Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.2058 (afc71c255e*) started at 2026-04-19T23:55:39.186 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 14.42s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Installed DirectTrajOpt ─ v0.8.11 Updating `~/.julia/environments/v1.14/Project.toml` [c823fa1f] + DirectTrajOpt v0.8.11 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 v6.218.0 [163ba53b] + DiffResults v1.1.0 [b552c78f] + DiffRules v1.15.1 [a0c0ee7d] + DifferentiationInterface v0.7.16 [c823fa1f] + DirectTrajOpt v0.8.11 [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 v1.5.0 [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 v3.33.0 [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 6.43s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling project... 35.7 s ✓ DirectTrajOpt 1 dependency successfully precompiled in 50 seconds. 229 already precompiled. Precompilation completed after 64.38s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_Zj5aHE/Project.toml` [c823fa1f] DirectTrajOpt v0.8.11 [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_Zj5aHE/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 v6.218.0 [163ba53b] DiffResults v1.1.0 [b552c78f] DiffRules v1.15.1 [a0c0ee7d] DifferentiationInterface v0.7.16 [c823fa1f] DirectTrajOpt v0.8.11 [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 v1.5.0 [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 v3.33.0 [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... 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! Difference in Hessian ┌ 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/OwEJV/src/problems.jl:66 initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.537s integrator 2 jacobian structure: 0.053s integrator 3 jacobian structure: 0.0s jacobian structure: 1872 nonzeros (0.635s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.048s integrator 3 hessian structure: 0.001s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 1.94s sub-objective 2 (QuadraticRegularizer): 1.384s sub-objective 3 (LinearRegularizer): 0.077s sub-objective 4 (MinimumTimeObjective): 0.016s objective hessian structure: 3.517s hessian structure: 2431 nonzeros (3.618s) linear index maps built (0.0s) evaluator ready (total: 4.76s) evaluator created (6.942s) NL constraint bounds extracted (0.086s) NLP block data built (0.0s) Ipopt optimizer configured (0.318s) variables set (0.701s) 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 (4.079s) optimizer initialization complete (total: 12.128s) ****************************************************************************** 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...: 1808 Number of nonzeros in inequality constraint Jacobian.: 80 Number of nonzeros in Lagrangian Hessian.............: 2239 Total number of variables............................: 122 variables with only lower bounds: 30 variables with lower and upper bounds: 0 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 40 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 40 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.5905835e+00 2.97e+00 1.04e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4308195e+00 1.47e+00 2.40e+00 -0.7 3.09e+01 -4.0 8.03e-01 6.44e-01f 1 2 2.4248622e+00 1.09e+00 1.37e+00 -0.6 1.57e+01 -2.7 2.81e-01 4.13e-01f 1 3 2.5697263e+00 6.85e-01 3.40e-01 -1.8 3.47e+00 -2.2 7.59e-01 1.00e+00h 1 4 2.4067758e+00 1.67e-01 3.67e-01 -1.4 2.36e+00 -1.8 6.57e-01 7.46e-01f 1 5 2.1610105e+00 3.99e-02 2.65e-01 -1.9 1.51e+00 -2.3 8.16e-01 7.57e-01h 1 6 2.0262447e+00 6.02e-03 3.95e-02 -3.7 6.26e-01 -2.8 8.90e-01 8.18e-01h 1 7 2.0053190e+00 1.50e-03 3.26e-02 -3.7 1.87e-01 -3.3 9.91e-01 8.02e-01h 1 8 2.0010017e+00 1.53e-05 4.21e-03 -4.0 2.42e-01 -3.7 1.00e+00 1.00e+00h 1 9 2.0010314e+00 1.93e-07 9.62e-03 -4.0 5.90e-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 2.0010468e+00 1.56e-10 2.15e-02 -4.0 1.09e+00 -4.7 1.00e+00 1.00e+00f 1 11 2.0010644e+00 4.68e-11 4.00e-02 -4.0 2.02e+00 -5.2 1.00e+00 1.00e+00f 1 12 2.0006862e+00 1.63e-08 4.85e-02 -4.2 2.43e+00 -5.6 1.00e+00 1.00e+00f 1 13 2.0012770e+00 1.11e-08 1.60e-01 -4.0 8.04e+00 -6.1 1.00e+00 1.00e+00f 1 14 2.0008500e+00 9.84e-09 1.07e-01 -4.1 7.34e+00 -6.6 1.00e+00 7.30e-01f 1 15 2.0011121e+00 1.47e-09 3.83e-01 -4.1 1.92e+01 -7.1 1.00e+00 1.00e+00f 1 16 2.0008811e+00 2.82e-09 4.47e-01 -4.1 2.46e+01 -7.5 1.00e+00 9.10e-01f 1 17 2.0012364e+00 1.67e-09 9.76e-01 -4.1 4.89e+01 -8.0 1.00e+00 1.00e+00f 1 18 2.0009224e+00 3.00e-09 1.27e+00 -4.1 7.16e+01 -8.5 1.00e+00 8.92e-01f 1 19 2.0012699e+00 2.33e-09 2.59e+00 -4.1 1.30e+02 -9.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0009083e+00 4.55e-09 4.11e+00 -4.1 2.22e+02 -9.5 1.00e+00 9.26e-01f 1 21 2.0013106e+00 1.90e-09 7.17e+00 -4.1 3.59e+02 -9.9 1.00e+00 1.00e+00f 1 22 2.0008848e+00 3.98e-09 1.19e+01 -4.1 6.43e+02 -10.4 1.00e+00 9.27e-01f 1 23 2.0013339e+00 1.08e-09 2.03e+01 -4.1 1.02e+03 -10.9 1.00e+00 1.00e+00f 1 24 2.0008346e+00 3.11e-09 3.63e+01 -4.1 1.93e+03 -11.4 1.00e+00 9.42e-01f 1 25 2.0013679e+00 4.13e-10 5.72e+01 -4.1 2.86e+03 -11.8 1.00e+00 1.00e+00f 1 26 2.0007613e+00 2.15e-09 9.65e+01 -4.1 5.07e+03 -12.3 1.00e+00 9.52e-01f 1 27 2.0013620e+00 7.93e-11 1.49e+02 -4.1 7.44e+03 -12.8 1.00e+00 1.00e+00f 1 28 2.0006515e+00 1.25e-09 2.16e+02 -4.1 1.09e+04 -13.3 1.00e+00 9.91e-01f 1 29 2.0018396e+00 3.68e-11 3.86e+02 -4.0 1.93e+04 -13.7 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0010088e+00 3.56e-10 2.78e+01 -4.2 3.33e+03 -14.2 1.00e+00 4.17e-01f 2 31 2.0007497e+00 1.35e-10 2.63e+02 -4.2 1.31e+04 -14.7 1.00e+00 1.00e+00f 1 32 2.0006394e+00 2.77e-12 2.95e+02 -4.2 1.48e+04 -15.2 1.00e+00 1.00e+00f 1 33 2.0010787e+00 6.98e-13 3.68e+02 -4.0 1.84e+04 -15.7 1.00e+00 1.00e+00f 1 34 2.0005050e+00 1.55e-12 1.75e+02 -4.1 8.74e+03 -16.1 1.00e+00 1.00e+00f 1 35 2.0008985e+00 9.48e-13 2.18e+02 -4.0 1.09e+04 -16.6 1.00e+00 1.00e+00f 1 36 2.0005394e+00 6.32e-14 1.54e+02 -4.1 7.72e+03 -17.1 1.00e+00 1.00e+00f 1 37 2.0006548e+00 1.76e-12 8.43e+01 -4.1 4.21e+03 -17.6 1.00e+00 1.00e+00f 1 38 2.0006138e+00 1.70e-12 3.11e+01 -4.1 1.55e+03 -18.0 1.00e+00 1.00e+00h 1 39 2.0006320e+00 2.49e-12 1.22e+01 -4.1 6.09e+02 -18.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0006250e+00 2.69e-12 5.54e+00 -4.1 2.77e+02 -19.0 1.00e+00 1.00e+00h 1 41 2.0006280e+00 3.69e-12 1.96e+00 -4.1 9.80e+01 -19.5 1.00e+00 1.00e+00h 1 42 2.0006269e+00 4.05e-12 9.31e-01 -4.1 4.65e+01 -19.9 1.00e+00 1.00e+00h 1 43 2.0006274e+00 2.07e-12 3.25e-01 -4.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 44 2.0006272e+00 7.59e-13 1.55e-01 -4.1 7.77e+00 -20.0 1.00e+00 1.00e+00h 1 45 2.0006273e+00 3.44e-13 5.41e-02 -4.1 2.70e+00 -20.0 1.00e+00 1.00e+00h 1 46 2.0006272e+00 1.26e-13 2.59e-02 -4.1 1.29e+00 -20.0 1.00e+00 1.00e+00h 1 47 2.0006272e+00 5.73e-14 9.01e-03 -4.1 4.50e-01 -20.0 1.00e+00 1.00e+00h 1 48 2.0006272e+00 2.10e-14 4.32e-03 -4.1 2.16e-01 -20.0 1.00e+00 1.00e+00h 1 49 2.0006272e+00 9.53e-15 1.50e-03 -4.1 9.37e-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 2.0006272e+00 3.50e-15 7.19e-04 -4.1 9.37e-02 -20.0 1.00e+00 1.00e+00h 1 51 1.9998547e+00 1.20e-08 2.25e+02 -6.1 1.12e+04 -20.0 1.00e+00 1.00e+00f 1 52 2.0006851e+00 3.01e-09 2.10e+03 -4.0 2.10e+05 -20.0 1.00e+00 5.00e-01f 2 53 2.0004195e+00 9.52e-11 2.31e+03 -3.9 1.16e+05 -20.0 1.00e+00 1.00e+00f 1 54 2.0009617e+00 3.52e-09 5.63e+02 -3.9 2.81e+04 -20.0 1.00e+00 1.00e+00f 1 55 2.0010429e+00 3.07e-09 1.07e+02 -3.9 5.35e+03 -20.0 1.00e+00 1.00e+00h 1 56 2.0010550e+00 7.46e-10 2.72e+01 -3.9 1.36e+03 -20.0 1.00e+00 1.00e+00h 1 57 2.0010720e+00 5.80e-10 6.04e+00 -3.9 3.02e+02 -20.0 1.00e+00 1.00e+00h 1 58 2.0010737e+00 1.33e-10 4.73e+00 -3.9 2.36e+02 -20.0 1.00e+00 1.00e+00h 1 59 2.0010765e+00 9.89e-11 1.05e+00 -3.9 5.27e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0010768e+00 2.24e-11 7.85e-01 -3.9 3.93e+01 -20.0 1.00e+00 1.00e+00h 1 61 2.0010773e+00 1.65e-11 1.77e-01 -3.9 8.86e+00 -20.0 1.00e+00 1.00e+00h 1 62 2.0010773e+00 3.74e-12 1.31e-01 -3.9 6.54e+00 -20.0 1.00e+00 1.00e+00h 1 63 2.0010774e+00 2.75e-12 2.96e-02 -3.9 1.48e+00 -20.0 1.00e+00 1.00e+00h 1 64 2.0010774e+00 6.22e-13 2.18e-02 -3.9 1.09e+00 -20.0 1.00e+00 1.00e+00h 1 65 2.0010774e+00 4.58e-13 4.93e-03 -3.9 4.97e-01 -20.0 1.00e+00 1.00e+00h 1 66 2.0010774e+00 1.04e-13 3.63e-03 -3.9 4.97e-01 -20.0 1.00e+00 1.00e+00h 1 67 2.0010774e+00 7.63e-14 8.22e-04 -3.9 4.97e-01 -20.0 1.00e+00 1.00e+00h 1 68 1.9998650e+00 8.73e-08 2.44e+02 -5.9 1.22e+04 -20.0 1.00e+00 1.00e+00f 1 69 1.9998454e+00 3.11e-13 2.17e+02 -5.9 1.17e+04 -20.0 9.31e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 1.8276462e+00 2.00e-13 1.93e+06 -5.9 9.67e+07 -20.0 1.82e-03 1.00e+00f 1 71 1.8128967e+00 5.23e-13 2.00e+03 -5.5 1.31e+08 -20.0 1.00e+00 7.62e-04f 1 72 1.9424933e+00 5.22e-13 1.30e+06 -4.0 9.39e+10 -20.0 1.00e+00 6.94e-04f 1 73 1.9999539e+00 5.20e-13 6.38e+05 -3.2 6.23e+09 -20.0 1.00e+00 5.12e-03f 1 74 1.9999075e+00 1.62e-11 1.64e+03 -3.2 8.21e+04 -20.0 1.00e+00 1.00e+00f 1 75 2.0289689e+00 5.00e-06 5.13e+01 -3.2 2.57e+03 -20.0 1.00e+00 1.00e+00f 1 76 2.0101929e+00 1.40e-03 8.68e+02 -3.2 8.68e+04 -20.0 1.00e+00 5.00e-01f 2 77 2.0086398e+00 2.63e-04 1.48e+02 -3.2 7.42e+03 -20.0 1.00e+00 1.00e+00h 1 78 2.0061138e+00 1.05e-03 1.43e+02 -3.2 7.13e+03 -20.0 1.00e+00 1.00e+00h 1 79 2.0064842e+00 4.06e-06 1.66e+02 -3.2 8.30e+03 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0059212e+00 7.22e-06 3.23e+01 -3.2 1.62e+03 -20.0 1.00e+00 1.00e+00h 1 81 2.0059916e+00 2.50e-07 3.48e+01 -3.2 1.75e+03 -20.0 1.00e+00 1.00e+00h 1 82 2.0058844e+00 6.81e-07 2.81e+00 -3.2 1.40e+02 -20.0 1.00e+00 1.00e+00h 1 83 2.0058962e+00 3.93e-08 6.02e+00 -3.2 3.01e+02 -20.0 1.00e+00 1.00e+00h 1 84 2.0058780e+00 1.12e-07 3.69e-01 -3.2 8.63e+01 -20.0 1.00e+00 1.00e+00h 1 85 2.0058800e+00 6.46e-09 1.01e+00 -3.2 8.63e+01 -20.0 1.00e+00 1.00e+00h 1 86 2.0058769e+00 1.86e-08 5.86e-02 -3.2 8.61e+01 -20.0 1.00e+00 1.00e+00h 1 87 2.0058772e+00 1.07e-09 1.68e-01 -3.2 8.61e+01 -20.0 1.00e+00 1.00e+00h 1 88 2.0058767e+00 3.09e-09 9.67e-03 -3.2 8.61e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0058768e+00 1.79e-10 2.80e-02 -3.2 8.61e+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 2.0058767e+00 5.14e-10 1.61e-03 -3.2 8.61e+01 -20.0 1.00e+00 1.00e+00h 1 91 1.9999839e+00 6.08e-05 2.65e+02 -4.8 1.32e+04 -20.0 1.00e+00 1.00e+00f 1 92 2.0000039e+00 4.84e-10 7.05e+01 -4.8 3.53e+03 -20.0 1.00e+00 1.00e+00h 1 93 2.0000002e+00 3.32e-16 5.23e+02 -4.8 2.61e+04 -20.0 1.00e+00 1.00e+00h 1 94 1.9999298e+00 4.16e-14 5.18e+00 -4.8 2.59e+02 -20.0 1.00e+00 1.00e+00h 1 95 1.9999444e+00 3.78e-14 1.58e+02 -4.8 7.90e+03 -20.0 1.00e+00 1.00e+00h 1 96 1.9999330e+00 3.28e-14 3.56e+01 -4.8 1.78e+03 -20.0 1.00e+00 1.00e+00h 1 97 1.9999354e+00 8.35e-15 3.03e+01 -4.8 1.52e+03 -20.0 1.00e+00 1.00e+00h 1 98 1.9999335e+00 5.76e-15 7.67e+00 -4.8 3.83e+02 -20.0 1.00e+00 1.00e+00h 1 99 1.9999339e+00 1.50e-15 5.05e+00 -4.8 2.53e+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 1.9999336e+00 9.53e-16 1.33e+00 -4.8 6.67e+01 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.9999336135029371e+00 1.9999336135029371e+00 Dual infeasibility......: 1.3334021587479583e+00 1.3334021587479583e+00 Constraint violation....: 9.5303043851546667e-16 9.5303043851546667e-16 Variable bound violation: 3.0896087695769010e-09 3.0896087695769010e-09 Complementarity.........: 1.4860304377886365e-05 1.4860304377886365e-05 Overall NLP error.......: 1.1266976334013723e+00 1.3334021587479583e+00 Number of objective function evaluations = 115 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 115 Number of inequality constraint evaluations = 115 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 55.421 EXIT: Maximum Number of Iterations Exceeded. [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: 0.06s integrator 2 jacobian structure: 0.055s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.115s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.052s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.351s sub-objective 2 (QuadraticRegularizer): 0.09s sub-objective 3 (MinimumTimeObjective): 0.016s objective hessian structure: 0.556s hessian structure: 1749 nonzeros (0.657s) linear index maps built (0.0s) evaluator ready (total: 0.772s) evaluator created (0.772s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.125s) 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 (3.438s) optimizer initialization complete (total: 4.335s) 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 3.4101694e+00 2.28e+00 2.03e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.2491736e+00 1.10e+01 1.70e+01 -0.9 1.26e+02 -4.0 1.00e+00 9.84e-01h 1 2 2.0896994e+00 1.10e-02 6.31e+00 -2.9 1.40e+01 -4.5 6.88e-01 1.00e+00h 1 3 2.0926277e+00 1.01e-03 8.21e-02 -2.9 2.72e+00 -5.0 1.00e+00 1.00e+00h 1 4 2.0886970e+00 2.08e-03 7.57e-03 -4.0 5.37e+00 -5.4 1.00e+00 1.00e+00h 1 5 2.0873105e+00 3.96e-04 1.02e-03 -4.0 1.63e+01 -5.9 1.00e+00 1.00e+00h 1 6 2.0826804e+00 1.10e-03 4.73e-03 -4.0 4.69e+01 -6.4 1.00e+00 1.00e+00h 1 7 2.0796978e+00 1.29e-03 1.81e-01 -4.0 9.75e+01 -6.9 1.00e+00 2.98e-01h 1 8 2.0791351e+00 4.57e-03 1.52e-01 -4.0 6.37e+01 -7.3 1.00e+00 1.00e+00h 1 9 2.0774673e+00 4.09e-03 1.75e-02 -4.0 1.27e+02 -7.8 1.00e+00 8.56e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0766423e+00 3.75e-04 3.14e-02 -4.0 2.22e+02 -8.3 1.00e+00 9.88e-01h 1 11 2.0761528e+00 7.35e-04 2.72e-02 -4.0 3.59e+02 -8.8 1.00e+00 1.00e+00h 1 12 2.0756179e+00 1.09e-04 2.20e-02 -4.0 3.91e+02 -9.2 1.00e+00 6.39e-01h 1 13 2.0758300e+00 5.46e-04 7.64e-03 -4.0 1.23e+02 -9.7 1.00e+00 1.00e+00h 1 14 2.0754438e+00 9.70e-04 1.57e-04 -4.1 4.02e+01 -10.2 1.00e+00 1.00e+00h 1 15 2.0757716e+00 5.82e-04 2.63e-06 -4.0 2.33e+01 -10.7 1.00e+00 1.00e+00h 1 16 2.0754220e+00 6.05e-04 9.10e-07 -4.1 2.28e+01 -11.2 1.00e+00 1.00e+00h 1 17 2.0757717e+00 4.19e-04 6.93e-07 -4.0 1.58e+01 -11.6 1.00e+00 1.00e+00h 1 18 2.0754219e+00 5.55e-04 2.16e-07 -4.1 2.09e+01 -12.1 1.00e+00 1.00e+00h 1 19 2.0757717e+00 6.03e-04 9.82e-08 -4.0 2.28e+01 -12.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0754219e+00 6.02e-04 1.03e-07 -4.1 2.27e+01 -13.1 1.00e+00 1.00e+00h 1 21 2.0757717e+00 6.06e-04 1.17e-07 -4.0 2.29e+01 -13.5 1.00e+00 1.00e+00h 1 22 2.0754219e+00 6.06e-04 1.21e-07 -4.1 2.29e+01 -14.0 1.00e+00 1.00e+00h 1 23 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -14.5 9.28e-01 1.00e+00h 1 24 2.0758523e+00 1.72e-01 1.58e-04 -4.0 1.29e+03 -15.0 1.00e+00 1.00e+00h 1 25 2.0754378e+00 2.85e-02 8.92e-05 -4.1 1.05e+03 -15.5 1.00e+00 1.00e+00h 1 26 2.0754277e+00 1.25e-05 2.07e-06 -4.1 1.63e+02 -15.9 1.00e+00 1.00e+00h 1 27 2.0757717e+00 7.85e-04 1.74e-07 -4.0 3.02e+01 -16.4 1.00e+00 1.00e+00h 1 28 2.0754219e+00 6.34e-04 1.30e-07 -4.1 2.39e+01 -16.9 1.00e+00 1.00e+00h 1 29 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -17.4 9.28e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0739729e+00 7.49e-04 2.53e-04 -6.1 8.48e+02 -17.8 8.16e-01 1.00e+00h 1 31 2.0743069e+00 2.58e-02 1.46e-02 -4.0 8.97e+03 -18.3 1.00e+00 1.46e-01f 1 32 2.0749156e+00 3.43e-02 4.23e-05 -4.3 7.15e+02 -18.8 1.00e+00 1.00e+00h 1 33 2.0749194e+00 4.29e-04 1.42e-05 -4.3 5.34e+02 -19.3 1.00e+00 1.00e+00h 1 34 2.0757799e+00 1.06e-02 3.26e-06 -4.0 1.65e+02 -19.7 1.00e+00 1.00e+00h 1 35 2.0754236e+00 2.17e-03 7.34e-07 -4.1 8.12e+01 -20.0 1.00e+00 1.00e+00h 1 36 2.0754217e+00 1.05e-06 2.50e-08 -4.1 1.90e+01 -20.0 1.00e+00 1.00e+00h 1 37 2.0757718e+00 7.83e-04 1.70e-07 -4.0 2.96e+01 -20.0 1.00e+00 1.00e+00h 1 38 2.0754219e+00 6.34e-04 1.30e-07 -4.1 2.39e+01 -20.0 1.00e+00 1.00e+00h 1 39 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0739729e+00 7.49e-04 2.53e-04 -6.1 8.48e+02 -20.0 8.16e-01 1.00e+00h 1 41 2.0739618e+00 7.48e-07 1.83e-05 -6.1 5.36e+02 -20.0 1.00e+00 1.00e+00h 1 42 2.0741610e+00 2.72e-02 1.81e-02 -4.0 3.03e+04 -20.0 1.00e+00 8.17e-02f 1 43 2.0748450e+00 7.42e-02 5.83e-05 -4.3 1.43e+03 -20.0 1.00e+00 1.00e+00f 1 44 2.0748594e+00 4.17e-04 5.58e-06 -4.3 3.96e+02 -20.0 1.00e+00 1.00e+00h 1 45 2.0740038e+00 1.17e-02 4.14e-04 -6.5 1.83e+02 -20.0 8.92e-01 1.00e+00h 1 46 2.0739628e+00 2.48e-04 2.84e-04 -6.5 7.31e+02 -20.0 7.61e-01 1.00e+00h 1 47 2.0739529e+00 2.78e-07 2.04e-05 -6.5 6.29e+02 -20.0 1.00e+00 1.00e+00h 1 48 2.0741325e+00 2.58e-02 1.91e-02 -4.0 3.70e+04 -20.0 1.00e+00 7.19e-02f 1 49 2.0748276e+00 8.42e-02 6.63e-05 -4.3 1.60e+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 50 2.0748443e+00 3.56e-04 3.40e-06 -4.3 3.15e+02 -20.0 1.00e+00 1.00e+00h 1 51 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 52 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 53 2.0739527e+00 2.69e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 54 2.0741318e+00 2.58e-02 1.92e-02 -4.0 3.72e+04 -20.0 1.00e+00 7.16e-02f 1 55 2.0748272e+00 8.45e-02 6.65e-05 -4.3 1.61e+03 -20.0 1.00e+00 1.00e+00f 1 56 2.0748440e+00 3.54e-04 3.34e-06 -4.3 3.13e+02 -20.0 1.00e+00 1.00e+00h 1 57 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 58 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 59 2.0739527e+00 2.68e-07 2.05e-05 -6.5 6.32e+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 2.0741318e+00 2.58e-02 1.92e-02 -4.0 3.72e+04 -20.0 1.00e+00 7.16e-02f 1 61 2.0748272e+00 8.45e-02 6.65e-05 -4.3 1.61e+03 -20.0 1.00e+00 1.00e+00f 1 62 2.0748440e+00 3.54e-04 3.34e-06 -4.3 3.13e+02 -20.0 1.00e+00 1.00e+00h 1 63 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 64 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 65 2.0739527e+00 2.68e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 66 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 67 2.0741226e+00 2.63e-02 1.95e-02 -4.0 4.26e+04 -20.0 1.00e+00 6.77e-02f 1 68 2.0748234e+00 8.99e-02 7.10e-05 -4.3 1.70e+03 -20.0 1.00e+00 1.00e+00f 1 69 2.0748412e+00 3.13e-04 2.43e-06 -4.3 2.70e+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 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 71 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 72 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 73 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 74 2.0741225e+00 2.63e-02 1.95e-02 -4.0 4.27e+04 -20.0 1.00e+00 6.76e-02f 1 75 2.0748233e+00 9.00e-02 7.11e-05 -4.3 1.70e+03 -20.0 1.00e+00 1.00e+00f 1 76 2.0748411e+00 3.13e-04 2.42e-06 -4.3 2.70e+02 -20.0 1.00e+00 1.00e+00h 1 77 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 78 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 79 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+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 80 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 81 2.0739440e+00 6.21e-05 3.00e-06 -9.0 1.42e+02 -20.0 9.56e-01 1.00e+00h 1 82 2.0740989e+00 2.54e-02 2.06e-02 -4.0 5.21e+04 -20.0 1.00e+00 5.99e-02f 1 83 2.0748092e+00 1.02e-01 8.36e-05 -4.3 1.92e+03 -20.0 1.00e+00 1.00e+00f 1 84 2.0748293e+00 2.04e-04 1.06e-06 -4.3 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 85 2.0740026e+00 1.16e-02 4.11e-04 -6.5 1.88e+02 -20.0 8.89e-01 1.00e+00h 1 86 2.0739622e+00 2.30e-04 2.84e-04 -6.5 7.25e+02 -20.0 7.59e-01 1.00e+00h 1 87 2.0739525e+00 