Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.2043 (b936235316*) started at 2026-04-17T04:00:49.613 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 14.96s ################################################################################ # 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 v7.24.0 [4c555306] + ArrayLayouts v1.12.2 [6e4b80f9] + BenchmarkTools v1.8.0 [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 v6.217.0 [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 v2.30.0 [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 v2.9.7 [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 v2.25.0 [510215fc] + Observables v0.5.5 [bac558e1] + OrderedCollections v1.8.1 [bbf590c4] + OrdinaryDiffEqCore v3.32.0 [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 v2.7.2 [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 6.61s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling project... 35.5 s ✓ DirectTrajOpt 1 dependency successfully precompiled in 40 seconds. 229 already precompiled. Precompilation completed after 66.28s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_cshIn0/Project.toml` [c823fa1f] DirectTrajOpt v0.8.10 [e24c0720] ExponentialAction v0.2.10 [6a86dc24] FiniteDiff v2.30.0 [f6369f11] ForwardDiff v1.3.3 [b6b21f68] Ipopt v1.14.1 [5078a376] LazyArrays v2.9.7 [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_cshIn0/Manifest.toml` [47edcb42] ADTypes v1.21.0 ⌃ [c29ec348] AbstractDifferentiation v0.4.4 [7d9f7c33] Accessors v0.1.44 [79e6a3ab] Adapt v4.5.2 [4fba245c] ArrayInterface v7.24.0 [4c555306] ArrayLayouts v1.12.2 [6e4b80f9] BenchmarkTools v1.8.0 [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 v6.217.0 [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 v2.30.0 [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 v2.9.7 [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 v2.25.0 [510215fc] Observables v0.5.5 [bac558e1] OrderedCollections v1.8.1 [bbf590c4] OrdinaryDiffEqCore v3.32.0 [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 v2.7.2 [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: 2.009s integrator 2 jacobian structure: 0.059s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 5.439s jacobian structure: 1600 nonzeros (7.58s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.049s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.229s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 2.177s sub-objective 2 (QuadraticRegularizer): 1.454s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.017s objective hessian structure: 3.752s hessian structure: 1749 nonzeros (8.083s) linear index maps built (0.0s) evaluator ready (total: 16.204s) evaluator created (20.649s) NL constraint bounds extracted (0.218s) NLP block data built (0.0s) Ipopt optimizer configured (0.34s) variables set (0.719s) 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 (2.921s) optimizer initialization complete (total: 24.865s) 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 1.9594901e+00 3.15e+00 3.39e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.6877295e+00 4.78e-02 5.35e-01 -1.1 1.96e+00 -2.0 9.74e-01 1.00e+00h 1 Hello, world! 2 2.2331791e+00 1.85e-01 3.98e-01 -1.7 3.07e+00 -2.5 9.16e-01 8.94e-01h 1 Hello, world! 3 2.2050830e+00 1.12e-02 1.30e-01 -1.9 1.12e+00 -3.0 9.18e-01 1.00e+00h 1 Hello, world! 4 2.1038458e+00 1.15e-02 2.87e-02 -2.9 9.07e-01 -3.4 9.95e-01 1.00e+00h 1 Hello, world! 5 2.0912822e+00 1.77e-04 2.03e-03 -3.9 1.20e-01 -3.9 9.93e-01 1.00e+00h 1 Hello, world! 6 2.0908271e+00 2.47e-05 1.42e-04 -4.0 3.70e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0907487e+00 3.70e-07 2.26e-04 -4.0 1.04e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0905153e+00 3.36e-06 3.44e-04 -4.0 3.11e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0904183e+00 5.12e-07 3.84e-04 -4.0 1.23e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0902598e+00 1.29e-06 1.10e-02 -4.0 4.60e+00 -5.4 1.00e+00 3.45e-01h 2 Hello, world! 11 2.0892359e+00 4.46e-05 2.41e-03 -4.0 1.15e+01 -5.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0874255e+00 3.39e-04 3.57e-02 -4.0 3.12e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0861543e+00 2.98e-04 1.30e-01 -4.0 3.32e+01 -5.9 1.00e+00 2.70e-01h 1 Hello, world! 14 2.0846311e+00 2.24e-04 2.43e-02 -4.0 2.54e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0827643e+00 1.85e-04 2.46e-02 -4.0 3.44e+01 -6.9 1.00e+00 9.42e-01h 1 Hello, world! 16 2.0830805e+00 1.24e-03 3.63e-02 -4.0 6.04e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0821341e+00 1.33e-03 8.91e-03 -4.1 1.44e+02 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0822768e+00 2.45e-03 3.72e-02 -4.0 9.61e+01 -7.4 6.31e-01 1.00e+00h 1 Hello, world! 19 2.0819949e+00 2.84e-03 2.70e+00 -4.1 8.71e+01 -6.1 1.00e+00 1.18e-01h 2 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0820227e+00 4.77e-05 2.82e-03 -4.0 4.08e+00 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0820807e+00 2.65e-04 1.99e-03 -4.0 1.01e+01 -7.0 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0817617e+00 6.10e-04 6.35e-04 -4.1 2.75e+01 -7.5 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0819106e+00 1.01e-03 4.08e-03 -4.0 4.36e+01 -8.0 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0815992e+00 1.24e-03 3.12e-03 -4.1 5.51e+01 -8.5 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0818460e+00 8.49e-04 7.32e-04 -4.0 3.61e+01 -8.9 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0815838e+00 3.18e-04 6.28e-05 -4.1 1.40e+01 -9.4 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0818445e+00 1.97e-04 2.35e-05 -4.0 8.98e+00 -9.9 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0818434e+00 2.65e-08 5.05e-08 -4.0 3.50e-01 -10.4 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0818434e+00 1.50e-13 1.00e-09 -4.0 2.22e-03 -10.8 1.00e+00 1.00e+00h 1 Number of Iterations....: 29 (scaled) (unscaled) Objective...............: 2.0818434105328283e+00 2.0818434105328283e+00 Dual infeasibility......: 1.0000000004494261e-09 1.0000000004494261e-09 Constraint violation....: 1.5015766408055242e-13 1.5015766408055242e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000490491e-04 1.0000000000490491e-04 Overall NLP error.......: 1.0000000004494261e-09 1.0000000004494261e-09 Number of objective function evaluations = 36 Number of objective gradient evaluations = 30 Number of equality constraint evaluations = 36 Number of inequality constraint evaluations = 36 Number of equality constraint Jacobian evaluations = 30 Number of inequality constraint Jacobian evaluations = 30 Number of Lagrangian Hessian evaluations = 29 Total seconds in IPOPT = 66.689 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 1.9594901e+00 3.15e+00 3.39e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.6877295e+00 4.78e-02 5.35e-01 -1.1 1.96e+00 -2.0 9.74e-01 1.00e+00h 1 Hello, world! 2 2.2331791e+00 1.85e-01 3.98e-01 -1.7 3.07e+00 -2.5 9.16e-01 8.94e-01h 1 Hello, world! 3 2.2050830e+00 1.12e-02 1.30e-01 -1.9 1.12e+00 -3.0 9.18e-01 1.00e+00h 1 Hello, world! 4 2.1038458e+00 1.15e-02 2.87e-02 -2.9 9.07e-01 -3.4 9.95e-01 1.00e+00h 1 Hello, world! 5 2.0912822e+00 1.77e-04 2.03e-03 -3.9 1.20e-01 -3.9 9.93e-01 1.00e+00h 1 Hello, world! 6 2.0908271e+00 2.47e-05 1.42e-04 -4.0 3.70e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0907487e+00 3.70e-07 2.26e-04 -4.0 1.04e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0905153e+00 3.36e-06 3.44e-04 -4.0 3.11e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0904183e+00 5.12e-07 3.84e-04 -4.0 1.23e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0902598e+00 1.29e-06 1.10e-02 -4.0 4.60e+00 -5.4 1.00e+00 3.45e-01h 2 Hello, world! 11 2.0892359e+00 4.46e-05 2.41e-03 -4.0 1.15e+01 -5.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0874255e+00 3.39e-04 3.57e-02 -4.0 3.12e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0861543e+00 2.98e-04 1.30e-01 -4.0 3.32e+01 -5.9 1.00e+00 2.70e-01h 1 Hello, world! 14 2.0846311e+00 2.24e-04 2.43e-02 -4.0 2.54e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0827643e+00 1.85e-04 2.46e-02 -4.0 3.44e+01 -6.9 1.00e+00 9.42e-01h 1 Hello, world! 16 2.0830805e+00 1.24e-03 3.63e-02 -4.0 6.04e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0821341e+00 1.33e-03 8.91e-03 -4.1 1.44e+02 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0822768e+00 2.45e-03 3.72e-02 -4.0 9.61e+01 -7.4 6.31e-01 1.00e+00h 1 Hello, world! 19 2.0819949e+00 2.84e-03 2.70e+00 -4.1 8.71e+01 -6.1 1.00e+00 1.18e-01h 2 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0820227e+00 4.77e-05 2.82e-03 -4.0 4.08e+00 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0820807e+00 2.65e-04 1.99e-03 -4.0 1.01e+01 -7.0 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0817617e+00 6.10e-04 6.35e-04 -4.1 2.75e+01 -7.5 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0819106e+00 1.01e-03 4.08e-03 -4.0 4.36e+01 -8.0 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0815992e+00 1.24e-03 3.12e-03 -4.1 5.51e+01 -8.5 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0818460e+00 8.49e-04 7.32e-04 -4.0 3.61e+01 -8.9 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0815838e+00 3.18e-04 6.28e-05 -4.1 1.40e+01 -9.4 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0818445e+00 1.97e-04 2.35e-05 -4.0 8.98e+00 -9.9 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0818434e+00 2.65e-08 5.05e-08 -4.0 3.50e-01 -10.4 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0818434e+00 1.50e-13 1.00e-09 -4.0 2.22e-03 -10.8 1.00e+00 1.00e+00h 1 Number of Iterations....: 29 (scaled) (unscaled) Objective...............: 2.0818434105328283e+00 2.0818434105328283e+00 Dual infeasibility......: 1.0000000004494261e-09 1.0000000004494261e-09 Constraint violation....: 1.5015766408055242e-13 1.5015766408055242e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000490491e-04 1.0000000000490491e-04 Overall NLP error.......: 1.0000000004494261e-09 1.0000000004494261e-09 Number of objective function evaluations = 36 Number of objective gradient evaluations = 30 Number of equality constraint evaluations = 36 Number of inequality constraint evaluations = 36 Number of equality constraint Jacobian evaluations = 30 Number of inequality constraint Jacobian evaluations = 30 Number of Lagrangian Hessian evaluations = 29 Total seconds in IPOPT = 0.995 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: 0.045s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.045s) integrator 1 hessian structure: 0.044s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.045s) linear index maps built (0.0s) evaluator ready (total: 0.091s) evaluator created (0.102s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.607s) optimizer initialization complete (total: 0.71s) 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 4.4743099e+00 3.10e+00 2.73e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9340601e+00 2.37e+00 2.90e+00 -1.0 1.38e+01 -2.0 7.98e-02 3.15e-01f 1 2 2.3952843e+00 1.79e+00 2.16e+00 -1.0 4.14e+00 -0.7 1.04e-01 2.50e-01f 1 3 2.7195384e+00 1.75e+00 4.32e+01 1.1 1.28e+02 -1.1 1.10e-01 1.28e-02f 1 4 2.2397431e+00 7.37e-01 2.58e+01 -0.2 8.01e+00 -1.6 4.30e-01 5.45e-01h 1 5 2.1191347e+00 1.52e+00 2.05e+01 -0.5 6.15e+00 -1.2 8.75e-01 9.83e-01h 1 6 2.0003562e+00 6.30e-01 1.00e+01 -0.5 3.10e+00 -1.7 9.85e-01 6.75e-01h 1 7 1.9667054e+00 4.83e-01 8.29e+00 -0.7 2.36e+00 -2.2 9.90e-01 2.87e-01h 1 8 1.9336873e+00 4.13e-01 5.44e+00 -1.0 4.86e+00 -2.6 1.00e+00 3.70e-01h 2 9 1.8079032e+00 1.23e-01 2.95e+01 -0.7 5.04e+00 -1.3 6.40e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.6993083e+00 2.27e-02 2.30e+00 -1.4 1.20e+00 -1.8 1.00e+00 1.00e+00h 1 11 1.4551028e+00 2.14e-03 3.69e-02 -2.0 2.30e-01 -1.4 9.97e-01 1.00e+00f 1 12 1.2927991e+00 5.55e-03 8.54e-02 -3.2 6.69e-01 -1.8 8.39e-01 1.00e+00f 1 13 1.2729950e+00 1.01e-02 1.53e-01 -3.0 2.70e+00 -2.3 9.98e-01 3.59e-01h 1 14 1.2322128e+00 3.18e-01 4.25e-01 -2.6 1.39e+01 -2.8 5.39e-01 4.66e-01f 1 15 1.2198570e+00 1.92e-01 2.15e-01 -2.8 3.15e+00 -3.3 1.00e+00 7.12e-01h 1 16 1.2080349e+00 1.59e-01 4.90e-01 -2.8 2.37e+00 -3.7 6.32e-01 1.90e-01h 1 17 1.1933391e+00 1.37e-01 1.16e-01 -3.8 5.43e+00 -4.2 9.58e-01 4.59e-01h 1 18 1.1782377e+00 1.48e-01 1.11e-02 -3.6 5.41e+00 -4.7 1.00e+00 9.18e-01h 1 19 1.1706198e+00 2.02e-01 1.65e-02 -4.0 9.07e+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 20 1.1675581e+00 2.32e-01 7.90e-03 -4.0 1.56e+01 -5.6 1.00e+00 1.00e+00h 1 21 1.1656708e+00 2.40e-01 4.58e-03 -4.0 2.40e+01 -6.1 1.00e+00 1.00e+00h 1 22 1.1640752e+00 2.79e-01 3.37e-03 -4.0 3.61e+01 -6.6 1.00e+00 1.00e+00h 1 23 1.1629248e+00 3.11e-01 7.27e-03 -4.0 5.37e+01 -7.1 1.00e+00 1.00e+00h 1 24 1.1619642e+00 3.67e-01 1.48e-02 -4.0 7.98e+01 -7.6 1.00e+00 1.00e+00h 1 25 1.1612665e+00 4.12e-01 1.97e-02 -4.0 1.16e+02 -8.0 1.00e+00 1.00e+00h 1 26 1.1607370e+00 4.54e-01 2.52e-02 -4.0 1.64e+02 -8.5 1.00e+00 1.00e+00h 1 27 1.1604815e+00 4.10e-01 2.15e-02 -4.0 2.09e+02 -9.0 1.00e+00 1.00e+00h 1 28 1.1606840e+00 1.29e-01 2.53e-04 -4.0 1.61e+02 -9.5 1.00e+00 1.00e+00h 1 29 1.1608554e+00 3.23e-03 1.05e-03 -4.0 1.59e+01 -9.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.1608490e+00 4.20e-04 5.03e-05 -4.0 8.47e+00 -10.4 1.00e+00 1.00e+00h 1 31 1.1608491e+00 3.52e-07 4.55e-09 -4.0 2.71e-01 -10.9 1.00e+00 1.00e+00h 1 32 1.1608491e+00 4.11e-12 4.32e-13 -4.0 8.43e-04 -11.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 32 (scaled) (unscaled) Objective...............: 1.1608491307798261e+00 1.1608491307798261e+00 Dual infeasibility......: 4.3234529454802550e-13 4.3234529454802550e-13 Constraint violation....: 4.1069370126933791e-12 4.1069370126933791e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000575e-04 1.0000000000000575e-04 Overall NLP error.......: 4.1069370126933791e-12 4.1069370126933791e-12 Number of objective function evaluations = 35 Number of objective gradient evaluations = 33 Number of equality constraint evaluations = 35 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 33 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 32 Total seconds in IPOPT = 22.904 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.053s jacobian structure: 180 nonzeros (0.096s) integrator 1 hessian structure: 0.05s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.335s sub-objective 2 (QuadraticRegularizer): 0.09s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.017s objective hessian structure: 0.542s hessian structure: 375 nonzeros (0.592s) linear index maps built (0.0s) evaluator ready (total: 0.807s) evaluator created (0.807s) NL constraint bounds extracted (0.012s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.119s) applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.629s) optimizer initialization complete (total: 3.569s) 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 1.8800017e+00 1.19e+00 1.06e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.9665174e+00 1.83e-01 2.07e+00 -0.8 7.40e-01 0.0 1.00e+00 1.00e+00h 1 2 1.8372613e+00 4.05e-02 6.34e-01 -0.9 4.58e-01 -0.5 6.61e-01 7.79e-01h 1 3 1.8029237e+00 3.88e-02 7.30e-01 -1.5 4.85e-01 -1.0 8.37e-01 1.00e+00h 1 4 1.2401271e+00 4.31e-03 2.16e-01 -2.1 6.17e-01 -1.4 1.00e+00 7.68e-01f 1 5 1.2016758e+00 2.62e-03 1.34e-01 -4.0 1.88e+00 -1.9 2.22e-01 3.92e-01h 1 6 1.0945830e+00 7.79e-05 9.35e-02 -3.8 1.06e+00 - 1.00e+00 9.50e-01h 1 7 1.0910818e+00 1.56e-06 1.43e-02 -4.0 9.22e-01 - 9.94e-01 1.00e+00h 1 8 1.0910381e+00 3.26e-10 4.22e-04 -4.0 1.77e-01 - 1.00e+00 1.00e+00f 1 9 1.0910386e+00 1.02e-17 3.60e-05 -4.0 2.24e-01 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0910386e+00 7.15e-29 3.08e-05 -4.0 8.71e-02 - 1.00e+00 1.00e+00f 1 11 1.0908587e+00 8.88e-16 3.73e-08 -4.1 3.80e-04 - 1.00e+00 