 2.0821160e+00 1.32e-04 4.38e-03 -4.0 3.97e+01 -7.1 1.00e+00 1.00e+00h 1 34 2.0818288e+00 3.89e-04 5.18e-03 -4.0 8.57e+01 -7.6 7.22e-01 1.00e+00h 1 35 2.0857848e+00 5.33e-06 3.60e-02 -4.0 3.39e+01 -6.3 1.00e+00 1.00e+00H 1 36 2.0843039e+00 4.59e-05 8.95e-01 -4.0 4.10e+00 -4.1 2.15e-01 1.67e-01f 1 37 2.0831963e+00 1.72e-05 2.45e-01 -4.0 8.59e-01 -4.5 5.42e-01 3.56e-01f 1 38 2.0824102e+00 5.61e-04 6.19e-01 -4.0 7.65e+00 -5.0 2.90e-01 4.22e-01f 1 39 2.0818250e+00 7.76e-05 2.92e-03 -4.0 9.83e-01 -4.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0817237e+00 5.87e-05 1.00e-03 -4.0 6.72e-01 -5.1 1.00e+00 1.00e+00h 1 41 2.0818582e+00 1.12e-04 2.43e-04 -4.0 1.98e+00 -5.5 1.00e+00 1.00e+00h 1 42 2.0817733e+00 1.03e-04 8.28e-03 -4.1 7.52e+00 -6.0 9.51e-01 1.00e+00h 1 43 2.0817636e+00 8.40e-05 2.16e-01 -4.1 7.82e+00 -6.5 1.00e+00 1.15e-01h 2 44 2.0816018e+00 2.39e-04 2.52e-03 -4.1 5.42e+00 -7.0 1.00e+00 1.00e+00h 1 45 2.0818482e+00 2.04e-04 4.02e-04 -4.0 8.31e+00 -7.4 1.00e+00 1.00e+00h 1 46 2.0815951e+00 2.65e-04 3.61e-04 -4.1 1.18e+01 -7.9 1.00e+00 1.00e+00h 1 47 2.0818451e+00 4.50e-04 2.12e-04 -4.0 1.93e+01 -8.4 1.00e+00 1.00e+00h 1 48 2.0815848e+00 3.61e-04 9.97e-05 -4.1 1.57e+01 -8.9 1.00e+00 1.00e+00h 1 49 2.0818443e+00 2.00e-04 4.39e-05 -4.0 8.34e+00 -9.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0815838e+00 2.13e-04 1.64e-05 -4.1 9.70e+00 -9.8 1.00e+00 1.00e+00h 1 51 2.0818445e+00 2.13e-04 1.33e-05 -4.0 9.71e+00 -10.3 1.00e+00 1.00e+00h 1 52 2.0815837e+00 2.15e-04 1.06e-05 -4.1 9.82e+00 -10.8 1.00e+00 1.00e+00h 1 53 2.0818446e+00 2.16e-04 9.92e-06 -4.0 9.86e+00 -11.3 1.00e+00 1.00e+00h 1 54 2.0815837e+00 2.16e-04 9.47e-06 -4.1 9.87e+00 -11.7 1.00e+00 1.00e+00h 1 55 2.0818446e+00 2.16e-04 9.55e-06 -4.0 9.87e+00 -12.2 1.00e+00 1.00e+00h 1 56 2.0815837e+00 2.16e-04 9.34e-06 -4.1 9.87e+00 -12.7 1.00e+00 1.00e+00h 1 57 2.0805951e+00 3.33e-03 1.59e-04 -6.1 4.09e+01 -13.2 9.77e-01 9.64e-01h 1 58 2.0818908e+00 6.61e-03 2.99e-04 -4.0 6.18e+01 -13.6 1.00e+00 1.00e+00f 1 59 2.0816145e+00 4.96e-04 1.06e-05 -4.1 2.08e+01 -14.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0806042e+00 3.49e-03 2.32e-04 -6.1 4.24e+01 -14.6 9.76e-01 9.58e-01h 1 61 2.0805507e+00 9.69e-05 2.24e-06 -6.1 1.71e+01 -15.1 1.00e+00 1.00e+00h 1 62 2.0819819e+00 1.02e-02 3.99e-04 -4.0 8.54e+01 -15.6 1.00e+00 1.00e+00f 1 63 2.0816805e+00 9.65e-04 4.96e-05 -4.1 4.57e+01 -16.0 1.00e+00 1.00e+00h 1 64 2.0816444e+00 4.73e-07 7.69e-07 -4.1 8.40e+00 -16.5 1.00e+00 1.00e+00h 1 65 2.0818441e+00 1.27e-04 5.47e-06 -4.0 7.55e+00 -17.0 1.00e+00 1.00e+00h 1 66 2.0815834e+00 2.14e-04 9.28e-06 -4.1 9.76e+00 -17.5 1.00e+00 1.00e+00h 1 67 2.0805950e+00 3.33e-03 1.58e-04 -6.1 4.09e+01 -17.9 9.77e-01 9.64e-01h 1 68 2.0805497e+00 7.61e-05 1.82e-06 -6.1 1.56e+01 -18.4 1.00e+00 1.00e+00h 1 69 2.0819883e+00 1.06e-02 4.03e-04 -4.0 8.64e+01 -18.9 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0816850e+00 9.86e-04 5.24e-05 -4.1 4.71e+01 -19.4 1.00e+00 1.00e+00h 1 71 2.0816467e+00 5.59e-07 8.13e-07 -4.1 8.79e+00 -19.9 1.00e+00 1.00e+00h 1 72 2.0805963e+00 3.67e-03 1.56e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.67e-01h 1 73 2.0805509e+00 8.01e-05 1.98e-06 -6.1 1.63e+01 -20.0 1.00e+00 1.00e+00h 1 74 2.0805468e+00 5.50e-08 2.37e-08 -6.1 2.91e+00 -20.0 1.00e+00 1.00e+00h 1 75 2.0820237e+00 1.21e-02 4.23e-04 -4.0 9.79e+01 -20.0 1.00e+00 1.00e+00f 1 76 2.0817108e+00 1.09e-03 6.84e-05 -4.1 5.44e+01 -20.0 1.00e+00 1.00e+00h 1 77 2.0816597e+00 1.20e-06 1.05e-06 -4.1 1.08e+01 -20.0 1.00e+00 1.00e+00h 1 78 2.0805973e+00 3.75e-03 1.59e-04 -6.1 4.29e+01 -20.0 9.76e-01 9.67e-01h 1 79 2.0805512e+00 8.26e-05 2.04e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805470e+00 5.83e-08 2.51e-08 -6.1 3.00e+00 -20.0 1.00e+00 1.00e+00h 1 81 2.0805365e+00 9.22e-07 7.87e-07 -9.0 9.36e-01 -20.0 1.00e+00 9.97e-01h 1 82 2.0820411e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 83 2.0817244e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 84 2.0816662e+00 1.63e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 85 2.0805979e+00 3.78e-03 1.61e-04 -6.1 4.31e+01 -20.0 9.76e-01 9.67e-01h 1 86 2.0805514e+00 8.39e-05 2.07e-06 -6.1 1.67e+01 -20.0 1.00e+00 1.00e+00h 1 87 2.0805470e+00 6.01e-08 2.58e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 88 2.0805365e+00 9.41e-07 8.10e-07 -9.0 9.46e-01 -20.0 1.00e+00 9.97e-01h 1 89 2.0805365e+00 8.66e-11 2.16e-12 -9.0 2.61e-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 2.0820415e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 91 2.0817247e+00 1.13e-03 7.75e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0816664e+00 1.64e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 93 2.0805979e+00 3.78e-03 1.61e-04 -6.1 4.31e+01 -20.0 9.76e-01 9.67e-01h 1 94 2.0805514e+00 8.39e-05 2.07e-06 -6.1 1.67e+01 -20.0 1.00e+00 1.00e+00h 1 95 2.0805470e+00 6.01e-08 2.58e-08 -6.1 3.05e+00 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 9.41e-07 8.10e-07 -9.0 9.47e-01 -20.0 1.00e+00 9.97e-01h 1 97 2.0805365e+00 8.67e-11 2.17e-12 -9.0 2.61e-02 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 8.88e-16 9.09e-15 -9.0 9.99e-06 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 4.44e-16 9.09e-15 -9.0 1.62e-12 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805365e+00 4.44e-16 9.09e-15 -9.0 8.80e-14 -20.0 1.00e+00 1.00e+00 0 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595436484e+00 2.0805364595436484e+00 Dual infeasibility......: 9.0909090910998750e-15 9.0909090910998750e-15 Constraint violation....: 4.4408920985006262e-16 4.4408920985006262e-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 = 109 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 109 Number of inequality constraint evaluations = 109 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 29.614 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.062s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 3.279s jacobian structure: 1680 nonzeros (3.342s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 11.157s 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: 1964 nonzeros (11.211s) linear index maps built (0.0s) evaluator ready (total: 14.554s) evaluator created (14.578s) 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: 14.579s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 96 Number of nonzeros in Lagrangian Hessian.............: 1804 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.9818044e+01 1.74e+00 5.82e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 5.2209167e+00 1.80e-01 3.75e+00 -1.0 1.95e+00 0.0 7.05e-01 8.99e-01f 1 2 2.5822611e+00 3.67e-02 8.57e-01 -1.3 1.12e+00 -0.5 7.18e-01 8.40e-01f 1 3 2.2652536e+00 4.57e-03 1.13e-01 -1.7 3.06e-01 -1.0 9.97e-01 1.00e+00h 1 4 2.1147228e+00 2.26e-03 4.25e-02 -2.6 9.52e-02 -1.4 9.99e-01 9.15e-01h 1 5 2.0913005e+00 6.80e-05 3.02e-02 -3.8 2.00e-02 -1.9 9.91e-01 1.00e+00h 1 6 2.0909838e+00 7.32e-07 1.85e-04 -4.0 1.98e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0909753e+00 1.88e-09 2.30e-05 -4.0 1.68e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909686e+00 1.20e-09 2.28e-05 -4.0 4.98e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909518e+00 9.21e-09 2.22e-05 -4.0 1.46e-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 2.0909057e+00 7.09e-08 1.18e-04 -4.0 4.03e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0908167e+00 3.90e-07 5.55e-04 -4.0 9.65e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0906306e+00 2.24e-06 1.74e-03 -4.0 2.67e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0900566e+00 2.08e-05 1.13e-03 -4.0 7.46e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0893083e+00 3.07e-05 4.66e-02 -4.0 2.31e+01 -6.2 1.00e+00 3.65e-01h 1 15 2.0863876e+00 1.07e-03 8.39e-02 -4.0 5.62e+01 -6.7 1.00e+00 1.00e+00f 1 16 2.0848572e+00 4.06e-04 3.41e-02 -4.0 5.01e+00 -5.4 1.00e+00 6.46e-01h 1 17 2.0846440e+00 4.45e-05 5.48e-03 -4.0 6.42e+00 -5.8 1.00e+00 1.00e+00h 1 18 2.0836103e+00 5.44e-05 4.16e-03 -4.0 1.51e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0827373e+00 8.09e-05 1.19e-02 -4.0 2.06e+01 -6.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0828198e+00 3.49e-04 1.34e-02 -4.0 5.19e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0820845e+00 2.03e-03 8.43e-03 -4.1 1.21e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.9715866e+00 9.48e-04 1.56e+01 -4.0 1.07e+03 -8.2 3.75e-02 1.00e+00H 1 23 2.0903119e+00 1.34e-04 1.45e+00 -4.2 3.83e-01 -0.4 4.55e-01 8.59e-01f 1 24 2.0904912e+00 1.34e-04 9.10e+00 -4.0 1.18e-01 -0.8 1.00e+00 1.95e-03f 10 25 2.0904489e+00 7.63e-08 1.73e-03 -4.0 3.65e-02 -1.3 1.00e+00 1.00e+00h 1 26 2.0902050e+00 7.40e-08 1.66e-03 -4.0 1.05e-01 -1.8 1.00e+00 1.00e+00h 1 27 2.0897029e+00 1.05e-06 1.46e-03 -4.0 2.77e-01 -2.3 1.00e+00 1.00e+00h 1 28 2.0894561e+00 1.16e-06 5.57e-01 -4.0 2.44e-01 -2.8 1.00e+00 5.83e-01h 1 29 2.0895992e+00 1.10e-06 5.64e-05 -4.0 6.34e-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 2.0894123e+00 1.62e-06 4.53e-05 -4.1 7.75e-02 -3.7 1.00e+00 1.00e+00h 1 31 2.0895480e+00 4.62e-06 9.11e-05 -4.0 2.25e-01 -4.2 1.00e+00 1.00e+00h 1 32 2.0893215e+00 1.55e-05 7.54e-05 -4.1 6.90e-01 -4.7 1.00e+00 1.00e+00h 1 33 2.0893252e+00 3.77e-05 4.99e-04 -4.0 1.95e+00 -5.1 1.00e+00 1.00e+00h 1 34 2.0887544e+00 1.35e-04 6.99e-04 -4.1 5.56e+00 -5.6 1.00e+00 1.00e+00h 1 35 2.0876164e+00 6.58e-04 3.56e-02 -6.1 1.55e+01 -6.1 9.79e-01 7.00e-01h 1 36 2.0865276e+00 6.37e-04 3.32e-02 -6.1 3.82e+01 -6.6 8.70e-01 7.50e-01h 1 37 2.0844625e+00 4.42e-04 1.75e-02 -6.1 9.41e+01 -7.0 9.07e-01 1.00e+00h 1 38 2.0825128e+00 1.38e-04 1.91e-01 -6.1 1.75e+02 -7.5 1.00e+00 7.53e-01h 1 39 2.0810395e+00 5.01e-04 7.92e-02 -5.4 2.67e+02 -8.0 7.83e-01 9.36e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0831333e+00 6.68e-03 1.72e-01 -4.0 3.28e+03 -8.5 1.19e-03 1.50e-01f 3 41 2.0816396e+00 4.45e-03 7.33e-01 -5.1 5.05e+01 -6.2 1.00e+00 3.16e-01h 1 42 2.0821462e+00 8.63e-04 4.36e-01 -5.1 4.89e+01 -6.7 6.71e-01 8.20e-01h 1 43 2.0813120e+00 4.57e-04 2.75e-02 -5.1 7.09e+01 -7.2 1.00e+00 1.00e+00f 1 44 2.0821212e+00 6.95e-04 6.15e-03 -4.0 6.75e+00 -5.9 1.00e+00 1.00e+00h 1 45 2.0820100e+00 1.95e-04 1.65e-03 -4.1 5.58e+00 -6.4 1.00e+00 1.00e+00h 1 46 2.0821640e+00 2.87e-04 2.17e-04 -4.0 1.81e+01 -6.8 1.00e+00 1.00e+00h 1 47 2.0825524e+00 2.48e-06 8.80e-02 -4.1 8.40e+01 -7.3 3.48e-01 1.00e+00H 1 48 2.0821420e+00 3.29e-04 2.32e-01 -4.0 5.37e+00 -5.1 3.08e-01 3.84e-01h 1 49 2.0820309e+00 3.46e-04 2.31e-01 -4.0 2.84e+01 -5.5 4.88e-03 4.61e-03h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0819804e+00 3.49e-04 2.32e-01 -4.0 1.03e+04 -5.1 4.77e-06 3.94e-06f 2 51 2.0819634e+00 3.48e-04 2.03e+00 -4.0 8.56e+00 -5.6 1.00e+00 2.04e-02h 2 52 2.0820946e+00 1.15e-04 2.79e-03 -4.0 2.40e+00 -6.1 1.00e+00 1.00e+00h 1 53 2.0817973e+00 2.82e-04 8.11e-04 -4.1 9.13e+00 -6.6 1.00e+00 1.00e+00h 1 54 2.0820311e+00 3.44e-04 5.74e-02 -4.1 4.40e+01 -7.0 4.13e-01 1.00e+00h 1 55 2.0817510e+00 1.05e-04 1.94e-01 -4.0 1.13e+00 -4.8 1.00e+00 7.49e-01h 1 56 2.0820923e+00 3.67e-05 3.16e-03 -4.0 1.09e+00 -5.3 1.00e+00 1.00e+00h 1 57 2.0820826e+00 4.44e-04 1.99e-03 -4.0 4.85e+00 -5.8 1.00e+00 1.00e+00h 1 58 2.0817997e+00 4.66e-04 6.09e-01 -4.1 2.86e+00 -5.3 1.00e+00 4.29e-01h 1 59 2.0817409e+00 4.50e-05 3.78e-04 -4.1 9.89e-01 -5.8 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0820286e+00 6.64e-04 2.10e-03 -4.0 8.30e+00 -6.3 1.00e+00 1.00e+00h 1 61 2.0819375e+00 3.85e-04 1.92e-02 -4.1 1.69e+01 -6.8 6.42e-01 1.00e+00h 1 62 2.0818349e+00 1.72e-07 7.17e-04 -4.1 3.01e-02 -1.8 1.00e+00 1.00e+00h 1 63 2.0819806e+00 2.26e-07 2.17e-04 -4.0 1.27e-02 -2.3 1.00e+00 1.00e+00h 1 64 2.0818523e+00 1.01e-07 7.33e-05 -4.1 7.99e-03 -2.8 1.00e+00 1.00e+00h 1 65 2.0812617e+00 2.69e-06 1.42e-01 -6.1 4.44e-02 -3.2 7.02e-01 1.00e+00h 1 66 2.0820979e+00 5.94e-06 2.53e-03 -4.0 6.26e-02 -3.7 1.00e+00 1.00e+00f 1 67 2.0818414e+00 4.97e-06 3.93e-05 -4.1 1.21e-01 -4.2 1.00e+00 1.00e+00h 1 68 2.0812210e+00 6.16e-05 1.12e-01 -6.1 6.33e-01 -4.7 7.75e-01 1.00e+00h 1 69 2.0819707e+00 1.62e-04 3.30e-03 -4.0 1.29e+00 -5.