Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.2071 (559ec66647*) started at 2026-04-24T01:50:56.238 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 14.79s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Updating `~/.julia/environments/v1.14/Project.toml` [c823fa1f] + DirectTrajOpt v0.9.0 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 v0.9.0 [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 v1.8.0 [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 v3.33.1 [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 v1.17.0 [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 v2.8.0 [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 v1.69.0+0 [3f19e933] + p7zip_jll v17.8.0+0 Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. To see why use `status --outdated -m` Installation completed after 6.46s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling project... 33.2 s ✓ DirectTrajOpt 38.2 s ✓ DirectTrajOpt → MadNLPSolverExt 2 dependencies successfully precompiled in 75 seconds. 240 already precompiled. Precompilation completed after 97.55s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_yBn02x/Project.toml` [c823fa1f] DirectTrajOpt v0.9.0 [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 [2621e9c9] MadNLP v0.9.1 [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 [9a3f8284] Random v1.11.0 [2f01184e] SparseArrays v1.13.0 [8dfed614] Test v1.11.0 Status `/tmp/jl_yBn02x/Manifest.toml` [47edcb42] ADTypes v1.21.0 [14f7f29c] AMD v0.5.3 ⌃ [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 v0.9.0 [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 v1.8.0 [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 [40e66cde] LDLFactorizations v0.10.2 [b964fa9f] LaTeXStrings v1.4.0 [10f19ff3] LayoutPointers v0.1.17 [5078a376] LazyArrays v2.9.7 [5c8ed15e] LinearOperators v2.13.0 [2ab3a3ac] LogExpFunctions v0.3.29 [e6f89c97] LoggingExtras v1.2.0 [1914dd2f] MacroTools v0.5.16 [2621e9c9] MadNLP v0.9.1 [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 [a4795742] NLPModels v0.21.12 [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 v3.33.1 [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 v1.17.0 [431bcebd] SciMLPublic v1.0.1 [53ae85a6] SciMLStructures v1.10.0 [7e506255] ScopedValues v1.6.0 [efcf1570] Setfield v1.1.2 [ff4d7338] SolverCore v0.3.10 [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 v2.8.0 [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 [4607b0f0] SuiteSparse [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 v1.69.0+0 [3f19e933] p7zip_jll v17.8.0+0 Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. Testing Running tests... initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 1.867s integrator 2 jacobian structure: 0.053s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (1.963s) integrator 1 hessian structure: 0.045s integrator 2 hessian structure: 0.046s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 2.148s sub-objective 2 (QuadraticRegularizer): 1.566s sub-objective 3 (MinimumTimeObjective): 0.014s objective hessian structure: 3.818s hessian structure: 1749 nonzeros (3.911s) linear index maps built (0.0s) evaluator ready (total: 6.334s) evaluator created (10.602s) NL constraint bounds extracted (0.087s) NLP block data built (0.0s) Ipopt optimizer configured (0.291s) variables set (0.799s) 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 (3.556s) optimizer initialization complete (total: 15.431s) ****************************************************************************** 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...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 81 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.6068945e+00 4.45e+00 3.16e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7084863e+00 4.01e-02 3.71e+00 -0.9 2.56e+00 -2.0 8.84e-01 1.00e+00f 1 2 2.4783657e+00 3.96e-02 2.71e-01 -1.5 1.30e+00 -2.5 1.00e+00 1.00e+00h 1 3 2.1538766e+00 4.86e-02 9.47e-02 -2.3 1.27e+00 -3.0 9.46e-01 1.00e+00h 1 4 2.1062939e+00 1.36e-03 1.97e-02 -2.8 3.48e-01 -3.4 9.39e-01 1.00e+00h 1 5 2.0910939e+00 3.79e-04 1.00e-03 -4.0 2.20e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0908950e+00 9.04e-06 4.94e-05 -4.0 5.02e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0907470e+00 7.81e-07 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0903046e+00 7.66e-06 3.46e-05 -4.0 4.50e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0889880e+00 6.99e-05 3.08e-04 -4.0 1.34e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0851374e+00 6.53e-04 2.81e-03 -4.0 3.91e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0797670e+00 1.92e-03 1.46e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.29e-01h 1 12 2.0803398e+00 5.09e-05 1.57e-01 -4.0 6.72e+01 -7.2 1.00e+00 1.00e+00H 1 13 2.0775995e+00 5.43e-03 1.50e-02 -4.0 1.24e+02 -7.7 1.00e+00 9.41e-01h 1 14 2.0769164e+00 8.92e-04 4.34e-02 -4.0 2.05e+02 -8.2 1.00e+00 9.54e-01h 1 15 2.0762936e+00 9.26e-04 2.30e-02 -4.0 3.55e+02 -8.7 1.00e+00 7.97e-01h 1 16 2.0756143e+00 1.25e-03 2.80e-02 -4.0 6.13e+02 -9.2 1.00e+00 6.77e-01h 1 17 2.0758814e+00 9.94e-04 1.64e-02 -4.0 1.72e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0757767e+00 9.80e-05 5.94e-04 -4.0 7.73e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0757705e+00 2.07e-07 9.27e-06 -4.0 2.25e+01 -10.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0757704e+00 1.16e-08 1.10e-06 -4.0 1.30e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0757704e+00 1.47e-10 8.17e-08 -4.0 4.04e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0757704e+00 2.48e-12 1.16e-09 -4.0 5.83e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0757703961179779e+00 2.0757703961179779e+00 Dual infeasibility......: 1.1570958855780175e-09 1.1570958855780175e-09 Constraint violation....: 2.4805305379183018e-12 2.4805305379183018e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000018e-04 1.0000000000000018e-04 Overall NLP error.......: 1.1570958855780175e-09 1.1570958855780175e-09 Number of objective function evaluations = 24 Number of objective gradient evaluations = 23 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 23 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 22 Total seconds in IPOPT = 61.863 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.048s jacobian structure: 180 nonzeros (0.083s) integrator 1 hessian structure: 0.044s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.304s sub-objective 2 (QuadraticRegularizer): 0.081s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.016s objective hessian structure: 0.486s hessian structure: 375 nonzeros (0.531s) linear index maps built (0.0s) evaluator ready (total: 0.726s) evaluator created (0.726s) NL constraint bounds extracted (0.009s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.104s) applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.628s) optimizer initialization complete (total: 3.468s) 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 1.7490724e+00 8.46e-01 1.15e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7256472e+00 2.69e-01 4.32e-01 -1.1 4.39e+00 - 9.97e-01 1.00e+00h 1 2 1.3914995e+00 5.38e-02 1.59e+00 -4.0 2.80e+00 -2.0 4.00e-01 1.00e+00h 1 3 1.1997627e+00 1.27e-02 8.11e-01 -4.0 1.97e-01 -0.7 3.73e-01 7.10e-01h 1 4 1.0979247e+00 1.06e-03 4.13e-02 -3.0 2.87e-01 -0.2 1.00e+00 9.11e-01h 1 5 1.0932020e+00 4.12e-06 6.70e-04 -4.0 3.32e-03 -0.7 1.00e+00 1.00e+00h 1 6 1.0913661e+00 6.32e-08 1.05e-01 -4.0 5.07e+00 - 2.93e-01 1.00e+00f 1 7 1.0910791e+00 2.82e-08 1.71e-02 -4.0 1.14e-02 -1.2 1.00e+00 5.53e-01h 1 8 1.0909161e+00 1.41e-08 2.34e-03 -4.0 4.22e+00 - 1.36e-01 5.00e-01f 2 9 1.0910420e+00 1.06e-08 1.61e-02 -4.0 1.71e-01 -1.7 1.00e+00 2.50e-01f 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0909802e+00 5.29e-09 8.76e-04 -3.9 6.66e-01 - 6.06e-01 5.00e-01f 2 11 1.0909416e+00 2.65e-09 1.15e-03 -4.0 2.00e-01 -2.2 1.00e+00 5.00e-01f 2 12 1.0909006e+00 8.96e-15 2.77e-04 -4.0 3.51e-02 - 1.00e+00 1.00e+00h 1 13 1.0909004e+00 5.42e-23 3.16e-04 -4.0 6.79e-02 - 1.00e+00 1.00e+00f 1 14 1.0908997e+00 4.27e-28 4.00e-05 -4.0 2.04e-02 - 1.00e+00 1.00e+00f 1 15 1.0908997e+00 2.61e-29 4.64e-07 -4.0 1.50e-03 - 1.00e+00 1.00e+00f 1 16 1.0908997e+00 3.59e-28 9.50e-11 -4.0 2.61e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 16 (scaled) (unscaled) Objective...............: 1.0908997263265459e+00 1.0908997263265459e+00 Dual infeasibility......: 9.4963426240786681e-11 9.4963426240786681e-11 Constraint violation....: 3.5897856183248781e-28 3.5897856183248781e-28 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 9.4963426240786681e-11 9.4963426240786681e-11 Number of objective function evaluations = 22 Number of objective gradient evaluations = 17 Number of equality constraint evaluations = 22 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 = 23.365 EXIT: Optimal Solution Found. [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=120, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=120, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.054s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.055s) integrator 1 hessian structure: 0.044s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.046s) linear index maps built (0.0s) evaluator ready (total: 0.102s) evaluator created (0.102s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: duration constraint of 4.0 applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.352s) optimizer initialization complete (total: 0.455s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1529 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 73 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.4923158e+00 3.10e+00 2.82e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4342481e+00 2.28e+00 1.62e+00 -4.0 1.03e+01 -2.0 1.43e-01 2.63e-01h 1 2 1.9261441e+00 2.28e+00 3.25e+00 -2.8 1.16e+01 -1.6 1.62e-01 4.20e-01h 1 3 1.7223647e+00 1.30e+00 1.30e+00 -1.3 6.09e+00 -2.1 2.90e-01 6.60e-01f 1 4 1.5595530e+00 4.52e-01 6.56e-01 -2.4 3.30e+00 -2.5 6.10e-01 6.55e-01h 1 5 1.4036165e+00 1.43e-01 1.02e-01 -1.9 1.84e+00 -3.0 9.95e-01 8.59e-01h 1 6 1.3279633e+00 1.10e-02 3.00e-02 -2.1 4.82e-01 -3.5 9.30e-01 1.00e+00h 1 7 1.1898854e+00 3.92e-01 6.43e-02 -3.0 1.11e+00 -4.0 8.88e-01 1.00e+00h 1 8 1.2457119e+00 2.35e+00 4.13e-01 -2.5 1.84e+01 -4.4 8.85e-01 1.00e+00h 1 9 1.2190347e+00 1.04e+00 2.02e-01 -2.7 6.65e+00 -4.9 1.00e+00 6.27e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.2031118e+00 2.07e-01 5.83e-02 -2.7 4.09e+00 -5.4 1.00e+00 8.98e-01h 1 11 1.1720353e+00 2.64e-01 1.45e-02 -3.7 6.88e+00 -5.9 9.99e-01 1.00e+00h 1 12 1.1655359e+00 3.94e-01 1.38e-03 -4.0 2.14e+01 -6.3 1.00e+00 1.00e+00h 1 13 1.1633684e+00 4.66e-01 9.88e-03 -4.0 4.03e+01 -6.8 1.00e+00 1.00e+00h 1 14 1.1624303e+00 4.48e-01 9.88e-03 -4.0 6.48e+01 -7.3 1.00e+00 1.00e+00h 1 15 1.1614797e+00 5.01e-01 2.38e-02 -4.0 9.71e+01 -7.8 1.00e+00 1.00e+00h 1 16 1.1609917e+00 4.84e-01 2.19e-02 -4.0 1.39e+02 -8.3 1.00e+00 1.00e+00h 1 17 1.1605009e+00 5.22e-01 3.10e-02 -4.0 1.92e+02 -8.7 1.00e+00 1.00e+00h 1 18 1.1604700e+00 3.60e-01 1.51e-02 -4.0 2.21e+02 -9.2 1.00e+00 1.00e+00h 1 19 1.1608232e+00 1.82e-02 3.82e-03 -4.0 8.36e+01 -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 1.1608496e+00 2.73e-04 7.78e-05 -4.0 5.60e+00 -10.2 1.00e+00 1.00e+00h 1 21 1.1608491e+00 2.15e-06 2.93e-07 -4.0 6.12e-01 -10.6 1.00e+00 1.00e+00h 1 22 1.1608491e+00 1.27e-10 6.16e-12 -4.0 4.70e-03 -11.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 1.1608491307906885e+00 1.1608491307906885e+00 Dual infeasibility......: 6.1606412516974213e-12 6.1606412516974213e-12 Constraint violation....: 1.2710188457276672e-10 1.2710188457276672e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000494e-04 1.0000000000000494e-04 Overall NLP error.......: 1.2710188457276672e-10 1.2710188457276672e-10 Number of objective function evaluations = 23 Number of objective gradient evaluations = 23 Number of equality constraint evaluations = 23 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 23 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 22 Total seconds in IPOPT = 23.738 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.047s jacobian structure: 180 nonzeros (0.082s) integrator 1 hessian structure: 0.044s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.312s sub-objective 2 (QuadraticRegularizer): 0.079s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.015s objective hessian structure: 0.492s hessian structure: 375 nonzeros (0.536s) linear index maps built (0.0s) evaluator ready (total: 0.733s) evaluator created (0.733s) NL constraint bounds extracted (0.011s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.108s) applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.857s) optimizer initialization complete (total: 3.711s) 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 1.1743401e+00 1.00e+00 1.04e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7611486e+00 2.81e-01 1.33e+00 -0.9 8.78e-01 0.0 9.91e-01 8.69e-01h 1 2 1.8369657e+00 7.70e-02 1.30e+00 -1.2 5.39e-01 -0.5 8.41e-01 1.00e+00f 1 3 1.5190314e+00 5.33e-02 3.83e-01 -1.3 1.02e+00 -1.0 9.85e-01 3.72e-01h 1 4 1.3743679e+00 3.96e-02 3.83e-01 -4.0 1.07e+01 - 2.62e-01 2.49e-01h 1 5 1.2086841e+00 1.34e-02 8.09e-01 -2.2 6.32e+00 - 1.00e+00 6.62e-01h 1 6 1.1139741e+00 5.39e-04 3.43e-01 -2.6 5.22e+00 - 1.00e+00 1.00e+00h 1 7 1.0951023e+00 1.29e-05 1.65e-02 -3.3 8.44e-01 - 1.00e+00 9.95e-01h 1 8 1.0910254e+00 9.31e-08 4.94e-03 -4.0 6.55e-01 - 1.00e+00 1.00e+00h 1 9 1.0910386e+00 1.37e-10 7.68e-05 -4.0 8.69e-02 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0910386e+00 5.86e-17 1.27e-05 -4.0 7.99e-05 - 1.00e+00 1.00e+00h 1 11 1.0910386e+00 8.88e-16 1.26e-05 -4.0 4.94e-07 - 1.00e+00 1.00e+00h 1 12 1.0908587e+00 1.78e-15 2.97e-10 -4.1 1.99e-05 - 1.00e+00 1.00e+00f 1 13 1.0910386e+00 8.88e-16 3.58e-10 -4.0 1.99e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 13 (scaled) (unscaled) Objective...............: 1.0910385864123910e+00 1.0910385864123910e+00 Dual infeasibility......: 3.5775949861844631e-10 3.5775949861844631e-10 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000114091619609e-04 1.0000114091619609e-04 Overall NLP error.......: 1.1409161960860724e-09 1.1409161960860724e-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 = 20.064 EXIT: Optimal Solution Found. ┌ Warning: Trajectory has timestep variable :Δt but no bounds on it. │ Adding default lower bound of 0 to prevent negative timesteps. │ │ Recommended: Add explicit bounds when creating the trajectory: │ NamedTrajectory(...; Δt_bounds=(min, max)) │ Example: │ NamedTrajectory(qtraj, N; Δt_bounds=(1e-3, 0.5)) │ │ Or use timesteps_all_equal=true in problem options to fix timesteps. └ @ DirectTrajOpt.Problems ~/.julia/packages/DirectTrajOpt/LpRux/src/problems.jl:66 initializing optimizer... building evaluator: 0 integrators, 0 nonlinear constraints dynamics constraints: 0, nonlinear constraints: 0 jacobian structure: 0 nonzeros (0.0s) computing objective hessian structure (QuadraticRegularizer)... objective hessian structure: 0.093s hessian structure: 30 nonzeros (0.093s) linear index maps built (0.0s) evaluator ready (total: 0.093s) evaluator created (0.093s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.123s) 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 (3.123s) optimizer initialization complete (total: 3.34s) 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 1.1915142e-02 8.33e-17 1.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.1935950e-02 2.17e-13 1.00e-02 -4.0 8.72e-04 -2.0 9.90e-01 1.00e+00f 1 2 1.9592560e-02 7.53e-11 2.06e-02 -2.2 7.74e-01 -1.6 1.00e+00 1.00e+00f 1 3 1.9391705e-02 3.71e-11 7.34e-04 -3.4 1.03e-02 -1.1 1.00e+00 1.00e+00h 1 4 1.9373695e-02 8.56e-13 1.71e-05 -5.1 7.22e-04 -1.6 1.00e+00 1.00e+00h 1 5 1.9373502e-02 4.66e-15 5.08e-08 -7.6 6.43e-06 -2.1 1.00e+00 1.00e+00h 1 6 1.9373425e-02 1.67e-16 2.09e-09 -11.4 5.87e-07 -2.6 1.00e+00 1.00e+00h 1 7 1.9373147e-02 1.67e-16 2.35e-09 -11.4 2.17e-06 -3.1 1.00e+00 1.00e+00h 1 8 1.9372165e-02 5.55e-17 2.63e-09 -11.4 7.75e-06 -3.5 1.00e+00 1.00e+00h 1 9 1.9368786e-02 8.33e-17 2.99e-09 -11.4 2.70e-05 -4.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.9357345e-02 1.11e-16 3.35e-09 -11.4 9.20e-05 -4.5 1.00e+00 1.00e+00h 1 11 1.9319160e-02 1.11e-16 3.71e-09 -11.4 3.09e-04 -5.0 1.00e+00 1.00e+00h 1 12 1.9303396e-02 1.11e-16 4.07e-09 -11.4 1.28e-04 -4.5 1.00e+00 1.00e+00h 1 13 1.9251817e-02 1.67e-16 4.43e-09 -11.4 4.22e-04 -5.0 1.00e+00 1.00e+00h 1 14 1.9230874e-02 5.55e-17 4.79e-09 -11.4 1.72e-04 -4.6 1.00e+00 1.00e+00h 1 15 1.9163314e-02 5.55e-17 5.14e-09 -11.4 5.59e-04 -5.1 1.00e+00 1.00e+00h 1 16 1.9136215e-02 5.55e-17 5.50e-09 -11.4 2.25e-04 -4.6 1.00e+00 1.00e+00h 1 17 1.9125381e-02 1.67e-16 5.85e-09 -11.4 9.03e-05 -4.2 1.00e+00 1.00e+00h 1 18 1.9090878e-02 1.11e-16 6.21e-09 -11.4 2.88e-04 -4.7 1.00e+00 1.00e+00h 1 19 1.9077191e-02 8.33e-17 6.56e-09 -11.4 1.15e-04 -4.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.9033910e-02 5.55e-17 6.91e-09 -11.4 3.64e-04 -4.7 1.00e+00 1.00e+00h 1 21 1.9016851e-02 5.55e-17 7.27e-09 -11.4 1.44e-04 -4.3 1.00e+00 1.00e+00h 1 22 1.8963216e-02 1.11e-16 7.62e-09 -11.4 4.53e-04 -4.8 1.00e+00 1.00e+00h 1 23 1.8795677e-02 1.11e-16 7.97e-09 -11.4 1.42e-03 -5.3 1.00e+00 1.00e+00h 1 24 1.8730406e-02 1.11e-16 8.31e-09 -11.4 5.59e-04 -4.8 1.00e+00 1.00e+00h 1 25 1.8704938e-02 2.78e-17 8.66e-09 -11.4 2.19e-04 -4.4 1.00e+00 1.00e+00h 1 26 1.8625626e-02 1.11e-16 9.00e-09 -11.4 6.83e-04 -4.9 1.00e+00 1.00e+00h 1 27 1.8594802e-02 1.67e-16 9.34e-09 -11.4 2.66e-04 -4.5 1.00e+00 1.00e+00h 1 28 1.8499173e-02 1.11e-16 9.68e-09 -11.4 8.29e-04 -4.9 1.00e+00 1.00e+00h 1 29 1.8462140e-02 1.11e-16 1.00e-08 -11.4 3.22e-04 -4.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.8347650e-02 8.33e-17 1.04e-08 -11.4 1.00e-03 -5.0 1.00e+00 1.00e+00h 1 31 1.8303460e-02 1.11e-16 1.07e-08 -11.4 3.88e-04 -4.6 1.00e+00 1.00e+00h 1 32 1.8167290e-02 5.55e-17 1.10e-08 -11.4 1.20e-03 -5.1 1.00e+00 1.00e+00h 1 33 1.8114899e-02 1.11e-16 1.14e-08 -11.4 4.65e-04 -4.6 1.00e+00 1.00e+00h 1 34 1.7953964e-02 1.11e-16 1.17e-08 -11.4 1.44e-03 -5.1 1.00e+00 1.00e+00h 1 35 1.7892234e-02 8.33e-17 1.20e-08 -11.4 5.54e-04 -4.7 1.00e+00 1.00e+00h 1 36 1.7868491e-02 1.11e-16 1.23e-08 -11.4 2.14e-04 -4.2 1.00e+00 1.00e+00h 1 37 1.7795522e-02 1.11e-16 1.27e-08 -11.4 6.58e-04 -4.7 1.00e+00 1.00e+00h 1 38 1.7572720e-02 5.55e-17 1.30e-08 -11.4 2.03e-03 -5.2 1.00e+00 1.00e+00h 1 39 1.7487764e-02 5.55e-17 1.33e-08 -11.4 7.79e-04 -4.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.7455224e-02 1.11e-16 1.36e-08 -11.4 2.99e-04 -4.4 1.00e+00 1.00e+00h 1 41 1.7355643e-02 1.11e-16 1.39e-08 -11.4 9.19e-04 -4.8 1.00e+00 1.00e+00h 1 42 1.7317574e-02 1.11e-16 1.43e-08 -11.4 3.53e-04 -4.4 1.00e+00 1.00e+00h 1 43 1.7201294e-02 1.39e-16 1.46e-08 -11.4 1.08e-03 -4.9 1.00e+00 1.00e+00h 1 44 1.7156925e-02 5.55e-17 1.49e-08 -11.4 4.15e-04 -4.5 1.00e+00 1.00e+00h 1 45 1.7021666e-02 8.33e-17 1.52e-08 -11.4 1.27e-03 -4.9 1.00e+00 1.00e+00h 1 46 1.6970155e-02 1.11e-16 1.55e-08 -11.4 4.86e-04 -4.5 1.00e+00 1.00e+00h 1 47 1.6813435e-02 2.22e-16 1.58e-08 -11.4 1.49e-03 -5.0 1.00e+00 1.00e+00h 1 48 1.6753870e-02 5.55e-17 1.61e-08 -11.4 5.69e-04 -4.6 1.00e+00 1.00e+00h 1 49 1.6573025e-02 1.11e-16 1.64e-08 -11.4 1.74e-03 -5.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 1.6504434e-02 1.11e-16 1.67e-08 -11.4 6.64e-04 -4.6 1.00e+00 1.00e+00h 1 51 1.6296646e-02 1.67e-16 1.70e-08 -11.4 2.03e-03 -5.1 1.00e+00 1.00e+00h 1 52 1.6218011e-02 8.33e-17 1.73e-08 -11.4 7.74e-04 -4.7 1.00e+00 1.00e+00h 1 53 1.6188105e-02 1.11e-16 1.76e-08 -11.4 2.95e-04 -4.2 1.00e+00 1.00e+00h 1 54 1.6097193e-02 5.55e-17 1.78e-08 -11.4 9.00e-04 -4.7 1.00e+00 1.00e+00h 1 55 1.6062661e-02 1.67e-16 1.81e-08 -11.4 3.43e-04 -4.3 1.00e+00 1.00e+00h 1 56 1.5957822e-02 1.11e-16 1.84e-08 -11.4 1.05e-03 -4.8 1.00e+00 1.00e+00h 1 57 1.5918051e-02 8.33e-17 1.87e-08 -11.4 3.98e-04 -4.3 1.00e+00 1.00e+00h 1 58 1.5797473e-02 2.22e-16 1.90e-08 -11.4 1.21e-03 -4.8 1.00e+00 1.00e+00h 1 59 1.5435862e-02 5.55e-17 1.92e-08 -11.4 3.69e-03 -5.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 1.5300416e-02 8.33e-17 1.95e-08 -11.4 1.41e-03 -4.9 1.00e+00 1.00e+00h 1 61 1.5249196e-02 1.67e-16 1.98e-08 -11.4 5.34e-04 -4.4 1.00e+00 1.00e+00h 1 62 1.5094422e-02 2.78e-17 2.00e-08 -11.4 1.62e-03 -4.9 1.00e+00 1.00e+00h 1 63 1.5035984e-02 1.11e-16 2.03e-08 -11.4 6.17e-04 -4.5 1.00e+00 1.00e+00h 1 64 1.4859695e-02 1.67e-16 2.06e-08 -11.4 1.88e-03 -5.0 1.00e+00 1.00e+00h 1 65 1.4793248e-02 1.67e-16 2.08e-08 -11.4 7.13e-04 -4.5 1.00e+00 1.00e+00h 1 66 1.4593164e-02 1.39e-16 2.11e-08 -11.4 2.16e-03 -5.0 1.00e+00 1.00e+00h 1 67 1.4517891e-02 8.33e-17 2.13e-08 -11.4 8.21e-04 -4.6 1.00e+00 1.00e+00h 1 68 1.4291688e-02 5.55e-17 2.16e-08 -11.4 2.49e-03 -5.1 1.00e+00 1.00e+00h 1 69 1.4206766e-02 1.67e-16 2.18e-08 -11.4 9.46e-04 -4.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 1.4174670e-02 5.55e-17 2.20e-08 -11.4 3.59e-04 -4.2 1.00e+00 1.00e+00h 1 71 1.4077702e-02 1.11e-16 2.23e-08 -11.4 1.09e-03 -4.7 1.00e+00 1.00e+00h 1 72 1.4041091e-02 1.11e-16 2.25e-08 -11.4 4.12e-04 -4.3 1.00e+00 1.00e+00h 1 73 1.3930602e-02 1.94e-16 2.28e-08 -11.4 1.25e-03 -4.7 1.00e+00 1.00e+00h 1 74 1.3888934e-02 8.33e-17 2.30e-08 -11.4 4.74e-04 -4.3 1.00e+00 1.00e+00h 1 75 1.3763331e-02 5.55e-17 2.32e-08 -11.4 1.44e-03 -4.8 1.00e+00 1.00e+00h 1 76 1.3716020e-02 5.55e-17 2.35e-08 -11.4 5.44e-04 -4.4 1.00e+00 1.00e+00h 1 77 1.3573599e-02 1.67e-16 2.37e-08 -11.4 1.65e-03 -4.8 1.00e+00 1.00e+00h 1 78 1.3520025e-02 1.94e-16 2.39e-08 -11.4 6.24e-04 -4.4 1.00e+00 1.00e+00h 1 79 1.3358987e-02 1.67e-16 2.41e-08 -11.4 1.89e-03 -4.