2.60e-07 1.99e-05 -6.5 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 88 2.0739518e+00 4.59e-09 7.61e-07 -6.5 1.66e+02 -20.0 1.00e+00 1.00e+00h 1 89 2.0741220e+00 2.63e-02 1.96e-02 -4.0 4.28e+04 -20.0 1.00e+00 6.75e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0748230e+00 9.02e-02 7.13e-05 -4.3 1.71e+03 -20.0 1.00e+00 1.00e+00f 1 91 2.0748409e+00 3.11e-04 2.38e-06 -4.3 2.68e+02 -20.0 1.00e+00 1.00e+00h 1 92 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 93 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 94 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 95 2.0739520e+00 4.54e-09 7.53e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 96 2.0739440e+00 6.21e-05 3.00e-06 -9.0 1.42e+02 -20.0 9.56e-01 1.00e+00h 1 97 2.0740989e+00 2.54e-02 2.06e-02 -4.0 5.21e+04 -20.0 1.00e+00 5.99e-02f 1 98 2.0748092e+00 1.02e-01 8.37e-05 -4.3 1.92e+03 -20.0 1.00e+00 1.00e+00f 1 99 2.0748293e+00 2.04e-04 1.06e-06 -4.3 1.65e+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 2.0740026e+00 1.16e-02 4.11e-04 -6.5 1.88e+02 -20.0 8.89e-01 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0740025697366158e+00 2.0740025697366158e+00 Dual infeasibility......: 4.1148314624791182e-04 4.1148314624791182e-04 Constraint violation....: 1.1636767918258517e-02 1.1636767918258517e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0683766331762524e-05 1.0683766331762524e-05 Overall NLP error.......: 1.1636767918258517e-02 1.1636767918258517e-02 Number of objective function evaluations = 101 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 101 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 39.455 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.057s jacobian structure: 180 nonzeros (0.098s) integrator 1 hessian structure: 0.052s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.375s sub-objective 2 (QuadraticRegularizer): 0.096s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.017s objective hessian structure: 0.586s hessian structure: 375 nonzeros (0.638s) linear index maps built (0.0s) evaluator ready (total: 0.875s) evaluator created (0.875s) NL constraint bounds extracted (0.012s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.127s) applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.064s) optimizer initialization complete (total: 4.079s) 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 1.9142050e+00 7.93e-01 1.11e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7760617e+00 6.03e-02 8.68e-01 -1.5 1.62e+00 - 9.31e-01 1.00e+00h 1 2 1.3891154e+00 3.20e-02 2.80e-01 -1.8 2.04e+00 -2.0 9.93e-01 4.80e-01f 1 3 1.1100713e+00 1.20e-03 8.21e-02 -2.9 3.05e+00 - 9.80e-01 1.00e+00h 1 4 1.0918690e+00 5.87e-05 6.30e-02 -4.0 2.08e+00 - 1.00e+00 9.97e-01h 1 5 1.0910311e+00 1.46e-08 5.84e-03 -4.0 1.23e-01 -2.5 1.00e+00 1.00e+00h 1 6 1.0909012e+00 1.88e-11 4.89e-03 -4.0 6.97e-01 - 1.00e+00 1.00e+00f 1 7 1.0908998e+00 5.52e-18 6.03e-05 -4.0 8.38e-02 - 1.00e+00 1.00e+00f 1 8 1.0908997e+00 8.52e-28 1.75e-05 -4.0 4.52e-02 - 1.00e+00 1.00e+00f 1 9 1.0908997e+00 5.40e-29 9.11e-07 -4.0 7.93e-03 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0908997e+00 1.85e-28 7.69e-11 -4.0 1.40e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 1.0908997263265467e+00 1.0908997263265467e+00 Dual infeasibility......: 7.6886657956153071e-11 7.6886657956153071e-11 Constraint violation....: 1.8472586181497336e-28 1.8472586181497336e-28 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000044e-04 1.0000000000000044e-04 Overall NLP error.......: 7.6886657956153071e-11 7.6886657956153071e-11 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 24.675 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.071s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.071s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.052s) linear index maps built (0.0s) evaluator ready (total: 0.124s) evaluator created (0.124s) 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 (0.125s) optimizer initialization complete (total: 0.249s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 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 4.0182680e+00 3.66e+00 8.50e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7936842e+00 2.71e-02 5.13e-01 -1.0 2.85e+00 - 1.00e+00 1.00e+00f 1 2 2.3611667e+00 7.47e-03 1.71e-01 -1.7 9.73e-02 - 9.51e-01 1.00e+00h 1 3 2.1555407e+00 2.72e-03 6.05e-02 -2.7 5.57e-02 - 9.20e-01 7.52e-01h 1 4 2.0927460e+00 3.44e-04 1.15e-02 -3.7 5.90e-02 - 9.95e-01 9.95e-01h 1 5 2.0908972e+00 4.80e-05 1.08e-03 -4.0 1.40e-01 - 1.00e+00 1.00e+00h 1 6 2.0908968e+00 3.21e-07 4.11e-06 -4.0 2.33e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 7.03e-11 9.82e-10 -4.0 3.40e-02 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971977643533e+00 2.0908971977643533e+00 Dual infeasibility......: 9.8206865727155750e-10 9.8206865727155750e-10 Constraint violation....: 7.0265752421466497e-11 7.0265752421466497e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000116877665348e-04 1.0000116877665348e-04 Overall NLP error.......: 1.1687766534760821e-09 1.1687766534760821e-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 = 24.883 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.06s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.048s) linear index maps built (0.0s) evaluator ready (total: 0.109s) evaluator created (0.109s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: bounds constraint on trajectory variable 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: 0.11s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 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 5.6512052e+00 1.92e+00 5.47e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8664076e+00 7.36e-01 9.17e-01 -0.8 6.90e+00 -4.0 9.65e-01 7.09e-01f 1 2 2.4410874e+00 1.61e-01 1.03e+01 -1.2 6.60e+00 -2.7 2.87e-01 1.00e+00f 1 3 2.3707082e+00 4.66e-03 5.82e-01 -1.5 3.62e-01 -1.3 8.19e-01 1.00e+00h 1 4 2.2566596e+00 2.50e-02 3.54e-01 -1.9 7.36e-01 -1.8 9.95e-01 6.34e-01h 1 5 2.1928693e+00 2.58e-02 4.76e-01 -2.1 1.71e+00 -2.3 9.10e-01 3.71e-01h 1 6 2.1829221e+00 2.38e-02 3.46e-01 -2.7 1.02e-01 -1.0 9.73e-01 7.44e-02h 1 7 2.1457675e+00 1.64e-02 4.99e-01 -2.9 2.56e-01 -1.4 9.98e-01 3.11e-01h 1 8 2.1107084e+00 7.14e-03 3.49e-01 -3.0 1.23e-01 -1.9 1.00e+00 5.65e-01h 1 9 2.0920158e+00 7.12e-04 4.92e-02 -4.0 5.76e-02 -2.4 1.00e+00 9.02e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909528e+00 5.59e-06 2.93e-03 -4.0 1.58e-02 -2.9 1.00e+00 1.00e+00h 1 11 2.0909486e+00 2.00e-07 2.08e-05 -4.0 4.68e-02 -3.4 1.00e+00 1.00e+00h 1 12 2.0909356e+00 9.54e-09 2.06e-05 -4.0 1.39e-01 -3.8 1.00e+00 1.00e+00h 1 13 2.0908976e+00 7.20e-08 2.27e-05 -4.0 4.06e-01 -4.3 1.00e+00 1.00e+00h 1 14 2.0907928e+00 5.39e-07 1.75e-04 -4.0 1.13e+00 -4.8 1.00e+00 1.00e+00h 1 15 2.0905468e+00 2.90e-06 1.04e-03 -4.0 2.71e+00 -5.3 1.00e+00 1.00e+00h 1 16 2.0901755e+00 6.59e-06 3.14e-03 -4.0 4.65e+00 -5.7 1.00e+00 1.00e+00h 1 17 2.0899244e+00 4.94e-06 3.18e-03 -4.0 5.79e+00 -6.2 1.00e+00 1.00e+00h 1 18 2.0898533e+00 1.80e-06 1.63e-03 -4.0 8.75e+00 -6.7 1.00e+00 1.00e+00h 1 19 2.0898271e+00 1.24e-06 1.29e-03 -4.0 1.17e+01 -7.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0898233e+00 1.82e-06 6.05e-04 -4.0 8.93e+00 -7.6 1.00e+00 1.00e+00h 1 21 2.0898220e+00 3.12e-07 5.76e-05 -4.0 2.53e+00 -8.1 1.00e+00 1.00e+00h 1 22 2.0898219e+00 3.09e-09 6.08e-07 -4.0 2.35e-01 -8.6 1.00e+00 1.00e+00h 1 23 2.0898218e+00 3.14e-12 1.06e-09 -4.0 1.35e-02 -9.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0898218498627665e+00 2.0898218498627665e+00 Dual infeasibility......: 1.0630320196694000e-09 1.0630320196694000e-09 Constraint violation....: 3.1363800445660672e-12 3.1363800445660672e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000003e-04 1.0000000000000003e-04 Overall NLP error.......: 1.0630320196694000e-09 1.0630320196694000e-09 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 = 25.838 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.064s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.064s) integrator 1 hessian structure: 0.057s 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: 0.0s hessian structure: 1749 nonzeros (0.058s) 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: 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: 0.123s) 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 4.1953012e+00 2.89e+00 2.87e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.0889231e+00 2.76e+00 5.99e+00 -0.9 2.29e+00 0.0 6.82e-03 4.72e-02f 1 2 4.0876710e+00 2.75e+00 6.04e+02 -1.4 2.15e+00 -0.5 2.11e-01 4.95e-04h 1 3 4.1924268e+00 2.75e+00 6.23e+02 0.6 5.96e+02 -1.0 4.98e-04 1.01e-03f 2 4 4.2162856e+00 2.75e+00 2.13e+03 -0.7 4.76e+02 -1.4 3.89e-03 6.01e-04h 3 5 4.2636755e+00 2.75e+00 2.02e+03 -0.7 8.07e+02 -1.9 1.05e-04 7.48e-04f 2 6 4.2638716e+00 2.75e+00 1.44e+03 -0.7 1.41e+01 -1.5 5.65e-01 2.12e-04h 1 7 4.2932044e+00 2.75e+00 3.97e+04 -0.7 1.84e+02 -2.0 7.65e-03 6.89e-04h 1 8 4.3523196e+00 2.74e+00 6.08e+05 -0.7 1.69e+02 -1.5 1.86e-02 1.49e-03h 1 9 4.3529121e+00 2.74e+00 2.22e+09 0.1 1.21e+02 -2.0 6.65e-02 1.74e-05h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10r 4.3529121e+00 2.74e+00 1.00e+03 0.7 0.00e+00 -2.5 0.00e+00 8.90e-08R 2 11r 3.6700016e+00 7.86e-01 9.88e+02 2.1 7.28e+02 - 1.73e-02 2.75e-03f 1 12 3.6679478e+00 7.85e-01 1.30e+02 -4.0 5.41e+00 -3.0 2.54e-01 1.92e-03h 1 13 3.6685134e+00 7.85e-01 6.90e+06 0.7 5.29e+02 -3.4 1.00e+00 2.34e-05h 1 14r 3.6685134e+00 7.85e-01 1.00e+03 1.1 0.00e+00 -3.9 0.00e+00 3.71e-07R 5 15r 4.1040006e+00 7.24e-01 1.87e+03 2.4 4.06e+01 - 3.80e-01 2.71e-02f 1 16r 3.9430898e+00 5.21e-01 5.53e+02 1.4 2.84e+00 - 5.73e-01 3.42e-01f 1 17 3.8491446e+00 4.57e-01 3.27e+00 -4.0 4.99e+00 -4.4 5.22e-01 1.23e-01h 1 18 3.8486468e+00 4.56e-01 2.42e+03 -0.6 2.33e+01 -4.9 5.87e-01 1.43e-03h 1 19 3.8667347e+00 4.56e-01 5.04e+06 -0.2 6.01e+01 -5.4 1.00e+00 4.51e-04h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20r 3.8667347e+00 4.56e-01 1.00e+03 1.4 0.00e+00 -5.8 0.00e+00 3.69e-07R 5 21r 4.2612508e+00 1.99e-01 8.98e+02 0.5 5.61e+00 - 1.00e+00 8.34e-02f 1 22 4.2618139e+00 1.99e-01 7.43e+02 -1.2 1.64e+00 -6.3 7.25e-01 1.28e-03h 1 23 4.2624733e+00 1.99e-01 2.39e+06 0.7 2.53e+02 -6.8 6.91e-02 2.26e-05h 1 24r 4.2624733e+00 1.99e-01 1.00e+03 1.5 0.00e+00 -7.3 0.00e+00 4.17e-07R 4 25r 3.8711701e+00 1.99e-01 7.32e+02 -4.0 3.22e-01 - 2.67e-01 3.51e-01f 1 26r 4.3404340e+00 1.99e-01 6.97e+02 -1.0 1.12e+00 0.0 4.61e-02 4.55e-01f 1 27r 4.1427845e+00 1.99e-01 1.46e+02 -0.9 3.15e-01 -0.5 8.20e-01 6.15e-01f 1 28r 4.5579473e+00 1.99e-01 7.83e+00 -1.0 1.00e-01 -0.1 1.00e+00 9.51e-01f 1 29r 4.5092748e+00 1.99e-01 3.23e-01 -1.5 2.09e-01 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30r 4.3291228e+00 1.99e-01 2.16e+00 -2.1 1.80e-01 - 8.89e-01 1.00e+00f 1 31r 4.0974406e+00 1.99e-01 2.34e-02 -2.4 1.19e-01 - 1.00e+00 1.00e+00f 1 32r 4.0865890e+00 1.99e-01 2.22e-01 -4.0 3.54e-02 -0.5 9.22e-01 1.00e+00f 1 33r 4.2665536e+00 1.99e-01 4.64e-03 -3.5 9.53e-02 - 1.00e+00 1.00e+00f 1 34r 3.9935096e+00 1.99e-01 9.15e-04 -3.6 1.17e-01 - 1.00e+00 1.00e+00h 1 35r 4.0373284e+00 1.99e-01 3.32e-05 -3.6 3.57e-02 - 1.00e+00 1.00e+00h 1 36r 3.9426297e+00 1.99e-01 2.93e-02 -5.4 4.88e-02 - 8.59e-01 1.00e+00h 1 37r 3.9495003e+00 1.99e-01 9.33e-04 -4.0 3.57e-03 -1.0 1.00e+00 1.00e+00f 1 38r 3.9944678e+00 1.99e-01 4.28e-05 -4.0 2.33e-02 - 1.00e+00 1.00e+00h 1 39r 3.9883195e+00 1.99e-01 1.21e-04 -4.1 4.97e-03 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40r 4.0087550e+00 1.99e-01 1.20e-04 -4.0 9.05e-03 - 1.00e+00 1.00e+00h 1 41r 3.9886602e+00 1.99e-01 1.20e-04 -4.1 8.91e-03 - 1.00e+00 1.00e+00h 1 42r 3.9372498e+00 1.99e-01 6.85e-03 -6.1 2.29e-02 - 8.93e-01 1.00e+00h 1 43r 3.9303000e+00 1.99e-01 1.12e-03 -4.0 2.42e-02 -1.5 1.00e+00 1.00e+00f 1 44r 3.9745725e+00 1.99e-01 1.19e-04 -4.1 1.24e-02 - 1.00e+00 1.00e+00h 1 45r 3.9316699e+00 1.99e-01 7.03e-03 -6.1 2.19e-02 - 8.91e-01 1.00e+00h 1 46r 3.9681327e+00 1.99e-01 1.06e-03 -4.0 5.11e-02 -2.0 1.00e+00 1.00e+00f 1 47r 3.9773616e+00 1.99e-01 1.82e-04 -4.1 3.66e-02 - 1.00e+00 1.00e+00h 1 48r 3.9320372e+00 1.99e-01 7.55e-03 -6.1 2.10e-02 - 8.84e-01 1.00e+00h 1 49r 3.9342083e+00 1.99e-01 7.10e-06 -6.1 2.52e-03 -2.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50r 4.0167778e+00 1.99e-01 7.06e-02 -4.0 6.98e-01 - 1.00e+00 1.67e-01f 1 51r 3.9405701e+00 1.99e-01 2.67e-02 -4.4 6.75e-02 - 4.66e-01 1.00e+00f 1 52r 3.9717415e+00 1.99e-01 1.10e-04 -4.4 8.84e-02 - 1.00e+00 1.00e+00h 1 53r 3.9748118e+00 1.99e-01 2.47e-05 -4.4 2.38e-02 - 1.00e+00 1.00e+00h 1 54r 3.9374376e+00 1.99e-01 2.99e-03 -6.7 1.92e-02 - 8.99e-01 1.00e+00h 1 55r 4.2014788e+00 1.99e-01 4.92e-02 -4.0 3.08e-01 -2.9 1.00e+00 3.99e-01f 1 56r 4.0222634e+00 1.99e-01 1.29e-02 -4.3 6.47e-02 - 6.70e-01 1.00e+00h 1 57r 3.9865644e+00 1.99e-01 8.09e-05 -4.3 6.40e-02 - 1.00e+00 1.00e+00h 1 58r 3.9820147e+00 1.99e-01 1.03e-05 -4.3 1.68e-02 - 1.00e+00 1.00e+00h 1 59r 3.9380115e+00 1.99e-01 4.06e-03 -6.5 2.12e-02 - 8.95e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60r 3.9394024e+00 1.99e-01 3.95e-06 -6.5 1.56e-03 -2.5 1.00e+00 1.00e+00h 1 61r 3.9625769e+00 1.99e-01 7.69e-02 -4.0 1.21e+00 - 1.00e+00 1.01e-01f 1 62r 3.9094440e+00 1.99e-01 3.00e-02 -4.5 5.99e-02 - 4.37e-01 1.00e+00f 1 63r 3.9584898e+00 1.99e-01 1.19e-04 -4.5 8.86e-02 - 1.00e+00 1.00e+00h 1 64r 3.9709036e+00 1.99e-01 2.42e-05 -4.5 2.37e-02 - 1.00e+00 1.00e+00h 1 65r 3.9366154e+00 1.99e-01 2.69e-03 -6.7 1.85e-02 - 9.00e-01 1.00e+00h 1 66r 4.2098625e+00 1.99e-01 5.36e-02 -4.0 3.56e-01 -3.0 1.00e+00 3.47e-01f 1 67r 4.0251298e+00 1.99e-01 1.53e-02 -4.3 6.47e-02 - 6.28e-01 1.00e+00h 1 68r 3.9871419e+00 1.99e-01 9.33e-05 -4.3 6.87e-02 - 1.00e+00 1.00e+00h 1 69r 3.9807247e+00 1.99e-01 1.18e-05 -4.3 1.81e-02 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70r 3.9380994e+00 1.99e-01 3.76e-03 -6.5 2.07e-02 - 8.96e-01 1.00e+00h 1 71r 3.9394531e+00 1.99e-01 3.32e-06 -6.5 1.55e-03 -2.5 1.00e+00 1.00e+00h 1 72r 3.9607196e+00 1.99e-01 7.75e-02 -4.0 1.28e+00 - 1.00e+00 9.53e-02f 1 73r 3.9080773e+00 1.99e-01 3.03e-02 -4.5 5.96e-02 - 4.35e-01 1.00e+00f 1 74r 3.9576749e+00 1.99e-01 1.19e-04 -4.5 8.84e-02 - 1.00e+00 1.00e+00h 1 75r 3.9706078e+00 1.99e-01 2.39e-05 -4.5 2.37e-02 - 1.00e+00 1.00e+00h 1 76r 3.9365721e+00 1.99e-01 2.67e-03 -6.7 1.84e-02 - 9.00e-01 1.00e+00h 1 77r 4.2329656e+00 1.99e-01 5.60e-02 -4.0 3.95e-01 -3.0 1.00e+00 3.13e-01f 1 78r 4.0317700e+00 1.99e-01 1.66e-02 -4.4 6.95e-02 - 6.06e-01 1.00e+00h 1 79r 3.9870519e+00 1.99e-01 1.07e-04 -4.4 7.28e-02 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80r 3.9798709e+00 1.99e-01 1.31e-05 -4.4 1.94e-02 - 1.00e+00 1.00e+00h 1 81r 3.9381638e+00 1.99e-01 3.55e-03 -6.5 2.04e-02 - 8.98e-01 1.00e+00h 1 82r 3.9394948e+00 1.99e-01 3.16e-06 -6.5 1.57e-03 -2.6 1.00e+00 1.00e+00h 1 83r 3.9604479e+00 1.99e-01 7.78e-02 -4.0 1.34e+00 - 1.00e+00 9.20e-02f 1 84r 3.9076787e+00 1.99e-01 3.05e-02 -4.5 5.96e-02 - 4.33e-01 1.00e+00f 1 85r 3.9573208e+00 1.99e-01 1.20e-04 -4.5 8.82e-02 - 1.00e+00 1.00e+00h 1 86r 3.9704428e+00 1.99e-01 2.37e-05 -4.5 2.36e-02 - 1.00e+00 1.00e+00h 1 87r 3.9365616e+00 1.99e-01 2.65e-03 -6.7 1.84e-02 - 9.00e-01 1.00e+00h 1 88r 4.2590670e+00 1.99e-01 5.82e-02 -4.0 4.49e-01 -3.1 1.00e+00 2.82e-01f 1 89r 4.0392524e+00 1.99e-01 1.76e-02 -4.4 7.71e-02 - 5.88e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90r 3.9864486e+00 1.99e-01 1.23e-04 -4.4 7.71e-02 - 1.00e+00 1.00e+00h 1 91r 3.9790266e+00 1.99e-01 1.44e-05 -4.4 2.08e-02 - 1.00e+00 1.00e+00h 1 92r 3.9382253e+00 1.99e-01 3.39e-03 -6.6 2.01e-02 - 8.98e-01 1.00e+00h 1 93r 3.9395329e+00 1.99e-01 3.13e-06 -6.6 1.59e-03 -2.6 1.00e+00 1.00e+00h 1 94r 3.9601536e+00 1.99e-01 7.82e-02 -4.0 1.39e+00 - 1.00e+00 8.89e-02f 1 95r 3.9072899e+00 1.99e-01 3.07e-02 -4.5 5.95e-02 - 4.32e-01 1.00e+00f 1 96r 3.9569724e+00 1.99e-01 1.20e-04 -4.5 8.81e-02 - 1.00e+00 1.00e+00h 1 97r 3.9702821e+00 1.99e-01 2.35e-05 -4.5 2.36e-02 - 1.00e+00 1.00e+00h 1 98r 3.9365510e+00 1.99e-01 2.64e-03 -6.7 1.84e-02 - 9.01e-01 1.00e+00h 1 99r 4.2879808e+00 1.99e-01 6.01e-02 -4.0 5.50e-01 -3.1 1.00e+00 2.51e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100r 4.0474104e+00 1.99e-01 1.83e-02 -4.4 8.62e-02 - 5.76e-01 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 4.0474103645330652e+00 4.0474103645330652e+00 Dual infeasibility......: 2.0626836238705772e+00 2.0626836238705772e+00 Constraint violation....: 1.9875033000023679e-01 1.9875033000023679e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.0251535957363019e-05 8.0251535957363019e-05 Overall NLP error.......: 2.0626836238705772e+00 2.0626836238705772e+00 Number of objective function evaluations = 124 Number of objective gradient evaluations = 25 Number of equality constraint evaluations = 124 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 105 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 28.066 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: 0.058s integrator 2 jacobian structure: 0.051s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.11s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.049s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.329s sub-objective 2 (QuadraticRegularizer): 0.083s sub-objective 3 (MinimumTimeObjective): 0.016s sub-objective 4 (GlobalObjective): 0.724s objective hessian structure: 1.243s hessian structure: 1804 nonzeros (1.341s) linear index maps built (0.0s) evaluator ready (total: 1.451s) evaluator created (1.451s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.112s) 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 (4.984s) optimizer initialization complete (total: 6.549s) 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 3.4146803e+00 2.88e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.3578369e+00 8.43e-02 2.82e+00 -0.8 1.90e+00 0.0 8.55e-01 9.96e-01f 1 2 4.4881163e+00 1.48e-01 2.65e+00 -0.5 9.07e-01 -0.5 5.77e-01 1.00e+00f 1 3 2.9134970e+00 9.61e-02 4.10e+00 -0.6 5.39e-01 -0.1 6.64e-01 1.00e+00f 1 4 2.7234973e+00 1.57e-02 1.01e+00 -1.1 2.63e-01 -0.5 9.71e-01 1.00e+00h 1 5 2.4270354e+00 2.26e-02 3.60e-01 -1.5 3.90e-01 -1.0 9.81e-01 6.63e-01f 1 6 2.1643955e+00 4.79e-03 2.97e-02 -2.2 1.22e-01 -1.5 9.92e-01 1.00e+00h 1 7 2.0955976e+00 8.68e-04 1.00e-02 -3.6 7.46e-02 -2.0 9.62e-01 9.20e-01h 1 8 2.0908609e+00 6.89e-06 3.50e-04 -4.0 8.83e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908419e+00 9.03e-08 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908369e+00 9.62e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908220e+00 8.76e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0907772e+00 7.89e-08 2.06e-05 -4.0 4.55e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906429e+00 7.12e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902410e+00 6.44e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890442e+00 5.89e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855364e+00 5.55e-04 2.32e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796379e+00 2.26e-03 1.37e-01 -4.0 9.54e+01 -6.7 1.00e+00 6.24e-01h 1 18 2.0806869e+00 1.62e-04 1.83e-01 -4.0 6.66e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775320e+00 7.68e-03 2.52e-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 2.0769367e+00 1.19e-03 6.24e-02 -4.0 1.81e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0761769e+00 1.12e-03 1.70e-02 -4.0 3.29e+02 -8.6 1.00e+00 8.06e-01h 1 22 2.0754828e+00 1.93e-03 2.89e-02 -4.0 5.62e+02 -9.1 1.00e+00 7.39e-01h 1 23 2.0757971e+00 3.13e-03 1.42e-02 -4.0 1.68e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753800e+00 1.46e-03 7.17e-04 -4.1 9.63e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756723e+00 4.76e-04 6.83e-06 -4.0 2.14e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 6.35e-07 1.13e-06 -4.0 1.21e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.31e-09 8.65e-08 -4.0 4.41e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 3.97e-11 1.57e-09 -4.0 7.00e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121582237e+00 2.0756712121582237e+00 Dual infeasibility......: 1.5712797273698641e-09 1.5712797273698641e-09 Constraint violation....: 3.9674152851887357e-11 3.9674152851887357e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000040e-04 1.0000000000000040e-04 Overall NLP error.......: 1.5712797273698641e-09 1.5712797273698641e-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 = 49.363 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.055s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.056s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.049s) linear index maps built (0.0s) evaluator ready (total: 0.105s) evaluator created (0.105s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.112s) optimizer initialization complete (total: 0.218s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 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 2.8704222e+00 3.08e+00 5.38e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.1902355e+00 5.40e-01 2.71e+00 -0.8 3.22e+00 0.0 1.00e+00 8.27e-01h 1 2 2.2138548e+00 2.49e-01 8.69e+00 -0.6 9.25e-01 0.4 1.00e+00 5.37e-01h 1 3 2.0976315e+00 9.78e-02 7.13e+00 -1.0 4.29e-01 0.9 9.93e-01 6.07e-01h 1 4 2.0803477e+00 6.75e-02 5.06e+00 -1.2 3.09e-01 0.4 9.98e-01 3.09e-01h 1 5 2.1559754e+00 8.85e-04 4.83e-01 -2.5 3.84e-01 -0.1 8.93e-01 1.00e+00h 1 6 2.1358839e+00 1.05e-03 5.16e-01 -4.0 7.67e-01 -0.6 8.30e-02 5.93e-02f 1 7 2.1145107e+00 7.05e-04 5.80e-01 -2.9 2.17e-02 0.7 1.00e+00 3.30e-01h 1 8 2.0959661e+00 2.00e-04 3.22e-01 -4.0 1.48e-02 0.3 1.00e+00 7.17e-01h 1 9 2.0911904e+00 6.21e-06 3.81e-02 -4.0 6.12e-03 -0.