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0816425e+00 9.98e-05 8.29e-04 -4.1 2.39e+00 -5.6 1.00e+00 1.00e+00h 1 71 2.0816872e+00 1.46e-05 3.63e-04 -4.1 1.68e+00 -6.1 1.00e+00 1.00e+00h 1 72 2.0808805e+00 6.23e-04 1.38e-03 -6.2 8.77e+00 -6.6 9.95e-01 9.84e-01h 1 73 2.0809452e+00 5.84e-04 2.55e-01 -4.0 1.49e+01 -7.1 1.00e+00 6.24e-02f 1 74 2.0833604e+00 4.23e-03 1.66e-02 -4.0 4.03e+01 -7.5 1.00e+00 1.00e+00f 1 75 2.0831883e+00 2.95e-08 1.46e-02 -4.1 7.29e-03 0.3 1.00e+00 1.00e+00h 1 76 2.0828936e+00 9.24e-08 1.14e-02 -4.0 1.70e-02 -0.2 1.00e+00 1.00e+00h 1 77 2.0825217e+00 2.95e-07 6.10e-03 -4.0 2.61e-02 -0.7 1.00e+00 1.00e+00h 1 78 2.0823359e+00 1.80e-07 2.91e-03 -4.1 3.74e-02 -1.1 1.00e+00 1.00e+00h 1 79 2.0821103e+00 5.03e-08 1.98e-03 -4.1 8.74e-02 -1.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0818640e+00 9.04e-10 7.95e-04 -4.0 1.30e-01 -2.1 1.00e+00 1.00e+00H 1 81 2.0820666e+00 4.46e-07 5.86e-04 -4.0 5.85e-02 -2.6 1.00e+00 1.00e+00f 1 82 2.0818990e+00 2.15e-07 8.30e-05 -4.1 1.64e-02 -3.0 1.00e+00 1.00e+00h 1 83 2.0812623e+00 4.21e-06 8.85e-02 -6.1 4.68e-02 -3.5 7.92e-01 1.00e+00h 1 84 2.0811814e+00 1.09e-06 3.19e-05 -6.1 1.09e-01 -4.0 1.00e+00 1.00e+00h 1 85 2.0822464e+00 3.46e-05 2.30e-03 -4.0 2.36e-01 -4.5 1.00e+00 1.00e+00f 1 86 2.0818237e+00 7.41e-06 9.08e-02 -4.1 1.86e+00 -4.9 8.33e-01 9.62e-01H 1 87 2.0817574e+00 1.38e-05 4.11e-04 -4.1 3.10e-01 -4.5 1.00e+00 1.00e+00f 1 88 2.0811082e+00 1.32e-04 4.88e-02 -6.1 1.29e+00 -5.0 9.03e-01 1.00e+00h 1 89 2.0850136e+00 1.48e-04 6.95e-01 -4.0 1.41e+01 -5.5 1.22e-01 4.12e-01H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0827238e+00 6.89e-06 2.04e+00 -4.8 5.87e-02 -0.5 3.54e-01 9.53e-01h 1 91 2.0813813e+00 2.06e-06 6.95e-03 -4.8 7.96e-02 -1.0 1.00e+00 1.00e+00f 1 92 2.0811956e+00 2.99e-07 1.05e-03 -4.8 2.71e-02 -1.5 1.00e+00 1.00e+00h 1 93 2.0817234e+00 3.77e-06 1.18e-01 -4.0 1.16e-01 -2.0 1.00e+00 8.50e-01f 1 94 2.0814294e+00 1.91e-06 2.21e-03 -4.1 3.36e-02 -2.4 1.00e+00 1.00e+00f 1 95 2.0814859e+00 4.68e-07 5.17e-04 -4.1 1.28e-01 -2.9 1.00e+00 1.00e+00h 1 96 2.0812239e+00 3.95e-06 3.84e-01 -6.1 1.03e-01 -3.4 6.39e-01 1.00e+00h 1 97 2.0809585e+00 1.13e-06 2.95e-02 -6.1 6.86e-02 -2.1 7.13e-01 1.00e+00h 1 98 2.0817590e+00 8.79e-06 1.42e-01 -4.0 2.46e-01 -2.5 1.00e+00 6.63e-01f 1 99 2.0854732e+00 4.69e-06 1.89e-01 -4.1 3.43e-01 -3.0 3.78e-01 9.00e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0822675e+00 9.54e-09 3.72e+00 -4.1 2.42e-01 -3.5 1.17e-01 1.00e+00F 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0822674616754124e+00 2.0822674616754124e+00 Dual infeasibility......: 3.7220327080931708e+00 3.7220327080931708e+00 Constraint violation....: 9.5376899711396845e-09 9.5376899711396845e-09 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.2717288691458916e-04 1.2717288691458916e-04 Overall NLP error.......: 3.7220327080931708e+00 3.7220327080931708e+00 Number of objective function evaluations = 126 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 126 Number of inequality constraint evaluations = 126 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 36.241 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: 2.877s jacobian structure: 1594 nonzeros (2.942s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) hessian structure: 6.501s 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 (6.552s) linear index maps built (0.0s) evaluator ready (total: 9.494s) evaluator created (9.518s) 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: 9.519s) 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 7.2375841e+01 4.67e+00 2.71e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6575437e+01 2.01e+00 1.15e+01 -0.5 2.83e+00 0.0 1.00e+00 5.69e-01f 1 2 2.8593881e+00 1.75e-02 6.35e+00 -0.6 1.77e+00 -0.5 9.72e-01 1.00e+00f 1 3 2.6736951e+00 6.04e-03 3.11e-01 -1.3 2.20e-01 -1.0 9.95e-01 1.00e+00h 1 4 2.3260396e+00 3.51e-02 2.72e-01 -1.9 5.75e-01 -1.4 9.31e-01 7.28e-01f 1 5 2.1380165e+00 1.07e-02 6.89e-02 -2.4 3.74e-01 -1.9 9.55e-01 9.10e-01h 1 6 2.0938003e+00 1.91e-04 1.94e-03 -3.5 3.30e-02 -2.4 9.93e-01 1.00e+00h 1 7 2.0909377e+00 9.16e-06 2.09e-04 -4.0 1.72e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909341e+00 6.71e-08 2.09e-04 -4.0 4.93e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909194e+00 9.34e-09 2.09e-04 -4.0 1.38e-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 2.0908870e+00 5.85e-08 2.09e-04 -4.0 3.62e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0908186e+00 2.80e-07 6.24e-04 -4.0 8.96e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0906371e+00 2.38e-06 9.46e-04 -4.0 2.67e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0900808e+00 2.10e-05 9.51e-04 -4.0 7.73e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0899682e+00 2.03e-05 4.13e-02 -4.0 5.78e+01 -6.2 2.61e-01 2.09e-02h 2 15 2.0864340e+00 9.52e-04 3.11e-02 -4.0 4.97e+01 -6.7 1.00e+00 1.00e+00h 1 16 2.0855795e+00 5.64e-04 4.87e-02 -4.0 2.42e+01 -6.3 1.00e+00 4.12e-01h 1 17 2.0833648e+00 5.51e-04 2.57e-02 -4.0 3.94e+01 -6.7 1.00e+00 1.00e+00h 1 18 2.0825825e+00 1.22e-04 1.69e-02 -4.0 3.87e+01 -7.2 1.00e+00 7.25e-01h 1 19 2.0824000e+00 2.84e-04 1.25e-02 -4.0 1.13e+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 2.0823677e+00 1.01e-03 1.63e-02 -4.0 8.23e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0834537e+00 4.10e-04 7.77e-02 -4.0 5.34e+01 -7.7 4.99e-01 1.00e+00h 1 22 2.0830181e+00 3.99e-04 2.61e+00 -4.1 2.00e+00 -2.8 1.09e-01 2.47e-02h 1 23 2.0824567e+00 1.19e-04 3.56e-01 -4.1 1.16e-01 -2.4 1.00e+00 7.02e-01f 1 24 2.0822979e+00 3.72e-05 3.94e-01 -4.1 1.16e-01 -2.8 9.90e-01 7.90e-01f 1 25 2.0822735e+00 2.78e-06 7.06e-04 -4.0 3.88e-02 -3.3 1.00e+00 1.00e+00h 1 26 2.0820660e+00 1.30e-06 4.28e-04 -4.0 2.50e-02 -3.8 1.00e+00 1.00e+00h 1 27 2.0820657e+00 1.62e-06 2.09e-04 -4.0 6.63e-02 -4.3 1.00e+00 1.00e+00h 1 28 2.0820722e+00 1.88e-07 2.09e-04 -4.0 1.98e-01 -4.8 1.00e+00 1.00e+00h 1 29 2.0820918e+00 8.11e-07 2.09e-04 -4.0 6.06e-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 30 2.0819321e+00 3.95e-05 1.67e-04 -4.1 1.56e+00 -5.7 1.00e+00 1.00e+00h 1 31 2.0821438e+00 1.97e-04 7.92e-04 -4.0 6.40e+00 -6.2 1.00e+00 1.00e+00h 1 32 2.0827630e+00 1.13e-06 1.28e-01 -4.1 3.76e+01 -6.7 3.95e-01 1.00e+00H 1 33 2.0830384e+00 9.25e-06 2.13e-01 -3.6 1.28e-01 -1.7 1.00e+00 7.20e-01f 1 34 2.0829179e+00 4.19e-06 2.42e-01 -3.7 2.42e-01 -2.2 1.00e+00 3.67e-01h 2 35 2.0828474e+00 5.34e-07 4.45e-04 -3.7 3.87e-02 -2.7 1.00e+00 1.00e+00h 1 36 2.0819305e+00 6.16e-06 1.86e-01 -5.5 5.12e-02 -3.2 6.75e-01 1.00e+00h 1 37 2.0822820e+00 1.53e-06 8.74e-04 -4.0 2.54e-02 -3.6 1.00e+00 1.00e+00h 1 38 2.0820930e+00 2.32e-06 1.68e-04 -4.1 8.25e-02 -4.1 1.00e+00 1.00e+00h 1 39 2.0814499e+00 4.66e-05 2.67e-02 -6.1 4.77e-01 -4.6 8.46e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0822882e+00 1.03e-04 1.83e-03 -4.0 7.77e-01 -5.1 1.00e+00 1.00e+00h 1 41 2.0819052e+00 8.26e-05 3.02e-04 -4.1 2.18e+00 -5.5 1.00e+00 1.00e+00h 1 42 2.0810152e+00 7.63e-04 2.87e-02 -6.1 8.63e+00 -6.0 4.18e-01 9.61e-01h 1 43 2.0823038e+00 7.07e-04 8.75e-01 -4.0 6.34e+00 -4.7 5.69e-01 1.00e+00f 1 44 2.0819595e+00 4.10e-04 1.20e+00 -4.1 8.68e-02 -1.6 9.86e-01 4.20e-01h 1 45 2.0821916e+00 1.08e-06 3.79e-03 -4.1 1.14e-01 -2.0 1.00e+00 1.00e+00f 1 46 2.0817103e+00 1.91e-06 9.90e-01 -4.1 8.10e-01 -2.5 4.59e-01 3.23e-01H 1 47 2.0816299e+00 1.77e-06 2.21e-01 -4.0 5.54e-01 -3.0 1.00e+00 9.92e-02f 1 48 2.0819853e+00 1.83e-06 5.98e-04 -4.0 7.11e-02 -3.5 1.00e+00 1.00e+00f 1 49 2.0818173e+00 8.09e-06 1.67e-04 -4.1 9.26e-02 -3.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0812665e+00 3.62e-05 1.13e-01 -6.1 3.80e-01 -4.4 7.54e-01 1.00e+00h 1 51 2.0820145e+00 1.12e-04 2.61e-03 -4.0 9.86e-01 -4.9 1.00e+00 1.00e+00h 1 52 2.0816909e+00 4.95e-05 9.26e-04 -4.1 1.25e+00 -5.4 1.00e+00 1.00e+00h 1 53 2.0817383e+00 3.55e-06 5.05e-04 -4.1 1.15e+00 -5.8 1.00e+00 1.00e+00h 1 54 2.0809779e+00 5.08e-04 5.42e-03 -6.1 8.09e+00 -6.3 9.98e-01 1.00e+00h 1 55 2.0814221e+00 2.13e-04 2.58e-01 -4.0 4.20e-01 -4.1 1.00e+00 5.83e-01h 1 56 2.0814406e+00 5.37e-06 1.88e-04 -4.1 7.70e-01 -4.6 1.00e+00 1.00e+00h 1 57 2.0816606e+00 5.22e-05 1.03e-03 -4.0 1.78e+00 -5.0 1.00e+00 1.00e+00h 1 58 2.0816442e+00 1.34e-05 1.47e-03 -4.1 1.23e+00 -5.5 1.00e+00 1.00e+00h 1 59 2.0817017e+00 1.06e-05 5.28e-04 -4.1 2.13e+00 -6.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0809380e+00 5.68e-04 5.63e-03 -6.1 8.98e+00 -6.5 9.98e-01 1.00e+00h 1 61 2.0813468e+00 2.66e-04 3.90e-01 -4.0 8.49e-01 -4.2 1.00e+00 5.33e-01h 1 62 2.0814149e+00 1.15e-05 1.02e-03 -4.1 7.80e-01 -4.7 1.00e+00 1.00e+00h 1 63 2.0816611e+00 7.88e-05 8.52e-04 -4.0 2.70e+00 -5.2 1.00e+00 1.00e+00h 1 64 2.0816448e+00 1.35e-05 1.53e-03 -4.1 1.46e+00 -5.7 1.00e+00 1.00e+00h 1 65 2.0817080e+00 1.00e-05 5.55e-04 -4.1 2.66e+00 -6.2 1.00e+00 1.00e+00h 1 66 2.0808987e+00 7.75e-04 6.02e-03 -6.1 1.13e+01 -6.6 9.96e-01 1.00e+00h 1 67 2.0810200e+00 6.68e-06 8.94e-05 -4.7 3.26e-01 -5.3 1.00e+00 1.00e+00h 1 68 2.0812265e+00 3.60e-05 2.15e-01 -4.0 6.32e+00 -5.8 1.00e+00 2.26e-01h 2 69 2.0815070e+00 1.39e-04 6.69e-04 -4.2 3.62e+00 -6.