Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.2108 (df12394092*) started at 2026-04-30T23:10:19.645 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 14.29s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Installed DirectTrajOpt ─ v0.9.2 Updating `~/.julia/environments/v1.14/Project.toml` [c823fa1f] + DirectTrajOpt v0.9.2 Updating `~/.julia/environments/v1.14/Manifest.toml` [47edcb42] + ADTypes v1.22.0 ⌃ [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 [70df07ce] + BracketingNonlinearSolve v1.12.1 [d360d2e6] + ChainRulesCore v1.26.1 [0b6fb165] + ChunkCodecCore v1.0.1 [4c0bbee4] + ChunkCodecLibZlib v1.0.0 [55437552] + ChunkCodecLibZstd v1.0.0 [523fee87] + CodecBzip2 v0.8.5 [944b1d66] + CodecZlib v0.7.8 [38540f10] + CommonSolve v0.2.6 [bbf7d656] + CommonSubexpressions v0.3.1 [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 [864edb3b] + DataStructures v0.19.4 [2b5f629d] + DiffEqBase v7.1.0 [163ba53b] + DiffResults v1.1.0 [b552c78f] + DiffRules v1.15.1 [a0c0ee7d] + DifferentiationInterface v0.7.17 [c823fa1f] + DirectTrajOpt v0.9.2 [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 [7034ab61] + FastBroadcast v1.3.2 [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 [3587e190] + InverseFunctions v0.1.17 [b6b21f68] + Ipopt v1.14.3 [92d709cd] + IrrationalConstants v0.2.6 [82899510] + IteratorInterfaceExtensions v1.0.0 [033835bb] + JLD2 v0.6.4 [692b3bcd] + JLLWrappers v1.7.1 [682c06a0] + JSON v1.5.1 [b964fa9f] + LaTeXStrings v1.4.0 [5078a376] + LazyArrays v2.9.7 [2ab3a3ac] + LogExpFunctions v0.3.29 [e6f89c97] + LoggingExtras v1.2.0 [1914dd2f] + MacroTools v0.5.16 [b8f27783] + MathOptInterface v1.51.0 [bb5d69b7] + MaybeInplace v0.1.4 [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 v4.0.0 [b1df2697] + OrdinaryDiffEqTsit5 v2.0.0 [69de0a69] + Parsers v2.8.4 [d236fae5] + PreallocationTools v1.2.0 [aea7be01] + PrecompileTools v1.3.3 [21216c6a] + Preferences v1.5.2 [3cdcf5f2] + RecipesBase v1.3.4 [731186ca] + RecursiveArrayTools v4.3.0 [189a3867] + Reexport v1.2.2 [ae029012] + Requires v1.3.1 [7e49a35a] + RuntimeGeneratedFunctions v0.5.18 [0bca4576] + SciMLBase v3.7.1 [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 v1.6.2 [efcf1570] + Setfield v1.1.2 [276daf66] + SpecialFunctions v2.7.2 [90137ffa] + StaticArrays v1.9.18 [1e83bf80] + StaticArraysCore v1.4.4 [10745b16] + Statistics v1.11.1 [ec057cc2] + StructUtils v2.8.0 [2efcf032] + SymbolicIndexingInterface v0.3.46 [f8b46487] + TestItemRunner v1.1.5 [1c621080] + TestItems v1.0.0 [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 v0.3.33+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 v0.19.0+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 [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 v1.5.1+0 [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 v0.3.33+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 6.65s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling project... 20.6 s ✓ MadNLP → MadNLPMOI 34.7 s ✓ DirectTrajOpt 36.1 s ✓ DirectTrajOpt → MadNLPSolverExt 3 dependencies successfully precompiled in 101 seconds. 215 already precompiled. Precompilation completed after 117.33s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_VOTN3f/Project.toml` [c823fa1f] DirectTrajOpt v0.9.2 [e24c0720] ExponentialAction v0.2.10 [6a86dc24] FiniteDiff v2.30.0 [f6369f11] ForwardDiff v1.3.3 [b6b21f68] Ipopt v1.14.3 [5078a376] LazyArrays v2.9.7 [2621e9c9] MadNLP v0.9.1 [b8f27783] MathOptInterface v1.51.0 [538bc3a1] NamedTrajectories v0.8.4 [b1df2697] OrdinaryDiffEqTsit5 v2.0.0 [189a3867] Reexport v1.2.2 [0bca4576] SciMLBase v3.7.1 [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_VOTN3f/Manifest.toml` [47edcb42] ADTypes v1.22.0 [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 [70df07ce] BracketingNonlinearSolve v1.12.1 [d360d2e6] ChainRulesCore v1.26.1 [0b6fb165] ChunkCodecCore v1.0.1 [4c0bbee4] ChunkCodecLibZlib v1.0.0 [55437552] ChunkCodecLibZstd v1.0.0 [523fee87] CodecBzip2 v0.8.5 [944b1d66] CodecZlib v0.7.8 [38540f10] CommonSolve v0.2.6 [bbf7d656] CommonSubexpressions v0.3.1 [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 [864edb3b] DataStructures v0.19.4 [2b5f629d] DiffEqBase v7.1.0 [163ba53b] DiffResults v1.1.0 [b552c78f] DiffRules v1.15.1 [a0c0ee7d] DifferentiationInterface v0.7.17 [c823fa1f] DirectTrajOpt v0.9.2 [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 [7034ab61] FastBroadcast v1.3.2 [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 [3587e190] InverseFunctions v0.1.17 [b6b21f68] Ipopt v1.14.3 [92d709cd] IrrationalConstants v0.2.6 [82899510] IteratorInterfaceExtensions v1.0.0 [033835bb] JLD2 v0.6.4 [692b3bcd] JLLWrappers v1.7.1 [682c06a0] JSON v1.5.1 [40e66cde] LDLFactorizations v0.10.2 [b964fa9f] LaTeXStrings v1.4.0 [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 [b8f27783] MathOptInterface v1.51.0 [bb5d69b7] MaybeInplace v0.1.4 [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 v4.0.0 [b1df2697] OrdinaryDiffEqTsit5 v2.0.0 [69de0a69] Parsers v2.8.4 [d236fae5] PreallocationTools v1.2.0 [aea7be01] PrecompileTools v1.3.3 [21216c6a] Preferences v1.5.2 [3cdcf5f2] RecipesBase v1.3.4 [731186ca] RecursiveArrayTools v4.3.0 [189a3867] Reexport v1.2.2 [ae029012] Requires v1.3.1 [7e49a35a] RuntimeGeneratedFunctions v0.5.18 [0bca4576] SciMLBase v3.7.1 [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 v1.6.2 [efcf1570] Setfield v1.1.2 [ff4d7338] SolverCore v0.3.10 [276daf66] SpecialFunctions v2.7.2 [90137ffa] StaticArrays v1.9.18 [1e83bf80] StaticArraysCore v1.4.4 [10745b16] Statistics v1.11.1 [ec057cc2] StructUtils v2.8.0 [2efcf032] SymbolicIndexingInterface v0.3.46 [f8b46487] TestItemRunner v1.1.5 [1c621080] TestItems v1.0.0 [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 v0.3.33+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 v0.19.0+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 [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 v1.5.1+0 [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 v0.3.33+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: 1.902s integrator 2 jacobian structure: 0.064s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (2.006s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.049s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 2.116s sub-objective 2 (QuadraticRegularizer): 1.746s sub-objective 3 (MinimumTimeObjective): 0.016s objective hessian structure: 3.968s hessian structure: 1749 nonzeros (4.068s) linear index maps built (0.0s) evaluator ready (total: 6.64s) evaluator created (11.016s) NL constraint bounds extracted (0.102s) NLP block data built (0.0s) Ipopt optimizer configured (0.366s) variables set (0.811s) 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 (3.294s) optimizer initialization complete (total: 15.679s) ****************************************************************************** This program contains Ipopt, a library for large-scale nonlinear optimization. Ipopt is released as open source code under the Eclipse Public License (EPL). For more information visit https://github.com/coin-or/Ipopt ****************************************************************************** This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.5612498e+00 2.42e+00 7.95e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8065513e+00 2.32e-02 5.45e-01 -1.0 1.81e+00 - 1.00e+00 1.00e+00f 1 2 2.3716868e+00 7.52e-03 9.58e-02 -1.6 1.10e-01 - 9.59e-01 1.00e+00f 1 3 2.1150895e+00 1.12e-03 1.52e-02 -3.4 4.01e-02 - 9.26e-01 9.01e-01h 1 4 2.0910946e+00 7.44e-05 7.50e-04 -4.0 2.85e-02 - 9.98e-01 1.00e+00h 1 5 2.0908887e+00 3.22e-05 6.37e-05 -4.0 6.06e-01 - 1.00e+00 1.00e+00h 1 6 2.0908969e+00 9.48e-09 5.61e-08 -4.0 2.32e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 3.99e-10 1.92e-09 -4.0 8.15e-02 - 1.00e+00 1.00e+00h 1 8 2.0908972e+00 4.64e-15 4.96e-15 -4.0 1.50e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 8 (scaled) (unscaled) Objective...............: 2.0908971978678870e+00 2.0908971978678870e+00 Dual infeasibility......: 4.9592220521116337e-15 4.9592220521116337e-15 Constraint violation....: 4.6420387065509994e-15 4.6420387065509994e-15 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000032407394e-04 1.0000000032407394e-04 Overall NLP error.......: 3.2407393825775732e-13 3.2407393825775732e-13 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 = 67.400 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: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.108s) evaluator created (0.108s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.108s) 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 4.4256021e+00 1.93e+00 6.17e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7182136e+00 7.24e-01 7.67e-01 -0.9 7.60e+00 -4.0 8.06e-01 8.73e-01f 1 2 2.6862522e+00 2.65e-01 3.25e+00 -1.0 9.01e+00 -2.7 4.09e-01 1.00e+00f 1 3 2.5896203e+00 4.73e-03 5.08e-01 -1.1 1.92e-01 -0.4 9.43e-01 1.00e+00h 1 4 2.3612070e+00 5.36e-03 9.64e-02 -1.7 1.37e-01 -0.9 9.90e-01 1.00e+00h 1 5 2.1871871e+00 6.66e-03 1.37e-01 -2.4 2.47e-01 -1.4 9.98e-01 6.69e-01h 1 6 2.1226394e+00 2.13e-03 1.30e-01 -3.0 8.76e-02 -1.9 9.98e-01 6.80e-01h 1 7 2.0921136e+00 2.01e-04 2.72e-02 -3.7 4.22e-02 -2.3 9.98e-01 1.00e+00h 1 8 2.0907931e+00 4.04e-06 9.42e-04 -4.0 1.23e-02 -2.8 1.00e+00 1.00e+00h 1 9 2.0907959e+00 1.74e-07 1.84e-05 -4.0 3.68e-02 -3.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0907853e+00 4.30e-09 1.82e-05 -4.0 1.09e-01 -3.8 1.00e+00 1.00e+00h 1 11 2.0907544e+00 3.81e-08 1.78e-05 -4.0 3.20e-01 -4.3 1.00e+00 1.00e+00h 1 12 2.0906682e+00 2.88e-07 1.16e-04 -4.0 8.96e-01 -4.7 1.00e+00 1.00e+00h 1 13 2.0904615e+00 1.54e-06 7.31e-04 -4.0 2.19e+00 -5.2 1.00e+00 1.00e+00h 1 14 2.0901407e+00 3.27e-06 2.36e-03 -4.0 3.83e+00 -5.7 1.00e+00 1.00e+00h 1 15 2.0899368e+00 3.66e-06 2.45e-03 -4.0 5.51e+00 -6.2 1.00e+00 1.00e+00h 1 16 2.0898535e+00 1.60e-06 1.62e-03 -4.0 8.33e+00 -6.6 1.00e+00 1.00e+00h 1 17 2.0898264e+00 3.97e-07 1.30e-03 -4.0 1.16e+01 -7.1 1.00e+00 1.00e+00h 1 18 2.0898230e+00 1.96e-06 6.91e-04 -4.0 9.43e+00 -7.6 1.00e+00 1.00e+00h 1 19 2.0898220e+00 4.28e-07 8.15e-05 -4.0 3.08e+00 -8.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0898219e+00 5.55e-09 1.11e-06 -4.0 3.08e-01 -8.5 1.00e+00 1.00e+00h 1 21 2.0898218e+00 6.96e-12 2.32e-09 -4.0 1.95e-02 -9.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 21 (scaled) (unscaled) Objective...............: 2.0898218497405794e+00 2.0898218497405794e+00 Dual infeasibility......: 2.3157692229482715e-09 2.3157692229482715e-09 Constraint violation....: 6.9645400557760695e-12 6.9645400557760695e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 2.3157692229482715e-09 2.3157692229482715e-09 Number of objective function evaluations = 22 Number of objective gradient evaluations = 22 Number of equality constraint evaluations = 22 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 22 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 21 Total seconds in IPOPT = 25.565 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.059s) 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: 0.112s) evaluator created (0.112s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: bounds constraint on trajectory variable x applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.0s) optimizer initialization complete (total: 0.112s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 35 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.3942696e+00 3.74e+00 6.24e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.3134901e+00 3.44e+00 1.08e+01 -0.5 2.39e+00 0.0 6.84e-03 8.04e-02f 1 2 2.3153300e+00 3.40e+00 8.10e+01 -0.2 5.17e+00 -0.5 1.76e-01 1.27e-02h 1 3 2.4229893e+00 3.30e+00 7.75e+02 0.8 2.18e+01 -1.0 5.69e-01 2.97e-02f 1 4 2.4878525e+00 3.03e+00 8.45e+02 0.2 4.13e+01 -1.4 1.28e-01 7.26e-02h 1 5 2.5771722e+00 2.87e+00 8.49e+02 -4.0 4.98e+02 -1.9 3.38e-02 5.47e-02H 1 6 2.8910197e+00 2.44e+00 7.83e+02 -0.5 3.74e+01 -2.4 2.64e-01 1.48e-01h 1 7 3.3215816e+00 2.35e+00 2.31e+03 1.5 5.32e+02 -2.9 8.28e-01 5.38e-02f 1 8 3.4576764e+00 2.15e+00 9.17e+03 1.3 3.13e+02 -3.3 2.83e-01 9.02e-02h 1 9 3.8240873e+00 2.60e+00 4.40e+04 2.3 9.50e+02 -3.8 1.24e-01 3.03e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 4.0003565e+00 2.55e+00 5.07e+04 1.2 1.70e+03 -4.3 8.86e-02 1.85e-02f 2 11 4.0336976e+00 2.54e+00 7.45e+04 1.5 8.00e+03 -3.9 4.72e-02 5.02e-03h 3 12 4.1755156e+00 2.24e+01 7.11e+05 2.5 1.92e+04 -4.3 