1.00e+00f 1 12 1.0910386e+00 8.88e-16 1.97e-09 -4.0 1.99e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 12 (scaled) (unscaled) Objective...............: 1.0910385864113841e+00 1.0910385864113841e+00 Dual infeasibility......: 1.9653363803463601e-09 1.9653363803463601e-09 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000093617350255e-04 1.0000093617350255e-04 Overall NLP error.......: 1.9653363803463601e-09 1.9653363803463601e-09 Number of objective function evaluations = 13 Number of objective gradient evaluations = 13 Number of equality constraint evaluations = 13 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 13 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 12 Total seconds in IPOPT = 24.449 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.06s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.051s) linear index maps built (0.0s) evaluator ready (total: 0.112s) evaluator created (0.112s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.112s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.6072582e+00 3.41e+00 5.96e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7302945e+00 1.08e-01 2.34e+00 -0.9 2.39e+00 0.0 1.00e+00 9.80e-01f 1 2 2.6960301e+00 8.79e-02 1.33e+00 -1.0 1.07e+00 -0.5 7.00e-01 4.69e-01f 1 3 2.6280318e+00 5.11e-02 8.64e-01 -1.0 3.54e-01 -0.1 8.04e-01 4.39e-01f 1 4 2.3733934e+00 5.33e-03 1.40e-01 -1.6 1.18e-01 -0.5 1.00e+00 1.00e+00f 1 5 2.1325749e+00 1.63e-03 3.04e-02 -2.7 4.72e-02 -1.0 9.50e-01 9.77e-01h 1 6 2.0917459e+00 1.98e-04 7.93e-03 -4.0 2.75e-02 -1.5 9.97e-01 9.70e-01h 1 7 2.0908861e+00 3.25e-06 2.01e-03 -4.0 8.43e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908855e+00 2.27e-09 3.47e-05 -4.0 9.49e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908838e+00 1.15e-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 2.0908788e+00 9.68e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908639e+00 8.71e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908191e+00 7.85e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906847e+00 7.07e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902827e+00 6.40e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890856e+00 5.86e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855767e+00 5.53e-04 2.31e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796325e+00 2.28e-03 1.36e-01 -4.0 9.55e+01 -6.7 1.00e+00 6.28e-01h 1 18 2.0806954e+00 1.63e-04 1.86e-01 -4.0 6.75e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775290e+00 7.67e-03 2.57e-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 2.0769579e+00 1.38e-03 7.04e-02 -4.0 1.91e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0762879e+00 2.16e-03 1.94e-02 -4.0 3.37e+02 -8.6 1.00e+00 7.40e-01h 1 22 2.0755106e+00 1.64e-03 2.70e-02 -4.0 5.85e+02 -9.1 1.00e+00 7.54e-01h 1 23 2.0758036e+00 3.60e-03 1.51e-02 -4.0 1.74e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753924e+00 1.38e-03 7.78e-04 -4.1 1.00e+02 -10.1 1.00e+00 1.00e+00h 1 25 2.0756722e+00 4.60e-04 7.64e-06 -4.0 2.16e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 5.85e-07 1.12e-06 -4.0 1.20e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.25e-09 8.46e-08 -4.0 4.34e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 3.84e-11 1.53e-09 -4.0 6.86e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121563963e+00 2.0756712121563963e+00 Dual infeasibility......: 1.5257671036436778e-09 1.5257671036436778e-09 Constraint violation....: 3.8383518585760612e-11 3.8383518585760612e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000029e-04 1.0000000000000029e-04 Overall NLP error.......: 1.5257671036436778e-09 1.5257671036436778e-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 = 24.904 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.058s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.059s) integrator 1 hessian structure: 0.055s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.057s) linear index maps built (0.0s) evaluator ready (total: 0.116s) evaluator created (0.116s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: equality constraint on trajectory variable du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.159s) optimizer initialization complete (total: 0.276s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1488 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1524 Total number of variables............................: 100 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.6837510e+00 3.25e+00 8.38e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8009548e+00 1.09e-01 6.15e+00 -0.9 2.74e+00 0.0 9.13e-01 1.00e+00f 1 2 2.7721038e+00 8.25e-03 7.15e-01 -0.9 1.19e-01 0.4 9.27e-01 1.00e+00f 1 3 2.4833084e+00 5.86e-03 1.67e-01 -1.6 7.81e-02 -0.1 9.83e-01 1.00e+00h 1 4 2.2868110e+00 6.12e-03 3.61e-01 -2.1 2.68e-01 -0.5 9.57e-01 5.69e-01f 1 5 2.1291907e+00 6.88e-03 1.05e-01 -3.0 1.96e-01 -1.0 9.95e-01 9.89e-01h 1 6 2.0998049e+00 3.32e-03 1.15e-01 -4.0 2.01e-01 -1.5 1.00e+00 7.66e-01h 1 7 2.0931068e+00 1.74e-03 2.65e-01 -4.0 5.33e-01 -2.0 1.00e+00 3.60e-01h 1 8 2.0911398e+00 4.49e-04 2.01e-01 -4.0 1.71e-01 -2.4 1.00e+00 7.44e-01h 1 9 2.0909159e+00 8.21e-06 1.15e-02 -4.0 5.87e-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 2.0909034e+00 4.82e-07 2.44e-04 -4.0 5.15e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908883e+00 1.20e-08 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908435e+00 7.86e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907091e+00 7.06e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903070e+00 6.39e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891097e+00 5.84e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856001e+00 5.51e-04 2.30e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796241e+00 2.29e-03 1.36e-01 -4.0 9.56e+01 -6.7 1.00e+00 6.31e-01h 1 18 2.0807338e+00 1.58e-04 1.82e-01 -4.0 6.59e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775284e+00 7.37e-03 2.46e-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 2.0769523e+00 1.13e-03 5.25e-02 -4.0 1.75e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0759813e+00 1.00e-03 2.35e-02 -4.0 3.14e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0754450e+00 5.01e-04 2.92e-02 -4.0 4.63e+02 -9.1 1.00e+00 7.27e-01H 1 23 2.0757711e+00 2.14e-03 1.04e-02 -4.0 1.41e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753805e+00 1.40e-03 4.79e-04 -4.1 7.78e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756723e+00 4.00e-04 6.98e-06 -4.0 1.82e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0753425e+00 6.31e-04 7.63e-07 -4.1 2.58e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756725e+00 3.34e-04 8.13e-07 -4.0 1.36e+01 -11.5 1.00e+00 1.00e+00h 1 28 2.0753425e+00 5.02e-04 2.60e-07 -4.1 2.05e+01 -12.0 1.00e+00 1.00e+00h 1 29 2.0756725e+00 5.53e-04 1.18e-07 -4.0 2.26e+01 -12.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0753425e+00 5.53e-04 9.06e-08 -4.1 2.26e+01 -12.9 1.00e+00 1.00e+00h 1 31 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -13.4 9.28e-01 1.00e+00h 1 32 2.0757517e+00 1.59e-01 1.53e-04 -4.0 1.29e+03 -13.9 1.00e+00 1.00e+00h 1 33 2.0753574e+00 2.64e-02 8.69e-05 -4.1 1.05e+03 -14.4 1.00e+00 1.00e+00h 1 34 2.0753474e+00 1.15e-05 2.14e-06 -4.1 1.63e+02 -14.8 1.00e+00 1.00e+00h 1 35 2.0756726e+00 7.25e-04 1.64e-07 -4.0 3.02e+01 -15.3 1.00e+00 1.00e+00h 1 36 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -15.8 1.00e+00 1.00e+00h 1 37 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -16.3 9.28e-01 1.00e+00h 1 38 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -16.8 8.16e-01 1.00e+00h 1 39 2.0742914e+00 4.02e-02 1.95e-02 -4.0 1.50e+04 -17.2 1.00e+00 1.46e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0748877e+00 5.32e-02 4.44e-05 -4.3 1.16e+03 -17.7 1.00e+00 1.00e+00h 1 41 2.0748919e+00 7.80e-04 1.27e-05 -4.3 8.19e+02 -18.2 1.00e+00 1.00e+00h 1 42 2.0756799e+00 8.81e-03 2.72e-06 -4.0 1.52e+02 -18.7 1.00e+00 1.00e+00h 1 43 2.0753438e+00 1.84e-03 6.19e-07 -4.1 7.48e+01 -19.1 1.00e+00 1.00e+00h 1 44 2.0753420e+00 1.03e-06 2.13e-08 -4.1 1.76e+01 -19.6 1.00e+00 1.00e+00h 1 45 2.0756726e+00 7.23e-04 1.61e-07 -4.0 2.96e+01 -20.0 1.00e+00 1.00e+00h 1 46 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -20.0 1.00e+00 1.00e+00h 1 47 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 48 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -20.0 8.16e-01 1.00e+00h 1 49 2.0739622e+00 1.34e-06 1.83e-05 -6.1 8.40e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0741067e+00 2.44e-02 3.22e-02 -4.0 5.48e+04 -20.0 1.00e+00 5.98e-02f 1 51 2.0748071e+00 7.96e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 52 2.0748241e+00 9.52e-04 1.02e-05 -4.3 6.22e+02 -20.0 1.00e+00 1.00e+00h 1 53 2.0748237e+00 1.04e-07 2.35e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 54 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 55 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 56 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 57 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 58 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 59 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0741065e+00 2.43e-02 3.23e-02 -4.0 5.49e+04 -20.0 1.00e+00 5.97e-02f 1 61 2.0748071e+00 7.95e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 62 2.0748240e+00 9.52e-04 1.02e-05 -4.3 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 63 2.0748236e+00 1.04e-07 2.36e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 64 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 65 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 66 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 68 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 69 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0739617e+00 2.11e-08 1.94e-06 -6.1 2.49e+02 -20.0 1.00e+00 1.00e+00h 1 71 2.0740871e+00 2.06e-02 3.56e-02 -4.0 6.55e+04 -20.0 1.00e+00 5.03e-02f 1 72 2.0748016e+00 7.32e-02 4.77e-05 -4.3 1.41e+03 -20.0 1.00e+00 1.00e+00f 1 73 2.0748204e+00 9.23e-04 8.08e-06 -4.3 5.36e+02 -20.0 1.00e+00 1.00e+00h 1 74 2.0748200e+00 1.25e-07 3.57e-07 -4.3 7.03e+01 -20.0 1.00e+00 1.00e+00h 1 75 2.0740036e+00 1.08e-02 5.23e-04 -6.5 1.81e+02 -20.0 8.93e-01 1.00e+00f 1 76 2.0739632e+00 2.51e-04 3.38e-04 -6.5 7.34e+02 -20.0 7.62e-01 1.00e+00h 1 77 2.0739539e+00 4.81e-07 1.83e-05 -6.5 9.12e+02 -20.0 1.00e+00 1.00e+00h 1 78 2.0740681e+00 1.80e-02 3.75e-02 -4.0 7.10e+04 -20.0 1.00e+00 4.51e-02f 1 79 2.0747866e+00 7.58e-02 5.27e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0748068e+00 8.84e-04 6.22e-06 -4.3 4.91e+02 -20.0 1.00e+00 1.00e+00h 1 81 2.0748064e+00 1.21e-07 3.63e-07 -4.3 6.91e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 83 2.0739630e+00 2.41e-04 3.38e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 84 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 85 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 86 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 87 2.0748064e+00 8.81e-04 6.11e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 88 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0739630e+00 2.40e-04 3.37e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 91 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 92 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 93 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 94 2.0748064e+00 8.81e-04 6.10e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 95 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 97 2.0739630e+00 2.40e-04 3.37e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 98 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 99 2.0739527e+00 5.48e-08 5.24e-06 -6.5 3.94e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0740476e+00 1.42e-02 4.44e-02 -4.0 9.26e+04 -20.0 1.00e+00 3.50e-02f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0740476226011366e+00 2.0740476226011366e+00 Dual infeasibility......: 4.4440948322914557e-02 4.4440948322914557e-02 Constraint violation....: 1.4164404722592394e-02 1.4164404722592394e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.3095644031728807e-04 2.3095644031728807e-04 Overall NLP error.......: 4.4440948322914557e-02 4.4440948322914557e-02 Number of objective function evaluations = 103 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 103 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 26.341 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.06s integrator 2 jacobian structure: 0.056s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.115s) integrator 1 hessian structure: 0.053s integrator 2 hessian structure: 0.052s integrator 3 hessian structure: 0.078s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.352s sub-objective 2 (QuadraticRegularizer): 0.097s sub-objective 3 (MinimumTimeObjective): 0.018s objective hessian structure: 0.571s hessian structure: 1749 nonzeros (0.755s) linear index maps built (0.0s) evaluator ready (total: 0.871s) evaluator created (0.871s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.125s) 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 (4.576s) optimizer initialization complete (total: 5.571s) 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 1.4810194e+00 3.82e+00 3.48e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7207733e+00 1.81e-01 3.49e+00 -1.0 2.41e+00 0.0 5.45e-01 1.00e+00h 1 2 2.6272977e+00 8.38e-02 3.68e+00 -0.7 1.28e+00 -0.5 1.00e+00 4.61e-01f 1 3 2.5270163e+00 1.53e-01 1.78e+00 -1.2 1.42e+00 -1.0 5.76e-01 5.65e-01f 1 4 2.5828485e+00 1.16e-02 5.02e-01 -1.2 2.51e-01 -0.5 8.62e-01 1.00e+00f 1 5 2.2195441e+00 9.42e-03 1.58e-01 -1.9 2.73e-01 -1.0 9.91e-01 8.43e-01f 1 6 2.1137094e+00 5.85e-04 6.59e-02 -2.7 7.54e-02 -1.5 9.79e-01 1.00e+00h 1 7 2.0913092e+00 3.51e-05 3.41e-03 -4.0 9.75e-03 -2.0 1.00e+00 9.69e-01h 1 8 2.0909226e+00 9.61e-07 1.04e-04 -4.0 6.57e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909210e+00 2.72e-09 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909160e+00 9.68e-10 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909010e+00 8.72e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908562e+00 7.85e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907218e+00 7.08e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903197e+00 6.41e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891223e+00 5.86e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856124e+00 5.54e-04 2.30e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796299e+00 2.31e-03 1.36e-01 -4.0 9.56e+01 -6.7 1.00e+00 6.31e-01h 1 18 2.0807033e+00 1.28e-04 1.72e-01 -4.0 6.85e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775256e+00 7.04e-03 2.27e-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 2.0769739e+00 1.34e-03 5.45e-02 -4.0 2.04e+02 -8.2 9.95e-01 1.00e+00h 1 21 2.0763062e+00 1.38e-03 3.62e-02 -4.0 3.51e+02 -8.6 1.00e+00 6.53e-01h 1 22 2.0755364e+00 3.40e-03 3.32e-02 -4.0 6.20e+02 -9.1 1.00e+00 7.52e-01h 1 23 2.0758061e+00 3.45e-03 1.84e-02 -4.0 1.85e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0756807e+00 5.52e-04 9.10e-04 -4.0 9.83e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.78e-06 1.47e-05 -4.0 2.26e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 8.75e-08 1.25e-06 -4.0 1.39e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.59e-09 1.08e-07 -4.0 4.64e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.70e-11 1.84e-09 -4.0 7.42e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121663061e+00 2.0756712121663061e+00 Dual infeasibility......: 1.8398094774280203e-09 1.8398094774280203e-09 Constraint violation....: 4.7048365203750109e-11 4.7048365203750109e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000006e-04 1.0000000000000006e-04 Overall NLP error.......: 