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0808387e+00 6.03e-04 4.73e-03 -6.2 1.06e+01 -6.7 9.99e-01 1.00e+00h 1 71 2.0807714e+00 1.39e-04 2.41e-03 -5.4 1.49e+01 -7.2 1.00e+00 1.00e+00h 1 72 2.0814442e+00 9.87e-05 1.75e-02 -4.0 9.83e+01 -7.7 7.48e-02 5.33e-02h 1 73 2.0808298e+00 4.43e-05 3.36e-02 -5.1 6.25e+01 -8.2 3.50e-02 1.00e+00h 1 74 2.0806849e+00 2.44e-05 1.86e+00 -5.1 5.72e-01 -3.2 1.32e-01 4.36e-01h 1 75 2.0806584e+00 2.43e-05 1.86e+00 -4.0 2.02e+01 -3.7 6.12e-03 1.38e-03f 1 76 2.0808190e+00 2.37e-05 5.91e+00 -4.0 3.38e+00 -4.2 1.00e+00 2.76e-02f 1 77 2.0810627e+00 9.97e-05 1.04e+00 -4.1 1.35e+00 -4.7 6.39e-01 1.00e+00h 1 78 2.0812264e+00 4.96e-05 4.95e-01 -4.1 2.26e+00 -5.1 6.28e-01 1.00e+00h 1 79 2.0813598e+00 5.64e-05 1.38e-01 -4.1 2.77e+00 -5.6 7.47e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0814213e+00 1.43e-04 2.80e-03 -4.1 8.53e+00 -6.1 1.00e+00 1.00e+00h 1 81 2.0817435e+00 8.60e-05 1.15e-02 -4.1 6.28e+00 -6.6 1.00e+00 9.74e-01h 1 82 2.0816345e+00 1.92e-05 3.08e-03 -4.1 4.87e+00 -7.0 1.00e+00 1.00e+00f 1 83 2.0815814e+00 5.73e-07 9.06e-04 -4.1 4.82e-02 -3.0 1.00e+00 1.00e+00h 1 84 2.0817166e+00 5.06e-07 2.09e-04 -4.0 9.54e-02 -3.5 1.00e+00 1.00e+00h 1 85 2.0815970e+00 1.21e-06 1.67e-04 -4.1 4.82e-02 -4.0 1.00e+00 1.00e+00h 1 86 2.0810815e+00 2.56e-05 4.56e-02 -6.1 2.64e-01 -4.4 8.23e-01 1.00e+00h 1 87 2.0809675e+00 1.94e-05 1.26e-02 -6.1 6.51e-01 -4.9 4.82e-01 7.68e-01h 1 88 2.0813981e+00 6.26e-05 1.41e-01 -4.0 1.89e+00 -5.4 1.00e+00 4.25e-01f 1 89 2.0815936e+00 2.50e-05 4.69e-04 -4.1 8.53e-01 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0807589e+00 7.28e-04 1.96e-02 -6.1 7.50e+00 -6.3 9.01e-01 1.00e+00h 1 91 2.0807236e+00 1.70e-04 1.61e-02 -6.1 1.69e-01 -4.1 6.85e-01 7.66e-01h 1 92 2.0807126e+00 5.82e-07 4.24e-04 -6.1 3.63e-01 -4.6 1.00e+00 1.00e+00h 1 93 2.0818278e+00 1.37e-04 5.33e-01 -4.0 8.15e+00 -5.1 1.76e-01 3.42e-01f 1 94 2.0810305e+00 4.76e-05 2.45e-01 -4.8 2.69e+00 -5.5 1.41e-02 1.00e+00f 1 95 2.0809684e+00 1.82e-05 1.45e-01 -4.8 2.70e-02 -1.5 1.00e+00 6.16e-01h 1 96 2.0809488e+00 1.70e-08 4.71e-04 -4.8 5.48e-02 -2.0 1.00e+00 1.00e+00f 1 97 2.0809342e+00 1.18e-09 7.05e-05 -4.8 1.91e-02 -2.5 1.00e+00 1.00e+00h 1 98 2.0807916e+00 2.03e-07 1.21e-02 -7.2 1.86e-02 -2.9 8.89e-01 1.00e+00h 1 99 2.0819692e+00 8.44e-06 4.78e-03 -4.0 2.23e-01 -3.4 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0816277e+00 5.78e-06 4.94e-01 -4.1 3.21e-01 -3.0 4.49e-01 3.25e-01h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0816276910821565e+00 2.0816276910821565e+00 Dual infeasibility......: 4.9376698186849854e-01 4.9376698186849854e-01 Constraint violation....: 5.7776651180632688e-06 5.7776651180632688e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.2387876249897545e-04 1.2387876249897545e-04 Overall NLP error.......: 4.9376698186849854e-01 4.9376698186849854e-01 Number of objective function evaluations = 109 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 109 Number of inequality constraint evaluations = 109 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 36.310 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.062s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.051s) linear index maps built (0.0s) evaluator ready (total: 0.114s) evaluator created (0.114s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.001s) optimizer initialization complete (total: 0.116s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 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 3.1864785e+00 2.37e+00 5.49e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8942824e+00 1.12e+00 1.96e+00 -0.8 1.86e+00 0.0 9.59e-01 5.28e-01f 1 2 2.7179434e+00 8.24e-03 9.39e-01 -0.9 9.05e-01 -0.5 9.33e-01 1.00e+00h 1 3 2.4565688e+00 2.11e-02 1.11e-01 -1.5 2.42e-01 -1.0 9.66e-01 1.00e+00h 1 4 2.1605547e+00 6.30e-03 2.61e-02 -2.4 1.67e-01 -1.4 9.76e-01 9.59e-01f 1 5 2.0930961e+00 2.98e-04 2.87e-03 -3.7 3.14e-02 -1.9 9.75e-01 1.00e+00h 1 6 2.0908877e+00 4.51e-06 3.92e-05 -4.0 5.90e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0908896e+00 4.73e-08 2.06e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908896304708771e+00 2.0908896304708771e+00 Dual infeasibility......: 2.0584123586660177e-05 2.0584123586660177e-05 Constraint violation....: 4.7291914394981260e-08 4.7291914394981260e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000006808865303e-04 1.0000006808865303e-04 Overall NLP error.......: 2.0584123586660177e-05 2.0584123586660177e-05 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 = 27.812 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.08s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.08s) integrator 1 hessian structure: 0.069s 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 (0.071s) linear index maps built (0.0s) evaluator ready (total: 0.151s) evaluator created (0.151s) 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: 0.152s) 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 2.4865781e+00 2.93e+00 5.56e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7886017e+00 9.36e-02 1.89e+00 -1.0 1.89e+00 0.0 9.24e-01 1.00e+00h 1 2 2.7302325e+00 5.63e-03 2.66e-01 -1.0 8.45e-02 0.4 9.74e-01 1.00e+00h 1 3 2.4078882e+00 3.37e-03 1.13e-01 -1.9 7.14e-02 -0.1 9.61e-01 1.00e+00f 1 4 2.1185733e+00 2.35e-03 3.95e-02 -2.7 6.94e-02 -0.5 9.91e-01 8.29e-01f 1 5 2.0925226e+00 7.83e-05 3.80e-03 -3.7 6.63e-03 -1.0 9.95e-01 9.70e-01h 1 6 2.0909309e+00 5.83e-07 1.42e-04 -4.0 2.97e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0909312e+00 9.30e-10 8.42e-05 -4.0 7.67e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909307e+00 1.18e-11 4.35e-05 -4.0 1.19e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909290e+00 1.07e-10 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909240e+00 9.66e-10 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909091e+00 8.70e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908642e+00 7.83e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907299e+00 7.06e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903277e+00 6.39e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891303e+00 5.85e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856201e+00 5.52e-04 2.30e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796292e+00 2.31e-03 1.35e-01 -4.0 9.57e+01 -6.7 1.00e+00 6.32e-01h 1 18 2.0807008e+00 1.27e-04 1.71e-01 -4.0 6.90e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775237e+00 7.06e-03 2.24e-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 2.0769804e+00 1.38e-03 5.62e-02 -4.0 2.09e+02 -8.2 9.77e-01 1.00e+00h 1 21 2.0763374e+00 1.47e-03 4.01e-02 -4.0 3.56e+02 -8.6 1.00e+00 6.31e-01h 1 22 2.0755479e+00 3.66e-03 3.39e-02 -4.0 6.33e+02 -9.1 1.00e+00 7.54e-01h 1 23 2.0758090e+00 3.60e-03 1.91e-02 -4.0 1.90e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0756810e+00 5.92e-04 9.65e-04 -4.0 1.02e+02 -10.1 1.00e+00 1.00e+00h 1 25 2.0756712e+00 4.23e-06 1.59e-05 -4.0 2.32e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 9.49e-08 1.31e-06 -4.0 1.42e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.69e-09 1.12e-07 -4.0 4.66e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.79e-11 1.88e-09 -4.0 7.36e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121662755e+00 2.0756712121662755e+00 Dual infeasibility......: 1.8756766649303917e-09 1.8756766649303917e-09 Constraint violation....: 4.7895909460748953e-11 4.7895909460748953e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000057e-04 1.0000000000000057e-04 Overall NLP error.......: 1.8756766649303917e-09 1.8756766649303917e-09 Number of objective function evaluations = 30 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 30 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 28.748 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.065s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.065s) integrator 1 hessian structure: 0.053s 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: 0.119s) evaluator created (0.119s) 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: 0.119s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.0176127e+00 4.50e+00 8.60e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.1433196e+00 2.44e+00 1.56e+00 -4.0 6.64e+00 -2.0 1.62e-01 4.57e-01h 1 2 2.0995380e+00 6.50e-01 1.61e+00 -1.0 2.37e+00 -1.6 8.27e-01 7.33e-01f 1 3 2.6266232e+00 1.96e-02 1.46e+00 -1.0 5.96e-01 -2.1 8.72e-01 1.00e+00f 1 4 2.3203445e+00 4.08e-02 4.36e-01 -2.0 1.21e+00 -2.5 9.82e-01 1.00e+00h 1 5 2.1281303e+00 3.57e-02 7.18e-02 -2.5 1.24e+00 -3.0 9.94e-01 9.10e-01h 1 6 2.0959416e+00 9.96e-04 1.16e-02 -3.3 1.19e-01 -3.5 9.94e-01 1.00e+00h 1 7 2.0908894e+00 1.14e-04 2.85e-04 -4.0 1.96e-01 -4.0 1.00e+00 1.00e+00h 1 8 2.0908422e+00 1.08e-06 2.06e-05 -4.0 5.63e-01 -4.4 1.00e+00 1.00e+00h 1 9 2.0906764e+00 1.07e-06 2.06e-05 -4.0 1.69e+00 -4.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0901804e+00 9.78e-06 4.36e-05 -4.0 5.04e+00 -5.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0901804034120577e+00 2.0901804034120577e+00 Dual infeasibility......: 4.3568425337508365e-05 4.3568425337508365e-05 Constraint violation....: 9.7843671080094508e-06 9.7843671080094508e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999774030e-05 9.9999999999774030e-05 Overall NLP error.......: 4.3568425337508365e-05 4.3568425337508365e-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 = 27.549 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: 0.062s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.063s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.112s) evaluator created (0.113s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.113s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 0 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.9920156e+00 2.71e+00 6.02e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7182407e+00 1.06e-01 2.00e+00 -0.9 1.99e+00 - 9.32e-01 1.00e+00f 1 2 2.4944049e+00 3.28e-02 4.65e-01 -1.1 4.28e-01 - 9.81e-01 1.00e+00h 1 3 2.2991624e+00 4.20e-03 1.74e-01 -1.9 1.66e-01 - 8.95e-01 1.00e+00h 1 4 2.1184309e+00 1.90e-03 5.97e-02 -2.9 2.20e-01 - 9.93e-01 8.68e-01h 1 5 2.0909302e+00 1.34e-04 3.67e-02 -4.0 3.84e-02 - 1.00e+00 9.95e-01h 1 6 2.0909214e+00 6.19e-07 2.24e-03 -4.0 7.47e-03 - 1.00e+00 1.00e+00h 1 7 2.0909224e+00 1.08e-09 2.25e-04 -4.0 4.37e-03 - 1.00e+00 1.00e+00h 1 8 2.0909222e+00 8.94e-13 2.20e-04 -4.0 3.51e-03 - 1.00e+00 1.00e+00h 1 9 2.0909222e+00 1.58e-13 4.76e-05 -4.0 4.76e-05 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0792765e+00 1.34e-04 4.20e-01 -4.0 3.27e+02 - 3.86e-01 3.87e-01f 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0792765421487229e+00 2.0792765421487229e+00 Dual infeasibility......: 4.1980322233605122e-01 4.1980322233605122e-01 Constraint violation....: 1.3388228637567501e-04 1.3388228637567501e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000028566316456e-04 1.0000028566316456e-04 Overall NLP error.......: 4.1980322233605122e-01 4.1980322233605122e-01 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 0 Total seconds in IPOPT = 8.953 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: 0.071s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.072s) integrator 1 hessian structure: 0.056s 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 (0.058s) linear index maps built (0.0s) evaluator ready (total: 0.13s) evaluator created (0.13s) 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: 0.131s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.4764269e+00 2.21e+00 3.69e-01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8560609e+00 7.19e-01 2.45e+00 -1.0 1.92e+00 0.0 4.96e-01 6.75e-01h 1 2 2.5380023e+00 3.01e-02 1.81e+00 -1.0 6.91e-01 -0.5 1.00e+00 1.00e+00h 1 3 2.7530247e+00 8.22e-03 4.02e-01 -1.0 3.12e-01 -1.0 1.00e+00 1.00e+00f 1 4 2.2612401e+00 2.32e-02 5.50e-02 -1.7 3.08e-01 -1.4 9.83e-01 1.00e+00f 1 5 2.1220838e+00 5.90e-03 4.31e-02 -2.5 2.79e-01 -1.9 9.81e-01 1.00e+00h 1 6 2.1150758e+00 1.12e-04 4.28e-03 -2.5 3.43e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0915172e+00 3.09e-05 1.73e-04 -3.8 1.22e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909269e+00 3.44e-06 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909137e+00 7.38e-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 2.0908738e+00 6.19e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0908738166816123e+00 2.0908738166816123e+00 Dual infeasibility......: 2.0581340340103974e-05 