1.00e+00 1.23e-02f 2 13 4.4516303e+00 1.77e+01 5.96e+05 2.5 4.64e+03 -4.8 3.60e-02 4.80e-02h 2 14 4.6725695e+00 1.04e+01 5.32e+05 1.8 7.25e+02 -5.3 1.12e-01 5.00e-02h 1 15 4.7215181e+00 1.02e+01 2.94e+06 1.8 4.14e+01 -4.9 2.74e-01 2.34e-02h 1 16 4.8209561e+00 9.66e+00 3.14e+07 1.8 1.48e+03 -5.4 4.89e-01 4.89e-02h 1 17 4.8239411e+00 9.64e+00 1.82e+10 1.8 1.03e+02 -4.9 1.00e+00 1.54e-03h 1 18 4.8244572e+00 9.64e+00 4.31e+13 1.8 7.57e+01 -4.5 7.15e-01 2.98e-04h 1 19 4.8247764e+00 9.64e+00 4.43e+17 1.8 1.94e+01 -4.1 1.00e+00 9.64e-05h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 6.3873652e+00 7.72e+00 4.94e+15 1.8 1.80e+02 -4.5 9.89e-01 1.99e-01h 1 21 6.3871396e+00 7.72e+00 7.05e+15 -0.3 9.97e+02 -5.0 9.27e-04 1.99e-04h 1 22 6.3872692e+00 7.72e+00 3.84e+15 2.5 3.10e+01 -4.6 8.49e-07 1.02e-04h 1 23 6.3877603e+00 7.70e+00 3.42e+15 2.5 1.59e+03 -5.1 1.46e-06 2.32e-03f 1 24 6.3877701e+00 7.70e+00 3.40e+15 2.5 7.32e+01 -4.7 1.82e-03 2.33e-05h 1 25r 6.3877701e+00 7.70e+00 9.77e+02 2.5 0.00e+00 -4.2 0.00e+00 1.16e-07R 2 26r 6.2342381e+00 1.44e+00 7.24e+02 2.0 3.60e+02 - 4.89e-01 4.30e-02f 1 27 6.2086066e+00 1.40e+00 1.20e+01 -4.0 1.23e+01 -4.7 3.04e-01 2.32e-02h 1 28 6.2089127e+00 1.40e+00 1.36e+04 -0.8 2.86e+01 -5.2 2.35e-01 2.49e-04h 1 29 6.2130108e+00 1.40e+00 3.90e+07 -0.4 1.60e+02 -5.7 3.18e-01 1.09e-04h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30r 6.2130108e+00 1.40e+00 1.00e+03 0.2 0.00e+00 -6.1 0.00e+00 2.83e-07R 3 31r 6.0016774e+00 6.49e-01 9.98e+02 0.4 1.71e+03 - 4.07e-03 1.07e-03f 1 32 6.0016663e+00 6.49e-01 1.91e+04 -4.0 1.51e+01 -6.6 2.61e-01 1.36e-05h 1 33r 6.0016663e+00 6.49e-01 9.99e+02 1.4 0.00e+00 -7.1 0.00e+00 3.18e-07R 3 34r 4.1786971e+00 2.24e-01 8.68e+02 1.1 2.64e+01 - 2.26e-01 3.52e-02f 1 35 4.1766818e+00 2.24e-01 4.55e+02 -1.3 1.76e+01 -7.6 7.44e-01 2.05e-03h 1 36 4.1857912e+00 2.24e-01 2.40e+05 1.1 9.72e+02 -8.0 5.65e-02 1.16e-04h 1 37 4.1861265e+00 2.24e-01 1.65e+10 1.6 1.79e+02 -8.5 1.00e+00 1.45e-05h 1 38r 4.1861265e+00 2.24e-01 9.77e+02 2.5 0.00e+00 -9.0 0.00e+00 7.26e-08R 2 39r 3.3767947e+00 2.04e-01 3.08e+02 0.9 2.12e+00 - 6.68e-01 7.32e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40r 3.4262332e+00 2.02e-01 7.19e+01 0.1 4.37e-01 0.0 8.75e-01 7.77e-01f 1 41r 3.7130173e+00 2.00e-01 3.82e+00 -0.0 2.29e-01 0.4 9.80e-01 9.78e-01f 1 42 3.7133141e+00 1.99e-01 1.55e+02 -1.1 1.79e+01 -9.5 8.89e-01 7.88e-03h 1 43r 3.7133141e+00 1.99e-01 9.51e+02 1.0 0.00e+00 -10.0 0.00e+00 2.95e-07R 12 44r 4.2124071e+00 1.99e-01 2.96e+02 -0.8 2.84e-01 - 1.00e+00 7.04e-01f 1 45r 4.4914856e+00 1.99e-01 7.47e-01 -0.9 1.49e+00 - 1.00e+00 9.97e-01f 1 46r 4.4246117e+00 1.99e-01 1.44e+01 -1.8 1.05e+00 - 8.41e-01 1.00e+00f 1 47r 4.2838913e+00 1.99e-01 1.04e-01 -2.4 3.66e-01 - 9.99e-01 1.00e+00f 1 48r 4.1995248e+00 1.99e-01 7.24e-01 -3.0 3.40e-01 - 9.43e-01 1.00e+00f 1 49r 4.0631876e+00 1.99e-01 3.73e-03 -3.7 5.78e-02 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50r 3.9789392e+00 1.99e-01 3.67e-04 -4.0 4.33e-02 - 1.00e+00 1.00e+00h 1 51r 4.0065768e+00 1.99e-01 2.07e-05 -4.0 2.20e-02 - 1.00e+00 1.00e+00h 1 52r 4.0072248e+00 1.99e-01 8.46e-09 -4.0 2.10e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 52 (scaled) (unscaled) Objective...............: 4.0072238998470642e+00 4.0072238998470642e+00 Dual infeasibility......: 1.9602351728350191e+00 1.9602351728350191e+00 Constraint violation....: 1.9875045034810268e-01 1.9875045034810268e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000005417264e-04 1.0000000005417264e-04 Overall NLP error.......: 1.9602351728350191e+00 1.9602351728350191e+00 Number of objective function evaluations = 90 Number of objective gradient evaluations = 43 Number of equality constraint evaluations = 90 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 59 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 53 Total seconds in IPOPT = 24.886 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: 0.058s integrator 2 jacobian structure: 0.055s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.113s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.048s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.352s sub-objective 2 (QuadraticRegularizer): 0.084s sub-objective 3 (MinimumTimeObjective): 0.016s sub-objective 4 (GlobalObjective): 0.835s objective hessian structure: 1.38s hessian structure: 1804 nonzeros (1.479s) linear index maps built (0.0s) evaluator ready (total: 1.593s) evaluator created (1.593s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.115s) 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 (6.41s) optimizer initialization complete (total: 8.118s) 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.............: 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 2.7954759e+00 3.10e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.5815477e+00 1.31e-01 2.94e+00 -0.9 2.00e+00 0.0 7.28e-01 1.00e+00f 1 2 3.7630036e+00 1.75e-01 1.76e+01 1.2 5.40e+01 -0.5 1.03e-01 1.62e-02f 1 3 3.6564794e+00 8.65e-02 4.75e+01 0.2 7.60e-01 -0.1 2.81e-01 1.00e+00f 1 4 3.5221162e+00 1.32e-02 3.22e+00 -0.3 2.10e-01 0.4 9.96e-01 1.00e+00h 1 5 3.1907715e+00 1.09e-02 2.88e-01 -1.0 1.42e-01 -0.1 9.63e-01 1.00e+00f 1 6 2.5214333e+00 3.04e-02 4.39e-01 -3.0 2.74e-01 -0.6 7.35e-01 1.00e+00f 1 7 2.2452448e+00 1.14e-02 2.03e-01 -1.8 3.28e-01 -1.1 9.78e-01 8.03e-01h 1 8 2.1115187e+00 1.78e-03 2.86e-02 -2.8 8.79e-02 -1.5 9.88e-01 9.44e-01h 1 9 2.0912553e+00 1.26e-05 2.53e-04 -4.0 6.84e-03 -2.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908673e+00 4.98e-07 2.06e-05 -4.0 6.34e-03 -2.5 1.00e+00 1.00e+00h 1 11 2.0908654e+00 2.51e-10 2.06e-05 -4.0 1.90e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0908598e+00 1.23e-09 2.06e-05 -4.0 5.70e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908430e+00 1.10e-08 2.06e-05 -4.0 1.71e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0907926e+00 9.95e-08 2.06e-05 -4.0 5.12e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0906415e+00 8.97e-07 2.06e-05 -4.0 1.54e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0901895e+00 8.12e-06 3.62e-05 -4.0 4.59e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0888448e+00 7.45e-05 3.23e-04 -4.0 1.37e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0849162e+00 7.07e-04 2.94e-03 -4.0 3.99e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0796316e+00 2.06e-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 2.0801788e+00 2.03e-04 1.74e-01 -4.0 6.49e+01 -7.3 1.00e+00 9.88e-01H 1 21 2.0773583e+00 8.51e-03 2.17e-02 -4.0 1.25e+02 -7.7 1.00e+00 9.67e-01h 1 22 2.0771307e+00 1.95e-03 7.21e-02 -4.0 2.11e+02 -8.2 1.00e+00 1.00e+00h 1 23 2.0760323e+00 4.07e-03 2.02e-02 -4.0 3.52e+02 -8.7 1.00e+00 8.81e-01h 1 24 2.0755354e+00 1.76e-03 2.12e-02 -4.0 4.18e+02 -9.2 1.00e+00 7.43e-01h 1 25 2.0757296e+00 2.48e-03 8.38e-03 -4.0 1.20e+02 -9.6 1.00e+00 1.00e+00h 1 26 2.0753601e+00 1.24e-03 2.86e-04 -4.1 6.26e+01 -10.1 1.00e+00 1.00e+00h 1 27 2.0756724e+00 4.78e-04 6.16e-06 -4.0 2.05e+01 -10.6 1.00e+00 1.00e+00h 1 28 2.0756712e+00 5.81e-07 8.48e-07 -4.0 1.04e+01 -11.1 1.00e+00 1.00e+00h 1 29 2.0756712e+00 1.45e-09 5.34e-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 1.98e-11 7.98e-10 -4.0 5.04e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 2.0756712121252940e+00 2.0756712121252940e+00 Dual infeasibility......: 7.9828207198294650e-10 7.9828207198294650e-10 Constraint violation....: 1.9831469799669321e-11 1.9831469799669321e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000017e-04 1.0000000000000017e-04 Overall NLP error.......: 7.9828207198294650e-10 7.9828207198294650e-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 = 45.358 EXIT: Optimal Solution Found. Difference in Jacobian initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.446s jacobian structure: 1600 nonzeros (2.525s) integrator 1 hessian structure: 0.053s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.572s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (3.626s) linear index maps built (0.0s) evaluator ready (total: 6.151s) evaluator created (6.174s) NL constraint bounds extracted (0.098s) 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 (0.114s) optimizer initialization complete (total: 6.399s) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.4306020e+00 2.84e+00 8.34e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.6856767e+00 4.13e-02 2.18e+00 -1.0 2.18e+00 0.0 9.87e-01 1.00e+00h 1 Hello, world! 2 2.4105763e+00 2.90e-02 8.19e-01 -1.3 3.71e-01 -0.5 9.94e-01 9.54e-01h 1 Hello, world! 3 2.2640342e+00 1.73e-03 2.00e-01 -1.9 1.18e-01 -1.0 9.65e-01 1.00e+00h 1 Hello, world! 4 2.1193119e+00 1.87e-03 3.79e-02 -2.8 1.31e-01 -1.4 9.97e-01 7.92e-01f 1 Hello, world! 5 2.0916769e+00 7.99e-05 3.37e-03 -3.8 1.95e-02 -1.9 9.95e-01 9.94e-01h 1 Hello, world! 6 2.0909611e+00 7.44e-07 2.93e-04 -4.0 5.21e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0909606e+00 4.30e-09 2.11e-05 -4.0 1.54e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0909554e+00 1.11e-09 2.07e-05 -4.0 4.53e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909411e+00 9.08e-09 1.98e-05 -4.0 1.30e-01 -3.8 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 2.0909077e+00 6.16e-08 9.69e-05 -4.0 3.50e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908378e+00 3.06e-07 4.79e-04 -4.0 8.84e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0906554e+00 2.18e-06 7.65e-04 -4.0 2.65e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0900429e+00 1.88e-05 1.71e-03 -4.0 7.28e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0899246e+00 1.88e-04 4.12e-02 -4.0 2.43e+01 -6.2 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0877465e+00 1.46e-04 2.07e-01 -4.0 1.00e+01 -4.9 1.00e+00 4.51e-01h 1 Hello, world! 16 2.0875752e+00 4.73e-05 1.13e-02 -4.0 3.36e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0867281e+00 6.05e-05 3.57e-03 -4.0 9.74e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0851902e+00 1.81e-04 8.61e-03 -4.0 2.32e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0829459e+00 4.04e-04 2.65e-02 -4.0 3.82e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827567e+00 4.99e-04 1.44e-02 -4.0 5.25e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0823202e+00 6.08e-04 8.34e-03 -4.0 1.23e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.2798229e+00 1.39e-04 5.06e+00 -4.0 8.00e+02 -8.2 5.27e-02 1.00e+00H 1 Hello, world! 23 2.0859060e+00 2.04e-05 6.64e-01 -4.1 1.16e-01 -0.4 9.28e-01 8.53e-01f 1 Hello, world! 24 2.0862397e+00 2.02e-05 4.14e+00 -4.0 8.08e-02 -0.8 1.00e+00 7.81e-03f 8 Hello, world! 25 2.0862474e+00 1.33e-07 1.29e-03 -4.0 2.72e-02 -1.3 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0859064e+00 1.11e-07 1.12e-03 -4.0 7.05e-02 -1.8 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0857054e+00 6.18e-07 6.63e-04 -4.0 1.26e-01 -2.3 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0857561e+00 1.05e-07 3.25e-05 -4.0 1.83e-02 -2.8 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0857445e+00 1.05e-07 1.07e-05 -4.0 1.82e-02 -3.2 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 2.0857400e+00 1.36e-08 1.07e-05 -4.0 5.48e-02 -3.7 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0857277e+00 2.94e-08 1.07e-05 -4.0 1.64e-01 -4.2 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0856920e+00 2.52e-07 1.33e-05 -4.0 4.86e-01 -4.7 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0855960e+00 1.92e-06 1.02e-04 -4.0 1.42e+00 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0853840e+00 1.13e-05 5.65e-04 -4.0 3.94e+00 -5.6 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0850571e+00 3.02e-05 1.57e-03 -4.0 1.05e+01 -6.1 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0845040e+00 7.37e-05 3.39e-03 -4.0 2.72e+01 -6.6 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0835302e+00 4.25e-04 1.62e-02 -4.0 6.66e+01 -7.0 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0824266e+00 1.58e-03 4.39e-02 -4.0 1.32e+02 -7.5 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0815758e+00 1.87e-03 4.02e-02 -4.1 1.90e+02 -8.0 6.24e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0838268e+00 1.35e-03 4.31e-01 -4.0 1.05e+02 -6.7 1.00e+00 7.77e-01H 1 Hello, world! 41 2.0824725e+00 4.72e-04 1.21e+00 -3.8 8.03e+00 -5.3 6.84e-01 1.00e+00h 1 Hello, world! 42 2.0834573e+00 2.86e-04 4.56e-01 -3.8 1.35e+00 -2.2 2.64e-01 3.95e-01h 1 Hello, world! 43 2.0824106e+00 8.00e-05 4.24e-01 -4.0 7.84e-02 -0.9 1.00e+00 7.20e-01f 1 Hello, world! 