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 1.3298502e-02 1.39e-16 2.44e-08 -11.4 7.16e-04 -4.5 1.00e+00 1.00e+00h 1 81 1.3116984e-02 5.55e-17 2.46e-08 -11.4 2.17e-03 -4.9 1.00e+00 1.00e+00h 1 82 1.3048921e-02 1.94e-16 2.48e-08 -11.4 8.20e-04 -4.5 1.00e+00 1.00e+00h 1 83 1.2845036e-02 5.55e-17 2.50e-08 -11.4 2.48e-03 -5.0 1.00e+00 1.00e+00h 1 84 1.2768731e-02 1.11e-16 2.52e-08 -11.4 9.38e-04 -4.6 1.00e+00 1.00e+00h 1 85 1.2540627e-02 1.11e-16 2.54e-08 -11.4 2.84e-03 -5.1 1.00e+00 1.00e+00h 1 86 1.2455440e-02 1.39e-16 2.56e-08 -11.4 1.07e-03 -4.6 1.00e+00 1.00e+00h 1 87 1.2201381e-02 1.94e-16 2.58e-08 -11.4 3.25e-03 -5.1 1.00e+00 1.00e+00h 1 88 1.2106729e-02 5.55e-17 2.60e-08 -11.4 1.23e-03 -4.7 1.00e+00 1.00e+00h 1 89 1.2071135e-02 5.55e-17 2.62e-08 -11.4 4.63e-04 -4.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 1.1964139e-02 1.94e-16 2.64e-08 -11.4 1.40e-03 -4.7 1.00e+00 1.00e+00h 1 91 1.1646757e-02 5.55e-17 2.66e-08 -11.4 4.23e-03 -5.2 1.00e+00 1.00e+00h 1 92 1.1529176e-02 5.55e-17 2.68e-08 -11.4 1.60e-03 -4.8 1.00e+00 1.00e+00h 1 93 1.1485071e-02 5.55e-17 2.70e-08 -11.4 6.03e-04 -4.4 1.00e+00 1.00e+00h 1 94 1.1352850e-02 5.55e-17 2.71e-08 -11.4 1.82e-03 -4.8 1.00e+00 1.00e+00h 1 95 1.0963401e-02 1.11e-16 2.73e-08 -11.4 5.50e-03 -5.3 1.00e+00 1.00e+00h 1 96 1.0820185e-02 1.11e-16 2.75e-08 -11.4 2.08e-03 -4.9 1.00e+00 1.00e+00h 1 97 1.0766637e-02 1.39e-16 2.76e-08 -11.4 7.84e-04 -4.5 1.00e+00 1.00e+00h 1 98 1.0606664e-02 8.33e-17 2.78e-08 -11.4 2.36e-03 -4.9 1.00e+00 1.00e+00h 1 99 1.0546954e-02 1.11e-16 2.79e-08 -11.4 8.92e-04 -4.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 1.0368914e-02 1.67e-16 2.81e-08 -11.4 2.69e-03 -5.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.0368914085135406e-10 1.0368914085135406e-02 Dual infeasibility......: 2.8105258913343963e-08 2.8105258913343962e+00 Constraint violation....: 1.6653345369377348e-16 1.6653345369377348e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 4.1784207420976462e-12 4.1784207420976461e-04 Overall NLP error.......: 9.9999995821931076e-05 9.9999995821931079e+03 Number of objective function evaluations = 101 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 101 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 1 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 2.626 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 0 integrators, 0 nonlinear constraints dynamics constraints: 0, nonlinear constraints: 0 jacobian structure: 0 nonzeros (0.0s) computing objective hessian structure (CompositeObjective)... sub-objective 1 (QuadraticRegularizer): 0.083s sub-objective 2 (QuadraticRegularizer): 0.0s objective hessian structure: 0.169s hessian structure: 40 nonzeros (0.169s) linear index maps built (0.0s) evaluator ready (total: 0.169s) evaluator created (0.169s) 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: initial value of t applying constraint: bounds on u applying constraint: bounds on t applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) linear constraints added: 6 (2.738s) optimizer initialization complete (total: 3.016s) 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 1.1141911e+00 4.53e-01 9.24e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 6.1873082e-01 1.49e-09 1.41e-01 -1.0 4.47e-01 -2.0 9.30e-01 1.00e+00h 1 2 1.6915793e-01 7.21e-10 1.79e-01 -2.1 8.65e-01 -1.6 7.34e-01 1.00e+00f 1 3 8.7682435e-02 2.03e-10 2.75e-02 -2.1 2.88e-01 -1.1 9.55e-01 1.00e+00f 1 4 3.0852499e-02 2.28e-11 2.16e-02 -2.6 5.18e-01 -1.6 9.94e-01 1.00e+00f 1 5 7.2133860e-03 1.46e-11 1.34e-02 -3.7 6.19e-01 -2.1 1.00e+00 1.00e+00f 1 6 1.4997537e-03 6.16e-12 4.91e-03 -4.0 4.45e-01 -2.6 1.00e+00 1.00e+00f 1 7 5.3286593e-04 1.70e-12 1.35e-03 -4.0 2.00e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.5405039e-04 2.64e-13 2.51e-04 -4.0 9.60e-02 -3.5 1.00e+00 1.00e+00f 1 9 4.5235383e-04 2.32e-14 1.08e-04 -4.0 1.83e-02 -4.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 4.5466242e-04 7.49e-15 1.20e-04 -4.0 1.94e-02 -4.5 1.00e+00 1.00e+00f 1 11 3.0226465e-04 9.33e-15 4.39e-04 -4.1 8.05e-02 -5.0 1.00e+00 1.00e+00f 1 12 4.6054745e-04 5.22e-15 3.82e-04 -4.0 2.06e-01 -5.4 1.00e+00 5.00e-01f 2 13 2.7245031e-04 3.11e-15 5.74e-04 -4.1 1.09e-01 -5.9 1.00e+00 1.00e+00f 1 14 4.6501177e-04 2.22e-15 4.86e-04 -4.0 2.60e-01 -6.4 1.00e+00 5.00e-01f 2 15 2.6277217e-04 1.78e-15 6.34e-04 -4.1 1.22e-01 -6.9 1.00e+00 1.00e+00f 1 16 4.6572197e-04 1.55e-15 5.24e-04 -4.0 2.81e-01 -7.4 1.00e+00 5.00e-01f 2 17 2.5968505e-04 1.33e-15 6.61e-04 -4.1 1.28e-01 -7.8 1.00e+00 1.00e+00f 1 18 4.6558150e-04 1.33e-15 5.40e-04 -4.0 2.90e-01 -8.3 1.00e+00 5.00e-01f 2 19 2.5869891e-04 1.12e-15 6.79e-04 -4.1 1.31e-01 -8.8 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 4.6513164e-04 1.11e-15 5.47e-04 -4.0 2.95e-01 -9.3 1.00e+00 5.00e-01f 2 21 2.5839318e-04 9.99e-16 6.92e-04 -4.1 1.34e-01 -9.7 1.00e+00 1.00e+00f 1 22 4.6460438e-04 9.99e-16 5.52e-04 -4.0 2.99e-01 -10.2 1.00e+00 5.00e-01f 2 23 2.5830320e-04 9.58e-16 7.04e-04 -4.1 1.36e-01 -10.7 1.00e+00 1.00e+00f 1 24 4.6406736e-04 8.88e-16 5.56e-04 -4.0 3.02e-01 -11.2 1.00e+00 5.00e-01f 2 25 2.5828051e-04 8.60e-16 7.15e-04 -4.1 1.38e-01 -11.6 1.00e+00 1.00e+00f 1 26 4.6354325e-04 7.77e-16 5.59e-04 -4.0 3.05e-01 -12.1 1.00e+00 5.00e-01f 2 27 2.5827781e-04 8.33e-16 7.25e-04 -4.1 1.40e-01 -12.6 1.00e+00 1.00e+00f 1 28 3.0997671e-05 8.94e-15 9.06e-04 -6.2 3.85e-01 -13.1 9.67e-01 1.00e+00f 1 29 1.7330412e-03 2.44e-15 7.76e-03 -4.0 2.02e+00 -13.6 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.4684566e-05 2.31e-14 2.92e-03 -4.1 1.03e+00 -14.0 1.00e+00 1.00e+00f 1 31 1.5722488e-03 2.98e-14 8.08e-03 -4.0 9.95e-01 -14.5 1.00e+00 1.00e+00f 1 32 1.0326167e-05 1.78e-14 2.32e-03 -4.2 1.10e+00 -15.0 1.00e+00 1.00e+00f 1 33 4.6352957e-04 1.55e-15 2.78e-03 -4.0 1.39e+00 -15.5 1.00e+00 5.00e-01f 2 34 2.2028199e-04 3.00e-15 2.43e-04 -4.2 3.75e-01 -15.9 1.00e+00 5.00e-01f 2 35 2.0283104e-05 4.39e-15 8.19e-04 -6.4 4.17e-01 -16.4 9.63e-01 1.00e+00f 1 36 8.1616554e-06 3.22e-15 1.01e-04 -6.4 1.06e-01 -16.9 1.00e+00 1.00e+00f 1 37 1.4611762e-03 1.33e-15 5.16e-03 -4.0 9.75e+00 -17.4 1.00e+00 1.23e-01f 4 38 1.0486203e-04 5.17e-14 3.43e-03 -4.0 7.72e-01 -17.8 1.00e+00 1.00e+00f 1 39 7.4068208e-04 3.33e-14 3.49e-03 -4.0 5.27e-01 -18.3 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 3.8010776e-04 6.11e-15 4.43e-04 -4.0 4.20e-01 -18.8 1.00e+00 5.00e-01f 2 41 3.5460436e-05 5.55e-15 1.35e-03 -6.0 5.11e-01 -19.3 9.54e-01 1.00e+00f 1 42 1.4604518e-05 5.16e-15 1.62e-04 -6.0 1.27e-01 -19.8 1.00e+00 1.00e+00f 1 43 3.9941354e-06 8.88e-16 1.03e-04 -6.0 1.46e-01 -20.0 1.00e+00 1.00e+00f 1 44 9.9947246e-04 6.66e-16 2.84e-03 -4.0 1.59e+01 -20.0 1.00e+00 7.55e-02f 4 45 1.7214790e-04 4.61e-14 2.77e-03 -4.0 5.56e-01 -20.0 1.00e+00 1.00e+00f 1 46 6.5732763e-04 2.07e-14 2.66e-03 -4.0 4.02e-01 -20.0 1.00e+00 1.00e+00f 1 47 3.8992067e-04 3.55e-15 4.15e-04 -4.0 3.49e-01 -20.0 1.00e+00 5.00e-01f 2 48 3.5207353e-05 5.77e-15 1.47e-03 -6.1 5.54e-01 -20.0 9.49e-01 1.00e+00f 1 49 1.4667253e-05 4.77e-15 1.71e-04 -6.1 1.34e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 3.8880987e-06 7.77e-16 1.11e-04 -6.1 1.59e-01 -20.0 1.00e+00 1.00e+00f 1 51 8.1403549e-04 4.72e-16 1.90e-03 -4.0 1.71e+01 -20.0 1.00e+00 7.00e-02f 4 52 2.0702934e-04 3.99e-14 2.38e-03 -4.0 4.61e-01 -20.0 1.00e+00 1.00e+00f 1 53 5.9545280e-04 1.42e-14 2.19e-03 -4.0 3.37e-01 -20.0 1.00e+00 1.00e+00f 1 54 3.8610663e-04 2.44e-15 3.90e-04 -4.0 3.06e-01 -20.0 1.00e+00 5.00e-01f 2 55 3.4205557e-05 5.55e-15 1.55e-03 -6.1 5.89e-01 -20.0 9.45e-01 1.00e+00f 1 56 1.4365219e-05 4.22e-15 1.77e-04 -6.1 1.40e-01 -20.0 1.00e+00 1.00e+00f 1 57 3.7507942e-06 7.22e-16 1.17e-04 -6.1 1.70e-01 -20.0 1.00e+00 1.00e+00f 1 58 6.7726056e-04 6.31e-16 1.04e-03 -4.0 1.85e+01 -20.0 1.00e+00 6.46e-02f 4 59 2.4187721e-04 3.51e-14 1.96e-03 -4.1 3.68e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 5.3762070e-04 9.99e-15 1.69e-03 -4.1 2.66e-01 -20.0 1.00e+00 1.00e+00f 1 61 3.8248989e-04 1.55e-15 3.48e-04 -4.1 2.54e-01 -20.0 1.00e+00 5.00e-01f 2 62 3.3140093e-05 5.33e-15 1.63e-03 -6.1 6.22e-01 -20.0 9.41e-01 1.00e+00f 1 63 1.4062320e-05 4.00e-15 1.80e-04 -6.1 1.45e-01 -20.0 1.00e+00 1.00e+00f 1 64 3.6348451e-06 5.80e-16 1.22e-04 -6.1 1.79e-01 -20.0 1.00e+00 1.00e+00f 1 65 5.7691597e-04 4.44e-16 3.06e-04 -4.0 1.98e+01 -20.0 1.00e+00 6.01e-02f 4 66 2.7288764e-04 3.15e-14 1.55e-03 -4.1 2.84e-01 -20.0 1.00e+00 1.00e+00f 1 67 4.8781186e-04 6.44e-15 1.23e-03 -4.1 1.98e-01 -20.0 1.00e+00 1.00e+00f 1 68 3.7810801e-04 1.11e-15 2.99e-04 -4.1 2.02e-01 -20.0 1.00e+00 5.00e-01f 2 69 3.2049930e-05 5.11e-15 1.69e-03 -6.1 6.52e-01 -20.0 9.37e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 1.3744242e-05 3.66e-15 1.82e-04 -6.1 1.48e-01 -20.0 1.00e+00 1.00e+00f 1 71 3.5305115e-06 5.55e-16 1.25e-04 -6.1 1.87e-01 -20.0 1.00e+00 1.00e+00f 1 72 5.0203984e-04 2.57e-16 3.31e-04 -4.0 2.11e+01 -20.0 1.00e+00 5.64e-02f 4 73 2.9959771e-04 2.86e-14 1.16e-03 -4.1 2.09e-01 -20.0 1.00e+00 1.00e+00f 1 74 4.4655876e-04 4.00e-15 8.18e-04 -4.1 1.35e-01 -20.0 1.00e+00 1.00e+00f 1 75 2.3582375e-05 4.33e-15 1.90e-03 -6.1 8.03e-01 -20.0 9.20e-01 1.00e+00f 1 76 1.2225813e-05 3.66e-15 1.28e-04 -6.1 1.13e-01 -20.0 1.00e+00 1.00e+00f 1 77 3.0530852e-06 3.89e-16 1.21e-04 -6.1 1.94e-01 -20.0 1.00e+00 1.00e+00f 1 78 4.2280947e-04 2.91e-16 1.23e-03 -4.0 2.44e+01 -20.0 1.00e+00 4.88e-02f 4 79 3.3634299e-04 2.60e-14 6.11e-04 -4.1 1.08e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 3.2311041e-05 5.22e-15 1.72e-03 -6.1 6.68e-01 -20.0 9.35e-01 1.00e+00f 1 81 1.3197616e-05 3.00e-15 2.09e-04 -6.1 1.72e-01 -20.0 1.00e+00 1.00e+00f 1 82 3.4865697e-06 5.00e-16 1.33e-04 -6.1 2.00e-01 -20.0 1.00e+00 1.00e+00f 1 83 3.6629173e-06 2.22e-16 6.75e-06 -6.1 1.20e-02 -20.0 1.00e+00 1.00e+00h 1 84 2.3071769e-07 5.55e-17 5.73e-05 -9.0 2.62e-01 -20.0 9.74e-01 1.00e+00f 1 85 2.1104746e-03 3.92e-16 1.07e-02 -4.0 1.11e+02 -20.0 1.00e+00 2.20e-02f 3 86 9.2436083e-05 4.40e-14 6.77e-03 -4.0 1.47e+00 -20.0 1.00e+00 1.00e+00f 1 87 7.4832032e-04 2.51e-14 5.24e-03 -4.0 7.95e-01 -20.0 1.00e+00 1.00e+00f 1 88 4.2216008e-04 4.88e-15 8.07e-04 -4.0 5.64e-01 -20.0 1.00e+00 5.00e-01f 2 89 4.2014246e-05 4.00e-15 2.16e-03 -5.9 7.32e-01 -20.0 9.28e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 1.7242051e-05 3.66e-15 2.67e-04 -5.9 1.93e-01 -20.0 1.00e+00 1.00e+00f 1 91 4.8488383e-06 6.66e-16 1.68e-04 -5.9 2.17e-01 -20.0 1.00e+00 1.00e+00f 1 92 5.4062171e-06 2.97e-16 1.51e-05 -5.9 2.21e-02 -20.0 1.00e+00 1.00e+00h 1 93 5.0636542e-06 4.25e-17 1.45e-06 -5.9 2.15e-03 -20.0 1.00e+00 1.00e+00h 1 94 3.5989762e-07 5.55e-17 7.87e-05 -8.9 2.93e-01 -20.0 9.71e-01 1.00e+00f 1 95 1.4544899e-07 4.55e-17 8.17e-06 -8.9 6.41e-02 -20.0 1.00e+00 1.00e+00f 1 96 1.3865001e-03 5.62e-16 3.47e-03 -4.0 3.43e+02 -20.0 1.00e+00 7.10e-03f 3 97 5.1579858e-04 5.88e-14 4.92e-03 -3.8 6.29e-01 -20.0 1.00e+00 1.00e+00f 1 98 8.4257971e-04 1.51e-14 1.60e-03 -3.8 1.92e-01 -20.0 1.00e+00 1.00e+00f 1 99 4.8368721e-05 7.55e-15 3.76e-03 -5.7 1.10e+00 -20.0 8.86e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.5718498e-05 6.00e-15 2.59e-04 -5.7 1.59e-01 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.5718497606660592e-05 2.5718497606660592e-05 Dual infeasibility......: 2.5891047467756256e-04 2.5891047467756256e-04 Constraint violation....: 5.9952043329758453e-15 5.9952043329758453e-15 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 7.7119383887074196e-06 7.7119383887074196e-06 Overall NLP error.......: 2.5891047467756256e-04 2.5891047467756256e-04 Number of objective function evaluations = 172 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 172 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 1 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 3.080 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.06s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.111s) evaluator created (0.111s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (1.802s) optimizer initialization complete (total: 1.914s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 82 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.8629278e+00 2.25e+00 1.28e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9153409e+00 1.87e-02 7.07e-01 -1.1 1.95e+00 -2.0 9.92e-01 1.00e+00h 1 2 2.2658986e+00 3.78e-02 6.96e-02 -1.7 3.86e-01 -1.6 9.70e-01 1.00e+00f 1 3 2.1458808e+00 4.23e-03 5.97e-01 -2.6 1.75e-01 -1.1 9.93e-01 9.84e-01h 1 4 2.0987665e+00 2.94e-03 8.71e-01 -4.0 4.55e-01 -1.6 1.00e+00 8.90e-01h 1 5 2.0912594e+00 6.27e-04 3.22e-01 -4.0 3.25e-01 -2.1 1.00e+00 9.51e-01h 1 6 2.0908004e+00 1.19e-04 1.71e-01 -4.0 3.66e-01 -2.6 1.00e+00 8.84e-01h 1 7 2.0910330e+00 2.32e-06 4.62e-03 -4.0 3.40e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0910183e+00 1.76e-07 2.07e-05 -4.0 7.06e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909975e+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 2.0909353e+00 1.48e-07 2.06e-05 -4.0 6.32e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907519e+00 1.30e-06 4.98e-05 -4.0 1.88e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0902295e+00 1.10e-05 4.22e-04 -4.0 5.46e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888790e+00 8.24e-05 3.17e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861768e+00 4.42e-04 1.75e-02 -4.0 3.47e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830912e+00 9.20e-04 4.73e-02 -4.0 5.33e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828545e+00 9.29e-04 2.32e-02 -4.0 5.38e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823454e+00 3.95e-04 1.00e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820404e+00 9.09e-05 1.85e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.69e-04 8.69e-03 -4.0 9.93e+01 -8.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0819393e+00 3.70e-05 8.49e-04 -4.0 3.11e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.35e-07 1.39e-05 -4.0 4.47e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.87e-10 3.29e-08 -4.0 2.46e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.53e-13 1.23e-11 -4.0 4.61e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907191044e+00 2.0819382907191044e+00 Dual infeasibility......: 1.2258725176454710e-11 1.2258725176454710e-11 Constraint violation....: 2.5313084961453569e-13 2.5313084961453569e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000051e-04 1.0000000000000051e-04 Overall NLP error.......: 1.2258725176454710e-11 1.2258725176454710e-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 = 25.128 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: 0.053s 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: 0.12s) 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: 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 (0.064s) optimizer initialization complete (total: 0.185s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1528 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 77 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.1010294e+00 3.77e+00 1.74e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8857567e+00 2.82e-02 4.94e-01 -1.1 2.62e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.2710507e+00 2.51e-02 6.22e-02 -1.7 3.32e-01 -1.6 9.56e-01 1.00e+00h 1 3 2.1528200e+00 4.34e-03 1.92e-01 -2.8 6.37e-02 -1.1 1.00e+00 8.50e-01h 1 4 2.1039399e+00 1.87e-03 8.13e-01 -4.0 2.16e-01 -1.6 1.00e+00 8.92e-01h 1 5 2.0938940e+00 9.93e-04 2.78e-01 -4.0 4.17e-01 -2.1 1.00e+00 4.45e-01h 1 6 2.0917452e+00 3.09e-04 7.70e-01 -4.0 8.45e-01 -2.6 1.00e+00 3.62e-01h 1 7 2.0907930e+00 1.31e-04 2.71e-01 -4.0 1.00e+00 -3.1 1.00e+00 1.00e+00h 1 8 2.0908851e+00 2.08e-06 5.15e-03 -4.0 5.68e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908813e+00 6.32e-07 1.92e-05 -4.0 1.66e-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 2.0908436e+00 6.78e-08 5.89e-05 -4.0 4.73e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907393e+00 5.85e-07 2.00e-04 -4.0 1.33e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0903351e+00 5.65e-06 1.34e-03 -4.0 4.33e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0899914e+00 7.04e-05 1.96e-02 -4.0 1.43e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0889463e+00 2.28e-05 1.35e-02 -4.0 1.80e+00 -4.6 1.00e+00 7.76e-01h 1 15 2.0889229e+00 7.19e-06 3.83e-03 -4.0 1.96e+00 -5.1 1.00e+00 1.00e+00h 1 16 2.0883008e+00 1.26e-05 2.76e-03 -4.0 5.91e+00 -5.5 1.00e+00 1.00e+00h 1 17 2.0871134e+00 8.63e-05 3.92e-03 -4.0 1.55e+01 -6.0 1.00e+00 1.00e+00h 1 18 2.0851269e+00 2.81e-04 2.86e-02 -4.0 3.50e+01 -6.5 1.00e+00 7.79e-01h 1 19 2.0829100e+00 5.36e-04 4.09e-02 -4.0 4.76e+01 -7.0 1.00e+00 9.00e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0831775e+00 1.97e-03 5.00e-02 -4.0 7.92e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0822219e+00 4.52e-04 5.02e-02 -4.0 2.35e+02 -7.9 4.08e-01 1.00e+00h 1 22 2.0821935e+00 2.54e-04 4.79e-03 -4.0 4.80e+00 -5.7 1.00e+00 1.00e+00h 1 23 2.0828674e+00 1.26e-03 4.42e-03 -3.7 1.40e+01 -6.2 9.66e-01 1.00e+00h 1 24 2.0834130e+00 4.49e-04 9.70e-01 -3.8 4.31e+00 -4.8 1.00e+00 5.04e-01h 1 25 2.0823925e+00 5.14e-05 5.31e-03 -3.8 6.58e-01 -5.3 1.00e+00 1.00e+00f 1 26 2.0821488e+00 7.88e-05 6.96e-04 -4.0 1.44e+00 -5.8 1.00e+00 1.00e+00h 1 27 2.0821032e+00 2.29e-05 3.38e-04 -4.0 2.65e+00 -6.3 1.00e+00 1.00e+00h 1 28 2.0820597e+00 2.01e-05 3.79e-04 -4.0 5.32e+00 -6.8 1.00e+00 1.00e+00h 1 29 2.0820144e+00 1.47e-05 5.06e-04 -4.0 1.24e+01 -7.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0819435e+00 3.25e-05 1.43e-03 -4.0 2.77e+01 -7.7 1.00e+00 1.00e+00h 1 31 2.0818743e+00 8.66e-05 2.93e-03 -4.0 4.80e+01 -8.2 1.00e+00 1.00e+00h 1 32 2.0818441e+00 7.52e-05 1.83e-03 -4.0 4.78e+01 -8.7 1.00e+00 1.00e+00h 1 33 2.0818388e+00 1.27e-05 2.69e-04 -4.0 2.18e+01 -9.1 1.00e+00 1.00e+00h 1 34 2.0818383e+00 3.06e-07 9.43e-06 -4.0 3.94e+00 -9.6 1.00e+00 1.00e+00h 1 35 2.0818383e+00 9.95e-10 4.34e-08 -4.0 2.61e-01 -10.1 1.00e+00 1.00e+00h 1 36 2.0818383e+00 4.37e-13 2.44e-11 -4.0 6.09e-03 -10.6 1.00e+00 1.00e+00h 1 Number of Iterations....: 36 (scaled) (unscaled) Objective...............: 2.0818383021797064e+00 2.0818383021797064e+00 Dual infeasibility......: 2.4404749000752485e-11 2.4404749000752485e-11 Constraint violation....: 4.3698378249246161e-13 4.3698378249246161e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000071e-04 1.0000000000000071e-04 Overall NLP error.......: 2.4404749000752485e-11 2.4404749000752485e-11 Number of objective function evaluations = 37 Number of objective gradient evaluations = 37 Number of equality constraint evaluations = 37 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 37 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 36 Total seconds in IPOPT = 27.367 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.053s jacobian structure: 180 nonzeros (0.092s) integrator 1 hessian structure: 0.048s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.357s sub-objective 2 (QuadraticRegularizer): 0.096s sub-objective 3 (MinimumTimeObjective): 0.017s objective hessian structure: 0.566s hessian structure: 375 nonzeros (0.615s) linear index maps built (0.0s) evaluator ready (total: 0.86s) evaluator created (0.86s) NL constraint bounds extracted (0.011s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.127s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.77s) optimizer initialization complete (total: 4.769s) 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 1.8399138e+00 1.07e+00 1.11e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5386371e+00 6.94e-02 8.79e-01 -1.5 1.02e+00 -2.0 9.29e-01 1.00e+00h 1 2 1.3020285e+00 4.44e-02 5.08e-01 -1.5 2.81e+00 -2.5 9.19e-01 3.60e-01h 1 3 1.1038270e+00 4.06e-02 3.97e-01 -2.4 3.84e+00 - 9.95e-01 9.27e-01h 1 4 1.1149774e+00 6.97e-03 4.36e-01 -3.1 4.46e+00 - 1.00e+00 9.52e-01h 1 5 1.0968109e+00 1.39e-03 4.78e-02 -3.4 1.33e+00 - 1.00e+00 7.83e-01h 1 6 1.0908260e+00 2.29e-05 1.05e-02 -4.0 7.75e-01 - 1.00e+00 1.00e+00h 1 7 1.0908999e+00 5.50e-09 5.46e-05 -4.0 5.57e-02 - 1.00e+00 1.00e+00h 1 8 1.0908997e+00 8.57e-16 2.03e-05 -4.0 1.40e-04 - 1.00e+00 1.00e+00h 1 9 1.0908997e+00 5.11e-27 2.02e-05 -4.0 2.19e-09 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0907198e+00 2.62e-27 2.30e-09 -4.1 2.00e-05 - 1.00e+00 1.00e+00f 1 11 1.0908997e+00 3.67e-27 2.50e-09 -4.0 2.00e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 11 (scaled) (unscaled) Objective...............: 1.0908997336734827e+00 1.0908997336734827e+00 Dual infeasibility......: 2.5019907715193197e-09 2.5019907715193197e-09 Constraint violation....: 3.6690852925633809e-27 3.6690852925633809e-27 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000081632638662e-04 1.0000081632638662e-04 Overall NLP error.......: 2.5019907715193197e-09 2.5019907715193197e-09 Number of objective function evaluations = 12 Number of objective gradient evaluations = 12 Number of equality constraint evaluations = 12 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 12 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 11 Total seconds in IPOPT = 22.498 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 (NonlinearKnotPointConstraint) jacobian structure: 2.396s jacobian structure: 1600 nonzeros (2.458s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.847s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (3.899s) linear index maps built (0.0s) evaluator ready (total: 6.358s) evaluator created (6.382s) NL constraint bounds extracted (0.111s) NLP block data built (0.0s) MadNLP optimizer configured (0.18s) variables set (0.648s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (3.114s) optimizer initialization complete (total: 10.535s) This is MadNLP version v0.9.1, running with Lapack-CPU (BUNCHKAUFMAN) Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 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 inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 4.6086337e+00 2.94e+00 6.40e-01 9.61e-01 -1.0 - 0.00e+00 1 0 1 2.7711366e+00 5.74e-02 2.36e+00 2.89e-01 -1.0 0.0 1.00e+00 1 1h 2 2.5898598e+00 3.51e-02 5.67e-01 1.27e-01 -1.0 0.4 1.00e+00 1 1h 3 2.4110586e+00 1.95e-03 1.49e-01 3.59e-02 -1.7 -0.1 1.00e+00 1 1h 4 2.1942289e+00 2.49e-02 6.08e-02 1.51e-02 -2.5 -0.5 6.49e-01 1 1h 5 2.1158841e+00 1.07e-03 1.54e-02 4.75e-03 -2.5 -1.0 1.00e+00 1 1h 6 2.0914344e+00 7.11e-05 3.26e-03 2.19e-04 -3.8 -1.5 9.97e-01 1 1h 7 2.0913923e+00 1.98e-06 5.14e-05 1.50e-04 -3.8 -2.0 1.00e+00 1 1h 8 2.0900541e+00 1.05e-06 4.35e-05 1.37e-05 -5.7 -2.4 1.00e+00 1 1h 9 2.0900465e+00 2.55e-07 6.69e-05 3.87e-06 -5.7 -2.9 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0900371e+00 2.14e-06 1.04e-04 2.07e-06 -5.7 -3.4 1.00e+00 1 1h 11 2.0900207e+00 2.29e-05 2.07e-05 1.85e-06 -5.7 -3.9 1.00e+00 1 1h 12 2.0899735e+00 4.53e-04 2.15e-04 1.84e-06 -5.7 -4.3 1.00e+00 1 1h 13 2.0898878e+00 1.54e-04 6.96e-04 2.24e-06 -5.7 -4.8 1.00e+00 1 1h 14 2.0898667e+00 4.29e-08 5.44e-04 1.84e-06 -5.7 -3.5 1.00e+00 1 1h 15 2.0898472e+00 2.65e-07 4.26e-05 1.90e-06 -5.7 -4.0 1.00e+00 1 1h 16 2.0897955e+00 1.41e-06 2.08e-05 2.21e-06 -5.7 -4.4 1.00e+00 1 1h 17 2.0896916e+00 2.59e-06 2.23e-03 1.85e-06 -5.7 -4.9 6.32e-01 1 1h 18 2.0892393e+00 8.76e-06 6.51e-04 3.73e-06 -5.7 -5.4 1.00e+00 1 1h 19 2.0889974e+00 7.59e-06 4.47e-02 2.05e-06 -5.7 -5.9 1.67e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0860589e+00 1.00e-05 1.57e-02 5.59e-06 -5.7 -6.4 1.00e+00 1 1h 21 2.0854267e+00 8.79e-06 1.63e-01 3.00e-06 -5.7 -6.8 1.27e-01 1 1h 22 2.0817178e+00 3.74e-05 1.41e-01 2.05e-06 -5.7 -7.3 6.23e-01 1 1h 23 2.0816147e+00 1.71e-04 1.34e-01 6.15e-04 -5.7 -7.8 1.00e+00 1 1h 24 2.0810977e+00 7.64e-05 3.66e-02 3.20e-04 -5.7 -8.3 4.48e-01 1 1h 25 2.0806938e+00 1.27e-05 5.31e-02 1.56e-04 -5.7 -8.7 8.10e-01 1 1h 26 2.0807769e+00 6.09e-06 9.19e-02 1.24e-04 -5.7 -6.5 1.00e+00 1 1h 27 2.0807284e+00 4.70e-06 8.06e-02 9.09e-05 -5.7 -7.0 2.27e-01 1 1h 28 2.0806529e+00 1.90e-06 3.62e-02 3.89e-05 -5.7 -7.5 5.39e-01 1 1h 29 2.0806666e+00 2.99e-07 6.70e-03 3.18e-05 -5.7 -7.0 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0806034e+00 4.21e-07 1.34e-03 4.70e-06 -5.7 -7.5 1.00e+00 1 1h 31 2.0805739e+00 3.07e-07 2.63e-03 3.11e-06 -5.7 -8.0 5.38e-01 1 1h 32 2.0805829e+00 1.45e-06 1.61e-02 1.41e-05 -5.7 -6.7 1.00e+00 1 1h 33 2.0805731e+00 5.51e-07 4.42e-03 3.99e-06 -5.7 -7.1 9.45e-01 1 1h 34 2.0808101e+00 3.91e-07 1.09e-02 3.70e-06 -5.7 -7.6 1.76e-01 1 1h 35 2.0806008e+00 4.50e-07 1.05e-02 2.13e-06 -5.7 -8.1 1.00e+00 1 1h 36 2.0805850e+00 3.16e-07 3.28e-01 1.90e-06 -5.7 -5.0 1.47e-02 1 2h 37 2.0805681e+00 1.97e-07 5.84e-02 2.04e-06 -5.7 -4.5 7.78e-01 1 1h 38 2.0805682e+00 1.38e-07 9.06e-06 2.50e-06 -5.7 -5.0 1.00e+00 1 1h 39 2.0805490e+00 3.51e-07 4.14e-03 7.31e-07 -8.6 -5.5 8.18e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805453e+00 1.55e-07 1.76e-03 2.30e-07 -8.6 -6.0 8.00e-01 1 1h 41 2.0805426e+00 9.01e-08 2.33e-05 5.86e-08 -8.6 -6.4 1.00e+00 1 1h 42 2.0805417e+00 6.96e-08 1.08e-03 2.55e-09 -8.6 -6.9 2.27e-01 1 1h 43 2.0805416e+00 5.54e-08 5.21e-03 2.82e-09 -8.6 -6.5 2.04e-01 1 1h 44 2.0805409e+00 1.96e-10 2.54e-05 3.98e-09 -8.6 -7.0 1.00e+00 1 1h 45 2.0805397e+00 1.76e-10 8.60e-04 2.63e-09 -8.6 -7.4 1.00e+00 1 1h 46 2.0805396e+00 1.23e-10 1.81e-03 2.57e-09 -8.6 -6.1 2.97e-01 1 1h 47 2.0805395e+00 2.47e-12 2.25e-06 2.31e-08 -8.6 -6.6 1.00e+00 1 1h 48 2.0805393e+00 3.53e-12 6.59e-04 2.51e-09 -8.6 -7.1 5.74e-01 1 1h 49 2.0805386e+00 1.89e-11 1.65e-05 4.19e-09 -8.6 -7.5 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805375e+00 4.02e-11 4.07e-05 2.51e-09 -8.6 -8.0 1.00e+00 1 1h 51 2.0805367e+00 7.11e-11 5.03e-05 2.51e-09 -8.6 -8.5 1.00e+00 1 1h 52 2.0805365e+00 4.72e-11 1.84e-03 2.52e-09 -8.6 -9.0 1.00e+00 1 1h 53 2.0805366e+00 1.53e-11 6.12e-03 1.54e-07 -8.6 -6.7 5.00e-01 1 2h 54 2.0805365e+00 4.88e-14 1.84e-05 3.92e-08 -8.6 -5.4 1.00e+00 1 1h 55 2.0805365e+00 7.99e-15 4.13e-06 1.06e-08 -8.6 -5.9 1.00e+00 1 1h 56 2.0805365e+00 1.71e-13 4.60e-07 4.01e-09 -8.6 -6.4 1.00e+00 1 1h 57 2.0805365e+00 6.81e-13 8.22e-07 2.51e-09 -8.6 -6.9 1.00e+00 1 1h 58 2.0805365e+00 7.59e-13 9.40e-06 2.66e-09 -8.6 -6.4 1.00e+00 1 1h 59 2.0805365e+00 4.87e-13 2.29e-06 2.51e-09 -8.6 -6.0 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 60 2.0805365e+00 5.60e-14 4.35e-07 2.51e-09 -8.6 -6.5 1.00e+00 1 1h 61 2.0805365e+00 1.24e-14 3.49e-07 2.51e-09 -8.6 -7.0 1.00e+00 1 1h 62 2.0805365e+00 2.13e-14 1.22e-07 2.51e-09 -8.6 -7.4 1.00e+00 1 1h 63 2.0805365e+00 7.99e-14 7.61e-08 2.51e-09 -8.6 -7.9 1.00e+00 1 1h 64 2.0805365e+00 1.84e-13 2.02e-07 2.51e-09 -8.6 -8.4 1.00e+00 1 1h 65 2.0805365e+00 1.14e-13 1.57e-07 2.51e-09 -8.6 -8.9 1.00e+00 1 1h 66 2.0805365e+00 1.24e-14 2.22e-08 2.51e-09 -8.6 -9.3 1.00e+00 1 1h 67 2.0805365e+00 5.07e-11 4.23e-10 9.09e-10 -9.0 -9.8 1.00e+00 1 1h Number of Iterations....: 67 (scaled) (unscaled) Objective...............: 2.0805364595436480e+00 2.0805364595436480e+00 Dual infeasibility......: 4.2270403843858162e-10 4.2270403843858162e-10 Constraint violation....: 5.0658810479831118e-11 5.0658810479831118e-11 Complementarity.........: 9.0913596020972350e-10 9.0913596020972350e-10 Overall NLP error.......: 9.0913596020972350e-10 9.0913596020972350e-10 Number of objective function evaluations = 71 Number of objective gradient evaluations = 68 Number of constraint evaluations = 71 Number of constraint Jacobian evaluations = 68 Number of Lagrangian Hessian evaluations = 67 Number of KKT factorizations = 161 Number of KKT backsolves = 69 Total wall secs in initialization = 23.013 s Total wall secs in linear solver = 0.149 s Total wall secs in NLP function evaluations = 21.475 s Total wall secs in solver (w/o init./fun./lin. alg.) = 57.361 s Total wall secs = 101.998 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/LpRux/src/solvers/evaluator.jl:420 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.062s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.629s jacobian structure: 1600 nonzeros (2.692s) integrator 1 hessian structure: 0.054s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.013s 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 (4.069s) linear index maps built (0.0s) evaluator ready (total: 6.761s) evaluator created (6.787s) 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: 6.804s) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.7742256e+00 3.60e+00 2.29e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.2432634e+00 3.99e-01 1.62e+00 -1.2 3.25e+00 -2.0 6.61e-01 8.76e-01h 1 Hello, world! 2 2.3356286e+00 2.00e-01 1.10e+00 -0.9 4.01e+00 -2.5 6.12e-01 4.81e-01f 1 Hello, world! 3 2.3427394e+00 1.56e-01 3.54e-01 -1.6 3.14e+00 -3.0 9.70e-01 9.99e-01h 1 Hello, world! 4 2.1915514e+00 1.51e-01 2.06e-01 -2.1 4.15e+00 -3.4 9.97e-01 6.80e-01h 1 Hello, world! 5 2.1129464e+00 1.64e-02 1.33e-01 -2.7 1.14e+00 -3.9 9.87e-01 1.00e+00h 1 Hello, world! 6 2.0941217e+00 2.21e-03 6.25e-03 -3.5 4.99e-01 -4.4 1.00e+00 9.01e-01h 1 Hello, world! 7 2.0908403e+00 3.55e-04 1.18e-03 -4.0 1.40e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0905257e+00 3.90e-06 2.57e-03 -4.0 3.27e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0900561e+00 3.73e-05 8.21e-03 -4.0 1.07e+01 -5.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0894911e+00 6.34e-06 5.01e-03 -4.0 1.06e+00 -4.5 1.00e+00 9.02e-01h 1 Hello, world! 11 2.0894625e+00 2.31e-06 2.30e-03 -4.0 1.62e+00 -5.0 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0889373e+00 8.64e-06 2.23e-03 -4.0 4.89e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0879208e+00 5.95e-05 3.09e-03 -4.0 1.30e+01 -5.9 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0864300e+00 1.47e-04 4.55e-02 -4.0 3.24e+01 -6.4 1.00e+00 5.56e-01h 1 Hello, world! 15 2.0834058e+00 1.03e-03 4.91e-02 -4.0 5.46e+01 -6.9 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0825476e+00 4.00e-04 1.49e-02 -4.0 6.79e+01 -7.4 1.00e+00 7.89e-01h 1 Hello, world! 17 2.0823066e+00 8.60e-04 1.59e-02 -4.0 1.59e+02 -7.8 7.97e-01 1.00e+00h 1 Hello, world! 18 2.0824849e+00 9.81e-04 1.53e-02 -4.0 2.88e+01 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0820761e+00 1.40e-03 1.95e-02 -4.1 2.56e+01 -7.0 9.92e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0824138e+00 5.52e-04 3.98e-02 -4.0 2.90e+00 -4.7 4.51e-01 4.80e-01h 1 Hello, world! 21 2.0822119e+00 3.59e-04 3.68e-03 -4.0 2.02e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0824022e+00 4.50e-04 4.85e-01 -3.7 7.46e+00 -5.7 8.23e-01 3.59e-01h 2 Hello, world! 23 2.0824492e+00 5.67e-06 5.81e-04 -3.9 2.00e+00 -6.2 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0822013e+00 1.32e-04 9.50e-04 -4.0 6.87e+00 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0821224e+00 4.55e-05 1.07e-03 -4.0 1.54e+01 -7.1 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0820144e+00 5.49e-05 2.56e-03 -4.0 3.14e+01 -7.6 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0819058e+00 1.26e-04 4.68e-03 -4.0 4.92e+01 -8.1 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0818550e+00 1.28e-04 3.20e-03 -4.0 5.60e+01 -8.6 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0818445e+00 2.84e-05 5.69e-04 -4.0 3.04e+01 -9.0 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 2.0818435e+00 9.94e-07 2.70e-05 -4.0 6.73e+00 -9.5 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0818434e+00 4.83e-09 1.92e-07 -4.0 5.52e-01 -10.0 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0818434e+00 3.21e-12 1.00e-09 -4.0 1.61e-02 -10.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 32 (scaled) (unscaled) Objective...............: 2.0818434105398000e+00 2.0818434105398000e+00 Dual infeasibility......: 1.0000000070495068e-09 1.0000000070495068e-09 Constraint violation....: 3.2054359166977520e-12 3.2054359166977520e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000048e-04 1.0000000000000048e-04 Overall NLP error.......: 1.0000000070495068e-09 1.0000000070495068e-09 Number of objective function evaluations = 36 Number of objective gradient evaluations = 33 Number of equality constraint evaluations = 36 Number of inequality constraint evaluations = 36 Number of equality constraint Jacobian evaluations = 33 Number of inequality constraint Jacobian evaluations = 33 Number of Lagrangian Hessian evaluations = 32 Total seconds in IPOPT = 27.733 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.002s) linear index maps built (0.0s) evaluator ready (total: 0.004s) evaluator created (0.004s) 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: 0.005s) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.7742256e+00 3.60e+00 2.29e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.2432634e+00 3.99e-01 1.62e+00 -1.2 3.25e+00 -2.0 6.61e-01 8.76e-01h 1 Hello, world! 2 2.3356286e+00 2.00e-01 1.10e+00 -0.9 4.01e+00 -2.5 6.12e-01 4.81e-01f 1 Hello, world! 3 2.3427394e+00 1.56e-01 3.54e-01 -1.6 3.14e+00 -3.0 9.70e-01 9.99e-01h 1 Hello, world! 4 2.1915514e+00 1.51e-01 2.06e-01 -2.1 4.15e+00 -3.4 9.97e-01 6.80e-01h 1 Hello, world! 5 2.1129464e+00 1.64e-02 1.33e-01 -2.7 1.14e+00 -3.9 9.87e-01 1.00e+00h 1 Hello, world! 6 2.0941217e+00 2.21e-03 6.25e-03 -3.5 4.99e-01 -4.4 1.00e+00 9.01e-01h 1 Hello, world! 7 2.0908403e+00 3.55e-04 1.18e-03 -4.0 1.40e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0905257e+00 3.90e-06 2.57e-03 -4.0 3.27e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0900561e+00 3.73e-05 8.21e-03 -4.0 1.07e+01 -5.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0894911e+00 6.34e-06 5.01e-03 -4.0 1.06e+00 -4.5 1.00e+00 9.02e-01h 1 Hello, world! 11 2.0894625e+00 2.31e-06 2.30e-03 -4.0 1.62e+00 -5.0 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0889373e+00 8.64e-06 2.23e-03 -4.0 4.89e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0879208e+00 5.95e-05 3.09e-03 -4.0 1.30e+01 -5.9 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0864300e+00 1.47e-04 4.55e-02 -4.0 3.24e+01 -6.4 1.00e+00 5.56e-01h 1 Hello, world! 15 2.0834058e+00 1.03e-03 4.91e-02 -4.0 5.46e+01 -6.9 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0825476e+00 4.00e-04 1.49e-02 -4.0 6.79e+01 -7.4 1.00e+00 7.89e-01h 1 Hello, world! 17 2.0823066e+00 8.60e-04 1.59e-02 -4.0 1.59e+02 -7.8 7.97e-01 1.00e+00h 1 Hello, world! 18 2.0824849e+00 9.81e-04 1.53e-02 -4.0 2.88e+01 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0820761e+00 1.40e-03 1.95e-02 -4.1 2.56e+01 -7.0 9.92e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0824138e+00 5.52e-04 3.98e-02 -4.0 2.90e+00 -4.7 4.51e-01 4.80e-01h 1 Hello, world! 21 2.0822119e+00 3.59e-04 3.68e-03 -4.0 2.02e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0824022e+00 4.50e-04 4.85e-01 -3.7 7.46e+00 -5.7 8.23e-01 3.59e-01h 2 Hello, world! 23 2.0824492e+00 5.67e-06 5.81e-04 -3.9 2.00e+00 -6.2 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0822013e+00 1.32e-04 9.50e-04 -4.0 6.87e+00 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0821224e+00 4.55e-05 1.07e-03 -4.0 1.54e+01 -7.1 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0820144e+00 5.49e-05 2.56e-03 -4.0 3.14e+01 -7.6 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0819058e+00 1.26e-04 4.68e-03 -4.0 4.92e+01 -8.1 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0818550e+00 1.28e-04 3.20e-03 -4.0 5.60e+01 -8.6 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0818445e+00 2.84e-05 5.69e-04 -4.0 3.04e+01 -9.0 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 2.0818435e+00 9.94e-07 2.70e-05 -4.0 6.73e+00 -9.5 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0818434e+00 4.83e-09 1.92e-07 -4.0 5.52e-01 -10.0 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0818434e+00 3.21e-12 1.00e-09 -4.0 1.61e-02 -10.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 32 (scaled) (unscaled) Objective...............: 2.0818434105398000e+00 2.0818434105398000e+00 Dual infeasibility......: 1.0000000070495068e-09 1.0000000070495068e-09 Constraint violation....: 3.2054359166977520e-12 3.2054359166977520e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000048e-04 1.0000000000000048e-04 Overall NLP error.......: 1.0000000070495068e-09 1.0000000070495068e-09 Number of objective function evaluations = 36 Number of objective gradient evaluations = 33 Number of equality constraint evaluations = 36 Number of inequality constraint evaluations = 36 Number of equality constraint Jacobian evaluations = 33 Number of inequality constraint Jacobian evaluations = 33 Number of Lagrangian Hessian evaluations = 32 Total seconds in IPOPT = 0.694 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.057s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.465s jacobian structure: 1600 nonzeros (2.523s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.036s 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 (4.088s) linear index maps built (0.0s) evaluator ready (total: 6.611s) evaluator created (6.635s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 6.635s) 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 3.6506939e+00 4.06e+00 9.35e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5011509e+00 5.22e-01 2.21e+00 -0.9 2.54e+00 0.0 9.80e-01 8.73e-01h 1 2 2.3607693e+00 9.21e-02 6.65e-01 -1.2 5.76e-01 -0.5 9.95e-01 8.00e-01h 1 3 2.2671014e+00 3.53e-03 2.31e-01 -1.8 1.57e-01 -1.0 9.92e-01 1.00e+00h 1 4 2.1187447e+00 1.13e-03 1.40e-02 -2.8 6.45e-02 -1.4 9.93e-01 9.15e-01h 1 5 2.0911832e+00 9.04e-05 5.02e-03 -4.0 2.95e-02 -1.9 1.00e+00 1.00e+00h 1 6 2.0909707e+00 5.05e-07 6.28e-04 -4.0 6.39e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0909690e+00 3.53e-09 2.16e-05 -4.0 1.57e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909636e+00 1.06e-09 2.12e-05 -4.0 4.64e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909487e+00 8.67e-09 2.03e-05 -4.0 1.33e-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 2.0909135e+00 5.90e-08 1.01e-04 -4.0 3.58e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0908426e+00 2.90e-07 5.62e-04 -4.0 8.87e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0906598e+00 2.37e-06 8.64e-04 -4.0 2.65e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0900611e+00 1.95e-05 1.47e-03 -4.0 7.21e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0885507e+00 1.59e-04 1.49e-02 -4.0 2.27e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0880404e+00 1.53e-05 2.38e-03 -4.0 1.64e+00 -4.9 1.00e+00 9.44e-01h 1 16 2.0878897e+00 2.78e-06 2.11e-03 -4.0 3.50e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0869504e+00 4.01e-05 5.19e-03 -4.0 1.02e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0854262e+00 1.95e-04 1.10e-02 -4.0 2.39e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0838501e+00 2.51e-04 4.64e-02 -4.0 4.16e+01 -6.8 1.00e+00 5.41e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0826433e+00 8.77e-05 1.47e-02 -4.0 5.73e+01 -7.3 1.00e+00 7.06e-01h 1 21 2.0825097e+00 8.65e-04 2.73e-02 -4.0 1.20e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.4669852e+00 3.38e-04 9.07e+00 -4.0 9.93e+02 -8.2 3.66e-02 1.00e+00H 1 23 2.0884181e+00 4.87e-05 1.10e+00 -4.1 1.79e-01 -0.4 7.75e-01 8.56e-01f 1 24 2.0886191e+00 4.85e-05 5.08e+00 -4.1 7.92e-02 -0.8 1.00e+00 3.91e-03f 9 25 2.0884839e+00 6.93e-08 1.57e-03 -4.1 3.30e-02 -1.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0884838542585173e+00 2.0884838542585173e+00 Dual infeasibility......: 1.5670245723770734e-03 1.5670245723770734e-03 Constraint violation....: 6.9299753026330624e-08 6.9299753026330624e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.8552829892485757e-04 1.8552829892485757e-04 Overall NLP error.......: 1.5670245723770734e-03 1.5670245723770734e-03 Number of objective function evaluations = 35 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 35 Number of inequality constraint evaluations = 35 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 26.662 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) 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 3.6506939e+00 4.06e+00 9.35e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5011509e+00 5.22e-01 2.21e+00 -0.9 2.54e+00 0.0 9.80e-01 8.73e-01h 1 2 2.3607693e+00 9.21e-02 6.65e-01 -1.2 5.76e-01 -0.5 9.95e-01 8.00e-01h 1 3 2.2671014e+00 3.53e-03 2.31e-01 -1.8 1.57e-01 -1.0 9.92e-01 1.00e+00h 1 4 2.1187447e+00 1.13e-03 1.40e-02 -2.8 6.45e-02 -1.4 9.93e-01 9.15e-01h 1 5 2.0911832e+00 9.04e-05 5.02e-03 -4.0 2.95e-02 -1.9 1.00e+00 1.00e+00h 1 6 2.0909707e+00 5.05e-07 6.28e-04 -4.0 6.39e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0909690e+00 3.53e-09 2.16e-05 -4.0 1.57e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909636e+00 1.06e-09 2.12e-05 -4.0 4.64e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909487e+00 8.67e-09 2.03e-05 -4.0 1.33e-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 2.0909135e+00 5.90e-08 1.01e-04 -4.0 3.58e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0908426e+00 2.90e-07 5.62e-04 -4.0 8.87e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0906598e+00 2.37e-06 8.64e-04 -4.0 2.65e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0900611e+00 1.95e-05 1.47e-03 -4.0 7.21e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0885507e+00 1.59e-04 1.49e-02 -4.0 2.27e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0880404e+00 1.53e-05 2.38e-03 -4.0 1.64e+00 -4.9 1.00e+00 9.44e-01h 1 16 2.0878897e+00 2.78e-06 2.11e-03 -4.0 3.50e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0869504e+00 4.01e-05 5.19e-03 -4.0 1.02e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0854262e+00 1.95e-04 1.10e-02 -4.0 2.39e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0838501e+00 2.51e-04 4.64e-02 -4.0 4.16e+01 -6.8 1.00e+00 5.41e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0826433e+00 8.77e-05 1.47e-02 -4.0 5.73e+01 -7.3 1.00e+00 7.06e-01h 1 21 2.0825097e+00 8.65e-04 2.73e-02 -4.0 1.20e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.4669852e+00 3.38e-04 9.07e+00 -4.0 9.93e+02 -8.2 3.66e-02 1.00e+00H 1 23 2.0884181e+00 4.87e-05 1.10e+00 -4.1 1.79e-01 -0.4 7.75e-01 8.56e-01f 1 24 2.0886191e+00 4.85e-05 5.08e+00 -4.1 7.92e-02 -0.8 1.00e+00 3.91e-03f 9 25 2.0884839e+00 6.93e-08 1.57e-03 -4.1 3.30e-02 -1.3 1.00e+00 1.00e+00h 1 26 2.0883444e+00 1.99e-07 1.41e-03 -4.0 8.92e-02 -1.8 1.00e+00 1.00e+00h 1 27 2.0880139e+00 9.92e-07 1.04e-03 -4.0 1.96e-01 -2.3 1.00e+00 1.00e+00h 1 28 2.0880819e+00 2.00e-07 1.02e-04 -4.0 2.31e-02 -2.8 1.00e+00 1.00e+00h 1 29 2.0880590e+00 2.41e-07 1.34e-05 -4.0 2.29e-02 -3.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0880519e+00 3.42e-08 1.35e-05 -4.0 6.90e-02 -3.7 1.00e+00 1.00e+00h 1 31 2.0880339e+00 4.26e-08 1.34e-05 -4.0 2.06e-01 -4.2 1.00e+00 1.00e+00h 1 32 2.0879814e+00 3.76e-07 1.92e-05 -4.0 6.13e-01 -4.7 1.00e+00 1.00e+00h 1 33 2.0878373e+00 3.04e-06 1.54e-04 -4.0 1.79e+00 -5.1 1.00e+00 1.00e+00h 1 34 2.0875066e+00 1.86e-05 9.46e-04 -4.0 4.99e+00 -5.6 1.00e+00 1.00e+00h 1 35 2.0869921e+00 5.26e-05 2.84e-03 -4.0 1.31e+01 -6.1 1.00e+00 1.00e+00h 1 36 2.0861276e+00 1.24e-04 5.49e-03 -4.0 3.40e+01 -6.6 1.00e+00 1.00e+00h 1 37 2.0845962e+00 7.00e-04 2.58e-02 -4.0 8.41e+01 -7.0 1.00e+00 1.00e+00h 1 38 2.0826102e+00 1.00e-03 7.20e-02 -4.1 1.62e+02 -7.5 1.00e+00 1.00e+00h 1 39 2.0816471e+00 3.04e-03 2.67e-02 -4.1 2.27e+02 -8.0 7.17e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0815729e+00 1.20e-05 1.08e-01 -4.0 8.79e+01 -6.7 1.00e+00 1.00e+00H 1 41 2.0816678e+00 5.39e-04 2.00e-02 -4.0 1.38e+01 -7.2 9.91e-01 1.00e+00h 1 42 2.0815510e+00 1.09e-03 1.36e-03 -4.1 3.09e+01 -7.6 1.00e+00 1.00e+00h 1 43 2.0823886e+00 6.58e-04 1.77e-01 -4.0 7.32e+00 -5.4 2.00e-01 2.97e-01h 1 44 2.0816092e+00 8.10e-05 5.79e-03 -4.2 1.41e+00 -5.9 1.00e+00 1.00e+00h 1 45 2.0814655e+00 6.11e-07 2.27e-04 -4.2 4.18e-02 -1.8 1.00e+00 1.00e+00h 1 46 2.0817630e+00 1.25e-06 5.85e-04 -4.0 5.27e-02 -2.3 1.00e+00 1.00e+00h 1 47 2.0816346e+00 1.39e-07 1.11e-04 -4.1 3.48e-02 -2.8 1.00e+00 1.00e+00h 1 48 2.0811345e+00 3.98e-06 5.54e-02 -6.1 5.59e-02 -3.3 7.95e-01 1.00e+00h 1 49 2.0811559e+00 5.63e-07 7.22e-02 -4.6 2.06e-01 -3.7 1.00e+00 9.36e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0823025e+00 1.10e-05 1.12e-02 -4.0 3.59e-01 -4.2 1.00e+00 1.00e+00f 1 51 2.0817401e+00 2.72e-07 4.13e-03 -4.1 5.09e-02 -1.1 1.00e+00 1.00e+00h 1 52 2.0817158e+00 1.63e-07 7.41e-04 -4.0 2.02e-02 -1.6 1.00e+00 1.00e+00h 1 53 2.0817326e+00 8.45e-09 2.86e-04 -4.0 3.10e-02 -2.0 1.00e+00 1.00e+00h 1 54 2.0817317e+00 6.50e-09 1.33e-04 -4.0 4.39e-02 -2.5 1.00e+00 1.00e+00h 1 55 2.0817274e+00 2.22e-08 3.62e-05 -4.0 3.65e-02 -3.0 1.00e+00 1.00e+00h 1 56 2.0817249e+00 3.98e-08 9.12e-06 -4.0 2.69e-02 -3.5 1.00e+00 1.00e+00h 1 57 2.0817219e+00 7.62e-08 8.74e-06 -4.0 7.75e-02 -3.9 1.00e+00 1.00e+00h 1 58 2.0817153e+00 4.71e-07 1.70e-05 -4.0 2.10e-01 -4.4 1.00e+00 1.00e+00h 1 59 2.0815739e+00 8.07e-06 1.36e-04 -4.1 4.51e-01 -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 60 2.0809229e+00 2.13e-04 2.97e-02 -6.1 2.23e+00 -5.4 9.53e-01 1.00e+00h 1 61 2.0807983e+00 3.37e-05 1.81e-03 -5.0 4.35e+00 -5.9 1.00e+00 1.00e+00h 1 62 2.0819578e+00 3.26e-05 9.23e-02 -4.0 3.73e+02 -6.3 2.18e-03 1.05e-02h 1 63 2.0810269e+00 3.10e-05 2.91e+00 -5.1 9.38e+00 -3.2 8.32e-05 5.15e-02f 1 64 2.0808160e+00 1.97e-05 1.99e+00 -5.1 4.06e-01 -3.7 1.00e+00 4.25e-01f 1 65 2.0816747e+00 1.31e-05 6.85e-03 -4.0 1.10e-01 -4.2 1.00e+00 1.00e+00f 1 66 2.0813268e+00 2.93e-05 7.62e-04 -4.1 4.99e-01 -4.6 1.00e+00 1.00e+00h 1 67 2.0808475e+00 1.29e-04 3.43e-03 -6.1 1.42e+00 -5.1 1.00e+00 1.00e+00h 1 68 2.0808188e+00 1.06e-04 6.53e-01 -6.1 1.60e+00 -4.7 4.56e-01 1.77e-01h 1 69 2.0808068e+00 1.06e-04 6.52e-01 -6.1 6.54e+00 -5.2 8.06e-03 1.45e-03h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0807870e+00 1.03e-04 2.54e+00 -6.1 5.07e+01 -5.6 4.25e-01 2.78e-02f 1 71 2.0820603e+00 8.94e-03 5.06e-01 -4.0 2.74e+02 -6.1 2.26e-01 2.54e-02f 2 72 2.0848595e+00 1.84e-01 2.98e+00 -3.5 2.10e+02 -6.6 1.00e+00 4.18e-01h 1 73 2.0845559e+00 4.06e-02 1.30e+00 -3.5 4.18e+01 -7.1 6.86e-01 9.84e-01f 1 74 2.0851324e+00 2.29e-02 7.80e-01 -3.5 2.02e+02 -7.5 4.25e-01 1.00e+00f 1 75 2.0847668e+00 4.52e-03 3.56e-02 -3.5 5.25e+01 -8.