2.0581340340103974e-05 Constraint violation....: 6.1880456248691873e-08 6.1880456248691873e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999994733e-05 9.9999999999994733e-05 Overall NLP error.......: 2.0581340340103974e-05 2.0581340340103974e-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 = 28.206 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: 0.067s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.067s) 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 (0.053s) linear index maps built (0.0s) evaluator ready (total: 0.121s) evaluator created (0.121s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.121s) initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.056s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.056s) integrator 1 hessian structure: 0.043s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.044s) 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: 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 (1.756s) optimizer initialization complete (total: 1.857s) 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 1.8677232e+00 3.93e+00 1.80e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9367667e+00 1.45e-02 5.16e-01 -1.1 2.64e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.3040721e+00 2.52e-02 8.08e-02 -1.7 3.58e-01 -1.6 9.41e-01 1.00e+00f 1 3 2.1400610e+00 2.25e-03 7.72e-01 -2.9 1.15e-01 -1.1 9.61e-01 1.00e+00h 1 4 2.0966290e+00 7.62e-04 1.84e-01 -4.0 1.53e-01 -1.6 1.00e+00 7.02e-01h 1 5 2.0913992e+00 5.82e-04 1.11e+00 -4.0 6.40e-01 -2.1 1.00e+00 6.67e-01h 1 6 2.0908964e+00 1.41e-04 1.90e-01 -4.0 4.09e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0910158e+00 5.06e-07 3.79e-03 -4.0 2.35e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0909990e+00 2.70e-07 2.06e-05 -4.0 7.05e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909783e+00 1.71e-08 2.06e-05 -4.0 2.11e-01 -4.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909163e+00 1.47e-07 2.05e-05 -4.0 6.32e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907335e+00 1.30e-06 4.97e-05 -4.0 1.88e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0902127e+00 1.10e-05 4.20e-04 -4.0 5.45e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888662e+00 8.21e-05 3.16e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861717e+00 4.40e-04 1.75e-02 -4.0 3.47e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830927e+00 9.18e-04 4.72e-02 -4.0 5.33e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828471e+00 9.37e-04 2.28e-02 -4.0 5.41e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823437e+00 3.90e-04 1.01e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820400e+00 9.50e-05 1.84e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819518e+00 2.68e-04 8.65e-03 -4.0 9.91e+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 3.66e-05 8.43e-04 -4.0 3.10e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.29e-07 1.38e-05 -4.0 4.44e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.73e-10 3.26e-08 -4.0 2.44e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.50e-13 1.21e-11 -4.0 4.59e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907190911e+00 2.0819382907190911e+00 Dual infeasibility......: 1.2135602689856279e-11 1.2135602689856279e-11 Constraint violation....: 2.4957813593573519e-13 2.4957813593573519e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000041e-04 1.0000000000000041e-04 Overall NLP error.......: 1.2135602689856279e-11 1.2135602689856279e-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 = 28.263 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.074s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.075s) integrator 1 hessian structure: 0.054s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.055s) linear index maps built (0.0s) evaluator ready (total: 0.129s) 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: 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 (0.075s) optimizer initialization complete (total: 0.204s) 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 3.0516504e+00 3.87e+00 2.63e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9232699e+00 2.24e-02 3.74e-01 -1.1 3.43e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.2658200e+00 1.10e-02 4.57e-02 -1.8 2.14e-01 -1.6 9.74e-01 1.00e+00f 1 3 2.1397781e+00 2.64e-03 1.31e-01 -3.2 1.02e-01 -1.1 9.62e-01 8.96e-01h 1 4 2.1003958e+00 1.18e-03 3.23e-01 -4.0 1.34e-01 -1.6 1.00e+00 8.21e-01h 1 5 2.0916541e+00 2.39e-04 5.16e-01 -4.0 4.07e-01 -2.1 1.00e+00 5.06e-01h 1 6 2.0907258e+00 1.24e-04 2.80e-01 -4.0 6.64e-01 -2.6 1.00e+00 8.86e-01h 1 7 2.0908874e+00 2.77e-06 2.83e-02 -4.0 1.26e-01 -3.1 1.00e+00 1.00e+00h 1 8 2.0909227e+00 6.66e-07 1.14e-04 -4.0 7.55e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909010e+00 2.32e-08 4.18e-05 -4.0 2.06e-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 2.0908569e+00 1.04e-07 2.46e-04 -4.0 5.24e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907567e+00 4.90e-07 8.57e-04 -4.0 1.32e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904775e+00 5.97e-06 7.45e-04 -4.0 4.25e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0903567e+00 7.58e-07 5.38e-04 -4.0 1.52e+00 -5.0 1.00e+00 1.00e+00h 1 14 2.0902223e+00 1.30e-06 1.84e-02 -4.0 6.23e+00 -5.5 1.00e+00 2.14e-01h 2 15 2.0891015e+00 5.88e-05 2.29e-03 -4.0 1.35e+01 -6.0 1.00e+00 1.00e+00h 1 16 2.0876077e+00 1.35e-04 6.06e-02 -4.0 3.76e+01 -6.4 1.00e+00 4.65e-01h 1 17 2.0837777e+00 1.66e-03 5.81e-02 -4.0 6.74e+01 -6.9 1.00e+00 1.00e+00h 1 18 2.0835922e+00 4.41e-04 3.82e-03 -3.8 5.19e+00 -6.5 1.00e+00 9.52e-01h 1 19 2.0827879e+00 2.55e-03 4.45e-03 -4.0 2.89e+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 2.0825094e+00 5.90e-05 3.34e-03 -4.0 7.41e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0821326e+00 8.65e-04 9.20e-03 -4.0 1.76e+02 -7.9 6.23e-01 1.00e+00h 1 22 2.2996361e+00 7.78e-04 8.78e-01 -4.0 3.77e+02 -8.4 5.06e-02 3.94e-01H 1 23 2.2709638e+00 4.92e-08 8.27e-01 -4.1 3.02e-02 1.4 1.00e+00 1.00e+00h 1 24 2.2143286e+00 6.72e-08 6.68e-01 -4.1 6.96e-02 1.0 3.49e-01 1.00e+00f 1 25 2.1367825e+00 6.97e-08 4.25e-01 -4.1 1.37e-01 0.5 1.00e+00 1.00e+00f 1 26 2.0894190e+00 8.88e-08 2.60e-01 -4.1 1.65e-01 0.0 8.00e-01 1.00e+00f 1 27 2.0822111e+00 1.20e-07 2.22e-02 -4.0 8.02e-02 -0.5 1.00e+00 1.00e+00f 1 28 2.0822796e+00 8.44e-09 3.02e-04 -4.0 2.61e-03 -0.9 1.00e+00 1.00e+00h 1 29 2.0822397e+00 5.49e-09 1.46e-04 -4.0 3.79e-03 -1.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0822363e+00 4.70e-09 4.54e-05 -4.0 3.62e-03 -1.9 1.00e+00 1.00e+00h 1 31 2.0822371e+00 1.24e-09 5.45e-06 -4.0 1.31e-03 -2.4 1.00e+00 1.00e+00h 1 32 2.0822371e+00 4.57e-10 4.00e-06 -4.0 2.88e-03 -2.9 1.00e+00 1.00e+00h 1 33 2.0822367e+00 9.67e-11 4.00e-06 -4.0 8.63e-03 -3.3 1.00e+00 1.00e+00h 1 34 2.0822355e+00 8.67e-10 3.99e-06 -4.0 2.58e-02 -3.8 1.00e+00 1.00e+00h 1 35 2.0822319e+00 7.58e-09 3.97e-06 -4.0 7.71e-02 -4.3 1.00e+00 1.00e+00h 1 36 2.0822219e+00 6.24e-08 3.92e-06 -4.0 2.28e-01 -4.8 1.00e+00 1.00e+00h 1 37 2.0821968e+00 4.36e-07 2.05e-05 -4.0 6.62e-01 -5.2 1.00e+00 1.00e+00h 1 38 2.0821494e+00 2.05e-06 8.96e-05 -4.0 1.85e+00 -5.7 1.00e+00 1.00e+00h 1 39 2.0820908e+00 4.48e-06 2.11e-04 -4.0 5.06e+00 -6.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0820075e+00 4.31e-06 4.48e-04 -4.0 1.39e+01 -6.7 1.00e+00 1.00e+00h 1 41 2.0818295e+00 1.20e-04 8.52e-03 -4.0 4.43e+01 -7.2 7.17e-01 1.00e+00h 1 42 2.0819103e+00 1.45e-04 3.06e-02 -4.0 1.95e+03 -6.7 7.58e-04 2.75e-03f 3 43 2.0817562e+00 2.15e-07 1.06e-04 -4.1 1.67e-02 -2.7 1.00e+00 1.00e+00h 1 44 2.0819101e+00 3.40e-07 1.37e-04 -4.0 1.71e-02 -3.2 1.00e+00 1.00e+00h 1 45 2.0817709e+00 9.24e-07 9.71e-05 -4.1 4.36e-02 -3.6 1.00e+00 1.00e+00h 1 46 2.0811795e+00 1.80e-05 1.28e-01 -6.1 1.83e-01 -4.1 7.58e-01 1.00e+00h 1 47 2.0819728e+00 5.17e-05 2.77e-03 -4.0 4.20e-01 -4.6 1.00e+00 1.00e+00h 1 48 2.0816579e+00 3.92e-05 4.44e-04 -4.1 9.83e-01 -5.1 1.00e+00 1.00e+00h 1 49 2.0809856e+00 2.62e-04 6.98e-02 -6.1 2.74e+00 -5.5 9.01e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0810903e+00 1.93e-04 3.41e-01 -4.4 2.03e+00 -5.1 1.00e+00 2.70e-01h 1 51 2.0818121e+00 7.88e-04 2.92e-03 -4.0 3.71e+00 -5.6 1.00e+00 1.00e+00h 1 52 2.0816712e+00 4.44e-05 9.13e-04 -4.1 1.35e+00 -6.1 1.00e+00 1.00e+00h 1 53 2.0816671e+00 6.66e-05 9.75e-05 -4.1 2.58e+00 -6.6 1.00e+00 1.00e+00h 1 54 2.0818794e+00 1.17e-04 1.73e-04 -4.0 5.50e+00 -7.0 1.00e+00 1.00e+00h 1 55 2.0816333e+00 2.21e-04 5.65e-04 -4.1 1.06e+01 -7.5 1.00e+00 1.00e+00h 1 56 2.0806656e+00 3.27e-03 5.07e-04 -6.1 4.16e+01 -8.0 9.78e-01 9.34e-01h 1 57 2.0818788e+00 5.56e-03 1.97e-03 -4.0 4.78e+01 -8.5 1.00e+00 1.00e+00f 1 58 2.0816199e+00 5.63e-04 6.32e-04 -4.1 2.26e+01 -8.9 1.00e+00 1.00e+00h 1 59 2.0806050e+00 3.64e-03 2.21e-04 -6.1 4.35e+01 -9.4 9.76e-01 9.61e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0818795e+00 5.95e-03 5.71e-04 -4.0 5.57e+01 -9.9 1.00e+00 1.00e+00f 1 61 2.0816085e+00 4.14e-04 3.90e-05 -4.1 1.80e+01 -10.4 1.00e+00 1.00e+00h 1 62 2.0805974e+00 3.45e-03 1.45e-04 -6.1 4.13e+01 -10.8 9.77e-01 9.66e-01h 1 63 2.0818836e+00 6.31e-03 2.97e-04 -4.0 5.90e+01 -11.3 1.00e+00 1.00e+00f 1 64 2.0816104e+00 4.46e-04 8.94e-06 -4.1 1.90e+01 -11.8 1.00e+00 1.00e+00h 1 65 2.0805979e+00 3.46e-03 1.45e-04 -6.1 4.13e+01 -12.3 9.76e-01 9.65e-01h 1 66 2.0805507e+00 8.23e-05 2.19e-06 -6.1 1.68e+01 -12.8 1.00e+00 1.00e+00h 1 67 2.0806405e+00 1.25e-04 2.47e-02 -4.0 8.44e+01 -13.2 1.00e+00 6.94e-02f 1 68 2.0813487e+00 1.56e-03 6.91e-05 -4.2 2.60e+01 -13.7 1.00e+00 1.00e+00f 1 69 2.0813624e+00 3.54e-05 2.34e-06 -4.2 3.32e+01 -14.