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909050e+00 2.76e-08 8.61e-05 -4.0 4.14e-04 -0.7 1.00e+00 1.00e+00h 1 11 2.0908974e+00 6.16e-10 8.20e-05 -4.0 1.18e-03 -1.2 1.00e+00 1.00e+00h 1 12 2.0908973e+00 3.48e-13 7.14e-05 -4.0 3.09e-03 -1.6 1.00e+00 1.00e+00h 1 13 2.0908971e+00 2.69e-12 4.95e-05 -4.0 6.43e-03 -2.1 1.00e+00 1.00e+00h 1 14 2.0908963e+00 2.42e-11 2.15e-05 -4.0 8.37e-03 -2.6 1.00e+00 1.00e+00h 1 15 2.0908939e+00 2.18e-10 2.06e-05 -4.0 2.40e-02 -3.1 1.00e+00 1.00e+00h 1 16 2.0908868e+00 1.96e-09 2.06e-05 -4.0 7.21e-02 -3.5 1.00e+00 1.00e+00h 1 17 2.0908656e+00 1.77e-08 2.06e-05 -4.0 2.16e-01 -4.0 1.00e+00 1.00e+00h 1 18 2.0908018e+00 1.59e-07 2.06e-05 -4.0 6.49e-01 -4.5 1.00e+00 1.00e+00h 1 19 2.0906106e+00 1.44e-06 2.05e-05 -4.0 1.94e+00 -5.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0900390e+00 1.30e-05 5.79e-05 -4.0 5.81e+00 -5.5 1.00e+00 1.00e+00h 1 21 2.0883425e+00 1.20e-04 5.16e-04 -4.0 1.72e+01 -5.9 1.00e+00 1.00e+00h 1 22 2.0834273e+00 1.15e-03 4.80e-03 -4.0 4.99e+01 -6.4 1.00e+00 1.00e+00h 1 23 2.0796300e+00 1.73e-03 2.67e-01 -4.0 1.14e+02 -6.9 1.00e+00 3.29e-01h 1 24 2.0789975e+00 7.44e-03 1.86e-01 -4.1 6.44e+01 -7.4 1.00e+00 7.30e-01h 1 25 2.0778532e+00 1.74e-02 5.32e-02 -3.8 1.28e+02 -7.8 1.00e+00 1.00e+00h 1 26 2.0764775e+00 1.73e-02 2.72e-02 -4.0 2.19e+02 -8.3 1.00e+00 1.00e+00h 1 27 2.0760035e+00 1.37e-03 2.47e-02 -4.0 3.64e+02 -8.8 1.00e+00 1.00e+00h 1 28 2.0755104e+00 1.35e-03 3.00e-02 -4.0 3.54e+02 -9.3 1.00e+00 6.63e-01h 1 29 2.0757185e+00 1.19e-03 6.34e-03 -4.0 1.16e+02 -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 2.0756728e+00 4.50e-05 7.29e-05 -4.0 2.38e+01 -10.2 1.00e+00 1.00e+00h 1 31 2.0756713e+00 2.25e-07 3.33e-06 -4.0 2.08e+01 -10.7 1.00e+00 1.00e+00h 1 32 2.0756712e+00 1.54e-08 6.78e-07 -4.0 1.05e+01 -11.2 1.00e+00 1.00e+00h 1 33 2.0756712e+00 9.07e-10 3.58e-08 -4.0 2.87e+00 -11.7 1.00e+00 1.00e+00h 1 34 2.0756712e+00 8.42e-12 3.38e-10 -4.0 3.30e-01 -12.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 34 (scaled) (unscaled) Objective...............: 2.0756712120960041e+00 2.0756712120960041e+00 Dual infeasibility......: 3.3795721188461907e-10 3.3795721188461907e-10 Constraint violation....: 8.4187101734300995e-12 8.4187101734300995e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000017e-04 1.0000000000000017e-04 Overall NLP error.......: 3.3795721188461907e-10 3.3795721188461907e-10 Number of objective function evaluations = 35 Number of objective gradient evaluations = 35 Number of equality constraint evaluations = 35 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 35 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 34 Total seconds in IPOPT = 31.977 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.057s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.057s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.048s) linear index maps built (0.0s) evaluator ready (total: 0.106s) evaluator created (0.106s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.141s) optimizer initialization complete (total: 0.247s) 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 2.6761332e+00 2.72e+00 5.18e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6485653e+00 9.41e-02 3.32e+00 -1.0 1.93e+00 0.0 1.00e+00 1.00e+00f 1 2 2.6003241e+00 7.98e-02 2.76e+00 -1.2 1.43e+00 -0.5 6.04e-01 3.60e-01h 1 3 2.2776986e+00 2.33e-02 4.59e-01 -1.4 2.54e-01 -0.1 9.92e-01 7.17e-01f 1 4 2.1485655e+00 1.94e-03 2.70e-01 -2.1 7.25e-02 -0.5 9.94e-01 1.00e+00h 1 5 2.1091225e+00 9.90e-04 7.11e-01 -3.4 2.46e-01 -1.0 9.99e-01 5.49e-01h 1 6 2.0995323e+00 7.79e-04 1.11e+00 -4.0 7.26e-01 -1.5 1.00e+00 6.81e-01h 1 7 2.1342440e+00 1.05e-02 5.10e-01 -2.4 5.14e-01 -1.1 8.90e-01 1.00e+00f 1 8 2.1221701e+00 4.41e-03 5.04e-01 -2.6 1.05e-01 -0.6 1.00e+00 5.81e-01h 1 9 2.1153411e+00 1.83e-03 8.10e-02 -2.6 1.84e-01 -1.1 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0939052e+00 1.11e-03 2.44e-02 -4.0 1.74e-01 -1.6 1.00e+00 9.62e-01h 1 11 2.0915129e+00 7.63e-04 3.37e-01 -4.0 2.98e-01 -2.1 1.00e+00 3.61e-01h 1 12 2.0909206e+00 1.05e-05 2.88e-02 -4.0 6.35e-02 -2.5 1.00e+00 1.00e+00h 1 13 2.0908523e+00 1.99e-06 2.21e-04 -4.0 2.21e-02 -3.0 1.00e+00 1.00e+00h 1 14 2.0908495e+00 2.61e-07 2.06e-05 -4.0 6.42e-02 -3.5 1.00e+00 1.00e+00h 1 15 2.0908306e+00 1.42e-08 2.06e-05 -4.0 1.92e-01 -4.0 1.00e+00 1.00e+00h 1 16 2.0907739e+00 1.26e-07 2.06e-05 -4.0 5.76e-01 -4.4 1.00e+00 1.00e+00h 1 17 2.0906039e+00 1.14e-06 2.05e-05 -4.0 1.73e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0900957e+00 1.03e-05 4.58e-05 -4.0 5.17e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0885854e+00 9.50e-05 4.08e-04 -4.0 1.54e+01 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0841901e+00 9.07e-04 3.76e-03 -4.0 4.46e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0796382e+00 1.87e-03 2.32e-01 -4.0 1.10e+02 -6.8 1.00e+00 4.14e-01h 1 22 2.0792926e+00 7.67e-03 1.90e-01 -4.1 6.14e+01 -7.3 1.00e+00 7.57e-01h 1 23 2.0772682e+00 7.45e-03 4.35e-02 -4.0 1.31e+02 -7.8 1.00e+00 9.00e-01h 1 24 2.0768426e+00 3.56e-03 6.73e-02 -4.0 2.11e+02 -8.3 1.00e+00 1.00e+00h 1 25 2.0759328e+00 1.46e-03 2.66e-02 -4.0 3.64e+02 -8.7 1.00e+00 1.00e+00h 1 26 2.0754436e+00 1.03e-03 2.84e-02 -4.0 3.56e+02 -9.2 1.00e+00 6.82e-01H 1 27 2.0757176e+00 1.02e-03 6.45e-03 -4.0 1.09e+02 -9.7 1.00e+00 1.00e+00h 1 28 2.0753594e+00 9.61e-04 1.66e-04 -4.1 4.57e+01 -10.2 1.00e+00 1.00e+00h 1 29 2.0756724e+00 4.73e-04 4.68e-06 -4.0 2.02e+01 -10.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0753425e+00 6.08e-04 5.18e-07 -4.1 2.49e+01 -11.1 1.00e+00 1.00e+00h 1 31 2.0756725e+00 3.34e-04 6.95e-07 -4.0 1.36e+01 -11.6 1.00e+00 1.00e+00h 1 32 2.0753425e+00 5.09e-04 2.25e-07 -4.1 2.08e+01 -12.1 1.00e+00 1.00e+00h 1 33 2.0756725e+00 5.56e-04 9.42e-08 -4.0 2.27e+01 -12.6 1.00e+00 1.00e+00h 1 34 2.0753425e+00 5.55e-04 9.42e-08 -4.1 2.27e+01 -13.0 1.00e+00 1.00e+00h 1 35 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -13.5 9.28e-01 1.00e+00h 1 36 2.0757517e+00 1.59e-01 1.54e-04 -4.0 1.29e+03 -14.0 1.00e+00 1.00e+00h 1 37 2.0753574e+00 2.65e-02 8.73e-05 -4.1 1.05e+03 -14.5 1.00e+00 1.00e+00h 1 38 2.0753474e+00 1.15e-05 2.13e-06 -4.1 1.63e+02 -14.9 1.00e+00 1.00e+00h 1 39 2.0756726e+00 7.26e-04 1.64e-07 -4.0 3.02e+01 -15.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -15.9 1.00e+00 1.00e+00h 1 41 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -16.4 9.28e-01 1.00e+00h 1 42 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -16.9 8.16e-01 1.00e+00h 1 43 2.0742914e+00 4.02e-02 1.95e-02 -4.0 1.50e+04 -17.3 1.00e+00 1.46e-01f 1 44 2.0748877e+00 5.32e-02 4.44e-05 -4.3 1.16e+03 -17.8 1.00e+00 1.00e+00h 1 45 2.0748919e+00 7.80e-04 1.27e-05 -4.3 8.19e+02 -18.3 1.00e+00 1.00e+00h 1 46 2.0756799e+00 8.81e-03 2.72e-06 -4.0 1.52e+02 -18.8 1.00e+00 1.00e+00h 1 47 2.0753438e+00 1.84e-03 6.19e-07 -4.1 7.48e+01 -19.2 1.00e+00 1.00e+00h 1 48 2.0753420e+00 1.03e-06 2.13e-08 -4.1 1.76e+01 -19.7 1.00e+00 1.00e+00h 1 49 2.0756726e+00 7.23e-04 1.61e-07 -4.0 2.96e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -20.0 1.00e+00 1.00e+00h 1 51 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 52 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -20.0 8.16e-01 1.00e+00h 1 53 2.0739622e+00 1.34e-06 1.83e-05 -6.1 8.40e+02 -20.0 1.00e+00 1.00e+00h 1 54 2.0741067e+00 2.44e-02 3.22e-02 -4.0 5.48e+04 -20.0 1.00e+00 5.98e-02f 1 55 2.0748071e+00 7.96e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 56 2.0748241e+00 9.52e-04 1.02e-05 -4.3 6.22e+02 -20.0 1.00e+00 1.00e+00h 1 57 2.0748237e+00 1.04e-07 2.35e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 58 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 59 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 61 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 62 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 63 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 64 2.0741065e+00 2.43e-02 3.23e-02 -4.0 5.49e+04 -20.0 1.00e+00 5.97e-02f 1 65 2.0748071e+00 7.95e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 66 2.0748240e+00 9.52e-04 1.02e-05 -4.3 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 67 2.0748236e+00 1.04e-07 2.36e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 68 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 69 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 71 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 72 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 73 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 74 2.0739617e+00 2.11e-08 1.94e-06 -6.1 2.49e+02 -20.0 1.00e+00 1.00e+00h 1 75 2.0740871e+00 2.06e-02 3.56e-02 -4.0 6.55e+04 -20.0 1.00e+00 5.03e-02f 1 76 2.0748016e+00 7.32e-02 4.77e-05 -4.3 1.41e+03 -20.0 1.00e+00 1.00e+00f 1 77 2.0748204e+00 9.23e-04 8.08e-06 -4.3 5.36e+02 -20.0 1.00e+00 1.00e+00h 1 78 2.0748200e+00 1.25e-07 3.57e-07 -4.3 7.03e+01 -20.0 1.00e+00 1.00e+00h 1 79 2.0740036e+00 1.08e-02 5.23e-04 -6.5 1.81e+02 -20.0 8.93e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0739632e+00 2.51e-04 3.38e-04 -6.5 7.34e+02 -20.0 7.62e-01 1.00e+00h 1 81 2.0739539e+00 4.81e-07 1.83e-05 -6.5 9.12e+02 -20.0 1.00e+00 1.00e+00h 1 82 2.0740681e+00 1.80e-02 3.75e-02 -4.0 7.10e+04 -20.0 1.00e+00 4.51e-02f 1 83 2.0747866e+00 7.58e-02 5.27e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 84 2.0748068e+00 8.84e-04 6.22e-06 -4.3 4.91e+02 -20.0 1.00e+00 1.00e+00h 1 85 2.0748064e+00 1.21e-07 3.63e-07 -4.3 6.91e+01 -20.0 1.00e+00 1.00e+00h 1 86 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 87 2.0739630e+00 2.41e-04 3.38e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 88 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 89 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 91 2.0748064e+00 8.81e-04 6.11e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 92 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 93 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 94 2.0739630e+00 2.40e-04 3.37e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 95 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 96 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 97 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 98 2.0748064e+00 8.81e-04 6.10e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 99 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0740029855935704e+00 2.0740029855935704e+00 Dual infeasibility......: 5.2112147346577758e-04 5.2112147346577758e-04 Constraint violation....: 1.0803737393221269e-02 1.0803737393221269e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0806576080383966e-05 1.0806576080383966e-05 Overall NLP error.......: 1.0803737393221269e-02 1.0803737393221269e-02 Number of objective function evaluations = 102 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 102 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 32.241 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: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.051s) linear index maps built (0.0s) evaluator ready (total: 0.114s) evaluator created (0.114s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: equality constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.0s) optimizer initialization complete (total: 0.115s) 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 2.4462689e+00 4.47e+00 6.37e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6632727e+00 1.16e-01 3.04e+00 -0.9 3.04e+00 0.0 9.38e-01 1.00e+00f 1 2 2.7353647e+00 1.76e-02 1.13e+00 -1.0 3.91e-01 -0.5 9.89e-01 1.00e+00h 1 3 2.5240648e+00 1.17e-02 4.45e-01 -1.4 1.72e-01 -1.0 9.69e-01 5.40e-01h 1 4 2.2436205e+00 6.23e-03 5.34e-02 -1.9 1.64e-01 -1.4 9.81e-01 1.00e+00f 1 5 2.1150457e+00 1.85e-03 9.04e-02 -3.2 2.07e-01 -1.9 9.99e-01 7.97e-01h 1 6 2.0911438e+00 6.30e-05 7.52e-03 -4.0 1.88e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0908502e+00 7.27e-07 3.26e-04 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908441e+00 1.20e-08 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908308e+00 6.93e-09 2.06e-05 -4.0 1.35e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0907909e+00 6.23e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0906715e+00 5.62e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903141e+00 5.08e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892489e+00 4.64e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861181e+00 4.35e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796317e+00 2.49e-03 8.78e-02 -4.0 8.71e+01 -6.7 1.00e+00 7.53e-01h 1 16 2.0812478e+00 1.52e-04 1.92e-01 -4.0 6.70e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778356e+00 5.85e-03 2.69e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781517e+00 1.58e-02 3.77e-02 -3.7 1.51e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767301e+00 1.29e-02 1.88e-02 -3.8 2.84e+02 -8.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0758096e+00 1.17e-02 2.12e-02 -3.9 4.16e+02 -9.1 1.00e+00 9.92e-01h 1 21 2.0757784e+00 6.07e-03 9.05e-03 -4.0 1.41e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756779e+00 3.53e-04 4.02e-04 -4.0 6.18e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 1.45e-06 7.54e-06 -4.0 2.32e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 5.38e-08 1.50e-06 -4.0 1.50e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.52e-09 1.50e-07 -4.0 5.23e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.73e-11 3.03e-09 -4.0 9.22e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122101333e+00 2.0756712122101333e+00 Dual infeasibility......: 3.0278760015760298e-09 3.0278760015760298e-09 Constraint violation....: 7.7310380319772776e-11 7.7310380319772776e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000047e-04 1.0000000000000047e-04 Overall NLP error.......: 3.0278760015760298e-09 3.0278760015760298e-09 Number of objective function evaluations = 28 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 26 Total seconds in IPOPT = 25.686 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 (0.058s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.049s) linear index maps built (0.0s) evaluator ready (total: 0.108s) evaluator created (0.108s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: per-timestep 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 (0.0s) optimizer initialization complete (total: 0.109s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1360 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1280 Total number of variables............................: 92 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 1.9995320e+00 2.05e+00 3.54e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7405340e+00 1.86e+00 2.88e+01 -0.6 1.53e+01 0.0 1.72e-01 9.10e-02h 1 2 2.0901709e+00 1.70e+00 3.25e+02 0.7 4.44e+01 -0.5 6.95e-02 8.68e-02f 1 3 2.1184526e+00 1.04e+00 2.95e+02 0.4 8.36e+00 -0.1 1.00e+00 3.84e-01h 1 4 2.2511195e+00 7.92e-01 2.37e+02 -4.0 8.61e+00 -0.5 4.38e-01 2.41e-01h 1 5 3.2467396e+00 1.99e-01 1.11e+02 -0.4 6.80e+00 -1.0 7.69e-01 1.00e+00f 1 6 3.2107543e+00 3.85e-02 2.14e+01 -1.9 9.67e-01 -1.5 8.91e-01 7.95e-01h 1 7 2.9256985e+00 8.02e-02 4.92e-01 -1.6 1.38e+00 -2.0 8.92e-01 1.00e+00f 1 8 2.8280896e+00 5.32e-02 2.14e+00 -1.6 1.92e+00 -1.5 9.85e-01 3.20e-01h 1 9 2.8828452e+00 1.18e-01 2.91e+00 -1.4 2.49e+00 -2.0 6.15e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.8169012e+00 1.40e-02 3.80e-01 -1.6 1.11e-01 0.2 9.18e-01 8.84e-01h 1 11 2.8015955e+00 6.33e-04 1.33e-01 -2.5 3.07e-02 0.6 9.85e-01 1.00e+00h 1 12 2.7768279e+00 8.61e-04 1.68e-01 -3.2 7.61e-02 0.2 1.00e+00 5.99e-01h 1 13 2.7391483e+00 3.00e-03 4.11e-01 -4.0 3.08e-01 -0.3 1.00e+00 5.40e-01h 1 14 2.7320610e+00 2.85e-03 9.36e-01 -4.0 2.80e-01 -0.8 8.39e-01 6.71e-02h 1 15 2.6825485e+00 2.74e-03 6.59e-01 -4.0 1.90e+00 -1.3 2.49e-03 1.46e-01f 1 16 2.6805569e+00 2.69e-03 4.17e-01 -3.3 7.76e-01 0.1 1.32e-01 1.71e-02h 1 17 2.6803373e+00 2.67e-03 2.55e-01 -4.0 3.98e-02 0.5 1.00e+00 7.12e-03h 1 18 2.6778031e+00 1.96e-03 5.22e-01 -4.0 7.91e-02 0.0 1.00e+00 2.62e-01h 1 19 2.6766379e+00 6.03e-05 8.01e-02 -4.0 8.05e-02 -0.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.6673132e+00 3.50e-04 1.92e-02 -4.0 1.66e-01 -0.9 1.00e+00 1.00e+00h 1 21 2.6437155e+00 2.47e-03 1.73e-02 -4.0 4.48e-01 -1.4 1.00e+00 1.00e+00h 1 22 2.5927532e+00 1.24e-02 2.83e-02 -4.0 1.06e+00 -1.9 1.00e+00 1.00e+00h 1 23 2.5106811e+00 3.69e-02 7.40e-02 -4.0 2.06e+00 -2.4 1.00e+00 1.00e+00h 1 24 2.4124752e+00 9.10e-02 1.27e-01 -4.0 3.40e+00 -2.8 1.00e+00 1.00e+00h 1 25 2.3188564e+00 1.33e-01 1.60e-01 -4.0 5.22e+00 -3.3 1.00e+00 1.00e+00h 1 26 2.2414300e+00 1.57e-01 1.73e-01 -4.0 7.95e+00 -3.8 1.00e+00 1.00e+00h 1 27 2.1881309e+00 1.61e-01 1.82e-01 -3.0 1.19e+01 -4.3 1.00e+00 1.00e+00h 1 28 2.1433479e+00 1.90e-01 1.77e-01 -4.0 1.78e+01 -4.8 1.00e+00 1.00e+00h 1 29 2.1126739e+00 1.91e-01 1.69e-01 -4.0 2.68e+01 -5.