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 75 (scaled) (unscaled) Objective...............: 2.0847668061579929e+00 2.0847668061579929e+00 Dual infeasibility......: 3.5554807297143588e-02 3.5554807297143588e-02 Constraint violation....: 4.5210011788121562e-03 4.5210011788121562e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 6.7182042272492825e-04 6.7182042272492825e-04 Overall NLP error.......: 3.5554807297143588e-02 3.5554807297143588e-02 Number of objective function evaluations = 89 Number of objective gradient evaluations = 76 Number of equality constraint evaluations = 89 Number of inequality constraint evaluations = 89 Number of equality constraint Jacobian evaluations = 76 Number of inequality constraint Jacobian evaluations = 76 Number of Lagrangian Hessian evaluations = 75 Total seconds in IPOPT = 2.616 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: 0.002s) 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 3.6506939e+00 4.06e+00 9.35e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5011509e+00 5.22e-01 2.21e+00 -0.9 2.54e+00 0.0 9.80e-01 8.73e-01h 1 2 2.3607693e+00 9.21e-02 6.65e-01 -1.2 5.76e-01 -0.5 9.95e-01 8.00e-01h 1 3 2.2671014e+00 3.53e-03 2.31e-01 -1.8 1.57e-01 -1.0 9.92e-01 1.00e+00h 1 4 2.1187447e+00 1.13e-03 1.40e-02 -2.8 6.45e-02 -1.4 9.93e-01 9.15e-01h 1 5 2.0911832e+00 9.04e-05 5.02e-03 -4.0 2.95e-02 -1.9 1.00e+00 1.00e+00h 1 6 2.0909707e+00 5.05e-07 6.28e-04 -4.0 6.39e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0909690e+00 3.53e-09 2.16e-05 -4.0 1.57e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909636e+00 1.06e-09 2.12e-05 -4.0 4.64e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909487e+00 8.67e-09 2.03e-05 -4.0 1.33e-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 2.0909135e+00 5.90e-08 1.01e-04 -4.0 3.58e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0908426e+00 2.90e-07 5.62e-04 -4.0 8.87e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0906598e+00 2.37e-06 8.64e-04 -4.0 2.65e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0900611e+00 1.95e-05 1.47e-03 -4.0 7.21e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0885507e+00 1.59e-04 1.49e-02 -4.0 2.27e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0880404e+00 1.53e-05 2.38e-03 -4.0 1.64e+00 -4.9 1.00e+00 9.44e-01h 1 16 2.0878897e+00 2.78e-06 2.11e-03 -4.0 3.50e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0869504e+00 4.01e-05 5.19e-03 -4.0 1.02e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0854262e+00 1.95e-04 1.10e-02 -4.0 2.39e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0838501e+00 2.51e-04 4.64e-02 -4.0 4.16e+01 -6.8 1.00e+00 5.41e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0826433e+00 8.77e-05 1.47e-02 -4.0 5.73e+01 -7.3 1.00e+00 7.06e-01h 1 21 2.0825097e+00 8.65e-04 2.73e-02 -4.0 1.20e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.4669852e+00 3.38e-04 9.07e+00 -4.0 9.93e+02 -8.2 3.66e-02 1.00e+00H 1 23 2.0884181e+00 4.87e-05 1.10e+00 -4.1 1.79e-01 -0.4 7.75e-01 8.56e-01f 1 24 2.0886191e+00 4.85e-05 5.08e+00 -4.1 7.92e-02 -0.8 1.00e+00 3.91e-03f 9 25 2.0884839e+00 6.93e-08 1.57e-03 -4.1 3.30e-02 -1.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0884838542585173e+00 2.0884838542585173e+00 Dual infeasibility......: 1.5670245723770734e-03 1.5670245723770734e-03 Constraint violation....: 6.9299753026330624e-08 6.9299753026330624e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.8552829892485757e-04 1.8552829892485757e-04 Overall NLP error.......: 1.5670245723770734e-03 1.5670245723770734e-03 Number of objective function evaluations = 35 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 35 Number of inequality constraint evaluations = 35 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 0.357 EXIT: Stopping optimization at current point as requested by user. [test_integrator] Starting... [test_integrator] constraint_dim=8, datavec_len=75, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! [test_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: 0.065s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.066s) 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: 0.12s) 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) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.0396268e+00 2.24e+00 8.49e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9299081e+00 8.31e-02 5.19e+00 -1.1 1.99e+00 0.0 4.93e-01 1.00e+00h 1 2 2.5442053e+00 1.64e-02 5.95e-01 -1.0 2.14e-01 0.4 8.90e-01 1.00e+00h 1 3 2.4050223e+00 1.42e-02 1.15e+00 -1.5 2.73e-01 -0.1 9.92e-01 3.90e-01h 1 4 2.2043347e+00 6.35e-03 3.89e-01 -2.2 9.56e-02 0.4 1.00e+00 5.53e-01h 1 5 2.1259318e+00 3.29e-03 3.00e-01 -3.3 9.14e-02 -0.1 1.00e+00 4.82e-01h 1 6 2.1016208e+00 3.44e-04 2.00e-01 -4.0 5.98e-02 -0.6 1.00e+00 1.00e+00h 1 7 2.0908697e+00 1.15e-04 3.53e-02 -4.0 1.87e-02 -1.1 1.00e+00 9.02e-01h 1 8 2.0908837e+00 1.44e-07 1.28e-03 -4.0 4.95e-03 -1.5 1.00e+00 1.00e+00h 1 9 2.0908815e+00 1.86e-09 1.06e-04 -4.0 1.08e-02 -2.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908809e+00 1.47e-11 5.13e-05 -4.0 1.58e-02 -2.5 1.00e+00 1.00e+00h 1 11 2.0908791e+00 1.37e-10 2.06e-05 -4.0 1.90e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0908735e+00 1.23e-09 2.06e-05 -4.0 5.70e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908566e+00 1.11e-08 2.06e-05 -4.0 1.71e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0908062e+00 9.98e-08 2.06e-05 -4.0 5.12e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0906551e+00 9.00e-07 2.06e-05 -4.0 1.54e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0902031e+00 8.15e-06 3.62e-05 -4.0 4.60e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0888583e+00 7.48e-05 3.23e-04 -4.0 1.37e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0849293e+00 7.10e-04 2.94e-03 -4.0 3.99e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0796427e+00 2.07e-03 1.86e-01 -4.0 1.03e+02 -6.8 1.00e+00 5.14e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0801716e+00 1.23e-04 1.68e-01 -4.0 6.66e+01 -7.3 1.00e+00 9.97e-01H 1 21 2.0774003e+00 8.11e-03 2.38e-02 -4.0 1.25e+02 -7.7 1.00e+00 9.53e-01h 1 22 2.0769821e+00 1.82e-03 4.83e-02 -4.0 2.08e+02 -8.2 1.00e+00 1.00e+00h 1 23 2.0761087e+00 2.68e-03 2.07e-02 -4.0 3.51e+02 -8.7 1.00e+00 8.98e-01h 1 24 2.0755456e+00 1.43e-03 2.55e-02 -4.0 4.80e+02 -9.2 1.00e+00 6.97e-01h 1 25 2.0757360e+00 2.79e-03 1.05e-02 -4.0 1.34e+02 -9.6 1.00e+00 1.00e+00h 1 26 2.0753664e+00 1.23e-03 3.47e-04 -4.1 6.62e+01 -10.1 1.00e+00 1.00e+00h 1 27 2.0756724e+00 4.64e-04 5.65e-06 -4.0 2.04e+01 -10.6 1.00e+00 1.00e+00h 1 28 2.0756712e+00 5.61e-07 8.57e-07 -4.0 1.05e+01 -11.1 1.00e+00 1.00e+00h 1 29 2.0756712e+00 1.46e-09 5.43e-08 -4.0 3.56e+00 -11.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0756712e+00 1.99e-11 8.03e-10 -4.0 5.03e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 2.0756712121249361e+00 2.0756712121249361e+00 Dual infeasibility......: 8.0345737522987890e-10 8.0345737522987890e-10 Constraint violation....: 1.9947266061137725e-11 1.9947266061137725e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000003e-04 1.0000000000000003e-04 Overall NLP error.......: 8.0345737522987890e-10 8.0345737522987890e-10 Number of objective function evaluations = 32 Number of objective gradient evaluations = 31 Number of equality constraint evaluations = 32 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 31 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 30 Total seconds in IPOPT = 27.717 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.068s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.068s) integrator 1 hessian structure: 0.054s 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 (0.056s) linear index maps built (0.0s) evaluator ready (total: 0.125s) evaluator created (0.125s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.161s) optimizer initialization complete (total: 0.287s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1488 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1524 Total number of variables............................: 100 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.4373613e+00 4.08e+00 5.02e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.7231765e+00 2.71e+00 5.69e+00 -0.8 2.78e+00 0.0 7.76e-01 3.35e-01f 1 2 2.9641949e+00 8.03e-02 4.87e+00 -0.5 2.16e+00 -0.5 7.15e-01 1.00e+00f 1 3 2.9694668e+00 6.63e-02 1.26e+00 -0.9 1.66e+00 -1.0 8.89e-01 1.00e+00f 1 4 2.5754586e+00 3.01e-02 2.73e-01 -1.1 3.31e-01 -0.5 8.00e-01 9.67e-01h 1 5 2.3188427e+00 1.26e-02 4.16e-01 -2.1 2.67e-01 -1.0 8.35e-01 9.80e-01h 1 6 2.1583429e+00 2.03e-02 5.43e-01 -2.5 8.68e-01 -1.5 9.97e-01 6.48e-01h 1 7 2.0998577e+00 7.22e-04 3.28e-02 -3.4 1.14e-01 -2.0 1.00e+00 1.00e+00h 1 8 2.0908977e+00 1.03e-04 2.03e-02 -4.0 9.95e-02 -2.4 1.00e+00 9.43e-01h 1 9 2.0908992e+00 2.96e-06 9.68e-04 -4.0 6.53e-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 2.0908983e+00 5.41e-08 3.72e-04 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908834e+00 1.44e-08 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908385e+00 7.86e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907042e+00 7.09e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903021e+00 6.41e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891049e+00 5.87e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855954e+00 5.54e-04 2.31e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796308e+00 2.30e-03 1.36e-01 -4.0 9.56e+01 -6.7 1.00e+00 6.30e-01h 1 18 2.0807337e+00 1.58e-04 1.81e-01 -4.0 6.59e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775318e+00 7.37e-03 2.46e-02 -4.0 1.19e+02 -7.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0769278e+00 1.10e-03 4.84e-02 -4.0 1.76e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0760077e+00 9.88e-04 2.34e-02 -4.0 3.09e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0754464e+00 4.95e-04 2.96e-02 -4.0 4.65e+02 -9.1 1.00e+00 7.24e-01H 1 23 2.0757762e+00 2.13e-03 1.10e-02 -4.0 1.39e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753823e+00 1.42e-03 4.91e-04 -4.1 7.77e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756722e+00 3.92e-04 6.84e-06 -4.0 1.79e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0753425e+00 6.29e-04 7.54e-07 -4.1 2.57e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756725e+00 3.34e-04 8.13e-07 -4.0 1.36e+01 -11.5 1.00e+00 1.00e+00h 1 28 2.0753425e+00 5.02e-04 2.61e-07 -4.1 2.05e+01 -12.0 1.00e+00 1.00e+00h 1 29 2.0756725e+00 5.53e-04 1.18e-07 -4.0 2.26e+01 -12.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0753425e+00 5.53e-04 9.06e-08 -4.1 2.26e+01 -12.9 1.00e+00 1.00e+00h 1 31 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -13.4 9.28e-01 1.00e+00h 1 32 2.0757517e+00 1.59e-01 1.53e-04 -4.0 1.29e+03 -13.9 1.00e+00 1.00e+00h 1 33 2.0753574e+00 2.64e-02 8.69e-05 -4.1 1.05e+03 -14.4 1.00e+00 1.00e+00h 1 34 2.0753474e+00 1.15e-05 2.14e-06 -4.1 1.63e+02 -14.8 1.00e+00 1.00e+00h 1 35 2.0756726e+00 7.25e-04 1.64e-07 -4.0 3.02e+01 -15.3 1.00e+00 1.00e+00h 1 36 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -15.8 1.00e+00 1.00e+00h 1 37 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -16.3 9.28e-01 1.00e+00h 1 38 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -16.8 8.16e-01 1.00e+00h 1 39 2.0742914e+00 4.02e-02 1.95e-02 -4.0 1.50e+04 -17.2 1.00e+00 1.46e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0748877e+00 5.32e-02 4.44e-05 -4.3 1.16e+03 -17.7 1.00e+00 1.00e+00h 1 41 2.0748919e+00 7.80e-04 1.27e-05 -4.3 8.19e+02 -18.2 1.00e+00 1.00e+00h 1 42 2.0756799e+00 8.81e-03 2.72e-06 -4.0 1.52e+02 -18.7 1.00e+00 1.00e+00h 1 43 2.0753438e+00 1.84e-03 6.19e-07 -4.1 7.48e+01 -19.1 1.00e+00 1.00e+00h 1 44 2.0753420e+00 1.03e-06 2.13e-08 -4.1 1.76e+01 -19.6 1.00e+00 1.00e+00h 1 45 2.0756726e+00 7.23e-04 1.61e-07 -4.0 2.96e+01 -20.0 1.00e+00 1.00e+00h 1 46 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -20.0 1.00e+00 1.00e+00h 1 47 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 48 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -20.0 8.16e-01 1.00e+00h 1 49 2.0739622e+00 1.34e-06 1.83e-05 -6.1 8.40e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0741067e+00 2.44e-02 3.22e-02 -4.0 5.48e+04 -20.0 1.00e+00 5.98e-02f 1 51 2.0748071e+00 7.96e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 52 2.0748241e+00 9.52e-04 1.02e-05 -4.3 6.22e+02 -20.0 1.00e+00 1.00e+00h 1 53 2.0748237e+00 1.04e-07 2.35e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 54 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 55 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 56 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 57 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 58 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 59 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0741065e+00 2.43e-02 3.23e-02 -4.0 5.49e+04 -20.0 1.00e+00 5.97e-02f 1 61 2.0748071e+00 7.95e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 62 2.0748240e+00 9.52e-04 1.02e-05 -4.3 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 63 2.0748236e+00 1.04e-07 2.36e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 64 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 65 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 66 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 68 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 69 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0739617e+00 2.11e-08 1.94e-06 -6.1 2.49e+02 -20.0 1.00e+00 1.00e+00h 1 71 2.0740871e+00 2.06e-02 3.56e-02 -4.0 6.55e+04 -20.0 1.00e+00 5.03e-02f 1 72 2.0748016e+00 7.32e-02 4.77e-05 -4.3 1.41e+03 -20.0 1.00e+00 1.00e+00f 1 73 2.0748204e+00 9.23e-04 8.08e-06 -4.3 5.36e+02 -20.0 1.00e+00 1.00e+00h 1 74 2.0748200e+00 1.25e-07 3.57e-07 -4.3 7.03e+01 -20.0 1.00e+00 1.00e+00h 1 75 2.0740036e+00 1.08e-02 5.23e-04 -6.5 1.81e+02 -20.0 8.93e-01 1.00e+00f 1 76 2.0739632e+00 2.51e-04 3.38e-04 -6.5 7.34e+02 -20.0 7.62e-01 1.00e+00h 1 77 2.0739539e+00 4.81e-07 1.83e-05 -6.5 9.12e+02 -20.0 1.00e+00 1.00e+00h 1 78 2.0740681e+00 1.80e-02 3.75e-02 -4.0 7.10e+04 -20.0 1.00e+00 4.51e-02f 1 79 2.0747866e+00 7.58e-02 5.27e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0748068e+00 8.84e-04 6.22e-06 -4.3 4.91e+02 -20.0 1.00e+00 1.00e+00h 1 81 2.0748064e+00 1.21e-07 3.63e-07 -4.3 6.91e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 83 2.0739630e+00 2.41e-04 3.38e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 84 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 85 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 86 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 87 2.0748064e+00 8.81e-04 6.11e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 88 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0739630e+00 2.40e-04 3.37e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 91 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 92 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 93 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 94 2.0748064e+00 8.81e-04 6.10e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 95 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 97 2.0739630e+00 2.40e-04 3.37e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 98 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 99 2.0739527e+00 5.48e-08 5.24e-06 -6.5 3.94e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0740476e+00 1.42e-02 4.44e-02 -4.0 9.26e+04 -20.0 1.00e+00 3.50e-02f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0740476226011366e+00 2.0740476226011366e+00 Dual infeasibility......: 4.4440948322914557e-02 4.4440948322914557e-02 Constraint violation....: 1.4164404722585289e-02 1.4164404722585289e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.3095644031728796e-04 2.3095644031728796e-04 Overall NLP error.......: 4.4440948322914557e-02 4.4440948322914557e-02 Number of objective function evaluations = 103 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 103 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 31.431 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: 0.069s integrator 2 jacobian structure: 0.053s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.123s) integrator 1 hessian structure: 0.053s integrator 2 hessian structure: 0.053s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.365s sub-objective 2 (QuadraticRegularizer): 0.094s sub-objective 3 (MinimumTimeObjective): 0.017s objective hessian structure: 0.577s hessian structure: 1749 nonzeros (0.685s) linear index maps built (0.0s) evaluator ready (total: 0.808s) evaluator created (0.808s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.123s) 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 (5.426s) optimizer initialization complete (total: 6.358s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.9476665e+00 3.12e+00 5.26e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 5.2155490e+00 3.10e+00 2.87e+01 1.2 2.44e+01 0.0 3.78e-02 5.18e-03f 1 2 3.6606441e+00 2.32e-01 2.38e+01 0.4 2.30e+00 -0.5 5.75e-01 1.00e+00f 1 3 3.7598673e+00 7.99e-02 7.79e+00 -0.1 1.32e+00 -1.0 8.36e-01 1.00e+00f 1 4 3.6553043e+00 1.86e-01 6.07e+00 -1.1 2.91e+01 -1.4 1.22e-01 4.84e-02h 2 5 3.3823101e+00 1.10e-02 4.65e+00 -0.7 1.76e-01 -0.1 7.81e-01 1.00e+00h 1 6 3.0234752e+00 9.92e-03 1.54e-01 -1.2 1.19e-01 -0.6 9.99e-01 1.00e+00f 1 7 2.2339665e+00 2.74e-02 6.24e-02 -2.0 1.96e-01 -1.1 9.31e-01 1.00e+00f 1 8 2.0998468e+00 2.39e-03 9.53e-02 -3.7 9.04e-02 -1.5 7.42e-01 9.25e-01h 1 9 2.0913633e+00 2.80e-05 3.01e-03 -3.8 2.13e-02 -2.0 9.97e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908779e+00 4.83e-07 5.80e-05 -4.0 1.78e-02 -2.5 1.00e+00 1.00e+00h 1 11 2.0908758e+00 1.25e-09 2.59e-05 -4.0 2.39e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0908702e+00 1.22e-09 2.06e-05 -4.0 5.70e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908533e+00 1.10e-08 2.06e-05 -4.0 1.71e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0908029e+00 9.92e-08 2.06e-05 -4.0 5.12e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0906518e+00 8.95e-07 2.06e-05 -4.0 1.54e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0901998e+00 8.10e-06 3.62e-05 -4.0 4.60e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0888550e+00 7.43e-05 3.23e-04 -4.0 1.37e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0849259e+00 7.05e-04 2.94e-03 -4.0 3.99e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0796239e+00 2.07e-03 1.86e-01 -4.0 1.03e+02 -6.8 1.00e+00 5.15e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0801688e+00 1.48e-04 1.68e-01 -4.0 6.63e+01 -7.3 1.00e+00 1.00e+00H 1 21 2.0773925e+00 8.01e-03 2.51e-02 -4.0 1.25e+02 -7.7 1.00e+00 9.51e-01h 1 22 2.0770062e+00 1.83e-03 5.16e-02 -4.0 2.08e+02 -8.2 1.00e+00 1.00e+00h 1 23 2.0760898e+00 3.10e-03 2.08e-02 -4.0 3.50e+02 -8.7 1.00e+00 9.08e-01h 1 24 2.0755438e+00 1.52e-03 2.44e-02 -4.0 4.66e+02 -9.2 1.00e+00 7.03e-01h 1 25 2.0757330e+00 2.73e-03 1.00e-02 -4.0 1.31e+02 -9.6 1.00e+00 1.00e+00h 1 26 2.0753655e+00 1.22e-03 3.29e-04 -4.1 6.49e+01 -10.1 1.00e+00 1.00e+00h 1 27 2.0756724e+00 4.65e-04 5.49e-06 -4.0 2.03e+01 -10.6 1.00e+00 1.00e+00h 1 28 2.0756712e+00 5.78e-07 8.84e-07 -4.0 1.08e+01 -11.1 1.00e+00 1.00e+00h 1 29 2.0756712e+00 1.59e-09 5.85e-08 -4.0 3.78e+00 -11.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0756712e+00 2.24e-11 9.07e-10 -4.0 5.37e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 2.0756712121268679e+00 2.0756712121268679e+00 Dual infeasibility......: 9.0692390503446275e-10 9.0692390503446275e-10 Constraint violation....: 2.2389201603800757e-11 2.2389201603800757e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000015e-04 1.0000000000000015e-04 Overall NLP error.......: 9.0692390503446275e-10 9.0692390503446275e-10 Number of objective function evaluations = 34 Number of objective gradient evaluations = 31 Number of equality constraint evaluations = 34 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 31 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 30 Total seconds in IPOPT = 43.859 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: 0.051s 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: 0.116s) 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: 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: 0.117s) 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 4.2989486e+00 2.48e+00 4.21e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.0269838e+00 1.51e+00 2.79e+01 -0.8 2.47e+01 -2.0 1.68e-01 5.68e-01f 1 2 3.0075089e+00 1.40e+00 6.03e+01 -0.5 2.07e+00 0.2 5.36e-01 7.26e-02h 1 3 3.1076777e+00 1.11e+00 1.58e+02 -0.1 1.50e+00 0.7 1.00e+00 2.01e-01h 1 4 3.2776563e+00 9.29e-01 7.84e+01 0.2 2.78e+00 1.1 1.10e-01 1.65e-01h 1 5 3.2419703e+00 7.58e-01 1.59e+02 0.5 6.94e+00 0.6 7.94e-02 1.79e-01f 1 6 3.2268200e+00 5.56e-01 8.13e+01 -1.5 4.36e+00 0.1 3.88e-01 2.59e-01h 1 7 3.0969725e+00 2.97e-01 4.18e+01 -0.5 5.95e+00 -0.3 5.16e-01 4.93e-01h 1 8 3.1041457e+00 1.86e-01 1.72e+02 -0.9 3.64e+00 0.1 9.99e-01 3.86e-01h 1 9 3.1089925e+00 2.45e-02 5.99e+01 -1.1 2.78e+00 -0.