44 2.0820463e+00 3.67e-06 9.11e-03 -4.0 9.95e-02 -1.4 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0820526e+00 1.99e-06 1.12e-03 -4.0 7.00e-02 -1.8 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0820498e+00 3.25e-08 1.74e-04 -4.0 3.53e-02 -2.3 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0820425e+00 2.07e-07 2.08e-04 -4.0 5.74e-02 -2.8 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0820051e+00 4.44e-07 8.64e-02 -4.0 4.65e-01 -3.3 6.85e-01 1.96e-01h 2 Hello, world! 49 2.0819332e+00 1.96e-06 1.67e-01 -4.0 2.68e-01 -3.7 1.00e+00 2.62e-01h 2 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0817856e+00 3.50e-05 3.27e-04 -4.0 1.78e-01 -4.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0817856271104231e+00 2.0817856271104231e+00 Dual infeasibility......: 3.2694924305613608e-04 3.2694924305613608e-04 Constraint violation....: 3.5021763054032817e-05 3.5021763054032817e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0636922779842415e-04 1.0636922779842415e-04 Overall NLP error.......: 3.2694924305613608e-04 3.2694924305613608e-04 Number of objective function evaluations = 66 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 66 Number of inequality constraint evaluations = 66 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 27.801 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) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.4306020e+00 2.84e+00 8.34e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.6856767e+00 4.13e-02 2.18e+00 -1.0 2.18e+00 0.0 9.87e-01 1.00e+00h 1 Hello, world! 2 2.4105763e+00 2.90e-02 8.19e-01 -1.3 3.71e-01 -0.5 9.94e-01 9.54e-01h 1 Hello, world! 3 2.2640342e+00 1.73e-03 2.00e-01 -1.9 1.18e-01 -1.0 9.65e-01 1.00e+00h 1 Hello, world! 4 2.1193119e+00 1.87e-03 3.79e-02 -2.8 1.31e-01 -1.4 9.97e-01 7.92e-01f 1 Hello, world! 5 2.0916769e+00 7.99e-05 3.37e-03 -3.8 1.95e-02 -1.9 9.95e-01 9.94e-01h 1 Hello, world! 6 2.0909611e+00 7.44e-07 2.93e-04 -4.0 5.21e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0909606e+00 4.30e-09 2.11e-05 -4.0 1.54e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0909554e+00 1.11e-09 2.07e-05 -4.0 4.53e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909411e+00 9.08e-09 1.98e-05 -4.0 1.30e-01 -3.8 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 2.0909077e+00 6.16e-08 9.69e-05 -4.0 3.50e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908378e+00 3.06e-07 4.79e-04 -4.0 8.84e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0906554e+00 2.18e-06 7.65e-04 -4.0 2.65e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0900429e+00 1.88e-05 1.71e-03 -4.0 7.28e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0899246e+00 1.88e-04 4.12e-02 -4.0 2.43e+01 -6.2 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0877465e+00 1.46e-04 2.07e-01 -4.0 1.00e+01 -4.9 1.00e+00 4.51e-01h 1 Hello, world! 16 2.0875752e+00 4.73e-05 1.13e-02 -4.0 3.36e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0867281e+00 6.05e-05 3.57e-03 -4.0 9.74e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0851902e+00 1.81e-04 8.61e-03 -4.0 2.32e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0829459e+00 4.04e-04 2.65e-02 -4.0 3.82e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827567e+00 4.99e-04 1.44e-02 -4.0 5.25e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0823202e+00 6.08e-04 8.34e-03 -4.0 1.23e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.2798229e+00 1.39e-04 5.06e+00 -4.0 8.00e+02 -8.2 5.27e-02 1.00e+00H 1 Hello, world! 23 2.0859060e+00 2.04e-05 6.64e-01 -4.1 1.16e-01 -0.4 9.28e-01 8.53e-01f 1 Hello, world! 24 2.0862397e+00 2.02e-05 4.14e+00 -4.0 8.08e-02 -0.8 1.00e+00 7.81e-03f 8 Hello, world! 25 2.0862474e+00 1.33e-07 1.29e-03 -4.0 2.72e-02 -1.3 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0859064e+00 1.11e-07 1.12e-03 -4.0 7.05e-02 -1.8 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0857054e+00 6.18e-07 6.63e-04 -4.0 1.26e-01 -2.3 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0857561e+00 1.05e-07 3.25e-05 -4.0 1.83e-02 -2.8 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0857445e+00 1.05e-07 1.07e-05 -4.0 1.82e-02 -3.2 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 2.0857400e+00 1.36e-08 1.07e-05 -4.0 5.48e-02 -3.7 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0857277e+00 2.94e-08 1.07e-05 -4.0 1.64e-01 -4.2 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0856920e+00 2.52e-07 1.33e-05 -4.0 4.86e-01 -4.7 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0855960e+00 1.92e-06 1.02e-04 -4.0 1.42e+00 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0853840e+00 1.13e-05 5.65e-04 -4.0 3.94e+00 -5.6 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0850571e+00 3.02e-05 1.57e-03 -4.0 1.05e+01 -6.1 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0845040e+00 7.37e-05 3.39e-03 -4.0 2.72e+01 -6.6 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0835302e+00 4.25e-04 1.62e-02 -4.0 6.66e+01 -7.0 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0824266e+00 1.58e-03 4.39e-02 -4.0 1.32e+02 -7.5 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0815758e+00 1.87e-03 4.02e-02 -4.1 1.90e+02 -8.0 6.24e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0838268e+00 1.35e-03 4.31e-01 -4.0 1.05e+02 -6.7 1.00e+00 7.77e-01H 1 Hello, world! 41 2.0824725e+00 4.72e-04 1.21e+00 -3.8 8.03e+00 -5.3 6.84e-01 1.00e+00h 1 Hello, world! 42 2.0834573e+00 2.86e-04 4.56e-01 -3.8 1.35e+00 -2.2 2.64e-01 3.95e-01h 1 Hello, world! 43 2.0824106e+00 8.00e-05 4.24e-01 -4.0 7.84e-02 -0.9 1.00e+00 7.20e-01f 1 Hello, world! 44 2.0820463e+00 3.67e-06 9.11e-03 -4.0 9.95e-02 -1.4 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0820526e+00 1.99e-06 1.12e-03 -4.0 7.00e-02 -1.8 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0820498e+00 3.25e-08 1.74e-04 -4.0 3.53e-02 -2.3 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0820425e+00 2.07e-07 2.08e-04 -4.0 5.74e-02 -2.8 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0820051e+00 4.44e-07 8.64e-02 -4.0 4.65e-01 -3.3 6.85e-01 1.96e-01h 2 Hello, world! 49 2.0819332e+00 1.96e-06 1.67e-01 -4.0 2.68e-01 -3.7 1.00e+00 2.62e-01h 2 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0817856e+00 3.50e-05 3.27e-04 -4.0 1.78e-01 -4.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0817856271104231e+00 2.0817856271104231e+00 Dual infeasibility......: 3.2694924305613608e-04 3.2694924305613608e-04 Constraint violation....: 3.5021763054032817e-05 3.5021763054032817e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0636922779842415e-04 1.0636922779842415e-04 Overall NLP error.......: 3.2694924305613608e-04 3.2694924305613608e-04 Number of objective function evaluations = 66 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 66 Number of inequality constraint evaluations = 66 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 0.911 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: 0.055s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.079s jacobian structure: 1600 nonzeros (2.135s) integrator 1 hessian structure: 0.045s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.209s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (3.254s) linear index maps built (0.0s) evaluator ready (total: 5.389s) evaluator created (5.411s) 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: 5.411s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.1480153e+00 2.34e+00 5.81e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7141646e+00 6.69e-02 1.53e+00 -1.1 1.53e+00 0.0 9.80e-01 1.00e+00h 1 2 2.4609359e+00 2.85e-02 2.41e-01 -1.3 2.90e-01 -0.5 9.77e-01 1.00e+00h 1 3 2.1644378e+00 1.25e-03 2.90e-02 -2.3 5.61e-02 -1.0 9.57e-01 1.00e+00h 1 4 2.0929962e+00 2.43e-04 2.35e-03 -3.8 1.67e-02 -1.4 9.96e-01 9.65e-01h 1 5 2.0909143e+00 3.73e-06 1.85e-03 -4.0 7.14e-03 -1.9 1.00e+00 1.00e+00h 1 6 2.0909118e+00 1.15e-09 5.44e-05 -4.0 1.32e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0909107e+00 8.38e-11 1.91e-05 -4.0 1.39e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909072e+00 6.97e-10 1.88e-05 -4.0 4.11e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908975e+00 5.50e-09 2.61e-05 -4.0 1.18e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908724e+00 3.76e-08 8.16e-05 -4.0 3.23e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0908077e+00 2.31e-07 3.46e-04 -4.0 8.64e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0906247e+00 2.26e-06 5.73e-04 -4.0 2.62e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0902043e+00 6.85e-06 1.23e-02 -4.0 7.92e+00 -5.7 1.00e+00 5.83e-01h 1 14 2.0897060e+00 2.16e-04 4.65e-02 -4.0 2.57e+01 -6.2 1.00e+00 1.00e+00f 1 15 2.0877807e+00 1.15e-04 6.09e-02 -4.0 5.24e+00 -4.9 1.00e+00 5.96e-01h 1 16 2.0877456e+00 2.77e-05 8.27e-03 -4.0 3.29e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0867599e+00 4.26e-05 6.28e-03 -4.0 9.90e+00 -5.8 1.00e+00 1.00e+00h 1 18 2.0852294e+00 1.85e-04 9.11e-03 -4.0 2.33e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0829738e+00 4.05e-04 2.67e-02 -4.0 3.85e+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 2.0827427e+00 4.94e-04 1.30e-02 -4.0 5.34e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0823235e+00 5.94e-04 8.81e-03 -4.0 1.23e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.1896569e+00 6.72e-05 3.20e+00 -4.0 7.15e+02 -8.2 6.12e-02 1.00e+00H 1 23 2.0848953e+00 1.07e-05 4.86e-01 -4.1 7.13e-02 -0.4 1.00e+00 8.41e-01f 1 24 2.0853480e+00 1.05e-05 2.74e+00 -4.0 6.34e-02 -0.8 1.00e+00 1.56e-02f 7 25 2.0853691e+00 2.22e-07 1.13e-03 -3.9 2.37e-02 -1.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0853691451788752e+00 2.0853691451788752e+00 Dual infeasibility......: 1.1270461731021125e-03 1.1270461731021125e-03 Constraint violation....: 2.2172059158109825e-07 2.2172059158109825e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 4.1172796669908262e-04 4.1172796669908262e-04 Overall NLP error.......: 1.1270461731021125e-03 1.1270461731021125e-03 Number of objective function evaluations = 33 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 33 Number of inequality constraint evaluations = 33 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 25.963 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: 0.001s 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) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.004s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.1480153e+00 2.34e+00 5.81e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7141646e+00 6.69e-02 1.53e+00 -1.1 1.53e+00 0.0 9.80e-01 1.00e+00h 1 2 2.4609359e+00 2.85e-02 2.41e-01 -1.3 2.90e-01 -0.5 9.77e-01 1.00e+00h 1 3 2.1644378e+00 1.25e-03 2.90e-02 -2.3 5.61e-02 -1.0 9.57e-01 1.00e+00h 1 4 2.0929962e+00 2.43e-04 2.35e-03 -3.8 1.67e-02 -1.4 9.96e-01 9.65e-01h 1 5 2.0909143e+00 3.73e-06 1.85e-03 -4.0 7.14e-03 -1.9 1.00e+00 1.00e+00h 1 6 2.0909118e+00 1.15e-09 5.44e-05 -4.0 1.32e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0909107e+00 8.38e-11 1.91e-05 -4.0 1.39e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909072e+00 6.97e-10 1.88e-05 -4.0 4.11e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908975e+00 5.50e-09 2.61e-05 -4.0 1.18e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908724e+00 3.76e-08 8.16e-05 -4.0 3.23e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0908077e+00 2.31e-07 3.46e-04 -4.0 8.64e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0906247e+00 2.26e-06 5.73e-04 -4.0 2.62e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0902043e+00 6.85e-06 1.23e-02 -4.0 7.92e+00 -5.7 1.00e+00 5.83e-01h 1 14 2.0897060e+00 2.16e-04 4.65e-02 -4.0 2.57e+01 -6.2 1.00e+00 1.00e+00f 1 15 2.0877807e+00 1.15e-04 6.09e-02 -4.0 5.24e+00 -4.9 1.00e+00 5.96e-01h 1 16 2.0877456e+00 2.77e-05 8.27e-03 -4.0 3.29e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0867599e+00 4.26e-05 6.28e-03 -4.0 9.90e+00 -5.8 1.00e+00 1.00e+00h 1 18 2.0852294e+00 1.85e-04 9.11e-03 -4.0 2.33e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0829738e+00 4.05e-04 2.67e-02 -4.0 3.85e+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 2.0827427e+00 4.94e-04 1.30e-02 -4.0 5.34e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0823235e+00 5.94e-04 8.81e-03 -4.0 1.23e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.1896569e+00 6.72e-05 3.20e+00 -4.0 7.15e+02 -8.2 6.12e-02 1.00e+00H 1 23 2.0848953e+00 1.07e-05 4.86e-01 -4.1 7.13e-02 -0.4 1.00e+00 8.41e-01f 