1.8398094774280203e-09 1.8398094774280203e-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 = 38.229 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: 0.064s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.064s) 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: 0.001s hessian structure: 1749 nonzeros (0.055s) linear index maps built (0.0s) evaluator ready (total: 0.12s) evaluator created (0.121s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: bounds constraint on 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 (0.14s) 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...: 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 2.7090306e+00 4.23e+00 5.70e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6866137e+00 4.50e-02 5.05e-01 -1.0 3.05e+00 - 1.00e+00 1.00e+00f 1 2 2.4851528e+00 4.83e-03 6.87e-01 -1.5 1.22e-01 - 6.85e-01 1.00e+00h 1 3 2.1672665e+00 2.24e-03 3.48e-02 -2.2 5.25e-02 - 9.90e-01 1.00e+00f 1 4 2.0933878e+00 1.52e-04 2.21e-03 -3.7 1.55e-02 - 9.78e-01 1.00e+00h 1 5 2.0908948e+00 3.61e-05 6.44e-04 -4.0 1.53e-01 - 1.00e+00 1.00e+00h 1 6 2.0908977e+00 1.17e-07 3.08e-06 -4.0 1.73e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 1.35e-10 1.24e-10 -4.0 2.74e-02 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971970725738e+00 2.0908971970725738e+00 Dual infeasibility......: 1.2398035069828388e-10 1.2398035069828388e-10 Constraint violation....: 1.3484860127946537e-10 1.3484860127946537e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000897592690776e-04 1.0000897592690776e-04 Overall NLP error.......: 8.9759269077588138e-09 8.9759269077588138e-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 = 25.731 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.062s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.062s) integrator 1 hessian structure: 0.048s 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: 0.001s hessian structure: 1749 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.113s) evaluator created (0.113s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: bounds constraint on trajectory variable 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: 0.114s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.3978233e+00 1.76e+00 4.77e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5185656e+00 7.44e-01 7.56e-01 -1.0 8.08e+00 -4.0 8.02e-01 7.00e-01f 1 2 2.4506839e+00 1.79e-01 1.38e+00 -0.9 1.79e+00 -1.8 3.87e-01 8.13e-01f 1 3 2.4777798e+00 9.00e-03 3.33e-01 -1.3 3.70e-01 -1.3 9.39e-01 1.00e+00h 1 4 2.2498208e+00 8.82e-02 1.14e-01 -4.0 1.06e+00 -1.8 6.81e-01 7.93e-01f 1 5 2.1704092e+00 1.08e-02 1.66e-01 -2.1 5.62e-01 -2.3 9.16e-01 1.00e+00h 1 6 2.1381583e+00 8.13e-03 4.27e-01 -2.3 1.24e+00 -2.8 9.77e-01 5.49e-01h 1 7 2.0986102e+00 1.97e-03 5.17e-02 -3.0 2.95e-01 -3.3 1.00e+00 9.06e-01h 1 8 2.0909463e+00 1.94e-04 8.68e-03 -4.0 1.62e-01 -3.7 1.00e+00 1.00e+00h 1 9 2.0908612e+00 2.21e-05 2.08e-04 -4.0 3.15e-01 -4.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0907777e+00 5.40e-07 1.11e-04 -4.0 8.85e-01 -4.7 1.00e+00 1.00e+00h 1 11 2.0905691e+00 1.85e-06 6.99e-04 -4.0 2.23e+00 -5.2 1.00e+00 1.00e+00h 1 12 2.0902109e+00 5.16e-06 2.64e-03 -4.0 4.15e+00 -5.6 1.00e+00 1.00e+00h 1 13 2.0899607e+00 3.56e-06 3.14e-03 -4.0 5.30e+00 -6.1 1.00e+00 1.00e+00h 1 14 2.0898605e+00 1.72e-06 1.75e-03 -4.0 7.20e+00 -6.6 1.00e+00 1.00e+00h 1 15 2.0898291e+00 5.63e-07 1.24e-03 -4.0 1.09e+01 -7.1 1.00e+00 1.00e+00h 1 16 2.0898242e+00 1.32e-06 8.39e-04 -4.0 9.24e+00 -7.5 1.00e+00 1.00e+00h 1 17 2.0898222e+00 5.32e-07 1.38e-04 -4.0 3.65e+00 -8.0 1.00e+00 1.00e+00h 1 18 2.0898219e+00 1.92e-08 3.43e-06 -4.0 7.22e-01 -8.5 1.00e+00 1.00e+00h 1 19 2.0898219e+00 4.18e-11 1.32e-08 -4.0 5.87e-02 -9.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0898218e+00 5.07e-14 1.16e-11 -4.0 2.01e-03 -9.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 20 (scaled) (unscaled) Objective...............: 2.0898218497896717e+00 2.0898218497896717e+00 Dual infeasibility......: 1.1605324096468014e-11 1.1605324096468014e-11 Constraint violation....: 5.0653925498522767e-14 5.0653925498522767e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000051e-04 1.0000000000000051e-04 Overall NLP error.......: 1.1605324096468014e-11 1.1605324096468014e-11 Number of objective function evaluations = 21 Number of objective gradient evaluations = 21 Number of equality constraint evaluations = 21 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 21 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 20 Total seconds in IPOPT = 25.433 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.06s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.051s) linear index maps built (0.0s) evaluator ready (total: 0.112s) evaluator created (0.112s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: bounds constraint on trajectory variable x applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.0s) optimizer initialization complete (total: 0.112s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 35 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.3768792e+00 3.68e+00 4.34e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.3749476e+00 3.40e+00 8.65e+00 -4.0 5.41e+01 -2.0 7.68e-03 7.47e-02h 1 2 1.4336939e+00 3.14e+00 1.58e+01 -0.2 1.02e+01 -1.6 3.25e-01 7.56e-02f 1 3 1.8560709e+00 3.50e+00 8.12e+01 0.3 5.70e+01 -2.1 1.85e-01 7.93e-02f 1 4 1.8590722e+00 3.49e+00 4.36e+01 -4.0 1.38e+03 -2.5 7.16e-03 1.11e-03h 5 5 2.1728184e+00 3.41e+00 7.77e+02 1.8 3.82e+02 -1.2 1.09e-01 9.24e-03f 2 6 2.5865652e+00 2.44e+00 5.78e+02 0.8 2.89e+01 -1.7 2.74e-01 2.68e-01h 1 7 2.7893327e+00 2.59e+00 5.38e+02 -4.0 1.38e+02 -2.2 8.72e-02 1.01e-01h 1 8 2.9443882e+00 2.38e+00 1.71e+03 0.9 2.56e+01 -1.7 2.86e-01 7.85e-02h 1 9 3.0814809e+00 1.95e+00 1.88e+03 -4.0 4.68e+02 -2.2 5.01e-02 3.26e-02h 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 3.2068828e+00 1.95e+00 3.03e+02 1.8 1.45e+04 -2.7 2.03e-03 2.89e-04f 2 11 3.2388263e+00 1.92e+00 2.97e+02 -4.0 2.81e+01 -3.2 7.87e-02 1.69e-02h 1 12 3.2854459e+00 1.87e+00 5.73e+03 0.5 2.02e+01 -3.6 6.17e-01 2.36e-02h 1 13 3.5764867e+00 1.69e+00 1.50e+04 -0.4 4.69e+01 -4.1 2.23e-01 8.21e-02h 1 14 3.6723823e+00 1.66e+00 1.23e+06 0.9 4.89e+02 -3.7 1.00e+00 1.60e-02h 1 15 3.7394382e+00 1.65e+00 3.48e+06 2.5 9.39e+04 -4.2 7.42e-03 2.63e-03h 1 16 3.7423652e+00 1.65e+00 4.43e+08 2.5 2.07e+06 -4.6 1.23e-02 1.01e-04h 1 17 3.7422610e+00 1.65e+00 7.23e+11 2.5 4.56e+05 -4.2 4.57e-02 2.65e-05h 1 18r 3.7422610e+00 1.65e+00 1.00e+03 2.5 0.00e+00 -4.7 0.00e+00 2.68e-07R 4 19r 3.9257208e+00 8.36e-01 6.72e+03 1.4 9.67e+02 - 7.01e-01 1.82e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 3.9381026e+00 8.12e-01 1.97e+01 -4.0 1.41e+01 -5.2 5.95e-01 2.86e-02h 1 21 3.9519851e+00 8.14e-01 2.41e+02 -0.6 1.27e+03 -5.6 7.06e-02 1.09e-02h 1 22r 3.9519851e+00 8.14e-01 9.99e+02 -0.1 0.00e+00 -6.1 0.00e+00 4.66e-07R 14 23r 4.0435327e+00 3.07e-01 9.86e+02 1.7 8.43e+03 - 4.63e-02 1.05e-03f 1 24 4.0454471e+00 3.06e-01 7.70e+02 -0.9 3.27e+03 -6.6 7.51e-01 1.90e-03h 1 25 4.5794389e+00 3.68e+03 7.72e+02 -0.3 1.64e+05 -7.1 4.86e-02 5.13e-02F 1 26 4.5900917e+00 3.63e+03 7.63e+02 -0.9 1.30e+02 -7.6 1.23e-02 1.24e-02h 1 27 4.5948903e+00 3.60e+03 8.08e+02 -0.9 3.50e+03 -8.0 6.51e-02 8.71e-03h 1 28 4.6021984e+00 3.59e+03 8.10e+02 -0.9 3.92e+03 -8.5 2.20e-02 2.25e-03h 1 29 4.6095136e+00 3.58e+03 8.12e+02 -0.9 3.87e+03 -9.0 6.62e-03 2.90e-03h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 4.6300732e+00 3.55e+03 9.75e+02 -0.9 1.76e+03 -9.5 7.53e-02 9.44e-03h 1 31 4.6514966e+00 3.51e+03 9.72e+03 -0.9 4.53e+03 -9.9 8.81e-02 9.38e-03h 1 32 4.6534075e+00 3.51e+03 8.72e+05 -0.9 1.66e+03 -10.4 3.51e-02 4.35e-04h 1 33 4.6536982e+00 3.51e+03 7.40e+08 -0.9 1.96e+03 -10.9 3.15e-02 3.72e-05h 1 34r 4.6536982e+00 3.51e+03 1.00e+03 3.5 0.00e+00 -11.4 0.00e+00 2.08e-07R 2 35r 4.5076444e+00 7.26e+02 9.99e+02 2.0 5.26e+06 - 9.00e-04 9.96e-04f 1 36 4.5087319e+00 7.25e+02 4.43e+02 -0.9 1.09e+04 -11.8 1.39e-01 5.14e-04h 1 37 4.5090009e+00 7.25e+02 5.77e+05 -0.9 1.92e+03 -12.3 1.71e-01 1.36e-04h 1 38 4.5091615e+00 7.25e+02 3.61e+09 -0.9 6.89e+03 -12.8 1.97e-01 3.11e-05h 1 39r 4.5091615e+00 7.25e+02 1.00e+03 2.9 0.00e+00 -13.3 0.00e+00 1.76e-07R 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40r 4.2902800e+00 1.98e+02 1.01e+03 2.3 1.32e+06 - 3.93e-04 1.01e-03f 1 41 4.2901972e+00 1.97e+02 1.25e+03 -0.9 8.10e+02 -13.8 6.59e-01 8.62e-04h 1 42 4.2909133e+00 1.97e+02 8.38e+05 -0.9 1.33e+02 -14.2 1.83e-01 2.74e-04h 1 43 4.2909626e+00 1.97e+02 1.32e+10 -0.9 5.72e+01 -14.7 2.30e-01 1.44e-05h 1 44r 4.2909626e+00 1.97e+02 1.00e+03 2.3 0.00e+00 -15.2 0.00e+00 8.05e-08R 2 45r 3.8188335e+00 1.83e+02 1.04e+03 4.1 8.85e+06 - 4.35e-04 2.51e-05f 1 46r 3.7431029e+00 3.56e+01 1.04e+03 -3.9 3.14e+05 - 1.97e-04 1.34e-03f 1 47 3.7428795e+00 3.56e+01 7.43e+02 -0.9 1.82e+02 -15.7 7.01e-01 1.54e-03h 1 48 3.7444324e+00 3.56e+01 2.76e+05 -0.9 1.70e+02 -16.1 1.82e-01 4.99e-04h 1 49 3.7444856e+00 3.56e+01 4.85e+09 -0.9 1.68e+02 -16.6 2.73e-01 1.54e-05h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50r 3.7444856e+00 3.56e+01 1.00e+03 1.6 0.00e+00 -17.1 0.00e+00 8.97e-08R 2 51r 3.7494245e+00 8.89e+00 1.04e+03 2.0 8.77e+04 - 7.90e-02 1.03e-03f 1 52 3.7493500e+00 8.88e+00 2.55e+03 -0.9 3.18e+02 -17.6 6.97e-01 4.48e-04h 1 53 3.7498029e+00 8.88e+00 3.11e+06 -0.9 3.19e+02 -18.1 1.81e-01 1.48e-04h 1 54r 3.7498029e+00 8.88e+00 1.00e+03 0.9 0.00e+00 -18.5 0.00e+00 2.86e-07R 4 55r 3.8083221e+00 1.52e+00 9.98e+02 1.8 4.62e+04 - 3.08e-01 1.12e-03f 1 56 3.8083532e+00 1.52e+00 1.64e+03 -4.0 5.67e+01 -19.0 6.52e-01 3.94e-04h 1 57 3.8085064e+00 1.52e+00 2.23e+07 -0.4 2.43e+03 -19.5 1.00e+00 7.35e-05h 1 58r 3.8085064e+00 1.52e+00 1.00e+03 1.7 0.00e+00 -20.0 0.00e+00 2.52e-07R 3 59r 3.8062478e+00 1.07e+00 6.94e+02 0.5 1.18e+03 - 9.76e-01 3.18e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 3.8063016e+00 1.07e+00 1.26e+03 -4.0 1.20e+02 -20.0 6.83e-01 5.37e-04h 1 61 3.8065370e+00 1.07e+00 1.35e+07 -0.4 6.35e+03 -20.0 1.00e+00 9.30e-05h 1 62r 3.8065370e+00 1.07e+00 1.00e+03 1.6 0.00e+00 -20.0 0.00e+00 3.51e-07R 3 63r 3.8442749e+00 3.30e-01 7.32e+02 0.4 5.88e+02 - 9.99e-01 4.05e-02f 1 64 3.8443194e+00 3.30e-01 1.47e+03 -4.0 1.56e+02 -20.0 7.18e-01 4.83e-04h 1 65 3.8445445e+00 3.30e-01 1.86e+07 -0.5 8.17e+03 -20.0 1.00e+00 7.88e-05h 1 66r 3.8445445e+00 3.30e-01 1.00e+03 1.6 0.00e+00 -20.0 0.00e+00 2.88e-07R 3 67r 3.9837697e+00 3.03e-01 7.21e+02 0.2 2.19e+02 - 1.00e+00 1.16e-01f 1 68r 4.0452675e+00 3.69e+00 9.43e+01 0.3 2.49e+02 - 1.00e+00 9.61e-01f 1 69r 4.1545434e+00 7.39e-01 1.56e+01 -0.5 1.30e+02 - 9.98e-01 8.82e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70r 4.2565141e+00 1.99e-01 5.73e+00 -0.6 7.04e-01 -2.0 1.00e+00 9.94e-01f 1 71 4.2567057e+00 1.99e-01 2.03e+03 -4.0 2.03e+02 -20.0 6.60e-02 3.21e-05h 1 72 4.2679086e+00 1.99e-01 4.04e+04 -0.6 3.83e+03 -20.0 2.12e-02 2.75e-04f 3 73 4.3046758e+00 1.99e-01 4.04e+04 -0.2 1.33e+04 -20.0 8.51e-04 8.51e-04s 12 74r 4.3046758e+00 1.99e-01 9.99e+02 -0.6 0.00e+00 -20.0 0.00e+00 2.90e-07R 6 75r 4.3070293e+00 1.99e-01 9.92e+02 -0.6 4.63e+01 - 1.00e+00 7.03e-03f 1 76r 4.3199161e+00 1.99e-01 3.81e+00 -1.3 7.56e+00 - 1.00e+00 9.96e-01f 1 77r 4.3130946e+00 1.99e-01 1.51e+00 -2.7 7.84e+00 - 1.00e+00 9.71e-01f 1 78r 4.3127049e+00 1.99e-01 1.57e-03 -4.0 2.08e-01 - 1.00e+00 1.00e+00f 1 79r 4.3252963e+00 1.99e-01 1.77e-05 -4.0 7.64e-01 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80r 4.3248368e+00 1.99e-01 4.24e-09 -4.0 1.46e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 80 (scaled) (unscaled) Objective...............: 4.3248373362928660e+00 4.3248373362928660e+00 Dual infeasibility......: 2.0024381483993645e+00 2.0024381483993645e+00 Constraint violation....: 1.9875045033881733e-01 1.9875045033881733e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000002732359e-04 1.0000000002732359e-04 Overall NLP error.......: 2.0024381483993645e+00 2.0024381483993645e+00 Number of objective function evaluations = 160 Number of objective gradient evaluations = 72 Number of equality constraint evaluations = 160 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 93 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 81 Total seconds in IPOPT = 25.493 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: 0.062s 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 sub-objective 4 (GlobalObjective): 0.716s objective hessian structure: 0.717s hessian structure: 1804 nonzeros (0.767s) linear index maps built (0.0s) evaluator ready (total: 0.831s) evaluator created (0.831s) 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: 0.832s) 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 3.2578762e+00 3.03e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.3968573e+00 3.18e-01 8.75e-01 -1.0 3.54e+00 -2.0 6.35e-01 9.96e-01f 1 2 2.2818996e+00 2.20e-01 4.70e-01 -1.6 3.13e+00 -2.5 9.20e-01 1.00e+00f 1 3 2.1850293e+00 1.94e-02 1.11e-01 -2.0 8.82e-01 -3.0 9.97e-01 1.00e+00h 1 4 2.1006171e+00 3.84e-03 9.37e-03 -3.2 4.39e-01 -3.4 9.98e-01 9.43e-01h 1 5 2.0910085e+00 2.23e-04 5.66e-04 -4.0 1.62e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0909006e+00 6.83e-06 8.54e-05 -4.0 5.00e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0907531e+00 8.14e-07 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0903119e+00 7.71e-06 3.45e-05 -4.0 4.49e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0889989e+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 2.0851595e+00 6.68e-04 2.78e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0796448e+00 2.15e-03 1.75e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.43e-01h 1 12 2.0802509e+00 5.79e-04 1.92e-01 -4.0 7.04e+01 -7.2 1.00e+00 9.59e-01H 1 13 2.0775149e+00 8.20e-03 1.97e-02 -4.0 1.24e+02 -7.7 1.00e+00 9.38e-01h 1 14 2.0768222e+00 1.58e-03 6.59e-02 -4.0 2.04e+02 -8.2 1.00e+00 8.90e-01h 1 15 2.0762260e+00 1.72e-03 3.66e-02 -4.0 3.63e+02 -8.7 1.00e+00 7.54e-01h 1 16 2.0755066e+00 1.75e-03 3.73e-02 -4.0 6.35e+02 -9.2 1.00e+00 6.90e-01h 1 17 2.0757931e+00 3.49e-03 1.53e-02 -4.0 1.75e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0753772e+00 1.32e-03 6.54e-04 -4.1 9.29e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0756723e+00 4.79e-04 5.68e-06 -4.0 2.15e+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 5.92e-07 9.73e-07 -4.0 1.12e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0756712e+00 1.75e-09 6.43e-08 -4.0 3.89e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0756712e+00 2.52e-11 1.00e-09 -4.0 5.64e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0756712121319683e+00 2.0756712121319683e+00 Dual infeasibility......: 1.0039161710056685e-09 1.0039161710056685e-09 Constraint violation....: 2.5234481171310108e-11 2.5234481171310108e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000056e-04 1.0000000000000056e-04 Overall NLP error.......: 1.0039161710056685e-09 1.0039161710056685e-09 Number of objective function evaluations = 24 Number of objective gradient evaluations = 23 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 23 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 22 Total seconds in IPOPT = 32.460 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: 0.068s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.407s jacobian structure: 1600 nonzeros (2.476s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.841s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (3.893s) linear index maps built (0.0s) evaluator ready (total: 6.369s) evaluator created (6.393s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.001s) optimizer initialization complete (total: 6.395s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.1277913e+00 2.51e+00 3.