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0818420e+00 7.84e-04 3.36e-05 -4.0 1.87e+01 -14.7 1.00e+00 1.00e+00h 1 71 2.0815819e+00 2.26e-04 9.28e-06 -4.1 1.03e+01 -15.1 1.00e+00 1.00e+00h 1 72 2.0805902e+00 3.30e-03 1.39e-04 -6.1 4.00e+01 -15.6 9.78e-01 9.71e-01h 1 73 2.0805497e+00 6.58e-05 1.79e-06 -6.1 1.55e+01 -16.1 1.00e+00 1.00e+00h 1 74 2.0819858e+00 1.06e-02 3.98e-04 -4.0 8.58e+01 -16.6 1.00e+00 1.00e+00f 1 75 2.0816899e+00 9.48e-04 5.22e-05 -4.1 4.71e+01 -17.1 1.00e+00 1.00e+00h 1 76 2.0816517e+00 5.65e-07 7.85e-07 -4.1 8.90e+00 -17.5 1.00e+00 1.00e+00h 1 77 2.0818389e+00 1.10e-04 4.72e-06 -4.0 6.90e+00 -18.0 1.00e+00 1.00e+00h 1 78 2.0815801e+00 2.08e-04 9.03e-06 -4.1 9.49e+00 -18.5 1.00e+00 1.00e+00h 1 79 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -19.0 9.78e-01 9.71e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805497e+00 6.50e-05 1.78e-06 -6.1 1.55e+01 -19.4 1.00e+00 1.00e+00h 1 81 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -19.9 1.00e+00 1.00e+00f 1 82 2.0816901e+00 9.49e-04 5.23e-05 -4.1 4.72e+01 -20.0 1.00e+00 1.00e+00h 1 83 2.0816518e+00 5.68e-07 7.86e-07 -4.1 8.91e+00 -20.0 1.00e+00 1.00e+00h 1 84 2.0805907e+00 3.69e-03 1.61e-04 -6.1 4.17e+01 -20.0 9.77e-01 9.75e-01h 1 85 2.0805511e+00 6.76e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 86 2.0805469e+00 4.72e-08 2.03e-08 -6.1 2.96e+00 -20.0 1.00e+00 1.00e+00h 1 87 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.88e+01 -20.0 1.00e+00 1.00e+00f 1 88 2.0817176e+00 1.03e-03 6.82e-05 -4.1 5.46e+01 -20.0 1.00e+00 1.00e+00h 1 89 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 90 2.0805915e+00 3.77e-03 1.67e-04 -6.1 4.21e+01 -20.0 9.76e-01 9.75e-01h 1 91 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0805471e+00 5.00e-08 2.15e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 93 2.0805365e+00 9.59e-07 8.07e-07 -9.0 9.59e-01 -20.0 1.00e+00 9.97e-01h 1 94 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 95 2.0817324e+00 1.07e-03 7.73e-05 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0816741e+00 1.68e-06 1.10e-06 -4.1 1.18e+01 -20.0 1.00e+00 1.00e+00h 1 97 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 98 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 99 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 100 2.0805365e+00 9.80e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 101 2.0805365e+00 9.37e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 102 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 103 2.0817328e+00 1.07e-03 7.75e-05 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 104 2.0816743e+00 1.69e-06 1.10e-06 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 105 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 106 2.0805516e+00 7.08e-05 2.06e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 107 2.0805472e+00 5.17e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 108 2.0805365e+00 9.81e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 109 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 110 2.0805365e+00 4.44e-16 3.37e-16 -9.0 1.11e-05 -20.0 1.00e+00 1.00e+00h 1 111 2.0805365e+00 6.66e-16 2.22e-16 -9.0 2.01e-12 -20.0 1.00e+00 1.00e+00h 1 112 2.0805365e+00 2.22e-16 2.03e-16 -9.0 7.59e-14 -20.0 1.00e+00 1.00e+00 0 113 2.0805365e+00 2.22e-16 1.95e-16 -9.0 3.50e-14 -20.0 1.00e+00 1.00e+00T 0 Number of Iterations....: 113 (scaled) (unscaled) Objective...............: 2.0805364715330508e+00 2.0805364715330508e+00 Dual infeasibility......: 1.9538669384635720e-16 1.9538669384635720e-16 Constraint violation....: 2.2204460492503131e-16 2.2204460492503131e-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 = 121 Number of objective gradient evaluations = 114 Number of equality constraint evaluations = 121 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 114 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 114 Total seconds in IPOPT = 32.026 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: 0.055s jacobian structure: 180 nonzeros (0.097s) integrator 1 hessian structure: 0.05s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.371s sub-objective 2 (QuadraticRegularizer): 0.089s sub-objective 3 (MinimumTimeObjective): 0.017s objective hessian structure: 0.575s hessian structure: 375 nonzeros (0.625s) linear index maps built (0.0s) evaluator ready (total: 0.899s) evaluator created (0.899s) NL constraint bounds extracted (0.012s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.124s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.954s) optimizer initialization complete (total: 4.988s) 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 1.8804696e+00 8.72e-01 1.09e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.4699532e+00 1.56e-01 1.79e+00 -0.8 8.15e-01 0.0 9.88e-01 9.74e-01h 1 2 1.4909601e+00 6.52e-02 6.98e-01 -0.7 5.25e-01 -0.5 8.64e-01 7.68e-01f 1 3 1.2911228e+00 4.23e-02 1.03e+00 -1.4 2.64e+00 - 8.94e-01 1.00e+00f 1 4 1.6087195e+00 5.15e-02 2.09e+00 -1.4 2.68e-01 -1.0 9.80e-01 1.00e+00h 1 5 1.4338771e+00 3.56e-02 1.93e+00 -1.1 2.49e+00 -1.4 1.00e+00 2.26e-01h 1 6 1.2971931e+00 3.42e-02 3.23e-01 -1.9 2.26e+00 - 1.00e+00 9.34e-01h 1 7 1.1617840e+00 9.23e-03 1.78e-01 -2.9 1.23e+00 - 1.00e+00 7.32e-01h 1 8 1.0956761e+00 5.42e-04 4.93e-02 -4.0 7.82e-01 - 1.00e+00 9.43e-01h 1 9 1.0909945e+00 1.61e-06 6.26e-02 -4.0 2.08e+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 1.0908956e+00 2.38e-10 8.94e-05 -4.0 8.78e-02 - 1.00e+00 1.00e+00h 1 11 1.0908997e+00 4.53e-17 9.45e-10 -4.0 3.01e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 11 (scaled) (unscaled) Objective...............: 1.0908997265564266e+00 1.0908997265564266e+00 Dual infeasibility......: 9.4498060112103814e-10 9.4498060112103814e-10 Constraint violation....: 4.5304288799851685e-17 4.5304288799851685e-17 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000007829194852e-04 1.0000007829194852e-04 Overall NLP error.......: 9.4498060112103814e-10 9.4498060112103814e-10 Number of objective function evaluations = 12 Number of objective gradient evaluations = 12 Number of equality constraint evaluations = 12 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 12 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 11 Total seconds in IPOPT = 25.802 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: 0.052s integrator 3 jacobian structure: 0.0s jacobian structure: 1872 nonzeros (0.113s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.047s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.346s sub-objective 2 (QuadraticRegularizer): 0.089s sub-objective 3 (LinearRegularizer): 0.083s sub-objective 4 (MinimumTimeObjective): 0.016s objective hessian structure: 0.631s hessian structure: 2431 nonzeros (0.727s) linear index maps built (0.0s) evaluator ready (total: 0.842s) evaluator created (0.842s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.116s) 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 (2.926s) optimizer initialization complete (total: 3.884s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1808 Number of nonzeros in inequality constraint Jacobian.: 80 Number of nonzeros in Lagrangian Hessian.............: 2239 Total number of variables............................: 122 variables with only lower bounds: 30 variables with lower and upper bounds: 0 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 40 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 40 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.9310736e+00 2.58e+00 1.09e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.0515508e+00 2.77e+00 1.54e+00 -4.0 3.62e+01 -4.0 2.02e-01 2.39e-01h 1 2 2.7427666e+00 1.62e+00 7.17e+00 -0.5 8.81e+00 -1.8 3.76e-01 4.46e-01f 1 3 3.4867519e+00 1.95e-01 2.78e+00 -1.2 1.92e+00 -1.3 4.24e-01 1.00e+00f 1 4 3.2143766e+00 1.08e-02 5.79e-01 -1.1 2.19e-01 -0.0 9.95e-01 1.00e+00f 1 5 2.8810349e+00 1.94e-02 2.28e-01 -1.9 2.70e-01 -0.5 8.79e-01 1.00e+00f 1 6 2.2632439e+00 8.13e-02 1.57e-01 -1.9 8.01e-01 -1.0 8.58e-01 8.38e-01f 1 7 2.1504688e+00 2.56e-02 5.86e-01 -2.1 5.50e-01 -1.4 9.46e-01 6.71e-01h 1 8 2.0419231e+00 2.47e-02 4.30e-01 -2.5 6.33e-01 -1.9 9.99e-01 7.33e-01h 1 9 2.0119269e+00 3.69e-03 1.19e-01 -3.3 2.89e-01 -2.4 1.00e+00 8.51e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0010932e+00 5.46e-05 3.07e-03 -4.0 7.55e-02 -2.9 1.00e+00 1.00e+00h 1 11 2.0008613e+00 3.35e-06 1.16e-01 -4.0 2.51e-01 -3.4 1.00e+00 1.00e+00h 1 12 2.0010262e+00 5.74e-07 3.27e-02 -4.0 3.90e-01 -3.8 1.00e+00 1.00e+00h 1 13 2.0010415e+00 7.36e-09 1.41e-02 -4.0 7.39e-01 -4.3 1.00e+00 1.00e+00h 1 14 2.0010528e+00 3.93e-11 2.62e-02 -4.0 1.33e+00 -4.8 1.00e+00 1.00e+00f 1 15 2.0006784e+00 8.12e-09 3.17e-02 -4.2 1.60e+00 -5.3 1.00e+00 1.00e+00f 1 16 2.0012328e+00 6.24e-09 1.05e-01 -4.0 5.30e+00 -5.7 1.00e+00 1.00e+00f 1 17 2.0008348e+00 4.36e-09 7.18e-02 -4.1 4.87e+00 -6.2 1.00e+00 7.39e-01f 1 18 2.0010736e+00 5.98e-10 2.57e-01 -4.1 1.29e+01 -6.7 1.00e+00 1.00e+00f 1 19 2.0008673e+00 1.03e-09 2.99e-01 -4.1 1.65e+01 -7.2 1.00e+00 9.10e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0012065e+00 1.63e-09 6.61e-01 -4.1 3.31e+01 -7.6 1.00e+00 1.00e+00f 1 21 2.0009270e+00 4.22e-09 8.59e-01 -4.1 4.82e+01 -8.1 1.00e+00 8.92e-01f 1 22 2.0012558e+00 4.29e-09 1.75e+00 -4.1 8.74e+01 -8.6 1.00e+00 1.00e+00f 1 23 2.0009275e+00 8.94e-09 2.67e+00 -4.1 1.44e+02 -9.1 1.00e+00 9.26e-01f 1 24 2.0012963e+00 5.05e-09 4.78e+00 -4.1 2.39e+02 -9.6 1.00e+00 1.00e+00f 1 25 2.0009125e+00 9.46e-09 7.81e+00 -4.1 4.22e+02 -10.0 1.00e+00 9.26e-01f 1 26 2.0013180e+00 3.59e-09 1.35e+01 -4.1 6.76e+02 -10.5 1.00e+00 1.00e+00f 1 27 2.0008722e+00 8.21e-09 2.40e+01 -4.1 1.28e+03 -11.0 1.00e+00 9.39e-01f 1 28 2.0013523e+00 1.75e-09 3.84e+01 -4.1 1.92e+03 -11.5 1.00e+00 1.00e+00f 1 29 2.0008113e+00 6.02e-09 6.64e+01 -4.1 3.51e+03 -11.9 1.00e+00 9.46e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0013647e+00 5.30e-10 1.04e+02 -4.1 5.21e+03 -12.4 1.00e+00 1.00e+00f 1 31 2.0007161e+00 3.84e-09 1.65e+02 -4.1 8.49e+03 -12.9 1.00e+00 9.72e-01f 1 32 2.0013083e+00 3.64e-11 2.40e+02 -4.1 1.20e+04 -13.4 1.00e+00 1.00e+00f 1 33 2.0006339e+00 1.54e-09 2.88e+02 -4.1 1.44e+04 -13.8 1.00e+00 1.00e+00f 1 34 2.0015177e+00 2.38e-11 4.76e+02 -4.0 2.38e+04 -14.3 1.00e+00 1.00e+00f 1 35 2.0008428e+00 2.71e-10 6.63e+01 -4.1 6.63e+03 -14.8 1.00e+00 5.00e-01f 2 36 2.0007008e+00 6.53e-11 1.94e+02 -4.1 9.69e+03 -15.3 1.00e+00 1.00e+00f 1 37 2.0006358e+00 1.48e-12 1.46e+02 -4.1 7.29e+03 -15.8 1.00e+00 1.00e+00f 1 38 2.0006059e+00 7.20e-14 7.08e+01 -4.1 3.54e+03 -16.2 1.00e+00 1.00e+00h 1 39 2.0008854e+00 1.32e-12 1.08e+02 -4.0 5.42e+03 -16.7 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0005700e+00 5.51e-13 1.26e+02 -4.1 6.32e+03 -17.2 1.00e+00 1.00e+00f 1 41 2.0008762e+00 1.14e-11 1.33e+02 -4.0 6.66e+03 -17.7 1.00e+00 1.00e+00f 1 42 2.0005607e+00 4.41e-12 1.29e+02 -4.1 6.43e+03 -18.1 1.00e+00 1.00e+00f 1 43 2.0006557e+00 1.70e-11 6.87e+01 -4.1 3.44e+03 -18.6 1.00e+00 1.00e+00h 1 44 2.0006195e+00 1.82e-11 2.29e+01 -4.1 1.14e+03 -19.1 1.00e+00 1.00e+00h 1 45 2.0006346e+00 2.36e-11 1.04e+01 -4.1 5.18e+02 -19.6 1.00e+00 1.00e+00h 1 46 2.0006285e+00 2.51e-11 4.09e+00 -4.1 2.05e+02 -20.0 1.00e+00 1.00e+00h 1 47 2.0006310e+00 1.03e-11 1.70e+00 -4.1 8.48e+01 -20.0 1.00e+00 1.00e+00h 1 48 2.0006299e+00 4.21e-12 6.89e-01 -4.1 3.44e+01 -20.0 1.00e+00 1.00e+00h 1 49 2.0006303e+00 1.71e-12 2.82e-01 -4.1 1.41e+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 2.0006302e+00 7.01e-13 1.15e-01 -4.1 5.75e+00 -20.0 1.00e+00 1.00e+00h 1 51 2.0006302e+00 2.85e-13 4.69e-02 -4.1 2.34e+00 -20.0 1.00e+00 1.00e+00h 1 52 2.0006302e+00 1.17e-13 1.92e-02 -4.1 9.58e-01 -20.0 1.00e+00 1.00e+00h 1 53 2.0006302e+00 4.75e-14 7.82e-03 -4.1 3.91e-01 -20.0 1.00e+00 1.00e+00h 1 54 2.0006302e+00 1.94e-14 3.19e-03 -4.1 1.60e-01 -20.0 1.00e+00 1.00e+00h 1 55 2.0006302e+00 7.90e-15 1.30e-03 -4.1 9.50e-02 -20.0 1.00e+00 1.00e+00h 1 56 2.0006302e+00 3.24e-15 5.32e-04 -4.1 9.50e-02 -20.0 1.00e+00 1.00e+00h 1 57 1.9998548e+00 1.22e-08 2.25e+02 -6.1 1.13e+04 -20.0 1.00e+00 1.00e+00f 1 58 2.0006836e+00 3.08e-09 2.09e+03 -4.0 2.09e+05 -20.0 1.00e+00 5.00e-01f 2 59 2.0004218e+00 9.67e-11 2.30e+03 -3.9 1.15e+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 2.0009586e+00 3.48e-09 5.54e+02 -3.9 2.77e+04 -20.0 1.00e+00 1.00e+00f 1 61 2.0010396e+00 3.03e-09 1.06e+02 -3.9 5.32e+03 -20.0 1.00e+00 1.00e+00h 1 62 2.0010521e+00 7.46e-10 2.71e+01 -3.9 1.36e+03 -20.0 1.00e+00 1.00e+00h 1 63 2.0010690e+00 5.73e-10 6.11e+00 -3.9 3.06e+02 -20.0 1.00e+00 1.00e+00h 1 64 2.0010707e+00 1.33e-10 4.72e+00 -3.9 2.36e+02 -20.0 1.00e+00 1.00e+00h 1 65 2.0010735e+00 9.77e-11 1.07e+00 -3.9 5.33e+01 -20.0 1.00e+00 1.00e+00h 1 66 2.0010738e+00 2.24e-11 7.85e-01 -3.9 3.92e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0010742e+00 1.63e-11 1.79e-01 -3.9 