1 24 2.0853480e+00 1.05e-05 2.74e+00 -4.0 6.34e-02 -0.8 1.00e+00 1.56e-02f 7 25 2.0853691e+00 2.22e-07 1.13e-03 -3.9 2.37e-02 -1.3 1.00e+00 1.00e+00h 1 26 2.0849439e+00 7.25e-08 9.04e-04 -4.0 5.69e-02 -1.8 1.00e+00 1.00e+00h 1 27 2.0848092e+00 3.21e-07 4.14e-04 -4.0 7.85e-02 -2.3 1.00e+00 1.00e+00h 1 28 2.0848381e+00 5.07e-08 1.61e-05 -4.0 9.17e-03 -2.8 1.00e+00 1.00e+00h 1 29 2.0848341e+00 3.04e-08 9.47e-06 -4.0 1.61e-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 2.0848306e+00 2.99e-09 9.47e-06 -4.0 4.84e-02 -3.7 1.00e+00 1.00e+00h 1 31 2.0848204e+00 2.31e-08 9.44e-06 -4.0 1.45e-01 -4.2 1.00e+00 1.00e+00h 1 32 2.0847908e+00 1.98e-07 1.06e-05 -4.0 4.30e-01 -4.7 1.00e+00 1.00e+00h 1 33 2.0847114e+00 1.55e-06 8.07e-05 -4.0 1.25e+00 -5.1 1.00e+00 1.00e+00h 1 34 2.0845377e+00 9.08e-06 4.40e-04 -4.0 3.49e+00 -5.6 1.00e+00 1.00e+00h 1 35 2.0842737e+00 2.44e-05 1.22e-03 -4.0 9.25e+00 -6.1 1.00e+00 1.00e+00h 1 36 2.0838459e+00 5.36e-05 2.59e-03 -4.0 2.40e+01 -6.6 1.00e+00 1.00e+00h 1 37 2.0830990e+00 3.40e-04 1.23e-02 -4.0 5.80e+01 -7.0 1.00e+00 1.00e+00h 1 38 2.0822551e+00 1.26e-03 3.33e-02 -4.0 1.15e+02 -7.5 1.00e+00 1.00e+00h 1 39 2.0817920e+00 2.43e-03 4.24e-02 -4.0 1.92e+02 -8.0 5.17e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0847010e+00 8.68e-04 7.83e-02 -4.0 5.16e+02 -7.6 1.95e-02 1.74e-01h 3 41 2.0834479e+00 6.91e-04 1.41e+00 -4.1 4.20e+00 -4.4 3.42e-01 1.45e-01h 1 42 2.0818575e+00 1.21e-04 2.75e-02 -4.1 5.16e-02 -2.2 1.00e+00 8.25e-01f 1 43 2.0820672e+00 7.63e-05 1.16e+00 -4.0 1.07e-01 -2.7 1.00e+00 3.70e-01f 2 44 2.0819966e+00 2.86e-06 8.01e-04 -4.0 8.18e-02 -3.2 1.00e+00 1.00e+00h 1 45 2.0818645e+00 7.21e-07 3.24e-04 -4.0 3.12e-02 -3.6 1.00e+00 1.00e+00h 1 46 2.0818603e+00 1.34e-07 5.84e-06 -4.0 7.62e-02 -4.1 1.00e+00 1.00e+00h 1 47 2.0818706e+00 1.44e-07 8.21e-06 -4.0 2.15e-01 -4.6 1.00e+00 1.00e+00h 1 48 2.0817457e+00 4.54e-06 1.80e-04 -4.1 3.21e-01 -5.1 1.00e+00 1.00e+00h 1 49 2.0819333e+00 2.84e-05 2.66e-04 -4.0 1.45e+00 -5.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0817793e+00 4.61e-05 4.42e-04 -4.1 2.51e+00 -6.0 1.00e+00 1.00e+00h 1 51 2.0807392e+00 9.27e-04 2.40e-03 -6.1 1.01e+01 -6.5 9.80e-01 9.81e-01h 1 52 2.0807177e+00 1.06e-04 1.51e-03 -5.1 9.81e+00 -7.0 1.00e+00 1.00e+00h 1 53 2.0819163e+00 6.14e-03 3.00e-02 -4.0 5.63e+01 -7.5 4.57e-01 1.00e+00f 1 54 2.0812543e+00 5.97e-04 3.14e-03 -4.3 5.80e+00 -6.1 1.00e+00 1.00e+00h 1 55 2.0812320e+00 4.50e-04 1.81e-02 -4.3 1.66e+01 -6.6 6.76e-01 1.00e+00h 1 56 2.0812391e+00 1.27e-05 3.54e-04 -4.3 3.36e-01 -4.4 1.00e+00 1.00e+00h 1 57 2.0815165e+00 3.47e-05 5.55e-03 -4.0 1.43e+00 -4.9 3.92e-01 4.03e-01h 2 58 2.0813830e+00 2.36e-05 2.48e-01 -4.3 5.01e-01 -2.6 1.00e+00 3.18e-01h 1 59 2.0813107e+00 9.75e-08 1.84e-04 -4.3 4.43e-02 -3.1 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0814337e+00 6.14e-07 1.62e-01 -4.0 4.96e-01 -3.6 1.00e+00 4.49e-01h 2 61 2.0814495e+00 6.18e-07 1.15e-05 -4.1 1.29e-01 -4.1 1.00e+00 1.00e+00h 1 62 2.0810430e+00 3.49e-05 1.20e-01 -6.2 4.33e-01 -4.5 6.85e-01 1.00e+00h 1 63 2.0818121e+00 1.07e-04 5.78e-03 -4.0 9.71e-01 -5.0 1.00e+00 1.00e+00h 1 64 2.0815698e+00 2.95e-05 1.68e-03 -4.1 7.32e-01 -5.5 1.00e+00 1.00e+00h 1 65 2.0815721e+00 1.42e-05 3.51e-04 -4.1 1.26e+00 -6.0 1.00e+00 1.00e+00h 1 66 2.0807703e+00 6.00e-04 1.30e-02 -6.1 6.72e+00 -6.4 9.64e-01 1.00e+00h 1 67 2.0806856e+00 2.44e-04 4.82e-02 -6.1 8.63e+00 -6.9 1.00e+00 6.16e-01h 1 68 2.0806650e+00 8.32e-05 1.20e-03 -5.3 1.75e+01 -7.4 1.00e+00 9.71e-01h 1 69 2.0808656e+00 1.48e-04 5.04e-02 -4.0 5.51e+01 -7.9 1.00e+00 1.69e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0816553e+00 5.25e-03 5.06e-03 -4.2 9.17e+01 -8.3 9.08e-01 1.00e+00f 1 71 2.0814819e+00 3.75e-05 5.18e-03 -4.2 4.64e+01 -8.8 1.00e+00 1.00e+00h 1 72 2.0814375e+00 2.04e-05 3.33e-04 -4.2 3.35e+01 -9.3 1.00e+00 1.00e+00h 1 73 2.0805931e+00 2.47e-03 2.51e-04 -6.2 3.60e+01 -9.8 9.80e-01 9.55e-01h 1 74 2.0818995e+00 6.90e-03 4.36e-04 -4.0 6.44e+01 -10.3 1.00e+00 1.00e+00f 1 75 2.0816214e+00 5.65e-04 2.53e-05 -4.1 2.40e+01 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 75 (scaled) (unscaled) Objective...............: 2.0816214051095807e+00 2.0816214051095807e+00 Dual infeasibility......: 2.5260581850467071e-05 2.5260581850467071e-05 Constraint violation....: 5.6501324031615896e-04 5.6501324031615896e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.9228756957697336e-05 8.9228756957697336e-05 Overall NLP error.......: 5.6501324031615896e-04 5.6501324031615896e-04 Number of objective function evaluations = 94 Number of objective gradient evaluations = 76 Number of equality constraint evaluations = 94 Number of inequality constraint evaluations = 94 Number of equality constraint Jacobian evaluations = 76 Number of inequality constraint Jacobian evaluations = 76 Number of Lagrangian Hessian evaluations = 75 Total seconds in IPOPT = 1.150 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: 0.003s) evaluator created (0.003s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.004s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.1480153e+00 2.34e+00 5.81e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7141646e+00 6.69e-02 1.53e+00 -1.1 1.53e+00 0.0 9.80e-01 1.00e+00h 1 2 2.4609359e+00 2.85e-02 2.41e-01 -1.3 2.90e-01 -0.5 9.77e-01 1.00e+00h 1 3 2.1644378e+00 1.25e-03 2.90e-02 -2.3 5.61e-02 -1.0 9.57e-01 1.00e+00h 1 4 2.0929962e+00 2.43e-04 2.35e-03 -3.8 1.67e-02 -1.4 9.96e-01 9.65e-01h 1 5 2.0909143e+00 3.73e-06 1.85e-03 -4.0 7.14e-03 -1.9 1.00e+00 1.00e+00h 1 6 2.0909118e+00 1.15e-09 5.44e-05 -4.0 1.32e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0909107e+00 8.38e-11 1.91e-05 -4.0 1.39e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909072e+00 6.97e-10 1.88e-05 -4.0 4.11e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908975e+00 5.50e-09 2.61e-05 -4.0 1.18e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908724e+00 3.76e-08 8.16e-05 -4.0 3.23e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0908077e+00 2.31e-07 3.46e-04 -4.0 8.64e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0906247e+00 2.26e-06 5.73e-04 -4.0 2.62e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0902043e+00 6.85e-06 1.23e-02 -4.0 7.92e+00 -5.7 1.00e+00 5.83e-01h 1 14 2.0897060e+00 2.16e-04 4.65e-02 -4.0 2.57e+01 -6.2 1.00e+00 1.00e+00f 1 15 2.0877807e+00 1.15e-04 6.09e-02 -4.0 5.24e+00 -4.9 1.00e+00 5.96e-01h 1 16 2.0877456e+00 2.77e-05 8.27e-03 -4.0 3.29e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0867599e+00 4.26e-05 6.28e-03 -4.0 9.90e+00 -5.8 1.00e+00 1.00e+00h 1 18 2.0852294e+00 1.85e-04 9.11e-03 -4.0 2.33e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0829738e+00 4.05e-04 2.67e-02 -4.0 3.85e+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 2.0827427e+00 4.94e-04 1.30e-02 -4.0 5.34e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0823235e+00 5.94e-04 8.81e-03 -4.0 1.23e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.1896569e+00 6.72e-05 3.20e+00 -4.0 7.15e+02 -8.2 6.12e-02 1.00e+00H 1 23 2.0848953e+00 1.07e-05 4.86e-01 -4.1 7.13e-02 -0.4 1.00e+00 8.41e-01f 1 24 2.0853480e+00 1.05e-05 2.74e+00 -4.0 6.34e-02 -0.8 1.00e+00 1.56e-02f 7 25 2.0853691e+00 2.22e-07 1.13e-03 -3.9 2.37e-02 -1.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0853691451788752e+00 2.0853691451788752e+00 Dual infeasibility......: 1.1270461731021125e-03 1.1270461731021125e-03 Constraint violation....: 2.2172059158109825e-07 2.2172059158109825e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 4.1172796669908262e-04 4.1172796669908262e-04 Overall NLP error.......: 1.1270461731021125e-03 1.1270461731021125e-03 Number of objective function evaluations = 33 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 33 Number of inequality constraint evaluations = 33 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 0.396 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: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.247s jacobian structure: 1600 nonzeros (2.309s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.432s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (3.481s) linear index maps built (0.0s) evaluator ready (total: 5.79s) evaluator created (5.812s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.166s) variables set (0.618s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (2.714s) optimizer initialization complete (total: 9.401s) 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 5.1066652e+00 4.23e+00 8.84e-01 9.59e-01 -1.0 - 0.00e+00 1 0 1 2.6262195e+00 5.57e-01 1.89e+00 1.78e-01 -1.0 0.0 8.68e-01 2 1h 2 2.6795706e+00 2.28e-02 4.73e-01 1.19e-01 -1.0 -0.5 1.00e+00 2 1h 3 2.3569641e+00 8.78e-03 1.19e-01 3.57e-02 -1.7 -1.0 1.00e+00 2 1h 4 2.1305583e+00 1.13e-02 1.81e-02 7.58e-03 -2.5 -1.4 8.82e-01 2 1h 5 2.0916025e+00 9.59e-04 2.72e-03 3.88e-04 -3.8 -1.9 1.00e+00 2 1h 6 2.0913421e+00 3.64e-06 6.03e-05 1.60e-04 -3.8 -2.4 1.00e+00 2 1h 7 2.0899938e+00 1.93e-06 8.59e-05 3.62e-05 -5.7 -2.9 1.00e+00 2 1h 8 2.0899725e+00 4.90e-07 2.44e-04 1.00e-05 -5.7 -3.3 1.00e+00 2 1h 9 2.0899548e+00 2.86e-06 8.10e-05 3.32e-06 -5.7 -3.8 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0899161e+00 1.03e-05 1.97e-05 1.89e-06 -5.7 -4.3 1.00e+00 1 1h 11 2.0898034e+00 2.51e-05 1.99e-05 1.84e-06 -5.7 -4.8 1.00e+00 1 1h 12 2.0895364e+00 2.28e-05 2.49e-03 1.85e-06 -5.7 -5.2 8.05e-01 1 1h 13 2.0886361e+00 1.81e-05 1.80e-03 6.97e-06 -5.7 -5.7 1.00e+00 1 1h 14 2.0882325e+00 1.54e-05 8.20e-02 2.24e-06 -5.7 -6.2 1.55e-01 1 1h 15 2.0838703e+00 2.67e-05 4.35e-02 4.86e-06 -5.7 -6.7 1.00e+00 1 1h 16 2.0829350e+00 2.26e-05 1.33e-01 2.72e-06 -5.7 -7.2 2.10e-01 1 1h 17 2.0816838e+00 2.06e-05 1.37e-01 3.48e-06 -5.7 -7.6 2.54e-01 2 1h 18 2.0814166e+00 2.83e-05 1.95e-01 3.58e-05 -5.7 -8.1 2.74e-01 1 1h 19 2.0806731e+00 4.00e-05 1.35e-01 1.72e-05 -5.7 -8.6 8.93e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0867990e+00 2.36e-07 2.70e-01 3.11e-04 -5.7 -7.3 1.00e+00 1 1H 21 2.0832446e+00 5.99e-05 1.88e+00 1.92e-04 -5.7 -5.0 2.66e-01 1 2h 22 2.0812353e+00 1.87e-05 6.14e-01 1.90e-05 -5.7 -1.9 6.90e-01 1 1h 23 2.0810779e+00 1.03e-05 4.20e-01 2.38e-06 -5.7 -2.4 4.43e-01 2 1h 24 2.0810843e+00 9.12e-09 1.36e-05 6.62e-06 -5.7 -2.8 1.00e+00 1 1h 25 2.0810606e+00 5.71e-08 1.69e-04 7.86e-08 -8.6 -3.3 1.00e+00 2 1h 26 2.0810568e+00 1.37e-09 1.11e-05 2.67e-09 -8.6 -3.8 1.00e+00 1 1h 27 2.0810459e+00 1.15e-11 1.11e-05 2.51e-09 -8.6 -4.3 1.00e+00 2 1h 28 2.0810134e+00 1.02e-10 1.10e-05 2.51e-09 -8.6 -4.8 1.00e+00 2 1h 29 2.0809221e+00 8.33e-10 1.89e-04 2.51e-09 -8.6 -5.2 9.66e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0809544e+00 1.34e-15 3.60e-03 4.78e-05 -8.6 -5.7 1.00e+00 2 1H 31 2.0808948e+00 8.67e-09 8.71e-04 7.17e-06 -8.6 -6.2 9.94e-01 1 1h 32 2.0808412e+00 3.49e-08 1.07e-03 9.19e-06 -8.6 -6.7 1.00e+00 2 1h 33 2.0807453e+00 3.63e-08 5.37e-03 2.94e-06 -8.6 -7.1 7.80e-01 2 1h 34 2.0806106e+00 1.99e-08 2.17e-03 2.51e-09 -8.6 -7.6 8.76e-01 2 1h 35 2.0805953e+00 1.76e-08 2.15e-01 3.48e-05 -8.6 -7.2 2.02e-01 1 1h 36 2.0805614e+00 3.99e-09 6.80e-02 1.43e-06 -8.6 -7.7 7.74e-01 2 1h 37 2.0805831e+00 7.96e-10 5.36e-02 9.69e-06 -8.6 -6.3 1.00e+00 1 1h 38 2.0805635e+00 5.03e-10 2.08e-01 7.36e-08 -8.6 -4.1 8.08e-01 1 1h 39 2.0805642e+00 1.64e-10 3.03e-01 1.91e-06 -8.6 -4.6 6.87e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805636e+00 3.87e-11 1.96e-05 4.77e-07 -8.6 -5.1 1.00e+00 1 1h 41 2.0805630e+00 4.58e-13 3.72e-06 1.05e-07 -8.6 -5.5 1.00e+00 2 1h 42 2.0805619e+00 1.87e-12 1.78e-06 7.14e-09 -8.6 -6.0 1.00e+00 2 1h 43 2.0805602e+00 2.65e-11 2.81e-05 3.14e-08 -8.6 -6.5 1.00e+00 2 1h 44 2.0805556e+00 4.23e-11 2.25e-05 4.20e-09 -8.6 -7.0 1.00e+00 2 1h 45 2.0805553e+00 4.13e-11 3.86e-03 6.78e-09 -8.6 -7.4 2.46e-02 2 1h 46 2.0805463e+00 3.39e-10 3.28e-04 2.56e-08 -8.6 -7.9 1.00e+00 2 1h 47 2.0805390e+00 4.64e-10 3.93e-04 3.56e-09 -8.6 -8.4 1.00e+00 1 1h 48 2.0805367e+00 4.20e-10 2.70e-03 2.55e-09 -8.6 -8.9 1.00e+00 1 1h 49 2.0805368e+00 6.96e-11 2.52e-05 1.58e-06 -8.6 -6.6 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805367e+00 3.96e-11 1.62e-03 2.51e-09 -8.6 -7.1 1.00e+00 1 1h 51 2.0805367e+00 2.99e-11 2.85e-03 1.87e-08 -8.6 -7.6 2.54e-01 1 1h 52 2.0805366e+00 1.68e-11 5.19e-05 1.72e-08 -8.6 -8.1 1.00e+00 1 1h 53 2.0805365e+00 6.25e-12 4.95e-06 3.77e-09 -8.6 -8.6 1.00e+00 1 1h 54 2.0805365e+00 1.90e-12 2.04e-06 2.51e-09 -8.6 -9.0 1.00e+00 1 1h 55 2.0805365e+00 9.33e-14 1.37e-07 3.17e-09 -8.6 -9.5 1.00e+00 