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.1329583e+00 1.74e-01 6.30e-01 -2.0 1.14e+02 -5.7 4.22e-01 3.07e-01f 1 31 2.1243794e+00 5.98e-02 1.35e-01 -2.5 1.37e+01 -5.3 1.00e+00 7.34e-01h 1 32 2.0993312e+00 1.66e-01 5.45e-02 -3.1 2.73e+01 -5.8 1.00e+00 9.87e-01h 1 33 2.0891086e+00 1.06e-01 7.36e-02 -3.7 3.60e+01 -6.2 1.00e+00 9.99e-01h 1 34 2.0862700e+00 5.04e-03 3.60e-02 -4.0 7.33e+01 -6.7 1.00e+00 1.00e+00h 1 35 2.0786246e+00 1.53e-02 2.25e-02 -4.0 2.05e+02 -7.2 1.00e+00 1.00e+00h 1 36 2.0816542e+00 2.40e-02 1.13e-01 -3.5 5.91e+01 -7.7 1.00e+00 1.00e+00h 1 37 2.0800042e+00 2.04e-02 1.24e-02 -3.5 1.03e+02 -8.1 1.00e+00 1.00e+00h 1 38 2.0794141e+00 4.14e-03 5.48e-03 -3.5 2.33e+02 -8.6 1.00e+00 1.00e+00h 1 39 2.0758126e+00 9.64e-02 1.25e-02 -4.0 4.50e+02 -9.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0759062e+00 6.09e-04 2.55e-03 -4.0 4.30e+01 -9.6 1.00e+00 1.00e+00h 1 41 2.0758616e+00 1.25e-04 1.84e-05 -4.0 7.69e+01 -10.1 1.00e+00 1.00e+00h 1 42 2.0758595e+00 2.40e-06 5.65e-05 -4.0 9.64e+01 -10.5 1.00e+00 1.00e+00h 1 43 2.0758589e+00 4.72e-07 1.88e-05 -4.0 5.56e+01 -11.0 1.00e+00 1.00e+00h 1 44 2.0758587e+00 3.90e-08 8.93e-07 -4.0 1.19e+01 -11.5 1.00e+00 1.00e+00h 1 45 2.0758587e+00 1.86e-10 5.04e-09 -4.0 8.98e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 45 (scaled) (unscaled) Objective...............: 2.0758587329414033e+00 2.0758587329414033e+00 Dual infeasibility......: 5.0425177000243664e-09 5.0425177000243664e-09 Constraint violation....: 1.8559109804527907e-10 1.8559109804527907e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000013e-04 1.0000000000000013e-04 Overall NLP error.......: 5.0425177000243664e-09 5.0425177000243664e-09 Number of objective function evaluations = 46 Number of objective gradient evaluations = 46 Number of equality constraint evaluations = 46 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 46 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 45 Total seconds in IPOPT = 27.565 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 (0.058s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.048s) linear index maps built (0.0s) evaluator ready (total: 0.107s) evaluator created (0.107s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: bounds on Δt applying constraint: per-timestep equality constraint on trajectory variable u linear constraints added: 3 (0.045s) optimizer initialization complete (total: 0.153s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1264 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1113 Total number of variables............................: 86 variables with only lower bounds: 0 variables with lower and upper bounds: 10 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 4.3403636e+00 2.69e+00 5.16e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 5.3421031e+00 8.53e-01 2.54e+01 -0.9 8.72e+00 -2.0 9.62e-01 9.29e-01h 1 2 4.9447401e+00 8.31e-01 1.22e+03 -0.0 6.46e+01 -0.7 1.00e+00 9.75e-02h 1 3 1.3665743e+01 2.37e+00 3.45e+02 1.1 1.20e+03 - 4.07e-01 4.52e-02f 4 4 2.4688786e+01 1.74e+00 2.84e+03 0.6 6.53e+01 -1.1 4.12e-01 5.70e-01h 1 5 2.4444249e+01 1.73e+00 2.82e+03 0.6 4.77e+02 -0.7 1.89e-02 6.56e-03h 2 6 2.4320805e+01 1.72e+00 2.81e+03 0.6 2.76e+02 -0.3 1.36e-02 5.90e-03h 2 7 2.4263960e+01 1.71e+00 2.80e+03 0.6 2.72e+02 -0.8 5.84e-02 4.70e-03h 3 8 2.4120716e+01 1.69e+00 3.31e+03 0.6 2.59e+02 -0.3 3.28e-02 1.18e-02h 2 9 2.3189548e+01 1.61e+00 1.70e+04 0.6 3.48e+02 -0.8 1.00e+00 4.91e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.2837929e+01 1.84e+00 3.60e+05 0.6 2.83e+02 -0.4 5.74e-02 3.28e-01h 1 11 1.8896560e+01 5.49e-01 4.09e+04 0.6 4.64e+01 0.0 2.06e-01 1.00e+00f 1 12 1.7940999e+01 1.46e-01 4.36e+03 0.8 1.05e+01 -0.4 9.99e-01 1.00e+00f 1 13 1.6855982e+01 1.46e-01 4.36e+03 1.3 9.81e+00 -0.9 1.00e+00 9.24e-02f 2 14 1.6543755e+01 5.13e-02 1.94e+02 0.3 2.79e+00 -0.5 1.00e+00 1.00e+00f 1 15 1.5027226e+01 9.74e-02 6.93e+01 0.6 6.72e+00 -1.0 8.12e-01 1.00e+00f 1 16 1.4292495e+01 7.85e-02 1.26e+02 0.3 4.10e+00 -1.5 9.96e-01 4.90e-01h 1 17 2.2217482e+01 3.51e-02 1.90e+03 -0.6 3.58e+01 -1.9 9.47e-01 5.00e-01h 2 18 1.9923951e+01 2.88e+00 9.73e+01 -0.6 3.06e+01 -2.4 1.00e+00 1.00e+00f 1 19 1.4316724e+01 1.55e+00 5.48e+01 -0.6 2.44e+01 -1.1 6.18e-01 3.36e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.4281683e+01 1.54e+00 9.54e+02 -0.6 3.29e+01 -1.6 1.00e+00 5.47e-03h 1 21 1.4004881e+01 1.15e+00 9.79e+04 -0.1 8.60e+02 -2.0 1.00e+00 2.50e-01f 3 22 1.3352449e+01 1.65e+00 9.24e+04 0.4 8.22e+02 - 7.57e-02 1.25e-01f 4 23 1.7364608e+01 2.05e+00 5.48e+04 -0.2 5.21e+01 -1.6 5.52e-02 3.14e-01h 1 24 1.5046904e+01 9.26e-01 4.99e+04 -0.2 5.29e+01 -0.3 1.05e-02 1.20e-01f 1 25 1.5308547e+01 8.07e-01 4.75e+04 -0.2 1.48e+02 -0.8 2.43e-01 1.50e-01h 1 26 1.4137953e+01 1.31e+00 3.84e+04 -0.2 6.95e+02 - 2.64e-03 1.18e-01f 1 27 1.4426377e+01 1.24e+00 3.96e+04 -0.2 7.01e+01 0.6 4.41e-01 5.48e-02h 1 28 2.0337339e+01 1.96e+00 7.87e+04 -0.2 5.50e+01 0.1 5.54e-02 6.80e-01h 1 29 2.0620633e+01 7.20e-01 3.72e+04 -0.2 2.75e+01 -0.4 6.75e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0610635e+01 7.15e-01 3.70e+04 -0.2 2.98e+00 1.9 5.80e-01 7.26e-03h 1 31 1.9041101e+01 1.24e-01 1.45e+04 -0.2 3.70e+00 1.4 1.00e+00 1.00e+00f 1 32 1.9062949e+01 2.99e-03 4.00e+03 -0.2 2.01e+00 0.9 1.00e+00 1.00e+00h 1 33 1.9022128e+01 1.24e-04 5.45e+00 -0.6 1.09e-01 0.4 1.00e+00 1.00e+00f 1 34 1.8903333e+01 2.40e-03 6.51e-01 -1.7 2.50e-01 -0.1 1.00e+00 1.00e+00f 1 35 1.2946270e+01 4.09e+00 4.41e+02 -4.0 5.45e+04 - 3.53e-03 4.74e-03f 4 36 6.7792690e+00 3.02e+00 4.11e+02 -1.8 5.40e+00 -0.5 1.00e+00 2.54e-01f 1 37 3.7958213e+01 1.28e+00 7.96e+03 -1.8 1.38e+01 -1.0 6.09e-03 1.00e+00h 1 38 1.1060161e+01 4.36e-01 1.49e+03 -1.8 4.71e+00 -0.6 1.00e+00 1.00e+00f 1 39 6.2987586e+00 2.00e-01 6.11e+02 -2.3 6.86e+00 -1.1 1.00e+00 6.79e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 6.2754541e+00 1.99e-01 4.57e+02 -2.7 1.65e+02 -1.5 1.00e+00 3.91e-03h 1 41 5.7895707e+00 5.19e-01 2.14e+03 -4.0 9.49e+02 - 1.09e-02 2.13e-01f 1 42 6.5474816e+00 4.71e-01 1.46e+04 -0.6 6.93e+01 -0.2 1.89e-03 1.37e-01f 1 43 6.5872439e+00 4.65e-01 1.45e+04 -2.1 2.45e+02 - 3.48e-02 8.38e-03h 4 44 6.1951428e+00 7.38e-01 1.44e+04 -2.1 2.02e+03 - 1.49e-03 5.21e-03f 1 45 6.4219899e+00 7.09e-01 1.38e+04 -2.1 2.59e+01 -0.7 2.06e-01 3.89e-02h 5 46 9.6101553e+00 4.97e-01 4.87e+03 -2.1 2.91e+01 -1.2 5.98e-02 3.88e-01h 2 47 9.6125711e+00 4.97e-01 4.87e+03 -2.1 9.28e+02 - 1.65e-01 2.01e-04h 7 48 9.6289243e+00 4.96e-01 4.86e+03 -2.1 3.27e+02 - 5.97e-01 2.35e-03h 5 49 1.0404648e+01 4.46e-01 4.01e+03 -2.1 4.86e+01 - 1.00e+00 1.65e-01h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 1.6313799e+01 3.90e-01 8.38e+02 -2.1 5.04e+01 - 1.00e+00 1.00e+00H 1 51 1.6783969e+01 3.84e-02 8.39e+01 -2.1 2.58e+00 -1.6 4.47e-01 1.00e+00h 1 52 1.5910636e+01 1.08e-01 3.91e+00 -2.6 6.43e+00 -2.1 1.00e+00 1.00e+00f 1 53 1.0821494e+01 3.90e+00 3.44e+02 -0.7 2.54e+04 - 5.75e-03 8.02e-03f 4 54 5.2205962e+00 2.56e+00 2.24e+02 -2.6 3.51e+01 -1.7 5.88e-01 2.63e-01f 1 55 7.4615126e+00 1.18e+00 3.69e+01 -2.6 3.90e+02 - 1.23e-03 2.50e-01h 3 56 6.0115608e+00 1.06e+00 6.58e+02 -2.6 3.74e+01 -1.3 8.57e-02 3.18e-01f 1 57 6.0018856e+00 1.05e+00 1.69e+03 -2.6 6.63e+02 -0.8 1.13e-01 1.05e-02h 1 58 6.0753792e+00 9.91e-01 1.41e+04 -2.6 5.18e+02 - 1.15e-02 1.43e-01h 3 59 7.8820260e+00 1.10e+00 1.62e+03 -2.6 3.60e+01 -0.4 2.20e-01 3.77e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 7.8860023e+00 1.09e+00 1.61e+03 -2.6 2.39e+01 -0.9 6.43e-02 6.48e-03h 1 61 7.8859153e+00 1.09e+00 2.66e+03 -2.6 5.20e+01 -1.4 2.32e-01 5.53e-05h 1 62 7.2994823e+00 1.02e+00 2.66e+03 -2.6 1.11e+02 -1.8 5.36e-02 6.96e-02h 1 63 6.0527800e+00 8.73e-01 3.42e+03 -2.6 1.74e+02 -2.3 5.74e-03 1.92e-01f 1 64 5.9658842e+00 1.13e+00 3.39e+03 -2.6 8.82e+01 -2.8 5.17e-02 1.25e-01h 4 65 1.0658022e+01 8.15e-01 2.23e+03 -2.6 2.46e+02 - 2.98e-01 6.93e-01h 1 66 9.9013042e+00 5.39e-01 2.30e+03 -2.6 5.39e+01 -2.4 2.46e-03 1.35e-01f 3 67 9.9818278e+00 3.35e-01 1.15e+03 -2.6 3.28e+01 - 9.45e-02 5.15e-01h 1 68 9.0377823e+00 9.95e-01 1.07e+03 -2.6 6.44e+01 - 1.28e-04 7.51e-02f 1 69 1.1322170e+01 5.18e-01 8.67e+02 -2.6 6.88e+01 - 4.63e-03 1.99e-01h 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 1.1635533e+01 4.58e-02 1.34e+01 -2.6 1.47e+00 -1.0 1.00e+00 1.00e+00h 1 71 1.0281653e+01 2.63e-01 2.96e+00 -3.0 3.18e+00 -1.5 1.00e+00 1.00e+00f 1 72 6.5556708e+00 1.20e+00 5.15e+01 -3.1 5.99e+03 - 8.64e-03 2.58e-02f 3 73 5.4439833e+00 8.96e-01 5.77e+01 -3.1 8.53e+01 - 1.40e-01 1.42e-01f 1 74 6.8027938e+00 7.13e-01 2.03e+02 -2.6 1.99e+02 - 1.00e+00 2.52e-01h 2 75 6.9892235e+00 8.01e-01 1.65e+02 -2.0 5.16e+01 -2.0 3.93e-01 1.66e-01h 1 76 6.2624332e+00 6.80e-01 1.30e+02 -2.0 1.88e+02 -2.5 1.00e+00 8.77e-02h 1 77 6.2030284e+00 6.70e-01 1.85e+02 -2.0 1.64e+02 -2.1 1.75e-01 1.57e-02h 1 78 4.4015511e+00 8.25e-01 4.39e+02 -2.0 2.90e+02 -2.5 2.99e-01 1.09e-01f 4 79 5.3158705e+00 1.61e+00 8.69e+03 -0.4 7.31e+02 -2.1 1.00e+00 4.42e-02f 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 4.5179456e+00 6.72e-01 7.97e+03 -0.5 2.32e+02 - 2.70e-01 2.31e-01h 1 81 4.5210185e+00 6.69e-01 2.40e+04 -0.6 7.86e+02 - 1.00e+00 2.78e-03h 1 82 6.3945148e+00 5.83e-01 2.47e+04 -0.1 9.22e+02 - 1.00e+00 1.25e-01h 4 83 1.1237699e+02 1.11e+00 2.66e+04 -0.2 8.03e+02 - 8.91e-01 1.00e+00h 1 84 1.1156353e+02 3.64e-01 2.30e+04 -0.2 6.08e+00 -0.8 1.38e-01 2.47e-01h 1 85 1.1155810e+02 3.62e-01 4.51e+04 -0.2 1.15e+01 -1.3 3.07e-01 5.85e-03h 1 86 1.3801865e+02 1.46e-01 4.12e+04 -0.2 7.70e+02 - 8.63e-02 4.17e-01H 1 87 1.2622468e+02 3.15e-01 3.38e+04 -0.2 7.34e+02 - 1.81e-01 1.28e-01f 2 88 8.0317924e+01 9.48e-01 7.30e+03 -0.2 6.35e+02 - 9.26e-01 5.00e-01f 2 89 4.4415062e+01 3.98e-01 2.36e+03 -0.2 3.61e+02 - 2.15e-01 1.00e+00F 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.3061543e+01 2.00e-01 7.78e+02 -0.2 2.35e+02 - 6.82e-01 1.00e+00F 1 91 1.0743006e+01 8.82e-01 2.29e+02 -0.2 8.33e+01 - 9.67e-01 1.00e+00f 1 92 7.0407374e+00 6.77e-01 1.10e+02 -0.2 7.31e+01 - 1.00e+00 1.00e+00f 1 93 5.8260237e+00 6.72e-01 1.61e+01 -0.2 2.02e+01 - 1.00e+00 1.00e+00f 1 94 5.4507953e+00 3.38e-01 1.20e+01 -0.6 3.45e+01 - 9.81e-01 5.00e-01h 2 95 5.6298450e+00 1.47e-01 1.94e+00 -0.9 2.30e+00 - 9.77e-01 1.00e+00h 1 96 5.5571168e+00 2.43e-01 2.82e-01 -1.4 6.23e+00 - 8.66e-01 1.00e+00h 1 97 5.7324531e+00 3.88e-02 1.30e+00 -2.2 1.77e+00 - 9.06e-01 1.00e+00h 1 98 5.6700968e+00 2.64e-02 4.68e-01 -2.9 7.04e-01 -1.7 1.00e+00 1.00e+00h 1 99 5.7014829e+00 6.49e-04 6.60e-02 -4.0 4.17e-01 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 5.7020839e+00 2.53e-04 2.88e-03 -4.0 1.24e-01 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 5.7020838988975644e+00 5.7020838988975644e+00 Dual infeasibility......: 2.8785970345693765e-03 2.8785970345693765e-03 Constraint violation....: 2.5331631101083163e-04 2.5331631101083163e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.3242212462273760e-04 1.3242212462273760e-04 Overall NLP error.......: 2.8785970345693765e-03 2.8785970345693765e-03 Number of objective function evaluations = 216 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 216 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 = 26.854 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: 0.045s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.046s) integrator 1 hessian structure: 0.037s 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 (0.038s) linear index maps built (0.0s) evaluator ready (total: 0.084s) evaluator created (0.084s) 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 (0.278s) optimizer initialization complete (total: 0.362s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1529 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 73 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.2137889e+00 3.10e+00 1.40e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.1440047e+00 3.01e+00 3.16e+00 -0.1 1.95e+02 -4.0 7.75e-02 2.87e-02F 1 2 2.2562121e+00 4.37e+00 1.18e+02 1.3 4.16e+03 -4.5 1.06e-01 8.64e-03f 1 3 1.8950909e+00 1.48e+01 8.56e+01 0.2 5.32e+02 -5.0 2.60e-01 2.51e-01f 1 4 1.9390716e+00 1.35e+01 9.68e+02 2.2 1.38e+04 -5.4 3.02e-01 1.63e-02f 2 5 1.6563330e+00 1.01e+01 2.93e+02 1.6 2.68e+02 -5.9 5.51e-01 2.12e-01h 1 6 1.6680349e+00 4.59e+00 9.19e+01 0.7 9.72e+01 -6.4 6.44e-01 6.32e-01h 1 7 1.9509536e+00 1.52e+00 8.32e+00 0.1 9.19e+00 -6.9 1.00e+00 9.00e-01h 1 8 1.9838267e+00 6.44e-03 1.41e-01 -1.1 2.80e+00 -7.3 1.00e+00 1.00e+00h 1 9 1.6418045e+00 6.52e-03 1.36e-02 -1.7 4.99e-01 -7.8 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.3420743e+00 2.61e-03 1.71e-01 -4.0 2.60e-01 -8.3 5.78e-01 1.00e+00f 1 11 1.2113279e+00 3.37e-01 4.30e-02 -2.6 9.29e-01 -8.8 9.49e-01 8.06e-01f 1 12 1.1830217e+00 5.98e+00 2.19e-01 -2.7 7.44e+01 -9.2 1.00e+00 9.23e-01H 1 13 1.1597135e+00 2.49e+00 2.11e-01 -3.7 1.46e+02 -9.7 1.00e+00 1.00e+00h 1 14 1.1645108e+00 1.21e-01 2.05e-01 -4.0 1.83e+02 -10.2 1.00e+00 1.00e+00h 1 15 1.1666519e+00 5.32e+00 6.92e-02 -3.2 2.61e+02 -8.9 1.00e+00 1.00e+00h 1 16 1.1789396e+00 1.68e+00 2.66e-01 -3.3 1.68e+02 -9.4 1.00e+00 1.00e+00h 1 17 1.1578760e+00 2.19e+00 4.51e-01 -3.3 2.79e+02 -6.2 1.00e+00 2.64e-01h 1 18 1.1719761e+00 1.76e+00 5.11e-01 -3.3 1.19e+02 -6.7 5.24e-02 1.00e+00h 1 19 1.1675357e+00 1.20e-01 5.89e-02 -3.4 3.56e+01 -7.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.1614452e+00 4.12e-01 6.25e-02 -4.0 9.13e+01 -7.6 1.00e+00 1.00e+00h 1 21 1.1614064e+00 2.34e-01 4.14e-03 -4.0 1.17e+02 -8.1 1.00e+00 1.00e+00h 1 22 1.1605934e+00 4.38e-01 3.34e-02 -4.0 1.72e+02 -8.6 1.00e+00 1.00e+00h 1 23 1.1606124e+00 2.64e-01 7.94e-03 -4.0 1.92e+02 -9.1 1.00e+00 1.00e+00h 1 24 1.1607937e+00 3.67e-02 2.36e-03 -4.0 9.37e+01 -9.6 1.00e+00 1.00e+00h 1 25 1.1608498e+00 1.26e-03 3.07e-04 -4.0 1.22e+01 -10.0 1.00e+00 1.00e+00h 1 26 1.1608491e+00 1.87e-05 2.53e-06 -4.0 1.84e+00 -10.5 1.00e+00 1.00e+00h 1 27 1.1608491e+00 3.45e-09 7.18e-11 -4.0 2.51e-02 -11.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 27 (scaled) (unscaled) Objective...............: 1.1608491308612634e+00 1.1608491308612634e+00 Dual infeasibility......: 7.1810325454014709e-11 7.1810325454014709e-11 Constraint violation....: 3.4533353954202539e-09 3.4533353954202539e-09 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000539e-04 1.0000000000000539e-04 Overall NLP error.......: 3.4533353954202539e-09 3.4533353954202539e-09 Number of objective function evaluations = 33 Number of objective gradient evaluations = 28 Number of equality constraint evaluations = 33 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 28 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 27 Total seconds in IPOPT = 27.275 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.054s jacobian structure: 180 nonzeros (0.092s) integrator 1 hessian structure: 0.053s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.358s sub-objective 2 (QuadraticRegularizer): 0.087s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.016s objective hessian structure: 0.563s hessian structure: 375 nonzeros (0.616s) linear index maps built (0.0s) evaluator ready (total: 0.846s) evaluator created (0.847s) NL constraint bounds extracted (0.011s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.124s) applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.967s) optimizer initialization complete (total: 3.949s) 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 1.8708743e+00 7.80e-01 1.03e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6329428e+00 1.07e-01 1.70e+00 -0.9 6.32e-01 0.0 9.95e-01 1.00e+00h 1 2 1.6465155e+00 4.06e-02 6.40e-01 -0.9 3.13e+00 - 6.02e-01 6.19e-01h 1 3 2.0874049e+00 3.38e-02 1.26e+00 -1.7 5.18e-01 -0.5 9.50e-01 1.00e+00h 1 4 1.2885663e+00 9.76e-03 5.33e-01 -2.4 3.13e-01 -1.0 1.00e+00 5.82e-01f 1 5 1.3251960e+00 9.15e-03 1.01e+00 -1.3 2.66e+01 - 1.98e-01 7.48e-02h 1 6 1.2875836e+00 8.65e-03 9.26e-01 -1.6 1.74e+01 - 1.00e+00 5.53e-02h 1 7 1.1059366e+00 4.18e-04 4.92e-02 -2.8 1.58e+00 - 1.00e+00 1.00e+00h 1 8 1.0912973e+00 2.99e-06 6.48e-03 -4.0 6.96e-01 - 1.00e+00 1.00e+00h 1 9 1.0910402e+00 1.88e-09 5.80e-03 -4.0 7.41e-01 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0910386e+00 1.25e-15 2.25e-05 -4.0 1.06e-01 - 1.00e+00 1.00e+00h 1 11 1.0910386e+00 6.70e-26 2.24e-05 -4.0 2.89e-02 - 1.00e+00 1.00e+00f 1 12 1.0908587e+00 1.78e-15 7.21e-09 -4.1 1.99e-05 - 1.00e+00 1.00e+00f 1 13 1.0910386e+00 8.88e-16 7.65e-09 -4.0 1.99e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 13 (scaled) (unscaled) Objective...............: 1.0910385864123844e+00 1.0910385864123844e+00 Dual infeasibility......: 7.6543915095150794e-09 7.6543915095150794e-09 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000115591567068e-04 1.0000115591567068e-04 Overall NLP error.......: 7.6543915095150794e-09 7.6543915095150794e-09 Number of objective function evaluations = 14 Number of objective gradient evaluations = 14 Number of equality constraint evaluations = 14 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 14 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 13 Total seconds in IPOPT = 21.722 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.554s jacobian structure: 1600 nonzeros (2.616s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.978s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (4.031s) linear index maps built (0.0s) evaluator ready (total: 6.648s) evaluator created (6.671s) NL constraint bounds extracted (0.107s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 6.778s) 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 3.9588949e+00 3.07e+00 6.97e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4650428e+00 9.43e-01 1.88e+00 -1.3 2.13e+00 0.0 4.21e-01 6.93e-01h 1 2 2.7817419e+00 9.33e-02 8.64e-01 -0.8 1.11e+00 -0.5 9.56e-01 8.99e-01f 1 3 2.5046345e+00 1.46e-02 3.42e-01 -1.6 3.01e-01 -1.0 9.69e-01 1.00e+00h 1 4 2.2572561e+00 1.49e-02 2.27e-01 -2.5 4.12e-01 -1.4 9.64e-01 6.24e-01h 1 5 2.1107793e+00 3.63e-03 3.25e-02 -3.1 1.23e-01 -1.9 9.97e-01 9.48e-01h 1 6 2.0909031e+00 7.90e-05 2.27e-03 -4.0 1.51e-02 -2.4 1.00e+00 9.78e-01h 1 7 2.0909532e+00 4.11e-07 8.87e-05 -4.0 1.82e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909466e+00 2.70e-09 2.44e-05 -4.0 5.34e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909287e+00 1.30e-08 2.30e-05 -4.0 1.51e-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 2.0908897e+00 7.89e-08 1.72e-04 -4.0 3.86e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0908188e+00 3.25e-07 7.42e-04 -4.0 9.04e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0906389e+00 2.38e-06 1.17e-03 -4.0 2.67e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0901122e+00 2.16e-05 6.72e-04 -4.0 8.03e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0898554e+00 3.53e-06 1.64e-03 -4.0 3.06e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0896299e+00 4.94e-06 3.05e-02 -4.0 1.11e+01 -5.8 1.00e+00 2.13e-01h 2 16 2.0876403e+00 2.04e-04 8.30e-03 -4.0 2.47e+01 -6.3 1.00e+00 9.77e-01h 1 17 2.0847869e+00 9.04e-04 5.19e-02 -4.0 5.19e+01 -6.7 1.00e+00 1.00e+00h 1 18 2.0835371e+00 5.49e-04 3.88e-02 -4.0 2.33e+01 -6.3 1.00e+00 4.55e-01h 1 19 2.0827706e+00 1.74e-04 1.57e-02 -4.0 2.00e+01 -6.