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 3.0231968e+00 6.61e-03 4.93e+01 -1.3 3.72e-01 -0.9 8.32e-01 1.00e+00h 1 11 2.9260184e+00 2.00e-02 5.78e+00 -2.3 5.85e-01 -1.4 9.06e-01 1.00e+00h 1 12 2.8165589e+00 1.38e-01 4.25e-01 -1.8 2.63e+00 -1.8 1.00e+00 1.00e+00f 1 13 2.7311593e+00 1.50e-02 5.77e-01 -2.0 2.35e+00 -2.3 9.81e-01 1.00e+00h 1 14 2.5616248e+00 1.12e-01 7.48e-02 -2.1 4.49e+00 -2.8 9.81e-01 1.00e+00h 1 15 2.5545430e+00 5.87e-03 6.18e-02 -2.9 1.52e+00 -2.4 1.00e+00 1.00e+00h 1 16 2.5405404e+00 1.53e-03 1.86e-02 -3.5 5.89e-01 -1.9 9.98e-01 1.00e+00h 1 17 2.5068661e+00 1.11e-02 3.55e-02 -4.0 1.57e+00 -2.4 1.00e+00 1.00e+00h 1 18 2.4978568e+00 7.47e-04 5.95e-03 -4.0 5.33e-01 -2.0 1.00e+00 9.83e-01h 1 19 2.4708298e+00 8.03e-03 5.48e-03 -4.0 1.58e+00 -2.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.4131726e+00 1.35e-01 1.29e+00 -4.0 6.78e+00 -2.9 4.79e-02 6.82e-01h 1 21 2.4144565e+00 1.31e-01 1.25e+00 -4.0 7.42e-01 -0.7 1.59e-02 2.48e-02h 1 22 2.4131072e+00 1.23e-01 1.26e+00 -4.0 4.45e-01 -1.2 9.29e-04 6.24e-02h 1 23 2.4134680e+00 9.83e-02 1.44e+00 -4.0 1.19e-01 0.1 1.00e+00 2.01e-01h 1 24 2.4133677e+00 8.87e-02 1.11e+00 -4.0 1.09e-01 -0.3 1.00e+00 9.80e-02h 1 25 2.4130664e+00 8.19e-02 3.34e+00 -4.0 1.38e-01 -0.8 1.00e+00 7.71e-02h 1 26 2.4103960e+00 2.23e-02 1.86e+00 -3.4 1.62e+00 -1.3 1.00e+00 1.00e+00h 1 27 2.4139716e+00 1.09e-03 1.26e-01 -3.4 1.13e-01 0.0 1.00e+00 1.00e+00h 1 28 2.4128213e+00 4.86e-04 1.96e+00 -3.2 6.86e-02 -0.4 1.00e+00 6.89e-01h 1 29 2.4103038e+00 3.19e-04 2.31e-01 -2.9 1.64e-01 -0.9 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.4100428e+00 7.63e-05 1.14e-01 -3.6 3.13e-02 -0.5 1.00e+00 1.00e+00h 1 31 2.4091468e+00 2.43e-05 7.39e-03 -3.8 6.75e-02 -1.0 1.00e+00 1.00e+00h 1 32 2.4062004e+00 1.65e-04 7.27e-03 -4.0 1.99e-01 -1.4 1.00e+00 1.00e+00h 1 33 2.3997310e+00 1.21e-03 1.62e-02 -3.6 5.46e-01 -1.9 8.96e-01 1.00e+00h 1 34 2.3847578e+00 6.90e-03 3.13e-02 -4.0 1.34e+00 -2.4 1.00e+00 1.00e+00h 1 35 2.3534802e+00 3.42e-02 1.90e-02 -3.7 3.17e+00 -2.9 9.67e-01 1.00e+00h 1 36 2.3456471e+00 2.47e-03 4.29e-03 -4.0 1.19e+00 -2.4 1.00e+00 1.00e+00h 1 37 2.3211251e+00 2.27e-02 1.08e-02 -3.7 2.99e+00 -2.9 1.00e+00 1.00e+00h 1 38 2.3143831e+00 1.74e-03 3.48e-03 -4.0 1.09e+00 -2.5 1.00e+00 1.00e+00h 1 39 2.2941218e+00 1.50e-02 1.77e-02 -4.0 2.83e+00 -3.0 1.00e+00 9.74e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.2732849e+00 2.85e-02 2.12e-01 -3.4 6.77e+00 -3.4 9.91e-01 7.63e-01h 1 41 2.2704428e+00 2.15e-02 2.12e-01 -3.8 1.98e+00 -3.0 1.00e+00 2.50e-01h 1 42 2.2505350e+00 1.74e-02 9.59e-02 -4.0 5.18e+00 -3.5 1.00e+00 7.98e-01h 1 43 2.2148069e+00 8.21e-02 7.77e-02 -4.0 1.09e+01 -4.0 1.00e+00 1.00e+00h 1 44 2.1790887e+00 1.46e-01 1.79e-01 -4.0 1.69e+01 -4.5 1.00e+00 1.00e+00h 1 45 2.1469341e+00 1.88e-01 2.24e-01 -4.0 2.30e+01 -4.9 1.00e+00 1.00e+00h 1 46 2.1145431e+00 5.90e-01 1.92e-01 -4.0 3.19e+01 -5.4 1.00e+00 1.00e+00h 1 47 2.1090968e+00 6.19e-01 2.35e-01 -2.9 7.18e+01 -5.9 1.00e+00 1.00e+00h 1 48 2.1002217e+00 2.50e-01 1.86e-01 -3.1 5.51e+01 -6.4 1.00e+00 9.99e-01h 1 49 2.0895170e+00 8.84e-02 7.32e-02 -3.7 9.70e+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 50 2.0788849e+00 8.08e-03 4.89e-02 -4.0 2.65e+02 -7.3 1.00e+00 9.89e-01h 1 51 2.0805900e+00 1.03e-02 4.62e-01 -3.6 1.10e+02 -7.8 1.00e+00 5.65e-01H 1 52 2.0779960e+00 1.31e-02 7.36e-02 -4.0 1.54e+02 -8.3 1.00e+00 1.00e+00h 1 53 2.0770691e+00 9.33e-03 9.31e-03 -4.0 3.84e+02 -8.7 1.00e+00 1.00e+00h 1 54 2.0779563e+00 4.74e-02 2.18e-02 -3.6 3.97e+02 -9.2 1.00e+00 9.30e-01h 1 55 2.0777264e+00 1.45e-02 8.40e-03 -3.8 1.95e+02 -9.7 1.00e+00 1.00e+00h 1 56 2.0776880e+00 3.64e-04 2.29e-04 -3.8 4.75e+01 -10.2 1.00e+00 1.00e+00h 1 57 2.0766405e+00 5.82e-03 1.72e-05 -4.0 6.34e+01 -10.7 1.00e+00 1.00e+00h 1 58 2.0766635e+00 2.71e-05 6.96e-06 -4.0 5.10e+01 -11.1 1.00e+00 1.00e+00h 1 59 2.0766623e+00 1.62e-07 4.99e-07 -4.0 8.15e+00 -11.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0766623e+00 7.57e-11 1.55e-09 -4.0 4.53e-01 -12.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 60 (scaled) (unscaled) Objective...............: 2.0766622750202042e+00 2.0766622750202042e+00 Dual infeasibility......: 1.5462955065687067e-09 1.5462955065687067e-09 Constraint violation....: 7.5723649572978502e-11 7.5723649572978502e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000001287946e-04 1.0000000001287946e-04 Overall NLP error.......: 1.5462955065687067e-09 1.5462955065687067e-09 Number of objective function evaluations = 62 Number of objective gradient evaluations = 61 Number of equality constraint evaluations = 62 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 61 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 60 Total seconds in IPOPT = 27.268 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: 0.051s 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: 0.117s) evaluator created (0.117s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: bounds on Δt applying constraint: per-timestep equality constraint on trajectory variable u linear constraints added: 3 (0.05s) optimizer initialization complete (total: 0.167s) 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 2.7247343e+00 3.15e+00 2.29e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.3904736e+00 1.93e+00 4.91e+00 -1.5 1.29e+01 - 6.66e-01 3.88e-01h 1 2 9.2162107e+00 1.67e+00 2.87e+02 -0.6 7.15e+02 - 1.00e+00 1.29e-01h 2 3 5.4979228e+00 1.64e+00 1.12e+02 0.2 4.62e+02 - 1.00e+00 2.50e-01f 3 4 6.5127205e+00 1.47e+00 1.07e+02 -0.6 1.93e+02 - 6.33e-02 1.13e-02H 1 5 1.3621870e+01 1.58e+00 2.75e+03 -0.3 7.24e+02 - 2.30e-01 2.50e-01h 3 6 2.7152119e+01 1.51e+00 3.22e+02 0.6 3.35e+01 -2.0 1.00e+00 5.00e-01f 2 7 2.1480285e+01 4.44e-01 2.23e+02 0.4 5.63e+01 -2.5 9.83e-01 1.00e+00f 1 8 1.6945123e+01 5.09e+00 4.42e+02 0.3 2.89e+02 - 1.00e+00 5.00e-01f 2 9 7.8403148e+00 2.43e+00 8.69e+01 0.5 1.32e+01 -1.1 1.00e+00 4.48e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.4780017e+01 1.45e+00 1.50e+03 0.5 7.63e+02 - 5.56e-02 2.50e-01f 3 11 3.3928294e+01 6.03e-01 2.18e+03 0.0 5.02e+00 -1.6 1.00e+00 1.00e+00h 1 12 2.6605447e+01 3.80e-02 1.47e+02 -0.5 2.32e+00 -1.2 1.00e+00 1.00e+00f 1 13 2.4137474e+01 1.31e-01 6.10e+00 -1.2 7.37e+00 -1.7 1.00e+00 1.00e+00f 1 14 8.4353694e+00 2.97e+00 7.53e+01 -4.0 4.92e+04 - 3.23e-03 2.70e-03f 3 15 7.4307063e+00 1.53e+00 5.36e+01 -1.4 4.07e+01 -2.2 2.37e-01 2.21e-01f 1 16 6.3860403e+00 1.37e+00 6.13e+01 -1.4 9.88e+01 - 9.98e-01 3.10e-01f 2 17 5.1498365e+00 1.16e+00 5.99e+01 -1.6 3.07e+01 -0.8 1.00e+00 1.26e-01f 1 18 7.1477271e+00 1.23e+00 8.23e+02 0.3 7.09e+02 - 1.00e+00 1.70e-01h 1 19 8.0553326e+00 1.11e+00 3.90e+04 1.6 1.41e+03 -1.3 3.30e-01 4.41e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 3.5367597e+01 2.29e+00 4.32e+05 1.2 6.18e+01 -1.8 6.03e-02 1.00e+00f 1 21 3.1913926e+01 4.41e+00 5.55e+05 1.2 5.61e+01 1.4 1.00e+00 8.19e-01h 1 22 2.8827799e+01 3.71e+00 4.86e+05 1.2 2.72e+01 0.9 4.26e-02 1.55e-01h 1 23 2.7753628e+01 3.26e+00 4.30e+05 1.2 7.85e+01 0.4 1.12e-01 1.17e-01f 3 24 2.7672173e+01 3.19e+00 4.21e+05 1.2 7.99e+01 -0.1 7.64e-02 2.05e-02h 3 25 2.7206022e+01 2.63e+00 3.47e+05 1.2 6.50e+01 0.4 2.64e-01 1.71e-01h 1 26 2.7687373e+01 2.37e+00 3.70e+05 1.2 1.31e+02 0.8 1.58e-03 9.34e-02f 3 27 3.0227296e+01 1.86e+00 2.71e+05 1.2 6.47e+01 0.3 1.00e+00 2.66e-01f 2 28 3.2087797e+01 1.29e+00 1.30e+05 1.2 5.92e+01 - 3.66e-01 3.71e-01h 1 29 3.2080078e+01 1.28e+00 1.29e+05 1.2 3.42e+01 1.6 1.00e+00 7.38e-03h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 3.2119864e+01 1.27e+00 4.74e+05 1.2 2.32e+02 1.2 2.12e-02 1.94e-03h 2 31 3.2150128e+01 1.27e+00 2.75e+06 1.2 2.24e+02 1.6 4.50e-02 1.34e-03h 4 32 3.2204563e+01 1.27e+00 3.67e+06 1.2 2.35e+02 1.1 6.99e-02 2.56e-03f 4 33 3.6114932e+01 9.79e-01 4.74e+05 1.2 2.99e+02 - 6.45e-01 4.86e-01H 1 34 3.6051107e+01 9.75e-01 5.46e+05 1.2 3.12e+02 0.6 1.24e-03 3.64e-03f 2 35 3.6018433e+01 9.68e-01 8.30e+05 1.2 1.98e+02 0.1 1.00e+00 7.68e-03h 1 36 3.6057027e+01 9.64e-01 6.50e+05 1.2 7.24e+02 -0.3 2.33e-02 3.66e-03f 4 37 3.6073437e+01 9.63e-01 5.81e+05 1.2 4.41e+02 0.1 1.03e-02 1.43e-03f 5 38 3.6088113e+01 9.62e-01 5.80e+05 1.2 3.81e+02 -0.4 1.95e-02 9.65e-04f 5 39 4.1357598e+01 8.48e-01 3.84e+05 1.2 1.36e+03 - 8.16e-04 1.58e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 6.5145990e+01 6.35e-01 2.19e+05 1.2 7.40e+01 -0.9 1.00e+00 1.00e+00f 1 41 5.8254112e+01 2.95e-02 1.31e+04 1.2 8.86e+00 -0.4 1.00e+00 1.00e+00f 1 42 5.7753779e+01 5.25e-02 1.63e+02 1.2 1.71e+00 -0.9 1.00e+00 1.00e+00f 1 43 5.6851177e+01 1.46e-03 1.05e+01 -0.4 3.54e+00 -1.4 9.97e-01 1.00e+00f 1 44 5.3920999e+01 1.40e-02 1.16e+00 -1.1 1.04e+01 -1.9 9.95e-01 1.00e+00f 1 45 4.5017374e+01 1.80e-01 1.42e+01 -1.9 3.10e+01 -2.3 9.88e-01 1.00e+00f 1 46 2.2937066e+01 1.67e+00 2.11e+01 -1.9 8.67e+01 -2.8 8.36e-01 1.00e+00f 1 47 9.8420307e+00 3.18e+00 1.55e+02 -1.9 8.09e+03 - 1.82e-02 3.12e-02f 6 48 9.1763681e+00 2.75e+00 7.47e+01 -1.9 4.59e+01 -1.5 5.41e-01 1.37e-01f 1 49 8.6276643e+00 2.08e+00 1.95e+02 -1.9 5.69e+01 -2.0 6.61e-03 2.08e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 7.9529711e+00 1.63e+00 3.40e+02 -1.9 6.72e+01 -1.5 5.98e-01 2.24e-01h 1 51 7.8387928e+00 1.26e+00 3.74e+02 -1.9 3.73e+01 -1.1 2.90e-01 1.88e-01h 1 52 9.8115762e+00 1.25e+00 1.36e+03 -1.9 2.11e+01 -0.7 1.00e+00 1.00e+00h 1 53 9.8284799e+00 3.46e-01 3.15e+02 -1.9 3.32e+00 -0.3 4.45e-01 1.00e+00h 1 54 8.8448949e+00 5.19e-01 1.45e+02 -4.0 1.48e+00 0.2 1.66e-02 1.00e+00f 1 55 9.4883915e+00 3.91e-01 6.57e+01 -2.3 1.74e+00 -0.3 1.00e+00 1.00e+00h 1 56 9.0116387e+00 1.27e-01 1.85e+01 -2.8 1.25e+00 -0.8 1.00e+00 1.00e+00h 1 57 6.8889727e+00 2.44e+00 3.81e+01 -1.7 7.14e+02 - 1.00e+00 6.56e-02f 3 58 5.4470909e+00 1.46e+00 2.05e+01 -1.8 2.19e+00 -0.4 9.44e-01 3.67e-01f 1 59 8.3229405e+00 8.10e-01 4.11e+02 -1.6 3.42e+02 - 1.00e+00 2.50e-01h 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 1.1076860e+01 1.58e-02 4.64e+02 -1.0 1.50e+00 -0.8 1.00e+00 1.00e+00h 1 61 9.8579739e+00 8.20e-01 3.16e+02 -0.7 2.69e+01 - 2.21e-01 3.45e-01F 1 62 7.0535505e+00 2.30e-01 7.40e+01 -1.0 2.65e+01 - 1.00e+00 1.00e+00f 1 63 5.2092054e+00 4.97e-01 2.76e+01 -0.7 2.18e+01 - 1.00e+00 1.00e+00f 1 64 5.8581778e+00 1.49e-01 5.23e+00 -1.0 3.02e+00 - 9.99e-01 1.00e+00h 1 65 5.7558847e+00 2.10e-02 5.59e-01 -2.1 1.26e+00 -1.3 9.98e-01 1.00e+00h 1 66 5.0370377e+00 5.91e-01 3.24e-01 -1.7 3.48e+01 - 1.00e+00 2.50e-01f 3 67 5.5773898e+00 2.60e-01 3.02e+00 -2.4 2.02e+00 - 9.84e-01 1.00e+00h 1 68 4.9874884e+00 4.99e-01 5.76e+00 -1.8 2.03e+00 -0.9 1.00e+00 1.00e+00h 1 69 6.4387264e+00 4.68e-01 1.70e+01 -1.9 5.56e+00 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 5.7600519e+00 1.25e-02 3.53e-01 -2.0 1.96e-01 -1.4 1.00e+00 1.00e+00h 1 71 5.0667380e+00 4.64e-01 4.29e-01 -1.7 3.35e+01 - 6.64e-01 2.50e-01f 3 72 5.4682281e+00 1.01e-01 1.35e+00 -3.4 1.14e+00 - 9.99e-01 1.00e+00h 1 73 5.3506849e+00 6.51e-01 1.42e+00 -3.4 3.50e+00 -1.8 1.00e+00 1.00e+00h 1 74 5.3837117e+00 5.24e-01 1.21e+00 -3.5 1.59e+00 -0.5 1.00e+00 1.73e-01h 1 75 5.5161605e+00 4.11e-03 9.02e-01 -3.5 1.18e+00 - 1.00e+00 1.00e+00h 1 76 5.0657102e+00 3.53e-01 5.72e-01 -1.5 1.09e+00 - 2.21e-01 1.00e+00f 1 77 5.5139444e+00 1.10e-01 1.09e+00 -2.9 1.19e+00 - 1.00e+00 1.00e+00h 1 78 5.4075684e+00 3.38e-03 4.56e-02 -3.6 1.52e-01 -1.0 1.00e+00 1.00e+00h 1 79 5.3622285e+00 3.89e-02 1.86e-02 -4.0 9.26e-01 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 5.3970740e+00 1.39e-03 8.30e-03 -4.0 2.46e-01 - 1.00e+00 1.00e+00h 1 81 5.3983601e+00 3.66e-05 8.23e-05 -4.0 2.59e-02 - 1.00e+00 1.00e+00h 1 82 5.3983970e+00 3.49e-10 8.12e-09 -4.0 1.40e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 82 (scaled) (unscaled) Objective...............: 5.3983969813355195e+00 5.3983969813355195e+00 Dual infeasibility......: 8.1156570013005309e-09 8.1156570013005309e-09 Constraint violation....: 3.4944624971444682e-10 3.4944624971444682e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000005026852e-04 1.0000000005026852e-04 Overall NLP error.......: 8.1156570013005309e-09 8.1156570013005309e-09 Number of objective function evaluations = 175 Number of objective gradient evaluations = 83 Number of equality constraint evaluations = 175 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 83 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 82 Total seconds in IPOPT = 29.777 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.708s jacobian structure: 1600 nonzeros (2.774s) integrator 1 hessian structure: 0.061s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.101s 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 (4.164s) linear index maps built (0.0s) evaluator ready (total: 6.939s) evaluator created (6.963s) 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: 6.965s) 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 5.6074338e+00 3.28e+00 4.05e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7596320e+00 8.97e-02 9.88e-01 -1.0 2.09e+00 -2.0 9.77e-01 1.00e+00f 1 2 2.4301520e+00 4.93e-02 3.93e-01 -1.3 1.23e+00 -2.5 8.97e-01 1.00e+00h 1 3 2.1872516e+00 4.16e-02 1.09e-01 -2.3 1.59e+00 -3.0 9.57e-01 1.00e+00h 1 4 2.1073274e+00 6.22e-03 1.19e-02 -2.8 5.38e-01 -3.4 9.65e-01 1.00e+00h 1 5 2.0909120e+00 1.65e-04 7.45e-04 -4.0 1.41e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0907976e+00 8.63e-06 4.55e-04 -4.0 4.73e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0907147e+00 3.29e-07 1.14e-03 -4.0 1.07e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0904971e+00 3.84e-06 1.06e-03 -4.0 3.34e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0898413e+00 3.15e-05 1.01e-03 -4.0 9.60e+00 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0897092e+00 3.04e-05 5.39e-02 -4.0 4.64e+01 -6.3 4.10e-01 2.92e-02h 2 11 2.0858463e+00 1.34e-03 4.19e-02 -4.0 5.93e+01 -6.8 1.00e+00 1.00e+00h 1 12 2.0850880e+00 9.83e-04 7.82e-02 -4.0 3.13e+01 -6.3 1.00e+00 2.79e-01h 1 13 2.0829188e+00 4.97e-04 2.97e-02 -4.0 3.83e+01 -6.8 1.00e+00 1.00e+00h 1 14 2.0828552e+00 7.91e-04 2.45e-02 -4.0 5.68e+01 -7.3 1.00e+00 1.00e+00h 1 15 2.0822991e+00 1.42e-03 1.86e-02 -4.0 1.62e+02 -7.8 6.13e-01 1.00e+00h 1 16 2.2629443e+00 2.05e-04 7.32e-01 -4.0 1.11e+02 -8.3 2.24e-01 9.39e-01h 1 17 2.2479877e+00 1.69e-08 7.11e-01 -4.1 1.82e-02 1.6 1.00e+00 1.00e+00h 1 18 2.2135185e+00 1.59e-06 6.12e-01 -3.1 4.69e-02 1.1 1.00e+00 1.00e+00f 1 19 2.1556227e+00 1.40e-07 4.49e-01 -3.4 1.02e-01 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 20 2.1017836e+00 6.02e-08 2.29e-01 -3.5 1.58e-01 0.2 1.00e+00 1.00e+00f 1 21 2.0830938e+00 3.63e-07 5.28e-02 -4.0 1.32e-01 -0.3 1.00e+00 1.00e+00f 1 22 2.0820183e+00 1.37e-07 3.11e-02 -4.0 3.10e-02 -0.8 1.00e+00 8.88e-01f 1 23 2.0823679e+00 2.60e-08 8.59e-04 -4.0 1.53e-02 -1.3 1.00e+00 1.00e+00f 1 24 2.0820981e+00 7.32e-09 1.20e-04 -4.0 7.93e-03 -1.7 1.00e+00 1.00e+00h 1 25 2.0820332e+00 1.13e-09 1.01e-05 -4.0 2.69e-03 -2.2 1.00e+00 1.00e+00h 1 26 2.0820242e+00 9.28e-10 2.62e-06 -4.0 1.32e-03 -2.7 1.00e+00 1.00e+00h 1 27 2.0820242e+00 5.96e-11 2.62e-06 -4.0 3.97e-03 -3.2 1.00e+00 1.00e+00h 1 28 2.0820248e+00 3.22e-10 2.62e-06 -4.0 1.19e-02 -3.7 1.00e+00 1.00e+00h 1 29 2.0818858e+00 6.61e-07 6.43e-05 -4.1 3.22e-02 -4.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0820348e+00 2.31e-06 5.21e-05 -4.0 1.07e-01 -4.6 1.00e+00 1.00e+00h 1 31 2.0818843e+00 6.27e-06 5.97e-05 -4.1 2.90e-01 -5.1 1.00e+00 1.00e+00h 1 32 2.0820568e+00 2.16e-05 1.39e-04 -4.0 9.63e-01 -5.6 1.00e+00 1.00e+00h 1 33 2.0818737e+00 5.90e-05 2.07e-04 -4.1 2.60e+00 -6.0 1.00e+00 1.00e+00h 1 34 2.0820849e+00 2.11e-04 3.61e-04 -4.0 8.58e+00 -6.5 1.00e+00 1.00e+00h 1 35 2.0818108e+00 5.65e-04 6.08e-04 -4.1 2.38e+01 -7.0 1.00e+00 1.00e+00h 1 36 2.0844860e+00 1.74e-05 1.14e-01 -4.0 1.35e+02 -7.5 2.59e-01 1.00e+00H 1 37 2.0827060e+00 3.23e-03 1.56e+00 -4.2 1.03e+02 -5.2 2.52e-02 7.40e-02f 1 38 2.0822305e+00 4.02e-03 1.56e+00 -4.2 4.91e+03 -5.7 1.70e-06 2.85e-04f 1 39 2.0822637e+00 4.05e-03 1.57e+00 -4.2 1.71e+04 -6.2 2.07e-07 2.93e-05f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0822751e+00 3.93e-03 3.04e+00 -4.2 7.83e-01 -3.1 1.00e+00 2.92e-02h 1 41 2.0823000e+00 7.74e-07 1.97e-04 -4.2 2.98e-02 -3.5 1.00e+00 1.00e+00f 1 42 2.0817137e+00 1.14e-05 9.37e-03 -6.2 1.32e-01 -4.0 8.91e-01 1.00e+00h 1 43 2.0826553e+00 3.19e-05 1.24e-03 -4.0 2.38e-01 -4.5 1.00e+00 1.00e+00f 1 44 2.0823496e+00 2.36e-05 1.01e-04 -4.1 6.92e-01 -5.0 1.00e+00 1.00e+00h 1 45 2.0814975e+00 3.13e-04 1.49e-03 -6.1 3.18e+00 -5.4 1.00e+00 1.00e+00h 1 46 2.0821873e+00 5.85e-04 4.30e-03 -4.0 4.32e+00 -5.9 1.00e+00 1.00e+00h 1 47 2.0818006e+00 3.18e-04 1.33e-03 -4.1 7.79e+00 -6.4 1.00e+00 1.00e+00h 1 48 2.0816799e+00 5.33e-05 9.15e-04 -4.1 2.08e+01 -6.9 1.00e+00 1.00e+00h 1 49 2.0857375e+00 1.41e-06 1.26e-01 -4.0 1.17e+02 -7.4 2.22e-01 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0837956e+00 2.98e-04 1.83e+00 -4.2 2.68e+01 -5.1 3.69e-01 1.27e-01f 1 51 2.0833189e+00 2.74e-04 1.12e-01 -4.2 1.33e+01 -5.6 1.00e+00 7.59e-02f 1 52 2.0815332e+00 1.59e-04 6.64e-02 -4.2 3.56e+00 -5.2 1.00e+00 7.10e-01f 1 53 2.0823959e+00 1.30e-04 6.75e-03 -4.0 3.14e+00 -5.7 1.00e+00 1.00e+00f 1 54 2.0821105e+00 3.46e-04 4.17e-03 -4.0 5.65e+00 -6.1 1.00e+00 1.00e+00h 1 55 2.0819803e+00 1.14e-04 2.54e-03 -4.0 1.16e+01 -6.6 1.00e+00 1.00e+00h 1 56 2.0818860e+00 1.51e-04 2.30e-03 -4.0 3.61e+01 -7.1 1.00e+00 1.00e+00h 1 57 2.0819635e+00 7.38e-04 6.27e-03 -4.0 2.78e+01 -6.7 1.00e+00 1.00e+00h 1 58 2.0819567e+00 5.35e-04 2.86e-02 -4.0 1.44e+01 -7.1 4.04e-01 5.00e-01h 2 59 2.0818008e+00 1.00e-04 1.47e-01 -4.0 1.44e-01 -2.2 1.00e+00 8.13e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0819493e+00 4.44e-07 2.02e-03 -4.0 1.17e-01 -2.7 1.00e+00 1.00e+00f 1 61 2.0819506e+00 2.14e-06 3.89e-04 -4.0 5.01e-02 -3.1 1.00e+00 1.00e+00h 1 62 2.0818384e+00 6.26e-08 2.66e-04 -4.1 1.65e-02 -1.8 1.00e+00 1.00e+00h 1 63 2.0819579e+00 1.93e-07 6.25e-05 -4.0 8.05e-03 -2.3 1.00e+00 1.00e+00h 1 64 2.0818047e+00 2.84e-07 8.73e-05 -4.1 2.60e-02 -2.8 1.00e+00 1.00e+00h 1 65 2.0819539e+00 8.55e-07 8.30e-05 -4.0 1.95e-02 -3.2 1.00e+00 1.00e+00h 1 66 2.0817978e+00 2.36e-06 1.03e-04 -4.1 3.71e-02 -3.7 1.00e+00 1.00e+00h 1 67 2.0819552e+00 9.25e-06 7.60e-05 -4.0 1.49e-01 -4.2 1.00e+00 1.00e+00h 1 68 2.0818209e+00 1.47e-05 1.28e-04 -4.1 4.01e-01 -4.7 1.00e+00 1.00e+00h 1 69 2.0815663e+00 7.81e-05 3.41e-01 -6.1 3.24e+00 -5.2 5.05e-01 2.24e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0819149e+00 4.26e-05 3.30e-04 -4.0 6.58e-01 -5.6 1.00e+00 1.00e+00f 1 71 2.0818588e+00 3.59e-04 1.01e-01 -4.1 9.94e+00 -6.1 7.01e-01 1.00e+00h 1 72 2.0817528e+00 5.33e-05 1.16e-01 -4.1 7.87e-02 -2.1 1.00e+00 8.52e-01h 1 73 2.0818641e+00 3.32e-07 1.12e-04 -4.1 2.41e-02 -2.6 1.00e+00 1.00e+00f 1 74 2.0812360e+00 3.35e-06 1.58e-01 -6.2 1.20e-01 -3.0 7.32e-01 1.00e+00h 1 75 2.0820803e+00 6.98e-06 2.28e-03 -4.0 1.40e-01 -3.5 1.00e+00 1.00e+00f 1 76 2.0818412e+00 4.62e-06 3.40e-05 -4.1 1.20e-01 -4.0 1.00e+00 1.00e+00h 1 77 2.0812161e+00 4.49e-05 6.71e-02 -6.1 4.50e-01 -4.5 8.22e-01 1.00e+00h 1 78 2.0823644e+00 2.24e-04 3.13e+00 -3.4 1.01e+01 -4.9 7.91e-01 2.23e-01f 1 79 2.0842072e+00 6.18e-03 2.09e+00 -3.7 6.45e+00 -5.4 5.53e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0839009e+00 5.65e-03 4.14e-01 -3.7 1.56e+00 -2.3 2.45e-01 8.57e-02h 2 81 2.0836405e+00 3.41e-03 1.30e+00 -3.7 2.81e-01 -2.8 1.00e+00 3.97e-01h 2 82 2.0834812e+00 3.83e-05 2.65e-03 -3.7 7.17e-02 -3.2 1.00e+00 1.00e+00h 1 83 2.0828865e+00 2.21e-05 3.89e-01 -3.7 6.81e-01 -3.7 3.02e-01 4.16e-01h 1 84 2.0832998e+00 3.18e-06 3.90e-03 -3.7 1.60e-01 -4.2 1.00e+00 1.00e+00f 1 85 2.0831381e+00 1.19e-08 7.28e-04 -3.7 8.02e-02 -2.9 1.00e+00 1.00e+00H 1 86 2.0822229e+00 7.17e-06 1.11e-01 -5.5 3.39e-01 -3.3 4.82e-01 5.28e-01f 1 87 2.0814669e+00 1.03e-05 4.21e-02 -5.5 8.04e-02 -3.8 8.66e-01 1.00e+00h 1 88 2.0814072e+00 2.00e-06 2.91e-05 -5.5 2.20e-01 -4.3 1.00e+00 1.00e+00h 1 89 2.0824805e+00 8.28e-05 2.49e-03 -4.0 6.02e-01 -4.8 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0821510e+00 3.96e-05 5.84e-04 -4.1 4.00e-01 -4.3 1.00e+00 1.00e+00h 1 91 2.0818213e+00 6.62e-05 5.51e-01 -6.1 4.34e+00 -4.8 3.89e-01 2.49e-01h 1 92 2.0817146e+00 5.36e-05 6.76e-02 -6.1 2.16e+00 -5.3 9.12e-01 1.64e-01h 1 93 2.0814664e+00 1.31e-04 3.81e-01 -6.1 1.04e+01 -5.8 1.00e+00 4.50e-01h 2 94 2.0808941e+00 2.44e-04 3.42e-02 -6.1 1.54e+01 -6.2 8.66e-01 7.12e-01h 1 95 2.0808672e+00 5.15e-06 1.05e-02 -5.6 2.74e-01 -4.0 1.00e+00 9.83e-01h 1 96 2.0809508e+00 5.20e-06 1.02e+00 -4.0 8.89e+00 -4.5 5.53e-01 5.43e-02f 1 97 2.0810696e+00 3.01e-04 2.87e+00 -4.3 7.68e+00 -5.0 1.00e+00 2.53e-01h 2 98 2.0815311e+00 2.09e-04 3.89e-03 -4.3 1.83e+00 -5.4 1.00e+00 1.00e+00h 1 99 2.0812926e+00 1.14e-04 4.41e-04 -4.3 1.37e+00 -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 100 2.0807531e+00 3.84e-04 3.29e-03 -6.4 7.60e+00 -6.4 9.95e-01 9.49e-01h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0807530616434211e+00 2.0807530616434211e+00 Dual infeasibility......: 3.2875275116481615e-03 3.2875275116481615e-03 Constraint violation....: 3.8423356696082323e-04 3.8423356696082323e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.2241955242707753e-05 1.2241955242707753e-05 Overall NLP error.......: 3.2875275116481615e-03 3.2875275116481615e-03 Number of objective function evaluations = 118 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 118 Number of inequality constraint evaluations = 118 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 28.773 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.067s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 5.779s jacobian structure: 1680 nonzeros (5.846s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 13.255s 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): 0.663s objective hessian structure: 0.664s hessian structure: 1964 nonzeros (13.968s) linear index maps built (0.0s) evaluator ready (total: 19.815s) evaluator created (19.84s) 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: 19.841s) 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 7.2744662e+00 1.99e+00 3.67e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.1825346e+00 1.59e-01 3.44e+00 -1.0 2.12e+00 0.0 7.72e-01 9.22e-01f 1 2 3.0152301e+00 7.18e-02 5.62e+00 -0.9 5.02e-01 0.4 9.07e-01 5.46e-01f 1 3 3.3268544e+00 3.93e-02 3.16e+00 -0.7 4.27e-01 -0.1 8.91e-01 1.00e+00f 1 4 2.8057726e+00 8.05e-02 1.30e+00 -0.7 8.95e-01 -0.5 6.68e-01 5.44e-01f 1 5 2.3995107e+00 1.23e-01 1.23e+00 -1.5 9.88e-01 -1.0 7.48e-01 1.00e+00h 1 6 2.4026281e+00 2.70e-03 2.47e-01 -1.4 1.66e-01 -1.5 9.84e-01 1.00e+00h 1 7 2.1703715e+00 3.70e-03 2.98e-02 -2.1 1.46e-01 -2.0 9.95e-01 1.00e+00f 1 8 2.0937134e+00 7.07e-04 1.79e-02 -3.7 9.18e-02 -2.4 9.97e-01 9.42e-01h 1 9 2.0911090e+00 1.56e-05 9.95e-04 -4.0 4.40e-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 2.0910593e+00 2.46e-07 8.24e-05 -4.0 6.70e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0910332e+00 1.83e-08 4.02e-05 -4.0 2.05e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0909575e+00 1.66e-07 4.67e-04 -4.0 5.89e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0908587e+00 6.27e-07 1.47e-03 -4.0 1.14e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0906566e+00 2.85e-06 2.77e-03 -4.0 3.11e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0900871e+00 2.98e-05 6.49e-04 -4.0 9.37e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0897815e+00 4.47e-06 1.98e-03 -4.0 3.42e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0889483e+00 3.76e-05 2.72e-03 -4.0 1.04e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0887063e+00 3.82e-05 2.30e-01 -4.0 7.45e+01 -6.3 1.00e+00 3.70e-02h 2 19 2.0849802e+00 1.42e-03 4.72e-02 -4.0 5.67e+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 2.0841186e+00 1.29e-03 2.05e-01 -4.0 2.22e+02 -7.3 1.00e+00 1.05e-01h 1 21 2.0823219e+00 5.57e-04 5.03e-02 -4.0 1.18e+02 -7.7 1.00e+00 8.80e-01h 1 22 2.0820666e+00 1.03e-03 4.13e-02 -4.0 2.17e+02 -8.2 6.24e-01 1.00e+00h 1 23 1.3143105e+01 7.23e-05 4.49e+01 -4.0 9.43e+02 -8.7 1.42e-02 1.00e+00H 1 24 2.2266679e+00 1.37e-07 5.20e+00 -4.1 4.37e-01 1.2 1.01e-01 1.00e+00f 1 25 2.0867621e+00 5.57e-08 9.35e-01 -4.1 5.30e-02 0.7 1.00e+00 8.61e-01f 1 26 2.0871134e+00 5.53e-08 4.45e+00 -4.0 4.71e-02 0.2 1.00e+00 7.81e-03f 8 27 2.0871120e+00 8.10e-08 1.51e-03 -4.0 2.86e-03 -0.3 1.00e+00 1.00e+00h 1 28 2.0868944e+00 6.59e-09 1.35e-03 -4.0 7.67e-03 -0.8 1.00e+00 1.00e+00h 1 29 2.0868528e+00 1.05e-08 1.30e-03 -4.0 2.21e-02 -1.