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6621757e+00 5.13e-02 3.52e+00 -1.0 1.64e+00 0.0 9.72e-01 1.00e+00f 1 2 2.3941159e+00 1.53e-02 1.18e+00 -1.2 1.94e-01 0.4 9.98e-01 1.00e+00h 1 3 2.3094809e+00 1.79e-03 4.10e-01 -2.0 1.33e-01 -0.1 9.96e-01 1.00e+00h 1 4 2.1837356e+00 2.91e-03 5.04e-01 -2.5 4.30e-01 -0.5 9.97e-01 3.78e-01f 1 5 2.1339358e+00 1.89e-03 1.93e-01 -3.6 1.38e-01 -1.0 1.00e+00 3.52e-01h 1 6 2.0976610e+00 3.00e-04 5.22e-02 -3.9 4.01e-02 -1.5 1.00e+00 9.20e-01h 1 7 2.0907951e+00 1.38e-05 9.46e-03 -4.0 2.19e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0909214e+00 1.90e-07 8.95e-05 -4.0 2.41e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909152e+00 8.15e-09 1.51e-05 -4.0 1.24e-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 2.0909118e+00 4.57e-10 1.52e-05 -4.0 3.73e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909028e+00 3.74e-09 1.52e-05 -4.0 1.12e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908756e+00 3.35e-08 4.39e-05 -4.0 3.36e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0905964e+00 2.12e-05 2.63e-04 -4.1 1.08e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0904580e+00 7.09e-05 6.08e-04 -4.0 3.40e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0895765e+00 3.67e-05 1.84e-03 -4.0 1.01e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0883345e+00 8.73e-05 4.67e-02 -4.0 2.78e+01 -6.3 1.00e+00 4.95e-01h 1 17 2.0848623e+00 1.18e-03 4.66e-02 -4.0 5.60e+01 -6.7 1.00e+00 1.00e+00f 1 18 2.0845554e+00 1.17e-03 5.51e-01 -3.5 6.62e+02 -7.2 1.00e+00 2.67e-02h 2 19 2.0828316e+00 1.51e-03 5.27e-02 -4.0 1.38e+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 2.0828349e+00 9.69e-04 5.52e-02 -4.0 9.09e+03 -8.2 5.33e-03 1.70e-02h 6 21 2.0823594e+00 9.55e-04 1.24e-02 -4.0 1.20e+01 -5.9 1.00e+00 1.00e+00h 1 22 2.0823419e+00 2.46e-04 1.17e-02 -4.0 5.06e+00 -6.4 9.92e-01 1.00e+00h 1 23 2.0823502e+00 2.18e-04 5.04e-03 -4.0 1.18e+01 -6.9 1.00e+00 6.16e-01h 1 24 2.0821987e+00 2.51e-04 2.76e-03 -4.0 2.60e+01 -7.4 1.00e+00 1.00e+00h 1 25 2.0820020e+00 1.10e-04 5.17e-03 -4.0 4.83e+01 -7.8 1.00e+00 1.00e+00h 1 26 2.0818798e+00 1.96e-04 6.37e-03 -4.0 6.24e+01 -8.3 1.00e+00 1.00e+00h 1 27 2.0818480e+00 1.03e-04 2.15e-03 -4.0 5.03e+01 -8.8 1.00e+00 1.00e+00h 1 28 2.0818437e+00 8.76e-06 1.82e-04 -4.0 1.79e+01 -9.3 1.00e+00 1.00e+00h 1 29 2.0818434e+00 1.14e-07 3.70e-06 -4.0 2.46e+00 -9.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0818434e+00 2.08e-10 9.56e-09 -4.0 1.22e-01 -10.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 2.0818434106700008e+00 2.0818434106700008e+00 Dual infeasibility......: 9.5643344381543538e-09 9.5643344381543538e-09 Constraint violation....: 2.0815082990566225e-10 2.0815082990566225e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000019e-04 1.0000000000000019e-04 Overall NLP error.......: 9.5643344381543538e-09 9.5643344381543538e-09 Number of objective function evaluations = 41 Number of objective gradient evaluations = 31 Number of equality constraint evaluations = 41 Number of inequality constraint evaluations = 41 Number of equality constraint Jacobian evaluations = 31 Number of inequality constraint Jacobian evaluations = 31 Number of Lagrangian Hessian evaluations = 30 Total seconds in IPOPT = 27.894 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.069s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 3.297s jacobian structure: 1680 nonzeros (3.367s) integrator 1 hessian structure: 0.054s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 10.729s 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 (10.784s) linear index maps built (0.0s) evaluator ready (total: 14.152s) evaluator created (14.181s) 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: 14.182s) 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 1.2034477e+01 2.35e+00 3.12e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 5.9923072e+00 1.01e+00 1.95e+00 -0.8 1.73e+00 0.0 7.88e-01 5.72e-01f 1 2 4.8192657e+00 6.50e-01 7.99e+00 -4.0 7.14e-01 0.4 3.21e-01 3.53e-01h 1 3 5.3226868e+00 5.06e-01 1.33e+01 0.4 5.09e+00 -0.1 3.38e-01 7.73e-02f 1 4 3.4153679e+00 9.77e-03 2.38e+00 -1.1 6.84e-01 -0.5 7.81e-01 1.00e+00f 1 5 2.9619014e+00 1.74e-01 2.00e+00 -0.8 2.94e+00 -1.0 2.87e-01 1.58e-01f 1 6 2.7853935e+00 1.14e-01 7.13e-01 -1.2 1.23e+00 -1.5 9.95e-01 9.99e-01f 1 7 2.4305534e+00 2.85e-01 6.23e-01 -1.5 3.41e+00 -2.0 9.55e-01 5.15e-01f 1 8 2.3326962e+00 1.68e-01 9.11e-01 -1.7 4.81e+00 -2.4 9.68e-01 5.71e-01h 1 9 2.2424231e+00 1.35e-01 2.05e-01 -2.0 5.14e+00 -2.9 9.97e-01 2.00e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.1135769e+00 1.08e-01 2.71e-01 -2.7 4.45e+00 -3.4 1.00e+00 8.82e-01h 1 11 2.0978933e+00 2.55e-03 6.65e-02 -3.1 8.83e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0910182e+00 3.24e-04 7.70e-03 -4.0 4.49e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0909828e+00 2.51e-05 8.17e-04 -4.0 9.72e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0907805e+00 3.22e-06 2.53e-04 -4.0 2.82e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0906729e+00 3.93e-07 3.54e-04 -4.0 1.15e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0903462e+00 4.19e-06 7.51e-04 -4.0 3.62e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0893573e+00 4.15e-05 3.23e-03 -4.0 1.11e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0872358e+00 2.97e-04 1.48e-02 -4.0 2.89e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0868879e+00 3.14e-04 8.02e-01 -3.4 5.01e+02 -6.8 1.00e+00 1.77e-02h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0838832e+00 5.02e-03 8.80e-02 -4.0 7.92e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0821991e+00 2.88e-03 3.79e-02 -4.0 1.69e+02 -7.7 7.91e-01 1.00e+00h 1 22 2.0827686e+00 1.29e-03 1.88e-02 -4.0 3.00e+01 -6.4 1.00e+00 1.00e+00h 1 23 2.0840565e+00 2.27e-03 1.09e+00 -2.0 5.10e+02 -6.0 1.46e-01 1.46e-02f 1 24 2.0864099e+00 1.74e-02 1.22e+00 -3.0 1.07e+02 -6.5 1.00e+00 6.16e-02h 5 25 2.0905077e+00 4.51e-02 1.17e-01 -3.0 5.08e+01 -6.9 9.18e-01 1.00e+00h 1 26 2.0979433e+00 9.54e-02 1.86e-01 -3.0 1.38e+02 -7.4 5.43e-01 1.00e+00h 1 27 2.0928745e+00 4.01e-02 6.99e-01 -3.0 2.52e+00 -4.3 1.00e+00 5.94e-01h 1 28 2.0916805e+00 3.76e-02 5.92e-01 -3.0 8.90e+00 -4.8 5.72e-01 6.22e-02h 1 29 2.0916588e+00 1.52e-03 1.54e-02 -3.0 2.08e+00 -5.2 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0927080e+00 2.65e-03 3.49e-03 -3.0 5.75e+00 -5.7 1.00e+00 1.00e+00h 1 31 2.0840613e+00 1.76e-02 2.79e-02 -4.5 1.75e+01 -6.2 9.80e-01 9.96e-01h 1 32 2.0821021e+00 2.84e-03 1.02e-02 -4.5 3.14e+01 -6.7 1.00e+00 1.00e+00h 1 33 2.0822570e+00 4.08e-03 1.17e-02 -4.0 4.18e+01 -7.1 1.00e+00 1.00e+00h 1 34 2.0819315e+00 3.11e-03 8.51e-03 -4.1 8.85e+01 -7.6 1.00e+00 1.00e+00h 1 35 2.0821571e+00 2.23e-03 1.03e-02 -4.0 6.34e+01 -7.2 1.00e+00 1.00e+00h 1 36 2.0819992e+00 6.71e-04 2.65e-02 -4.0 5.05e+01 -7.7 9.06e-01 1.00e+00h 1 37 2.0826764e+00 1.11e-04 2.08e+00 -4.0 1.79e+01 -5.4 1.00e+00 2.77e-01h 1 38 2.0818711e+00 6.88e-07 2.99e-03 -4.0 9.37e-02 -2.3 1.00e+00 1.00e+00h 1 39 2.0828466e+00 5.61e-06 1.92e-01 -4.0 9.07e-01 -1.9 9.18e-02 2.99e-01H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0821089e+00 1.41e-07 8.51e-02 -4.1 2.87e-01 -2.4 4.83e-01 1.00e+00f 1 41 2.0820088e+00 7.05e-07 3.72e-03 -4.0 3.91e-02 -1.0 1.00e+00 1.00e+00h 1 42 2.0818969e+00 9.34e-07 1.22e-03 -4.0 5.20e-02 -1.5 1.00e+00 1.00e+00h 1 43 2.0818920e+00 1.23e-07 1.46e-04 -4.0 1.79e-02 -2.0 1.00e+00 1.00e+00h 1 44 2.0818940e+00 2.11e-08 3.42e-05 -4.0 6.44e-03 -2.5 1.00e+00 1.00e+00h 1 45 2.0817857e+00 2.36e-07 8.42e-05 -4.1 1.38e-02 -2.9 1.00e+00 1.00e+00h 1 46 2.0818997e+00 5.62e-07 6.82e-05 -4.0 2.96e-02 -3.4 1.00e+00 1.00e+00h 1 47 2.0817840e+00 2.47e-06 1.03e-04 -4.1 8.75e-02 -3.9 1.00e+00 1.00e+00h 1 48 2.0819043e+00 4.62e-06 1.16e-04 -4.0 2.47e-01 -4.4 1.00e+00 1.00e+00h 1 49 2.0817857e+00 3.43e-05 2.78e-04 -4.1 6.04e-01 -4.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0811943e+00 2.10e-04 2.07e-02 -6.1 2.06e+00 -5.3 8.86e-01 1.00e+00h 1 51 2.0811751e+00 1.81e-04 2.35e+00 -4.5 1.49e+00 -4.0 1.00e+00 1.26e-01h 1 52 2.0824205e+00 1.87e-05 3.59e-03 -4.0 1.09e-01 -4.5 1.00e+00 1.00e+00h 1 53 2.0816487e+00 9.79e-06 8.14e-01 -4.1 4.82e-01 -4.0 4.60e-01 9.04e-01H 1 54 2.0821761e+00 2.68e-05 3.27e-01 -3.8 4.59e-01 -4.5 1.00e+00 8.08e-01f 1 55 2.0820042e+00 1.29e-05 2.75e-03 -3.9 5.14e-01 -5.0 1.00e+00 1.00e+00h 1 56 2.0820342e+00 1.14e-06 8.06e-04 -3.9 1.10e+00 -5.5 1.00e+00 1.00e+00h 1 57 2.0811153e+00 5.79e-04 9.60e-03 -5.9 5.16e+00 -5.9 9.90e-01 1.00e+00h 1 58 2.0818134e+00 4.68e-06 1.90e-03 -4.0 2.52e-01 -3.7 1.00e+00 1.00e+00h 1 59 2.0815678e+00 4.27e-06 6.62e-04 -4.1 1.93e-01 -4.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0817087e+00 1.26e-05 7.60e-04 -4.0 6.06e-01 -4.7 1.00e+00 1.00e+00h 1 61 2.0816380e+00 6.69e-06 5.20e-04 -4.1 4.13e-01 -5.1 1.00e+00 1.00e+00h 1 62 2.0818208e+00 3.89e-05 3.80e-04 -4.0 1.75e+00 -5.6 1.00e+00 1.00e+00h 1 63 2.0817135e+00 1.98e-05 2.42e-04 -4.1 1.18e+00 -6.1 1.00e+00 1.00e+00h 1 64 2.0808552e+00 8.59e-04 5.72e-03 -6.1 1.15e+01 -6.6 9.93e-01 1.00e+00h 1 65 2.0809794e+00 7.66e-06 1.58e-04 -4.7 3.84e-01 -5.2 1.00e+00 1.00e+00h 1 66 2.0817202e+00 3.89e-04 1.24e-01 -4.0 6.20e+00 -5.7 1.00e+00 8.02e-01h 1 67 2.0816737e+00 2.21e-06 2.00e-03 -4.1 1.69e+00 -6.2 1.00e+00 1.00e+00f 1 68 2.0819096e+00 1.09e-04 4.89e-04 -4.0 5.13e+00 -6.7 1.00e+00 1.00e+00h 1 69 2.0816974e+00 1.47e-04 1.30e-03 -4.1 9.06e+00 -7.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0816502e+00 4.02e-05 8.52e-04 -4.1 1.83e+01 -7.6 1.00e+00 1.00e+00h 1 71 2.0816085e+00 4.44e-05 1.57e-03 -4.1 3.44e+01 -8.1 1.00e+00 1.00e+00h 1 72 2.0815873e+00 3.94e-05 1.19e-03 -4.1 3.89e+01 -8.6 1.00e+00 1.00e+00h 1 73 2.0815826e+00 8.69e-06 2.44e-04 -4.1 2.09e+01 -9.1 1.00e+00 1.00e+00h 1 74 2.0805940e+00 3.39e-03 1.41e-04 -6.1 4.14e+01 -9.5 9.78e-01 9.67e-01h 1 75 2.0818897e+00 6.43e-03 5.25e-04 -4.0 5.98e+01 -10.0 1.00e+00 1.00e+00f 1 76 2.0816133e+00 4.99e-04 3.47e-05 -4.1 2.09e+01 -10.5 1.00e+00 1.00e+00h 1 77 2.0806018e+00 3.47e-03 1.94e-04 -6.1 4.19e+01 -11.0 9.76e-01 9.61e-01h 1 78 2.0805508e+00 9.13e-05 2.98e-06 -6.1 1.71e+01 -11.5 1.00e+00 1.00e+00h 1 79 2.0819803e+00 1.03e-02 3.98e-04 -4.0 8.48e+01 -11.9 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0816778e+00 9.65e-04 4.78e-05 -4.1 4.56e+01 -12.4 1.00e+00 1.00e+00h 1 81 2.0816419e+00 4.55e-07 2.99e-05 -4.1 8.53e+00 -12.9 1.00e+00 1.00e+00h 1 82 2.0818414e+00 1.26e-04 3.49e-05 -4.0 7.46e+00 -13.4 1.00e+00 1.00e+00h 1 83 2.0815817e+00 2.11e-04 2.84e-05 -4.1 9.63e+00 -13.8 1.00e+00 1.00e+00h 1 84 2.0805923e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -14.3 9.77e-01 9.68e-01h 1 85 2.0805497e+00 7.03e-05 1.80e-06 -6.1 1.55e+01 -14.8 1.00e+00 1.00e+00h 1 86 2.0819871e+00 1.06e-02 4.00e-04 -4.0 8.58e+01 -15.3 1.00e+00 1.00e+00f 1 87 2.0816826e+00 9.87e-04 5.24e-05 -4.1 4.71e+01 -15.7 1.00e+00 1.00e+00h 1 88 2.0816444e+00 5.44e-07 2.99e-05 -4.1 8.94e+00 -16.2 1.00e+00 1.00e+00h 1 89 2.0805933e+00 3.65e-03 1.55e-04 -6.1 4.19e+01 -16.7 9.76e-01 9.71e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805509e+00 7.35e-05 1.95e-06 -6.1 1.62e+01 -17.2 1.00e+00 1.00e+00h 1 91 2.0805468e+00 5.07e-08 2.99e-07 -6.1 2.92e+00 -17.7 1.00e+00 1.00e+00h 1 92 2.0820226e+00 1.22e-02 4.21e-04 -4.0 9.85e+01 -18.1 1.00e+00 1.00e+00f 1 93 2.0817083e+00 1.09e-03 6.84e-05 -4.1 5.45e+01 -18.6 1.00e+00 1.00e+00h 1 94 2.0816573e+00 1.18e-06 3.02e-05 -4.1 1.10e+01 -19.1 1.00e+00 1.00e+00h 1 95 2.0805943e+00 3.73e-03 1.58e-04 -6.1 4.23e+01 -19.6 9.76e-01 9.71e-01h 1 96 2.0805512e+00 7.57e-05 2.01e-06 -6.1 1.64e+01 -20.0 1.00e+00 1.00e+00h 1 97 2.0805469e+00 5.37e-08 3.04e-07 -6.1 3.01e+00 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 9.26e-07 7.80e-07 -9.0 9.40e-01 -20.0 1.00e+00 9.97e-01h 1 99 2.0820402e+00 1.30e-02 4.35e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0817219e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0817218867002336e+00 2.0817218867002336e+00 Dual infeasibility......: 7.7307979001306194e-05 7.7307979001306194e-05 Constraint violation....: 1.1323909111127239e-03 1.1323909111127239e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.1568166388950323e-04 1.1568166388950323e-04 Overall NLP error.......: 1.1323909111127239e-03 1.1323909111127239e-03 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 = 41.887 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: 0.072s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) jacobian structure: 3.056s jacobian structure: 1594 nonzeros (3.129s) integrator 1 hessian structure: 0.054s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) hessian structure: 6.679s 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 (6.735s) linear index maps built (0.0s) evaluator ready (total: 9.865s) evaluator created (9.892s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 9.893s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 10 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 1 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.2783796e+02 3.00e+00 3.55e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8963071e+01 1.25e+00 1.54e+01 -0.5 2.10e+00 0.0 1.00e+00 5.69e-01f 1 2 2.9682371e+00 5.77e-02 9.02e+00 -0.4 1.00e+00 -0.5 5.25e-01 1.00e+00f 1 3 3.1770559e+00 2.75e-02 1.94e+00 -0.5 5.55e-01 -1.0 8.53e-01 1.00e+00f 1 4 2.8568948e+00 3.26e-02 3.24e-01 -1.2 5.59e-01 -1.4 9.92e-01 1.00e+00h 1 5 2.3324166e+00 5.85e-02 1.83e-01 -2.0 7.65e-01 -1.9 8.66e-01 1.00e+00f 1 6 2.1341550e+00 2.08e-02 9.38e-02 -2.3 8.05e-01 -2.4 9.69e-01 9.59e-01h 1 7 2.0942805e+00 1.14e-03 6.87e-03 -3.3 1.62e-01 -2.9 9.93e-01 1.00e+00h 1 8 2.0909372e+00 2.27e-05 2.51e-04 -4.0 4.13e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909030e+00 4.16e-07 2.50e-04 -4.0 1.18e-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 2.0908763e+00 3.50e-08 2.50e-04 -4.0 3.26e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0908101e+00 2.51e-07 3.50e-04 -4.0 8.71e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0906251e+00 2.39e-06 5.55e-04 -4.0 2.62e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0902664e+00 3.26e-06 1.33e-02 -4.0 8.38e+00 -5.7 9.17e-01 4.50e-01H 1 14 2.0894471e+00 2.24e-04 4.33e-02 -4.0 2.60e+01 -6.2 1.00e+00 1.00e+00f 1 15 2.0878267e+00 9.89e-05 3.73e-02 -4.0 3.85e+00 -4.9 1.00e+00 6.49e-01h 1 16 2.0878140e+00 2.12e-05 6.71e-03 -4.0 3.32e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0867942e+00 4.15e-05 6.85e-03 -4.0 1.00e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0852492e+00 1.89e-04 9.43e-03 -4.0 2.36e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0830086e+00 4.00e-04 2.71e-02 -4.0 3.90e+01 -6.8 1.00e+00 9.74e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0826902e+00 4.78e-04 1.14e-02 -4.0 5.39e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0823173e+00 5.40e-04 9.13e-03 -4.0 1.23e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.2623473e+00 1.38e-04 4.84e+00 -4.0 8.06e+02 -8.2 5.17e-02 1.00e+00H 1 23 2.0858940e+00 2.08e-05 6.64e-01 -4.1 1.05e-01 -0.4 9.89e-01 8.49e-01f 1 24 2.0862022e+00 2.06e-05 3.83e+00 -4.0 7.53e-02 -0.8 1.00e+00 7.81e-03f 8 25 2.0862075e+00 1.19e-07 1.27e-03 -4.0 2.67e-02 -1.3 1.00e+00 1.00e+00h 1 26 2.0858949e+00 1.14e-07 1.10e-03 -4.0 6.91e-02 -1.8 1.00e+00 1.00e+00h 1 27 2.0857072e+00 5.79e-07 6.28e-04 -4.0 1.19e-01 -2.3 1.00e+00 1.00e+00h 1 28 2.0857570e+00 1.03e-07 2.50e-04 -4.0 1.81e-02 -2.8 1.00e+00 1.00e+00h 1 29 2.0857461e+00 9.67e-08 2.50e-04 -4.0 1.82e-02 -3.