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827474e+00 1.93e-04 8.64e-03 -4.0 5.21e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0822972e+00 5.63e-04 7.60e-03 -4.0 1.25e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0832741e+00 7.98e-06 1.32e-01 -4.0 1.25e+02 -7.3 3.32e-01 1.00e+00H 1 23 2.0842422e+00 7.41e-04 4.05e-01 -3.3 6.06e+00 -5.1 1.00e+00 5.19e-01f 1 24 2.0838527e+00 8.22e-04 1.62e-01 -3.4 6.89e+00 -5.6 2.84e-01 5.76e-02h 1 25 2.0861038e+00 3.90e-04 3.34e-01 -3.4 5.69e+01 -6.0 1.00e+00 1.00e+00F 1 26 2.0852207e+00 2.53e-03 5.58e-02 -3.4 1.22e+01 -6.5 9.59e-01 1.00e+00h 1 27 2.0855687e+00 1.00e-03 5.93e-03 -3.4 2.24e+01 -7.0 1.00e+00 1.00e+00h 1 28 2.0855962e+00 1.03e-03 8.20e-04 -3.4 1.56e+01 -7.5 1.00e+00 1.00e+00h 1 29 2.0810626e+00 3.36e-02 1.36e-02 -5.1 8.41e+01 -7.9 9.29e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0818812e+00 5.54e-03 7.91e-03 -4.0 5.99e+01 -8.4 1.00e+00 1.00e+00h 1 31 2.0818457e+00 1.37e-04 1.17e-03 -4.0 3.83e+01 -8.9 1.00e+00 1.00e+00h 1 32 2.0818436e+00 2.70e-06 7.32e-05 -4.0 1.13e+01 -9.4 1.00e+00 1.00e+00h 1 33 2.0818434e+00 2.74e-08 9.80e-07 -4.0 1.26e+00 -9.8 1.00e+00 1.00e+00h 1 34 2.0818434e+00 3.28e-11 1.63e-09 -4.0 5.02e-02 -10.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 34 (scaled) (unscaled) Objective...............: 2.0818434105741535e+00 2.0818434105741535e+00 Dual infeasibility......: 1.6292515824965423e-09 1.6292515824965423e-09 Constraint violation....: 3.2808422645302926e-11 3.2808422645302926e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 1.6292515824965423e-09 1.6292515824965423e-09 Number of objective function evaluations = 40 Number of objective gradient evaluations = 35 Number of equality constraint evaluations = 40 Number of inequality constraint evaluations = 40 Number of equality constraint Jacobian evaluations = 35 Number of inequality constraint Jacobian evaluations = 35 Number of Lagrangian Hessian evaluations = 34 Total seconds in IPOPT = 25.863 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 3.211s jacobian structure: 1680 nonzeros (3.273s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 11.005s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s sub-objective 5 (GlobalObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1964 nonzeros (11.055s) linear index maps built (0.0s) evaluator ready (total: 14.328s) evaluator created (14.353s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.001s) optimizer initialization complete (total: 14.355s) 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 1.0735879e+01 2.35e+00 3.25e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.2130076e+00 1.91e-01 3.03e+00 -0.9 1.77e+00 0.0 7.85e-01 9.21e-01f 1 2 3.3244973e+00 6.38e-02 1.31e+00 -0.8 4.05e-01 0.4 6.77e-01 6.57e-01f 1 3 2.5832129e+00 3.74e-03 6.02e-01 -1.3 3.35e-01 -0.1 9.94e-01 1.00e+00f 1 4 2.3729089e+00 2.88e-03 2.40e-01 -1.8 1.23e-01 -0.5 8.26e-01 1.00e+00h 1 5 2.2543096e+00 1.03e-02 7.83e-01 -2.0 6.36e-01 -1.0 9.61e-01 2.66e-01h 1 6 2.1358814e+00 4.69e-03 1.75e-01 -2.9 2.08e-01 -1.5 9.97e-01 7.77e-01h 1 7 2.0918331e+00 8.61e-05 6.23e-03 -4.0 1.40e-02 -2.0 1.00e+00 9.86e-01h 1 8 2.0909167e+00 2.06e-06 1.03e-03 -4.0 1.36e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909143e+00 9.67e-09 1.98e-05 -4.0 1.62e-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 2.0909087e+00 1.08e-09 1.95e-05 -4.0 4.80e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908942e+00 8.66e-09 1.87e-05 -4.0 1.38e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908593e+00 5.47e-08 9.50e-05 -4.0 3.75e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907829e+00 3.05e-07 4.38e-04 -4.0 9.70e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905749e+00 2.93e-06 5.78e-04 -4.0 2.95e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0903811e+00 2.59e-06 6.14e-03 -4.0 1.74e+01 -5.8 2.08e-01 9.66e-02h 1 16 2.0894427e+00 2.71e-04 4.96e-02 -4.0 2.89e+01 -6.3 1.00e+00 1.00e+00f 1 17 2.0876841e+00 1.20e-04 3.65e-02 -4.0 4.38e+00 -4.9 1.00e+00 6.33e-01h 1 18 2.0876576e+00 2.35e-05 7.46e-03 -4.0 3.66e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0865680e+00 4.65e-05 7.43e-03 -4.0 1.10e+01 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0849690e+00 2.13e-04 1.07e-02 -4.0 2.51e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0827917e+00 3.68e-04 2.82e-02 -4.0 3.81e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0831592e+00 1.30e-03 3.83e-02 -4.0 5.54e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0822033e+00 9.75e-04 7.52e-03 -4.1 1.35e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.0955897e+00 8.71e-06 6.08e-01 -4.0 4.64e+02 -8.3 1.19e-01 1.00e+00H 1 25 2.0840968e+00 1.04e-02 4.99e+00 -4.1 5.65e+01 -5.1 2.62e-02 1.88e-01f 1 26 2.0830636e+00 1.09e-02 4.99e+00 -4.1 1.04e+03 -4.7 2.31e-06 7.89e-04f 1 27 2.0831204e+00 1.09e-02 5.02e+00 -4.1 2.87e+03 -5.2 1.57e-07 7.98e-05f 2 28 2.0829763e+00 9.28e-03 4.69e+00 -4.1 6.99e-01 -2.9 1.00e+00 1.50e-01h 1 29 2.0831653e+00 2.46e-06 1.44e-03 -4.1 9.02e-02 -3.4 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0833626e+00 2.75e-06 1.06e-04 -4.0 6.45e-02 -3.9 1.00e+00 1.00e+00h 1 31 2.0831712e+00 5.70e-06 2.89e-05 -4.1 2.20e-01 -4.4 1.00e+00 1.00e+00h 1 32 2.0824106e+00 9.88e-05 5.86e-03 -6.1 9.91e-01 -4.9 9.37e-01 1.00e+00h 1 33 2.0832270e+00 2.51e-04 2.18e-03 -4.0 1.79e+00 -5.3 1.00e+00 1.00e+00h 1 34 2.0826763e+00 1.85e-04 1.05e-03 -4.1 4.12e+00 -5.8 1.00e+00 1.00e+00h 1 35 2.0823730e+00 3.49e-05 2.45e-03 -4.1 9.44e+00 -6.3 1.00e+00 1.00e+00h 1 36 2.0824422e+00 4.86e-04 2.32e-03 -4.0 2.18e+01 -6.8 1.00e+00 1.00e+00h 1 37 2.0818807e+00 8.50e-04 8.38e-03 -4.1 4.83e+01 -7.2 1.00e+00 1.00e+00h 1 38 2.0818088e+00 2.29e-03 4.85e-03 -4.0 1.05e+02 -7.7 7.42e-01 1.00e+00h 1 39 2.0817997e+00 1.92e-03 2.31e-02 -4.0 3.09e+01 -6.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0821344e+00 5.24e-04 3.17e-01 -4.0 1.24e+01 -6.9 6.58e-01 1.00e+00h 1 41 2.0831386e+00 1.16e-04 3.62e-01 -3.4 1.98e-01 -1.9 1.00e+00 7.80e-01h 1 42 2.0826997e+00 3.70e-05 2.84e-01 -3.5 2.76e-01 -2.4 1.00e+00 6.78e-01h 1 43 2.0829433e+00 9.46e-06 3.62e-03 -3.5 1.69e-01 -2.9 1.00e+00 1.00e+00f 1 44 2.0823044e+00 1.78e-06 1.72e-02 -3.9 5.20e-02 -3.4 9.90e-01 1.00e+00h 1 45 2.0817327e+00 3.65e-07 1.61e-02 -4.0 9.74e-02 -3.8 1.00e+00 9.67e-01H 1 46 2.0818073e+00 9.70e-06 3.41e-05 -4.0 1.35e-01 -4.3 1.00e+00 1.00e+00f 1 47 2.0816651e+00 5.88e-06 5.95e-05 -4.1 3.40e-01 -4.8 1.00e+00 1.00e+00h 1 48 2.0817776e+00 2.13e-05 1.22e-04 -4.0 1.41e+00 -5.3 1.00e+00 1.00e+00h 1 49 2.0815939e+00 1.11e-06 1.31e-01 -4.1 7.53e+00 -5.7 6.05e-01 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0814514e+00 2.12e-06 7.70e-01 -4.0 1.03e-01 -2.6 6.69e-01 1.00e+00h 1 51 2.0815896e+00 7.72e-07 5.24e-04 -4.0 2.44e-02 -3.1 1.00e+00 1.00e+00h 1 52 2.0815851e+00 2.78e-07 3.47e-05 -4.0 5.70e-02 -3.6 1.00e+00 1.00e+00h 1 53 2.0815927e+00 6.03e-07 3.47e-05 -4.0 1.57e-01 -4.0 1.00e+00 1.00e+00h 1 54 2.0815096e+00 4.40e-06 2.47e-04 -4.1 2.39e-01 -4.5 1.00e+00 1.00e+00h 1 55 2.0810085e+00 8.60e-05 5.86e-02 -6.1 9.37e-01 -5.0 8.24e-01 1.00e+00h 1 56 2.0810391e+00 3.50e-05 7.35e-04 -4.6 1.56e+00 -5.5 1.00e+00 1.00e+00h 1 57 2.0816042e+00 7.80e-05 1.62e-02 -4.0 1.07e+01 -5.9 1.74e-01 2.42e-01h 2 58 2.0812811e+00 9.07e-08 3.79e-03 -4.5 3.77e-02 -1.0 1.00e+00 1.00e+00h 1 59 2.0817268e+00 1.63e-06 6.42e-03 -4.0 2.44e-02 -0.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0816673e+00 8.92e-08 1.24e-03 -4.1 1.35e-02 -1.1 1.00e+00 1.00e+00h 1 61 2.0816362e+00 1.12e-07 5.22e-04 -4.1 1.51e-02 -1.5 1.00e+00 1.00e+00h 1 62 2.0812198e+00 1.24e-06 1.20e-01 -6.1 3.19e-02 -2.0 7.48e-01 1.00e+00h 1 63 2.0818640e+00 4.31e-06 2.79e-03 -4.0 5.50e-02 -2.5 1.00e+00 1.00e+00f 1 64 2.0816195e+00 8.53e-07 3.87e-04 -4.1 4.36e-02 -3.0 1.00e+00 1.00e+00h 1 65 2.0810892e+00 6.16e-06 2.32e-01 -6.1 1.47e-01 -3.4 6.48e-01 1.00e+00h 1 66 2.0818374e+00 1.61e-05 4.27e-03 -4.0 1.71e-01 -3.9 1.00e+00 1.00e+00h 1 67 2.0815374e+00 1.88e-05 1.93e-04 -4.1 3.69e-01 -4.4 1.00e+00 1.00e+00h 1 68 2.0809606e+00 1.12e-04 8.04e-02 -6.1 1.17e+00 -4.9 8.81e-01 1.00e+00h 1 69 2.0810779e+00 1.01e-04 2.13e+00 -3.8 9.27e+00 -5.4 1.00e+00 7.74e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0818869e+00 4.31e-04 6.78e-03 -3.9 3.41e+00 -5.8 1.00e+00 1.00e+00h 1 71 2.0819272e+00 2.89e-04 9.01e-04 -3.9 5.52e+00 -6.3 1.00e+00 1.00e+00h 1 72 2.0807423e+00 1.37e-03 9.49e-03 -5.9 1.02e+01 -6.8 9.87e-01 1.00e+00h 1 73 2.0807590e+00 1.36e-05 7.67e-04 -5.0 1.55e+00 -5.5 1.00e+00 1.00e+00h 1 74 2.0809734e+00 6.32e-05 1.09e+00 -4.0 1.13e+01 -5.9 1.00e+00 2.03e-01h 1 75 2.0813629e+00 1.22e-04 1.25e-03 -4.1 2.44e+00 -6.4 1.00e+00 1.00e+00f 1 76 2.0817197e+00 1.10e-04 4.14e-01 -4.1 9.25e+00 -5.1 1.21e-01 2.16e-01h 1 77 2.0814243e+00 9.42e-05 4.57e-03 -4.1 1.97e+00 -5.6 1.00e+00 1.00e+00f 1 78 2.0813410e+00 4.45e-05 3.60e-01 -4.1 5.70e-01 -4.2 5.93e-01 4.27e-01h 1 79 2.0813758e+00 2.87e-06 1.71e-04 -4.1 2.70e-01 -4.7 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0809044e+00 1.11e-04 2.55e-02 -6.2 1.33e+00 -5.2 9.34e-01 1.00e+00h 1 81 2.0807166e+00 9.04e-05 4.45e-02 -6.2 3.57e+00 -5.7 6.48e-01 1.00e+00h 1 82 2.0807525e+00 8.60e-05 4.07e+00 -4.0 5.76e+00 -4.3 6.45e-01 5.14e-02f 1 83 2.0810049e+00 7.94e-05 1.44e+00 -4.3 6.11e+00 -4.8 1.00e+00 7.74e-02h 2 84 2.0810734e+00 3.12e-05 1.90e-04 -4.3 5.02e-01 -5.3 1.00e+00 1.00e+00h 1 85 2.0806611e+00 1.28e-04 4.61e-03 -6.5 2.42e+00 -5.8 9.63e-01 1.00e+00h 1 86 2.0810095e+00 1.25e-04 3.35e-01 -4.0 5.71e+01 -5.3 1.21e-02 3.50e-02h 1 87 2.0807622e+00 2.53e-08 3.16e-03 -5.5 3.16e-01 -2.2 1.00e+00 1.00e+00h 1 88 2.0811036e+00 1.52e-06 2.59e+00 -4.0 1.09e-01 -1.8 9.30e-01 3.30e-01f 1 89 2.0809104e+00 7.50e-07 4.35e-03 -4.2 2.97e-02 -2.3 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0809696e+00 4.36e-07 1.28e-03 -4.2 4.17e-02 -2.7 1.00e+00 1.00e+00h 1 91 2.0810172e+00 6.35e-07 1.65e-04 -4.2 9.91e-02 -3.2 1.00e+00 1.00e+00h 1 92 2.0808736e+00 8.30e-06 4.31e-01 -6.2 1.73e-01 -3.7 7.28e-01 1.00e+00h 1 93 2.0806889e+00 4.53e-06 9.85e-02 -6.2 1.68e-01 -4.2 7.19e-01 1.00e+00h 1 94 2.0811304e+00 3.41e-05 9.20e-01 -4.0 1.18e+00 -4.6 1.00e+00 4.59e-01f 1 95 2.0812374e+00 3.65e-05 5.44e-04 -4.1 1.53e+00 -5.1 1.00e+00 1.00e+00h 1 96 2.0807567e+00 1.28e-04 2.52e-01 -6.2 1.58e+00 -5.6 6.67e-01 1.00e+00h 1 97 2.0807304e+00 1.06e-04 4.39e-01 -6.2 4.95e+00 -5.2 4.33e-01 1.71e-01h 1 98 2.0806633e+00 5.78e-05 1.15e-01 -6.2 3.09e+00 -5.6 1.00e+00 4.69e-01h 1 99 2.0806536e+00 4.34e-05 2.83e-01 -5.6 1.94e+00 -6.1 1.00e+00 2.49e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0808341e+00 4.59e-05 1.69e-01 -4.0 3.47e+01 -6.6 2.28e-01 5.00e-02f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0808341139023852e+00 2.0808341139023852e+00 Dual infeasibility......: 1.6879465070314434e-01 1.6879465070314434e-01 Constraint violation....: 4.5887191473081845e-05 4.5887191473081845e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 3.7014809441837798e-05 3.7014809441837798e-05 Overall NLP error.......: 1.6879465070314434e-01 1.6879465070314434e-01 Number of objective function evaluations = 112 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 112 Number of inequality constraint evaluations = 112 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 36.207 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: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) jacobian structure: 2.677s jacobian structure: 1594 nonzeros (2.737s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) hessian structure: 6.346s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s sub-objective 5 (GlobalObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1804 nonzeros (6.398s) linear index maps built (0.0s) evaluator ready (total: 9.136s) evaluator created (9.158s) 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: 9.16s) 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 1.3816433e+02 3.17e+00 3.68e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.4910422e+01 1.48e+00 1.74e+01 -0.5 2.15e+00 0.0 1.00e+00 5.31e-01f 1 2 3.0644318e+00 2.31e-02 6.30e+00 -0.6 1.22e+00 -0.5 8.45e-01 1.00e+00f 1 3 2.7170412e+00 9.58e-02 1.02e+00 -1.6 7.07e-01 -1.0 7.06e-01 1.00e+00h 1 4 2.5854427e+00 5.34e-02 8.50e-01 -1.2 6.63e-01 -1.4 9.42e-01 4.43e-01h 1 5 2.2804818e+00 3.30e-02 8.78e-02 -1.8 7.00e-01 -1.9 9.84e-01 1.00e+00f 1 6 2.1175356e+00 1.17e-02 6.23e-02 -2.5 5.56e-01 -2.4 9.99e-01 9.78e-01h 1 7 2.0943094e+00 5.00e-05 3.06e-03 -3.4 1.85e-02 -2.9 9.85e-01 1.00e+00h 1 8 2.0908525e+00 1.70e-05 2.47e-04 -4.0 3.86e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908427e+00 6.06e-08 2.47e-04 -4.0 1.10e-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 2.0908181e+00 3.44e-08 2.47e-04 -4.0 3.12e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907531e+00 2.41e-07 2.47e-04 -4.0 8.60e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905654e+00 2.29e-06 3.51e-04 -4.0 2.56e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0907694e+00 1.00e-05 5.71e-03 -2.0 7.12e+03 -5.7 3.02e-04 3.34e-04f 2 14 2.0904429e+00 1.36e-05 8.70e-04 -4.1 6.01e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0905069e+00 2.45e-05 1.47e-03 -4.0 1.23e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0901113e+00 6.41e-05 2.73e-03 -4.1 3.47e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0896769e+00 2.43e-04 7.39e-04 -4.0 1.05e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0894180e+00 5.68e-06 1.46e-03 -4.0 3.43e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0893066e+00 1.22e-06 4.09e-04 -4.0 1.42e+00 -5.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0888678e+00 8.78e-07 1.99e-03 -4.0 4.87e+00 -5.5 1.00e+00 9.18e-01H 1 21 2.0881099e+00 6.99e-05 1.29e-02 -4.0 1.35e+01 -5.9 1.00e+00 1.00e+00f 1 22 2.0873799e+00 5.47e-05 3.42e-02 -4.0 9.13e+00 -5.5 1.00e+00 4.81e-01h 1 23 2.0865193e+00 4.71e-05 1.04e-02 -4.0 1.33e+01 -6.0 1.00e+00 1.00e+00h 1 24 2.0851629e+00 1.22e-04 4.18e-02 -4.0 3.18e+01 -6.5 1.00e+00 5.37e-01h 1 25 2.0828785e+00 5.27e-04 4.10e-02 -4.0 4.54e+01 -6.9 1.00e+00 9.49e-01h 1 26 2.0831445e+00 1.87e-03 4.67e-02 -4.0 7.23e+01 -7.4 1.00e+00 1.00e+00h 1 27 2.0821492e+00 5.18e-04 3.60e-02 -4.1 2.01e+02 -7.9 5.38e-01 1.00e+00h 1 28 2.0882659e+00 4.48e-04 1.21e+01 -4.0 1.21e+03 -6.6 9.11e-01 1.96e-02h 2 29 2.0842510e+00 4.00e-04 3.48e+00 -3.7 6.32e+00 -3.4 1.36e-02 1.07e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0832510e+00 2.39e-04 3.41e+00 -4.0 6.25e-01 -3.9 4.84e-01 6.50e-01h 1 31 2.0827094e+00 3.36e-04 2.00e+00 -4.0 2.84e+00 -4.4 2.67e-01 1.56e-01h 1 32 2.0827174e+00 3.38e-04 3.03e+00 -3.3 9.74e+00 -4.9 9.99e-01 1.56e-02f 2 33 2.0823644e+00 1.08e-04 9.24e-02 -4.0 8.93e-01 -5.3 9.04e-01 1.00e+00h 1 34 2.0821525e+00 9.95e-05 2.77e-04 -4.0 2.53e+00 -5.8 1.00e+00 1.00e+00h 1 35 2.0822078e+00 1.03e-04 9.28e-04 -4.0 1.03e+01 -6.3 1.00e+00 1.00e+00h 1 36 2.0822641e+00 1.41e-04 1.10e-03 -4.0 5.83e+00 -5.9 1.00e+00 1.00e+00h 1 37 2.0819677e+00 6.02e-04 3.50e-03 -4.1 8.35e+00 -6.3 1.00e+00 1.00e+00h 1 38 2.0820841e+00 1.44e-04 2.74e-03 -4.0 5.87e+00 -6.8 1.00e+00 1.00e+00h 1 39 2.0820300e+00 7.52e-05 4.40e-04 -4.0 1.60e+01 -7.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0819454e+00 4.68e-05 2.17e-03 -4.0 3.23e+01 -7.8 1.00e+00 1.00e+00h 1 41 2.0818711e+00 1.11e-04 3.61e-03 -4.0 5.27e+01 -8.2 1.00e+00 1.00e+00h 1 42 2.0818431e+00 7.69e-05 1.78e-03 -4.0 4.79e+01 -8.7 1.00e+00 1.00e+00h 1 43 2.0818387e+00 9.95e-06 2.47e-04 -4.0 1.95e+01 -9.2 1.00e+00 1.00e+00h 1 44 2.0818383e+00 1.83e-07 2.47e-04 -4.0 3.10e+00 -9.7 1.00e+00 1.00e+00h 1 45 2.0818383e+00 4.56e-10 2.47e-04 -4.0 1.80e-01 -10.2 1.00e+00 1.00e+00h 1 46 2.0818383e+00 1.55e-13 2.47e-04 -4.0 3.65e-03 -10.6 1.00e+00 1.00e+00h 1 47 2.0815798e+00 2.05e-04 1.97e-04 -4.1 9.35e+00 -11.1 1.00e+00 1.00e+00h 1 48 2.0818395e+00 2.12e-04 2.47e-04 -4.0 9.66e+00 -11.6 1.00e+00 1.00e+00h 1 49 2.0815804e+00 2.11e-04 1.97e-04 -4.1 9.62e+00 -12.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -12.5 9.78e-01 9.71e-01h 1 51 2.0818882e+00 6.56e-03 2.96e-04 -4.0 6.10e+01 -13.0 1.00e+00 1.00e+00f 1 52 2.0816136e+00 4.88e-04 2.02e-04 -4.1 2.07e+01 -13.5 1.00e+00 1.00e+00h 1 53 2.0805989e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -14.0 9.76e-01 9.65e-01h 1 54 2.0805508e+00 8.46e-05 2.20e-06 -6.1 1.69e+01 -14.5 1.00e+00 1.00e+00h 1 55 2.0819794e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -14.9 1.00e+00 1.00e+00f 1 56 2.0816837e+00 9.34e-04 2.10e-04 -4.1 4.57e+01 -15.4 1.00e+00 1.00e+00h 1 57 2.0816477e+00 4.73e-07 2.10e-04 -4.1 8.52e+00 -15.9 1.00e+00 1.00e+00h 1 58 2.0818389e+00 1.15e-04 2.47e-04 -4.0 7.07e+00 -16.4 1.00e+00 1.00e+00h 1 59 2.0815801e+00 2.08e-04 1.97e-04 -4.1 9.50e+00 -16.