8.96e+00 -20.0 1.00e+00 1.00e+00h 1 68 2.0010743e+00 3.74e-12 1.31e-01 -3.9 6.54e+00 -20.0 1.00e+00 1.00e+00h 1 69 2.0010744e+00 2.72e-12 2.99e-02 -3.9 1.50e+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 2.0010744e+00 6.22e-13 2.18e-02 -3.9 1.09e+00 -20.0 1.00e+00 1.00e+00h 1 71 2.0010744e+00 4.53e-13 4.99e-03 -3.9 4.93e-01 -20.0 1.00e+00 1.00e+00h 1 72 2.0010744e+00 1.04e-13 3.63e-03 -3.9 4.93e-01 -20.0 1.00e+00 1.00e+00h 1 73 2.0010744e+00 7.54e-14 8.31e-04 -3.9 4.93e-01 -20.0 1.00e+00 1.00e+00h 1 74 1.9998649e+00 8.64e-08 2.43e+02 -5.9 1.22e+04 -20.0 1.00e+00 1.00e+00f 1 75 1.9998453e+00 3.09e-13 2.18e+02 -5.9 1.18e+04 -20.0 9.30e-01 1.00e+00h 1 76 1.8266679e+00 2.01e-13 1.95e+06 -5.9 9.72e+07 -20.0 1.80e-03 1.00e+00f 1 77 1.8118978e+00 5.21e-13 2.06e+03 -5.5 1.36e+08 -20.0 1.00e+00 7.58e-04f 1 78 1.9417445e+00 5.20e-13 1.31e+06 -4.0 9.40e+10 -20.0 1.00e+00 6.95e-04f 1 79 1.9999586e+00 5.18e-13 6.46e+05 -3.2 6.39e+09 -20.0 1.00e+00 5.05e-03f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 1.9999072e+00 1.84e-11 1.64e+03 -3.2 8.19e+04 -20.0 1.00e+00 1.00e+00f 1 81 2.0293303e+00 5.47e-06 5.13e+01 -3.2 2.56e+03 -20.0 1.00e+00 1.00e+00f 1 82 2.0104081e+00 1.31e-03 8.56e+02 -3.2 8.56e+04 -20.0 1.00e+00 5.00e-01f 2 83 2.0086511e+00 2.53e-04 1.43e+02 -3.2 7.15e+03 -20.0 1.00e+00 1.00e+00h 1 84 2.0061729e+00 1.37e-05 1.42e+02 -3.2 7.09e+03 -20.0 1.00e+00 1.00e+00h 1 85 2.0064835e+00 2.69e-06 1.61e+02 -3.2 8.05e+03 -20.0 1.00e+00 1.00e+00h 1 86 2.0059396e+00 4.10e-06 3.23e+01 -3.2 1.62e+03 -20.0 1.00e+00 1.00e+00h 1 87 2.0059975e+00 2.84e-07 3.32e+01 -3.2 1.66e+03 -20.0 1.00e+00 1.00e+00h 1 88 2.0058943e+00 6.56e-07 3.24e+00 -3.2 1.62e+02 -20.0 1.00e+00 1.00e+00h 1 89 2.0059040e+00 4.43e-08 5.73e+00 -3.2 2.87e+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 2.0058865e+00 1.08e-07 5.40e-01 -3.2 8.67e+01 -20.0 1.00e+00 1.00e+00h 1 91 2.0058881e+00 7.29e-09 9.61e-01 -3.2 8.66e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0058852e+00 1.79e-08 9.00e-02 -3.2 8.65e+01 -20.0 1.00e+00 1.00e+00h 1 93 2.0058854e+00 1.21e-09 1.60e-01 -3.2 8.64e+01 -20.0 1.00e+00 1.00e+00h 1 94 2.0058849e+00 2.98e-09 1.50e-02 -3.2 8.64e+01 -20.0 1.00e+00 1.00e+00h 1 95 2.0058850e+00 2.02e-10 2.67e-02 -3.2 8.64e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0058849e+00 4.96e-10 2.50e-03 -3.2 8.64e+01 -20.0 1.00e+00 1.00e+00h 1 97 1.9999842e+00 6.11e-05 2.65e+02 -4.8 1.32e+04 -20.0 1.00e+00 1.00e+00f 1 98 2.0000042e+00 4.87e-10 7.05e+01 -4.8 3.52e+03 -20.0 1.00e+00 1.00e+00h 1 99 2.0000006e+00 4.59e-16 5.22e+02 -4.8 2.61e+04 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 1.9999302e+00 1.01e-14 5.17e+00 -4.8 2.58e+02 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.9999302457712209e+00 1.9999302457712209e+00 Dual infeasibility......: 5.1681824186910035e+00 5.1681824186910035e+00 Constraint violation....: 1.0059083443082122e-14 1.0059083443082122e-14 Variable bound violation: 3.4888063639070023e-09 3.4888063639070023e-09 Complementarity.........: 1.4890802162509936e-05 1.4890802162509936e-05 Overall NLP error.......: 4.6836982817181836e+00 5.1681824186910035e+00 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 = 46.754 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.061s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.05s) 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: 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 (0.368s) optimizer initialization complete (total: 0.479s) 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 3.2117766e+00 2.96e+00 1.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.2965633e+00 5.88e+00 1.41e+01 -1.1 9.02e+01 -4.0 9.30e-01 1.00e+00f 1 2 2.2249547e+00 1.65e-01 2.67e+00 -1.6 1.71e+01 -4.5 9.98e-01 1.00e+00h 1 3 2.1713750e+00 3.87e-02 3.24e-01 -2.2 6.78e+00 -5.0 1.00e+00 1.00e+00h 1 4 2.0994813e+00 1.04e-01 1.21e-01 -3.0 1.33e+01 -5.4 1.00e+00 1.00e+00h 1 5 2.0928934e+00 1.58e-02 2.68e-02 -3.3 1.86e+01 -5.9 9.99e-01 1.00e+00h 1 6 2.0844126e+00 1.95e-02 1.78e-02 -3.9 3.99e+01 -6.4 9.95e-01 1.00e+00h 1 7 2.0919125e+00 3.45e-02 5.99e-02 -2.9 2.75e+01 -6.9 1.00e+00 9.17e-01h 1 8 2.0894469e+00 1.74e-02 8.40e-03 -3.0 3.14e+01 -7.3 1.00e+00 1.00e+00h 1 9 2.0787588e+00 8.72e-02 8.74e-03 -4.0 9.13e+01 -7.8 9.69e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0765934e+00 1.01e-02 7.47e-03 -4.0 2.29e+02 -8.3 1.00e+00 1.00e+00h 1 11 2.0760825e+00 1.21e-03 2.86e-02 -4.0 3.59e+02 -8.8 1.00e+00 1.00e+00h 1 12 2.0755914e+00 1.86e-04 2.10e-02 -4.0 3.60e+02 -9.2 1.00e+00 6.89e-01h 1 13 2.0758198e+00 4.62e-04 6.18e-03 -4.0 1.13e+02 -9.7 1.00e+00 1.00e+00h 1 14 2.0754403e+00 9.70e-04 1.43e-04 -4.1 3.95e+01 -10.2 1.00e+00 1.00e+00h 1 15 2.0757716e+00 4.30e-04 3.89e-06 -4.0 1.70e+01 -10.7 1.00e+00 1.00e+00h 1 16 2.0754220e+00 6.07e-04 4.19e-07 -4.1 2.29e+01 -11.2 1.00e+00 1.00e+00h 1 17 2.0757717e+00 4.14e-04 7.05e-07 -4.0 1.56e+01 -11.6 1.00e+00 1.00e+00h 1 18 2.0754219e+00 5.56e-04 2.33e-07 -4.1 2.10e+01 -12.1 1.00e+00 1.00e+00h 1 19 2.0757717e+00 6.03e-04 9.82e-08 -4.0 2.27e+01 -12.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0754219e+00 6.02e-04 1.03e-07 -4.1 2.27e+01 -13.1 1.00e+00 1.00e+00h 1 21 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -13.5 9.28e-01 1.00e+00h 1 22 2.0758523e+00 1.72e-01 1.56e-04 -4.0 1.29e+03 -14.0 1.00e+00 1.00e+00h 1 23 2.0754378e+00 2.85e-02 8.78e-05 -4.1 1.05e+03 -14.5 1.00e+00 1.00e+00h 1 24 2.0754277e+00 1.24e-05 2.11e-06 -4.1 1.63e+02 -15.0 1.00e+00 1.00e+00h 1 25 2.0757717e+00 7.84e-04 1.74e-07 -4.0 3.01e+01 -15.5 1.00e+00 1.00e+00h 1 26 2.0754219e+00 6.34e-04 1.30e-07 -4.1 2.39e+01 -15.9 1.00e+00 1.00e+00h 1 27 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -16.4 9.28e-01 1.00e+00h 1 28 2.0739729e+00 7.49e-04 2.53e-04 -6.1 8.48e+02 -16.9 8.16e-01 1.00e+00h 1 29 2.0743069e+00 2.58e-02 1.46e-02 -4.0 8.97e+03 -17.4 1.00e+00 1.46e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0749156e+00 3.43e-02 4.23e-05 -4.3 7.15e+02 -17.8 1.00e+00 1.00e+00h 1 31 2.0749194e+00 4.29e-04 1.42e-05 -4.3 5.34e+02 -18.3 1.00e+00 1.00e+00h 1 32 2.0757799e+00 1.06e-02 3.26e-06 -4.0 1.65e+02 -18.8 1.00e+00 1.00e+00h 1 33 2.0754236e+00 2.17e-03 7.34e-07 -4.1 8.12e+01 -19.3 1.00e+00 1.00e+00h 1 34 2.0754217e+00 1.05e-06 2.50e-08 -4.1 1.90e+01 -19.7 1.00e+00 1.00e+00h 1 35 2.0757718e+00 7.83e-04 1.70e-07 -4.0 2.96e+01 -20.0 1.00e+00 1.00e+00h 1 36 2.0754219e+00 6.34e-04 1.30e-07 -4.1 2.39e+01 -20.0 1.00e+00 1.00e+00h 1 37 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 38 2.0739729e+00 7.49e-04 2.53e-04 -6.1 8.48e+02 -20.0 8.16e-01 1.00e+00h 1 39 2.0739618e+00 7.48e-07 1.83e-05 -6.1 5.36e+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 40 2.0741610e+00 2.72e-02 1.81e-02 -4.0 3.03e+04 -20.0 1.00e+00 8.17e-02f 1 41 2.0748450e+00 7.42e-02 5.83e-05 -4.3 1.43e+03 -20.0 1.00e+00 1.00e+00f 1 42 2.0748594e+00 4.17e-04 5.58e-06 -4.3 3.96e+02 -20.0 1.00e+00 1.00e+00h 1 43 2.0740038e+00 1.17e-02 4.14e-04 -6.5 1.83e+02 -20.0 8.92e-01 1.00e+00h 1 44 2.0739628e+00 2.48e-04 2.84e-04 -6.5 7.31e+02 -20.0 7.61e-01 1.00e+00h 1 45 2.0739529e+00 2.78e-07 2.04e-05 -6.5 6.29e+02 -20.0 1.00e+00 1.00e+00h 1 46 2.0741325e+00 2.58e-02 1.91e-02 -4.0 3.70e+04 -20.0 1.00e+00 7.19e-02f 1 47 2.0748276e+00 8.42e-02 6.63e-05 -4.3 1.60e+03 -20.0 1.00e+00 1.00e+00f 1 48 2.0748443e+00 3.56e-04 3.40e-06 -4.3 3.15e+02 -20.0 1.00e+00 1.00e+00h 1 49 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 50 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 51 2.0739527e+00 2.69e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 52 2.0741318e+00 2.58e-02 1.92e-02 -4.0 3.72e+04 -20.0 1.00e+00 7.16e-02f 1 53 2.0748272e+00 8.45e-02 6.65e-05 -4.3 1.61e+03 -20.0 1.00e+00 1.00e+00f 1 54 2.0748440e+00 3.54e-04 3.34e-06 -4.3 3.13e+02 -20.0 1.00e+00 1.00e+00h 1 55 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 56 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 57 2.0739527e+00 2.68e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 58 2.0741318e+00 2.58e-02 1.92e-02 -4.0 3.72e+04 -20.0 1.00e+00 7.16e-02f 1 59 2.0748272e+00 8.45e-02 6.65e-05 -4.3 1.61e+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 60 2.0748440e+00 3.54e-04 3.34e-06 -4.3 3.13e+02 -20.0 1.00e+00 1.00e+00h 1 61 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 62 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 63 2.0739527e+00 2.68e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 64 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 65 2.0741226e+00 2.63e-02 1.95e-02 -4.0 4.26e+04 -20.0 1.00e+00 6.77e-02f 1 66 2.0748234e+00 8.99e-02 7.10e-05 -4.3 1.70e+03 -20.0 1.00e+00 1.00e+00f 1 67 2.0748412e+00 3.13e-04 2.43e-06 -4.3 2.70e+02 -20.0 1.00e+00 1.00e+00h 1 68 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 69 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 71 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 72 2.0741225e+00 2.63e-02 1.95e-02 -4.0 4.27e+04 -20.0 1.00e+00 6.76e-02f 1 73 2.0748233e+00 9.00e-02 7.11e-05 -4.3 1.70e+03 -20.0 1.00e+00 1.00e+00f 1 74 2.0748411e+00 3.13e-04 2.42e-06 -4.3 2.70e+02 -20.0 1.00e+00 1.00e+00h 1 75 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 76 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 77 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 78 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 79 2.0739440e+00 6.21e-05 3.00e-06 -9.0 1.42e+02 -20.0 9.56e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0740989e+00 2.54e-02 2.06e-02 -4.0 5.21e+04 -20.0 1.00e+00 5.99e-02f 1 81 2.0748092e+00 1.02e-01 8.36e-05 -4.3 1.92e+03 -20.0 1.00e+00 1.00e+00f 1 82 2.0748293e+00 2.04e-04 1.06e-06 -4.3 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 83 2.0740026e+00 1.16e-02 4.11e-04 -6.5 1.88e+02 -20.0 8.89e-01 1.00e+00h 1 84 2.0739622e+00 2.30e-04 2.84e-04 -6.5 7.25e+02 -20.0 7.59e-01 1.00e+00h 1 85 2.0739525e+00 2.60e-07 1.99e-05 -6.5 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 86 2.0739518e+00 4.59e-09 7.61e-07 -6.5 1.66e+02 -20.0 1.00e+00 1.00e+00h 1 87 2.0741220e+00 2.63e-02 1.96e-02 -4.0 4.28e+04 -20.0 1.00e+00 6.75e-02f 1 88 2.0748230e+00 9.02e-02 7.13e-05 -4.3 1.71e+03 -20.0 1.00e+00 1.00e+00f 1 89 2.0748409e+00 3.11e-04 2.38e-06 -4.3 2.68e+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 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 91 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 92 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 93 2.0739520e+00 4.54e-09 7.53e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 94 2.0739440e+00 6.21e-05 3.00e-06 -9.0 1.42e+02 -20.0 9.56e-01 1.00e+00h 1 95 2.0740989e+00 2.54e-02 2.06e-02 -4.0 5.21e+04 -20.0 1.00e+00 5.99e-02f 1 96 2.0748092e+00 1.02e-01 8.37e-05 -4.3 1.92e+03 -20.0 1.00e+00 1.00e+00f 1 97 2.0748293e+00 2.04e-04 1.06e-06 -4.3 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 98 2.0740026e+00 1.16e-02 4.11e-04 -6.5 1.88e+02 -20.0 8.89e-01 1.00e+00h 1 99 2.0739622e+00 2.30e-04 2.84e-04 -6.5 7.25e+02 -20.0 7.59e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0739525e+00 2.60e-07 1.99e-05 -6.5 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0739525125989102e+00 2.0739525125989102e+00 Dual infeasibility......: 