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0867583e+00 8.43e-08 1.21e-03 -4.0 6.16e-02 -1.7 1.00e+00 1.00e+00h 1 31 2.0865558e+00 5.49e-07 9.14e-04 -4.0 1.40e-01 -2.2 1.00e+00 1.00e+00h 1 32 2.0865120e+00 1.75e-07 1.11e-04 -4.0 5.09e-02 -2.7 1.00e+00 1.00e+00h 1 33 2.0865519e+00 2.22e-07 4.85e-05 -4.0 2.04e-02 -3.1 1.00e+00 1.00e+00h 1 34 2.0865464e+00 3.39e-08 4.84e-05 -4.0 4.25e-02 -3.6 1.00e+00 1.00e+00h 1 35 2.0865364e+00 2.57e-08 4.85e-05 -4.0 1.27e-01 -4.1 1.00e+00 1.00e+00h 1 36 2.0865075e+00 2.26e-07 4.86e-05 -4.0 3.78e-01 -4.6 1.00e+00 1.00e+00h 1 37 2.0864286e+00 1.78e-06 7.02e-05 -4.0 1.10e+00 -5.0 1.00e+00 1.00e+00h 1 38 2.0862485e+00 1.07e-05 4.02e-04 -4.0 3.19e+00 -5.5 1.00e+00 1.00e+00h 1 39 2.0859533e+00 3.19e-05 1.20e-03 -4.0 9.35e+00 -6.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0854591e+00 3.89e-05 2.64e-03 -4.0 2.66e+01 -6.5 1.00e+00 1.00e+00h 1 41 2.0844936e+00 2.99e-04 1.34e-02 -4.0 6.93e+01 -7.0 1.00e+00 1.00e+00h 1 42 2.0831406e+00 1.48e-03 4.50e-02 -4.0 1.51e+02 -7.4 1.00e+00 1.00e+00h 1 43 2.0818459e+00 1.77e-03 5.82e-02 -4.1 2.35e+02 -7.9 9.31e-01 1.00e+00h 1 44 2.0829024e+00 2.21e-06 8.53e-02 -4.0 5.63e+01 -6.6 1.00e+00 1.00e+00H 1 45 2.0863419e+00 2.73e-02 2.98e-02 -3.3 1.36e+02 -7.1 8.63e-01 1.00e+00f 1 46 2.0909126e+00 2.52e-02 1.33e+00 -3.4 6.66e+01 -5.7 7.69e-02 2.45e-01h 1 47 2.0878009e+00 2.77e-06 1.94e-02 -3.4 9.34e-02 -0.8 1.00e+00 1.00e+00f 1 48 2.0864992e+00 1.32e-06 4.46e-03 -3.4 5.99e-02 -1.3 1.00e+00 1.00e+00h 1 49 2.0860532e+00 5.91e-06 3.81e-03 -3.4 1.21e-01 -1.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0852335e+00 2.56e-05 2.95e-02 -3.4 3.00e-01 -2.2 9.55e-01 1.00e+00h 1 51 2.0852150e+00 1.71e-05 4.96e-01 -3.4 5.49e-01 -2.7 1.00e+00 3.43e-01h 2 52 2.0851318e+00 2.11e-07 3.13e-04 -3.4 2.58e-02 -3.2 1.00e+00 1.00e+00h 1 53 2.0830234e+00 4.41e-05 1.06e-01 -5.1 1.23e-01 -3.7 7.96e-01 1.00e+00h 1 54 2.0826490e+00 2.38e-05 1.12e-01 -5.1 2.86e-01 -4.1 9.32e-01 7.53e-01h 1 55 2.0832561e+00 2.56e-06 5.49e-04 -4.0 4.73e-02 -2.8 1.00e+00 1.00e+00f 1 56 2.0830979e+00 9.16e-07 4.41e-05 -4.1 3.08e-02 -3.3 1.00e+00 1.00e+00h 1 57 2.0823810e+00 1.19e-05 3.77e-02 -6.1 1.66e-01 -3.8 6.42e-01 1.00e+00h 1 58 2.0833070e+00 4.31e-05 2.11e-03 -4.0 2.63e-01 -4.2 1.00e+00 1.00e+00f 1 59 2.0829754e+00 6.31e-05 1.30e-03 -4.1 6.96e-01 -4.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0828591e+00 9.16e-06 5.65e-04 -4.1 1.61e+00 -5.2 1.00e+00 1.00e+00h 1 61 2.0828684e+00 8.39e-05 1.25e-03 -4.0 3.26e+00 -5.7 1.00e+00 1.00e+00h 1 62 2.0823809e+00 1.89e-04 1.01e-03 -4.1 8.19e+00 -6.1 1.00e+00 1.00e+00h 1 63 2.0820676e+00 3.56e-04 4.09e-03 -4.0 1.35e+01 -6.6 1.00e+00 1.00e+00h 1 64 2.0818667e+00 3.31e-04 4.11e-03 -4.0 1.29e+01 -7.1 1.00e+00 1.00e+00h 1 65 2.0818491e+00 2.86e-04 1.42e-03 -4.0 2.62e+01 -7.6 1.00e+00 1.00e+00h 1 66 2.0818412e+00 2.08e-04 3.44e-03 -4.0 4.16e+01 -8.0 1.00e+00 1.00e+00h 1 67 2.0818379e+00 1.28e-04 2.44e-03 -4.0 5.00e+01 -8.5 1.00e+00 1.00e+00h 1 68 2.0818400e+00 2.17e-05 5.25e-04 -4.0 2.88e+01 -9.0 1.00e+00 1.00e+00h 1 69 2.0818407e+00 8.06e-07 5.04e-05 -4.0 6.78e+00 -9.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0818407e+00 5.46e-09 5.04e-05 -4.0 5.92e-01 -10.0 1.00e+00 1.00e+00h 1 71 2.0818407e+00 4.26e-12 5.04e-05 -4.0 1.84e-02 -10.4 1.00e+00 1.00e+00h 1 72 2.0818407e+00 2.13e-12 2.52e-05 -4.0 1.98e-04 -10.9 1.00e+00 5.00e-01h 2 73 2.0818407e+00 6.66e-16 5.04e-05 -4.0 9.95e-05 -11.4 1.00e+00 1.00e+00H 1 74 2.0818407e+00 8.88e-16 5.04e-05 -4.0 2.52e-05 -11.9 1.00e+00 1.00e+00h 1 75 2.0815814e+00 2.08e-04 4.10e-05 -4.1 9.47e+00 -12.3 1.00e+00 1.00e+00h 1 76 2.0818419e+00 2.15e-04 5.05e-05 -4.0 9.79e+00 -12.8 1.00e+00 1.00e+00h 1 77 2.0815819e+00 2.14e-04 4.11e-05 -4.1 9.75e+00 -13.3 1.00e+00 1.00e+00h 1 78 2.0805924e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -13.8 9.77e-01 9.68e-01h 1 79 2.0818894e+00 6.59e-03 2.97e-04 -4.0 6.14e+01 -14.3 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0816124e+00 4.95e-04 4.19e-05 -4.1 2.07e+01 -14.7 1.00e+00 1.00e+00h 1 81 2.0806015e+00 3.47e-03 1.91e-04 -6.1 4.19e+01 -15.2 9.76e-01 9.61e-01h 1 82 2.0805507e+00 9.05e-05 2.22e-06 -6.1 1.70e+01 -15.7 1.00e+00 1.00e+00h 1 83 2.0819806e+00 1.03e-02 3.96e-04 -4.0 8.49e+01 -16.2 1.00e+00 1.00e+00f 1 84 2.0816780e+00 9.65e-04 4.95e-05 -4.1 4.57e+01 -16.6 1.00e+00 1.00e+00h 1 85 2.0816420e+00 4.58e-07 4.32e-05 -4.1 8.54e+00 -17.1 1.00e+00 1.00e+00h 1 86 2.0818414e+00 1.26e-04 5.04e-05 -4.0 7.46e+00 -17.6 1.00e+00 1.00e+00h 1 87 2.0815817e+00 2.11e-04 4.10e-05 -4.1 9.63e+00 -18.1 1.00e+00 1.00e+00h 1 88 2.0805923e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -18.5 9.77e-01 9.68e-01h 1 89 2.0805497e+00 7.03e-05 1.80e-06 -6.1 1.55e+01 -19.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0819871e+00 1.06e-02 4.00e-04 -4.0 8.58e+01 -19.5 1.00e+00 1.00e+00f 1 91 2.0816826e+00 9.87e-04 5.24e-05 -4.1 4.71e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0816444e+00 5.44e-07 4.33e-05 -4.1 8.94e+00 -20.0 1.00e+00 1.00e+00h 1 93 2.0805933e+00 3.65e-03 1.55e-04 -6.1 4.19e+01 -20.0 9.76e-01 9.71e-01h 1 94 2.0805509e+00 7.35e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 95 2.0805468e+00 5.07e-08 4.31e-07 -6.1 2.92e+00 -20.0 1.00e+00 1.00e+00h 1 96 2.0820226e+00 1.22e-02 4.21e-04 -4.0 9.85e+01 -20.0 1.00e+00 1.00e+00f 1 97 2.0817083e+00 1.09e-03 6.84e-05 -4.1 5.45e+01 -20.0 1.00e+00 1.00e+00h 1 98 2.0816573e+00 1.18e-06 4.37e-05 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 99 2.0805943e+00 3.73e-03 1.58e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.71e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805512e+00 7.57e-05 2.01e-06 -6.1 1.64e+01 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805512040016816e+00 2.0805512040016816e+00 Dual infeasibility......: 2.0149791636433538e-06 2.0149791636433538e-06 Constraint violation....: 7.5683080188744534e-05 7.5683080188744534e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 3.0000807044048790e-06 3.0000807044048790e-06 Overall NLP error.......: 9.9206555098496125e-05 9.9206555098496125e-05 Number of objective function evaluations = 116 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 116 Number of inequality constraint evaluations = 116 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 35.344 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: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) jacobian structure: 2.912s jacobian structure: 1594 nonzeros (2.974s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) hessian structure: 6.805s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s sub-objective 5 (GlobalObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1804 nonzeros (6.855s) linear index maps built (0.0s) evaluator ready (total: 9.829s) evaluator created (9.851s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 9.852s) 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 6.5766419e+01 3.76e+00 2.51e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.2715683e+01 2.01e+00 1.31e+01 -0.5 2.25e+00 0.0 9.30e-01 4.65e-01f 1 2 3.2894232e+00 7.55e-02 7.10e+00 -0.4 1.36e+00 -0.5 6.57e-01 1.00e+00f 1 3 3.0996350e+00 2.06e-02 5.17e-01 -0.7 2.11e-01 -0.1 9.53e-01 1.00e+00h 1 4 2.6437807e+00 1.09e-01 4.83e-01 -1.4 8.84e-01 -0.5 7.32e-01 5.05e-01f 1 5 2.5806830e+00 9.25e-02 2.65e+00 -1.2 2.11e+00 -1.0 1.00e+00 1.54e-01f 2 6 2.5019940e+00 8.11e-02 3.79e+00 -1.4 4.75e+00 -1.5 1.00e+00 1.24e-01h 2 7 2.4230466e+00 2.75e-03 2.92e-01 -1.7 1.63e-01 -1.1 9.99e-01 1.00e+00h 1 8 2.1994277e+00 4.72e-03 1.28e-01 -2.2 1.82e-01 -1.5 9.94e-01 6.82e-01f 1 9 2.0967067e+00 1.10e-03 1.50e-02 -3.3 8.06e-02 -2.0 9.93e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909561e+00 4.49e-06 2.15e-04 -4.0 1.72e-02 -2.5 1.00e+00 1.00e+00h 1 11 2.0908648e+00 2.12e-07 2.15e-04 -4.0 5.04e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0908577e+00 9.51e-09 2.14e-04 -4.0 4.12e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908480e+00 4.62e-09 2.14e-04 -4.0 1.23e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0908191e+00 4.11e-08 2.14e-04 -4.0 3.69e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0907290e+00 3.77e-07 2.14e-04 -4.0 1.12e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0903757e+00 4.66e-07 2.77e-03 -4.0 3.92e+00 -5.4 1.00e+00 8.94e-01H 1 17 2.0898487e+00 5.20e-05 1.37e-02 -4.0 1.20e+01 -5.8 1.00e+00 1.00e+00f 1 18 2.0892123e+00 5.42e-06 1.74e-03 -4.0 9.17e-01 -4.5 1.00e+00 9.38e-01h 1 19 2.0892059e+00 2.34e-06 1.80e-03 -4.0 1.63e+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 2.0886900e+00 1.04e-05 1.94e-03 -4.0 4.88e+00 -5.5 1.00e+00 1.00e+00h 1 21 2.0876352e+00 5.78e-05 2.73e-03 -4.0 1.32e+01 -5.9 1.00e+00 1.00e+00h 1 22 2.0856173e+00 2.64e-04 2.10e-02 -4.0 3.14e+01 -6.4 1.00e+00 8.49e-01h 1 23 2.0831161e+00 7.18e-04 4.14e-02 -4.0 4.84e+01 -6.9 1.00e+00 1.00e+00h 1 24 2.0829790e+00 9.05e-04 2.77e-02 -4.0 7.08e+01 -7.4 1.00e+00 1.00e+00h 1 25 2.0822672e+00 1.66e-03 1.56e-02 -4.0 1.79e+02 -7.8 6.74e-01 1.00e+00h 1 26 2.0945011e+00 1.15e-05 1.08e-01 -4.0 5.00e+01 -6.5 1.00e+00 1.00e+00H 1 27 2.0832390e+00 9.51e-07 1.97e-02 -4.0 1.71e-01 -0.7 1.00e+00 1.00e+00f 1 28 2.0828293e+00 2.07e-08 2.29e-03 -4.0 2.23e-02 -1.1 1.00e+00 1.00e+00h 1 29 2.0827551e+00 7.53e-07 1.38e-03 -4.0 5.73e-02 -1.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0826781e+00 7.63e-07 3.63e-04 -4.0 4.53e-02 -2.1 1.00e+00 1.00e+00h 1 31 2.0827306e+00 4.87e-08 2.14e-04 -4.0 1.32e-02 -2.6 1.00e+00 1.00e+00h 1 32 2.0827262e+00 1.59e-08 2.14e-04 -4.0 8.43e-03 -3.1 1.00e+00 1.00e+00h 1 33 2.0827245e+00 1.48e-09 2.14e-04 -4.0 2.53e-02 -3.5 1.00e+00 1.00e+00h 1 34 2.0827198e+00 3.45e-09 2.14e-04 -4.0 7.56e-02 -4.0 1.00e+00 1.00e+00h 1 35 2.0827057e+00 3.05e-08 2.14e-04 -4.0 2.24e-01 -4.5 1.00e+00 1.00e+00h 1 36 2.0826651e+00 2.57e-07 2.14e-04 -4.0 6.49e-01 -5.0 1.00e+00 1.00e+00h 1 37 2.0825574e+00 1.85e-06 2.14e-04 -4.0 1.81e+00 -5.4 1.00e+00 1.00e+00h 1 38 2.0823365e+00 1.12e-05 8.95e-04 -4.0 4.51e+00 -5.9 1.00e+00 1.00e+00h 1 39 2.0820729e+00 8.44e-05 1.45e-03 -4.0 1.36e+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 2.0842744e+00 2.21e-07 2.21e-02 -4.0 1.24e+01 -6.0 1.00e+00 1.00e+00H 1 41 2.0830751e+00 3.73e-07 1.87e-02 -3.8 6.81e-02 -1.0 9.87e-01 1.00e+00f 1 42 2.0827360e+00 1.44e-07 6.09e-03 -3.9 2.30e-02 -0.6 1.00e+00 1.00e+00h 1 43 2.0824636e+00 2.74e-07 3.16e-03 -3.9 3.36e-02 -1.1 1.00e+00 1.00e+00h 1 44 2.0821612e+00 1.66e-07 1.79e-03 -4.0 7.00e-02 -1.6 1.00e+00 1.00e+00h 1 45 2.0818415e+00 2.95e-06 2.42e-01 -4.0 1.67e-01 -2.0 1.00e+00 6.05e-01h 1 46 2.0819588e+00 3.72e-07 7.35e-04 -4.0 4.01e-02 -2.5 1.00e+00 1.00e+00f 1 47 2.0818650e+00 1.00e-07 1.72e-04 -4.1 8.04e-03 -3.0 1.00e+00 1.00e+00h 1 48 2.0813658e+00 3.58e-06 1.12e-01 -6.1 4.61e-02 -3.5 6.71e-01 1.00e+00h 1 49 2.0821478e+00 6.02e-06 2.57e-03 -4.0 4.50e-02 -3.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818708e+00 6.11e-06 1.73e-04 -4.1 1.61e-01 -4.4 1.00e+00 1.00e+00h 1 51 2.0813193e+00 7.15e-05 3.43e-02 -6.1 9.91e-01 -4.9 8.47e-01 9.58e-01h 1 52 2.0821562e+00 1.72e-04 3.09e-03 -4.0 1.53e+00 -5.4 1.00e+00 1.00e+00f 1 53 2.0819904e+00 6.81e-05 7.26e-04 -4.1 5.00e+00 -5.8 1.00e+00 1.00e+00h 1 54 2.0818551e+00 4.92e-05 2.98e-01 -6.1 6.48e+00 -5.4 4.08e-01 1.23e-01h 1 55 2.0810440e+00 4.35e-04 2.68e-03 -6.1 4.80e+00 -5.9 1.00e+00 1.00e+00h 1 56 2.0811441e+00 4.71e-05 4.39e-03 -4.8 4.58e+00 -6.4 1.00e+00 9.48e-01h 1 57 2.0820905e+00 8.79e-04 7.21e-02 -4.0 8.40e+00 -5.9 5.78e-01 1.00e+00f 1 58 2.1089991e+00 1.32e-03 3.08e-01 -4.2 3.64e+01 -6.4 1.06e-01 5.83e-01H 1 59 2.0855732e+00 3.54e-04 1.34e-01 -4.2 1.58e+01 -6.9 1.24e-03 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0847605e+00 3.27e-04 2.66e+00 -4.2 2.67e+00 -3.8 2.28e-01 4.97e-02h 1 61 2.0844596e+00 3.20e-04 9.71e+00 -4.2 4.35e+00 -2.4 1.51e-01 2.01e-02h 1 62 2.0829112e+00 1.58e-04 1.84e+00 -4.2 2.48e-01 -2.9 7.94e-01 5.06e-01f 1 63 2.0823825e+00 1.22e-04 1.82e+00 -4.2 2.14e-01 -3.4 9.99e-02 2.27e-01f 1 64 2.0816015e+00 2.65e-05 7.14e-01 -4.2 1.06e-01 -3.9 6.82e-01 7.96e-01f 1 65 2.0815422e+00 3.31e-06 6.07e-04 -4.2 5.22e-02 -4.3 1.00e+00 1.00e+00f 1 66 2.0819316e+00 5.11e-05 5.40e-04 -4.0 6.49e-01 -4.8 1.00e+00 1.00e+00h 1 67 2.0818243e+00 1.08e-05 4.20e-04 -4.1 5.25e-01 -5.3 1.00e+00 1.00e+00h 1 68 2.0810462e+00 3.18e-04 3.94e-03 -6.1 3.46e+00 -5.8 9.92e-01 1.00e+00h 1 69 2.0810533e+00 3.11e-05 6.38e-03 -4.7 2.50e+00 -6.3 1.00e+00 9.02e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0820680e+00 1.51e-03 2.47e-02 -4.0 1.47e+01 -6.7 6.50e-01 1.00e+00f 1 71 2.0816212e+00 1.53e-03 4.55e-03 -4.2 3.76e+01 -7.2 8.92e-01 1.00e+00h 1 72 2.0935788e+00 2.40e-04 7.85e-02 -4.2 4.50e+01 -5.9 3.19e-01 3.03e-01h 1 73 2.0913221e+00 5.20e-04 8.00e-02 -4.2 1.86e+01 -6.4 1.80e-02 1.75e-01f 1 74 2.0897587e+00 5.18e-04 5.20e+00 -4.2 2.10e+01 -1.4 5.29e-06 3.96e-03f 1 75 2.0877600e+00 1.76e-04 2.27e+00 -4.2 3.76e-02 -0.1 1.00e+00 6.60e-01f 1 76 2.0850659e+00 9.02e-07 9.97e-01 -4.2 9.68e-02 -0.6 8.63e-01 1.00e+00f 1 77 2.0825065e+00 3.48e-07 1.22e-02 -4.2 1.37e-01 -1.0 1.00e+00 1.00e+00h 1 78 2.0821050e+00 9.20e-07 4.58e-02 -4.0 1.28e-01 -1.5 1.00e+00 8.47e-01h 1 79 2.0820018e+00 1.60e-06 3.35e-02 -4.1 1.07e-01 -2.0 1.00e+00 8.95e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0820893e+00 2.85e-07 3.75e-04 -4.1 5.41e-02 -2.5 1.00e+00 1.00e+00f 1 81 2.0814475e+00 2.90e-06 6.39e-02 -6.2 3.77e-02 -2.9 7.99e-01 1.00e+00h 1 82 2.0822825e+00 6.12e-06 1.39e-03 -4.0 5.37e-02 -3.4 1.00e+00 1.00e+00f 1 83 2.0820237e+00 1.96e-06 1.72e-04 -4.1 4.78e-02 -3.9 1.00e+00 1.00e+00h 1 84 2.0814034e+00 2.92e-05 3.23e-02 -6.1 3.04e-01 -4.4 8.31e-01 1.00e+00h 1 85 2.0812778e+00 8.30e-06 1.52e-04 -6.1 7.88e-01 -4.9 1.00e+00 1.00e+00h 1 86 2.0822337e+00 2.20e-04 2.41e-03 -4.0 1.57e+00 -5.3 1.00e+00 1.00e+00f 1 87 2.0816665e+00 5.95e-04 6.76e-02 -4.1 7.36e+00 -5.8 7.56e-01 1.00e+00h 1 88 2.0817528e+00 4.18e-04 3.68e-01 -4.1 2.52e+00 -6.3 1.00e+00 3.13e-01h 1 89 2.0817875e+00 3.83e-05 4.32e-03 -4.1 6.39e+00 -6.8 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0817650e+00 6.78e-06 6.61e-04 -4.1 1.16e+01 -7.2 1.00e+00 1.00e+00h 1 91 2.0807404e+00 3.74e-03 5.95e-04 -6.1 4.45e+01 -7.7 9.77e-01 9.48e-01h 1 92 2.0810181e+00 2.74e-03 4.75e-02 -4.0 5.29e+01 -8.2 1.00e+00 2.46e-01f 1 93 2.0819485e+00 6.00e-03 5.50e-03 -4.0 7.29e+01 -8.7 1.00e+00 1.00e+00h 1 94 2.0818158e+00 1.29e-03 2.05e-01 -4.1 1.86e-01 -2.8 1.00e+00 7.85e-01h 1 95 2.0818165e+00 1.51e-06 1.11e-03 -4.1 6.48e-02 -3.3 1.00e+00 1.00e+00f 1 96 2.0819185e+00 1.30e-06 2.79e-04 -4.0 1.08e-01 -3.8 1.00e+00 1.00e+00h 1 97 2.0817704e+00 3.89e-06 1.71e-04 -4.1 1.48e-01 -4.3 1.00e+00 1.00e+00h 1 98 2.0811461e+00 7.65e-05 2.86e-02 -6.1 7.90e-01 -4.7 8.90e-01 1.00e+00h 1 99 2.0810771e+00 2.04e-05 1.58e-01 -6.1 1.61e+00 -5.2 4.41e-01 8.79e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0809156e+00 6.44e-06 3.81e-03 -6.1 4.47e+00 -5.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0809155825762327e+00 2.0809155825762327e+00 Dual infeasibility......: 3.8100923529303032e-03 3.8100923529303032e-03 Constraint violation....: 6.4438790934318035e-06 6.4438790934318035e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.5478521514776346e-06 2.5478521514776346e-06 Overall NLP error.......: 3.8100923529303032e-03 3.8100923529303032e-03 Number of objective function evaluations = 112 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 112 Number of inequality constraint evaluations = 112 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 38.860 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: 0.068s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.069s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.051s) linear index maps built (0.0s) evaluator ready (total: 0.121s) evaluator created (0.121s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.121s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.1968809e+00 2.90e+00 5.37e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8503483e+00 4.17e-02 2.24e+00 -1.0 2.24e+00 0.0 9.91e-01 1.00e+00f 1 2 2.7039750e+00 6.03e-02 1.62e+00 -1.1 1.18e+00 -0.5 9.87e-01 4.70e-01h 1 3 2.5720365e+00 4.58e-02 2.20e+00 -1.3 2.00e+00 -1.0 1.00e+00 2.43e-01h 1 4 2.2004931e+00 5.71e-02 5.46e-01 -2.0 1.04e+00 -1.4 1.00e+00 8.90e-01h 1 5 2.1302123e+00 3.70e-03 5.17e-02 -2.4 2.08e-01 -1.9 9.93e-01 1.00e+00h 1 6 2.0918313e+00 1.36e-04 1.99e-03 -4.0 2.57e-02 -2.4 9.98e-01 9.80e-01h 1 7 2.0908851e+00 6.40e-06 2.65e-04 -4.0 1.77e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908805e+00 6.32e-09 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 8 (scaled) (unscaled) Objective...............: 2.0908804928488260e+00 2.0908804928488260e+00 Dual infeasibility......: 2.0582471626819765e-05 2.0582471626819765e-05 Constraint violation....: 6.3231306049959211e-09 6.3231306049959211e-09 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000001361796822e-04 1.0000001361796822e-04 Overall NLP error.......: 2.0582471626819765e-05 2.0582471626819765e-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 = 27.376 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: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.114s) evaluator created (0.114s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.114s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.1841732e+00 1.89e+00 5.84e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5225335e+00 4.23e-02 2.30e+00 -1.1 1.72e+00 0.0 9.73e-01 1.00e+00f 1 2 2.6784431e+00 5.41e-03 5.49e-01 -1.1 2.26e-01 -0.5 8.40e-01 1.00e+00h 1 3 2.2971690e+00 7.98e-03 5.91e-02 -1.8 1.38e-01 -1.0 9.71e-01 1.00e+00f 1 4 2.1327798e+00 2.55e-03 3.54e-02 -3.3 1.06e-01 -1.4 8.85e-01 7.88e-01h 1 5 2.0916065e+00 1.51e-04 5.29e-03 -3.9 2.27e-02 -1.9 9.95e-01 9.72e-01h 1 6 2.0909354e+00 5.59e-07 3.69e-04 -4.0 7.49e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0909335e+00 4.21e-09 2.06e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909290e+00 7.62e-10 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909158e+00 6.86e-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 2.0908759e+00 6.18e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907564e+00 5.57e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903988e+00 5.04e-06 2.26e-05 -4.0 3.64e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0893331e+00 4.60e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0862003e+00 4.32e-04 1.81e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796240e+00 2.53e-03 8.55e-02 -4.0 8.74e+01 -6.7 1.00e+00 7.61e-01h 1 16 2.0812648e+00 1.34e-04 1.85e-01 -4.0 6.94e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778309e+00 5.36e-03 2.53e-02 -4.0 1.13e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781727e+00 1.69e-02 3.89e-02 -3.7 1.56e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767683e+00 1.22e-02 1.99e-02 -3.8 2.99e+02 -8.6 1.00e+00 9.83e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0760493e+00 6.72e-03 2.33e-02 -3.9 4.29e+02 -9.1 1.00e+00 9.88e-01f 1 21 2.0757483e+00 9.11e-03 9.98e-03 -4.0 1.38e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756795e+00 4.60e-04 3.92e-04 -4.0 5.70e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 4.86e-06 8.02e-06 -4.0 2.36e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 5.72e-08 1.54e-06 -4.0 1.52e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.55e-09 1.51e-07 -4.0 5.16e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.63e-11 