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0805898e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -17.3 9.78e-01 9.71e-01h 1 61 2.0805497e+00 6.51e-05 1.78e-06 -6.1 1.55e+01 -17.8 1.00e+00 1.00e+00h 1 62 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -18.3 1.00e+00 1.00e+00f 1 63 2.0816887e+00 9.54e-04 2.11e-04 -4.1 4.72e+01 -18.7 1.00e+00 1.00e+00h 1 64 2.0816504e+00 5.63e-07 2.11e-04 -4.1 8.93e+00 -19.2 1.00e+00 1.00e+00h 1 65 2.0805906e+00 3.68e-03 1.60e-04 -6.1 4.16e+01 -19.7 9.77e-01 9.75e-01h 1 66 2.0805511e+00 6.76e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0805469e+00 4.72e-08 1.95e-06 -6.1 2.95e+00 -20.0 1.00e+00 1.00e+00h 1 68 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.89e+01 -20.0 1.00e+00 1.00e+00f 1 69 2.0817159e+00 1.04e-03 2.13e-04 -4.1 5.46e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0816648e+00 1.22e-06 2.13e-04 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 71 2.0805915e+00 3.76e-03 1.66e-04 -6.1 4.20e+01 -20.0 9.76e-01 9.75e-01h 1 72 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 73 2.0805471e+00 4.99e-08 1.98e-06 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 74 2.0805365e+00 9.55e-07 8.02e-07 -9.0 9.57e-01 -20.0 1.00e+00 9.97e-01h 1 75 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 76 2.0817306e+00 1.08e-03 2.15e-04 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 77 2.0816723e+00 1.67e-06 2.15e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 78 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 79 2.0805516e+00 7.07e-05 2.05e-06 -6.1 1.66e+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 2.0805472e+00 5.15e-08 2.00e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 81 2.0805365e+00 9.76e-07 8.28e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 82 2.0805365e+00 9.27e-11 2.24e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 83 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 84 2.0817309e+00 1.08e-03 2.15e-04 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 85 2.0816725e+00 1.68e-06 2.15e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 86 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 87 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 88 2.0805472e+00 5.16e-08 2.00e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 89 2.0805365e+00 9.76e-07 8.29e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805365e+00 9.28e-11 2.24e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 91 2.0805365e+00 8.88e-16 2.24e-09 -9.0 1.10e-05 -20.0 1.00e+00 1.00e+00h 1 92 2.0805365e+00 6.66e-16 2.24e-09 -9.0 1.12e-10 -20.0 1.00e+00 1.00e+00h 1 93 2.0805365e+00 4.44e-16 2.24e-09 -9.0 1.12e-10 -20.0 1.00e+00 1.00e+00h 1 94 2.0805365e+00 4.44e-16 2.24e-09 -9.0 1.12e-10 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 2.22e-16 2.24e-09 -9.0 1.12e-10 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 4.44e-16 2.24e-09 -9.0 1.12e-10 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 4.44e-16 2.24e-09 -9.0 1.12e-10 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 4.44e-16 2.24e-09 -9.0 1.12e-10 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 4.44e-16 2.24e-09 -9.0 1.12e-10 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805365e+00 4.44e-16 2.24e-09 -9.0 1.12e-10 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595436466e+00 2.0805364595436466e+00 Dual infeasibility......: 2.2411714335874893e-09 2.2411714335874893e-09 Constraint violation....: 4.4408920985006262e-16 4.4408920985006262e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090971179366e-10 9.0909090971179366e-10 Overall NLP error.......: 9.9999090909091550e-05 9.9999090909091550e-05 Number of objective function evaluations = 109 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 109 Number of inequality constraint evaluations = 109 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 36.471 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: 0.08s 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 (0.082s) linear index maps built (0.0s) evaluator ready (total: 0.146s) evaluator created (0.146s) 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: 0.146s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.8036126e+00 2.96e+00 5.39e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5778573e+00 3.23e-01 2.02e+00 -1.1 2.31e+00 0.0 8.64e-01 8.91e-01f 1 2 2.4605597e+00 1.42e-02 5.68e-01 -1.5 2.50e-01 0.4 9.98e-01 1.00e+00h 1 3 2.2097256e+00 3.93e-03 1.87e-01 -2.1 8.76e-02 -0.1 9.96e-01 7.70e-01h 1 4 2.1289182e+00 1.52e-03 1.31e-01 -3.4 3.90e-02 -0.5 1.00e+00 6.28e-01h 1 5 2.0919478e+00 1.19e-04 5.66e-03 -4.0 2.10e-02 -1.0 1.00e+00 9.75e-01h 1 6 2.0908775e+00 1.85e-06 1.83e-03 -4.0 7.59e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0908738e+00 2.38e-09 1.80e-04 -4.0 1.64e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0908732e+00 1.98e-11 9.02e-05 -4.0 2.46e-02 -2.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 8 (scaled) (unscaled) Objective...............: 2.0908732119137099e+00 2.0908732119137099e+00 Dual infeasibility......: 9.0159660941427973e-05 9.0159660941427973e-05 Constraint violation....: 1.9817316190828826e-11 1.9817316190828826e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000000e-04 1.0000000000000000e-04 Overall NLP error.......: 9.0159660941427973e-05 9.0159660941427973e-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 = 27.433 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.064s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.065s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.053s) 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: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.119s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.3662535e+00 3.23e+00 4.75e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5945534e+00 5.73e-02 5.55e-01 -1.2 2.52e+00 -2.0 9.98e-01 1.00e+00h 1 2 3.2145323e+00 8.51e-01 1.51e+00 0.8 3.39e+02 -2.5 2.11e-02 1.40e-02f 2 3 2.8828428e+00 3.03e-01 5.26e-01 -0.9 4.88e+00 -3.0 6.83e-01 8.53e-01h 1 4 2.5466217e+00 8.96e-01 1.80e+00 -1.6 1.14e+01 -3.4 8.31e-01 1.00e+00h 1 5 2.3343372e+00 2.62e-01 3.13e-01 -1.7 8.29e+00 -3.0 1.00e+00 7.08e-01h 1 6 2.1586822e+00 1.06e-01 2.34e-01 -2.2 3.48e+00 -3.5 9.25e-01 1.00e+00h 1 7 2.1021338e+00 1.98e-02 1.73e-02 -3.0 1.41e+00 -4.0 9.93e-01 1.00e+00h 1 8 2.0909907e+00 1.77e-03 3.33e-03 -4.0 5.63e-01 -4.4 1.00e+00 1.00e+00h 1 9 2.0908375e+00 4.27e-05 1.67e-04 -4.0 1.69e+00 -4.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0903410e+00 9.54e-06 4.55e-05 -4.0 5.05e+00 -5.4 1.00e+00 1.00e+00h 1 11 2.0888652e+00 9.02e-05 3.87e-04 -4.0 1.50e+01 -5.9 1.00e+00 1.00e+00h 1 12 2.0845644e+00 8.60e-04 3.51e-03 -4.0 4.37e+01 -6.3 1.00e+00 1.00e+00h 1 13 2.0797072e+00 1.99e-03 2.23e-01 -4.0 1.10e+02 -6.8 1.00e+00 4.42e-01h 1 14 2.0793256e+00 2.53e-03 1.90e-01 -4.1 7.46e+01 -7.3 1.00e+00 7.78e-01H 1 15 2.0774981e+00 8.29e-03 3.72e-02 -4.0 1.27e+02 -7.8 1.00e+00 8.53e-01h 1 16 2.0779775e+00 2.11e-02 5.45e-02 -3.8 2.22e+02 -8.3 1.00e+00 1.00e+00h 1 17 2.0766045e+00 1.31e-02 1.96e-02 -3.8 3.71e+02 -8.7 1.00e+00 9.44e-01h 1 18 2.0760936e+00 5.47e-03 2.12e-02 -3.9 3.46e+02 -9.2 1.00e+00 9.22e-01f 1 19 2.0756943e+00 6.85e-03 5.19e-03 -4.0 1.07e+02 -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 20 2.0756723e+00 1.31e-04 8.40e-05 -4.0 2.47e+01 -10.2 1.00e+00 1.00e+00h 1 21 2.0756713e+00 7.50e-07 3.97e-06 -4.0 2.19e+01 -10.6 1.00e+00 1.00e+00h 1 22 2.0756712e+00 2.04e-08 9.01e-07 -4.0 1.20e+01 -11.1 1.00e+00 1.00e+00h 1 23 2.0756712e+00 1.47e-09 5.89e-08 -4.0 3.57e+00 -11.6 1.00e+00 1.00e+00h 1 24 2.0756712e+00 1.77e-11 7.71e-10 -4.0 4.65e-01 -12.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 24 (scaled) (unscaled) Objective...............: 2.0756712121194885e+00 2.0756712121194885e+00 Dual infeasibility......: 7.7085102363760871e-10 7.7085102363760871e-10 Constraint violation....: 1.7686629938395981e-11 1.7686629938395981e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000026e-04 1.0000000000000026e-04 Overall NLP error.......: 7.7085102363760871e-10 7.7085102363760871e-10 Number of objective function evaluations = 29 Number of objective gradient evaluations = 25 Number of equality constraint evaluations = 29 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 25 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 24 Total seconds in IPOPT = 29.493 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 (0.063s) integrator 1 hessian structure: 0.053s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.055s) 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: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.119s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.8157105e+00 2.96e+00 5.84e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5561939e+00 1.17e-01 3.16e+00 -0.9 1.72e+00 0.0 3.45e-01 9.88e-01f 1 2 2.7197730e+00 6.74e-02 6.12e+00 -0.6 1.12e+00 -0.5 1.00e+00 4.00e-01f 1 3 3.0928430e+00 3.02e-02 2.11e+00 -0.6 2.95e-01 -0.1 7.44e-01 1.00e+00f 1 4 2.8001877e+00 1.61e-02 5.53e-01 -1.1 1.57e-01 -0.5 9.09e-01 1.00e+00h 1 5 2.4312354e+00 2.56e-02 9.82e-02 -1.6 4.00e-01 -1.0 1.00e+00 6.87e-01f 1 6 2.1417927e+00 4.12e-03 5.20e-02 -4.0 1.20e-01 -1.5 8.13e-01 8.88e-01f 1 7 2.0943948e+00 3.34e-04 6.70e-03 -3.4 3.47e-02 -2.0 9.77e-01 9.73e-01h 1 8 2.0908973e+00 3.90e-06 3.18e-04 -4.0 5.87e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908913e+00 3.82e-08 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908863e+00 9.60e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0908862979289222e+00 2.0908862979289222e+00 Dual infeasibility......: 2.0583135840446116e-05 2.0583135840446116e-05 Constraint violation....: 9.5950685244372558e-10 9.5950685244372558e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999999937e-05 9.9999999999999937e-05 Overall NLP error.......: 2.0583135840446116e-05 2.0583135840446116e-05 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 28.262 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.065s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.065s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.116s) evaluator created (0.116s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.117s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 0 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.8429777e+00 1.91e+00 6.04e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8471363e+00 1.18e-01 1.98e+00 -1.0 1.98e+00 - 9.98e-01 1.00e+00f 1 2 2.7010057e+00 5.01e-02 8.62e-01 -0.8 3.93e-01 - 1.00e+00 8.90e-01h 1 3 2.5392939e+00 5.21e-03 5.33e-01 -1.5 1.26e-01 - 8.04e-01 1.00e+00f 1 4 2.2427494e+00 3.46e-03 2.07e-01 -2.2 1.44e-01 - 9.89e-01 1.00e+00f 1 5 2.1080976e+00 3.77e-03 2.68e-01 -3.4 2.13e-01 - 1.00e+00 9.36e-01h 1 6 2.0939249e+00 1.47e-03 2.96e-02 -4.0 1.26e-01 - 1.00e+00 6.69e-01h 1 7 2.0909123e+00 4.85e-06 6.16e-04 -4.0 1.22e-02 - 1.00e+00 1.00e+00h 1 8 2.0909176e+00 2.33e-08 2.49e-04 -4.0 1.17e-02 - 1.00e+00 1.00e+00h 1 9 2.0909167e+00 5.31e-11 2.65e-04 -4.0 1.14e-02 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909159e+00 4.38e-11 2.67e-04 -4.0 1.13e-02 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0909158542797317e+00 2.0909158542797317e+00 Dual infeasibility......: 2.6734685479446466e-04 2.6734685479446466e-04 Constraint violation....: 4.3790734927107167e-11 4.3790734927107167e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 2.6734685479446466e-04 2.6734685479446466e-04 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 = 9.318 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.065s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.066s) integrator 1 hessian structure: 0.054s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.055s) linear index maps built (0.0s) evaluator ready (total: 0.122s) evaluator created (0.122s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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) 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 1.2734643e+00 3.27e+00 4.09e-01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.4942341e+00 1.17e+00 1.48e+00 -1.0 2.12e+00 0.0 8.30e-01 6.42e-01h 1 2 2.6477881e+00 1.29e-01 2.01e+00 -1.0 1.07e+00 -0.5 7.70e-01 1.00e+00h 1 3 2.4878841e+00 1.72e-01 8.13e-01 -1.0 1.09e+00 -1.0 4.72e-01 6.22e-01f 1 4 2.4050392e+00 1.04e-01 6.01e-01 -1.7 1.78e+00 -1.4 8.07e-01 5.94e-01h 1 5 2.2519969e+00 9.49e-03 7.73e-02 -1.7 2.21e-01 -1.9 1.00e+00 1.00e+00h 1 6 2.1192545e+00 3.39e-03 1.01e-02 -2.5 1.74e-01 -2.4 1.00e+00 1.00e+00h 1 7 2.0914704e+00 1.49e-04 7.32e-04 -3.8 3.44e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909421e+00 4.87e-06 8.88e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909288e+00 1.87e-08 2.06e-05 -4.0 1.35e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908889e+00 6.18e-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...............: 2.0908889271078253e+00 2.0908889271078253e+00 Dual infeasibility......: 2.0583436233585448e-05 2.0583436233585448e-05 Constraint violation....: 6.1807556342094450e-08 6.1807556342094450e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999998528e-05 9.9999999999998528e-05 Overall NLP error.......: 2.0583436233585448e-05 2.0583436233585448e-05 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 27.242 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.065s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.066s) 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 (0.053s) linear index maps built (0.0s) evaluator ready (total: 0.12s) evaluator created (0.12s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.12s) [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! initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.06s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.049s) linear index maps built (0.0s) evaluator ready (total: 0.11s) evaluator created (0.11s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (2.096s) optimizer initialization complete (total: 2.206s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 82 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.5812854e+00 2.55e+00 2.69e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7251363e+00 2.86e-02 6.54e-01 -1.1 1.71e+00 -2.0 9.90e-01 1.00e+00h 1 2 2.3111895e+00 2.14e-02 4.26e-02 -1.7 3.01e-01 -1.6 9.70e-01 1.00e+00h 1 3 2.1393143e+00 7.06e-03 2.68e-01 -3.2 1.50e-01 -1.1 9.32e-01 1.00e+00h 1 4 2.0975126e+00 2.12e-03 1.20e-01 -4.0 1.10e-01 -1.6 1.00e+00 7.03e-01h 1 5 2.0909941e+00 3.34e-04 6.28e-01 -4.0 7.18e-01 -2.1 1.00e+00 5.97e-01h 1 6 2.0909569e+00 9.13e-05 1.95e-01 -4.0 8.55e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0910270e+00 7.01e-07 6.53e-03 -4.0 2.35e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0910198e+00 1.72e-07 2.07e-05 -4.0 7.06e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909990e+00 1.64e-08 2.06e-05 -4.0 2.12e-01 -4.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909368e+00 1.48e-07 2.06e-05 -4.0 6.32e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907534e+00 1.30e-06 4.98e-05 -4.0 1.88e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0902309e+00 1.10e-05 4.22e-04 -4.0 5.46e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888801e+00 8.25e-05 3.17e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861774e+00 4.42e-04 1.75e-02 -4.0 3.47e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830911e+00 9.19e-04 4.73e-02 -4.0 5.33e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828569e+00 9.32e-04 2.34e-02 -4.0 5.38e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823453e+00 3.97e-04 9.99e-03 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820400e+00 9.28e-05 1.84e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.68e-04 8.66e-03 -4.0 9.91e+01 -8.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0819393e+00 3.67e-05 8.43e-04 -4.0 3.10e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.29e-07 1.38e-05 -4.0 4.43e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.72e-10 3.22e-08 -4.0 2.43e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.50e-13 1.20e-11 -4.0 4.57e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907190840e+00 2.0819382907190840e+00 Dual infeasibility......: 1.2008037847486414e-11 1.2008037847486414e-11 Constraint violation....: 2.4957813593573519e-13 2.4957813593573519e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000063e-04 1.0000000000000063e-04 Overall NLP error.......: 1.2008037847486414e-11 1.2008037847486414e-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 = 29.695 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.066s) 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 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.055s) linear index maps built (0.0s) evaluator ready (total: 0.122s) evaluator created (0.122s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.191s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1528 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 77 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.9041834e+00 2.53e+00 1.58e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8371361e+00 2.04e-02 3.43e-01 -1.0 1.82e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.2978596e+00 2.31e-02 5.31e-02 -1.7 3.54e-01 -1.6 9.43e-01 1.00e+00h 1 3 2.1416860e+00 2.42e-03 1.37e-01 -3.0 7.87e-02 -1.1 9.75e-01 9.08e-01h 1 4 2.0967466e+00 6.49e-04 1.55e-01 -3.7 9.52e-02 -1.6 1.00e+00 9.06e-01h 1 5 2.0921103e+00 2.68e-04 6.43e-01 -4.0 4.49e-01 -2.1 1.00e+00 4.35e-01h 1 6 2.0908935e+00 2.85e-04 1.75e-01 -4.0 4.69e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0909123e+00 3.09e-06 4.82e-03 -4.0 4.81e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0909202e+00 4.57e-07 6.24e-05 -4.0 6.28e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909041e+00 1.09e-08 1.80e-05 -4.0 1.80e-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 2.0908629e+00 7.38e-08 1.05e-04 -4.0 4.94e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907588e+00 5.85e-07 4.06e-04 -4.0 1.33e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904284e+00 5.19e-06 7.35e-04 -4.0 3.95e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0902498e+00 5.04e-06 4.47e-02 -4.0 1.57e+01 -5.9 1.00e+00 1.16e-01h 2 14 2.0878151e+00 3.15e-04 1.09e-02 -4.0 3.14e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0869060e+00 3.09e-04 2.04e-01 -4.0 8.11e+01 -6.9 1.00e+00 1.25e-01h 1 16 2.0828277e+00 1.90e-03 1.29e-01 -4.0 8.58e+01 -7.4 1.00e+00 7.69e-01h 1 17 2.0827565e+00 3.63e-03 5.60e-02 -4.0 1.51e+02 -7.8 8.21e-01 1.00e+00h 1 18 2.0828692e+00 1.00e-03 1.68e-02 -4.0 2.84e+01 -6.5 1.00e+00 1.00e+00h 1 19 2.0823220e+00 4.67e-04 3.67e-02 -4.0 4.53e+01 -7.0 7.75e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0887016e+00 3.63e-04 5.01e-01 -4.0 1.81e+01 -5.6 1.07e-01 4.10e-01H 1 21 2.0846656e+00 1.99e-04 6.47e+00 -4.1 5.59e-01 -1.6 6.51e-02 4.51e-01h 1 22 2.0826358e+00 1.40e-06 1.28e-02 -4.0 2.15e-01 -2.1 1.00e+00 1.00e+00f 1 23 2.0830185e+00 6.12e-06 1.11e+00 -3.8 2.60e-01 -2.6 7.65e-01 5.45e-01f 1 24 2.0824090e+00 9.56e-06 2.99e-03 -3.8 5.65e-02 -3.0 1.00e+00 1.00e+00f 1 25 2.0822441e+00 5.25e-07 1.01e-03 -4.0 3.02e-02 -1.7 1.00e+00 1.00e+00h 1 26 2.0820841e+00 2.47e-07 1.08e-04 -4.0 5.12e-02 -2.2 1.00e+00 1.00e+00h 1 27 2.0820988e+00 2.56e-08 2.00e-05 -4.0 5.99e-03 -2.7 1.00e+00 1.00e+00h 1 28 2.0821003e+00 1.12e-08 7.74e-06 -4.0 1.07e-02 -3.1 1.00e+00 1.00e+00h 1 29 2.0821026e+00 8.97e-09 7.66e-06 -4.0 3.19e-02 -3.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0819828e+00 1.70e-06 1.01e-04 -4.1 6.12e-02 -4.1 1.00e+00 1.00e+00h 1 31 2.0821270e+00 6.96e-06 1.12e-04 -4.0 2.60e-01 -4.6 1.00e+00 1.00e+00h 1 32 2.0820143e+00 1.54e-05 1.83e-04 -4.1 6.16e-01 -5.1 1.00e+00 1.00e+00h 1 33 2.0814325e+00 1.38e-04 3.17e-02 -6.1 3.17e+00 -5.5 8.75e-01 7.16e-01h 1 34 2.0822420e+00 4.39e-04 5.72e-03 -4.0 4.75e+00 -6.0 1.00e+00 1.00e+00f 1 35 2.0820661e+00 5.30e-05 1.10e-02 -4.1 1.17e+01 -6.5 8.96e-01 1.00e+00h 1 36 2.0820870e+00 5.02e-05 4.08e+00 -4.1 1.23e+02 -6.1 1.00e+00 1.53e-02h 2 37 2.0819945e+00 7.92e-06 3.81e-04 -4.1 6.49e+00 -6.5 1.00e+00 1.00e+00h 1 38 2.0810016e+00 2.25e-03 1.05e-03 -6.1 2.49e+01 -7.0 9.85e-01 9.61e-01h 1 39 2.0811254e+00 1.96e-03 9.94e-02 -4.0 3.07e+01 -7.5 1.00e+00 1.19e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0823380e+00 1.45e-02 2.37e-02 -4.0 1.42e+02 -8.0 6.93e-01 1.00e+00h 1 41 2.0822511e+00 6.32e-06 9.30e-01 -4.1 1.90e-01 -2.1 4.78e-01 1.00e+00h 1 42 2.0821393e+00 7.52e-07 2.13e-03 -4.1 6.46e-02 -2.6 1.00e+00 1.00e+00h 1 43 2.0821325e+00 3.87e-07 4.19e-04 -4.1 4.56e-02 -3.1 1.00e+00 1.00e+00h 1 44 2.0815991e+00 4.34e-06 2.71e-02 -6.1 5.27e-02 -3.6 7.85e-01 9.25e-01h 1 45 2.0816650e+00 3.60e-06 9.27e-01 -3.8 2.98e+00 -4.0 1.00e+00 1.05e-01f 1 46 2.0821948e+00 8.26e-06 1.56e-03 -4.0 8.94e-02 -4.5 1.00e+00 1.00e+00h 1 47 2.0822027e+00 6.27e-05 5.42e-02 -4.0 9.77e+00 -5.0 1.12e-01 9.99e-02h 3 48 2.0822806e+00 7.04e-06 2.19e-02 -4.0 2.14e+00 -5.5 1.00e+00 8.47e-01h 1 49 2.0821506e+00 1.54e-04 1.82e-03 -4.0 2.40e+00 -5.9 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0820550e+00 6.08e-06 6.35e-04 -4.0 4.19e+00 -6.4 1.00e+00 1.00e+00h 1 51 2.0810478e+00 1.36e-03 8.49e-03 -6.0 1.65e+01 -6.9 9.76e-01 8.44e-01h 1 52 2.0819692e+00 1.67e-03 3.29e-03 -4.0 1.67e+01 -7.4 1.00e+00 1.00e+00f 1 53 2.0816799e+00 6.79e-04 1.53e-03 -4.1 3.16e+01 -7.8 1.00e+00 1.00e+00h 1 54 2.0816086e+00 7.00e-05 1.66e-03 -4.1 4.02e+01 -8.3 1.00e+00 1.00e+00h 1 55 2.0815955e+00 2.67e-05 7.67e-04 -4.1 3.32e+01 -8.8 1.00e+00 1.00e+00h 1 56 2.0818392e+00 2.30e-04 9.50e-05 -4.0 1.02e+01 -9.3 1.00e+00 1.00e+00h 1 57 2.0815804e+00 2.16e-04 1.13e-05 -4.1 9.82e+00 -9.8 1.00e+00 1.00e+00h 1 58 2.0818395e+00 2.06e-04 1.37e-05 -4.0 9.42e+00 -10.2 1.00e+00 1.00e+00h 1 59 2.0815804e+00 2.10e-04 1.05e-05 -4.1 9.56e+00 -10.