1 1h 56 2.0805365e+00 1.78e-15 5.80e-08 2.51e-09 -8.6 -10.0 1.00e+00 1 1h 57 2.0805365e+00 4.44e-16 2.69e-11 2.51e-09 -8.6 -10.5 1.00e+00 1 1h Number of Iterations....: 57 (scaled) (unscaled) Objective...............: 2.0805364803022064e+00 2.0805364803022064e+00 Dual infeasibility......: 2.6923832541479406e-11 2.6923832541479406e-11 Constraint violation....: 4.4408920985006262e-16 4.4408920985006262e-16 Complementarity.........: 2.5059042475294377e-09 2.5059042475294377e-09 Overall NLP error.......: 2.5059042475294377e-09 2.5059042475294377e-09 Number of objective function evaluations = 62 Number of objective gradient evaluations = 58 Number of constraint evaluations = 62 Number of constraint Jacobian evaluations = 58 Number of Lagrangian Hessian evaluations = 57 Number of KKT factorizations = 135 Number of KKT backsolves = 88 Total wall secs in initialization = 21.566 s Total wall secs in linear solver = 0.085 s Total wall secs in NLP function evaluations = 19.795 s Total wall secs in solver (w/o init./fun./lin. alg.) = 51.784 s Total wall secs = 93.230 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/87quR/src/solvers/evaluator.jl:420 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 6.364s jacobian structure: 1680 nonzeros (6.425s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 13.648s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s sub-objective 5 (GlobalObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1964 nonzeros (13.701s) linear index maps built (0.0s) evaluator ready (total: 20.126s) evaluator created (20.151s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.0s) variables set (0.092s) 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 (5.282s) optimizer initialization complete (total: 25.526s) 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 1.4148160e+01 3.44e+00 4.60e+00 1.89e+00 -1.0 - 0.00e+00 1 0 1 8.9341193e+00 2.22e+00 3.49e+00 6.71e-01 -1.0 0.0 3.55e-01 1 1h 2 2.7103451e+00 2.60e-01 7.65e+00 5.14e-01 -1.0 -0.5 1.00e+00 2 1h 3 2.6757757e+00 9.80e-02 1.35e+00 2.62e-01 -1.0 -1.0 1.00e+00 2 1h 4 2.9195605e+00 3.31e-02 7.05e-01 1.05e-01 -1.0 -1.4 1.00e+00 2 1h 5 2.2998435e+00 7.00e-02 1.41e-01 4.00e-02 -1.7 -1.9 8.23e-01 2 1h 6 2.1790970e+00 8.87e-02 8.11e-01 2.42e-02 -2.5 -2.4 3.93e-01 2 1h 7 2.1291678e+00 1.46e-02 1.74e-01 6.32e-03 -2.5 -2.9 1.00e+00 2 1h 8 2.1157778e+00 1.11e-04 4.25e-03 3.18e-03 -2.5 -3.3 1.00e+00 2 1h 9 2.0913604e+00 3.85e-04 1.60e-04 1.86e-04 -3.8 -3.8 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0898421e+00 4.32e-05 6.07e-04 5.57e-05 -5.7 -4.3 1.00e+00 2 1h 11 2.0897393e+00 2.88e-05 7.82e-03 2.84e-06 -5.7 -4.8 3.34e-01 2 1h 12 2.0894098e+00 5.83e-06 4.11e-04 1.86e-06 -5.7 -5.2 1.00e+00 1 1h 13 2.0890141e+00 4.39e-06 2.01e-02 1.93e-06 -5.7 -5.7 4.29e-01 1 1h 14 2.0867756e+00 4.77e-06 8.30e-03 7.03e-06 -5.7 -6.2 1.00e+00 1 1h 15 2.0861367e+00 4.53e-06 1.43e-01 2.75e-06 -5.7 -6.7 1.43e-01 1 1h 16 2.0817512e+00 4.61e-05 1.18e-01 2.49e-06 -5.7 -7.2 7.78e-01 1 1h 17 2.0819686e+00 1.90e-08 1.23e-01 8.68e-04 -5.7 -7.6 1.00e+00 1 1H 18 2.0811165e+00 3.22e-05 3.13e-02 3.30e-04 -5.7 -8.1 6.58e-01 1 1h 19 2.0806890e+00 1.27e-05 4.52e-02 1.18e-04 -5.7 -8.6 9.58e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.4532227e+00 1.35e-06 3.43e+00 1.76e-04 -5.7 -7.3 1.00e+00 1 1H 21 2.4368469e+00 5.17e-06 5.68e+00 1.76e-04 -5.7 -3.2 1.45e-02 1 1h 22 2.3910292e+00 4.82e-06 5.32e+00 1.29e-04 -5.7 -0.1 6.63e-02 1 3h 23 2.3756729e+00 4.72e-06 5.20e+00 1.25e-04 -5.7 -0.6 2.09e-02 2 6h 24 2.0823326e+00 2.31e-06 5.20e-01 8.80e-05 -5.7 -0.1 8.98e-01 1 1H 25 2.0823273e+00 2.30e-06 1.31e+00 2.11e-06 -5.7 -0.6 6.70e-03 2 1h 26 2.0822714e+00 1.63e-06 9.72e-01 2.04e-06 -5.7 -1.1 2.90e-01 2 1h 27 2.0822367e+00 8.22e-07 5.59e-01 6.10e-06 -5.7 -1.6 4.98e-01 2 1h 28 2.0820126e+00 1.47e-06 1.40e-03 1.88e-06 -5.7 -2.0 1.00e+00 2 1h 29 2.0819249e+00 1.49e-06 7.68e-02 1.86e-06 -5.7 -2.5 1.49e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0819446e+00 7.49e-08 2.41e-05 2.00e-05 -5.7 -3.0 1.00e+00 1 1h 31 2.0819249e+00 1.93e-07 1.22e-05 2.09e-06 -5.7 -3.5 1.00e+00 2 1h 32 2.0818993e+00 3.15e-07 1.25e-05 2.75e-08 -8.6 -4.0 1.00e+00 2 1h 33 2.0818780e+00 7.24e-09 1.25e-05 4.49e-09 -8.6 -4.4 1.00e+00 1 1h 34 2.0818154e+00 6.75e-10 1.27e-05 2.71e-09 -8.6 -4.9 1.00e+00 1 1h 35 2.0816627e+00 1.71e-09 1.77e-03 2.52e-09 -8.6 -5.4 8.46e-01 1 1h 36 2.0816828e+00 2.01e-15 5.67e-03 6.10e-05 -8.6 -5.9 1.00e+00 1 1H 37 2.0815394e+00 2.66e-08 1.17e-03 7.47e-06 -8.6 -6.3 1.00e+00 1 1h 38 2.0812966e+00 7.83e-08 1.97e-03 2.66e-08 -8.6 -6.8 1.00e+00 1 1h 39 2.0809939e+00 5.33e-08 2.80e-02 1.04e-08 -8.6 -7.3 6.93e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0808843e+00 4.23e-08 8.25e-02 2.78e-06 -8.6 -7.8 2.20e-01 1 1h 41 2.0808350e+00 4.13e-08 1.93e-01 2.50e-06 -8.6 -7.3 2.33e-01 1 1h 42 2.0807965e+00 4.02e-08 1.37e-01 2.37e-06 -8.6 -6.9 3.10e-02 1 1h 43 2.0807986e+00 4.02e-08 1.38e-01 2.25e-06 -8.6 -6.5 3.24e-04 1 1h 44 2.0807479e+00 3.99e-08 1.65e-01 9.40e-06 -8.6 -7.0 2.32e-02 1 1h 45 2.0807478e+00 3.98e-08 6.94e-02 1.03e-05 -8.6 -7.4 6.92e-04 1 1h 46 2.0807211e+00 3.56e-08 7.85e-02 8.39e-06 -8.6 -7.9 1.06e-01 1 1h 47 2.0809557e+00 1.22e-08 1.12e-02 5.57e-04 -8.6 -6.6 9.83e-01 1 1h 48 2.0808903e+00 9.63e-09 1.31e-01 3.29e-05 -8.6 -7.1 1.77e-01 1 1h 49 2.0806713e+00 1.80e-08 7.66e-02 2.12e-07 -8.6 -6.6 2.49e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0806385e+00 1.59e-09 1.15e-02 2.00e-05 -8.6 -7.1 1.00e+00 1 1h 51 2.0806384e+00 1.59e-09 4.49e-02 9.38e-06 -8.6 -7.6 1.13e-03 1 1h 52 2.0805487e+00 7.56e-09 1.45e-02 2.44e-06 -8.6 -8.1 1.00e+00 1 1h 53 2.0805487e+00 7.55e-09 1.31e-02 1.13e-06 -8.6 -6.7 1.89e-03 1 1h 54 2.0805434e+00 8.72e-10 8.48e-04 2.64e-09 -8.6 -7.2 8.93e-01 1 1h 55 2.0805391e+00 2.02e-10 1.96e-04 3.06e-09 -8.6 -7.7 1.00e+00 1 1h 56 2.0805385e+00 1.32e-09 9.44e-02 8.33e-06 -8.6 -7.3 3.06e-01 1 2h 57 2.0805373e+00 1.02e-09 2.29e-02 2.55e-09 -8.6 -7.8 1.00e+00 1 1h 58 2.0805373e+00 8.92e-11 3.80e-06 2.51e-09 -8.6 -5.5 1.00e+00 1 1h 59 2.0805373e+00 8.95e-11 8.91e-07 9.90e-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 2.0805373e+00 9.50e-11 7.38e-05 2.51e-09 -8.6 -6.5 1.00e+00 1 1h 61 2.0805382e+00 9.38e-11 7.02e-04 3.32e-08 -8.6 -7.0 3.28e-01 1 1H 62 2.0805372e+00 1.79e-10 1.87e-04 1.43e-07 -8.6 -7.4 1.00e+00 1 1h 63 2.0805369e+00 1.38e-10 1.39e-04 2.11e-08 -8.6 -7.9 1.00e+00 1 1h 64 2.0805366e+00 9.21e-11 1.56e-05 3.35e-09 -8.6 -8.4 1.00e+00 1 1h 65 2.0805365e+00 9.22e-11 1.26e-05 2.51e-09 -8.6 -8.9 1.00e+00 1 1h 66 2.0805365e+00 8.95e-11 1.76e-06 4.43e-09 -8.6 -9.3 1.00e+00 1 1h 67 2.0805365e+00 8.92e-11 9.75e-07 2.53e-09 -8.6 -9.8 1.00e+00 1 1h 68 2.0805365e+00 8.92e-11 4.07e-09 2.51e-09 -8.6 -10.3 1.00e+00 1 1h Number of Iterations....: 68 (scaled) (unscaled) Objective...............: 2.0805364803022033e+00 2.0805364803022033e+00 Dual infeasibility......: 4.0664181994871918e-09 4.0664181994871918e-09 Constraint violation....: 8.9184659657348675e-11 8.9184659657348675e-11 Complementarity.........: 2.5059220654755167e-09 2.5059220654755167e-09 Overall NLP error.......: 4.0664181994871918e-09 4.0664181994871918e-09 Number of objective function evaluations = 85 Number of objective gradient evaluations = 69 Number of constraint evaluations = 85 Number of constraint Jacobian evaluations = 69 Number of Lagrangian Hessian evaluations = 68 Number of KKT factorizations = 163 Number of KKT backsolves = 96 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.083 s Total wall secs in NLP function evaluations = 24.199 s Total wall secs in solver (w/o init./fun./lin. alg.) = 11.020 s Total wall secs = 35.304 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/87quR/src/solvers/evaluator.jl:420 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.054s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.247s jacobian structure: 1600 nonzeros (2.302s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.581s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (3.63s) linear index maps built (0.0s) evaluator ready (total: 5.932s) evaluator created (5.954s) 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: 5.955s) 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 2.1642784e+01 4.21e+00 7.27e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.0382411e+01 1.97e-01 2.33e+00 -1.0 2.06e+00 -4.0 9.62e-01 1.00e+00f 1 2 1.0179092e+01 3.94e-02 2.09e-01 -1.0 4.45e-01 -4.5 9.08e-01 1.00e+00h 1 3 9.6826296e+00 6.41e-03 5.89e-02 -2.4 1.99e-01 -5.0 8.72e-01 1.00e+00h 1 4 9.4950872e+00 3.30e-03 1.88e-02 -2.8 1.16e-01 -5.4 9.81e-01 1.00e+00h 1 5 9.4367102e+00 6.30e-04 4.21e-03 -3.8 6.36e-02 -5.9 9.90e-01 1.00e+00h 1 6 9.4268509e+00 1.08e-04 4.75e-04 -4.0 2.02e-02 -6.4 1.00e+00 1.00e+00h 1 7 9.4258513e+00 6.42e-06 2.60e-05 -4.0 4.28e-03 -6.9 1.00e+00 1.00e+00h 1 8 9.4258128e+00 2.60e-08 9.35e-08 -4.0 2.60e-04 -7.3 1.00e+00 1.00e+00h 1 9 9.4258086e+00 1.45e-11 1.00e-09 -4.0 7.19e-06 -7.8 1.00e+00 1.00e+00h 1 Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 9.4258086227193640e+00 9.4258086227193640e+00 Dual infeasibility......: 9.9999484832070246e-10 9.9999484832070246e-10 Constraint violation....: 1.4525380898078311e-11 1.4525380898078311e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000004604389964e-04 1.0000004604389964e-04 Overall NLP error.......: 9.9999484832070246e-10 9.9999484832070246e-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 = 25.906 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) evaluator created (0.002s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) 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 2.1642784e+01 4.21e+00 7.27e-01 9.66e-01 -1.0 - 0.00e+00 1 0 1 1.0351365e+01 1.94e-01 2.26e+00 3.29e-01 -1.0 -4.0 1.00e+00 2 1h 2 1.0140287e+01 1.39e-01 1.92e-01 1.32e-01 -1.0 -4.5 1.00e+00 2 1h 3 9.6673861e+00 6.28e-03 6.23e-02 3.60e-02 -2.5 -5.0 1.00e+00 2 1h 4 9.4993085e+00 3.52e-03 1.09e-02 1.04e-02 -2.5 -5.4 1.00e+00 2 1h 5 9.4376836e+00 6.79e-04 1.01e-02 2.60e-03 -3.8 -5.9 1.00e+00 2 1h 6 9.4275718e+00 1.32e-04 4.65e-04 5.75e-04 -3.8 -6.4 1.00e+00 2 1h 7 9.4246535e+00 1.91e-05 1.33e-04 5.20e-05 -5.7 -6.9 1.00e+00 2 1h 8 9.4245377e+00 3.34e-07 6.77e-07 2.36e-06 -5.7 -7.3 1.00e+00 2 1h 9 9.4245130e+00 8.79e-10 2.51e-09 4.40e-09 -8.6 -7.8 1.00e+00 2 1h Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 9.4245129862650288e+00 9.4245129862650288e+00 Dual infeasibility......: 2.5090176603015379e-09 2.5090176603015379e-09 Constraint violation....: 8.7868023967985209e-10 8.7868023967985209e-10 Complementarity.........: 4.3990783413556520e-09 4.3990783413556520e-09 Overall NLP error.......: 4.3990783413556520e-09 4.3990783413556520e-09 Number of objective function evaluations = 10 Number of objective gradient evaluations = 10 Number of constraint evaluations = 10 Number of constraint Jacobian evaluations = 10 Number of Lagrangian Hessian evaluations = 9 Number of KKT factorizations = 19 Number of KKT backsolves = 19 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.009 s Total wall secs in NLP function evaluations = 0.175 s Total wall secs in solver (w/o init./fun./lin. alg.) = 0.008 s Total wall secs = 0.194 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/87quR/src/solvers/evaluator.jl:420 ┌ 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/87quR/src/problems.jl:66 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: 0.052s integrator 3 jacobian structure: 0.0s jacobian structure: 1872 nonzeros (0.111s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.048s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.366s sub-objective 2 (QuadraticRegularizer): 0.084s sub-objective 3 (LinearRegularizer): 0.076s sub-objective 4 (MinimumTimeObjective): 0.017s objective hessian structure: 0.638s hessian structure: 2431 nonzeros (0.734s) linear index maps built (0.0s) evaluator ready (total: 0.846s) evaluator created (0.846s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.13s) 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 (3.503s) optimizer initialization complete (total: 4.48s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1808 Number of nonzeros in inequality constraint Jacobian.: 80 Number of nonzeros in Lagrangian Hessian.............: 2239 Total number of variables............................: 122 variables with only lower bounds: 30 variables with lower and upper bounds: 0 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 40 