3.00e-09 -4.0 9.05e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122083343e+00 2.0756712122083343e+00 Dual infeasibility......: 2.9966815812110768e-09 2.9966815812110768e-09 Constraint violation....: 7.6293193984611207e-11 7.6293193984611207e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000014e-04 1.0000000000000014e-04 Overall NLP error.......: 2.9966815812110768e-09 2.9966815812110768e-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 = 27.941 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.065s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.066s) 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 (0.052s) 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: 0.118s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.5823334e+00 3.28e+00 7.03e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9412081e+00 3.94e-02 4.53e+00 -1.0 1.98e+00 0.0 1.00e+00 1.00e+00f 1 2 2.5050638e+00 1.04e-02 2.53e-01 -1.4 1.31e-01 0.4 1.00e+00 1.00e+00h 1 3 2.1786844e+00 5.61e-03 1.67e-01 -2.2 1.00e-01 -0.1 9.95e-01 9.60e-01f 1 4 2.1170671e+00 2.41e-03 1.66e-01 -3.2 4.68e-02 -0.5 9.95e-01 5.71e-01h 1 5 2.0919879e+00 9.56e-05 2.44e-02 -4.0 2.70e-02 -1.0 1.00e+00 1.00e+00h 1 6 2.0909211e+00 1.32e-06 3.11e-03 -4.0 6.33e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0909320e+00 4.36e-09 1.47e-04 -4.0 1.34e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0909314e+00 2.77e-11 7.44e-05 -4.0 2.03e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909297e+00 1.07e-10 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909248e+00 9.65e-10 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0909247534758166e+00 2.0909247534758166e+00 Dual infeasibility......: 2.0588092224237267e-05 2.0588092224237267e-05 Constraint violation....: 9.6547692583770495e-10 9.6547692583770495e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999999923e-05 9.9999999999999923e-05 Overall NLP error.......: 2.0588092224237267e-05 2.0588092224237267e-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 = 27.654 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 (0.062s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.051s) linear index maps built (0.0s) evaluator ready (total: 0.114s) evaluator created (0.114s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) 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.............: 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 1.7494607e+00 2.54e+00 4.93e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9403365e+00 7.62e-02 1.64e+01 -1.1 2.21e+00 - 5.86e-02 1.00e+00h 1 2 2.6948760e+00 1.70e-02 6.39e-01 -1.1 2.01e-01 - 9.97e-01 1.00e+00h 1 3 2.3757151e+00 9.54e-03 5.88e-01 -1.8 3.63e-01 - 9.54e-01 1.00e+00h 1 4 2.1570822e+00 1.02e-02 6.80e-01 -2.6 2.80e-01 - 9.98e-01 9.24e-01h 1 5 2.0979524e+00 2.45e-03 6.28e-01 -3.6 2.94e-01 - 1.00e+00 8.60e-01h 1 6 2.0930511e+00 1.52e-03 7.03e-02 -4.0 1.48e-02 - 1.00e+00 3.81e-01h 1 7 2.0908696e+00 2.51e-06 6.86e-04 -4.0 5.24e-03 - 1.00e+00 1.00e+00h 1 8 2.0908733e+00 3.75e-09 1.11e-04 -4.0 1.53e-03 - 1.00e+00 1.00e+00h 1 9 2.0908733e+00 5.57e-13 1.06e-04 -4.0 1.46e-03 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908733e+00 2.38e-15 1.06e-04 -4.0 1.06e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0908732545802580e+00 2.0908732545802580e+00 Dual infeasibility......: 1.0592531288528348e-04 1.0592531288528348e-04 Constraint violation....: 2.3783058855642025e-15 2.3783058855642025e-15 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 1.0592531288528348e-04 1.0592531288528348e-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 = 9.101 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 (0.062s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.146s 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 (0.194s) linear index maps built (0.0s) evaluator ready (total: 0.257s) evaluator created (0.257s) 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: 0.257s) 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 1.0765993e+00 3.00e+00 6.29e-01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5896694e+00 2.03e-01 3.08e+00 -1.0 2.24e+00 0.0 2.29e-01 9.22e-01h 1 2 2.5308619e+00 9.00e-02 1.47e+00 -1.0 4.13e-01 0.4 5.18e-01 5.64e-01h 1 3 2.9945571e+00 6.94e-02 1.70e+00 -1.0 1.26e+00 -0.1 2.08e-01 3.35e-01h 1 4 2.6670382e+00 2.76e-02 2.06e+00 -1.0 2.60e-01 0.4 9.28e-01 8.43e-01f 1 5 2.6911115e+00 1.02e-03 4.92e-01 -1.0 7.78e-02 0.8 1.00e+00 1.00e+00f 1 6 2.5879831e+00 1.30e-03 1.42e+00 -1.7 4.32e-02 0.3 8.20e-01 1.00e+00h 1 7 2.3227319e+00 7.04e-03 1.89e-01 -1.7 1.52e-01 -0.2 1.00e+00 1.00e+00f 1 8 2.1837216e+00 7.91e-03 6.72e-02 -2.5 2.05e-01 -0.6 7.58e-01 6.74e-01h 1 9 2.1434904e+00 7.85e-03 7.96e-01 -2.5 6.11e-01 -1.1 1.00e+00 1.85e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.1066290e+00 5.86e-04 4.97e-02 -2.5 5.06e-02 -1.6 1.00e+00 9.23e-01h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.1066289603839250e+00 2.1066289603839250e+00 Dual infeasibility......: 4.9735007570625975e-02 4.9735007570625975e-02 Constraint violation....: 5.8590407740936759e-04 5.8590407740936759e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 3.7199436424913981e-03 3.7199436424913981e-03 Overall NLP error.......: 4.9735007570625975e-02 4.9735007570625975e-02 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 27.712 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.063s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.064s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.052s) linear index maps built (0.0s) evaluator ready (total: 0.117s) evaluator created (0.117s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.117s) 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: 0.054s integrator 3 jacobian structure: 0.0s jacobian structure: 1872 nonzeros (0.119s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.051s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.379s sub-objective 2 (QuadraticRegularizer): 0.091s sub-objective 3 (LinearRegularizer): 0.076s sub-objective 4 (MinimumTimeObjective): 0.017s objective hessian structure: 0.662s hessian structure: 2431 nonzeros (0.766s) linear index maps built (0.0s) evaluator ready (total: 0.887s) evaluator created (0.887s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.125s) applying constraint: L1 slack constraint: |du| ≤ s_du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on s_du applying constraint: bounds on Δt linear constraints added: 6 (3.541s) optimizer initialization complete (total: 4.554s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1808 Number of nonzeros in inequality constraint Jacobian.: 80 Number of nonzeros in Lagrangian Hessian.............: 2239 Total number of variables............................: 122 variables with only lower bounds: 30 variables with lower and upper bounds: 0 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 40 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 40 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.6428789e+00 2.86e+00 1.05e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.2530791e+00 2.69e+00 7.06e-01 -4.0 2.56e+01 -4.0 3.75e-01 3.52e-01h 1 2 2.8234016e+00 7.57e-01 7.99e+00 -1.1 1.23e+01 -2.7 1.33e-01 9.76e-01f 1 3 2.9720821e+00 8.64e-01 6.33e+00 -1.7 4.36e+00 -1.3 4.41e-01 1.00e+00h 1 4 2.5960168e+00 1.29e+00 2.09e+00 -0.8 1.98e+01 -0.9 1.67e-01 2.00e-01f 1 5 2.6155606e+00 1.09e+00 1.80e+00 -1.5 4.78e+00 -1.4 2.48e-01 1.69e-01h 1 6 2.5066923e+00 3.43e-01 1.03e+00 -1.7 8.45e-01 -1.0 5.49e-01 6.89e-01f 1 7 2.2419325e+00 8.89e-02 3.34e-01 -1.9 6.91e-01 -1.4 6.12e-01 7.44e-01f 1 8 2.1243365e+00 1.07e-02 1.92e-01 -2.1 6.95e-01 -1.9 7.30e-01 9.37e-01h 1 9 2.0594578e+00 7.24e-03 9.53e-02 -2.4 8.28e-01 -2.4 7.12e-01 5.67e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0235130e+00 8.11e-03 2.45e-01 -2.8 1.06e+00 -2.9 7.59e-01 6.13e-01h 1 11 2.0018886e+00 6.88e-04 8.54e-03 -4.0 2.46e-01 -3.4 9.62e-01 9.82e-01h 1 12 2.0010461e+00 3.37e-06 7.80e-03 -4.0 4.62e-01 -3.8 1.00e+00 1.00e+00h 1 13 2.0011017e+00 3.53e-08 1.70e-02 -4.0 8.63e-01 -4.3 1.00e+00 1.00e+00h 1 14 2.0009462e+00 3.67e-10 2.70e-02 -4.0 1.39e+00 -4.8 1.00e+00 1.00e+00f 1 15 2.0011977e+00 1.51e-09 4.84e-02 -4.0 2.35e+00 -5.3 9.40e-01 1.00e+00f 1 16 2.0007209e+00 1.65e-08 3.67e-02 -4.2 2.69e+00 -5.7 1.00e+00 6.90e-01f 1 17 2.0013270e+00 2.22e-08 1.99e-01 -4.0 9.91e+00 -6.2 9.72e-01 1.00e+00f 1 18 2.0008922e+00 4.68e-08 1.00e-01 -4.1 7.99e+00 -6.7 1.00e+00 6.29e-01f 1 19 2.0011735e+00 4.43e-08 4.65e-01 -4.1 2.27e+01 -7.2 8.90e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0008916e+00 1.06e-07 4.60e-01 -4.1 2.67e+01 -7.6 1.00e+00 8.62e-01f 1 21 2.0013088e+00 1.02e-07 1.21e+00 -4.1 5.65e+01 -8.1 8.27e-01 1.00e+00f 1 22 2.0009260e+00 1.57e-07 1.16e+00 -4.1 7.55e+01 -8.6 1.00e+00 7.68e-01f 1 23 2.0013721e+00 9.42e-08 3.26e+00 -4.1 1.53e+02 -9.1 8.32e-01 1.00e+00f 1 24 2.0008590e+00 2.15e-07 3.25e+00 -4.1 2.06e+02 -9.6 1.00e+00 7.88e-01f 1 25 2.0014955e+00 4.01e-08 9.23e+00 -4.1 4.29e+02 -10.0 8.00e-01 1.00e+00f 1 26 2.0007774e+00 1.82e-07 8.39e+00 -4.1 5.65e+02 -10.5 1.00e+00 7.42e-01f 1 27 2.0016096e+00 4.47e-09 2.61e+01 -4.1 1.22e+03 -11.0 8.01e-01 1.00e+00f 1 28 2.0006246e+00 1.40e-07 2.32e+01 -4.1 1.55e+03 -11.5 1.00e+00 7.50e-01f 1 29 2.0012587e+00 1.23e-11 7.64e+00 -4.0 3.82e+02 -10.1 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0008886e+00 2.04e-10 9.76e+00 -4.1 4.88e+02 -10.6 1.00e+00 1.00e+00f 1 31 2.0010426e+00 7.14e-12 2.55e+01 -4.1 1.27e+03 -11.1 1.00e+00 1.00e+00f 1 32 2.0010523e+00 8.60e-12 4.23e+01 -4.1 2.11e+03 -11.6 1.00e+00 1.00e+00f 1 33 2.0010770e+00 8.10e-12 7.21e+01 -4.1 3.60e+03 -12.0 1.00e+00 1.00e+00f 1 34 2.0010462e+00 7.62e-12 1.15e+02 -4.1 5.78e+03 -12.5 1.00e+00 1.00e+00f 1 35 2.0010319e+00 5.03e-12 1.77e+02 -4.1 8.86e+03 -13.0 1.00e+00 1.00e+00f 1 36 2.0009733e+00 3.33e-12 2.48e+02 -4.1 1.24e+04 -13.5 1.00e+00 1.00e+00f 1 37 2.0009195e+00 1.53e-12 3.04e+02 -4.1 1.52e+04 -14.0 1.00e+00 1.00e+00f 1 38 2.0008348e+00 5.73e-13 2.92e+02 -4.1 1.46e+04 -14.4 1.00e+00 1.00e+00f 1 39 2.0007656e+00 1.09e-13 2.07e+02 -4.1 1.04e+04 -14.9 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0007120e+00 2.67e-14 1.01e+02 -4.1 5.06e+03 -15.4 1.00e+00 1.00e+00f 1 41 2.0006858e+00 2.39e-14 4.37e+01 -4.1 2.18e+03 -15.9 1.00e+00 1.00e+00h 1 42 2.0006731e+00 2.87e-14 1.65e+01 -4.1 8.24e+02 -16.3 1.00e+00 1.00e+00h 1 43 2.0006681e+00 3.33e-14 7.07e+00 -4.1 3.54e+02 -16.8 1.00e+00 1.00e+00h 1 44 2.0006658e+00 4.14e-14 2.69e+00 -4.1 1.34e+02 -17.3 1.00e+00 1.00e+00h 1 45 2.0006650e+00 4.90e-14 1.17e+00 -4.1 5.86e+01 -17.8 1.00e+00 1.00e+00h 1 46 2.0006646e+00 6.15e-14 4.46e-01 -4.1 2.23e+01 -18.2 1.00e+00 1.00e+00h 1 47 2.0006645e+00 7.32e-14 1.95e-01 -4.1 9.76e+00 -18.7 1.00e+00 1.00e+00h 1 48 2.0006644e+00 9.21e-14 7.41e-02 -4.1 3.71e+00 -19.2 1.00e+00 1.00e+00h 1 49 2.0006644e+00 1.10e-13 3.25e-02 -4.1 1.63e+00 -19.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0008474e+00 1.81e-09 4.43e+01 -4.0 2.22e+03 -20.0 1.00e+00 1.00e+00f 1 51 2.0005860e+00 5.55e-10 9.40e+01 -4.1 4.70e+03 -20.0 1.00e+00 1.00e+00h 1 52 2.0008782e+00 2.46e-09 1.23e+02 -4.0 6.17e+03 -20.0 1.00e+00 1.00e+00f 1 53 2.0005637e+00 3.21e-10 1.25e+02 -4.1 6.24e+03 -20.0 1.00e+00 1.00e+00h 1 54 2.0008766e+00 2.47e-09 1.32e+02 -4.0 6.60e+03 -20.0 1.00e+00 1.00e+00f 1 55 2.0005597e+00 3.13e-10 1.30e+02 -4.1 6.50e+03 -20.0 1.00e+00 1.00e+00h 1 56 2.0006557e+00 4.12e-10 6.81e+01 -4.1 3.40e+03 -20.0 1.00e+00 1.00e+00h 1 57 2.0006196e+00 1.44e-10 2.30e+01 -4.1 1.15e+03 -20.0 1.00e+00 1.00e+00h 1 58 2.0006347e+00 6.37e-11 1.02e+01 -4.1 5.11e+02 -20.0 1.00e+00 1.00e+00h 1 59 2.0006287e+00 2.50e-11 4.11e+00 -4.1 2.05e+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 2.0006312e+00 1.05e-11 1.67e+00 -4.1 8.35e+01 -20.0 1.00e+00 1.00e+00h 1 61 2.0006302e+00 4.19e-12 6.91e-01 -4.1 3.45e+01 -20.0 1.00e+00 1.00e+00h 1 62 2.0006306e+00 1.74e-12 2.77e-01 -4.1 1.39e+01 -20.0 1.00e+00 1.00e+00h 1 63 2.0006304e+00 6.97e-13 1.15e-01 -4.1 5.76e+00 -20.0 1.00e+00 1.00e+00h 1 64 2.0006305e+00 2.90e-13 4.62e-02 -4.1 2.31e+00 -20.0 1.00e+00 1.00e+00h 1 65 2.0006304e+00 1.16e-13 1.92e-02 -4.1 9.61e-01 -20.0 1.00e+00 1.00e+00h 1 66 2.0006305e+00 4.83e-14 7.70e-03 -4.1 3.85e-01 -20.0 1.00e+00 1.00e+00h 1 67 2.0006305e+00 1.93e-14 3.20e-03 -4.1 1.60e-01 -20.0 1.00e+00 1.00e+00h 1 68 2.0006305e+00 8.04e-15 1.28e-03 -4.1 9.51e-02 -20.0 1.00e+00 1.00e+00h 1 69 2.0006305e+00 3.22e-15 5.34e-04 -4.1 9.51e-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 1.9998548e+00 1.22e-08 2.25e+02 -6.1 1.13e+04 -20.0 1.00e+00 1.00e+00f 1 71 2.0006835e+00 3.09e-09 2.09e+03 -4.0 2.09e+05 -20.0 1.00e+00 5.00e-01f 2 72 2.0004219e+00 9.68e-11 2.30e+03 -3.9 1.15e+05 -20.0 1.00e+00 1.00e+00f 1 73 2.0009584e+00 3.48e-09 5.53e+02 -3.9 2.77e+04 -20.0 1.00e+00 1.00e+00f 1 74 2.0010394e+00 3.03e-09 1.06e+02 -3.9 5.31e+03 -20.0 1.00e+00 1.00e+00h 1 75 2.0010519e+00 7.46e-10 2.71e+01 -3.9 1.36e+03 -20.0 1.00e+00 1.00e+00h 1 76 2.0010687e+00 5.72e-10 6.12e+00 -3.9 3.06e+02 -20.0 1.00e+00 1.00e+00h 1 77 2.0010705e+00 1.33e-10 4.72e+00 -3.9 2.36e+02 -20.0 1.00e+00 1.00e+00h 1 78 2.0010733e+00 9.76e-11 1.07e+00 -3.9 5.34e+01 -20.0 1.00e+00 1.00e+00h 1 79 2.0010736e+00 2.24e-11 7.84e-01 -3.9 3.92e+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 2.0010740e+00 1.63e-11 1.79e-01 -3.9 8.97e+00 -20.0 1.00e+00 1.00e+00h 1 81 2.0010741e+00 3.74e-12 1.31e-01 -3.9 6.53e+00 -20.0 1.00e+00 1.00e+00h 1 82 2.0010741e+00 2.72e-12 2.99e-02 -3.9 1.50e+00 -20.0 1.00e+00 1.00e+00h 1 83 2.0010741e+00 6.22e-13 2.18e-02 -3.9 1.09e+00 -20.0 1.00e+00 1.00e+00h 1 84 2.0010742e+00 4.52e-13 4.99e-03 -3.9 4.93e-01 -20.0 1.00e+00 1.00e+00h 1 85 2.0010742e+00 1.04e-13 3.63e-03 -3.9 4.93e-01 -20.0 1.00e+00 1.00e+00h 1 86 2.0010742e+00 7.53e-14 8.32e-04 -3.9 4.93e-01 -20.0 1.00e+00 1.00e+00h 1 87 1.9998649e+00 8.64e-08 2.43e+02 -5.9 1.22e+04 -20.0 1.00e+00 1.00e+00f 1 88 1.9998453e+00 3.09e-13 2.18e+02 -5.9 1.18e+04 -20.0 9.30e-01 1.00e+00h 1 89 1.8265940e+00 2.01e-13 1.95e+06 -5.9 9.73e+07 -20.0 1.80e-03 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 1.8118224e+00 5.21e-13 2.06e+03 -5.5 1.36e+08 -20.0 1.00e+00 7.58e-04f 1 91 1.9416880e+00 5.20e-13 1.31e+06 -4.0 9.41e+10 -20.0 1.00e+00 6.95e-04f 1 92 1.9999589e+00 5.18e-13 6.47e+05 -3.2 6.41e+09 -20.0 1.00e+00 5.05e-03f 1 93 1.9999072e+00 2.09e-11 1.64e+03 -3.2 8.18e+04 -20.0 1.00e+00 1.00e+00f 1 94 2.0294161e+00 6.11e-06 5.13e+01 -3.2 2.56e+03 -20.0 1.00e+00 1.00e+00f 1 95 2.0104348e+00 1.30e-03 8.55e+02 -3.2 8.55e+04 -20.0 1.00e+00 5.00e-01f 2 96 2.0086618e+00 3.41e-04 1.43e+02 -3.2 7.13e+03 -20.0 1.00e+00 1.00e+00h 1 97 2.0061780e+00 3.06e-03 1.42e+02 -3.2 1.19e+04 -20.0 1.00e+00 1.00e+00h 1 98 2.0064856e+00 8.15e-06 1.61e+02 -3.2 8.06e+03 -20.0 1.00e+00 1.00e+00h 1 99 2.0059411e+00 4.10e-06 3.24e+01 -3.2 1.62e+03 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0059983e+00 2.87e-07 3.32e+01 -3.2 1.66e+03 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0059982623351500e+00 2.0059982623351500e+00 Dual infeasibility......: 3.3195325846005517e+01 3.3195325846005517e+01 Constraint violation....: 2.8715723009468605e-07 2.8715723009468605e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 6.0530940726601253e-04 6.0530940726601253e-04 Overall NLP error.......: 3.3195325846005517e+01 3.3195325846005517e+01 Number of objective function evaluations = 107 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 107 Number of inequality constraint evaluations = 107 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 46.800 EXIT: Maximum Number of Iterations Exceeded. Difference in Hessian Difference in Jacobian initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.063s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.064s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.049s) 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: bounds constraint on trajectory variable ddu applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.127s) optimizer initialization complete (total: 0.242s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.2889122e+00 2.35e+00 7.72e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6932169e+00 3.93e-02 4.45e-01 -1.0 2.04e+00 - 1.00e+00 1.00e+00f 1 2 2.4228320e+00 7.30e-03 1.32e-01 -1.5 1.30e-01 - 8.92e-01 1.00e+00h 1 3 2.1592601e+00 3.84e-03 3.82e-02 -2.2 8.61e-02 - 8.79e-01 8.95e-01h 1 4 2.0943484e+00 1.07e-04 2.13e-03 -3.7 1.34e-02 - 9.85e-01 1.00e+00h 1 5 2.0908951e+00 4.92e-05 3.76e-04 -4.0 1.17e-01 - 1.00e+00 1.00e+00h 1 6 2.0908976e+00 9.92e-08 6.84e-06 -4.0 1.67e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 1.55e-10 2.07e-10 -4.0 2.68e-02 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971969356460e+00 2.0908971969356460e+00 Dual infeasibility......: 2.0748010566020401e-10 2.0748010566020401e-10 Constraint violation....: 1.5522185834305861e-10 1.5522185834305861e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000855482891978e-04 1.0000855482891978e-04 Overall NLP error.......: 8.5548289197772461e-09 8.5548289197772461e-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 = 26.708 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: 0.045s 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 (0.045s) linear index maps built (0.0s) evaluator ready (total: 0.104s) evaluator created (0.104s) 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: 0.104s) 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 4.0509840e+00 1.78e+00 5.34e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.2624179e+00 7.24e-01 2.38e+00 -0.9 7.95e+00 -2.0 4.53e-01 6.64e-01f 1 2 2.9897190e+00 1.67e+00 6.80e+00 -0.9 7.83e+00 -2.5 3.54e-01 9.63e-01f 1 3 2.9602939e+00 6.10e-01 3.72e+00 -0.5 1.61e+00 -1.1 5.32e-01 6.34e-01f 1 4 2.6041521e+00 1.02e-01 8.94e-01 -1.0 4.63e-01 -0.7 9.94e-01 1.00e+00f 1 5 2.4592632e+00 2.68e-03 1.23e-01 -1.6 1.21e-01 -1.2 9.75e-01 1.00e+00h 1 6 2.3153417e+00 3.00e-02 3.61e-01 -2.2 1.19e+00 -1.7 7.34e-01 3.82e-01f 1 7 2.5074934e+00 6.75e-02 4.53e-01 -0.7 6.85e+00 -2.2 1.44e-01 1.06e-01f 1 8 2.3506754e+00 1.97e-01 1.18e-01 -1.5 1.46e+00 -2.6 1.00e+00 1.00e+00f 1 9 2.1637210e+00 7.75e-02 1.25e-01 -2.2 2.06e+00 -3.1 8.26e-01 9.25e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.1427589e+00 3.84e-02 4.15e-01 -2.3 3.86e+00 -3.6 1.00e+00 5.32e-01h 1 11 2.1011373e+00 1.47e-02 1.01e-01 -2.8 1.49e+00 -4.1 9.98e-01 9.82e-01h 1 12 2.0915035e+00 1.92e-03 2.66e-02 -3.7 9.11e-01 -4.5 1.00e+00 1.00e+00h 1 13 2.0906779e+00 1.67e-04 2.15e-03 -4.0 1.69e+00 -5.0 1.00e+00 1.00e+00h 1 14 2.0903349e+00 9.73e-06 1.59e-03 -4.0 3.76e+00 -5.5 1.00e+00 1.00e+00h 1 15 2.0899955e+00 4.77e-06 3.68e-03 -4.0 5.20e+00 -6.0 1.00e+00 1.00e+00h 1 16 2.0898808e+00 3.13e-06 1.97e-03 -4.0 5.79e+00 -6.4 1.00e+00 1.00e+00h 1 17 2.0898365e+00 2.07e-06 9.52e-04 -4.0 1.01e+01 -6.9 1.00e+00 1.00e+00h 1 18 2.0898254e+00 9.69e-07 9.20e-04 -4.0 9.96e+00 -7.4 1.00e+00 1.00e+00h 1 19 2.0898225e+00 8.69e-07 2.12e-04 -4.0 5.13e+00 -7.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0898219e+00 3.59e-08 7.67e-06 -4.0 7.80e-01 -8.4 1.00e+00 1.00e+00h 1 21 2.0898219e+00 1.50e-10 3.63e-08 -4.0 7.31e-02 -8.8 1.00e+00 1.00e+00h 1 22 2.0898218e+00 5.68e-14 3.11e-11 -4.0 2.51e-03 -9.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0898218497961123e+00 2.0898218497961123e+00 Dual infeasibility......: 3.1057049835504780e-11 3.1057049835504780e-11 Constraint violation....: 5.6787907709576757e-14 5.6787907709576757e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000042e-04 1.0000000000000042e-04 Overall NLP error.......: 3.1057049835504780e-11 3.1057049835504780e-11 Number of objective function evaluations = 23 Number of objective gradient evaluations = 23 Number of equality constraint evaluations = 23 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 23 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 22 Total seconds in IPOPT = 25.800 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 (0.058s) integrator 1 hessian structure: 0.044s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.045s) linear index maps built (0.0s) evaluator ready (total: 0.104s) evaluator created (0.104s) 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: 0.105s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 35 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.4179148e+00 2.46e+00 3.48e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8785145e+00 1.15e+00 1.48e+01 -1.0 2.08e+00 0.0 3.57e-02 5.31e-01f 1 2 2.0333433e+00 1.13e+00 1.46e+01 -0.2 1.26e+01 -0.5 3.17e-02 1.21e-02h 1 3 2.0372364e+00 1.13e+00 1.19e+02 -4.0 1.69e+01 -0.1 1.08e-02 1.10e-03h 1 4 2.3886244e+00 1.11e+00 1.18e+04 0.5 1.30e+01 0.4 9.07e-01 1.46e-02f 1 5 2.9991904e+00 1.08e+00 5.31e+04 1.8 8.95e+01 -0.1 1.00e+00 4.85e-02f 1 6 3.0647607e+00 1.04e+00 1.80e+05 1.9 2.25e+01 -0.6 1.00e+00 3.97e-02h 1 7 3.1982802e+00 9.99e-01 8.29e+06 2.2 2.91e+01 -1.1 1.00e+00 1.93e-02h 1 8 3.2320982e+00 9.88e-01 1.27e+08 2.5 1.17e+02 -1.5 3.91e-02 2.34e-03h 1 9 3.2326038e+00 9.88e-01 1.56e+12 2.5 3.00e+01 -2.0 1.00e+00 8.22e-05h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10r 3.2326038e+00 9.88e-01 8.05e+02 2.5 0.00e+00 -2.5 0.00e+00 3.93e-07R 4 11r 3.3946624e+00 4.14e-01 6.26e+02 -3.6 8.83e+00 - 5.03e-01 2.80e-01f 1 12r 3.3946624e+00 4.14e-01 9.99e+02 -0.4 0.00e+00 -3.0 0.00e+00 3.85e-07R 4 13r 3.3748563e+00 2.69e-01 9.97e+02 1.6 1.20e+02 - 3.01e-03 1.89e-03f 1 14 3.3025761e+00 2.00e-01 1.69e+00 -1.5 1.75e+00 -3.4 6.40e-01 2.57e-01h 1 15 3.3106748e+00 1.99e-01 1.17e+02 -4.0 6.34e+00 -3.9 1.42e-01 3.63e-03h 1 16 3.3892448e+00 1.99e-01 9.14e+03 0.0 1.47e+02 -4.4 1.00e+00 1.64e-03h 1 17 3.3913289e+00 1.99e-01 7.54e+07 1.1 5.56e+01 -4.9 1.00e+00 1.18e-04h 1 18r 3.3913289e+00 1.99e-01 9.99e+02 2.5 0.00e+00 -5.4 0.00e+00 4.45e-07R 4 19r 3.4492237e+00 2.00e-01 2.10e+02 0.2 4.03e-01 - 7.98e-01 8.37e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20r 3.9585086e+00 5.99e-01 2.53e+02 -4.0 3.19e+00 - 2.21e-01 7.36e-01f 1 21r 4.0941071e+00 2.01e-01 2.32e+01 0.1 1.10e+00 0.0 9.92e-01 8.84e-01f 1 22r 4.5101171e+00 2.01e-01 2.26e+01 0.0 1.63e+00 - 8.69e-01 6.66e-01f 1 23r 4.6291471e+00 1.99e-01 1.51e+01 -0.8 1.42e-01 - 1.00e+00 8.61e-01f 1 24r 4.6379716e+00 1.99e-01 7.33e-01 -1.4 1.68e-02 1.3 1.00e+00 9.97e-01f 1 25r 4.5110071e+00 1.99e-01 1.07e+00 -1.6 3.31e-01 - 8.54e-01 1.00e+00f 1 26r 4.2052959e+00 2.35e-01 3.19e-01 -1.9 6.72e-01 - 9.78e-01 9.26e-01f 1 27r 4.2559197e+00 1.99e-01 1.38e+00 -1.9 4.29e-01 - 7.49e-01 1.00e+00h 1 28r 4.1921905e+00 1.99e-01 3.91e-02 -2.6 1.44e-01 - 1.00e+00 1.00e+00f 1 29r 4.0550034e+00 1.99e-01 1.31e-02 -3.7 5.52e-02 - 9.90e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30r 3.9906928e+00 1.99e-01 1.31e-03 -4.0 2.28e-02 - 1.00e+00 1.00e+00h 1 31r 4.0136892e+00 1.99e-01 1.35e-05 -4.0 9.91e-03 - 1.00e+00 1.00e+00h 1 32r 4.0136870e+00 1.99e-01 1.31e-07 -4.0 4.72e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 32 (scaled) (unscaled) Objective...............: 4.0136930990587478e+00 4.0136930990587478e+00 Dual infeasibility......: 2.0398370381917652e+00 2.0398370381917652e+00 Constraint violation....: 1.9875045034259453e-01 1.9875045034259453e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000004257708e-04 1.0000000004257708e-04 Overall NLP error.......: 2.0398370381917652e+00 2.0398370381917652e+00 Number of objective function evaluations = 46 Number of objective gradient evaluations = 20 Number of equality constraint evaluations = 46 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 37 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 33 Total seconds in IPOPT = 28.058 EXIT: Converged to a point of local infeasibility. Problem may be infeasible. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.066s) integrator 1 hessian structure: 0.044s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s sub-objective 4 (GlobalObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1804 nonzeros (0.045s) linear index maps built (0.0s) evaluator ready (total: 0.112s) evaluator created (0.112s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: bounds constraint on 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: 0.112s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 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 7.7181479e+00 2.66e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.9091098e+00 5.83e-01 2.27e+00 -0.9 5.07e+00 -2.0 6.89e-01 9.56e-01f 1 2 2.6662052e+00 4.82e-01 1.19e+00 -1.1 2.59e+00 -1.6 7.62e-01 1.00e+00f 1 3 2.4713820e+00 1.62e-01 8.23e-01 -1.3 2.73e+00 -2.1 1.00e+00 6.75e-01h 1 4 2.2767566e+00 2.62e-02 1.55e-01 -1.7 9.62e-01 -2.5 8.98e-01 1.00e+00h 1 5 2.1271911e+00 2.20e-02 5.83e-02 -2.4 7.74e-01 -3.0 9.86e-01 9.57e-01h 1 6 2.0955317e+00 7.84e-04 7.66e-03 -3.3 1.48e-01 -3.5 9.64e-01 1.00e+00h 1 7 2.0909288e+00 1.23e-04 2.24e-04 -4.0 1.93e-01 -4.0 1.00e+00 1.00e+00h 1 8 2.0908784e+00 2.24e-06 2.06e-05 -4.0 5.63e-01 -4.4 1.00e+00 1.00e+00h 1 9 2.0907125e+00 1.08e-06 2.06e-05 -4.0 1.69e+00 -4.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0902164e+00 9.78e-06 4.36e-05 -4.0 5.04e+00 -5.4 1.00e+00 1.00e+00h 1 11 2.0887417e+00 8.98e-05 3.88e-04 -4.0 1.50e+01 -5.9 1.00e+00 1.00e+00h 1 12 2.0844451e+00 8.57e-04 3.55e-03 -4.0 4.36e+01 -6.3 1.00e+00 1.00e+00h 1 13 2.0796380e+00 1.95e-03 2.23e-01 -4.0 1.10e+02 -6.8 1.00e+00 4.40e-01h 1 14 2.0794523e+00 1.77e-03 1.76e-01 -4.1 6.54e+01 -7.3 1.00e+00 8.28e-01H 1 15 2.0773625e+00 8.44e-03 2.99e-02 -4.0 1.29e+02 -7.8 1.00e+00 9.04e-01h 1 16 2.0767900e+00 1.89e-03 4.88e-02 -4.0 2.09e+02 -8.3 1.00e+00 1.00e+00h 1 17 2.0759882e+00 2.25e-03 2.55e-02 -4.0 3.58e+02 -8.7 1.00e+00 1.00e+00h 1 18 2.0754913e+00 1.57e-03 3.01e-02 -4.0 4.23e+02 -9.2 1.00e+00 6.45e-01h 1 19 2.0757239e+00 1.54e-03 8.97e-03 -4.0 1.24e+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 2.0756735e+00 1.08e-04 1.77e-04 -4.0 3.89e+01 -10.2 1.00e+00 1.00e+00h 1 21 2.0756713e+00 5.54e-07 4.49e-06 -4.0 2.24e+01 -10.6 1.00e+00 1.00e+00h 1 22 2.0756712e+00 2.51e-08 9.45e-07 -4.0 1.22e+01 -11.1 1.00e+00 1.00e+00h 1 23 2.0756712e+00 1.51e-09 6.03e-08 -4.0 3.55e+00 -11.6 1.00e+00 1.00e+00h 1 24 2.0756712e+00 1.78e-11 7.21e-10 -4.0 4.64e-01 -12.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 24 (scaled) (unscaled) Objective...............: 2.0756712121185226e+00 2.0756712121185226e+00 Dual infeasibility......: 7.2118520381384173e-10 7.2118520381384173e-10 Constraint violation....: 1.7783663430748220e-11 1.7783663430748220e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000036e-04 1.0000000000000036e-04 Overall NLP error.......: 7.2118520381384173e-10 7.2118520381384173e-10 Number of objective function evaluations = 26 Number of objective gradient evaluations = 25 Number of equality constraint evaluations = 26 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 25 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 24 Total seconds in IPOPT = 27.032 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.062s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.883s jacobian structure: 1600 nonzeros (2.946s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.465s 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 (4.516s) linear index maps built (0.0s) evaluator ready (total: 7.463s) evaluator created (7.486s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP 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: 7.487s) This is MadNLP version v0.9.1, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 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 inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 1.8385055e+00 2.49e+00 8.24e-01 9.86e-01 -1.0 - 0.00e+00 1 0 1 2.2926872e+00 1.50e-01 2.24e+00 3.98e-01 -1.0 0.0 9.41e-01 1 1h 2 2.5913343e+00 1.11e-01 3.18e+00 2.15e-01 -1.0 -0.5 1.00e+00 2 1h 3 2.5384683e+00 7.26e-02 2.15e+00 1.27e-01 -1.0 -1.0 3.48e-01 2 1h 4 2.5114791e+00 7.06e-02 2.01e+00 1.60e-01 -1.0 -1.4 2.79e-02 2 2h 5 2.4961139e+00 2.35e-02 1.21e+00 1.05e-01 -1.0 -1.0 6.69e-01 1 1h 6 2.6751311e+00 2.31e-02 1.96e-01 1.17e-01 -1.0 -1.5 1.00e+00 2 1h 7 2.2571509e+00 3.45e-02 1.28e-01 2.51e-02 -2.5 -2.0 1.00e+00 2 1h 8 2.1330046e+00 4.39e-03 8.36e-02 7.17e-03 -2.5 -2.4 1.00e+00 2 1h 9 2.1142209e+00 2.45e-03 6.67e-03 2.84e-03 -2.5 -2.9 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0915459e+00 1.09e-04 1.07e-04 1.87e-04 -3.8 -3.4 1.00e+00 2 1h 11 2.0899732e+00 1.86e-05 2.54e-04 5.21e-05 -5.7 -3.9 1.00e+00 2 1h 12 2.0899004e+00 2.15e-05 4.56e-04 6.25e-06 -5.7 -4.3 1.00e+00 2 1h 13 2.0897752e+00 7.64e-05 2.00e-04 2.57e-06 -5.7 -4.8 1.00e+00 1 1h 14 2.0895594e+00 6.90e-05 5.98e-03 1.87e-06 -5.7 -5.3 5.75e-01 1 1h 15 2.0885479e+00 8.92e-05 1.85e-03 5.18e-06 -5.7 -5.8 1.00e+00 1 1h 16 2.0881450e+00 7.70e-05 8.77e-02 2.28e-06 -5.7 -6.3 1.46e-01 1 1h 17 2.0835481e+00 3.30e-05 5.01e-02 4.81e-06 -5.7 -6.7 1.00e+00 1 1h 18 2.0825819e+00 2.58e-05 1.24e-01 2.59e-06 -5.7 -7.2 2.25e-01 1 1h 19 2.0817010e+00 2.25e-05 1.29e-01 4.39e-06 -5.7 -7.7 1.89e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0814489e+00 2.64e-05 2.00e-01 1.83e-05 -5.7 -8.2 2.29e-01 1 1h 21 2.0806635e+00 4.31e-05 1.46e-01 9.87e-06 -5.7 -8.6 8.72e-01 2 1h 22 2.0806649e+00 3.74e-05 1.17e-01 2.16e-05 -5.7 -6.4 1.34e-01 1 1h 23 2.0806537e+00 1.52e-05 6.61e-03 6.86e-06 -5.7 -6.9 5.90e-01 1 1h 24 2.0806312e+00 1.90e-06 5.12e-04 2.67e-06 -5.7 -7.4 1.00e+00 1 1h 25 2.0805965e+00 1.02e-06 1.06e-03 1.89e-06 -5.7 -7.8 1.00e+00 1 1h 26 2.0805716e+00 2.81e-06 8.74e-03 2.61e-06 -5.7 -8.3 1.00e+00 1 1h 27 2.0877871e+00 5.04e-09 1.64e-01 8.53e-05 -5.7 -7.0 1.00e+00 1 1H 28 2.0870958e+00 6.42e-07 6.06e-01 8.12e-05 -5.7 -3.9 3.64e-02 1 3h 29 2.0813687e+00 1.34e-07 2.22e-02 1.71e-05 -5.7 -0.7 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0806539e+00 4.93e-09 3.68e-02 9.25e-06 -5.7 -1.2 9.62e-01 2 1h 31 2.0806267e+00 2.00e-08 8.85e-02 2.75e-06 -5.7 -1.7 4.55e-01 2 1h 32 2.0806043e+00 7.35e-08 7.89e-02 1.85e-06 -5.7 -2.1 2.27e-01 3 1h 33 2.0806143e+00 2.50e-09 1.53e-05 7.19e-06 -5.7 -2.6 1.00e+00 2 1h 34 2.0805945e+00 3.52e-08 4.52e-02 8.08e-07 -8.6 -3.1 1.00e+00 2 1h 35 2.0805905e+00 1.17e-08 1.03e-05 2.28e-08 -8.6 -3.6 1.00e+00 2 1h 36 2.0805855e+00 3.31e-10 1.03e-05 6.50e-09 -8.6 -4.1 1.00e+00 2 1h 37 2.0805842e+00 3.02e-10 2.69e-03 1.49e-08 -8.6 -4.5 8.64e-02 2 1h 38 2.0805834e+00 1.07e-10 1.80e-04 2.53e-07 -8.6 -5.0 1.00e+00 2 1h 39 2.0805811e+00 3.54e-11 5.42e-04 7.50e-08 -8.6 -5.5 7.15e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805794e+00 5.29e-10 1.66e-04 4.99e-07 -8.6 -6.0 1.00e+00 2 1h 41 2.0805732e+00 2.71e-09 6.83e-05 5.33e-08 -8.6 -6.4 9.83e-01 2 1h 42 2.0805692e+00 2.48e-09 4.25e-03 3.90e-08 -8.6 -6.9 2.72e-01 2 1h 43 2.0805548e+00 4.73e-09 5.50e-03 8.23e-08 -8.6 -7.4 5.72e-01 2 1h 44 2.0805435e+00 5.03e-09 1.16e-02 2.77e-07 -8.6 -7.9 1.00e+00 2 1h 45 2.0805434e+00 4.93e-09 1.08e-02 1.75e-07 -8.6 -6.5 1.98e-02 1 1h 46 2.0805412e+00 2.00e-09 4.01e-03 5.28e-09 -8.6 -7.0 5.94e-01 2 1h 47 2.0805395e+00 3.57e-11 5.31e-03 6.39e-09 -8.6 -7.5 1.00e+00 1 1h 48 2.0805392e+00 2.60e-11 5.45e-03 1.99e-07 -8.6 -7.1 5.51e-01 1 1h 49 2.0805385e+00 7.82e-11 1.35e-04 2.51e-09 -8.6 -7.5 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805384e+00 6.87e-11 2.98e-02 2.85e-09 -8.6 -6.2 1.40e-01 1 1h 51 2.0805384e+00 2.38e-12 5.61e-06 4.38e-08 -8.6 -6.7 1.00e+00 2 1h 52 2.0805383e+00 4.59e-13 8.94e-05 2.51e-09 -8.6 -6.3 9.79e-01 1 1h 53 2.0805382e+00 7.34e-13 1.88e-06 2.69e-09 -8.6 -6.7 1.00e+00 2 1h 54 2.0805380e+00 1.34e-12 6.03e-05 2.51e-09 -8.6 -7.2 7.76e-01 2 1h 55 2.0805375e+00 9.94e-12 1.46e-05 4.65e-09 -8.6 -7.7 1.00e+00 2 1h 56 2.0805369e+00 2.25e-11 3.04e-05 2.67e-09 -8.6 -8.2 1.00e+00 1 1h 57 2.0805365e+00 4.52e-11 4.75e-04 2.51e-09 -8.6 -8.7 1.00e+00 1 1h 58 2.0805366e+00 2.36e-12 4.49e-06 9.57e-08 -8.6 -6.4 1.00e+00 1 1h 59 2.0805365e+00 1.07e-12 1.41e-04 2.51e-09 -8.6 -6.9 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 60 2.0805365e+00 1.15e-13 5.18e-08 3.00e-09 -8.6 -5.6 1.00e+00 1 1h 61 2.0805365e+00 2.31e-14 2.59e-07 2.51e-09 -8.6 -6.1 1.00e+00 1 1h 62 2.0805366e+00 8.88e-16 1.45e-04 2.51e-09 -8.6 -6.5 1.00e+00 1 1H 63 2.0805365e+00 3.84e-13 1.17e-07 2.51e-09 -8.6 -5.2 1.00e+00 1 1h 64 2.0805365e+00 1.91e-13 7.94e-07 2.51e-09 -8.6 -5.7 1.00e+00 2 1h 65 2.0805365e+00 5.24e-14 6.59e-07 2.51e-09 -8.6 -6.2 1.00e+00 2 1h 66 2.0805365e+00 7.64e-14 5.17e-08 2.51e-09 -8.6 -6.6 1.00e+00 2 1h 67 2.0805365e+00 2.35e-13 9.46e-08 2.51e-09 -8.6 -7.1 1.00e+00 2 1h 68 2.0805365e+00 4.81e-13 1.76e-07 2.51e-09 -8.6 -7.6 1.00e+00 2 1h 69 2.0805365e+00 1.04e-12 7.78e-07 2.51e-09 -8.6 -8.1 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 70 2.0805365e+00 1.45e-12 1.46e-06 2.51e-09 -8.6 -8.5 1.00e+00 1 1h 71 2.0805365e+00 6.63e-13 6.69e-07 2.51e-09 -8.6 -9.0 1.00e+00 1 1h 72 2.0805365e+00 5.12e-14 5.03e-08 2.51e-09 -8.6 -9.5 1.00e+00 1 1h 73 2.0805365e+00 8.88e-16 5.01e-10 2.51e-09 -8.6 -10.0 1.00e+00 1 1h Number of Iterations....: 73 (scaled) (unscaled) Objective...............: 2.0805364803022099e+00 2.0805364803022099e+00 Dual infeasibility......: 5.0079856928064714e-10 5.0079856928064714e-10 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Complementarity.........: 2.5059035601241060e-09 2.5059035601241060e-09 Overall NLP error.......: 2.5059035601241060e-09 2.5059035601241060e-09 Number of objective function evaluations = 81 Number of objective gradient evaluations = 74 Number of constraint evaluations = 81 Number of constraint Jacobian evaluations = 74 Number of Lagrangian Hessian evaluations = 73 Number of KKT factorizations = 176 Number of KKT backsolves = 119 Total wall secs in initialization = 5.686 s Total wall secs in linear solver = 0.099 s Total wall secs in NLP function evaluations = 20.893 s Total wall secs in solver (w/o init./fun./lin. alg.) = 30.443 s Total wall secs = 57.120 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/LpRux/src/solvers/evaluator.jl:420 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 3.339s jacobian structure: 1680 nonzeros (3.406s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 12.295s 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 (12.349s) linear index maps built (0.0s) evaluator ready (total: 15.756s) evaluator created (15.781s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.0s) variables set (0.096s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (5.355s) optimizer initialization complete (total: 21.233s) This is MadNLP version v0.9.1, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1680 Number of nonzeros in Lagrangian Hessian.............: 1964 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 inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 1.5769287e+01 3.61e+00 3.68e+00 1.84e+00 -1.0 - 0.00e+00 1 0 1 3.0561399e+00 4.81e-01 1.87e+00 6.49e-01 -1.0 -2.0 8.67e-01 1 1h 2 2.6252636e+00 6.29e-02 1.01e+00 2.44e-01 -1.0 -1.6 1.00e+00 1 1h 3 2.7395001e+00 1.64e-02 9.15e-02 1.14e-01 -1.0 -2.1 1.00e+00 2 1h 4 2.2677430e+00 5.02e-02 8.02e-02 2.30e-02 -2.5 -2.5 1.00e+00 2 1h 5 2.1160999e+00 2.95e-02 8.79e-02 4.82e-03 -2.5 -3.0 9.89e-01 2 1h 6 2.1148144e+00 5.17e-04 5.25e-03 2.92e-03 -2.5 -3.5 1.00e+00 2 1h 7 2.0913958e+00 3.94e-04 8.51e-05 1.76e-04 -3.8 -4.0 1.00e+00 2 1h 8 2.0898563e+00 6.43e-05 2.49e-04 4.13e-05 -5.7 -4.4 1.00e+00 2 1h 9 2.0898172e+00 1.03e-06 3.44e-04 9.33e-06 -5.7 -4.0 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0897563e+00 6.80e-06 6.73e-05 2.35e-06 -5.7 -4.5 1.00e+00 2 1h 11 2.0895833e+00 2.45e-05 3.26e-05 1.85e-06 -5.7 -5.0 1.00e+00 1 1h 12 2.0890885e+00 3.76e-05 3.98e-04 1.84e-06 -5.7 -5.4 9.93e-01 1 1h 13 2.0877987e+00 2.57e-05 3.02e-03 9.51e-06 -5.7 -5.9 1.00e+00 1 1h 14 2.0872221e+00 2.18e-05 9.95e-02 2.38e-06 -5.7 -6.4 1.78e-01 1 1h 15 2.0824298e+00 4.25e-05 6.73e-02 4.15e-06 -5.7 -6.9 1.00e+00 1 1h 16 2.0817608e+00 3.52e-05 9.84e-02 6.31e-06 -5.7 -7.4 1.91e-01 2 1h 17 2.0812323e+00 1.11e-04 1.12e-01 1.93e-04 -5.7 -7.8 1.00e+00 1 1h 18 2.0810651e+00 8.16e-05 3.04e-02 1.04e-04 -5.7 -8.3 2.46e-01 1 1h 19 2.0810145e+00 1.86e-06 4.72e-03 5.12e-05 -5.7 -7.0 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0808288e+00 1.53e-06 2.33e-03 1.45e-05 -5.7 -7.5 9.41e-01 2 1h 21 2.0807203e+00 1.06e-06 6.49e-03 4.50e-06 -5.7 -7.9 6.55e-01 1 1h 22 2.0806000e+00 4.01e-06 1.10e-02 3.18e-06 -5.7 -8.4 8.09e-01 1 1h 23 2.0806149e+00 1.38e-06 2.11e-02 3.80e-05 -5.7 -7.1 1.00e+00 1 1h 24 2.0806070e+00 9.93e-07 4.13e-02 1.95e-05 -5.7 -7.6 2.17e-01 1 1h 25 2.0806315e+00 1.13e-07 2.37e-02 1.30e-05 -5.7 -7.1 1.00e+00 1 1h 26 2.0806119e+00 4.43e-07 1.97e-01 1.87e-06 -5.7 -4.9 6.34e-01 1 1h 27 2.0806153e+00 2.86e-07 1.03e-01 3.94e-05 -5.7 -5.4 7.77e-01 2 1H 28 2.0806046e+00 2.94e-06 2.14e-04 1.96e-06 -5.7 -5.9 1.00e+00 1 1h 29 2.0806029e+00 3.33e-07 3.29e-02 1.85e-06 -5.7 -5.4 8.51e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0806027e+00 7.49e-08 8.22e-05 4.44e-06 -5.7 -5.9 1.00e+00 1 1h 31 2.0806109e+00 4.17e-13 2.36e-02 2.03e-06 -5.7 -6.4 1.00e+00 1 1H 32 2.0806005e+00 1.65e-08 2.09e-01 2.11e-06 -5.7 -4.1 4.41e-01 1 2h 33 2.0805970e+00 6.42e-08 1.08e-04 1.88e-06 -5.7 -4.6 1.00e+00 1 1h 34 2.0805988e+00 6.42e-08 2.06e-05 2.67e-06 -5.7 -5.1 1.00e+00 1 1h 35 2.0805983e+00 6.42e-08 3.17e-06 1.90e-06 -5.7 -5.6 1.00e+00 1 1h 36 2.0805782e+00 1.20e-06 4.11e-03 5.53e-07 -8.6 -6.1 8.35e-01 2 1h 37 2.0805727e+00 7.10e-07 1.29e-03 1.84e-07 -8.6 -6.5 7.53e-01 1 1h 38 2.0805676e+00 4.76e-07 2.03e-03 4.02e-08 -8.6 -7.0 5.09e-01 1 1h 39 2.0805600e+00 3.70e-07 3.35e-03 2.27e-08 -8.6 -7.5 4.64e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805570e+00 3.36e-07 4.39e-03 2.05e-08 -8.6 -8.0 1.11e-01 1 1h 41 2.0805412e+00 8.05e-07 1.24e-03 5.23e-08 -8.6 -8.4 1.00e+00 1 1h 42 2.0805368e+00 4.95e-09 3.84e-03 5.32e-09 -8.6 -8.9 1.00e+00 1 1h 43 2.0805368e+00 2.03e-10 7.45e-05 4.18e-06 -8.6 -6.7 1.00e+00 1 1h 44 2.0805368e+00 9.99e-11 3.24e-05 2.51e-09 -8.6 -7.2 1.00e+00 1 1h 45 2.0805368e+00 8.91e-11 1.03e-07 2.90e-09 -8.6 -5.8 1.00e+00 1 1h 46 2.0805368e+00 8.91e-11 5.56e-07 2.51e-09 -8.6 -6.3 1.00e+00 1 1h 47 2.0805367e+00 8.92e-11 1.36e-06 2.51e-09 -8.6 -6.8 1.00e+00 1 1h 48 2.0805367e+00 8.96e-11 3.60e-07 2.51e-09 -8.6 -7.3 1.00e+00 1 1h 49 2.0805366e+00 9.03e-11 1.52e-06 2.51e-09 -8.6 -7.7 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805365e+00 9.07e-11 4.64e-06 2.51e-09 -8.6 -8.2 1.00e+00 1 1h 51 2.0805365e+00 9.01e-11 4.88e-06 2.51e-09 -8.6 -8.7 1.00e+00 1 1h 52 2.0805365e+00 8.94e-11 1.19e-06 2.51e-09 -8.6 -9.2 1.00e+00 1 1h 53 2.0805365e+00 8.92e-11 4.44e-08 2.51e-09 -8.6 -9.7 1.00e+00 1 1h 54 2.0805365e+00 8.92e-11 9.74e-10 2.51e-09 -8.6 -10.1 1.00e+00 1 1h Number of Iterations....: 54 (scaled) (unscaled) Objective...............: 2.0805364803022037e+00 2.0805364803022037e+00 Dual infeasibility......: 9.7397365137702951e-10 9.7397365137702951e-10 Constraint violation....: 8.9184437612743750e-11 8.9184437612743750e-11 Complementarity.........: 2.5059035604814716e-09 2.5059035604814716e-09 Overall NLP error.......: 2.5059035604814716e-09 2.5059035604814716e-09 Number of objective function evaluations = 60 Number of objective gradient evaluations = 55 Number of constraint evaluations = 60 Number of constraint Jacobian evaluations = 55 Number of Lagrangian Hessian evaluations = 54 Number of KKT factorizations = 129 Number of KKT backsolves = 71 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.070 s Total wall secs in NLP function evaluations = 25.254 s Total wall secs in solver (w/o init./fun./lin. alg.) = 11.926 s Total wall secs = 37.251 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/LpRux/src/solvers/evaluator.jl:420 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.066s jacobian structure: 1600 nonzeros (3.133s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.586s 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 (4.638s) linear index maps built (0.0s) evaluator ready (total: 7.772s) evaluator created (7.796s) 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: 7.797s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1376 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1306 Total number of variables............................: 92 variables with only lower bounds: 0 variables with lower and upper bounds: 16 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.1752993e+01 3.26e+00 8.10e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.0508224e+01 3.40e-01 2.79e+00 -0.8 2.22e+00 -4.0 9.06e-01 9.92e-01f 1 2 1.0340111e+01 2.68e-02 6.09e-01 -0.9 3.27e-01 -4.5 7.87e-01 1.00e+00f 1 3 9.8805052e+00 1.03e-02 2.38e-01 -1.7 3.30e-01 -5.0 9.48e-01 1.00e+00h 1 4 9.5412948e+00 6.33e-03 3.36e-02 -2.5 1.72e-01 -5.4 9.81e-01 1.00e+00h 1 5 9.4481362e+00 1.12e-03 7.04e-03 -3.4 8.32e-02 -5.9 9.84e-01 1.00e+00h 1 6 9.4279957e+00 1.59e-04 8.04e-04 -4.0 2.97e-02 -6.4 1.00e+00 1.00e+00h 1 7 9.4259049e+00 1.57e-05 6.89e-05 -4.0 6.30e-03 -6.9 1.00e+00 1.00e+00h 1 8 9.4258092e+00 1.88e-07 6.95e-07 -4.0 6.23e-04 -7.3 1.00e+00 1.00e+00h 1 9 9.4258086e+00 3.02e-11 1.00e-09 -4.0 9.34e-06 -7.8 1.00e+00 1.00e+00h 1 Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 9.4258086226088302e+00 9.4258086226088302e+00 Dual infeasibility......: 9.9999998601598469e-10 9.9999998601598469e-10 Constraint violation....: 3.0242586213091727e-11 3.0242586213091727e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000012230432870e-04 1.0000012230432870e-04 Overall NLP error.......: 9.9999998601598469e-10 9.9999998601598469e-10 Number of objective function evaluations = 10 Number of objective gradient evaluations = 10 Number of equality constraint evaluations = 10 Number of inequality constraint evaluations = 10 Number of equality constraint Jacobian evaluations = 10 Number of inequality constraint Jacobian evaluations = 10 Number of Lagrangian Hessian evaluations = 9 Total seconds in IPOPT = 30.581 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.002s) linear index maps built (0.0s) evaluator ready (total: 0.003s) evaluator created (0.003s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP 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) This is MadNLP version v0.9.1, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 92 variables with only lower bounds: 0 variables with lower and upper bounds: 16 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 inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 2.1752993e+01 3.26e+00 8.10e-01 9.59e-01 -1.0 - 0.00e+00 1 0 1 1.0445097e+01 2.38e-01 2.06e+00 4.39e-01 -1.0 -4.0 1.00e+00 2 1h 2 1.0158399e+01 1.09e-01 2.22e+00 1.27e-01 -1.0 0.0 1.00e+00 1 1h 3 1.0126498e+01 1.00e-02 5.61e-02 1.12e-01 -1.0 -0.4 1.00e+00 2 1h 4 9.7718456e+00 4.96e-03 6.51e-02 3.32e-02 -2.5 -0.9 1.00e+00 2 1h 5 9.5181312e+00 3.82e-03 1.83e-02 8.67e-03 -2.5 -1.4 1.00e+00 2 1h 6 9.4395723e+00 8.12e-04 6.79e-03 2.15e-03 -3.8 -1.9 1.00e+00 2 1h 7 9.4275498e+00 1.48e-04 5.11e-04 4.79e-04 -3.8 -2.3 1.00e+00 2 1h 8 9.4246408e+00 2.03e-05 1.38e-04 4.17e-05 -5.7 -2.8 1.00e+00 2 1h 9 9.4245374e+00 3.97e-07 6.37e-07 2.47e-06 -5.7 -3.3 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 9.4245130e+00 1.03e-09 7.47e-09 4.68e-09 -8.6 -3.8 1.00e+00 2 1h Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 9.4245129859609538e+00 9.4245129859609538e+00 Dual infeasibility......: 7.4655966963987908e-09 7.4655966963987908e-09 Constraint violation....: 1.0285432505696690e-09 1.0285432505696690e-09 Complementarity.........: 4.6756536489370386e-09 4.6756536489370386e-09 Overall NLP error.......: 7.4655966963987908e-09 7.4655966963987908e-09 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of constraint evaluations = 11 Number of constraint Jacobian evaluations = 11 Number of Lagrangian Hessian evaluations = 10 Number of KKT factorizations = 26 Number of KKT backsolves = 20 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.011 s Total wall secs in NLP function evaluations = 2.145 s Total wall secs in solver (w/o init./fun./lin. alg.) = 0.010 s Total wall secs = 2.167 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/LpRux/src/solvers/evaluator.jl:420 Test Summary: | Pass Total Time Package | 257 257 32m51.8s Testing DirectTrajOpt tests passed Testing completed after 2060.13s PkgEval succeeded after 2201.58s