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0818395e+00 2.11e-04 9.73e-06 -4.0 9.60e+00 -11.2 1.00e+00 1.00e+00h 1 61 2.0815804e+00 2.11e-04 9.25e-06 -4.1 9.62e+00 -11.7 1.00e+00 1.00e+00h 1 62 2.0818395e+00 2.11e-04 9.30e-06 -4.0 9.62e+00 -12.1 1.00e+00 1.00e+00h 1 63 2.0815804e+00 2.11e-04 9.10e-06 -4.1 9.62e+00 -12.6 1.00e+00 1.00e+00h 1 64 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -13.1 9.78e-01 9.71e-01h 1 65 2.0818882e+00 6.56e-03 2.96e-04 -4.0 6.10e+01 -13.6 1.00e+00 1.00e+00f 1 66 2.0816141e+00 4.87e-04 1.05e-05 -4.1 2.07e+01 -14.0 1.00e+00 1.00e+00h 1 67 2.0805989e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -14.5 9.76e-01 9.65e-01h 1 68 2.0805508e+00 8.46e-05 2.20e-06 -6.1 1.69e+01 -15.0 1.00e+00 1.00e+00h 1 69 2.0819794e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -15.5 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0816850e+00 9.29e-04 4.93e-05 -4.1 4.57e+01 -16.0 1.00e+00 1.00e+00h 1 71 2.0816490e+00 4.77e-07 7.43e-07 -4.1 8.50e+00 -16.4 1.00e+00 1.00e+00h 1 72 2.0818389e+00 1.13e-04 4.87e-06 -4.0 7.02e+00 -16.9 1.00e+00 1.00e+00h 1 73 2.0815801e+00 2.08e-04 9.04e-06 -4.1 9.49e+00 -17.4 1.00e+00 1.00e+00h 1 74 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -17.9 9.78e-01 9.71e-01h 1 75 2.0805497e+00 6.51e-05 1.78e-06 -6.1 1.55e+01 -18.3 1.00e+00 1.00e+00h 1 76 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -18.8 1.00e+00 1.00e+00f 1 77 2.0816901e+00 9.49e-04 5.23e-05 -4.1 4.72e+01 -19.3 1.00e+00 1.00e+00h 1 78 2.0816518e+00 5.68e-07 7.86e-07 -4.1 8.91e+00 -19.8 1.00e+00 1.00e+00h 1 79 2.0805907e+00 3.69e-03 1.61e-04 -6.1 4.17e+01 -20.0 9.77e-01 9.75e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805511e+00 6.76e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 81 2.0805469e+00 4.72e-08 2.03e-08 -6.1 2.96e+00 -20.0 1.00e+00 1.00e+00h 1 82 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.88e+01 -20.0 1.00e+00 1.00e+00f 1 83 2.0817176e+00 1.03e-03 6.82e-05 -4.1 5.46e+01 -20.0 1.00e+00 1.00e+00h 1 84 2.0816664e+00 1.23e-06 1.00e-06 -4.1 1.09e+01 -20.0 1.00e+00 1.00e+00h 1 85 2.0805915e+00 3.77e-03 1.67e-04 -6.1 4.21e+01 -20.0 9.76e-01 9.75e-01h 1 86 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 87 2.0805471e+00 5.00e-08 2.15e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 88 2.0805365e+00 9.59e-07 8.07e-07 -9.0 9.59e-01 -20.0 1.00e+00 9.97e-01h 1 89 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0817324e+00 1.07e-03 7.73e-05 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 91 2.0816741e+00 1.68e-06 1.10e-06 -4.1 1.18e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 93 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 94 2.0805472e+00 5.16e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 9.80e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 96 2.0805365e+00 9.37e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 97 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 98 2.0817328e+00 1.07e-03 7.75e-05 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 99 2.0816743e+00 1.69e-06 1.10e-06 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 101 2.0805516e+00 7.08e-05 2.06e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 102 2.0805472e+00 5.17e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 103 2.0805365e+00 9.81e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 104 2.0805365e+00 9.39e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 105 2.0805365e+00 4.44e-16 3.37e-16 -9.0 1.11e-05 -20.0 1.00e+00 1.00e+00h 1 106 2.0805365e+00 6.66e-16 2.22e-16 -9.0 1.99e-12 -20.0 1.00e+00 1.00e+00h 1 107 2.0805365e+00 2.22e-16 2.41e-16 -9.0 8.86e-14 -20.0 1.00e+00 1.00e+00 0 108 2.0805365e+00 8.88e-16 2.03e-16 -9.0 6.79e-14 -20.0 1.00e+00 1.00e+00T 0 Number of Iterations....: 108 (scaled) (unscaled) Objective...............: 2.0805364715330508e+00 2.0805364715330508e+00 Dual infeasibility......: 2.0309745975833971e-16 2.0309745975833971e-16 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 9.0909103283437487e-09 9.0909103283437487e-09 Complementarity.........: 9.0909090969342984e-10 9.0909090969342984e-10 Overall NLP error.......: 9.9999090909091523e-05 9.9999090909091523e-05 Number of objective function evaluations = 119 Number of objective gradient evaluations = 109 Number of equality constraint evaluations = 119 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 109 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 109 Total seconds in IPOPT = 31.111 EXIT: Search Direction is becoming Too Small. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.051s jacobian structure: 180 nonzeros (0.094s) integrator 1 hessian structure: 0.048s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.394s sub-objective 2 (QuadraticRegularizer): 0.091s sub-objective 3 (MinimumTimeObjective): 0.017s objective hessian structure: 0.595s hessian structure: 375 nonzeros (0.644s) linear index maps built (0.0s) evaluator ready (total: 0.889s) evaluator created (0.889s) NL constraint bounds extracted (0.012s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.129s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.802s) optimizer initialization complete (total: 4.834s) 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 1.5994887e+00 9.28e-01 1.09e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.2475459e+00 2.71e-01 1.61e+00 -0.9 9.28e-01 0.0 1.00e+00 1.00e+00h 1 2 1.1983863e+00 9.38e-02 2.85e-01 -0.8 3.26e-01 -0.5 8.80e-01 6.54e-01f 1 3 1.1390226e+00 8.21e-02 1.14e+00 -2.9 8.65e+00 - 2.83e-01 1.25e-01h 4 4 9.0419526e-01 8.92e-02 1.08e+00 -1.4 2.71e+00 - 8.86e-01 1.00e+00f 1 5 1.1058363e+00 6.65e-02 2.34e+00 -1.5 2.72e-01 -1.0 9.58e-01 9.46e-01h 1 6 1.0294979e+00 6.66e-02 1.48e+00 -1.7 1.69e+00 -1.4 1.00e+00 4.41e-01h 1 7 1.1133323e+00 5.74e-02 1.06e+00 -2.0 3.15e+00 -1.9 1.00e+00 3.97e-01h 2 8 1.7034771e+00 4.35e-02 3.29e+00 -3.0 7.91e-01 -1.5 1.00e+00 1.00e+00h 1 9 1.1215480e+00 3.79e-02 2.84e+00 -3.5 1.45e+00 -1.1 1.00e+00 4.42e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0808606e+00 3.11e-02 2.30e+00 -2.9 3.67e-01 -1.5 1.00e+00 1.89e-01h 1 11 1.0791217e+00 2.22e-02 1.65e+00 -3.0 2.00e-01 -2.0 1.00e+00 2.86e-01h 1 12 1.0924110e+00 4.28e-04 2.59e-01 -4.0 3.62e+00 - 1.00e+00 1.00e+00h 1 13 1.0904703e+00 2.70e-05 1.39e-02 -4.0 5.23e-01 - 1.00e+00 9.35e-01h 1 14 1.0909008e+00 7.14e-09 8.21e-05 -4.0 7.89e-02 - 1.00e+00 1.00e+00h 1 15 1.0908997e+00 5.01e-15 1.35e-08 -4.0 9.83e-04 - 1.00e+00 1.00e+00h 1 16 1.0908997e+00 5.04e-25 3.82e-16 -4.0 3.53e-08 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 16 (scaled) (unscaled) Objective...............: 1.0908997263265459e+00 1.0908997263265459e+00 Dual infeasibility......: 3.8185600514939466e-16 3.8185600514939466e-16 Constraint violation....: 5.0421347673377208e-25 5.0421347673377208e-25 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000094e-04 1.0000000000000094e-04 Overall NLP error.......: 3.8185600514939466e-16 3.8185600514939466e-16 Number of objective function evaluations = 24 Number of objective gradient evaluations = 17 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 17 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 16 Total seconds in IPOPT = 26.268 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.604s jacobian structure: 1600 nonzeros (2.664s) integrator 1 hessian structure: 0.046s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.767s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (3.814s) linear index maps built (0.0s) evaluator ready (total: 6.478s) evaluator created (6.502s) 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: 6.518s) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.1582851e+00 6.22e+00 7.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.9520096e+00 1.01e+00 3.61e+00 -1.1 3.58e+00 0.0 9.41e-01 8.38e-01f 1 Hello, world! 2 2.6207558e+00 5.58e-01 3.14e+00 -0.8 6.49e-01 0.4 1.00e+00 4.49e-01h 1 Hello, world! 3 2.6027580e+00 5.75e-03 1.93e+00 -1.0 5.91e-01 -0.1 9.64e-01 1.00e+00f 1 Hello, world! 4 2.4234214e+00 1.04e-02 1.62e-01 -1.5 1.28e-01 -0.5 9.98e-01 1.00e+00h 1 Hello, world! 5 2.1551789e+00 4.79e-03 2.70e-02 -2.1 1.46e-01 -1.0 9.74e-01 9.60e-01h 1 Hello, world! 6 2.0934351e+00 2.19e-04 9.71e-03 -3.3 2.19e-02 -1.5 9.47e-01 9.82e-01h 1 Hello, world! 7 2.0908830e+00 1.30e-06 6.88e-04 -4.0 8.73e-03 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908527e+00 1.52e-08 1.32e-04 -4.0 3.60e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908458e+00 3.33e-10 2.22e-05 -4.0 1.83e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908417e+00 5.30e-10 1.55e-05 -4.0 3.82e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908323e+00 4.32e-09 1.54e-05 -4.0 1.14e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908053e+00 3.61e-08 1.63e-05 -4.0 3.34e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0907263e+00 2.98e-07 5.84e-05 -4.0 9.85e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0904001e+00 3.46e-06 1.21e-03 -4.0 3.32e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0897752e+00 3.41e-05 5.82e-03 -4.0 9.96e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0892075e+00 2.87e-05 3.51e-02 -4.0 9.12e+00 -5.4 1.00e+00 3.78e-01h 1 Hello, world! 17 2.0883666e+00 4.79e-05 8.93e-03 -4.0 1.12e+01 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0872159e+00 8.64e-05 5.73e-02 -4.0 3.01e+01 -6.3 1.00e+00 4.20e-01h 1 Hello, world! 19 2.0840239e+00 1.05e-03 4.75e-02 -4.0 5.36e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827571e+00 4.18e-04 1.69e-02 -4.0 5.06e+01 -7.3 1.00e+00 5.85e-01h 1 Hello, world! 21 2.0825744e+00 1.17e-03 3.39e-02 -4.0 1.28e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0823848e+00 8.22e-04 1.37e-02 -4.0 8.42e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0821330e+00 3.89e-04 3.70e-02 -4.0 9.92e+01 -7.8 6.59e-01 1.00e+00h 1 Hello, world! 24 2.0818812e+00 2.98e-05 7.46e-02 -4.0 6.41e+00 -5.6 1.00e+00 9.15e-01H 1 Hello, world! 25 2.0819171e+00 1.13e-04 3.50e-03 -4.0 2.43e+00 -6.0 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0817845e+00 7.66e-05 1.50e-03 -4.1 3.60e+00 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0819997e+00 1.73e-04 2.39e-04 -4.0 7.27e+00 -7.0 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0817228e+00 4.38e-04 3.53e-04 -4.1 2.06e+01 -7.5 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0818989e+00 8.50e-04 2.56e-03 -4.0 3.65e+01 -7.9 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 30 2.0815993e+00 1.07e-03 2.16e-03 -4.1 4.82e+01 -8.4 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0818459e+00 8.01e-04 6.56e-04 -4.0 3.41e+01 -8.9 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0815839e+00 3.19e-04 6.31e-05 -4.1 1.41e+01 -9.4 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0818444e+00 1.95e-04 2.48e-05 -4.0 8.89e+00 -9.8 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0815837e+00 2.14e-04 1.26e-05 -4.1 9.74e+00 -10.3 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0818446e+00 2.15e-04 1.07e-05 -4.0 9.82e+00 -10.8 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0815837e+00 2.16e-04 9.74e-06 -4.1 9.86e+00 -11.3 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0818446e+00 2.16e-04 9.64e-06 -4.0 9.87e+00 -11.8 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0815837e+00 2.16e-04 9.37e-06 -4.1 9.87e+00 -12.2 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0818446e+00 2.16e-04 9.52e-06 -4.0 9.87e+00 -12.7 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0815837e+00 2.16e-04 9.33e-06 -4.1 9.87e+00 -13.2 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0805951e+00 3.33e-03 1.59e-04 -6.1 4.09e+01 -13.7 9.77e-01 9.64e-01h 1 Hello, world! 42 2.0818908e+00 6.61e-03 2.98e-04 -4.0 6.18e+01 -14.1 1.00e+00 1.00e+00f 1 Hello, world! 43 2.0816145e+00 4.96e-04 1.06e-05 -4.1 2.08e+01 -14.6 1.00e+00 1.00e+00h 1 Hello, world! 44 2.0806042e+00 3.49e-03 2.32e-04 -6.1 4.24e+01 -15.1 9.76e-01 9.58e-01h 1 Hello, world! 45 2.0805507e+00 9.69e-05 2.24e-06 -6.1 1.71e+01 -15.6 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0819819e+00 1.02e-02 3.99e-04 -4.0 8.54e+01 -16.1 1.00e+00 1.00e+00f 1 Hello, world! 47 2.0816805e+00 9.65e-04 4.96e-05 -4.1 4.57e+01 -16.5 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0816444e+00 4.73e-07 7.69e-07 -4.1 8.40e+00 -17.0 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0818441e+00 1.27e-04 5.47e-06 -4.0 7.55e+00 -17.5 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0815834e+00 2.14e-04 9.28e-06 -4.1 9.76e+00 -18.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0815834491666121e+00 2.0815834491666121e+00 Dual infeasibility......: 9.2839474410644446e-06 9.2839474410644446e-06 Constraint violation....: 2.1393106765987824e-04 2.1393106765987824e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.0902400150673073e-05 8.0902400150673073e-05 Overall NLP error.......: 2.1393106765987824e-04 2.1393106765987824e-04 Number of objective function evaluations = 52 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 52 Number of inequality constraint evaluations = 52 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 29.372 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) 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 5.1582851e+00 6.22e+00 7.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.9520096e+00 1.01e+00 3.61e+00 -1.1 3.58e+00 0.0 9.41e-01 8.38e-01f 1 Hello, world! 2 2.6207558e+00 5.58e-01 3.14e+00 -0.8 6.49e-01 0.4 1.00e+00 4.49e-01h 1 Hello, world! 3 2.6027580e+00 5.75e-03 1.93e+00 -1.0 5.91e-01 -0.1 9.64e-01 1.00e+00f 1 Hello, world! 4 2.4234214e+00 1.04e-02 1.62e-01 -1.5 1.28e-01 -0.5 9.98e-01 1.00e+00h 1 Hello, world! 5 2.1551789e+00 4.79e-03 2.70e-02 -2.1 1.46e-01 -1.0 9.74e-01 9.60e-01h 1 Hello, world! 6 2.0934351e+00 2.19e-04 9.71e-03 -3.3 2.19e-02 -1.5 9.47e-01 9.82e-01h 1 Hello, world! 7 2.0908830e+00 1.30e-06 6.88e-04 -4.0 8.73e-03 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908527e+00 1.52e-08 1.32e-04 -4.0 3.60e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908458e+00 3.33e-10 2.22e-05 -4.0 1.83e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908417e+00 5.30e-10 1.55e-05 -4.0 3.82e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908323e+00 4.32e-09 1.54e-05 -4.0 1.14e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908053e+00 3.61e-08 1.63e-05 -4.0 3.34e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0907263e+00 2.98e-07 5.84e-05 -4.0 9.85e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0904001e+00 3.46e-06 1.21e-03 -4.0 3.32e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0897752e+00 3.41e-05 5.82e-03 -4.0 9.96e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0892075e+00 2.87e-05 3.51e-02 -4.0 9.12e+00 -5.4 1.00e+00 3.78e-01h 1 Hello, world! 17 2.0883666e+00 4.79e-05 8.93e-03 -4.0 1.12e+01 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0872159e+00 8.64e-05 5.73e-02 -4.0 3.01e+01 -6.3 1.00e+00 4.20e-01h 1 Hello, world! 19 2.0840239e+00 1.05e-03 4.75e-02 -4.0 5.36e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827571e+00 4.18e-04 1.69e-02 -4.0 5.06e+01 -7.3 1.00e+00 5.85e-01h 1 Hello, world! 21 2.0825744e+00 1.17e-03 3.39e-02 -4.0 1.28e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0823848e+00 8.22e-04 1.37e-02 -4.0 8.42e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0821330e+00 3.89e-04 3.70e-02 -4.0 9.92e+01 -7.8 6.59e-01 1.00e+00h 1 Hello, world! 24 2.0818812e+00 2.98e-05 7.46e-02 -4.0 6.41e+00 -5.6 1.00e+00 9.15e-01H 1 Hello, world! 25 2.0819171e+00 1.13e-04 3.50e-03 -4.0 2.43e+00 -6.0 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0817845e+00 7.66e-05 1.50e-03 -4.1 3.60e+00 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0819997e+00 1.73e-04 2.39e-04 -4.0 7.27e+00 -7.0 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0817228e+00 4.38e-04 3.53e-04 -4.1 2.06e+01 -7.5 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0818989e+00 8.50e-04 2.56e-03 -4.0 3.65e+01 -7.9 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 30 2.0815993e+00 1.07e-03 2.16e-03 -4.1 4.82e+01 -8.4 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0818459e+00 8.01e-04 6.56e-04 -4.0 3.41e+01 -8.9 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0815839e+00 3.19e-04 6.31e-05 -4.1 1.41e+01 -9.4 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0818444e+00 1.95e-04 2.48e-05 -4.0 8.89e+00 -9.8 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0815837e+00 2.14e-04 1.26e-05 -4.1 9.74e+00 -10.3 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0818446e+00 2.15e-04 1.07e-05 -4.0 9.82e+00 -10.8 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0815837e+00 2.16e-04 9.74e-06 -4.1 9.86e+00 -11.3 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0818446e+00 2.16e-04 9.64e-06 -4.0 9.87e+00 -11.8 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0815837e+00 2.16e-04 9.37e-06 -4.1 9.87e+00 -12.2 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0818446e+00 2.16e-04 9.52e-06 -4.0 9.87e+00 -12.7 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0815837e+00 2.16e-04 9.33e-06 -4.1 9.87e+00 -13.2 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0805951e+00 3.33e-03 1.59e-04 -6.1 4.09e+01 -13.7 9.77e-01 9.64e-01h 1 Hello, world! 42 2.0818908e+00 6.61e-03 2.98e-04 -4.0 6.18e+01 -14.1 1.00e+00 1.00e+00f 1 Hello, world! 43 2.0816145e+00 4.96e-04 1.06e-05 -4.1 2.08e+01 -14.6 1.00e+00 1.00e+00h 1 Hello, world! 44 2.0806042e+00 3.49e-03 2.32e-04 -6.1 4.24e+01 -15.1 9.76e-01 9.58e-01h 1 Hello, world! 45 2.0805507e+00 9.69e-05 2.24e-06 -6.1 1.71e+01 -15.6 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0819819e+00 1.02e-02 3.99e-04 -4.0 8.54e+01 -16.1 1.00e+00 1.00e+00f 1 Hello, world! 47 2.0816805e+00 9.65e-04 4.96e-05 -4.1 4.57e+01 -16.5 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0816444e+00 4.73e-07 7.69e-07 -4.1 8.40e+00 -17.0 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0818441e+00 1.27e-04 5.47e-06 -4.0 7.55e+00 -17.5 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0815834e+00 2.14e-04 9.28e-06 -4.1 9.76e+00 -18.