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 40 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.7912202e+00 3.12e+00 1.09e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9122941e+00 2.16e+00 8.11e+00 -0.6 1.51e+01 -2.0 4.49e-01 5.83e-01f 1 2 2.5142935e+00 6.91e-01 8.77e+00 -1.5 5.57e+00 -2.5 1.93e-01 6.59e-01h 1 3 2.3915095e+00 3.25e-01 4.67e+00 -1.5 8.47e-01 -1.1 7.01e-01 5.30e-01h 1 4 2.3245577e+00 1.21e-01 5.92e-01 -1.4 1.50e+00 -1.6 6.56e-01 8.17e-01f 1 5 2.1490872e+00 2.95e-01 4.43e-01 -1.9 2.77e+00 -2.1 5.88e-01 8.10e-01h 1 6 2.0445168e+00 6.17e-02 2.36e-01 -3.1 1.09e+00 -2.6 8.89e-01 7.91e-01h 1 7 2.0056535e+00 4.39e-03 2.03e-02 -3.7 3.78e-01 -3.1 9.61e-01 9.29e-01h 1 8 2.0009534e+00 2.12e-05 6.09e-03 -4.0 2.62e-01 -3.5 1.00e+00 1.00e+00h 1 9 2.0009462e+00 5.63e-06 1.26e-01 -4.0 7.31e-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 2.0010433e+00 8.94e-08 1.50e-02 -4.0 9.25e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0010511e+00 7.40e-10 3.48e-02 -4.0 1.77e+00 -5.0 1.00e+00 1.00e+00f 1 12 2.0010896e+00 1.06e-09 5.73e-02 -4.0 2.88e+00 -5.4 1.00e+00 1.00e+00f 1 13 2.0006160e+00 3.00e-08 6.54e-02 -4.2 3.29e+00 -5.9 1.00e+00 1.00e+00f 1 14 2.0013910e+00 1.32e-08 2.33e-01 -4.0 1.17e+01 -6.4 1.00e+00 1.00e+00f 1 15 2.0009206e+00 4.20e-08 1.19e-01 -4.1 9.96e+00 -6.9 1.00e+00 6.00e-01f 1 16 2.0011854e+00 4.93e-08 5.58e-01 -4.1 2.72e+01 -7.4 8.71e-01 1.00e+00f 1 17 2.0008902e+00 1.07e-07 6.00e-01 -4.1 3.26e+01 -7.8 1.00e+00 9.19e-01f 1 18 2.0013277e+00 5.98e-08 1.43e+00 -4.1 6.78e+01 -8.3 8.71e-01 1.00e+00f 1 19 2.0009338e+00 1.13e-07 1.46e+00 -4.1 9.32e+01 -8.8 1.00e+00 7.83e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0013736e+00 6.17e-08 3.86e+00 -4.1 1.84e+02 -9.3 8.78e-01 1.00e+00f 1 21 2.0008531e+00 1.41e-07 4.27e+00 -4.1 2.57e+02 -9.7 1.00e+00 8.30e-01f 1 22 2.0014978e+00 1.94e-08 1.10e+01 -4.1 5.18e+02 -10.2 8.52e-01 1.00e+00f 1 23 2.0007720e+00 1.08e-07 1.12e+01 -4.1 7.14e+02 -10.7 1.00e+00 7.83e-01f 1 24 2.0016006e+00 1.68e-09 3.14e+01 -4.1 1.48e+03 -11.2 8.36e-01 1.00e+00f 1 25 2.0006163e+00 7.93e-08 3.08e+01 -4.1 1.95e+03 -11.6 1.00e+00 7.89e-01f 1 26 2.0017411e+00 3.09e-09 8.74e+01 -4.1 4.11e+03 -12.1 8.34e-01 1.00e+00f 1 27 2.0004722e+00 4.79e-08 7.84e+01 -4.1 5.03e+03 -12.6 1.00e+00 7.79e-01f 1 28 2.0023655e+00 2.77e-09 2.60e+02 -4.0 1.24e+04 -13.1 8.61e-01 1.00e+00f 1 29 2.0000986e+00 4.24e-08 3.44e+01 -4.2 2.74e+03 -13.6 1.00e+00 6.26e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0020615e+00 5.63e-09 5.68e+02 -4.0 2.84e+04 -14.0 1.00e+00 1.00e+00f 1 31 2.0009848e+00 5.09e-09 2.93e+01 -4.2 4.47e+03 -14.5 1.00e+00 3.28e-01f 2 32 2.0006168e+00 6.26e-10 2.31e+02 -4.2 1.15e+04 -15.0 1.00e+00 1.00e+00f 1 33 2.0005656e+00 4.77e-12 2.86e+02 -4.2 1.43e+04 -15.5 1.00e+00 1.00e+00f 1 34 2.0004823e+00 1.09e-12 1.66e+02 -4.2 8.28e+03 -15.9 1.00e+00 1.00e+00f 1 35 2.0004669e+00 2.30e-14 7.72e+01 -4.2 3.86e+03 -16.4 1.00e+00 1.00e+00h 1 36 2.0004481e+00 3.58e-14 2.63e+01 -4.2 1.32e+03 -16.9 1.00e+00 1.00e+00h 1 37 2.0004449e+00 2.54e-14 1.24e+01 -4.2 6.22e+02 -17.4 1.00e+00 1.00e+00h 1 38 2.0004416e+00 5.08e-14 4.12e+00 -4.2 2.06e+02 -17.8 1.00e+00 1.00e+00h 1 39 2.0004410e+00 3.69e-14 2.06e+00 -4.2 1.03e+02 -18.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0004405e+00 7.53e-14 6.80e-01 -4.2 3.40e+01 -18.8 1.00e+00 1.00e+00h 1 41 2.0004404e+00 5.50e-14 3.44e-01 -4.2 1.72e+01 -19.3 1.00e+00 1.00e+00h 1 42 2.0004403e+00 1.13e-13 1.13e-01 -4.2 5.66e+00 -19.8 1.00e+00 1.00e+00h 1 43 2.0004403e+00 4.82e-14 5.72e-02 -4.2 2.86e+00 -20.0 1.00e+00 1.00e+00h 1 44 2.0004403e+00 3.29e-14 1.88e-02 -4.2 9.42e-01 -20.0 1.00e+00 1.00e+00h 1 45 2.0008846e+00 2.45e-09 1.30e+02 -4.0 6.52e+03 -20.0 1.00e+00 1.00e+00f 1 46 2.0005474e+00 3.93e-10 1.91e+02 -4.1 9.55e+03 -20.0 1.00e+00 1.00e+00h 1 47 2.0006605e+00 5.09e-10 6.33e+01 -4.1 3.17e+03 -20.0 1.00e+00 1.00e+00h 1 48 2.0006289e+00 1.11e-10 3.02e+01 -4.1 1.51e+03 -20.0 1.00e+00 1.00e+00h 1 49 2.0006462e+00 8.44e-11 7.77e+00 -4.1 3.89e+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 2.0006409e+00 1.96e-11 5.12e+00 -4.1 2.56e+02 -20.0 1.00e+00 1.00e+00h 1 51 2.0006438e+00 1.40e-11 1.22e+00 -4.1 6.12e+01 -20.0 1.00e+00 1.00e+00h 1 52 2.0006429e+00 3.30e-12 8.55e-01 -4.1 4.27e+01 -20.0 1.00e+00 1.00e+00h 1 53 2.0006434e+00 2.33e-12 2.02e-01 -4.1 1.01e+01 -20.0 1.00e+00 1.00e+00h 1 54 2.0006432e+00 5.50e-13 1.42e-01 -4.1 7.12e+00 -20.0 1.00e+00 1.00e+00h 1 55 2.0006433e+00 3.88e-13 3.36e-02 -4.1 1.68e+00 -20.0 1.00e+00 1.00e+00h 1 56 2.0006433e+00 9.15e-14 2.37e-02 -4.1 1.19e+00 -20.0 1.00e+00 1.00e+00h 1 57 2.0006433e+00 6.46e-14 5.60e-03 -4.1 2.80e-01 -20.0 1.00e+00 1.00e+00h 1 58 2.0006433e+00 1.52e-14 3.96e-03 -4.1 1.98e-01 -20.0 1.00e+00 1.00e+00h 1 59 2.0006433e+00 1.08e-14 9.34e-04 -4.1 1.01e-01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0006433e+00 2.54e-15 6.60e-04 -4.1 1.01e-01 -20.0 1.00e+00 1.00e+00h 1 61 1.9998551e+00 1.31e-08 2.26e+02 -6.1 1.13e+04 -20.0 1.00e+00 1.00e+00f 1 62 2.0006772e+00 3.43e-09 2.05e+03 -4.0 2.05e+05 -20.0 1.00e+00 5.00e-01f 2 63 2.0004311e+00 1.03e-10 2.22e+03 -3.9 1.11e+05 -20.0 1.00e+00 1.00e+00f 1 64 2.0009457e+00 3.30e-09 5.18e+02 -3.9 2.59e+04 -20.0 1.00e+00 1.00e+00f 1 65 2.0010258e+00 2.84e-09 1.04e+02 -3.9 5.18e+03 -20.0 1.00e+00 1.00e+00h 1 66 2.0010395e+00 7.41e-10 2.69e+01 -3.9 1.35e+03 -20.0 1.00e+00 1.00e+00h 1 67 2.0010559e+00 5.43e-10 6.41e+00 -3.9 3.20e+02 -20.0 1.00e+00 1.00e+00h 1 68 2.0010579e+00 1.32e-10 4.69e+00 -3.9 2.35e+02 -20.0 1.00e+00 1.00e+00h 1 69 2.0010606e+00 9.26e-11 1.11e+00 -3.9 5.57e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0010609e+00 2.23e-11 7.80e-01 -3.9 3.90e+01 -20.0 1.00e+00 1.00e+00h 1 71 2.0010613e+00 1.55e-11 1.87e-01 -3.9 9.36e+00 -20.0 1.00e+00 1.00e+00h 1 72 2.0010614e+00 3.72e-12 1.30e-01 -3.9 6.50e+00 -20.0 1.00e+00 1.00e+00h 1 73 2.0010615e+00 2.58e-12 3.12e-02 -3.9 1.56e+00 -20.0 1.00e+00 1.00e+00h 1 74 2.0010615e+00 6.19e-13 2.17e-02 -3.9 1.08e+00 -20.0 1.00e+00 1.00e+00h 1 75 2.0010615e+00 4.29e-13 5.21e-03 -3.9 4.75e-01 -20.0 1.00e+00 1.00e+00h 1 76 2.0010615e+00 1.03e-13 3.61e-03 -3.9 4.75e-01 -20.0 1.00e+00 1.00e+00h 1 77 2.0010615e+00 7.15e-14 8.68e-04 -3.9 4.75e-01 -20.0 1.00e+00 1.00e+00h 1 78 1.9998646e+00 8.26e-08 2.43e+02 -5.9 1.22e+04 -20.0 1.00e+00 1.00e+00f 1 79 1.9998447e+00 2.99e-13 2.20e+02 -5.9 1.19e+04 -20.0 9.28e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 1.9763935e+00 2.78e-13 2.71e+05 -5.5 1.08e+08 -20.0 1.00e+00 1.25e-01f 4 81 1.9924765e+00 2.73e-13 1.81e+05 -4.0 1.10e+10 -20.0 1.00e+00 8.20e-04f 1 82 1.9999648e+00 4.56e-12 9.19e+04 -2.6 1.30e+08 -20.0 1.00e+00 3.54e-02f 1 83 2.0030213e+00 8.22e-08 1.77e+03 -2.6 8.87e+04 -20.0 1.00e+00 1.00e+00f 1 84 2.0976942e+00 9.56e-03 1.82e+02 -2.6 1.82e+04 -20.0 1.00e+00 5.00e-01f 2 85 2.0087731e+00 7.30e-03 1.42e+03 -2.6 1.57e+05 -20.0 1.00e+00 1.00e+00H 1 86 2.0282154e+00 1.42e-02 7.73e+02 -2.6 3.86e+04 -20.0 1.00e+00 1.00e+00h 1 87 2.0227723e+00 9.91e-04 2.25e+02 -2.6 1.12e+04 -20.0 1.00e+00 1.00e+00h 1 88 2.0262605e+00 1.19e-03 9.24e+01 -2.6 7.88e+03 -20.0 1.00e+00 1.00e+00h 1 89 2.0242532e+00 7.41e-04 2.14e+01 -2.6 6.46e+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 90 2.0249180e+00 1.74e-04 2.13e+01 -2.6 6.90e+03 -20.0 1.00e+00 1.00e+00h 1 91 2.0245718e+00 1.27e-04 4.46e+00 -2.6 6.63e+03 -20.0 1.00e+00 1.00e+00h 1 92 2.0246829e+00 2.81e-05 3.57e+00 -2.6 6.68e+03 -20.0 1.00e+00 1.00e+00h 1 93 2.0246248e+00 2.11e-05 7.79e-01 -2.6 6.63e+03 -20.0 1.00e+00 1.00e+00h 1 94 2.0246433e+00 4.64e-06 5.95e-01 -2.6 6.63e+03 -20.0 1.00e+00 1.00e+00h 1 95 2.0246336e+00 3.50e-06 1.31e-01 -2.6 6.61e+03 -20.0 1.00e+00 1.00e+00h 1 96 2.0246367e+00 7.69e-07 9.91e-02 -2.6 6.60e+03 -20.0 1.00e+00 1.00e+00h 1 97 2.0246351e+00 5.80e-07 2.18e-02 -2.6 6.59e+03 -20.0 1.00e+00 1.00e+00h 1 98 2.0009006e+00 1.73e-02 2.63e+02 -3.9 1.31e+04 -20.0 1.00e+00 1.00e+00f 1 99 2.0011172e+00 5.34e-07 7.04e+01 -3.9 3.52e+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 2.0012248e+00 1.71e-09 1.89e+02 -3.9 9.45e+03 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0012248189547734e+00 2.0012248189547734e+00 Dual infeasibility......: 1.8908316704052686e+02 1.8908316704052686e+02 Constraint violation....: 1.7075118766834985e-09 1.7075118766834985e-09 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.2388756259128767e-04 1.2388756259128767e-04 Overall NLP error.......: 1.8908316704052686e+02 1.8908316704052686e+02 Number of objective function evaluations = 115 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 115 Number of inequality constraint evaluations = 115 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 43.840 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: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.653s jacobian structure: 1600 nonzeros (2.716s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.943s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (3.994s) linear index maps built (0.0s) evaluator ready (total: 6.711s) evaluator created (6.736s) 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: 6.737s) 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 5.1516641e+00 2.53e+00 3.42e-01 9.61e-01 -1.0 - 0.00e+00 1 0 1 2.9215099e+00 1.01e-01 1.93e+00 2.17e-01 -1.0 0.0 1.00e+00 1 1h 2 2.5594660e+00 3.12e-02 4.65e-01 1.05e-01 -1.0 0.4 1.00e+00 1 1h 3 2.3822751e+00 1.56e-03 1.23e-01 3.60e-02 -1.7 -0.1 1.00e+00 1 1h 4 2.1440000e+00 7.81e-03 7.39e-02 9.29e-03 -2.5 -0.5 8.53e-01 1 1h 5 2.1123572e+00 1.66e-03 1.21e-02 3.09e-03 -2.5 -1.0 1.00e+00 1 1h 6 2.0914579e+00 2.04e-05 1.13e-03 1.91e-04 -3.8 -1.5 1.00e+00 1 1h 7 2.0900663e+00 3.36e-07 1.51e-04 1.70e-05 -5.7 -2.0 1.00e+00 1 1h 8 2.0900567e+00 1.84e-08 1.64e-04 4.29e-06 -5.7 -2.4 1.00e+00 1 1h 9 2.0900445e+00 1.64e-07 1.62e-04 2.10e-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 2.0900354e+00 1.52e-06 8.70e-05 1.84e-06 -5.7 -3.4 1.00e+00 1 1h 11 2.0900207e+00 1.45e-05 2.00e-05 1.84e-06 -5.7 -3.9 1.00e+00 1 1h 12 2.0899777e+00 1.38e-04 1.99e-05 1.84e-06 -5.7 -4.3 1.00e+00 1 1h 13 2.0898525e+00 4.22e-04 6.98e-05 1.84e-06 -5.7 -4.8 1.00e+00 1 1h 14 2.0897026e+00 2.95e-04 8.57e-03 1.88e-06 -5.7 -5.3 3.94e-01 1 1h 15 2.0886798e+00 1.55e-04 2.19e-03 5.23e-06 -5.7 -5.8 1.00e+00 1 1h 16 2.0883478e+00 1.39e-04 1.06e-01 2.36e-06 -5.7 -6.3 1.03e-01 1 1h 17 2.0836355e+00 3.27e-05 5.22e-02 5.08e-06 -5.7 -6.7 1.00e+00 1 1h 18 2.0827504e+00 2.76e-05 1.33e-01 2.76e-06 -5.7 -7.2 1.99e-01 1 1h 19 2.0816859e+00 2.40e-05 1.36e-01 4.05e-06 -5.7 -7.7 2.19e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0814287e+00 2.88e-05 2.01e-01 2.34e-05 -5.7 -8.2 2.39e-01 1 1h 21 2.0806651e+00 4.30e-05 1.48e-01 1.24e-05 -5.7 -8.6 8.69e-01 1 1h 22 2.0806680e+00 3.64e-05 1.17e-01 2.77e-05 -5.7 -6.4 1.55e-01 1 1h 23 2.0806551e+00 1.87e-05 8.52e-03 9.33e-06 -5.7 -6.9 4.87e-01 1 1h 24 2.0806298e+00 2.29e-06 5.90e-04 3.33e-06 -5.7 -7.4 1.00e+00 1 1h 25 2.0805974e+00 9.33e-07 1.04e-03 2.74e-06 -5.7 -7.8 1.00e+00 1 1h 26 2.0805718e+00 2.84e-06 8.69e-03 2.78e-06 -5.7 -8.3 1.00e+00 1 1h 27 2.0865783e+00 4.48e-09 1.54e-01 8.79e-05 -5.7 -7.0 1.00e+00 1 1H 28 2.0858785e+00 6.35e-07 5.91e-01 8.27e-05 -5.7 -3.9 4.71e-02 1 3h 29 2.0813635e+00 4.77e-08 2.11e-02 1.89e-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 2.0806434e+00 1.56e-09 3.50e-03 1.84e-06 -5.7 -1.2 1.00e+00 1 1h 31 2.0806155e+00 4.62e-08 5.24e-02 1.86e-06 -5.7 -1.7 4.37e-01 1 1h 32 2.0806047e+00 5.31e-08 1.81e-01 1.85e-06 -5.7 -2.1 1.11e-01 1 1h 33 2.0806123e+00 2.02e-09 1.10e-05 5.90e-06 -5.7 -2.6 1.00e+00 1 1h 34 2.0805930e+00 3.49e-08 4.20e-02 6.66e-07 -8.6 -3.1 1.00e+00 1 1h 35 2.0805890e+00 1.18e-08 1.03e-05 2.10e-08 -8.6 -3.6 1.00e+00 1 1h 36 2.0805840e+00 3.03e-10 1.03e-05 6.11e-09 -8.6 -4.1 1.00e+00 1 1h 37 2.0805827e+00 2.75e-10 2.54e-03 1.45e-08 -8.6 -4.5 9.14e-02 1 1h 38 2.0805819e+00 1.06e-10 1.80e-04 2.71e-07 -8.6 -5.0 1.00e+00 1 1h 39 2.0805797e+00 5.74e-12 5.86e-04 8.18e-08 -8.6 -5.5 7.09e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805780e+00 9.14e-11 1.65e-04 4.96e-07 -8.6 -6.0 1.00e+00 1 1h 41 2.0805720e+00 4.54e-10 1.06e-04 5.69e-08 -8.6 -6.4 9.74e-01 1 1h 42 2.0805681e+00 4.19e-10 4.13e-03 4.16e-08 -8.6 -6.9 2.73e-01 1 1h 43 2.0805540e+00 8.62e-10 5.17e-03 8.40e-08 -8.6 -7.4 5.85e-01 1 1h 44 2.0805434e+00 1.04e-09 1.24e-02 1.63e-07 -8.6 -7.9 1.00e+00 1 1h 45 2.0805433e+00 1.02e-09 1.28e-02 1.02e-07 -8.6 -6.5 2.34e-02 1 1h 46 2.0805411e+00 4.41e-10 4.59e-03 5.57e-09 -8.6 -7.0 5.67e-01 1 1h 47 2.0805395e+00 4.09e-11 8.77e-03 4.25e-09 -8.6 -7.5 1.00e+00 1 1h 48 2.0805393e+00 3.43e-11 1.69e-02 2.92e-08 -8.6 -7.1 1.68e-01 1 1h 49 2.0805386e+00 7.30e-11 5.04e-05 4.82e-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 2.0805386e+00 4.78e-11 8.43e-03 2.53e-09 -8.6 -6.2 3.58e-01 1 1h 51 2.0805385e+00 3.00e-13 9.51e-07 3.90e-09 -8.6 -6.7 1.00e+00 1 1h 52 2.0805383e+00 4.79e-13 3.87e-04 2.51e-09 -8.6 -7.2 3.56e-01 1 1h 53 2.0805378e+00 1.13e-11 1.74e-05 4.58e-09 -8.6 -7.7 1.00e+00 1 1h 54 2.0805371e+00 2.38e-11 9.96e-05 2.51e-09 -8.6 -8.1 9.20e-01 1 1h 55 2.0805366e+00 5.03e-11 1.06e-04 2.51e-09 -8.6 -8.6 1.00e+00 1 1h 56 2.0813358e+00 8.88e-16 1.09e-02 2.62e-06 -8.6 -7.3 1.00e+00 1 1H 57 2.0813326e+00 3.61e-13 8.96e-02 2.63e-06 -8.6 -4.1 1.53e-03 1 6h 58 2.0813264e+00 7.07e-13 2.62e-01 2.63e-06 -8.6 -3.7 3.66e-03 1 6h 59 2.0813245e+00 1.02e-12 2.93e-01 2.63e-06 -8.6 -4.2 7.46e-04 1 5h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 60 2.0813221e+00 1.12e-12 6.34e-01 2.65e-06 -8.6 -3.8 1.43e-03 1 6h 61 2.0805785e+00 4.63e-07 7.40e+00 3.37e-07 -8.6 -4.2 2.39e-01 1 1h 62 2.0805669e+00 3.72e-07 6.47e+00 3.37e-07 -8.6 -4.7 1.81e-01 1 1h 63 2.0805434e+00 1.07e-07 1.87e+00 2.83e-08 -8.6 -5.2 7.14e-01 1 1h 64 2.0805406e+00 8.78e-08 1.67e+00 2.67e-08 -8.6 -5.7 1.80e-01 1 1h 65 2.0805392e+00 7.08e-08 1.37e+00 6.64e-08 -8.6 -6.2 1.94e-01 1 1h 66 2.0805392e+00 6.98e-08 1.37e+00 2.43e-08 -8.6 -6.6 1.38e-02 1 1h 67 2.0805386e+00 5.75e-08 1.12e+00 1.94e-08 -8.6 -7.1 1.77e-01 1 1h 68 2.0805373e+00 1.85e-09 3.23e-02 9.94e-09 -8.6 -7.6 9.76e-01 1 1h 69 2.0805366e+00 1.18e-10 4.04e-03 3.23e-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 2.0805367e+00 3.10e-11 1.51e-05 6.38e-07 -8.6 -6.7 1.00e+00 1 1h 71 2.0805365e+00 2.75e-11 1.78e-03 2.55e-09 -8.6 -7.2 1.00e+00 1 1h 72 2.0805365e+00 1.38e-11 2.30e-03 2.57e-09 -8.6 -5.9 4.81e-01 1 1h 73 2.0805365e+00 3.77e-12 4.02e-06 4.02e-08 -8.6 -6.4 1.00e+00 1 1h 74 2.0805365e+00 8.88e-16 1.61e-03 2.56e-09 -8.6 -6.8 1.00e+00 1 1H 75 2.0805365e+00 2.58e-12 8.82e-03 2.54e-09 -8.6 -5.5 5.80e-01 1 1h 76 2.0805365e+00 8.88e-16 1.64e-05 1.12e-07 -8.6 -6.0 1.00e+00 1 1H 77 2.0805365e+00 1.86e-13 2.32e-06 2.19e-08 -8.6 -5.6 1.00e+00 1 1h 78 2.0805365e+00 5.96e-13 1.73e-06 6.06e-09 -8.6 -6.0 1.00e+00 1 1h 79 2.0805365e+00 3.55e-14 5.78e-07 3.02e-09 -8.6 -5.6 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 80 2.0805365e+00 3.22e-15 2.92e-08 2.51e-09 -8.6 -6.1 1.00e+00 1 1h 81 2.0805365e+00 9.21e-13 8.01e-04 2.51e-09 -8.6 -6.6 1.00e+00 1 1h 82 2.0805365e+00 2.84e-13 2.60e-07 2.51e-09 -8.6 -5.2 1.00e+00 1 1h 83 2.0805365e+00 9.50e-14 6.76e-08 2.51e-09 -8.6 -5.7 1.00e+00 1 1h 84 2.0805365e+00 5.95e-14 9.29e-06 2.51e-09 -8.6 -6.2 1.00e+00 1 1h 85 2.0805365e+00 8.88e-16 4.16e-05 2.75e-09 -8.6 -6.7 1.00e+00 1 1H 86 2.0805365e+00 2.04e-14 2.45e-03 3.68e-09 -8.6 -6.2 2.90e-02 1 3h 87 2.0805365e+00 3.38e-14 7.62e-04 4.50e-09 -8.6 -6.7 2.83e-01 1 2h 88 2.0805365e+00 8.06e-14 1.74e-06 2.53e-09 -8.6 -7.2 1.00e+00 1 1h 89 2.0805365e+00 1.46e-13 4.75e-07 2.57e-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 90 2.0805365e+00 1.27e-13 2.42e-07 2.51e-09 -8.6 -8.1 1.00e+00 1 1h 91 2.0805365e+00 1.82e-13 4.09e-07 2.51e-09 -8.6 -8.6 1.00e+00 1 1h 92 2.0805365e+00 6.35e-14 1.55e-07 2.51e-09 -8.6 -9.1 1.00e+00 1 1h 93 2.0805365e+00 4.44e-15 8.90e-09 2.51e-09 -8.6 -9.6 1.00e+00 1 1h Number of Iterations....: 93 (scaled) (unscaled) Objective...............: 2.0805364803025310e+00 2.0805364803025310e+00 Dual infeasibility......: 8.8992858082725945e-09 8.8992858082725945e-09 Constraint violation....: 4.4408920985006262e-15 4.4408920985006262e-15 Complementarity.........: 2.5059035598917340e-09 2.5059035598917340e-09 Overall NLP error.......: 8.8992858082725945e-09 8.8992858082725945e-09 Number of objective function evaluations = 130 Number of objective gradient evaluations = 94 Number of constraint evaluations = 130 Number of constraint Jacobian evaluations = 94 Number of Lagrangian Hessian evaluations = 93 Number of KKT factorizations = 227 Number of KKT backsolves = 106 Total wall secs in initialization = 6.100 s Total wall secs in linear solver = 0.204 s Total wall secs in NLP function evaluations = 21.894 s Total wall secs in solver (w/o init./fun./lin. alg.) = 28.488 s Total wall secs = 56.687 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/87quR/src/solvers/evaluator.jl:420 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: 0.054s 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: 0.0s 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: timesteps all equal constraint applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.49s) optimizer initialization complete (total: 0.611s) 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 1.9346558e+00 3.01e+00 1.23e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.1664383e+00 5.57e+00 1.27e+01 -1.1 8.24e+01 -4.0 9.70e-01 1.00e+00h 1 2 2.2949777e+00 7.83e-03 1.16e+00 -1.5 5.98e+00 -4.5 1.00e+00 1.00e+00h 1 3 2.1816264e+00 1.20e-01 1.49e-01 -2.4 9.39e+00 -5.0 1.00e+00 1.00e+00h 1 4 2.0963137e+00 1.39e-01 7.14e-02 -3.2 1.46e+01 -5.4 9.96e-01 1.00e+00h 1 5 2.0894989e+00 2.13e-02 2.72e-02 -3.6 2.04e+01 -5.9 9.97e-01 1.00e+00h 1 6 2.0829540e+00 1.00e-02 2.44e-02 -4.0 4.62e+01 -6.4 1.00e+00 1.00e+00h 1 7 2.0907969e+00 2.09e-02 3.74e-02 -2.9 1.92e+01 -6.9 1.00e+00 8.50e-01h 1 8 2.0887014e+00 1.30e-02 4.29e-03 -3.1 2.83e+01 -7.3 1.00e+00 1.00e+00h 1 9 2.0889513e+00 1.97e-03 3.27e-03 -3.1 7.58e+01 -7.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0778981e+00 1.61e-01 2.84e-03 -4.0 1.72e+02 -8.3 9.62e-01 1.00e+00h 1 11 2.0760354e+00 1.78e-02 1.46e-02 -4.0 3.86e+02 -8.8 1.00e+00 1.00e+00h 1 12 2.0769291e+00 2.53e-02 1.86e-02 -3.7 2.44e+02 -9.2 1.00e+00 1.00e+00h 1 13 2.0764554e+00 3.12e-03 1.09e-03 -3.9 5.42e+01 -9.7 1.00e+00 1.00e+00h 1 14 2.0757764e+00 1.64e-03 6.13e-05 -4.0 3.25e+01 -10.2 1.00e+00 1.00e+00h 1 15 2.0757705e+00 6.22e-06 3.33e-06 -4.0 2.54e+01 -10.7 1.00e+00 1.00e+00h 1 16 2.0757704e+00 2.88e-09 8.95e-07 -4.0 1.16e+01 -11.2 1.00e+00 1.00e+00h 1 17 2.0757704e+00 8.18e-11 4.46e-08 -4.0 3.03e+00 -11.6 1.00e+00 1.00e+00h 1 18 2.0757704e+00 7.66e-13 4.30e-10 -4.0 3.65e-01 -12.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 18 (scaled) (unscaled) Objective...............: 2.0757703960790819e+00 2.0757703960790819e+00 Dual infeasibility......: 4.2993109051168987e-10 4.2993109051168987e-10 Constraint violation....: 7.6587737887767737e-13 7.6587737887767737e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000006e-04 1.0000000000000006e-04 Overall NLP error.......: 4.2993109051168987e-10 4.2993109051168987e-10 Number of objective function evaluations = 19 Number of objective gradient evaluations = 19 Number of equality constraint evaluations = 19 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 19 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 18 Total seconds in IPOPT = 27.096 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.051s jacobian structure: 180 nonzeros (0.082s) integrator 1 hessian structure: 0.048s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.342s sub-objective 2 (QuadraticRegularizer): 0.085s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.016s objective hessian structure: 0.533s hessian structure: 375 nonzeros (0.581s) linear index maps built (0.0s) evaluator ready (total: 0.814s) evaluator created (0.814s) NL constraint bounds extracted (0.011s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.114s) applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.008s) optimizer initialization complete (total: 3.948s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 194 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 27 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.0704397e+00 1.01e+00 1.11e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7461871e+00 1.96e-01 1.48e+00 -0.8 9.82e-01 0.0 9.83e-01 8.82e-01h 1 2 1.7453247e+00 6.71e-02 1.35e+00 -1.1 3.63e-01 -0.5 8.19e-01 1.00e+00f 1 3 1.4230436e+00 3.19e-02 3.70e-01 -1.1 9.53e-01 -1.0 7.85e-01 5.64e-01h 1 4 1.5613172e+00 5.05e-02 1.15e+00 -1.9 4.01e-01 -1.4 9.71e-01 1.00e+00h 1 5 1.2222613e+00 1.85e-02 3.64e-01 -2.7 4.51e-01 -1.0 1.00e+00 5.23e-01f 1 6 1.1029116e+00 1.28e-03 1.91e-02 -3.2 8.57e-02 -1.5 1.00e+00 9.31e-01h 1 7 1.0917994e+00 2.16e-06 1.08e-03 -4.0 3.71e-02 -2.0 1.00e+00 1.00e+00h 1 8 1.0915714e+00 3.13e-10 8.29e-04 -4.0 4.71e-02 -2.4 1.00e+00 1.00e+00h 1 9 1.0914268e+00 5.57e-13 6.70e-04 -4.0 1.21e-01 -2.9 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0912047e+00 8.57e-16 1.06e-03 -4.0 2.70e-01 -3.4 1.00e+00 1.00e+00f 1 11 1.0911510e+00 2.32e-19 4.48e-04 -4.0 1.13e-01 -3.0 1.00e+00 1.00e+00f 1 12 1.0911304e+00 1.31e-23 9.61e-04 -4.0 9.32e-02 -2.5 1.00e+00 1.00e+00f 1 13 1.0911027e+00 4.63e-30 5.09e-04 -4.0 5.45e-02 -2.1 1.00e+00 1.00e+00f 1 14 1.0909600e+00 1.44e-21 8.88e-03 -4.0 9.37e-01 - 1.00e+00 1.00e+00f 1 15 1.0908997e+00 4.04e-24 3.17e-04 -4.0 2.66e-02 - 1.00e+00 1.00e+00f 1 16 1.0908997e+00 4.44e-25 1.84e-05 -4.0 6.56e-02 - 1.00e+00 1.00e+00f 1 17 1.0908997e+00 1.33e-25 2.21e-06 -4.0 1.92e-02 - 1.00e+00 1.00e+00f 1 18 1.0908997e+00 2.06e-25 3.48e-08 -4.0 1.99e-03 - 1.00e+00 1.00e+00f 1 19 1.0908997e+00 7.30e-26 9.39e-14 -4.0 5.28e-07 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 19 (scaled) (unscaled) Objective...............: 1.0908997263265459e+00 1.0908997263265459e+00 Dual infeasibility......: 9.3878680870740361e-14 9.3878680870740361e-14 Constraint violation....: 7.3049635598934898e-26 7.3049635598934898e-26 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000064e-04 1.0000000000000064e-04 Overall NLP error.......: 9.3878680870740361e-14 9.3878680870740361e-14 Number of objective function evaluations = 20 Number of objective gradient evaluations = 20 Number of equality constraint evaluations = 20 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 20 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 19 Total seconds in IPOPT = 26.913 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.064s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.734s jacobian structure: 1600 nonzeros (2.798s) integrator 1 hessian structure: 0.054s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.339s 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 (4.394s) linear index maps built (0.0s) evaluator ready (total: 7.193s) evaluator created (7.217s) 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: 7.218s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 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 5.3064591e+00 3.50e+00 6.25e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7929419e+00 9.58e-02 2.84e+00 -0.9 1.90e+00 0.0 8.94e-01 1.00e+00f 1 2 2.9095734e+00 1.55e-01 3.40e+00 -0.6 4.72e+00 -0.5 4.16e-01 1.86e-01f 1 3 2.6977116e+00 6.82e-03 4.56e+00 -0.9 1.19e-01 0.9 4.63e-01 1.00e+00f 1 4 2.5161003e+00 3.31e-03 7.45e-01 -1.4 8.23e-02 0.4 1.00e+00 8.64e-01h 1 5 2.2694517e+00 2.71e-03 1.43e-01 -2.0 7.09e-02 -0.1 9.91e-01 1.00e+00f 1 6 2.1534862e+00 3.86e-03 1.18e-01 -2.6 1.78e-01 -0.6 9.94e-01 4.69e-01h 1 7 2.1045838e+00 1.30e-03 1.74e-01 -3.7 3.67e-02 -1.1 9.98e-01 6.65e-01h 1 8 2.0908385e+00 2.37e-05 8.91e-03 -4.0 1.06e-02 -1.5 1.00e+00 1.00e+00h 1 9 2.0909309e+00 8.68e-08 1.17e-04 -4.0 2.33e-03 -2.