1.9893600830503464e-05 1.9893600830503464e-05 Constraint violation....: 2.6030378874608573e-07 2.6030378874608573e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 6.1601907672001746e-07 6.1601907672001746e-07 Overall NLP error.......: 9.9745518747822260e-05 9.9745518747822260e-05 Number of objective function evaluations = 101 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 101 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 31.404 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: 0.052s jacobian structure: 180 nonzeros (0.09s) integrator 1 hessian structure: 0.048s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.363s sub-objective 2 (QuadraticRegularizer): 0.093s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.019s objective hessian structure: 0.57s hessian structure: 375 nonzeros (0.618s) linear index maps built (0.0s) evaluator ready (total: 0.862s) evaluator created (0.862s) NL constraint bounds extracted (0.013s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.132s) applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.164s) optimizer initialization complete (total: 4.172s) 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 2.1224672e+00 8.28e-01 1.12e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.3578578e+00 9.38e-02 5.45e-01 -1.5 1.09e+00 -2.0 9.45e-01 1.00e+00h 1 2 1.1070428e+00 6.20e-02 5.08e-01 -1.9 4.27e+00 - 1.00e+00 5.09e-01h 1 3 1.0810526e+00 2.33e-02 3.68e-01 -3.0 4.69e+00 - 9.90e-01 8.53e-01h 1 4 1.0996713e+00 3.77e-03 2.21e-02 -3.0 6.91e-02 -1.6 1.00e+00 8.42e-01h 1 5 1.0991330e+00 2.73e-05 7.86e-04 -4.0 8.28e-02 -2.1 1.00e+00 1.00e+00h 1 6 1.0984300e+00 6.04e-08 7.12e-04 -4.0 2.40e-01 -2.5 1.00e+00 1.00e+00h 1 7 1.0970754e+00 6.83e-10 4.33e-03 -4.0 6.54e-01 -3.0 1.00e+00 1.00e+00f 1 8 1.0944579e+00 6.86e-12 7.06e-03 -4.0 1.50e+00 -3.5 9.15e-01 1.00e+00f 1 9 1.0941450e+00 5.68e-12 4.05e-01 -4.0 4.90e+00 - 1.00e+00 1.71e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0909965e+00 8.20e-14 1.66e-01 -4.0 4.06e+00 - 1.00e+00 1.00e+00f 1 11 1.0908911e+00 4.38e-18 4.47e-04 -4.0 3.19e-02 - 1.00e+00 1.00e+00f 1 12 1.0908999e+00 7.89e-25 1.25e-04 -4.0 1.77e-01 - 1.00e+00 1.00e+00f 1 13 1.0907122e+00 2.29e-25 2.84e-05 -4.1 2.22e-02 - 1.00e+00 1.00e+00f 1 14 1.0908997e+00 8.89e-26 6.65e-07 -4.0 2.94e-03 - 1.00e+00 1.00e+00f 1 15 1.0907198e+00 3.18e-26 2.57e-09 -4.1 5.02e-04 - 1.00e+00 1.00e+00f 1 16 1.0900065e+00 9.02e-26 3.99e-08 -6.1 7.93e-05 - 1.00e+00 1.00e+00f 1 17 1.0908999e+00 2.10e-30 6.26e-08 -4.0 1.74e-02 - 1.00e+00 1.00e+00f 1 18 1.0907198e+00 5.45e-26 2.54e-09 -4.1 1.38e-02 - 1.00e+00 1.00e+00f 1 19 1.0900065e+00 7.67e-25 3.99e-08 -6.1 7.93e-05 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.0899999e+00 2.89e-31 3.29e-12 -9.0 4.35e-06 - 1.00e+00 1.00e+00f 1 21 1.0900005e+00 2.89e-31 3.32e-12 -4.0 3.76e+02 - 1.00e+00 6.60e-04f 1 22 1.0903960e+00 2.51e-35 1.23e-08 -4.4 1.08e-01 - 1.00e+00 1.00e+00f 1 23 1.0900026e+00 1.07e-24 1.21e-08 -6.5 9.10e-04 - 1.00e+00 1.00e+00f 1 24 1.0899999e+00 1.81e-31 5.44e-13 -9.0 4.24e-04 - 1.00e+00 1.00e+00f 1 25 1.0899999e+00 6.73e-44 2.86e-16 -9.0 1.36e-01 - 1.00e+00 1.00e+00f 1 26 1.0899999e+00 3.56e-46 2.40e-16 -9.0 5.85e-16 - 1.00e+00 1.00e+00 0 27 1.0899999e+00 2.83e-47 2.40e-16 -9.0 2.79e-17 - 1.00e+00 1.00e+00T 0 Number of Iterations....: 27 (scaled) (unscaled) Objective...............: 1.0899999181818181e+00 1.0899999181818181e+00 Dual infeasibility......: 2.3994749329819820e-16 2.3994749329819820e-16 Constraint violation....: 2.8303038264334767e-47 2.8303038264334767e-47 Variable bound violation: 9.0909090932206338e-09 9.0909090932206338e-09 Complementarity.........: 9.0909090909090920e-10 9.0909090909090920e-10 Overall NLP error.......: 9.9999090909091604e-05 9.9999090909091604e-05 Number of objective function evaluations = 28 Number of objective gradient evaluations = 28 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 28 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 24.102 EXIT: Search Direction is becoming Too Small. 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: 0.092s hessian structure: 30 nonzeros (0.092s) linear index maps built (0.0s) evaluator ready (total: 0.092s) evaluator created (0.092s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.128s) applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: bounds on u applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial time t₁ = 0 linear constraints added: 5 (3.08s) optimizer initialization complete (total: 3.302s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 30 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.4383982e-02 8.33e-17 1.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.4408943e-02 2.17e-13 1.00e-02 -4.0 8.72e-04 -2.0 9.90e-01 1.00e+00f 1 2 2.2747238e-02 7.53e-11 2.06e-02 -2.2 7.74e-01 -1.6 1.00e+00 1.00e+00f 1 3 2.2520165e-02 3.71e-11 7.34e-04 -3.4 1.03e-02 -1.1 1.00e+00 1.00e+00h 1 4 2.2502514e-02 8.56e-13 1.71e-05 -5.1 7.22e-04 -1.6 1.00e+00 1.00e+00h 1 5 2.2502321e-02 4.66e-15 5.06e-08 -7.6 6.41e-06 -2.1 1.00e+00 1.00e+00h 1 6 2.2502228e-02 1.67e-16 2.54e-09 -11.4 7.75e-07 -2.6 1.00e+00 1.00e+00h 1 7 2.2501888e-02 2.78e-17 3.04e-09 -11.4 2.89e-06 -3.1 1.00e+00 1.00e+00h 1 8 2.2500683e-02 1.11e-16 3.54e-09 -11.4 1.04e-05 -3.5 1.00e+00 1.00e+00h 1 9 2.2496514e-02 1.67e-16 4.03e-09 -11.4 3.62e-05 -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 2.2482354e-02 5.55e-17 4.53e-09 -11.4 1.24e-04 -4.5 1.00e+00 1.00e+00h 1 11 2.2434964e-02 1.11e-16 5.03e-09 -11.4 4.18e-04 -5.0 1.00e+00 1.00e+00h 1 12 2.2415357e-02 5.55e-17 5.52e-09 -11.4 1.74e-04 -4.5 1.00e+00 1.00e+00h 1 13 2.2351089e-02 8.33e-17 6.02e-09 -11.4 5.73e-04 -5.0 1.00e+00 1.00e+00h 1 14 2.2324955e-02 8.33e-17 6.51e-09 -11.4 2.34e-04 -4.6 1.00e+00 1.00e+00h 1 15 2.2240545e-02 5.55e-17 7.00e-09 -11.4 7.60e-04 -5.1 1.00e+00 1.00e+00h 1 16 2.2206653e-02 5.55e-17 7.50e-09 -11.4 3.07e-04 -4.6 1.00e+00 1.00e+00h 1 17 2.2193090e-02 5.55e-17 7.99e-09 -11.4 1.23e-04 -4.2 1.00e+00 1.00e+00h 1 18 2.2149862e-02 1.11e-16 8.48e-09 -11.4 3.93e-04 -4.7 1.00e+00 1.00e+00h 1 19 2.2132702e-02 1.39e-16 8.97e-09 -11.4 1.57e-04 -4.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.2078408e-02 1.11e-16 9.45e-09 -11.4 4.97e-04 -4.7 1.00e+00 1.00e+00h 1 21 2.2056996e-02 1.39e-16 9.94e-09 -11.4 1.96e-04 -4.3 1.00e+00 1.00e+00h 1 22 2.1989647e-02 2.22e-16 1.04e-08 -11.4 6.20e-04 -4.8 1.00e+00 1.00e+00h 1 23 2.1779232e-02 5.55e-17 1.09e-08 -11.4 1.95e-03 -5.3 1.00e+00 1.00e+00h 1 24 2.1697246e-02 5.55e-17 1.14e-08 -11.4 7.65e-04 -4.8 1.00e+00 1.00e+00h 1 25 2.1665249e-02 5.55e-17 1.19e-08 -11.4 3.00e-04 -4.4 1.00e+00 1.00e+00h 1 26 2.1565584e-02 1.11e-16 1.23e-08 -11.4 9.36e-04 -4.9 1.00e+00 1.00e+00h 1 27 2.1526844e-02 1.67e-16 1.28e-08 -11.4 3.65e-04 -4.5 1.00e+00 1.00e+00h 1 28 2.1406647e-02 8.33e-17 1.33e-08 -11.4 1.14e-03 -4.9 1.00e+00 1.00e+00h 1 29 2.1360098e-02 5.55e-17 1.38e-08 -11.4 4.42e-04 -4.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.1216188e-02 1.11e-16 1.42e-08 -11.4 1.37e-03 -5.0 1.00e+00 1.00e+00h 1 31 2.1160647e-02 1.39e-16 1.47e-08 -11.4 5.33e-04 -4.6 1.00e+00 1.00e+00h 1 32 2.0989513e-02 1.11e-16 1.52e-08 -11.4 1.65e-03 -5.1 1.00e+00 1.00e+00h 1 33 2.0923678e-02 1.67e-16 1.56e-08 -11.4 6.39e-04 -4.6 1.00e+00 1.00e+00h 1 34 2.0721491e-02 2.22e-16 1.61e-08 -11.4 1.97e-03 -5.1 1.00e+00 1.00e+00h 1 35 2.0643957e-02 1.11e-16 1.65e-08 -11.4 7.62e-04 -4.7 1.00e+00 1.00e+00h 1 36 2.0614136e-02 1.11e-16 1.70e-08 -11.4 2.94e-04 -4.2 1.00e+00 1.00e+00h 1 37 2.0522496e-02 5.55e-17 1.74e-08 -11.4 9.06e-04 -4.7 1.00e+00 1.00e+00h 1 38 2.0242804e-02 1.39e-16 1.79e-08 -11.4 2.79e-03 -5.2 1.00e+00 1.00e+00h 1 39 2.0136203e-02 1.11e-16 1.83e-08 -11.4 1.07e-03 -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 2.0095381e-02 1.11e-16 1.88e-08 -11.4 4.12e-04 -4.4 1.00e+00 1.00e+00h 1 41 1.9970474e-02 8.33e-17 1.92e-08 -11.4 1.27e-03 -4.8 1.00e+00 1.00e+00h 1 42 1.9922734e-02 5.55e-17 1.96e-08 -11.4 4.86e-04 -4.4 1.00e+00 1.00e+00h 1 43 1.9776952e-02 8.33e-17 2.01e-08 -11.4 1.49e-03 -4.9 1.00e+00 1.00e+00h 1 44 1.9721342e-02 8.33e-17 2.05e-08 -11.4 5.72e-04 -4.5 1.00e+00 1.00e+00h 1 45 1.9551868e-02 1.67e-16 2.09e-08 -11.4 1.75e-03 -4.9 1.00e+00 1.00e+00h 1 46 1.9487349e-02 8.33e-17 2.14e-08 -11.4 6.71e-04 -4.5 1.00e+00 1.00e+00h 1 47 1.9291132e-02 1.11e-16 2.18e-08 -11.4 2.05e-03 -5.0 1.00e+00 1.00e+00h 1 48 1.9216586e-02 1.67e-16 2.22e-08 -11.4 7.85e-04 -4.6 1.00e+00 1.00e+00h 1 49 1.8990370e-02 5.55e-17 2.26e-08 -11.4 2.40e-03 -5.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 1.8904614e-02 1.11e-16 2.30e-08 -11.4 9.17e-04 -4.6 1.00e+00 1.00e+00h 1 51 1.8644978e-02 5.55e-17 2.34e-08 -11.4 2.80e-03 -5.1 1.00e+00 1.00e+00h 1 52 1.8546782e-02 5.55e-17 2.39e-08 -11.4 1.07e-03 -4.7 1.00e+00 1.00e+00h 1 53 1.8509447e-02 2.22e-16 2.43e-08 -11.4 4.08e-04 -4.2 1.00e+00 1.00e+00h 1 54 1.8395987e-02 5.55e-17 2.47e-08 -11.4 1.24e-03 -4.7 1.00e+00 1.00e+00h 1 55 1.8352903e-02 1.39e-16 2.51e-08 -11.4 4.74e-04 -4.3 1.00e+00 1.00e+00h 1 56 1.8222149e-02 1.67e-16 2.55e-08 -11.4 1.45e-03 -4.8 1.00e+00 1.00e+00h 1 57 1.8172565e-02 1.67e-16 2.58e-08 -11.4 5.51e-04 -4.3 1.00e+00 1.00e+00h 1 58 1.8022297e-02 1.11e-16 2.62e-08 -11.4 1.68e-03 -4.8 1.00e+00 1.00e+00h 1 59 1.7572135e-02 5.55e-17 2.66e-08 -11.4 5.11e-03 -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 1.7403712e-02 1.67e-16 2.70e-08 -11.4 1.94e-03 -4.9 1.00e+00 1.00e+00h 1 61 1.7340054e-02 1.11e-16 2.74e-08 -11.4 7.39e-04 -4.4 1.00e+00 1.00e+00h 1 62 1.7147799e-02 5.55e-17 2.77e-08 -11.4 2.25e-03 -4.9 1.00e+00 1.00e+00h 1 63 1.7075253e-02 5.55e-17 2.81e-08 -11.4 8.55e-04 -4.5 1.00e+00 1.00e+00h 1 64 1.6856538e-02 1.67e-16 2.85e-08 -11.4 2.60e-03 -5.0 1.00e+00 1.00e+00h 1 65 1.6774154e-02 1.39e-16 2.88e-08 -11.4 9.87e-04 -4.5 1.00e+00 1.00e+00h 1 66 1.6526261e-02 1.11e-16 2.92e-08 -11.4 3.00e-03 -5.0 1.00e+00 1.00e+00h 1 67 1.6433070e-02 8.33e-17 2.95e-08 -11.4 1.14e-03 -4.6 1.00e+00 1.00e+00h 1 68 1.6153260e-02 1.11e-16 2.99e-08 -11.4 3.46e-03 -5.1 1.00e+00 1.00e+00h 1 69 1.6048301e-02 1.11e-16 3.02e-08 -11.4 1.31e-03 -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 1.6008649e-02 1.11e-16 3.06e-08 -11.4 4.97e-04 -4.2 1.00e+00 1.00e+00h 1 71 1.5888905e-02 5.55e-17 3.09e-08 -11.4 1.51e-03 -4.7 1.00e+00 1.00e+00h 1 72 1.5843717e-02 1.67e-16 3.12e-08 -11.4 5.72e-04 -4.3 1.00e+00 1.00e+00h 1 73 1.5707407e-02 1.67e-16 3.16e-08 -11.4 1.73e-03 -4.7 1.00e+00 1.00e+00h 1 74 1.5656027e-02 1.67e-16 3.19e-08 -11.4 6.57e-04 -4.3 1.00e+00 1.00e+00h 1 75 1.5501234e-02 1.67e-16 3.22e-08 -11.4 1.99e-03 -4.8 1.00e+00 1.00e+00h 1 76 1.5442962e-02 1.11e-16 3.26e-08 -11.4 7.55e-04 -4.4 1.00e+00 1.00e+00h 1 77 1.5267647e-02 1.11e-16 3.29e-08 -11.4 2.29e-03 -4.8 1.00e+00 1.00e+00h 1 78 1.5201742e-02 8.33e-17 3.32e-08 -11.4 8.67e-04 -4.4 1.00e+00 1.00e+00h 1 79 1.5003771e-02 1.11e-16 3.35e-08 -11.4 2.63e-03 -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 80 1.4929466e-02 1.11e-16 3.38e-08 -11.4 9.94e-04 -4.5 1.00e+00 1.00e+00h 1 81 1.4706646e-02 1.67e-16 3.41e-08 -11.4 3.01e-03 -4.9 1.00e+00 1.00e+00h 1 82 1.4623161e-02 1.11e-16 3.44e-08 -11.4 1.14e-03 -4.5 1.00e+00 1.00e+00h 1 83 1.4373296e-02 1.67e-16 3.47e-08 -11.4 3.45e-03 -5.0 1.00e+00 1.00e+00h 1 84 1.4279865e-02 1.11e-16 3.50e-08 -11.4 1.30e-03 -4.6 1.00e+00 1.00e+00h 1 85 1.4000834e-02 1.67e-16 3.53e-08 -11.4 3.94e-03 -5.1 1.00e+00 1.00e+00h 1 86 1.3896731e-02 5.55e-17 3.56e-08 -11.4 1.49e-03 -4.6 1.00e+00 1.00e+00h 1 87 1.3586592e-02 5.55e-17 3.59e-08 -11.4 4.51e-03 -5.1 1.00e+00 1.00e+00h 1 88 1.3471176e-02 1.67e-16 3.62e-08 -11.4 1.70e-03 -4.7 1.00e+00 1.00e+00h 1 89 1.3427797e-02 5.55e-17 3.64e-08 -11.4 6.44e-04 -4.