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0857415e+00 1.24e-08 2.50e-04 -4.0 5.49e-02 -3.7 1.00e+00 1.00e+00h 1 31 2.0857292e+00 3.02e-08 2.50e-04 -4.0 1.64e-01 -4.2 1.00e+00 1.00e+00h 1 32 2.0856935e+00 2.58e-07 2.50e-04 -4.0 4.87e-01 -4.7 1.00e+00 1.00e+00h 1 33 2.0855975e+00 1.96e-06 2.50e-04 -4.0 1.42e+00 -5.1 1.00e+00 1.00e+00h 1 34 2.0853867e+00 1.15e-05 5.68e-04 -4.0 3.94e+00 -5.6 1.00e+00 1.00e+00h 1 35 2.0850625e+00 3.01e-05 1.55e-03 -4.0 1.05e+01 -6.1 1.00e+00 1.00e+00h 1 36 2.0845083e+00 7.46e-05 3.40e-03 -4.0 2.72e+01 -6.6 1.00e+00 1.00e+00h 1 37 2.0835315e+00 4.27e-04 1.63e-02 -4.0 6.67e+01 -7.0 1.00e+00 1.00e+00h 1 38 2.0821845e+00 1.16e-03 4.57e-02 -4.1 1.29e+02 -7.5 1.00e+00 1.00e+00h 1 39 2.0818088e+00 5.48e-03 3.63e-02 -4.0 2.03e+02 -8.0 6.07e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0817485e+00 2.91e-03 3.63e-02 -4.0 5.30e+01 -6.7 1.00e+00 1.00e+00h 1 41 2.0817608e+00 1.70e-04 1.36e-01 -4.0 1.33e+01 -7.2 8.35e-01 1.00e+00h 1 42 2.0817573e+00 1.48e-04 1.25e+00 -4.0 3.35e+00 -4.9 1.00e+00 4.97e-01H 1 43 2.0817471e+00 1.01e-04 1.09e+00 -4.0 2.34e+00 -5.4 1.00e+00 3.88e-01h 1 44 2.0818309e+00 1.77e-03 1.11e-03 -4.0 7.56e+00 -5.9 1.00e+00 1.00e+00h 1 45 2.0816375e+00 6.64e-05 1.27e-03 -4.1 2.32e+00 -6.4 1.00e+00 1.00e+00h 1 46 2.0818055e+00 2.79e-04 4.55e-04 -4.0 5.13e+00 -6.8 1.00e+00 1.00e+00h 1 47 2.0815751e+00 1.59e-04 4.85e-04 -4.1 7.04e+00 -7.3 1.00e+00 1.00e+00h 1 48 2.0818230e+00 3.34e-04 2.50e-04 -4.0 1.58e+01 -7.8 1.00e+00 1.00e+00h 1 49 2.0815785e+00 2.30e-04 3.25e-04 -4.1 9.67e+00 -8.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0806109e+00 2.34e-03 2.76e-04 -6.1 2.98e+01 -8.7 9.79e-01 9.53e-01h 1 51 2.0818849e+00 5.97e-03 1.20e-03 -4.0 5.64e+01 -9.2 1.00e+00 1.00e+00f 1 52 2.0816164e+00 4.83e-04 2.06e-04 -4.1 2.05e+01 -9.7 1.00e+00 1.00e+00h 1 53 2.0806001e+00 3.47e-03 1.63e-04 -6.1 4.15e+01 -10.2 9.76e-01 9.64e-01h 1 54 2.0818816e+00 6.20e-03 3.33e-04 -4.0 5.80e+01 -10.6 1.00e+00 1.00e+00f 1 55 2.0816087e+00 4.30e-04 2.05e-04 -4.1 1.87e+01 -11.1 1.00e+00 1.00e+00h 1 56 2.0805975e+00 3.45e-03 1.45e-04 -6.1 4.13e+01 -11.6 9.77e-01 9.66e-01h 1 57 2.0818835e+00 6.31e-03 2.88e-04 -4.0 5.90e+01 -12.1 1.00e+00 1.00e+00f 1 58 2.0816098e+00 4.45e-04 2.05e-04 -4.1 1.91e+01 -12.6 1.00e+00 1.00e+00h 1 59 2.0805979e+00 3.45e-03 1.45e-04 -6.1 4.13e+01 -13.0 9.76e-01 9.65e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0805507e+00 8.22e-05 2.16e-06 -6.1 1.68e+01 -13.5 1.00e+00 1.00e+00h 1 61 2.0806446e+00 1.29e-04 2.46e-02 -4.0 8.44e+01 -14.0 1.00e+00 7.26e-02f 1 62 2.0813543e+00 1.56e-03 1.56e-04 -4.2 2.61e+01 -14.5 1.00e+00 1.00e+00f 1 63 2.0813676e+00 3.50e-05 1.56e-04 -4.2 3.30e+01 -14.9 1.00e+00 1.00e+00h 1 64 2.0818419e+00 7.66e-04 2.50e-04 -4.0 1.85e+01 -15.4 1.00e+00 1.00e+00h 1 65 2.0815818e+00 2.26e-04 2.01e-04 -4.1 1.03e+01 -15.9 1.00e+00 1.00e+00h 1 66 2.0805902e+00 3.30e-03 1.39e-04 -6.1 4.00e+01 -16.4 9.78e-01 9.71e-01h 1 67 2.0805497e+00 6.57e-05 1.80e-06 -6.1 1.55e+01 -16.8 1.00e+00 1.00e+00h 1 68 2.0819858e+00 1.06e-02 3.98e-04 -4.0 8.58e+01 -17.3 1.00e+00 1.00e+00f 1 69 2.0816886e+00 9.54e-04 2.14e-04 -4.1 4.71e+01 -17.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0816503e+00 5.60e-07 2.14e-04 -4.1 8.92e+00 -18.3 1.00e+00 1.00e+00h 1 71 2.0818389e+00 1.12e-04 2.50e-04 -4.0 6.96e+00 -18.8 1.00e+00 1.00e+00h 1 72 2.0815801e+00 2.08e-04 2.00e-04 -4.1 9.49e+00 -19.2 1.00e+00 1.00e+00h 1 73 2.0805898e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -19.7 9.78e-01 9.71e-01h 1 74 2.0805497e+00 6.50e-05 1.79e-06 -6.1 1.55e+01 -20.0 1.00e+00 1.00e+00h 1 75 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -20.0 1.00e+00 1.00e+00f 1 76 2.0816887e+00 9.54e-04 2.14e-04 -4.1 4.72e+01 -20.0 1.00e+00 1.00e+00h 1 77 2.0816504e+00 5.63e-07 2.14e-04 -4.1 8.93e+00 -20.0 1.00e+00 1.00e+00h 1 78 2.0805906e+00 3.68e-03 1.60e-04 -6.1 4.16e+01 -20.0 9.77e-01 9.75e-01h 1 79 2.0805511e+00 6.76e-05 1.98e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805469e+00 4.72e-08 1.98e-06 -6.1 2.95e+00 -20.0 1.00e+00 1.00e+00h 1 81 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.89e+01 -20.0 1.00e+00 1.00e+00f 1 82 2.0817159e+00 1.04e-03 2.17e-04 -4.1 5.46e+01 -20.0 1.00e+00 1.00e+00h 1 83 2.0816648e+00 1.22e-06 2.17e-04 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 84 2.0805915e+00 3.76e-03 1.66e-04 -6.1 4.20e+01 -20.0 9.76e-01 9.75e-01h 1 85 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 86 2.0805471e+00 4.99e-08 2.01e-06 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 87 2.0805365e+00 9.55e-07 8.02e-07 -9.0 9.57e-01 -20.0 1.00e+00 9.97e-01h 1 88 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 89 2.0817306e+00 1.08e-03 2.18e-04 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0816723e+00 1.67e-06 2.18e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 91 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 92 2.0805516e+00 7.07e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 93 2.0805472e+00 5.15e-08 2.03e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 94 2.0805365e+00 9.76e-07 8.28e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 95 2.0805365e+00 9.27e-11 2.28e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 96 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 97 2.0817309e+00 1.08e-03 2.18e-04 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 98 2.0816725e+00 1.68e-06 2.18e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 99 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805515678364763e+00 2.0805515678364763e+00 Dual infeasibility......: 2.0515739603508923e-06 2.0515739603508923e-06 Constraint violation....: 7.0770728102118041e-05 7.0770728102118041e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 3.0799405300587470e-06 3.0799405300587470e-06 Overall NLP error.......: 9.9188528296504917e-05 9.9188528296504917e-05 Number of objective function evaluations = 111 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 111 Number of inequality constraint evaluations = 111 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 37.972 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: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.054s) linear index maps built (0.0s) evaluator ready (total: 0.117s) evaluator created (0.117s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.118s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 6.0757779e+00 2.82e+00 6.83e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6728689e+00 1.76e-01 1.75e+00 -0.9 1.86e+00 0.0 1.00e+00 9.40e-01f 1 2 2.5730296e+00 1.55e-02 2.33e+00 -0.7 2.84e-01 0.4 1.00e+00 9.39e-01h 1 3 2.5692798e+00 7.48e-03 8.88e-01 -1.4 1.23e-01 -0.1 9.90e-01 1.00e+00f 1 4 2.3284850e+00 4.60e-03 4.91e-01 -1.6 2.26e-01 -0.5 9.84e-01 3.53e-01f 1 5 2.1303582e+00 3.27e-03 5.59e-02 -2.3 6.83e-02 -1.0 9.97e-01 8.77e-01f 1 6 2.0931179e+00 1.84e-04 1.84e-02 -3.6 1.60e-02 -1.5 9.97e-01 9.44e-01h 1 7 2.0909064e+00 2.70e-06 2.47e-03 -4.0 6.62e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908944e+00 1.46e-08 2.06e-05 -4.0 5.63e-03 -2.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 8 (scaled) (unscaled) Objective...............: 2.0908944477529152e+00 2.0908944477529152e+00 Dual infeasibility......: 2.0586119099578313e-05 2.0586119099578313e-05 Constraint violation....: 1.4579560511131240e-08 1.4579560511131240e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000842931197237e-04 1.0000842931197237e-04 Overall NLP error.......: 2.0586119099578313e-05 2.0586119099578313e-05 Number of objective function evaluations = 9 Number of objective gradient evaluations = 9 Number of equality constraint evaluations = 9 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 9 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 8 Total seconds in IPOPT = 26.623 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.076s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.077s) integrator 1 hessian structure: 0.057s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.059s) linear index maps built (0.0s) evaluator ready (total: 0.136s) evaluator created (0.136s) 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: 0.137s) 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 4.1959343e+00 3.21e+00 5.48e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6896951e+00 9.19e-02 8.13e-01 -1.0 2.68e+00 -2.0 9.76e-01 1.00e+00f 1 2 2.3616485e+00 6.74e-02 2.27e-01 -1.6 1.25e+00 -2.5 9.60e-01 1.00e+00h 1 3 2.1493987e+00 4.71e-02 7.53e-02 -2.4 1.46e+00 -3.0 9.43e-01 1.00e+00h 1 4 2.1006796e+00 3.30e-03 1.53e-02 -2.9 4.07e-01 -3.4 9.82e-01 1.00e+00h 1 5 2.0908489e+00 1.55e-04 4.56e-04 -4.0 1.47e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0907234e+00 6.83e-06 7.86e-05 -4.0 5.00e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0905762e+00 8.38e-07 2.05e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0901354e+00 7.73e-06 3.44e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0888238e+00 7.08e-05 3.07e-04 -4.0 1.33e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0849898e+00 6.70e-04 2.81e-03 -4.0 3.89e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0796233e+00 2.07e-03 1.77e-01 -4.0 1.01e+02 -6.8 1.00e+00 5.32e-01h 1 12 2.0802632e+00 1.59e-04 1.73e-01 -4.0 6.44e+01 -7.2 1.00e+00 1.00e+00H 1 13 2.0773632e+00 8.45e-03 2.40e-02 -4.0 1.24e+02 -7.7 1.00e+00 9.81e-01h 1 14 2.0772017e+00 1.90e-03 7.80e-02 -4.0 2.11e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0761307e+00 9.29e-04 1.93e-02 -3.9 3.49e+02 -8.7 1.00e+00 8.37e-01H 1 16 2.0755079e+00 4.40e-03 2.24e-02 -4.0 4.39e+02 -9.2 1.00e+00 7.53e-01h 1 17 2.0757423e+00 2.25e-03 9.20e-03 -4.0 1.26e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0756795e+00 2.06e-04 3.08e-04 -4.0 5.79e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0756713e+00 5.34e-06 5.97e-06 -4.0 2.27e+01 -10.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0756712e+00 3.58e-08 1.13e-06 -4.0 1.33e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0756712e+00 2.10e-09 8.53e-08 -4.0 4.16e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0756712e+00 3.13e-11 1.23e-09 -4.0 6.07e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0756712121392296e+00 2.0756712121392296e+00 Dual infeasibility......: 1.2278178296667476e-09 1.2278178296667476e-09 Constraint violation....: 3.1282532120258111e-11 3.1282532120258111e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000013e-04 1.0000000000000013e-04 Overall NLP error.......: 1.2278178296667476e-09 1.2278178296667476e-09 Number of objective function evaluations = 25 Number of objective gradient evaluations = 23 Number of equality constraint evaluations = 25 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 23 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 22 Total seconds in IPOPT = 29.213 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.077s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.077s) integrator 1 hessian structure: 0.059s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.06s) linear index maps built (0.0s) evaluator ready (total: 0.137s) evaluator created (0.137s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.138s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 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 1.6907060e+00 2.58e+00 5.35e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5792659e+00 6.34e-02 1.83e+00 -1.0 1.82e+00 0.0 9.98e-01 1.00e+00h 1 2 2.5055620e+00 4.79e-02 3.17e-01 -1.1 3.34e-01 -0.5 8.80e-01 1.00e+00h 1 3 2.2772687e+00 4.29e-03 4.89e-02 -1.9 1.12e-01 -1.0 9.57e-01 1.00e+00h 1 4 2.1150740e+00 1.88e-03 3.10e-02 -3.1 7.82e-02 -1.4 9.96e-01 8.87e-01h 1 5 2.0911681e+00 4.93e-05 4.27e-03 -4.0 1.54e-02 -1.9 1.00e+00 1.00e+00h 1 6 2.0908906e+00 3.62e-07 1.49e-04 -4.0 1.00e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0908898e+00 2.60e-09 2.06e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908854e+00 7.69e-10 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908721e+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 2.0908322e+00 6.24e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0908322308678251e+00 2.0908322308678251e+00 Dual infeasibility......: 2.0576357049430513e-05 2.0576357049430513e-05 Constraint violation....: 6.2356961601228722e-08 6.2356961601228722e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999994719e-05 9.9999999999994719e-05 Overall NLP error.......: 2.0576357049430513e-05 2.0576357049430513e-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 = 32.008 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.079s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.079s) integrator 1 hessian structure: 0.071s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.073s) linear index maps built (0.0s) evaluator ready (total: 0.153s) evaluator created (0.153s) 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: 0.154s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 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 6.1197957e+00 5.28e+00 4.76e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7579350e+00 7.32e-02 3.47e+00 -0.9 2.63e+00 - 1.00e+00 1.00e+00f 1 2 2.6253628e+00 1.49e-02 3.65e-01 -1.0 2.16e-01 - 9.02e-01 1.00e+00h 1 3 2.3415824e+00 2.69e-03 8.26e-02 -1.9 8.45e-02 - 9.33e-01 1.00e+00h 1 4 2.1202766e+00 1.32e-03 8.72e-02 -2.9 7.54e-02 - 9.93e-01 9.91e-01f 1 5 2.0925621e+00 1.84e-04 7.36e-03 -4.0 2.06e-02 - 1.00e+00 9.02e-01h 1 6 2.0909374e+00 4.12e-06 5.24e-03 -4.0 1.22e-02 - 1.00e+00 1.00e+00h 1 7 2.0909395e+00 6.12e-09 6.21e-04 -4.0 6.39e-03 - 1.00e+00 1.00e+00h 1 8 2.0909390e+00 1.00e-11 4.60e-04 -4.0 6.33e-03 - 1.00e+00 1.00e+00h 1 9 2.0909390e+00 2.21e-13 2.06e-05 -4.0 2.06e-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 2.0907592e+00 1.01e-09 6.05e-05 -4.1 6.05e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0907591677368988e+00 2.0907591677368988e+00 Dual infeasibility......: 6.0468516476314032e-05 6.0468516476314032e-05 Constraint violation....: 1.0103396510261278e-09 1.0103396510261278e-09 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.0006757934485782e-05 8.0006757934485782e-05 Overall NLP error.......: 6.0468516476314032e-05 6.0468516476314032e-05 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 0 Total seconds in IPOPT = 11.593 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.074s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.075s) integrator 1 hessian structure: 0.055s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.056s) linear index maps built (0.0s) evaluator ready (total: 0.132s) evaluator created (0.132s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.132s) 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 1.6684382e+00 4.28e+00 5.71e-01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7926525e+00 6.31e-02 4.96e-01 -1.0 2.60e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.3064710e+00 1.70e-01 3.02e-01 -1.7 2.41e+00 -2.5 9.42e-01 1.00e+00h 1 3 2.2619016e+00 4.12e-03 3.15e-02 -1.7 4.05e-01 -3.0 1.00e+00 1.00e+00h 1 4 2.1224916e+00 3.89e-03 3.30e-03 -2.5 2.25e-01 -3.4 1.00e+00 1.00e+00h 1 5 2.0910788e+00 3.98e-04 2.89e-03 -3.8 1.23e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0912162e+00 5.13e-05 5.03e-04 -3.8 5.07e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0906167e+00 7.43e-05 3.51e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0901757e+00 6.32e-06 2.84e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0888638e+00 7.09e-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 2.0850286e+00 6.72e-04 2.80e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0850286461015992e+00 2.0850286461015992e+00 Dual infeasibility......: 2.8031022236344040e-03 2.8031022236344040e-03 Constraint violation....: 6.7212533935812058e-04 6.7212533935812058e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000000e-04 1.0000000000000000e-04 Overall NLP error.......: 2.8031022236344040e-03 2.8031022236344040e-03 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 27.236 