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0815834491666121e+00 2.0815834491666121e+00 Dual infeasibility......: 9.2839474410644446e-06 9.2839474410644446e-06 Constraint violation....: 2.1393106765987824e-04 2.1393106765987824e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.0902400150673073e-05 8.0902400150673073e-05 Overall NLP error.......: 2.1393106765987824e-04 2.1393106765987824e-04 Number of objective function evaluations = 52 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 52 Number of inequality constraint evaluations = 52 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 1.382 EXIT: Stopping optimization at current point as requested by user. 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: 0.088s hessian structure: 30 nonzeros (0.088s) linear index maps built (0.0s) evaluator ready (total: 0.089s) evaluator created (0.089s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.11s) 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 (3.234s) optimizer initialization complete (total: 3.434s) 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 1.7531076e-02 8.33e-17 1.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5894715e-02 7.74e-12 1.78e-02 -4.0 2.82e-02 -2.0 9.82e-01 1.00e+00f 1 2 9.1093346e-03 1.55e-12 9.51e-02 -2.9 1.26e-01 -1.6 1.00e+00 1.00e+00f 1 3 2.4800710e-03 3.01e-11 6.55e-02 -3.6 1.39e-01 -1.1 1.00e+00 9.62e-01f 1 4 8.2603608e-05 4.10e-12 3.03e-02 -3.2 5.15e-01 -1.6 1.00e+00 7.51e-01f 1 5 1.3510388e-05 1.70e-12 1.24e-02 -3.0 1.50e+00 -2.1 9.48e-01 1.92e-01f 2 6 1.6777373e-04 2.55e-12 1.85e-02 -2.7 2.98e+00 -2.6 6.90e-01 8.42e-02f 3 7 1.6777373e-04 2.55e-12 4.25e-02 -2.9 2.51e+00 -3.1 7.44e-01 4.94e-15h 47 8 1.6777373e-04 2.55e-12 4.07e-02 -2.9 1.03e+00 -3.5 1.00e+00 2.78e-15h 49 9 1.8277453e-04 2.79e-12 3.47e-02 -2.9 1.60e+00 -4.0 1.00e+00 1.56e-02f 7 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.4229331e-04 3.71e-12 3.21e-02 -2.9 2.60e+00 -4.5 1.00e+00 6.25e-02f 5 11 3.5737853e-04 5.67e-12 2.77e-02 -2.9 4.79e+00 -5.0 1.00e+00 1.25e-01f 4 12 3.8243503e-04 6.03e-12 2.64e-02 -2.9 7.12e+00 -5.4 1.00e+00 3.12e-02f 6 13 4.7079488e-04 7.45e-12 2.20e-02 -2.9 1.36e+01 -5.9 1.00e+00 1.25e-01f 4 14 4.7935620e-04 7.58e-12 2.03e-02 -2.9 1.94e+01 -6.4 1.00e+00 1.56e-02f 7 15 5.4546947e-04 8.70e-12 2.98e-02 -2.9 3.75e+01 -6.9 1.00e+00 1.25e-01f 4 16 5.5448133e-04 9.08e-12 1.99e-02 -2.9 7.01e+01 -7.4 3.88e-01 6.25e-02f 5 17 2.2555213e-03 9.24e-12 5.09e+00 -2.9 2.38e+03 -7.8 1.00e+00 3.12e-02f 6 18 2.2555212e-03 9.24e-12 1.02e+01 -2.9 4.29e+01 -6.5 7.46e-01 2.98e-08h 26 19 1.7089572e-03 9.51e-12 1.45e+01 -2.9 6.00e+01 -6.1 1.00e+00 6.25e-02f 5 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 7.7546385e-04 9.92e-12 1.18e+01 -2.9 3.23e+02 -6.5 2.79e-01 1.25e-01f 4 21 7.7546385e-04 9.92e-12 8.99e+00 -2.9 7.17e+02 -7.0 1.00e+00 1.70e-10h 31 22 7.7546385e-04 9.92e-12 6.23e+00 -2.9 1.50e+03 -7.5 1.00e+00 8.14e-11h 31 23 7.7546387e-04 9.92e-12 3.47e+00 -2.9 1.50e+02 -8.0 1.00e+00 1.30e-08h 27 24 7.7546388e-04 9.92e-12 7.04e-01 -2.9 1.21e+02 -8.5 1.00e+00 1.49e-08h 27 25 7.7546388e-04 9.92e-12 2.06e+00 -2.9 1.20e+02 -8.9 1.00e+00 1.16e-10h 34 26 7.7546387e-04 9.92e-12 4.82e+00 -2.9 1.20e+02 -9.4 1.00e+00 1.49e-08h 27 27 7.7546385e-04 9.92e-12 7.59e+00 -2.9 1.19e+02 -9.9 1.00e+00 1.49e-08h 27 28 7.7546383e-04 9.92e-12 1.03e+01 -2.9 1.19e+02 -10.4 1.00e+00 1.49e-08h 27 29 7.7546382e-04 9.92e-12 1.31e+01 -2.9 1.19e+02 -10.8 1.00e+00 1.86e-09h 30 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 7.7546381e-04 9.92e-12 1.59e+01 -2.9 1.18e+02 -11.3 1.00e+00 3.73e-09h 29 31 7.7546381e-04 9.92e-12 1.86e+01 -2.9 1.18e+02 -11.8 1.00e+00 1.16e-10h 34 32 7.7546381e-04 9.92e-12 2.14e+01 -2.9 1.18e+02 -12.3 1.00e+00 5.82e-11h 35 33 7.7546380e-04 9.92e-12 2.42e+01 -2.9 1.17e+02 -12.8 1.00e+00 3.73e-09h 29 34 7.7546379e-04 9.92e-12 2.69e+01 -2.9 1.17e+02 -13.2 1.00e+00 9.31e-10h 31 35 7.7546379e-04 9.92e-12 2.97e+01 -2.9 1.17e+02 -13.7 1.00e+00 9.31e-10h 31 36 7.7546378e-04 9.92e-12 3.25e+01 -2.9 1.16e+02 -14.2 1.00e+00 1.86e-09h 30 37 7.7546378e-04 9.92e-12 3.52e+01 -2.9 1.16e+02 -14.7 1.00e+00 1.14e-13h 44 38 7.7546378e-04 9.92e-12 3.80e+01 -2.9 1.15e+02 -15.1 1.00e+00 2.33e-10h 33 39 7.7546377e-04 9.92e-12 4.07e+01 -2.9 1.15e+02 -15.6 1.00e+00 9.31e-10h 31 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 7.7546377e-04 9.92e-12 4.35e+01 -2.9 1.14e+02 -16.1 1.00e+00 3.64e-12h 39 41 7.7546377e-04 9.92e-12 4.63e+01 -2.9 1.14e+02 -16.6 1.00e+00 4.66e-10h 32 42 7.4253655e-04 9.93e-12 4.89e+01 -2.9 1.13e+02 -17.0 1.00e+00 3.91e-03f 9 43 7.0973101e-04 9.93e-12 5.13e+01 -2.9 1.21e+02 -17.5 1.00e+00 3.91e-03f 9 44 6.4704313e-04 9.94e-12 5.33e+01 -2.9 1.21e+02 -18.0 1.00e+00 7.81e-03f 8 45 6.3969084e-04 9.94e-12 5.52e+01 -2.9 1.33e+02 -18.5 1.00e+00 9.52e-04f 11 46 5.4260569e-04 9.95e-12 5.64e+01 -2.9 1.17e+02 -19.0 1.00e+00 1.43e-02f 7 47 5.4260569e-04 9.95e-12 5.76e+01 -2.9 1.54e+02 -19.4 6.14e-01 1.93e-10h 33 48 5.3276742e-04 9.96e-12 5.86e+01 -2.9 1.29e+02 -19.9 1.00e+00 1.67e-03f 10 49 5.3276742e-04 9.96e-12 5.97e+01 -2.9 1.22e+02 -20.0 5.63e-01 1.16e-10h 34 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 4.9718038e-04 9.96e-12 6.04e+01 -2.9 1.19e+02 -20.0 1.00e+00 6.77e-03f 8 51 4.9718038e-04 9.96e-12 6.11e+01 -2.9 1.36e+02 -20.0 5.59e-01 1.09e-10h 34 52 4.8242967e-04 9.96e-12 6.16e+01 -2.9 1.25e+02 -20.0 1.00e+00 3.43e-03f 9 53 4.8242967e-04 9.96e-12 6.20e+01 -2.9 1.27e+02 -20.0 5.57e-01 1.16e-10h 34 54 4.7584214e-04 9.96e-12 6.24e+01 -2.9 1.22e+02 -20.0 1.00e+00 1.73e-03f 10 55 4.7584214e-04 9.96e-12 6.28e+01 -2.9 1.23e+02 -20.0 5.53e-01 1.16e-10h 34 56 4.6981475e-04 9.97e-12 6.30e+01 -2.9 1.21e+02 -20.0 1.00e+00 1.75e-03f 10 57 4.6981475e-04 9.97e-12 6.33e+01 -2.9 1.23e+02 -20.0 5.49e-01 1.16e-10h 34 58 4.5982763e-04 9.97e-12 6.33e+01 -2.9 1.21e+02 -20.0 1.00e+00 3.51e-03f 9 59 4.5982763e-04 9.97e-12 6.34e+01 -2.9 1.27e+02 -20.0 5.47e-01 3.57e-12h 39 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 4.5777465e-04 9.97e-12 6.34e+01 -2.9 1.23e+02 -20.0 1.00e+00 8.84e-04f 11 61 4.5777465e-04 9.97e-12 6.34e+01 -2.9 1.21e+02 -20.0 5.44e-01 1.16e-10h 34 62 4.5141041e-04 9.97e-12 6.31e+01 -2.9 1.20e+02 -20.0 1.00e+00 3.55e-03f 9 63 4.5141041e-04 9.97e-12 6.29e+01 -2.9 1.27e+02 -20.0 5.43e-01 2.85e-11h 36 64 4.5082690e-04 9.97e-12 6.26e+01 -2.9 1.22e+02 -20.0 1.00e+00 4.46e-04f 12 65 4.4897377e-04 9.97e-12 6.22e+01 -2.9 1.20e+02 -20.0 5.41e-01 1.95e-03f 10 66 4.4897377e-04 9.97e-12 6.18e+01 -2.9 1.23e+02 -20.0 1.00e+00 5.34e-11h 35 67 4.4779780e-04 9.97e-12 6.12e+01 -2.9 1.19e+02 -20.0 5.39e-01 3.79e-03f 9 68 4.4779780e-04 9.97e-12 6.06e+01 -2.9 1.27e+02 -20.0 1.00e+00 2.68e-11h 36 69 4.4951143e-04 9.97e-12 5.97e+01 -2.9 1.19e+02 -20.0 5.40e-01 3.52e-03f 9 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 4.4951143e-04 9.97e-12 5.89e+01 -2.9 1.25e+02 -20.0 1.00e+00 2.69e-11h 36 71 4.5838943e-04 9.98e-12 5.77e+01 -2.9 1.18e+02 -20.0 5.40e-01 6.15e-03f 8 72 4.5838943e-04 9.98e-12 5.65e+01 -2.9 1.29e+02 -20.0 7.26e-01 2.70e-11h 36 73 4.6002290e-04 9.98e-12 5.53e+01 -2.9 1.21e+02 -20.0 6.28e-01 7.72e-04f 11 74 4.6002290e-04 9.98e-12 5.41e+01 -2.9 1.20e+02 -20.0 6.63e-01 5.42e-11h 35 75 4.6717484e-04 9.98e-12 5.26e+01 -2.9 1.18e+02 -20.0 6.67e-01 3.12e-03f 9 76 4.6717484e-04 9.98e-12 5.12e+01 -2.9 1.22e+02 -20.0 6.39e-01 1.36e-11h 37 77 4.7564560e-04 9.98e-12 4.97e+01 -2.9 1.19e+02 -20.0 6.92e-01 3.16e-03f 9 78 4.7564560e-04 9.98e-12 4.81e+01 -2.9 1.22e+02 -20.0 6.26e-01 1.09e-10h 34 79 4.8510710e-04 9.98e-12 4.64e+01 -2.9 1.19e+02 -20.0 7.11e-01 3.20e-03f 9 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 4.8510710e-04 9.98e-12 4.47e+01 -2.9 1.21e+02 -20.0 6.17e-01 5.47e-11h 35 81 4.9517078e-04 9.98e-12 4.28e+01 -2.9 1.18e+02 -20.0 7.27e-01 3.24e-03f 9 82 4.9517078e-04 9.98e-12 4.10e+01 -2.9 1.20e+02 -20.0 6.10e-01 5.48e-11h 35 83 5.0540949e-04 9.98e-12 3.90e+01 -2.9 1.17e+02 -20.0 7.43e-01 3.28e-03f 9 84 5.0540949e-04 9.98e-12 3.70e+01 -2.9 1.19e+02 -20.0 6.04e-01 5.50e-11h 35 85 5.2646977e-04 9.98e-12 3.47e+01 -2.9 1.17e+02 -20.0 7.59e-01 6.62e-03f 8 86 5.2646977e-04 9.98e-12 3.25e+01 -2.9 1.20e+02 -20.0 6.02e-01 2.76e-11h 36 87 5.4827273e-04 9.98e-12 3.00e+01 -2.9 1.17e+02 -20.0 7.79e-01 6.70e-03f 8 88 5.4827273e-04 9.98e-12 2.76e+01 -2.9 1.18e+02 -20.0 6.03e-01 2.76e-11h 36 89 5.6894794e-04 9.98e-12 2.50e+01 -2.9 1.15e+02 -20.0 7.98e-01 6.77e-03f 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 5.6894794e-04 9.98e-12 2.23e+01 -2.9 1.17e+02 -20.0 6.05e-01 1.11e-10h 34 91 5.8657333e-04 9.98e-12 1.95e+01 -2.9 1.14e+02 -20.0 8.16e-01 6.84e-03f 8 92 5.8657333e-04 9.98e-12 1.68e+01 -2.9 1.15e+02 -20.0 6.07e-01 1.39e-11h 37 93 6.1341698e-04 9.98e-12 1.37e+01 -2.9 1.12e+02 -20.0 8.33e-01 1.38e-02f 7 94 6.1341698e-04 9.98e-12 1.07e+01 -2.9 1.14e+02 -20.0 6.17e-01 1.12e-10h 34 95 6.2971877e-04 9.98e-12 7.58e+00 -2.9 1.11e+02 -20.0 8.61e-01 1.40e-02f 7 96 6.2971877e-04 9.98e-12 4.43e+00 -2.9 1.10e+02 -20.0 6.31e-01 4.48e-10h 32 97 6.3011107e-04 9.97e-12 1.22e+00 -2.9 1.08e+02 -20.0 8.85e-01 1.41e-02f 7 98 6.3011107e-04 9.97e-12 2.00e+00 -2.9 1.07e+02 -20.0 6.45e-01 2.25e-10h 33 99 5.9307581e-04 9.96e-12 5.15e+00 -2.9 1.06e+02 -20.0 9.06e-01 2.85e-02f 6 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 5.9307581e-04 9.96e-12 8.30e+00 -2.9 1.03e+02 -20.0 6.75e-01 4.51e-10h 32 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 5.9307580977815250e-04 5.9307580977815250e-04 Dual infeasibility......: 8.3000732186856805e+00 8.3000732186856805e+00 Constraint violation....: 9.9557029287211662e-12 9.9557029287211662e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 4.1011721902412715e-02 4.1011721902412715e-02 Overall NLP error.......: 8.3000732186856805e+00 8.3000732186856805e+00 Number of objective function evaluations = 2195 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 2195 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 = 4.400 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): 0.081s sub-objective 2 (QuadraticRegularizer): 0.0s objective hessian structure: 0.169s hessian structure: 40 nonzeros (0.169s) linear index maps built (0.0s) evaluator ready (total: 0.17s) evaluator created (0.17s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.115s) applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial value of t applying constraint: bounds on u applying constraint: bounds on t applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) linear constraints added: 6 (3.063s) optimizer initialization complete (total: 3.349s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 39 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 19 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.2693124e+00 4.95e-01 9.23e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 5.5454866e-01 1.53e-09 1.65e-01 -1.7 5.09e-01 -2.0 8.93e-01 1.00e+00h 1 2 1.7623182e-01 3.37e-10 1.93e-01 -4.0 7.38e-01 -1.6 6.34e-01 1.00e+00f 1 3 8.7039693e-02 3.25e-11 3.01e-02 -2.5 4.19e-01 -1.1 9.68e-01 1.00e+00f 1 4 2.6247033e-02 2.68e-11 2.21e-02 -3.8 6.06e-01 -1.6 9.17e-01 1.00e+00f 1 5 1.5236062e-02 7.77e-12 1.02e-02 -4.0 1.67e-01 -1.2 1.00e+00 1.00e+00f 1 6 5.1515716e-03 6.16e-12 6.56e-03 -4.0 2.54e-01 -1.7 1.00e+00 1.00e+00f 1 7 9.5113010e-04 6.19e-12 2.65e-03 -4.0 2.16e-01 -2.2 1.00e+00 1.00e+00f 1 8 4.8828373e-04 2.57e-12 2.42e-04 -4.0 9.59e-02 -2.6 1.00e+00 1.00e+00f 1 9 5.1624421e-04 3.07e-13 3.40e-04 -4.0 2.02e-01 -3.1 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 3.7231824e-04 2.31e-13 5.43e-04 -4.1 1.96e-01 -3.6 1.00e+00 1.00e+00f 1 11 5.2758602e-04 6.25e-14 4.00e-04 -4.0 9.56e-02 -4.1 1.00e+00 1.00e+00f 1 12 2.7389837e-04 1.28e-13 1.60e-03 -4.1 2.43e-01 -4.5 1.00e+00 1.00e+00f 1 13 6.8318430e-04 1.24e-13 1.53e-03 -4.0 2.23e-01 -5.0 1.00e+00 1.00e+00f 1 14 1.8127515e-04 4.88e-14 2.43e-03 -4.1 4.26e-01 -5.5 1.00e+00 1.00e+00f 1 15 9.0427599e-04 3.04e-13 3.11e-03 -4.0 4.16e-01 -6.0 1.00e+00 1.00e+00f 1 16 1.0447078e-04 1.86e-13 2.77e-03 -4.1 5.97e-01 -6.4 1.00e+00 1.00e+00f 1 17 1.1756117e-03 4.02e-13 4.57e-03 -4.0 5.96e-01 -6.9 1.00e+00 1.00e+00f 1 18 5.0577051e-05 2.57e-13 2.72e-03 -4.1 7.58e-01 -7.4 1.00e+00 1.00e+00f 1 19 1.5529198e-03 4.27e-13 6.31e-03 -4.0 7.79e-01 -7.9 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.8660802e-05 2.72e-13 2.41e-03 -4.2 9.32e-01 -8.4 1.00e+00 1.00e+00f 1 21 2.1900280e-03 4.02e-13 8.72e-03 -4.0 9.88e-01 -8.8 1.00e+00 1.00e+00f 1 22 4.4930392e-06 2.48e-13 1.97e-03 -4.2 1.13e+00 -9.3 1.00e+00 1.00e+00f 1 23 4.5230604e-04 4.47e-14 2.36e-03 -4.0 1.26e+00 -9.8 1.00e+00 5.00e-01f 2 24 2.0024514e-04 2.78e-14 3.24e-04 -4.3 3.63e-01 -10.3 1.00e+00 5.00e-01f 2 25 1.8336890e-05 4.61e-14 6.16e-04 -6.4 3.42e-01 -10.7 9.72e-01 1.00e+00f 1 26 7.3615127e-06 3.40e-14 7.26e-05 -6.4 8.46e-02 -11.2 1.00e+00 1.00e+00f 1 27 1.8843068e-06 5.58e-15 4.42e-05 -6.4 9.41e-02 -11.7 1.00e+00 1.00e+00f 1 28 4.0596507e-04 1.03e-15 1.41e-03 -4.0 1.80e+01 -12.2 1.00e+00 3.40e-02f 5 29 4.0836626e-04 3.96e-13 2.88e-04 -4.0 3.54e-02 -12.7 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.8065764e-05 7.46e-14 9.55e-04 -6.1 4.05e-01 -13.1 9.66e-01 1.00e+00f 1 31 1.3023128e-05 4.98e-14 8.52e-05 -6.1 7.44e-02 -13.6 1.00e+00 1.00e+00f 1 32 3.4604013e-06 6.15e-15 6.27e-05 -6.1 9.79e-02 -14.1 1.00e+00 1.00e+00f 1 33 4.1779873e-06 2.73e-15 4.88e-06 -6.1 8.47e-03 -14.6 1.00e+00 1.00e+00h 1 34 2.1987590e-07 2.84e-16 2.78e-05 -9.0 1.31e-01 -15.0 9.88e-01 1.00e+00f 1 35 3.9248418e-03 3.33e-16 9.04e-03 -4.0 4.62e+01 -15.5 1.00e+00 2.68e-02f 4 36 3.7269122e-05 4.86e-13 3.54e-03 -3.9 9.36e-01 -16.0 1.00e+00 1.00e+00f 1 37 8.1942870e-04 4.31e-13 2.99e-03 -3.9 4.86e-01 -16.5 1.00e+00 1.00e+00f 1 38 4.4317619e-04 9.72e-14 3.30e-04 -3.9 2.60e-01 -16.9 1.00e+00 5.00e-01f 2 39 3.8577533e-05 2.35e-14 9.44e-04 -5.9 3.53e-01 -17.4 9.73e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.6553368e-05 3.05e-14 1.06e-04 -5.9 7.95e-02 -17.9 1.00e+00 1.00e+00f 1 41 5.0506422e-06 3.66e-15 6.68e-05 -5.9 8.65e-02 -18.4 1.00e+00 1.00e+00f 1 42 6.2257127e-06 1.42e-15 1.14e-05 -5.9 1.60e-02 -18.9 1.00e+00 1.00e+00f 1 43 3.2096610e-07 1.87e-16 3.66e-05 -8.9 1.40e-01 -19.3 9.87e-01 1.00e+00f 1 44 1.4514613e-07 1.39e-16 2.87e-06 -8.9 2.30e-02 -19.8 1.00e+00 1.00e+00f 1 45 3.1253726e-03 1.39e-16 3.47e-03 -4.0 1.45e+02 -20.0 1.00e+00 8.53e-03f 4 46 3.8383395e-04 3.65e-13 4.10e-03 -3.7 5.25e-01 -20.0 1.00e+00 1.00e+00f 1 47 1.3193853e-03 2.23e-13 2.83e-03 -3.7 2.98e-01 -20.0 1.00e+00 1.00e+00f 1 48 8.8174484e-04 7.17e-14 2.83e-04 -3.7 1.97e-01 -20.0 1.00e+00 5.00e-01f 2 49 7.4535162e-05 3.04e-14 1.74e-03 -5.5 4.58e-01 -20.0 9.65e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 3.3734998e-05 2.67e-14 1.85e-04 -5.5 9.68e-02 -20.0 1.00e+00 1.00e+00f 1 51 1.1226972e-05 3.66e-15 1.23e-04 -5.5 1.07e-01 -20.0 1.00e+00 1.00e+00f 1 52 1.5013857e-05 1.47e-15 3.63e-05 -5.5 3.28e-02 -20.0 1.00e+00 1.00e+00f 1 53 1.2094482e-05 1.70e-16 1.30e-05 -5.5 1.23e-02 -20.0 1.00e+00 1.00e+00f 1 54 9.6279115e-07 2.78e-16 7.29e-05 -8.3 1.72e-01 -20.0 9.84e-01 1.00e+00f 1 55 3.7080868e-07 1.80e-16 8.56e-06 -8.3 4.18e-02 -20.0 1.00e+00 1.00e+00f 1 56 6.2643578e-08 2.78e-17 5.47e-06 -8.3 5.76e-02 -20.0 1.00e+00 1.00e+00f 1 57 1.4438985e-03 2.36e-16 7.38e-04 -4.0 2.39e+02 -20.0 1.00e+00 5.16e-03f 4 58 5.1074435e-04 1.44e-13 2.24e-03 -3.8 2.91e-01 -20.0 1.00e+00 1.00e+00f 1 59 9.1504976e-04 4.69e-14 1.44e-03 -3.8 1.70e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 3.7203389e-05 1.52e-14 1.99e-03 -5.7 6.57e-01 -20.0 9.41e-01 1.00e+00f 1 61 2.2200732e-05 1.48e-14 9.61e-05 -5.7 6.44e-02 -20.0 1.00e+00 1.00e+00f 1 62 7.1334880e-06 1.28e-15 1.09e-04 -5.7 1.19e-01 -20.0 1.00e+00 1.00e+00f 1 63 1.1400293e-05 6.66e-16 5.08e-05 -5.7 5.37e-02 -20.0 1.00e+00 1.00e+00f 1 64 7.8745905e-06 1.67e-16 2.59e-05 -5.7 2.98e-02 -20.0 1.00e+00 1.00e+00f 1 65 1.1438134e-05 1.67e-16 4.51e-05 -5.7 4.71e-02 -20.0 1.00e+00 1.00e+00f 1 66 7.8982915e-06 1.11e-16 2.73e-05 -5.7 3.13e-02 -20.0 1.00e+00 1.00e+00f 1 67 1.1385654e-05 1.67e-16 4.58e-05 -5.7 4.79e-02 -20.0 1.00e+00 1.00e+00f 1 68 7.9280144e-06 1.11e-16 2.77e-05 -5.7 3.18e-02 -20.0 1.00e+00 1.00e+00f 1 69 1.1333143e-05 1.20e-16 4.63e-05 -5.7 4.85e-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 70 7.9579854e-06 7.46e-17 2.81e-05 -5.7 3.22e-02 -20.0 1.00e+00 1.00e+00f 1 71 1.1279985e-05 1.11e-16 4.68e-05 -5.7 4.90e-02 -20.0 1.00e+00 1.00e+00f 1 72 7.9882725e-06 9.02e-17 2.85e-05 -5.7 3.26e-02 -20.0 1.00e+00 1.00e+00f 1 73 1.1226283e-05 1.11e-16 4.71e-05 -5.7 4.94e-02 -20.0 1.00e+00 1.00e+00f 1 74 8.0188766e-06 1.11e-16 2.88e-05 -5.7 3.29e-02 -20.0 1.00e+00 1.00e+00f 1 75 1.1172137e-05 1.11e-16 4.74e-05 -5.7 4.98e-02 -20.0 1.00e+00 1.00e+00f 1 76 8.0497831e-06 6.94e-17 2.91e-05 -5.7 3.32e-02 -20.0 1.00e+00 1.00e+00f 1 77 1.1117648e-05 1.18e-16 4.76e-05 -5.7 5.00e-02 -20.0 1.00e+00 1.00e+00f 1 78 8.0809651e-06 6.07e-17 2.93e-05 -5.7 3.34e-02 -20.0 1.00e+00 1.00e+00f 1 79 1.1062919e-05 1.37e-16 4.77e-05 -5.7 5.02e-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 80 8.1123867e-06 8.15e-17 2.94e-05 -5.7 3.35e-02 -20.0 1.00e+00 1.00e+00f 1 81 1.1008056e-05 1.42e-16 4.76e-05 -5.7 5.02e-02 -20.0 1.00e+00 1.00e+00f 1 82 8.1440048e-06 9.02e-17 2.95e-05 -5.7 3.36e-02 -20.0 1.00e+00 1.00e+00f 1 83 1.0953166e-05 1.11e-16 4.75e-05 -5.7 5.02e-02 -20.0 1.00e+00 1.00e+00f 1 84 8.1757706e-06 8.50e-17 2.95e-05 -5.7 3.36e-02 -20.0 1.00e+00 1.00e+00f 1 85 1.0898355e-05 1.11e-16 4.73e-05 -5.7 5.00e-02 -20.0 1.00e+00 1.00e+00f 1 86 8.2076314e-06 7.98e-17 2.95e-05 -5.7 3.35e-02 -20.0 1.00e+00 1.00e+00f 1 87 1.0843729e-05 1.11e-16 4.71e-05 -5.7 4.98e-02 -20.0 1.00e+00 1.00e+00f 1 88 8.2395312e-06 1.11e-16 2.94e-05 -5.7 3.34e-02 -20.0 1.00e+00 1.00e+00f 1 89 1.0789395e-05 1.11e-16 4.67e-05 -5.7 4.95e-02 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 8.2714123e-06 1.34e-16 2.93e-05 -5.7 3.32e-02 -20.0 1.00e+00 1.00e+00f 1 91 1.0735455e-05 1.11e-16 4.62e-05 -5.7 4.90e-02 -20.0 1.00e+00 1.00e+00f 1 92 8.3032154e-06 1.24e-16 2.91e-05 -5.7 3.30e-02 -20.0 1.00e+00 1.00e+00f 1 93 1.0682009e-05 1.24e-16 4.57e-05 -5.7 4.85e-02 -20.0 1.00e+00 1.00e+00f 1 94 8.3348810e-06 8.76e-17 2.89e-05 -5.7 3.27e-02 -20.0 1.00e+00 1.00e+00f 1 95 1.0629156e-05 1.12e-16 4.51e-05 -5.7 4.79e-02 -20.0 1.00e+00 1.00e+00f 1 96 8.3663498e-06 6.77e-17 2.85e-05 -5.7 3.23e-02 -20.0 1.00e+00 1.00e+00f 1 97 1.0576987e-05 1.11e-16 4.44e-05 -5.7 4.72e-02 -20.0 1.00e+00 1.00e+00f 1 98 8.3975634e-06 1.15e-16 2.82e-05 -5.7 3.18e-02 -20.0 1.00e+00 1.00e+00f 1 99 1.0525590e-05 1.11e-16 4.36e-05 -5.7 4.65e-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 8.4284651e-06 6.51e-17 2.78e-05 -5.7 3.14e-02 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 8.4284651244487114e-06 8.4284651244487114e-06 Dual infeasibility......: 2.7791914320023764e-05 2.7791914320023764e-05 Constraint violation....: 6.5052130349130266e-17 6.5052130349130266e-17 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.0601322672092466e-06 2.0601322672092466e-06 Overall NLP error.......: 9.7949244171114866e-05 9.7949244171114866e-05 Number of objective function evaluations = 130 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 130 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 = 4.064 EXIT: Maximum Number of Iterations Exceeded. Test Summary: | Pass Total Time Package | 245 245 27m21.9s Testing DirectTrajOpt tests passed Testing completed after 1730.12s PkgEval succeeded after 1849.45s