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 1.3297473e-02 5.55e-17 3.67e-08 -11.4 1.95e-03 -4.7 1.00e+00 1.00e+00h 1 91 1.2911413e-02 1.67e-16 3.70e-08 -11.4 5.88e-03 -5.2 1.00e+00 1.00e+00h 1 92 1.2768588e-02 2.78e-17 3.72e-08 -11.4 2.22e-03 -4.8 1.00e+00 1.00e+00h 1 93 1.2715047e-02 5.55e-17 3.75e-08 -11.4 8.39e-04 -4.4 1.00e+00 1.00e+00h 1 94 1.2554652e-02 1.67e-16 3.77e-08 -11.4 2.54e-03 -4.8 1.00e+00 1.00e+00h 1 95 1.2083010e-02 1.11e-16 3.80e-08 -11.4 7.66e-03 -5.3 1.00e+00 1.00e+00h 1 96 1.1909866e-02 5.55e-17 3.82e-08 -11.4 2.89e-03 -4.9 1.00e+00 1.00e+00h 1 97 1.1845177e-02 5.55e-17 3.84e-08 -11.4 1.09e-03 -4.5 1.00e+00 1.00e+00h 1 98 1.1652083e-02 5.55e-17 3.87e-08 -11.4 3.29e-03 -4.9 1.00e+00 1.00e+00h 1 99 1.1580071e-02 1.11e-16 3.89e-08 -11.4 1.24e-03 -4.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 1.1365544e-02 1.67e-16 3.91e-08 -11.4 3.75e-03 -5.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.1365544092777925e-10 1.1365544092777924e-02 Dual infeasibility......: 3.9117383319773253e-08 3.9117383319773253e+00 Constraint violation....: 1.6653345369377348e-16 1.6653345369377348e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 4.1784207627468071e-12 4.1784207627468072e-04 Overall NLP error.......: 9.9999995821866702e-05 9.9999995821866705e+03 Number of objective function evaluations = 101 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 101 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 1 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 3.546 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): 0.093s sub-objective 2 (QuadraticRegularizer): 0.0s objective hessian structure: 0.194s hessian structure: 40 nonzeros (0.194s) linear index maps built (0.0s) evaluator ready (total: 0.194s) evaluator created (0.194s) 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: 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 (3.292s) optimizer initialization complete (total: 3.613s) 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 1.4335960e+00 7.20e-01 9.58e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.1386255e+00 4.72e-09 2.45e-01 -0.3 6.01e-01 -2.0 9.63e-01 1.00e+00f 1 2 2.9294487e-01 3.79e-09 3.09e-01 -4.0 1.17e+00 -1.6 8.07e-01 1.00e+00f 1 3 1.4528515e-01 3.80e-11 4.84e-02 -2.2 4.62e-01 -1.1 9.96e-01 1.00e+00f 1 4 4.0525350e-02 1.55e-11 4.06e-02 -3.1 7.96e-01 -1.6 1.00e+00 1.00e+00f 1 5 8.2573008e-03 2.03e-11 1.82e-02 -4.0 7.24e-01 -2.1 1.00e+00 1.00e+00f 1 6 1.6307314e-03 6.37e-12 5.93e-03 -4.0 4.77e-01 -2.6 1.00e+00 1.00e+00f 1 7 5.7160233e-04 1.61e-12 1.59e-03 -4.0 2.17e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.4827910e-04 1.67e-13 2.20e-04 -4.0 7.82e-02 -3.5 1.00e+00 1.00e+00f 1 9 4.5702788e-04 2.17e-14 1.25e-04 -4.0 2.14e-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 3.0414271e-04 1.05e-14 4.35e-04 -4.1 7.98e-02 -4.5 1.00e+00 1.00e+00f 1 11 4.5758689e-04 4.91e-15 3.61e-04 -4.0 2.00e-01 -5.0 1.00e+00 5.00e-01f 2 12 2.7559816e-04 3.11e-15 5.60e-04 -4.1 1.06e-01 -5.4 1.00e+00 1.00e+00f 1 13 4.6413621e-04 2.00e-15 4.76e-04 -4.0 2.56e-01 -5.9 1.00e+00 5.00e-01f 2 14 2.6403069e-04 1.67e-15 6.35e-04 -4.1 1.22e-01 -6.4 1.00e+00 1.00e+00f 1 15 4.6515000e-04 1.44e-15 5.22e-04 -4.0 2.81e-01 -6.9 1.00e+00 5.00e-01f 2 16 2.6013050e-04 1.33e-15 6.66e-04 -4.1 1.29e-01 -7.4 1.00e+00 1.00e+00f 1 17 4.6517340e-04 1.22e-15 5.40e-04 -4.0 2.91e-01 -7.8 1.00e+00 5.00e-01f 2 18 2.5884965e-04 1.14e-15 6.85e-04 -4.1 1.32e-01 -8.3 1.00e+00 1.00e+00f 1 19 4.6477899e-04 1.11e-15 5.49e-04 -4.0 2.97e-01 -8.8 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.5844609e-04 1.01e-15 6.98e-04 -4.1 1.35e-01 -9.3 1.00e+00 1.00e+00f 1 21 4.6427942e-04 8.88e-16 5.54e-04 -4.0 3.01e-01 -9.7 1.00e+00 5.00e-01f 2 22 2.5832354e-04 8.67e-16 7.10e-04 -4.1 1.37e-01 -10.2 1.00e+00 1.00e+00f 1 23 4.6376016e-04 6.66e-16 5.58e-04 -4.0 3.04e-01 -10.7 1.00e+00 5.00e-01f 2 24 2.5828966e-04 8.60e-16 7.21e-04 -4.1 1.39e-01 -11.2 1.00e+00 1.00e+00f 1 25 4.6325076e-04 6.66e-16 5.61e-04 -4.0 3.07e-01 -11.6 1.00e+00 5.00e-01f 2 26 2.5828274e-04 8.47e-16 7.31e-04 -4.1 1.41e-01 -12.1 1.00e+00 1.00e+00f 1 27 3.1008913e-05 8.77e-15 9.13e-04 -6.2 3.87e-01 -12.6 9.67e-01 1.00e+00f 1 28 1.7303274e-03 2.22e-15 7.80e-03 -4.0 2.03e+00 -13.1 1.00e+00 5.00e-01f 2 29 2.4741808e-05 2.29e-14 2.94e-03 -4.1 1.04e+00 -13.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.5707605e-03 2.93e-14 8.13e-03 -4.0 1.00e+00 -14.0 1.00e+00 1.00e+00f 1 31 1.0373992e-05 1.75e-14 2.34e-03 -4.2 1.11e+00 -14.5 1.00e+00 1.00e+00f 1 32 4.6270522e-04 1.55e-15 2.79e-03 -4.0 1.39e+00 -15.0 1.00e+00 5.00e-01f 2 33 2.2046430e-04 2.89e-15 2.45e-04 -4.2 3.76e-01 -15.5 1.00e+00 5.00e-01f 2 34 2.0303517e-05 4.39e-15 8.25e-04 -6.4 4.20e-01 -15.9 9.63e-01 1.00e+00f 1 35 8.1705614e-06 3.16e-15 1.02e-04 -6.4 1.07e-01 -16.4 1.00e+00 1.00e+00f 1 36 1.4352287e-03 1.12e-15 5.07e-03 -4.0 9.80e+00 -16.9 1.00e+00 1.22e-01f 4 37 1.0708736e-04 5.11e-14 3.41e-03 -4.0 7.65e-01 -17.4 1.00e+00 1.00e+00f 1 38 7.3737545e-04 3.29e-14 3.47e-03 -4.0 5.24e-01 -17.8 1.00e+00 1.00e+00f 1 39 3.8003333e-04 6.11e-15 4.45e-04 -4.0 4.19e-01 -18.3 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 3.5437748e-05 5.44e-15 1.35e-03 -6.0 5.14e-01 -18.8 9.54e-01 1.00e+00f 1 41 1.4595401e-05 5.16e-15 1.63e-04 -6.0 1.28e-01 -19.3 1.00e+00 1.00e+00f 1 42 3.9843268e-06 8.88e-16 1.03e-04 -6.0 1.47e-01 -19.8 1.00e+00 1.00e+00f 1 43 9.8203018e-04 4.86e-16 2.76e-03 -4.0 1.60e+01 -20.0 1.00e+00 7.50e-02f 4 44 1.7512072e-04 4.54e-14 2.74e-03 -4.0 5.48e-01 -20.0 1.00e+00 1.00e+00f 1 45 6.5223741e-04 2.02e-14 2.62e-03 -4.0 3.97e-01 -20.0 1.00e+00 1.00e+00f 1 46 3.8972280e-04 3.77e-15 4.13e-04 -4.0 3.46e-01 -20.0 1.00e+00 5.00e-01f 2 47 3.5137581e-05 5.77e-15 1.48e-03 -6.1 5.57e-01 -20.0 9.49e-01 1.00e+00f 1 48 1.4646940e-05 4.72e-15 1.72e-04 -6.1 1.35e-01 -20.0 1.00e+00 1.00e+00f 1 49 3.8772814e-06 7.77e-16 1.12e-04 -6.1 1.60e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 8.0131274e-04 4.27e-16 1.82e-03 -4.0 1.72e+01 -20.0 1.00e+00 6.95e-02f 4 51 2.0993683e-04 3.93e-14 2.35e-03 -4.0 4.53e-01 -20.0 1.00e+00 1.00e+00f 1 52 5.9054175e-04 1.38e-14 2.15e-03 -4.0 3.31e-01 -20.0 1.00e+00 1.00e+00f 1 53 3.8584273e-04 2.22e-15 3.87e-04 -4.0 3.02e-01 -20.0 1.00e+00 5.00e-01f 2 54 3.4122581e-05 5.55e-15 1.56e-03 -6.1 5.92e-01 -20.0 9.44e-01 1.00e+00f 1 55 1.4341693e-05 4.22e-15 1.77e-04 -6.1 1.41e-01 -20.0 1.00e+00 1.00e+00f 1 56 3.7409533e-06 6.66e-16 1.17e-04 -6.1 1.71e-01 -20.0 1.00e+00 1.00e+00f 1 57 6.6794819e-04 4.30e-16 9.77e-04 -4.0 1.86e+01 -20.0 1.00e+00 6.42e-02f 4 58 2.4454016e-04 3.49e-14 1.93e-03 -4.1 3.61e-01 -20.0 1.00e+00 1.00e+00f 1 59 5.3326599e-04 9.55e-15 1.65e-03 -4.1 2.61e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 3.8215303e-04 1.55e-15 3.45e-04 -4.1 2.50e-01 -20.0 1.00e+00 5.00e-01f 2 61 3.3051079e-05 5.33e-15 1.63e-03 -6.1 6.25e-01 -20.0 9.40e-01 1.00e+00f 1 62 1.4036619e-05 3.89e-15 1.80e-04 -6.1 1.45e-01 -20.0 1.00e+00 1.00e+00f 1 63 3.6258959e-06 6.11e-16 1.22e-04 -6.1 1.80e-01 -20.0 1.00e+00 1.00e+00f 1 64 5.7000712e-04 5.34e-16 2.51e-04 -4.0 1.99e+01 -20.0 1.00e+00 5.98e-02f 4 65 2.7522070e-04 3.13e-14 1.52e-03 -4.1 2.78e-01 -20.0 1.00e+00 1.00e+00f 1 66 4.8414890e-04 6.22e-15 1.19e-03 -4.1 1.93e-01 -20.0 1.00e+00 1.00e+00f 1 67 3.7773777e-04 8.88e-16 2.95e-04 -4.1 1.97e-01 -20.0 1.00e+00 5.00e-01f 2 68 3.1963448e-05 5.11e-15 1.69e-03 -6.1 6.54e-01 -20.0 9.37e-01 1.00e+00f 1 69 1.3718693e-05 3.66e-15 1.82e-04 -6.1 1.49e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 3.5226455e-06 5.55e-16 1.26e-04 -6.1 1.88e-01 -20.0 1.00e+00 1.00e+00f 1 71 4.9684777e-04 4.44e-16 3.78e-04 -4.0 2.12e+01 -20.0 1.00e+00 5.61e-02f 4 72 3.0156648e-04 2.84e-14 1.13e-03 -4.1 2.04e-01 -20.0 1.00e+00 1.00e+00f 1 73 4.4357493e-04 3.77e-15 7.87e-04 -4.1 1.30e-01 -20.0 1.00e+00 1.00e+00f 1 74 2.3757952e-05 4.33e-15 1.90e-03 -6.1 8.01e-01 -20.0 9.21e-01 1.00e+00f 1 75 1.2253842e-05 3.55e-15 1.30e-04 -6.1 1.15e-01 -20.0 1.00e+00 1.00e+00f 1 76 3.0594645e-06 3.89e-16 1.22e-04 -6.1 1.94e-01 -20.0 1.00e+00 1.00e+00f 1 77 4.1959905e-04 4.44e-16 1.26e-03 -4.0 2.44e+01 -20.0 1.00e+00 4.87e-02f 4 78 3.3741395e-04 2.60e-14 5.90e-04 -4.1 1.04e-01 -20.0 1.00e+00 1.00e+00f 1 79 3.2134083e-05 5.11e-15 1.73e-03 -6.1 6.72e-01 -20.0 9.34e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 1.3176246e-05 3.00e-15 2.08e-04 -6.1 1.72e-01 -20.0 1.00e+00 1.00e+00f 1 81 3.4744720e-06 5.00e-16 1.33e-04 -6.1 2.01e-01 -20.0 1.00e+00 1.00e+00f 1 82 3.6595114e-06 2.22e-16 6.94e-06 -6.1 1.23e-02 -20.0 1.00e+00 1.00e+00h 1 83 2.2996369e-07 4.47e-17 5.74e-05 -9.0 2.63e-01 -20.0 9.74e-01 1.00e+00f 1 84 2.0897374e-03 5.45e-16 1.06e-02 -4.0 1.11e+02 -20.0 1.00e+00 2.19e-02f 3 85 9.3510334e-05 4.37e-14 6.76e-03 -4.0 1.47e+00 -20.0 1.00e+00 1.00e+00f 1 86 7.4729966e-04 2.49e-14 5.23e-03 -4.0 7.92e-01 -20.0 1.00e+00 1.00e+00f 1 87 4.2187025e-04 4.88e-15 8.10e-04 -4.0 5.65e-01 -20.0 1.00e+00 5.00e-01f 2 88 4.1994289e-05 4.00e-15 2.16e-03 -5.9 7.33e-01 -20.0 9.28e-01 1.00e+00f 1 89 1.7230213e-05 3.66e-15 2.67e-04 -5.9 1.93e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 4.8410424e-06 5.55e-16 1.69e-04 -5.9 2.18e-01 -20.0 1.00e+00 1.00e+00f 1 91 5.3923446e-06 3.33e-16 1.50e-05 -5.9 2.20e-02 -20.0 1.00e+00 1.00e+00h 1 92 5.0540009e-06 9.45e-17 1.39e-06 -5.9 2.07e-03 -20.0 1.00e+00 1.00e+00h 1 93 3.5902932e-07 6.11e-17 7.88e-05 -8.9 2.93e-01 -20.0 9.71e-01 1.00e+00f 1 94 1.4513127e-07 5.03e-17 8.17e-06 -8.9 6.42e-02 -20.0 1.00e+00 1.00e+00f 1 95 1.3749605e-03 5.90e-16 3.58e-03 -4.0 3.44e+02 -20.0 1.00e+00 7.07e-03f 3 96 5.1772262e-04 5.86e-14 4.88e-03 -3.8 6.23e-01 -20.0 1.00e+00 1.00e+00f 1 97 8.3952847e-04 1.47e-14 1.56e-03 -3.8 1.88e-01 -20.0 1.00e+00 1.00e+00f 1 98 4.8569906e-05 7.55e-15 3.77e-03 -5.7 1.10e+00 -20.0 8.86e-01 1.00e+00f 1 99 2.5746851e-05 5.88e-15 2.61e-04 -5.7 1.60e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 7.8331784e-06 6.66e-16 2.46e-04 -5.7 2.53e-01 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 7.8331783939671207e-06 7.8331783939671207e-06 Dual infeasibility......: 2.4636764597101479e-04 2.4636764597101479e-04 Constraint violation....: 6.6613381477509392e-16 6.6613381477509392e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 3.1175694896842851e-06 3.1175694896842851e-06 Overall NLP error.......: 2.4636764597101479e-04 2.4636764597101479e-04 Number of objective function evaluations = 169 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 169 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 = 4.146 EXIT: Maximum Number of Iterations Exceeded. Test Summary: | Pass Total Time Package | 225 225 26m33.8s Testing DirectTrajOpt tests passed Testing completed after 1677.34s PkgEval succeeded after 1797.65s