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: 0.055s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.056s) linear index maps built (0.0s) evaluator ready (total: 0.123s) evaluator created (0.123s) 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: 0.123s) initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.068s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.068s) integrator 1 hessian structure: 0.055s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.057s) linear index maps built (0.0s) evaluator ready (total: 0.125s) evaluator created (0.125s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (2.03s) optimizer initialization complete (total: 2.156s) 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 4.8612576e+00 3.43e+00 3.60e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9051798e+00 2.56e-02 7.07e-01 -1.1 1.92e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3221197e+00 2.38e-02 1.01e-01 -1.8 3.72e-01 -1.6 9.79e-01 1.00e+00h 1 3 2.1358930e+00 5.71e-03 1.60e-01 -2.9 9.69e-02 -1.1 9.95e-01 1.00e+00h 1 4 2.1183244e+00 3.39e-03 1.41e+00 -3.9 3.98e-01 -1.6 9.99e-01 3.89e-01h 1 5 2.0922828e+00 1.04e-03 6.11e-01 -4.0 6.32e-01 -2.1 1.00e+00 8.25e-01h 1 6 2.0907584e+00 5.62e-04 1.09e+00 -3.9 1.30e+00 -2.6 1.00e+00 4.46e-01h 1 7 2.0909191e+00 3.64e-05 1.73e-01 -4.0 7.78e-01 -3.1 1.00e+00 1.00e+00h 1 8 2.0909870e+00 3.48e-06 4.26e-03 -4.0 7.05e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909870e+00 1.28e-06 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 2.0909249e+00 1.53e-07 2.05e-05 -4.0 6.32e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907418e+00 1.30e-06 4.97e-05 -4.0 1.88e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0902202e+00 1.10e-05 4.21e-04 -4.0 5.45e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888719e+00 8.23e-05 3.17e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861739e+00 4.42e-04 1.75e-02 -4.0 3.47e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830923e+00 9.23e-04 4.72e-02 -4.0 5.33e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828491e+00 9.31e-04 2.30e-02 -4.0 5.41e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823446e+00 3.92e-04 1.01e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820403e+00 9.31e-05 1.85e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.70e-04 8.69e-03 -4.0 9.93e+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 3.70e-05 8.48e-04 -4.0 3.11e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.35e-07 1.39e-05 -4.0 4.46e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.87e-10 3.29e-08 -4.0 2.45e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.53e-13 1.23e-11 -4.0 4.61e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907191031e+00 2.0819382907191031e+00 Dual infeasibility......: 1.2251841576861600e-11 1.2251841576861600e-11 Constraint violation....: 2.5313084961453569e-13 2.5313084961453569e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000005e-04 1.0000000000000005e-04 Overall NLP error.......: 1.2251841576861600e-11 1.2251841576861600e-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 = 30.174 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.063s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.064s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.053s) linear index maps built (0.0s) evaluator ready (total: 0.118s) evaluator created (0.118s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.068s) optimizer initialization complete (total: 0.186s) 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 4.4192939e+00 3.62e+00 2.96e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6592446e+00 2.56e-02 4.76e-01 -1.1 2.24e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.2467449e+00 2.34e-02 1.64e-01 -1.8 2.78e-01 -1.6 9.68e-01 1.00e+00h 1 3 2.1223827e+00 1.65e-03 1.68e-01 -2.7 9.51e-02 -1.1 9.65e-01 1.00e+00h 1 4 2.1089737e+00 9.92e-04 1.38e+00 -3.8 2.24e-01 -1.6 1.00e+00 4.53e-01h 1 5 2.0997915e+00 4.56e-04 1.39e+00 -3.8 1.07e+00 -2.1 1.00e+00 6.10e-01h 1 6 2.0952102e+00 2.29e-03 1.31e+00 -2.7 1.65e+00 -2.6 9.48e-01 3.68e-01f 1 7 2.1059369e+00 1.79e-03 1.04e+00 -3.2 5.23e-01 -1.3 1.13e-01 2.15e-01h 3 8 2.1088284e+00 1.76e-03 1.01e+00 -3.0 1.24e+00 -0.8 6.74e-02 1.50e-02h 6 9 2.1068567e+00 1.62e-03 4.20e+00 -3.0 1.58e-02 1.4 6.12e-01 7.83e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.1086322e+00 1.56e-03 5.16e+00 -3.0 5.87e-02 0.9 1.39e-01 3.60e-02f 2 11 2.1200767e+00 1.36e-03 1.02e+01 -3.0 1.01e-01 0.5 5.32e-01 1.33e-01h 1 12 2.1228462e+00 1.15e-03 9.25e+00 -3.0 1.20e-01 -0.0 4.15e-02 1.41e-01f 2 13 2.1432432e+00 8.63e-04 6.90e+00 -3.0 7.19e-01 -0.5 2.08e-01 1.45e-01h 2 14 2.1570980e+00 3.73e-04 7.50e-01 -3.5 2.14e-01 -1.0 1.00e+00 6.18e-01h 1 15 2.1010071e+00 1.83e-03 4.02e+00 -4.0 1.15e+00 -1.5 1.00e+00 9.73e-01f 1 16 2.1005784e+00 1.76e-03 4.88e+00 -4.1 2.17e-02 0.8 3.95e-01 3.83e-02h 1 17 2.0973248e+00 1.63e-03 9.80e+00 -4.1 1.62e-01 0.3 3.81e-01 7.38e-02f 1 18 2.1257344e+00 1.34e-03 7.25e+00 -4.1 8.99e-02 -0.2 8.41e-02 1.00e+00h 1 19 2.1112209e+00 2.20e-03 5.04e+00 -4.0 9.16e-01 -0.7 5.69e-01 1.24e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.1091125e+00 5.98e-04 9.63e-01 -4.0 8.15e-02 -0.2 6.78e-01 1.00e+00h 1 21 2.1035543e+00 3.06e-04 1.94e+00 -3.2 1.12e-01 -0.7 1.00e+00 4.45e-01h 1 22 2.0949798e+00 3.23e-04 6.91e-01 -4.0 2.66e-01 -1.2 1.00e+00 4.83e-01h 1 23 2.0919183e+00 3.47e-04 2.92e-01 -4.0 1.96e-01 -1.7 1.00e+00 8.19e-01h 1 24 2.0914384e+00 2.53e-04 5.73e-01 -4.0 2.12e-01 -2.1 1.00e+00 2.70e-01h 1 25 2.0909074e+00 1.81e-05 9.97e-03 -4.0 3.25e-02 -2.6 1.00e+00 1.00e+00h 1 26 2.0908883e+00 3.38e-07 2.27e-05 -4.0 2.38e-02 -3.1 1.00e+00 1.00e+00h 1 27 2.0908822e+00 4.12e-09 1.88e-05 -4.0 6.97e-02 -3.6 1.00e+00 1.00e+00h 1 28 2.0908662e+00 1.75e-08 3.27e-05 -4.0 1.96e-01 -4.0 1.00e+00 1.00e+00h 1 29 2.0908264e+00 9.81e-08 1.99e-04 -4.0 5.24e-01 -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 2.0907205e+00 6.77e-07 5.59e-04 -4.0 1.41e+00 -5.0 1.00e+00 1.00e+00h 1 31 2.0904089e+00 6.72e-06 4.45e-04 -4.0 4.43e+00 -5.5 1.00e+00 1.00e+00h 1 32 2.0902716e+00 1.02e-06 6.94e-04 -4.0 1.71e+00 -5.1 1.00e+00 1.00e+00h 1 33 2.0901240e+00 1.64e-06 2.19e-02 -4.0 7.29e+00 -5.5 1.00e+00 1.98e-01h 2 34 2.0888817e+00 7.43e-05 3.09e-03 -4.0 1.49e+01 -6.0 1.00e+00 1.00e+00h 1 35 2.0872788e+00 1.63e-04 6.30e-02 -4.0 3.97e+01 -6.5 1.00e+00 4.81e-01h 1 36 2.0834802e+00 1.68e-03 5.99e-02 -4.0 6.78e+01 -7.0 1.00e+00 1.00e+00h 1 37 2.0824259e+00 5.91e-04 2.41e-02 -4.0 4.80e+01 -7.4 1.00e+00 8.27e-01h 1 38 2.0821951e+00 1.03e-03 1.32e-02 -4.0 1.67e+02 -7.9 8.39e-01 1.00e+00h 1 39 2.0824149e+00 1.71e-03 2.44e-02 -4.0 3.95e+01 -6.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0820666e+00 1.38e-03 2.28e-02 -4.0 2.30e+01 -7.1 1.00e+00 1.00e+00h 1 41 2.1221809e+00 6.59e-04 1.62e-01 -4.0 2.30e+02 -7.5 2.73e-02 1.96e-01h 1 42 2.1079498e+00 8.23e-07 1.33e-01 -4.1 6.36e-02 0.3 1.00e+00 9.99e-01h 1 43 2.1008614e+00 2.04e-06 3.29e+00 -4.1 1.04e-01 -0.2 4.08e-01 6.01e-01f 1 44 2.0853760e+00 2.15e-06 1.33e+00 -4.1 2.21e-01 -0.6 8.61e-01 1.00e+00f 1 45 2.0823521e+00 3.83e-06 8.83e-01 -4.1 2.66e-01 -1.1 8.04e-01 5.93e-01f 1 46 2.0825788e+00 2.06e-06 3.15e-01 -4.0 6.49e-02 -1.6 1.00e+00 4.58e-01h 2 47 2.0823361e+00 2.47e-06 4.31e-03 -4.0 9.81e-02 -2.1 1.00e+00 1.00e+00h 1 48 2.0822455e+00 1.12e-07 1.80e-04 -4.0 1.65e-02 -2.6 1.00e+00 1.00e+00h 1 49 2.0822417e+00 2.27e-08 4.59e-06 -4.0 4.96e-03 -3.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0822409e+00 7.85e-10 4.57e-06 -4.0 1.48e-02 -3.5 1.00e+00 1.00e+00h 1 51 2.0822395e+00 1.41e-09 4.57e-06 -4.0 4.44e-02 -4.0 1.00e+00 1.00e+00h 1 52 2.0822356e+00 1.20e-08 4.55e-06 -4.0 1.33e-01 -4.5 1.00e+00 1.00e+00h 1 53 2.0822250e+00 9.24e-08 4.51e-06 -4.0 3.95e-01 -4.9 1.00e+00 1.00e+00h 1 54 2.0822002e+00 5.43e-07 2.48e-05 -4.0 1.17e+00 -5.4 1.00e+00 1.00e+00h 1 55 2.0821526e+00 3.71e-06 7.60e-05 -4.0 3.48e+00 -5.9 1.00e+00 1.00e+00h 1 56 2.0820281e+00 4.98e-05 4.48e-04 -4.0 1.17e+01 -6.4 1.00e+00 1.00e+00h 1 57 2.0819723e+00 1.30e-04 1.81e-02 -4.0 1.42e+03 -6.9 6.52e-03 8.98e-03h 4 58 2.0822513e+00 1.89e-07 7.16e-01 -4.0 1.76e+00 -4.6 6.11e-01 1.00e+00H 1 59 2.0821194e+00 1.72e-07 7.61e-01 -4.1 1.85e+00 -3.3 1.98e-01 3.11e-02H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0819956e+00 3.57e-06 1.26e-03 -4.0 4.85e-02 -3.8 1.00e+00 1.00e+00f 1 61 2.0820288e+00 1.60e-07 1.35e-04 -4.0 1.01e-01 -4.2 1.00e+00 1.00e+00h 1 62 2.0820335e+00 4.47e-08 3.96e-05 -4.0 1.64e-01 -4.7 1.00e+00 1.00e+00h 1 63 2.0820406e+00 9.25e-08 1.04e-05 -4.0 2.50e-01 -5.2 1.00e+00 1.00e+00h 1 64 2.0818942e+00 9.90e-06 1.65e-04 -4.1 7.42e-01 -5.7 1.00e+00 1.00e+00h 1 65 2.0820582e+00 3.83e-05 2.63e-04 -4.0 1.67e+00 -6.2 1.00e+00 1.00e+00h 1 66 2.0818525e+00 9.96e-05 7.46e-04 -4.1 5.64e+00 -6.6 1.00e+00 1.00e+00h 1 67 2.0820293e+00 2.16e-04 9.77e-04 -4.0 9.81e+00 -7.1 1.00e+00 1.00e+00h 1 68 2.0817219e+00 6.48e-04 4.59e-04 -4.1 2.77e+01 -7.6 1.00e+00 1.00e+00h 1 69 2.0818855e+00 1.03e-03 3.54e-03 -4.0 4.42e+01 -8.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0815901e+00 1.13e-03 2.34e-03 -4.1 5.07e+01 -8.5 1.00e+00 1.00e+00h 1 71 2.0818403e+00 6.80e-04 4.99e-04 -4.0 2.90e+01 -9.0 1.00e+00 1.00e+00h 1 72 2.0818383e+00 1.82e-06 2.65e-05 -4.0 6.22e+00 -9.5 1.00e+00 1.00e+00h 1 73 2.0818383e+00 4.25e-09 1.91e-07 -4.0 5.48e-01 -10.0 1.00e+00 1.00e+00h 1 74 2.0818383e+00 3.42e-12 1.90e-10 -4.0 1.70e-02 -10.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 74 (scaled) (unscaled) Objective...............: 2.0818383021871076e+00 2.0818383021871076e+00 Dual infeasibility......: 1.9033038703040669e-10 1.9033038703040669e-10 Constraint violation....: 3.4230396295242826e-12 3.4230396295242826e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000040e-04 1.0000000000000040e-04 Overall NLP error.......: 1.9033038703040669e-10 1.9033038703040669e-10 Number of objective function evaluations = 104 Number of objective gradient evaluations = 75 Number of equality constraint evaluations = 104 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 75 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 74 Total seconds in IPOPT = 28.891 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.057s jacobian structure: 180 nonzeros (0.1s) integrator 1 hessian structure: 0.055s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.366s sub-objective 2 (QuadraticRegularizer): 0.096s sub-objective 3 (MinimumTimeObjective): 0.019s objective hessian structure: 0.586s hessian structure: 375 nonzeros (0.641s) linear index maps built (0.0s) evaluator ready (total: 0.896s) evaluator created (0.896s) NL constraint bounds extracted (0.013s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.13s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.594s) optimizer initialization complete (total: 4.634s) 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 1.4616097e+00 9.72e-01 1.05e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.4576098e+00 2.32e-01 1.37e+00 -1.1 5.65e-01 0.0 9.36e-01 8.92e-01h 1 2 1.5264231e+00 9.21e-02 1.99e+00 -1.2 3.99e-01 -0.5 9.61e-01 1.00e+00f 1 3 1.4434817e+00 6.59e-02 9.07e-01 -1.0 1.22e+00 -1.0 1.00e+00 3.86e-01h 1 4 1.0958986e+00 4.34e-02 9.66e-01 -1.7 1.74e+00 - 9.85e-01 1.00e+00f 1 5 1.5174412e+00 2.55e-02 2.16e+00 -1.7 2.62e-01 -1.4 7.14e-01 1.00e+00H 1 6 1.3706245e+00 8.09e-02 1.51e+00 -1.8 7.68e-01 -1.0 7.36e-01 3.23e-01F 1 7 1.2418968e+00 3.31e-02 6.06e-01 -2.2 7.83e-02 -1.5 1.00e+00 5.68e-01h 1 8 1.1165356e+00 1.72e-03 1.53e-01 -3.3 1.42e+00 - 1.00e+00 9.99e-01h 1 9 1.0924472e+00 4.34e-05 7.21e-02 -4.0 1.69e+00 - 1.00e+00 9.70e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0909138e+00 1.28e-07 3.33e-02 -4.0 1.36e+00 - 1.00e+00 1.00e+00h 1 11 1.0908988e+00 9.44e-13 1.42e-04 -4.0 9.44e-02 - 1.00e+00 1.00e+00h 1 12 1.0908997e+00 9.32e-20 1.15e-09 -4.0 2.69e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 12 (scaled) (unscaled) Objective...............: 1.0908997264550333e+00 1.0908997264550333e+00 Dual infeasibility......: 1.1469792850682305e-09 1.1469792850682305e-09 Constraint violation....: 9.3237824841301432e-20 9.3237824841301432e-20 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000011511000286e-04 1.0000011511000286e-04 Overall NLP error.......: 1.1469792850682305e-09 1.1469792850682305e-09 Number of objective function evaluations = 15 Number of objective gradient evaluations = 13 Number of equality constraint evaluations = 15 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 13 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 12 Total seconds in IPOPT = 26.715 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: 0.067s integrator 2 jacobian structure: 0.063s integrator 3 jacobian structure: 0.0s jacobian structure: 1872 nonzeros (0.13s) integrator 1 hessian structure: 0.054s integrator 2 hessian structure: 0.053s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.371s sub-objective 2 (QuadraticRegularizer): 0.091s sub-objective 3 (LinearRegularizer): 0.083s sub-objective 4 (MinimumTimeObjective): 0.018s objective hessian structure: 0.665s hessian structure: 2431 nonzeros (0.773s) linear index maps built (0.0s) evaluator ready (total: 0.903s) evaluator created (0.903s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.123s) applying constraint: L1 slack constraint: |du| ≤ s_du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on s_du applying constraint: bounds on Δt linear constraints added: 6 (3.168s) optimizer initialization complete (total: 4.195s) 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 5.5528961e+00 3.66e+00 1.08e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.9605404e+00 2.97e+00 1.83e+00 -4.0 2.47e+01 -2.0 5.58e-02 1.44e-01h 1 2 4.5573158e+00 2.56e+00 3.70e+00 -2.2 1.57e+01 -1.6 8.76e-02 1.64e-01h 1 3 3.3996555e+00 1.92e+00 6.58e+00 -4.0 7.57e+00 -1.1 6.73e-02 7.11e-01h 1 4 2.6017986e+00 1.63e+00 1.90e+01 -1.5 4.29e+00 -1.6 3.30e-01 8.94e-01f 1 5 2.3708928e+00 9.16e-01 3.59e+00 -0.8 7.84e+00 -0.3 3.13e-01 4.12e-01f 1 6 2.3130820e+00 3.84e-01 1.55e+00 -1.6 6.47e-01 -0.8 5.49e-01 5.80e-01h 1 7 2.2046493e+00 1.99e-02 8.41e-01 -4.0 5.15e-01 -1.3 7.55e-01 1.00e+00h 1 8 1.9652625e+00 3.12e-02 4.01e-01 -2.9 1.24e+00 -1.7 6.27e-01 1.00e+00h 1 9 1.7525977e+00 5.71e-02 1.50e-01 -2.5 1.90e+00 -2.2 7.35e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.5591583e+00 1.17e-01 1.52e-01 -2.7 3.50e+00 -2.7 7.79e-01 1.00e+00h 1 11 1.3759275e+00 2.50e-01 1.47e-01 -2.9 6.81e+00 -3.2 6.86e-01 1.00e+00h 1 12 1.2139397e+00 6.45e-01 2.34e-01 -2.9 1.25e+01 -3.6 7.90e-01 1.00e+00h 1 13 1.1960373e+00 6.60e-02 4.34e-02 -2.7 5.03e+00 -3.2 1.00e+00 1.00e+00h 1 14 1.1013584e+00 1.20e-01 6.00e-02 -3.2 1.05e+01 -3.7 9.87e-01 1.00e+00h 1 15 9.9628344e-01 3.97e-01 9.22e-02 -3.8 1.90e+01 -4.2 9.98e-01 1.00e+00h 1 16 9.0096191e-01 1.04e+00 1.14e-01 -3.8 2.91e+01 -4.6 1.00e+00 1.00e+00h 1 17 8.1741682e-01 1.79e+00 1.15e-01 -4.0 4.01e+01 -5.1 1.00e+00 1.00e+00h 1 18 7.7097898e-01 4.19e-01 3.81e-01 -3.2 9.21e+01 -5.6 6.23e-01 1.00e+00h 1 19 7.1585422e-01 9.01e+00 7.11e-01 -2.8 2.03e+02 -6.1 5.97e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 7.0904735e-01 2.53e+00 2.20e-01 -2.8 5.45e+01 -5.6 1.00e+00 1.00e+00h 1 21 7.0130415e-01 3.63e+00 3.36e-01 -2.9 7.11e+02 -6.1 2.38e-01 1.40e-01h 2 22 7.9677867e-01 1.79e+01 1.61e+00 -2.0 1.06e+03 -6.6 2.07e-01 2.71e-01f 1 23 7.2384988e-01 5.57e+00 9.07e-01 -2.5 2.57e+02 -7.1 6.11e-01 5.46e-01h 1 24 7.1103678e-01 4.74e+00 1.19e+00 -2.5 1.39e+03 -7.6 4.21e-01 3.08e-01h 1 25 7.0756595e-01 2.24e+00 1.92e+00 -2.5 3.14e+02 -7.1 1.00e+00 1.00e+00h 1 26 6.4689001e-01 6.37e+00 1.33e+00 -2.7 4.17e+02 -7.6 1.00e+00 1.00e+00h 1 27 8.2258556e-01 9.42e-01 3.94e+00 -2.3 2.08e+02 -7.2 1.00e+00 1.00e+00h 1 28 7.5523364e-01 4.55e+00 1.21e+00 -2.4 9.10e+02 -7.7 1.00e+00 4.52e-01h 1 29 7.2494882e-01 1.27e+01 6.77e+00 -2.4 1.29e+03 -8.1 7.24e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 7.6312582e-01 6.95e+00 2.36e+00 -2.4 9.79e+02 -7.7 1.00e+00 8.18e-01H 1 31 7.2404607e-01 1.47e+01 7.89e+00 -2.4 8.14e+02 -8.2 4.92e-01 1.00e+00h 1 32 7.4907181e-01 5.55e-01 2.44e+00 -2.4 2.92e+02 -7.8 1.00e+00 1.00e+00h 1 33 6.3696216e-01 2.31e+00 1.63e+00 -2.8 5.45e+02 -8.2 1.00e+00 1.00e+00h 1 34 5.9732813e-01 2.38e+01 3.24e+00 -3.1 2.47e+03 -8.7 1.00e+00 1.00e+00h 1 35 5.8432334e-01 2.03e+00 1.38e+00 -3.3 5.08e+02 -8.3 1.00e+00 1.00e+00h 1 36 5.9348345e-01 2.85e+01 9.24e+00 -3.0 2.09e+03 -8.8 1.00e+00 1.00e+00h 1 37 5.7918192e-01 2.88e+01 4.15e+00 -3.1 1.36e+03 -8.3 6.52e-01 8.12e-01h 1 38 5.9350708e-01 5.06e+01 1.01e+01 -2.9 2.14e+03 -8.8 1.00e+00 1.00e+00h 1 39 5.8476882e-01 5.47e+01 8.10e+00 -3.0 4.33e+03 -8.4 2.36e-01 2.71e-01h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 5.8309084e-01 4.60e+01 1.50e+00 -3.0 1.66e+03 -8.0 1.00e+00 2.57e-01h 2 41 5.8690180e-01 3.16e+01 3.70e-01 -3.0 6.84e+02 -7.5 3.69e-01 5.82e-01h 1 42 6.0515522e-01 9.23e+00 3.29e+00 -3.0 5.66e+02 -8.0 7.16e-01 7.38e-01h 1 43 6.0327772e-01 1.33e+01 2.84e+00 -3.0 1.18e+04 -8.5 7.31e-02 5.69e-02h 3 44 5.8241114e-01 1.74e+01 1.70e+00 -3.0 3.54e+03 -8.1 1.21e-01 1.57e-01h 2 45 5.7719557e-01 4.68e+01 1.89e+00 -2.9 3.90e+03 -8.5 3.37e-01 5.00e-01h 2 46 5.7132145e-01 7.71e+01 1.65e+00 -3.4 1.77e+04 -9.0 2.67e-01 2.17e-01h 2 47 5.7259400e-01 5.09e+01 1.34e+00 -4.0 9.03e+02 -7.7 2.34e-01 6.10e-01h 1 48 6.8684191e-01 2.12e+01 3.82e+00 -2.7 7.36e+02 -8.2 2.09e-01 1.00e+00h 1 49 6.0500821e-01 1.01e+01 2.63e+00 -2.9 5.47e+02 -6.8 8.15e-01 5.06e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 5.9259164e-01 7.36e+00 1.82e+00 -2.9 1.09e+02 -7.3 8.95e-01 2.75e-01h 1 51 6.1048231e-01 2.92e+00 7.16e-01 -2.9 2.52e+02 -7.8 7.94e-01 1.00e+00h 1 52 6.0230557e-01 4.43e-01 1.60e+00 -2.9 2.77e+02 -8.3 1.00e+00 9.67e-01h 1 53 5.8254403e-01 2.08e+01 2.42e+00 -3.2 9.73e+02 -8.7 4.00e-01 9.60e-01h 1 54 5.5907432e-01 1.55e+01 3.97e+00 -3.3 2.04e+03 -9.2 6.87e-01 6.71e-01h 1 55 5.6315294e-01 2.30e+00 1.29e+00 -3.6 2.52e+02 -7.9 9.55e-01 1.00e+00h 1 56 5.6684868e-01 2.57e+01 9.02e-01 -3.4 1.17e+03 -8.4 6.71e-01 1.00e+00h 1 57 5.4833778e-01 1.08e+01 1.16e+00 -3.5 1.78e+03 -8.9 3.44e-01 5.28e-01h 1 58 5.4776359e-01 1.41e+01 1.35e+00 -4.0 2.03e+03 -8.4 6.95e-01 3.71e-01h 2 59 5.6906739e-01 1.49e+01 9.29e-01 -3.8 1.02e+03 -8.0 3.97e-01 5.61e-01H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 5.5195542e-01 9.47e+00 1.27e+00 -3.9 1.25e+03 -8.5 2.81e-02 4.83e-01h 1 61 5.4049051e-01 1.06e+02 2.15e+00 -4.0 5.11e+03 -9.0 1.00e+00 1.00e+00h 1 62 5.9634476e-01 7.81e+01 9.22e-01 -3.5 2.37e+03 -8.5 7.11e-01 1.00e+00h 1 63 5.6270128e-01 4.53e+01 7.95e-01 -3.6 4.77e+02 -8.1 7.17e-02 4.11e-01h 1 64 5.7914741e-01 3.49e+01 3.68e+00 -3.6 1.11e+03 -7.7 1.85e-01 3.75e-01h 1 65 5.3265343e-01 1.47e+01 3.81e+00 -3.6 3.14e+02 -8.2 6.04e-03 6.25e-01h 1 66 6.8285229e-01 4.39e+01 1.73e+00 -2.5 1.71e+03 -7.7 7.48e-02 9.88e-01f 1 67 6.8160430e-01 4.38e+01 1.73e+00 -2.8 9.69e+05 -8.2 5.02e-04 1.44e-04h 1 68 6.4222292e-01 3.28e+01 1.08e+00 -2.8 3.73e+03 -7.8 4.51e-01 3.31e-01f 1 69 6.1241082e-01 8.66e+00 2.59e+00 -2.8 2.74e+02 -6.4 9.24e-01 7.85e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 6.0577572e-01 3.87e+00 1.20e+00 -2.8 1.43e+02 -6.9 8.68e-01 5.52e-01h 1 71 6.2868289e-01 2.08e-01 4.36e-01 -2.8 6.53e+01 -7.4 1.00e+00 1.00e+00h 1 72 6.3567123e-01 2.28e-01 2.43e+00 -2.8 2.18e+02 -7.9 1.00e+00 1.00e+00H 1 73 6.5279188e-01 5.60e+00 3.45e+00 -2.6 3.10e+02 -8.4 7.16e-01 1.00e+00h 1 74 6.3775042e-01 5.91e+00 2.50e+00 -2.7 2.23e+03 -8.8 7.27e-01 3.16e-01h 2 75 6.3018755e-01 5.21e+00 2.20e+00 -2.7 5.25e+02 -8.4 1.00e+00 1.00e+00h 1 76 6.1750213e-01 7.52e+00 3.79e+00 -2.7 1.13e+03 -8.9 5.49e-01 4.54e-01h 2 77 6.2784637e-01 1.88e+00 2.41e+00 -2.7 2.75e+02 -8.5 1.00e+00 1.00e+00h 1 78 6.2145776e-01 9.37e+00 3.49e+00 -2.7 1.91e+03 -8.9 8.70e-01 5.00e-01h 2 79 6.2134197e-01 6.61e+00 1.22e+00 -2.7 6.29e+02 -8.5 1.00e+00 5.00e-01h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 6.1945119e-01 8.02e+00 1.62e+00 -2.7 2.93e+03 -9.0 1.00e+00 2.50e-01h 3 81 6.2335428e-01 1.39e+00 2.71e+00 -2.7 2.89e+02 -8.6 1.00e+00 1.00e+00h 1 82 6.1958395e-01 4.10e+00 2.51e+00 -2.7 2.57e+03 -9.0 7.06e-01 2.50e-01h 3 83 6.2151621e-01 2.22e-01 2.87e+00 -2.7 1.80e+02 -8.6 1.00e+00 1.00e+00h 1 84 6.1920824e-01 2.37e+00 1.72e+00 -2.8 2.89e+03 -9.1 1.00e+00 2.50e-01h 3 85 6.1277649e-01 1.87e+00 2.22e+00 -2.9 4.26e+02 -8.7 9.77e-01 1.00e+00H 1 86 6.0222578e-01 9.42e+00 3.67e+00 -2.9 3.76e+03 -9.1 1.60e-01 2.83e-01h 2 87 6.0266384e-01 7.05e+00 1.18e+00 -2.9 8.48e+02 -8.7 1.00e+00 5.00e-01h 2 88 5.9988090e-01 1.12e+01 1.63e+00 -2.9 5.93e+03 -9.2 8.03e-01 2.12e-01h 3 89 6.0034189e-01 9.67e+00 1.03e+00 -2.9 1.33e+03 -8.8 7.65e-01 2.50e-01h 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 6.0003492e-01 6.15e+00 7.89e-01 -2.9 4.93e+02 -8.3 1.00e+00 5.00e-01h 2 91 5.9838954e-01 8.38e+00 6.62e-01 -2.9 6.02e+03 -8.8 2.35e-01 1.01e-01h 3 92 5.9951546e-01 4.83e+00 6.11e-01 -2.9 4.06e+02 -8.4 1.00e+00 5.00e-01h 2 93 5.9903167e-01 6.98e+00 6.92e-01 -2.9 7.18e+03 -8.9 2.40e-01 8.24e-02h 3 94 5.9869954e-01 5.57e+00 3.69e-01 -2.9 5.57e+02 -8.4 1.00e+00 2.50e-01h 3 95 5.9875893e-01 5.55e+00 4.18e-01 -2.9 2.80e+03 -8.9 8.06e-01 8.71e-02h 4 96 6.0140179e-01 2.43e+00 1.44e+00 -2.9 4.45e+02 -8.5 1.00e+00 1.00e+00h 1 97 5.9930336e-01 3.47e+00 1.34e+00 -2.9 2.07e+04 -9.0 8.58e-02 2.25e-02h 4 98 5.9848958e-01 3.93e+00 2.67e-01 -2.9 1.46e+03 -8.5 1.00e+00 1.78e-01h 3 99 5.9778509e-01 4.32e+00 1.18e+00 -2.9 2.08e+03 -9.0 7.65e-01 2.50e-01h 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 6.0223281e-01 2.36e+00 1.76e+00 -2.9 3.08e+02 -8.6 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 6.0223280763164255e-01 6.0223280763164255e-01 Dual infeasibility......: 1.7604402397455345e+00 1.7604402397455345e+00 Constraint violation....: 2.3639849029317190e+00 2.3639849029317190e+00 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.3814015339738666e-03 1.3814015339738666e-03 Overall NLP error.......: 2.3639849029317190e+00 2.3639849029317190e+00 Number of objective function evaluations = 202 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 202 Number of inequality constraint evaluations = 202 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 49.246 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: 0.072s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.073s) 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: 0.001s hessian structure: 1749 nonzeros (0.058s) linear index maps built (0.0s) evaluator ready (total: 0.131s) evaluator created (0.131s) 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 (0.389s) optimizer initialization complete (total: 0.521s) 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 3.1479869e+00 2.95e+00 1.71e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6009854e+00 1.73e+00 6.87e+00 -1.1 4.61e+01 -4.0 9.97e-01 1.00e+00f 1 2 2.3864051e+00 8.74e-01 3.33e+00 -1.6 3.13e+01 -4.5 1.00e+00 5.00e-01h 2 3 2.1435315e+00 5.83e-01 1.30e+00 -1.7 2.25e+01 -4.1 9.93e-01 1.00e+00h 1 4 2.2302014e+00 2.49e-01 2.00e+00 -1.8 2.26e+01 -4.5 5.55e-01 1.00e+00h 1 5 2.0838201e+00 1.15e-01 5.95e-01 -1.9 7.98e+00 -4.1 1.00e+00 9.82e-01h 1 6 2.1083416e+00 5.82e-03 6.75e-02 -2.5 2.42e+00 -4.6 1.00e+00 1.00e+00h 1 7 2.0908422e+00 7.16e-03 9.84e-03 -3.4 3.33e+00 -5.1 9.96e-01 1.00e+00h 1 8 2.0877311e+00 1.88e-03 3.06e-03 -4.0 6.80e+00 -5.5 1.00e+00 1.00e+00h 1 9 2.0857298e+00 8.94e-05 4.31e-04 -4.0 2.04e+01 -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 10 2.0801016e+00 1.67e-03 1.03e-02 -4.0 5.68e+01 -6.5 1.00e+00 1.00e+00h 1 11 2.0810569e+00 3.05e-05 1.61e-01 -4.0 5.83e+01 -7.0 1.00e+00 1.00e+00H 1 12 2.0786086e+00 2.81e-03 2.86e-02 -4.0 8.61e+01 -7.4 1.00e+00 1.00e+00h 1 13 2.0785018e+00 1.14e-02 3.27e-02 -3.7 1.50e+02 -7.9 1.00e+00 8.04e-01h 1 14 2.0777011e+00 4.34e-03 3.06e-02 -3.8 2.70e+02 -8.4 1.00e+00 9.66e-01h 1 15 2.0759144e+00 4.22e-02 2.77e-02 -4.0 4.24e+02 -8.9 1.00e+00 1.00e+00h 1 16 2.0771237e+00 6.15e-03 6.92e-03 -3.7 6.00e+01 -9.4 1.00e+00 1.00e+00h 1 17 2.0757918e+00 1.00e-02 5.44e-04 -4.0 9.47e+01 -9.8 1.00e+00 1.00e+00h 1 18 2.0757705e+00 2.46e-05 2.31e-05 -4.0 3.25e+01 -10.3 1.00e+00 1.00e+00h 1 19 2.0757705e+00 6.17e-08 4.31e-06 -4.0 2.41e+01 -10.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0757704e+00 8.13e-10 6.97e-07 -4.0 1.07e+01 -11.3 1.00e+00 1.00e+00h 1 21 2.0757704e+00 6.19e-11 2.72e-08 -4.0 2.55e+00 -11.7 1.00e+00 1.00e+00h 1 22 2.0757704e+00 3.57e-13 1.90e-10 -4.0 2.46e-01 -12.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0757703960629694e+00 2.0757703960629694e+00 Dual infeasibility......: 1.9013634419630561e-10 1.9013634419630561e-10 Constraint violation....: 3.5702148702687619e-13 3.5702148702687619e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000063e-04 1.0000000000000063e-04 Overall NLP error.......: 1.9013634419630561e-10 1.9013634419630561e-10 Number of objective function evaluations = 26 Number of objective gradient evaluations = 23 Number of equality constraint evaluations = 26 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 = 30.617 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.063s jacobian structure: 180 nonzeros (0.108s) integrator 1 hessian structure: 0.056s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.377s sub-objective 2 (QuadraticRegularizer): 0.094s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.021s objective hessian structure: 0.597s hessian structure: 375 nonzeros (0.653s) linear index maps built (0.0s) evaluator ready (total: 0.933s) evaluator created (0.933s) NL constraint bounds extracted (0.012s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.147s) applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.889s) optimizer initialization complete (total: 3.982s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 194 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 27 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.3920550e+00 7.45e-01 1.12e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.9851086e+00 2.31e-01 2.13e+00 -0.8 7.25e-01 0.0 9.66e-01 1.00e+00h 1 2 1.9727532e+00 2.90e-02 5.42e-01 -0.8 3.12e-01 -0.5 7.22e-01 8.75e-01h 1 3 2.3119259e+00 3.13e-02 1.11e+01 -1.5 1.30e+01 - 8.30e-01 1.00e+00h 1 4 1.2769537e+00 6.96e-03 1.57e+00 -2.2 7.40e-01 -1.0 1.00e+00 7.71e-01f 1 5 1.1112918e+00 1.16e-03 2.05e-02 -3.0 6.54e-02 -1.4 1.00e+00 9.43e-01h 1 6 1.0991427e+00 1.16e-06 2.43e-03 -4.0 1.00e-01 -1.9 1.00e+00 1.00e+00h 1 7 1.0984626e+00 7.80e-10 1.21e-03 -4.0 2.93e-01 -2.4 1.00e+00 1.00e+00h 1 8 1.0973951e+00 6.38e-13 6.72e-03 -4.0 8.20e-01 -2.9 1.00e+00 1.00e+00f 1 9 1.0952057e+00 1.21e-16 4.09e-02 -4.0 2.02e+00 -3.3 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0952798e+00 1.15e-16 2.36e-02 -4.0 5.02e+00 -3.8 2.44e-02 4.98e-02f 3 11 1.0948666e+00 5.80e-22 1.61e-03 -4.1 5.89e-02 -1.6 1.00e+00 1.00e+00f 1 12 1.0949376e+00 1.59e-27 8.91e-04 -4.0 1.03e-01 -2.1 1.00e+00 1.00e+00f 1 13 1.0944698e+00 1.53e-29 9.49e-04 -4.1 2.97e-01 -2.5 1.00e+00 1.00e+00f 1 14 1.0941059e+00 1.01e-27 3.56e-02 -4.0 8.10e-01 -3.0 6.91e-01 1.00e+00f 1 15 1.0940015e+00 1.95e-31 7.77e-04 -4.0 3.78e-02 -1.7 1.00e+00 1.00e+00f 1 16 1.0938612e+00 3.30e-29 7.65e-04 -4.0 1.12e-01 -2.2 1.00e+00 1.00e+00f 1 17 1.0935847e+00 3.27e-29 1.47e-03 -4.0 3.21e-01 -2.6 1.00e+00 1.00e+00f 1 18 1.0909123e+00 5.10e-31 5.34e-01 -4.0 7.30e+00 - 1.00e+00 1.00e+00f 1 19 1.0908996e+00 2.55e-31 1.16e-03 -4.0 6.52e-02 - 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.0908997e+00 9.42e-34 1.09e-05 -4.0 3.29e-02 - 1.00e+00 1.00e+00f 1 21 1.0907198e+00 3.51e-35 1.30e-09 -4.1 2.00e-05 - 1.00e+00 1.00e+00f 1 22 1.0908997e+00 5.52e-35 1.37e-09 -4.0 2.00e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 1.0908997336734907e+00 1.0908997336734907e+00 Dual infeasibility......: 1.3694297377932901e-09 1.3694297377932901e-09 Constraint violation....: 5.5161005615915087e-35 5.5161005615915087e-35 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000081633522154e-04 1.0000081633522154e-04 Overall NLP error.......: 1.3694297377932901e-09 1.3694297377932901e-09 Number of objective function evaluations = 26 Number of objective gradient evaluations = 23 Number of equality constraint evaluations = 26 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 = 24.491 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 0 integrators, 0 nonlinear constraints dynamics constraints: 0, nonlinear constraints: 0 jacobian structure: 0 nonzeros (0.0s) computing objective hessian structure (QuadraticRegularizer)... objective hessian structure: 0.095s hessian structure: 30 nonzeros (0.095s) linear index maps built (0.0s) evaluator ready (total: 0.096s) evaluator created (0.096s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.126s) applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: bounds on u applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial time t₁ = 0 linear constraints added: 5 (3.02s) optimizer initialization complete (total: 3.243s) 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 1.0668028e-02 8.33e-17 1.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.0770300e-02 7.37e-12 1.20e-02 -2.2 3.20e-02 -2.0 9.88e-01 1.00e+00f 1 2 1.2778384e-03 1.38e-10 9.39e-02 -2.0 8.93e-01 -1.6 1.00e+00 1.00e+00f 1 3 1.1775165e-03 1.20e-10 1.04e-01 -2.6 1.15e-01 -1.1 9.36e-01 6.25e-02f 5 4 1.3725552e-04 1.61e-11 6.04e-02 -3.3 2.83e-01 -1.6 9.98e-01 4.85e-01f 2 5 1.3725552e-04 1.61e-11 6.19e-02 -3.3 1.01e+00 -2.1 1.00e+00 2.40e-14h 46 6 1.3725552e-04 1.61e-11 6.82e-02 -3.1 1.54e+00 -2.6 1.00e+00 1.94e-14h 46 7 3.2354791e-03 1.52e-11 9.95e-02 -3.1 1.71e+00 -3.1 6.14e-01 6.14e-01s 60 8 1.6582802e-03 1.75e-11 1.15e-01 -3.1 8.50e-01 -1.7 2.82e-01 2.82e-01s 60 9 9.3968244e-04 1.67e-11 1.24e-01 -3.1 1.70e+00 -2.2 2.02e-01 2.02e-01s 60 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 5.7546106e-04 1.21e-11 5.18e-02 -3.1 1.16e+00 -2.7 1.00e+00 0.00e+00S 60 11 4.3565995e-04 4.99e-12 1.74e-02 -3.1 1.38e-01 -3.2 1.00e+00 1.00e+00f 1 12 4.3565995e-04 4.99e-12 1.72e-02 -3.1 3.82e-01 -3.6 1.00e+00 2.80e-14h 45 13 3.4772511e-04 1.54e-13 1.48e-02 -3.1 2.17e-01 -4.1 1.00e+00 1.00e+00S 57 14 3.4772495e-04 1.54e-13 1.05e-02 -3.1 1.62e-01 -4.6 1.00e+00 3.81e-06h 19 15 2.9959610e-04 1.43e-13 1.11e-02 -3.1 1.96e-01 -5.1 1.00e+00 1.25e-01f 4 16 1.8484877e-04 1.22e-13 1.09e-02 -3.1 3.30e-01 -5.5 1.00e+00 2.50e-01f 3 17 1.8484875e-04 1.22e-13 1.08e-02 -3.1 2.87e-01 -6.0 1.00e+00 5.96e-08h 25 18 1.8484874e-04 1.22e-13 1.13e-02 -3.1 3.58e-01 -6.5 1.00e+00 1.49e-08h 27 19 1.8484874e-04 1.22e-13 1.18e-02 -3.1 4.06e-01 -7.0 1.00e+00 7.45e-09h 28 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.8484874e-04 1.22e-13 1.23e-02 -3.1 4.52e-01 -7.5 1.00e+00 7.45e-09h 28 21 1.8484874e-04 1.22e-13 1.27e-02 -3.1 5.35e-01 -7.9 1.00e+00 2.22e-16h 53 22 1.8484874e-04 1.22e-13 1.30e-02 -3.1 6.18e-01 -8.4 1.00e+00 1.82e-12h 40 23 1.8484873e-04 1.22e-13 1.34e-02 -3.1 6.94e-01 -8.9 1.00e+00 9.31e-10h 31 24 1.8484873e-04 1.22e-13 1.37e-02 -3.1 7.63e-01 -9.4 1.00e+00 1.86e-09h 30 25 1.8484873e-04 1.22e-13 1.40e-02 -3.1 8.22e-01 -9.8 1.00e+00 1.82e-12h 40 26 1.8484873e-04 1.22e-13 1.47e-02 -3.1 8.72e-01 -10.3 1.00e+00 1.16e-10h 34 27 1.8484873e-04 1.22e-13 1.54e-02 -3.1 9.14e-01 -10.8 1.00e+00 9.31e-10h 31 28 1.8484873e-04 1.22e-13 1.60e-02 -3.1 9.48e-01 -11.3 1.00e+00 4.66e-10h 32 29 1.8369633e-04 1.22e-13 1.65e-02 -3.1 9.75e-01 -11.7 1.00e+00 9.77e-04f 11 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.8369633e-04 1.22e-13 1.67e-02 -3.1 9.95e-01 -12.2 1.00e+00 2.33e-10h 33 31 1.8369633e-04 1.22e-13 1.70e-02 -3.1 1.01e+00 -12.7 1.00e+00 5.82e-11h 35 32 1.8245484e-04 1.22e-13 1.73e-02 -3.1 1.03e+00 -13.2 1.00e+00 9.77e-04f 11 33 1.8245484e-04 1.22e-13 1.73e-02 -3.1 1.04e+00 -13.7 1.00e+00 2.33e-10h 33 34 1.8181389e-04 1.22e-13 1.75e-02 -3.1 1.05e+00 -14.1 1.00e+00 4.88e-04f 12 35 1.8116593e-04 1.22e-13 1.76e-02 -3.1 1.05e+00 -14.6 1.00e+00 4.88e-04f 12 36 1.7986229e-04 1.22e-13 1.76e-02 -3.1 1.06e+00 -15.1 1.00e+00 9.77e-04f 11 37 1.7920795e-04 1.22e-13 1.78e-02 -3.1 1.06e+00 -15.6 1.00e+00 4.88e-04f 12 38 1.7660069e-04 1.22e-13 1.81e-02 -3.1 1.07e+00 -16.0 1.00e+00 1.95e-03f 10 39 1.7643830e-04 1.22e-13 1.85e-02 -3.1 1.07e+00 -16.5 1.00e+00 1.22e-04f 14 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.7133287e-04 1.21e-13 1.89e-02 -3.1 1.07e+00 -17.0 1.00e+00 3.91e-03f 9 41 1.7133287e-04 1.21e-13 1.93e-02 -3.1 1.07e+00 -17.5 1.00e+00 1.16e-10h 34 42 1.6642755e-04 1.21e-13 1.98e-02 -3.1 1.07e+00 -17.9 1.00e+00 3.91e-03f 9 43 1.6642755e-04 1.21e-13 2.03e-02 -3.1 1.07e+00 -18.4 1.00e+00 1.46e-11h 37 44 1.5732979e-04 1.21e-13 2.08e-02 -3.1 1.07e+00 -18.9 1.00e+00 7.81e-03f 8 45 1.5732979e-04 1.21e-13 2.12e-02 -3.1 1.06e+00 -19.4 1.00e+00 5.82e-11h 35 46 1.5315806e-04 1.20e-13 2.19e-02 -3.1 1.06e+00 -19.9 1.00e+00 3.91e-03f 9 47 1.4924031e-04 1.20e-13 2.25e-02 -3.1 1.06e+00 -20.0 1.00e+00 3.91e-03f 9 48 1.4557370e-04 1.20e-13 2.32e-02 -3.1 1.06e+00 -20.0 1.00e+00 3.91e-03f 9 49 1.3900481e-04 1.19e-13 2.38e-02 -3.1 1.05e+00 -20.0 1.00e+00 7.81e-03f 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 1.3862728e-04 1.19e-13 2.45e-02 -3.1 1.05e+00 -20.0 1.00e+00 4.88e-04f 12 51 1.2855107e-04 1.18e-13 2.53e-02 -3.1 1.04e+00 -20.0 1.00e+00 1.56e-02f 7 52 1.2855107e-04 1.18e-13 2.04e-02 -3.4 1.02e+00 -20.0 1.00e+00 2.91e-11h 36 53 1.0353508e-03 9.17e-14 4.57e-02 -2.8 2.29e+00 -20.0 1.00e+00 3.92e-01f 2 54 1.0353508e-03 9.17e-14 2.13e-02 -2.8 9.32e-01 -20.0 1.00e+00 1.15e-10h 33 55 1.0353508e-03 9.17e-14 1.37e-02 -2.8 5.73e-01 -20.0 1.00e+00 4.55e-13h 42 56 1.0353508e-03 9.17e-14 2.23e-02 -4.2 1.80e+00 -20.0 7.30e-01 4.25e-11h 35 57 1.0353508e-03 9.17e-14 3.08e-02 -4.2 1.59e+00 -20.0 9.86e-01 4.95e-11h 35 58 1.0353508e-03 9.17e-14 3.94e-02 -4.2 1.54e+00 -20.0 9.75e-01 6.53e-12h 38 59 4.8725582e-04 5.62e-14 3.86e-02 -4.2 1.52e+00 -20.0 1.00e+00 4.55e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 4.8725582e-04 5.62e-14 3.79e-02 -4.2 1.73e+00 -20.0 4.84e-01 8.84e-12h 37 61 4.8725582e-04 5.62e-14 3.71e-02 -4.2 1.85e+00 -20.0 1.00e+00 3.32e-11h 35 62 4.8725582e-04 5.62e-14 3.63e-02 -4.2 1.81e+00 -20.0 5.22e-01 3.38e-11h 35 63 4.8330651e-04 5.60e-14 3.54e-02 -4.2 1.83e+00 -20.0 1.00e+00 4.49e-03f 8 64 4.8330651e-04 5.60e-14 3.45e-02 -4.2 1.71e+00 -20.0 5.56e-01 2.23e-12h 39 65 4.6638149e-04 5.50e-14 3.29e-02 -4.2 1.66e+00 -20.0 1.00e+00 1.97e-02f 6 66 4.4771040e-04 5.40e-14 3.63e-02 -4.2 1.49e+00 -20.0 6.46e-01 2.12e-02f 6 67 3.5980172e-04 5.00e-14 5.48e-02 -4.2 1.41e+00 -20.0 4.97e-01 8.72e-02f 4 68 2.9533944e-04 4.66e-14 8.16e-02 -4.2 2.22e+00 -20.0 8.22e-01 7.77e-02f 4 69 2.9533944e-04 4.66e-14 7.86e-02 -4.2 2.53e+00 -20.0 2.61e-01 1.52e-11h 36 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.7502223e-04 4.55e-14 7.12e-02 -4.2 3.14e+00 -20.0 1.00e+00 2.63e-02f 5 71 2.7502223e-04 4.55e-14 6.65e-02 -4.2 2.87e+00 -20.0 2.58e-01 2.51e-11h 35 72 2.6576723e-04 4.50e-14 4.97e-02 -4.2 3.06e+00 -20.0 1.00e+00 1.26e-02f 6 73 2.6576723e-04 4.50e-14 4.32e-02 -4.2 2.15e+00 -20.0 3.66e-01 3.25e-11h 35 74 2.6576723e-04 4.50e-14 2.81e-02 -4.2 2.03e+00 -20.0 1.00e+00 1.08e-12h 40 75 2.6576723e-04 4.50e-14 2.46e-02 -4.2 1.45e+00 -20.0 5.51e-01 1.20e-11h 37 76 2.6336079e-04 4.49e-14 2.85e-02 -4.2 1.42e+00 -20.0 1.00e+00 3.29e-03f 9 77 2.5232278e-04 4.43e-14 3.42e-02 -4.2 1.34e+00 -20.0 6.35e-01 1.48e-02f 7 78 2.3028508e-04 4.32e-14 3.90e-02 -4.2 1.33e+00 -20.0 1.00e+00 2.85e-02f 6 79 2.2887892e-04 4.31e-14 4.36e-02 -4.2 1.29e+00 -20.0 6.98e-01 1.86e-03f 10 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.1696788e-04 4.26e-14 4.77e-02 -4.2 1.25e+00 -20.0 1.00e+00 1.48e-02f 7 81 2.1101426e-04 4.23e-14 5.14e-02 -4.2 1.23e+00 -20.0 7.59e-01 7.59e-03f 8 82 1.9915426e-04 4.17e-14 5.43e-02 -4.2 1.20e+00 -20.0 1.00e+00 1.51e-02f 7 83 1.9383724e-04 4.15e-14 5.69e-02 -4.2 1.19e+00 -20.0 8.06e-01 6.90e-03f 8 84 1.8216542e-04 4.09e-14 5.86e-02 -4.2 1.15e+00 -20.0 1.00e+00 1.51e-02f 7 85 1.7235249e-04 4.05e-14 5.96e-02 -4.2 1.16e+00 -20.0 8.52e-01 1.29e-02f 7 86 1.6733044e-04 4.02e-14 6.02e-02 -4.2 1.12e+00 -20.0 1.00e+00 6.45e-03f 8 87 1.5644820e-04 3.97e-14 6.00e-02 -4.2 1.13e+00 -20.0 9.05e-01 1.47e-02f 7 88 1.5417302e-04 3.96e-14 5.96e-02 -4.2 1.30e+00 -20.0 1.00e+00 3.19e-03f 9 89 1.4951175e-04 3.94e-14 5.88e-02 -4.2 1.57e+00 -20.0 9.47e-01 6.44e-03f 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 1.4750248e-04 3.93e-14 5.78e-02 -4.2 1.75e+00 -20.0 7.42e-01 2.87e-03f 9 91 1.4393966e-04 3.91e-14 5.65e-02 -4.2 1.99e+00 -20.0 1.00e+00 5.02e-03f 8 92 1.4393966e-04 3.91e-14 5.53e-02 -4.2 1.86e+00 -20.0 3.91e-01 1.24e-12h 40 93 1.4072799e-04 3.90e-14 5.38e-02 -4.2 2.09e+00 -20.0 1.00e+00 4.73e-03f 8 94 1.4072799e-04 3.90e-14 5.22e-02 -4.2 1.79e+00 -20.0 4.11e-01 1.02e-11h 37 95 1.3461805e-04 3.86e-14 5.02e-02 -4.2 1.90e+00 -20.0 7.05e-01 1.04e-02f 7 96 1.1569671e-04 3.71e-14 5.66e-02 -4.2 2.14e+00 -20.0 5.41e-01 4.57e-02f 5 97 1.1569671e-04 3.71e-14 5.64e-02 -3.6 1.98e+00 -20.0 1.00e+00 4.87e-12h 38 98 1.5820162e-04 3.44e-14 1.83e-01 -2.9 8.29e+00 -20.0 1.00e+00 9.87e-02f 2 99 3.0731117e-04 3.22e-14 2.40e-02 -2.9 8.51e-01 -20.0 1.00e+00 8.67e-02f 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 3.0731117e-04 3.22e-14 1.42e-02 -2.9 8.49e-01 -20.0 1.00e+00 1.17e-11h 37 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 3.0731117146865275e-04 3.0731117146865275e-04 Dual infeasibility......: 1.4214731808702464e-02 1.4214731808702464e-02 Constraint violation....: 3.2166110053299946e-14 3.2166110053299946e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 7.1862651275622618e-03 7.1862651275622618e-03 Overall NLP error.......: 1.4214731808702464e-02 1.4214731808702464e-02 Number of objective function evaluations = 1977 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 1977 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 = 4.144 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): 0.095s sub-objective 2 (QuadraticRegularizer): 0.0s objective hessian structure: 0.198s hessian structure: 40 nonzeros (0.198s) linear index maps built (0.0s) evaluator ready (total: 0.199s) evaluator created (0.199s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.133s) applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial value of t applying constraint: bounds on u applying constraint: bounds on t applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) linear constraints added: 6 (2.969s) optimizer initialization complete (total: 3.301s) 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 7.4234916e-01 4.19e-01 9.93e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9550512e-01 1.76e-09 1.33e-01 -4.0 2.94e-01 -2.0 8.64e-01 1.00e+00h 1 2 1.4544577e-01 1.57e-10 4.74e-02 -1.6 2.80e-01 -1.6 9.86e-01 1.00e+00f 1 3 6.0032097e-02 1.42e-10 2.06e-02 -2.7 4.07e-01 -1.1 9.97e-01 1.00e+00f 1 4 1.8438628e-02 1.58e-11 1.53e-02 -3.9 5.44e-01 -1.6 1.00e+00 1.00e+00f 1 5 4.5816472e-03 9.08e-12 7.42e-03 -4.0 5.17e-01 -2.1 1.00e+00 1.00e+00f 1 6 1.0588847e-03 4.34e-12 2.91e-03 -4.0 3.67e-01 -2.6 1.00e+00 1.00e+00f 1 7 4.7413040e-04 1.56e-12 8.99e-04 -4.0 2.30e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.5945844e-04 2.75e-13 2.20e-04 -4.0 6.43e-02 -3.5 1.00e+00 1.00e+00f 1 9 4.4923848e-04 2.38e-14 1.16e-04 -4.0 1.89e-02 -4.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 4.5950364e-04 6.18e-15 1.53e-04 -4.0 2.46e-02 -4.5 1.00e+00 1.00e+00f 1 11 3.0006894e-04 1.07e-14 4.35e-04 -4.1 7.98e-02 -5.0 1.00e+00 1.00e+00f 1 12 4.6190939e-04 6.33e-15 3.81e-04 -4.0 2.03e-01 -5.4 1.00e+00 5.00e-01f 2 13 2.7185513e-04 3.89e-15 5.49e-04 -4.1 1.05e-01 -5.9 1.00e+00 1.00e+00f 1 14 4.6652021e-04 2.89e-15 4.78e-04 -4.0 2.54e-01 -6.4 1.00e+00 5.00e-01f 2 15 2.6254198e-04 2.22e-15 6.08e-04 -4.1 1.17e-01 -6.9 1.00e+00 1.00e+00f 1 16 4.6710824e-04 2.11e-15 5.15e-04 -4.0 2.74e-01 -7.4 1.00e+00 5.00e-01f 2 17 2.5958168e-04 1.67e-15 6.35e-04 -4.1 1.23e-01 -7.8 1.00e+00 1.00e+00f 1 18 4.6692089e-04 1.67e-15 5.30e-04 -4.0 2.83e-01 -8.3 1.00e+00 5.00e-01f 2 19 2.5863737e-04 1.35e-15 6.52e-04 -4.1 1.26e-01 -8.8 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 4.6642261e-04 1.44e-15 5.38e-04 -4.0 2.88e-01 -9.3 1.00e+00 5.00e-01f 2 21 2.5835016e-04 1.22e-15 6.66e-04 -4.1 1.29e-01 -9.7 1.00e+00 1.00e+00f 1 22 4.6584787e-04 1.22e-15 5.44e-04 -4.0 2.92e-01 -10.2 1.00e+00 5.00e-01f 2 23 2.5827083e-04 1.11e-15 6.79e-04 -4.1 1.31e-01 -10.7 1.00e+00 1.00e+00f 1 24 4.6526241e-04 1.11e-15 5.48e-04 -4.0 2.96e-01 -11.2 1.00e+00 5.00e-01f 2 25 2.5825564e-04 1.04e-15 6.91e-04 -4.1 1.34e-01 -11.6 1.00e+00 1.00e+00f 1 26 4.6468933e-04 9.99e-16 5.52e-04 -4.0 2.99e-01 -12.1 1.00e+00 5.00e-01f 2 27 2.5825872e-04 9.58e-16 7.03e-04 -4.1 1.36e-01 -12.6 1.00e+00 1.00e+00f 1 28 3.0952890e-05 9.38e-15 8.79e-04 -6.2 3.74e-01 -13.1 9.68e-01 1.00e+00f 1 29 1.7437905e-03 2.66e-15 7.59e-03 -4.0 1.97e+00 -13.6 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.4459391e-05 2.41e-14 2.85e-03 -4.1 1.00e+00 -14.0 1.00e+00 1.00e+00f 1 31 1.5781415e-03 3.15e-14 7.91e-03 -4.0 9.72e-01 -14.5 1.00e+00 1.00e+00f 1 32 1.0138917e-05 1.87e-14 2.26e-03 -4.2 1.08e+00 -15.0 1.00e+00 1.00e+00f 1 33 4.6683022e-04 1.55e-15 2.74e-03 -4.0 1.36e+00 -15.5 1.00e+00 5.00e-01f 2 34 2.1955685e-04 3.11e-15 2.36e-04 -4.2 3.70e-01 -15.9 1.00e+00 5.00e-01f 2 35 2.0201731e-05 4.55e-15 7.96e-04 -6.4 4.07e-01 -16.4 9.64e-01 1.00e+00f 1 36 8.1262393e-06 3.33e-15 9.81e-05 -6.4 1.03e-01 -16.9 1.00e+00 1.00e+00f 1 37 1.5641015e-03 1.33e-15 5.52e-03 -4.0 9.56e+00 -17.4 1.00e+00 1.25e-01f 4 38 9.6714669e-05 5.45e-14 3.48e-03 -4.0 7.97e-01 -17.8 1.00e+00 1.00e+00f 1 39 7.5247076e-04 3.66e-14 3.55e-03 -4.0 5.37e-01 -18.3 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 3.8043758e-04 6.88e-15 4.34e-04 -4.0 4.19e-01 -18.8 1.00e+00 5.00e-01f 2 41 3.5532656e-05 5.55e-15 1.31e-03 -6.0 4.99e-01 -19.3 9.56e-01 1.00e+00f 1 42 1.4636916e-05 5.38e-15 1.59e-04 -6.0 1.25e-01 -19.8 1.00e+00 1.00e+00f 1 43 4.0314863e-06 8.88e-16 1.00e-04 -6.0 1.42e-01 -20.0 1.00e+00 1.00e+00f 1 44 1.0730348e-03 6.52e-16 3.19e-03 -4.0 1.55e+01 -20.0 1.00e+00 7.75e-02f 4 45 1.6040839e-04 4.83e-14 2.88e-03 -4.0 5.88e-01 -20.0 1.00e+00 1.00e+00f 1 46 6.7730185e-04 2.33e-14 2.81e-03 -4.0 4.22e-01 -20.0 1.00e+00 1.00e+00f 1 47 3.9061808e-04 4.22e-15 4.19e-04 -4.0 3.61e-01 -20.0 1.00e+00 5.00e-01f 2 48 3.5466282e-05 5.77e-15 1.44e-03 -6.0 5.43e-01 -20.0 9.50e-01 1.00e+00f 1 49 1.4743193e-05 4.88e-15 1.69e-04 -6.0 1.32e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 3.9312426e-06 7.77e-16 1.09e-04 -6.0 1.56e-01 -20.0 1.00e+00 1.00e+00f 1 51 8.6764417e-04 4.96e-16 2.20e-03 -4.0 1.67e+01 -20.0 1.00e+00 7.19e-02f 4 52 1.9541946e-04 4.15e-14 2.51e-03 -4.0 4.92e-01 -20.0 1.00e+00 1.00e+00f 1 53 6.1514724e-04 1.64e-14 2.35e-03 -4.0 3.59e-01 -20.0 1.00e+00 1.00e+00f 1 54 3.8708010e-04 2.89e-15 4.00e-04 -4.0 3.22e-01 -20.0 1.00e+00 5.00e-01f 2 55 3.4524055e-05 5.55e-15 1.53e-03 -6.1 5.78e-01 -20.0 9.46e-01 1.00e+00f 1 56 1.4455432e-05 4.33e-15 1.75e-04 -6.1 1.38e-01 -20.0 1.00e+00 1.00e+00f 1 57 3.7903162e-06 6.66e-16 1.15e-04 -6.1 1.66e-01 -20.0 1.00e+00 1.00e+00f 1 58 7.1641439e-04 2.91e-16 1.30e-03 -4.0 1.81e+01 -20.0 1.00e+00 6.62e-02f 4 59 2.3112782e-04 3.66e-14 2.09e-03 -4.1 3.97e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 5.5533768e-04 1.11e-14 1.85e-03 -4.1 2.89e-01 -20.0 1.00e+00 1.00e+00f 1 61 3.8377710e-04 1.78e-15 3.63e-04 -4.1 2.71e-01 -20.0 1.00e+00 5.00e-01f 2 62 3.3490142e-05 5.44e-15 1.61e-03 -6.1 6.12e-01 -20.0 9.42e-01 1.00e+00f 1 63 1.4162987e-05 4.11e-15 1.79e-04 -6.1 1.43e-01 -20.0 1.00e+00 1.00e+00f 1 64 3.6710081e-06 6.66e-16 1.20e-04 -6.1 1.76e-01 -20.0 1.00e+00 1.00e+00f 1 65 6.0589116e-04 2.71e-16 5.30e-04 -4.0 1.94e+01 -20.0 1.00e+00 6.15e-02f 4 66 2.6338752e-04 3.26e-14 1.68e-03 -4.1 3.10e-01 -20.0 1.00e+00 1.00e+00f 1 67 5.0284790e-04 7.55e-15 1.37e-03 -4.1 2.19e-01 -20.0 1.00e+00 1.00e+00f 1 68 3.7955460e-04 1.11e-15 3.16e-04 -4.1 2.18e-01 -20.0 1.00e+00 5.00e-01f 2 69 3.2395695e-05 5.11e-15 1.67e-03 -6.1 6.43e-01 -20.0 9.38e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 1.3845891e-05 3.66e-15 1.82e-04 -6.1 1.47e-01 -20.0 1.00e+00 1.00e+00f 1 71 3.5624832e-06 5.55e-16 1.24e-04 -6.1 1.85e-01 -20.0 1.00e+00 1.00e+00f 1 72 5.2375551e-04 2.67e-16 1.54e-04 -4.0 2.07e+01 -20.0 1.00e+00 5.75e-02f 4 73 2.9152687e-04 2.95e-14 1.28e-03 -4.1 2.32e-01 -20.0 1.00e+00 1.00e+00f 1 74 4.5886982e-04 4.66e-15 9.43e-04 -4.1 1.54e-01 -20.0 1.00e+00 1.00e+00f 1 75 3.0312909e-04 3.55e-15 9.24e-04 -4.1 1.67e-01 -20.0 1.00e+00 1.00e+00f 1 76 4.5244564e-04 2.44e-15 8.19e-04 -4.1 1.34e-01 -20.0 1.00e+00 1.00e+00f 1 77 2.3626091e-05 4.44e-15 1.86e-03 -6.1 7.85e-01 -20.0 9.23e-01 1.00e+00f 1 78 1.2287942e-05 3.89e-15 1.24e-04 -6.1 1.10e-01 -20.0 1.00e+00 1.00e+00f 1 79 3.0669697e-06 4.44e-16 1.18e-04 -6.1 1.88e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 4.6164832e-04 4.13e-16 8.38e-04 -4.0 2.36e+01 -20.0 1.00e+00 5.04e-02f 4 81 3.2142679e-04 2.80e-14 8.70e-04 -4.1 1.54e-01 -20.0 1.00e+00 1.00e+00f 1 82 4.2380153e-04 2.66e-15 5.33e-04 -4.1 8.89e-02 -20.0 1.00e+00 1.00e+00f 1 83 2.5384039e-05 4.55e-15 1.89e-03 -6.1 7.80e-01 -20.0 9.23e-01 1.00e+00f 1 84 1.2567777e-05 3.55e-15 1.44e-04 -6.1 1.25e-01 -20.0 1.00e+00 1.00e+00f 1 85 3.1508152e-06 4.44e-16 1.25e-04 -6.1 1.97e-01 -20.0 1.00e+00 1.00e+00f 1 86 3.8938681e-06 2.22e-16 1.85e-05 -6.1 3.24e-02 -20.0 1.00e+00 1.00e+00h 1 87 3.4348794e-06 6.07e-17 4.46e-06 -6.1 8.01e-03 -20.0 1.00e+00 1.00e+00h 1 88 2.5566555e-07 5.55e-17 5.37e-05 -9.0 2.41e-01 -20.0 9.76e-01 1.00e+00f 1 89 2.3005996e-03 3.78e-16 1.13e-02 -4.0 1.07e+02 -20.0 1.00e+00 2.27e-02f 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 9.0588560e-05 4.69e-14 7.02e-03 -3.9 1.51e+00 -20.0 1.00e+00 1.00e+00f 1 91 7.6648054e-04 2.73e-14 5.32e-03 -3.9 8.01e-01 -20.0 1.00e+00 1.00e+00f 1 92 4.3644987e-04 5.33e-15 7.90e-04 -3.9 5.46e-01 -20.0 1.00e+00 5.00e-01f 2 93 4.3234876e-05 4.22e-15 2.17e-03 -5.9 7.24e-01 -20.0 9.29e-01 1.00e+00f 1 94 1.7820125e-05 3.89e-15 2.66e-04 -5.9 1.89e-01 -20.0 1.00e+00 1.00e+00f 1 95 5.0663339e-06 6.66e-16 1.68e-04 -5.9 2.13e-01 -20.0 1.00e+00 1.00e+00f 1 96 5.7223170e-06 3.33e-16 1.68e-05 -5.9 2.41e-02 -20.0 1.00e+00 1.00e+00h 1 97 5.3120047e-06 7.81e-17 2.34e-06 -5.9 3.39e-03 -20.0 1.00e+00 1.00e+00h 1 98 3.8062835e-07 5.55e-17 8.00e-05 -8.9 2.90e-01 -20.0 9.71e-01 1.00e+00f 1 99 1.5335735e-07 2.91e-17 8.37e-06 -8.9 6.40e-02 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 1.4949352e-03 3.43e-16 2.29e-03 -4.0 3.23e+02 -20.0 1.00e+00 7.54e-03f 3 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.4949352250328873e-03 1.4949352250328873e-03 Dual infeasibility......: 2.2896547140391719e-03 2.2896547140391719e-03 Constraint violation....: 3.4347524824340780e-16 3.4347524824340780e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 4.0672913745013172e-04 4.0672913745013172e-04 Overall NLP error.......: 2.2896547140391719e-03 2.2896547140391719e-03 Number of objective function evaluations = 175 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 175 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 = 4.077 EXIT: Maximum Number of Iterations Exceeded. Test Summary: | Pass Total Time Package | 225 225 26m08.8s Testing DirectTrajOpt tests passed Testing completed after 1659.5s PkgEval succeeded after 1768.05s