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909315e+00 1.82e-09 2.25e-05 -4.0 6.92e-03 -2.5 1.00e+00 1.00e+00h 1 11 2.0909291e+00 2.11e-10 2.23e-05 -4.0 2.06e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0909222e+00 1.74e-09 2.17e-05 -4.0 6.00e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0909043e+00 1.31e-08 1.82e-04 -4.0 1.68e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0908660e+00 7.46e-08 4.34e-04 -4.0 4.34e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0907832e+00 3.91e-07 6.98e-04 -4.0 1.08e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0905566e+00 3.93e-06 8.33e-04 -4.0 3.41e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0900639e+00 1.09e-05 1.44e-02 -4.0 9.48e+00 -5.8 1.00e+00 5.93e-01h 1 18 2.0899493e+00 3.11e-04 6.58e-02 -4.0 3.10e+01 -6.3 1.00e+00 1.00e+00f 1 19 2.0871728e+00 2.29e-04 1.88e-01 -4.0 1.16e+01 -5.0 1.00e+00 4.62e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0870533e+00 7.52e-05 1.31e-02 -4.0 3.89e+00 -5.5 1.00e+00 1.00e+00h 1 21 2.0860323e+00 1.02e-04 6.09e-03 -4.0 1.14e+01 -5.9 1.00e+00 1.00e+00h 1 22 2.0844762e+00 2.09e-04 1.10e-02 -4.0 2.54e+01 -6.4 1.00e+00 1.00e+00h 1 23 2.0827754e+00 1.91e-04 2.28e-02 -4.0 3.36e+01 -6.9 1.00e+00 9.09e-01h 1 24 2.0830522e+00 1.21e-03 3.60e-02 -4.0 6.21e+01 -7.4 1.00e+00 1.00e+00h 1 25 2.0821096e+00 1.44e-03 9.32e-03 -4.1 1.47e+02 -7.8 1.00e+00 1.00e+00h 1 26 2.0874836e+00 3.82e-05 2.21e-01 -4.0 1.78e+02 -7.4 1.70e-01 1.00e+00H 1 27 2.0834940e+00 6.77e-03 2.71e+00 -4.0 2.03e+02 -5.2 1.24e-02 5.26e-02f 1 28 2.0830376e+00 5.90e-03 2.45e+00 -4.2 2.83e+00 -2.9 7.98e-01 1.30e-01h 1 29 2.0834007e+00 4.16e-06 2.04e-03 -4.2 2.59e-01 -3.4 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0831800e+00 9.59e-06 1.19e-03 -4.0 2.18e-01 -3.9 1.00e+00 1.00e+00h 1 31 2.0831124e+00 2.81e-06 2.68e-05 -4.0 2.01e-01 -4.4 1.00e+00 1.00e+00h 1 32 2.0830730e+00 1.65e-07 1.57e-05 -4.0 5.89e-01 -4.9 1.00e+00 1.00e+00h 1 33 2.0829644e+00 1.34e-06 1.25e-04 -4.0 1.64e+00 -5.3 1.00e+00 1.00e+00h 1 34 2.0827183e+00 8.70e-06 7.43e-04 -4.0 4.15e+00 -5.8 1.00e+00 1.00e+00h 1 35 2.0824091e+00 3.34e-05 2.21e-03 -4.0 9.08e+00 -6.3 1.00e+00 1.00e+00h 1 36 2.0822203e+00 2.77e-05 2.45e-03 -4.0 2.16e+01 -6.8 1.00e+00 1.00e+00h 1 37 2.0819319e+00 1.51e-04 3.37e-03 -4.0 5.19e+01 -7.2 7.43e-01 1.00e+00h 1 38 2.0819192e+00 1.45e-04 5.75e-02 -4.0 4.75e+03 -6.8 4.40e-04 2.08e-03h 4 39 2.0819934e+00 1.33e-07 6.56e-01 -4.0 1.46e+00 -4.6 6.06e-01 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0824272e+00 1.61e-04 4.28e-03 -3.7 1.65e+00 -5.1 1.00e+00 1.00e+00f 1 41 2.0823423e+00 2.11e-04 2.24e-03 -3.9 1.87e+00 -5.5 1.00e+00 1.00e+00h 1 42 2.0823755e+00 1.12e-05 8.02e-04 -3.9 1.78e+00 -6.0 1.00e+00 1.00e+00h 1 43 2.0810623e+00 1.41e-03 1.05e-02 -5.8 1.24e+01 -6.5 9.92e-01 1.00e+00h 1 44 2.0812650e+00 6.55e-06 7.33e-05 -4.5 5.72e-01 -5.2 1.00e+00 1.00e+00h 1 45 2.0820965e+00 1.43e-06 1.05e-02 -4.0 3.48e+00 -5.6 1.00e+00 1.00e+00H 1 46 2.0817936e+00 2.51e-05 3.16e-03 -4.1 1.35e+00 -6.1 1.00e+00 1.00e+00f 1 47 2.0817371e+00 3.95e-08 8.17e-04 -4.1 1.41e-01 -3.9 1.00e+00 1.00e+00h 1 48 2.0818370e+00 6.40e-06 9.46e-04 -4.0 2.56e-01 -4.4 1.00e+00 1.00e+00h 1 49 2.0817049e+00 6.54e-06 2.66e-04 -4.1 3.20e-01 -4.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818531e+00 1.46e-05 2.44e-04 -4.0 6.44e-01 -5.3 1.00e+00 1.00e+00h 1 51 2.0817293e+00 1.39e-05 1.92e-04 -4.1 7.89e-01 -5.8 1.00e+00 1.00e+00h 1 52 2.0809342e+00 5.39e-04 5.67e-03 -6.1 7.78e+00 -6.3 9.96e-01 1.00e+00h 1 53 2.0809415e+00 1.95e-05 2.50e-03 -5.2 2.54e-01 -4.0 1.00e+00 9.63e-01h 1 54 2.0810810e+00 1.90e-05 4.89e-01 -4.0 3.18e+00 -4.5 1.00e+00 1.53e-01f 1 55 2.0815446e+00 1.49e-04 4.09e-03 -4.0 1.85e+00 -5.0 1.00e+00 1.00e+00f 1 56 2.0816041e+00 6.85e-06 1.84e-03 -4.1 1.06e+00 -5.5 1.00e+00 1.00e+00h 1 57 2.0818276e+00 6.78e-05 8.15e-04 -4.0 3.71e+00 -5.9 1.00e+00 1.00e+00h 1 58 2.0817209e+00 3.31e-05 5.66e-04 -4.1 2.20e+00 -6.4 1.00e+00 1.00e+00h 1 59 2.0807966e+00 1.28e-03 5.05e-03 -6.1 1.59e+01 -6.9 9.88e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0819595e+00 2.26e-03 4.08e-03 -4.0 1.95e+01 -7.4 1.00e+00 1.00e+00f 1 61 2.0816835e+00 9.08e-04 1.77e-03 -4.1 2.76e+01 -7.9 1.00e+00 1.00e+00h 1 62 2.0816314e+00 8.48e-05 2.04e-03 -4.1 4.46e+01 -8.3 1.00e+00 1.00e+00h 1 63 2.0816079e+00 2.94e-05 7.92e-04 -4.1 3.53e+01 -8.8 1.00e+00 1.00e+00h 1 64 2.0806012e+00 3.84e-03 1.79e-04 -6.1 4.64e+01 -9.3 9.77e-01 9.60e-01h 1 65 2.0811431e+00 3.33e-03 1.05e-02 -4.0 5.74e+01 -9.8 1.00e+00 4.29e-01f 1 66 2.0814749e+00 2.86e-04 3.92e-04 -4.1 9.20e+00 -10.2 1.00e+00 1.00e+00h 1 67 2.0805808e+00 2.65e-03 2.90e-04 -6.2 3.60e+01 -10.7 9.50e-01 9.72e-01h 1 68 2.0807423e+00 2.42e-03 1.73e-02 -4.0 6.34e+01 -11.2 1.00e+00 1.27e-01f 1 69 2.0818377e+00 3.74e-03 1.73e-04 -4.0 4.01e+01 -11.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0815831e+00 2.99e-04 3.44e-05 -4.1 1.21e+01 -12.2 1.00e+00 1.00e+00h 1 71 2.0805900e+00 3.33e-03 1.41e-04 -6.1 4.07e+01 -12.6 9.77e-01 9.69e-01h 1 72 2.0805494e+00 6.62e-05 1.62e-06 -6.1 1.50e+01 -13.1 1.00e+00 1.00e+00h 1 73 2.0808334e+00 5.39e-04 2.14e-02 -4.0 8.67e+01 -13.6 1.00e+00 2.15e-01f 1 74 2.0814319e+00 1.01e-03 4.46e-05 -4.2 2.02e+01 -14.1 1.00e+00 1.00e+00f 1 75 2.0814277e+00 1.76e-05 1.97e-06 -4.2 2.07e+01 -14.5 1.00e+00 1.00e+00h 1 76 2.0805893e+00 2.47e-03 2.24e-04 -6.3 3.64e+01 -15.0 9.80e-01 9.59e-01h 1 77 2.0805469e+00 6.16e-05 1.37e-06 -6.3 1.39e+01 -15.5 1.00e+00 1.00e+00h 1 78 2.0819965e+00 1.09e-02 4.09e-04 -4.0 8.79e+01 -16.0 1.00e+00 1.00e+00f 1 79 2.0816911e+00 1.01e-03 5.62e-05 -4.1 4.89e+01 -16.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0816499e+00 6.78e-07 8.68e-07 -4.1 9.22e+00 -16.9 1.00e+00 1.00e+00h 1 81 2.0818440e+00 1.20e-04 5.14e-06 -4.0 7.30e+00 -17.4 1.00e+00 1.00e+00h 1 82 2.0815834e+00 2.14e-04 9.28e-06 -4.1 9.74e+00 -17.9 1.00e+00 1.00e+00h 1 83 2.0805950e+00 3.33e-03 1.58e-04 -6.1 4.09e+01 -18.4 9.77e-01 9.64e-01h 1 84 2.0805497e+00 7.61e-05 1.82e-06 -6.1 1.56e+01 -18.8 1.00e+00 1.00e+00h 1 85 2.0805459e+00 4.82e-08 2.08e-08 -6.1 2.71e+00 -19.3 1.00e+00 1.00e+00h 1 86 2.0820252e+00 1.22e-02 4.25e-04 -4.0 9.85e+01 -19.8 1.00e+00 1.00e+00f 1 87 2.0817120e+00 1.09e-03 6.91e-05 -4.1 5.48e+01 -20.0 1.00e+00 1.00e+00h 1 88 2.0816602e+00 1.23e-06 1.06e-06 -4.1 1.09e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0805974e+00 3.75e-03 1.59e-04 -6.1 4.29e+01 -20.0 9.76e-01 9.67e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805512e+00 8.27e-05 2.04e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 91 2.0805470e+00 5.84e-08 2.51e-08 -6.1 3.00e+00 -20.0 1.00e+00 1.00e+00h 1 92 2.0805365e+00 9.24e-07 7.89e-07 -9.0 9.37e-01 -20.0 1.00e+00 9.97e-01h 1 93 2.0820411e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 94 2.0817244e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 95 2.0816662e+00 1.63e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0805979e+00 3.78e-03 1.61e-04 -6.1 4.31e+01 -20.0 9.76e-01 9.67e-01h 1 97 2.0805514e+00 8.39e-05 2.07e-06 -6.1 1.67e+01 -20.0 1.00e+00 1.00e+00h 1 98 2.0805470e+00 6.01e-08 2.58e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 9.41e-07 8.10e-07 -9.0 9.46e-01 -20.0 1.00e+00 9.97e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805365e+00 8.66e-11 2.16e-12 -9.0 2.61e-02 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595543736e+00 2.0805364595543736e+00 Dual infeasibility......: 2.1635105786896038e-12 2.1635105786896038e-12 Constraint violation....: 8.6564533319233306e-11 8.6564533319233306e-11 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.1439011762458626e-10 9.1439011762458626e-10 Overall NLP error.......: 9.9999090910190809e-05 9.9999090910190809e-05 Number of objective function evaluations = 109 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 109 Number of inequality constraint evaluations = 109 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 31.047 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: 0.064s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 3.033s jacobian structure: 1680 nonzeros (3.098s) integrator 1 hessian structure: 0.053s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 12.153s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s sub-objective 5 (GlobalObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1964 nonzeros (12.209s) linear index maps built (0.0s) evaluator ready (total: 15.307s) evaluator created (15.332s) 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: 15.334s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 96 Number of nonzeros in Lagrangian Hessian.............: 1804 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.4463198e+01 3.41e+00 3.64e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.3646682e+00 1.55e-01 6.26e+00 -0.9 2.41e+00 0.0 7.15e-01 1.00e+00f 1 2 4.4063539e+00 1.52e-01 6.09e+00 0.1 1.56e+01 0.4 1.91e-02 9.94e-03f 2 3 3.7558886e+00 5.81e-02 5.71e+00 -0.9 2.70e-01 0.9 3.27e-01 6.30e-01f 1 4 2.8681018e+00 1.88e-02 9.21e-01 -1.1 2.78e-01 0.4 9.47e-01 1.00e+00f 1 5 2.5431081e+00 9.12e-03 7.95e-01 -1.5 2.07e-01 -0.1 9.89e-01 1.00e+00h 1 6 2.4542579e+00 3.27e-03 4.79e-01 -1.3 3.23e-01 -0.6 1.00e+00 5.06e-01H 1 7 2.2498125e+00 6.43e-03 2.67e-02 -1.9 1.21e-01 -1.1 9.63e-01 1.00e+00f 1 8 2.1349710e+00 2.04e-03 1.27e-01 -3.2 9.35e-02 -1.5 9.98e-01 6.78e-01h 1 9 2.0917806e+00 7.36e-05 1.22e-03 -4.0 1.13e-02 -2.0 1.00e+00 9.98e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908669e+00 1.00e-06 8.76e-05 -4.0 2.66e-02 -2.5 1.00e+00 1.00e+00h 1 11 2.0908621e+00 2.04e-09 1.63e-05 -4.0 1.50e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0908576e+00 8.35e-10 1.62e-05 -4.0 4.50e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908463e+00 5.66e-09 1.59e-05 -4.0 1.32e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0908159e+00 4.61e-08 3.99e-05 -4.0 3.77e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0907323e+00 3.97e-07 1.42e-04 -4.0 1.08e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0904418e+00 3.24e-06 6.92e-04 -4.0 3.34e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0898020e+00 7.02e-06 1.43e-02 -4.0 1.11e+01 -5.8 1.00e+00 6.24e-01H 1 18 2.0881673e+00 3.26e-04 4.06e-02 -4.0 3.05e+01 -6.3 1.00e+00 1.00e+00f 1 19 2.0871096e+00 7.61e-05 8.44e-03 -4.0 2.31e+00 -5.0 1.00e+00 7.96e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0869678e+00 1.01e-05 3.36e-03 -4.0 4.02e+00 -5.5 1.00e+00 1.00e+00h 1 21 2.0860198e+00 4.94e-05 3.82e-03 -4.0 1.14e+01 -5.9 1.00e+00 1.00e+00h 1 22 2.0844504e+00 1.96e-04 1.08e-02 -4.0 2.55e+01 -6.4 1.00e+00 1.00e+00h 1 23 2.0827698e+00 1.83e-04 2.27e-02 -4.0 3.36e+01 -6.9 1.00e+00 9.04e-01h 1 24 2.0830409e+00 1.19e-03 3.57e-02 -4.0 6.20e+01 -7.4 1.00e+00 1.00e+00h 1 25 2.0821041e+00 1.44e-03 9.22e-03 -4.1 1.47e+02 -7.8 1.00e+00 1.00e+00h 1 26 2.0953393e+00 8.19e-05 3.69e-01 -4.0 2.11e+02 -7.4 1.25e-01 1.00e+00H 1 27 2.0841008e+00 3.23e-03 5.78e+00 -4.1 1.54e+01 -4.3 1.95e-02 1.60e-01f 1 28 2.0828688e+00 1.99e-03 3.56e+00 -4.1 1.87e+00 -2.9 1.00e+00 3.88e-01f 1 29 2.0830851e+00 1.47e-03 3.33e+00 -4.1 6.75e-01 -3.4 1.00e+00 2.64e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0828265e+00 1.14e-05 2.28e-03 -4.1 1.72e-01 -3.9 1.00e+00 1.00e+00h 1 31 2.0830331e+00 6.16e-06 1.14e-04 -4.0 1.81e-01 -4.4 1.00e+00 1.00e+00h 1 32 2.0829919e+00 7.33e-07 3.19e-05 -4.0 5.27e-01 -4.9 1.00e+00 1.00e+00h 1 33 2.0829027e+00 1.56e-06 1.11e-04 -4.0 1.48e+00 -5.3 1.00e+00 1.00e+00h 1 34 2.0827181e+00 8.88e-06 5.94e-04 -4.0 3.67e+00 -5.8 1.00e+00 1.00e+00h 1 35 2.0825083e+00 2.30e-05 1.40e-03 -4.0 9.14e+00 -6.3 1.00e+00 1.00e+00h 1 36 2.0822985e+00 2.80e-05 2.02e-03 -4.0 2.27e+01 -6.8 1.00e+00 1.00e+00h 1 37 2.0819894e+00 1.79e-04 4.35e-03 -4.0 5.10e+01 -7.2 9.66e-01 1.00e+00h 1 38 2.0818709e+00 2.84e-04 1.15e-01 -4.0 8.67e+03 -6.8 7.68e-04 2.55e-03h 3 39 2.0818310e+00 3.77e-04 1.51e+00 -4.0 1.55e+01 -5.5 1.00e+00 2.59e-01h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0827866e+00 7.46e-04 4.63e-03 -3.7 5.99e+00 -6.0 1.00e+00 1.00e+00h 1 41 2.0825928e+00 3.41e-04 1.83e-03 -3.8 5.56e+00 -6.4 1.00e+00 1.00e+00h 1 42 2.0826616e+00 2.01e-05 1.22e-03 -3.8 6.63e+00 -6.9 1.00e+00 1.00e+00h 1 43 2.0808154e+00 5.26e-03 1.03e-02 -5.7 3.40e+01 -7.4 9.70e-01 1.00e+00h 1 44 2.0819237e+00 3.96e-03 2.38e-03 -4.0 3.60e+01 -7.9 1.00e+00 1.00e+00h 1 45 2.0816136e+00 1.12e-03 1.41e-03 -4.1 4.31e+01 -8.4 1.00e+00 1.00e+00h 1 46 2.0818434e+00 7.76e-04 6.80e-04 -4.0 3.48e+01 -8.8 1.00e+00 1.00e+00h 1 47 2.0815820e+00 3.35e-04 8.54e-05 -4.1 1.48e+01 -9.3 1.00e+00 1.00e+00h 1 48 2.0818418e+00 1.87e-04 3.62e-05 -4.0 8.51e+00 -9.8 1.00e+00 1.00e+00h 1 49 2.0815820e+00 2.11e-04 2.94e-05 -4.1 9.60e+00 -10.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818419e+00 2.12e-04 3.62e-05 -4.0 9.69e+00 -10.7 1.00e+00 1.00e+00h 1 51 2.0815819e+00 2.13e-04 2.94e-05 -4.1 9.73e+00 -11.2 1.00e+00 1.00e+00h 1 52 2.0818419e+00 2.14e-04 3.62e-05 -4.0 9.74e+00 -11.7 1.00e+00 1.00e+00h 1 53 2.0815819e+00 2.14e-04 2.94e-05 -4.1 9.74e+00 -12.2 1.00e+00 1.00e+00h 1 54 2.0818419e+00 2.14e-04 3.62e-05 -4.0 9.75e+00 -12.6 1.00e+00 1.00e+00h 1 55 2.0815819e+00 2.14e-04 2.94e-05 -4.1 9.75e+00 -13.1 1.00e+00 1.00e+00h 1 56 2.0805924e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -13.6 9.77e-01 9.68e-01h 1 57 2.0818894e+00 6.59e-03 2.97e-04 -4.0 6.14e+01 -14.1 1.00e+00 1.00e+00f 1 58 2.0816124e+00 4.95e-04 3.00e-05 -4.1 2.07e+01 -14.6 1.00e+00 1.00e+00h 1 59 2.0806015e+00 3.47e-03 1.91e-04 -6.1 4.19e+01 -15.0 9.76e-01 9.61e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0805507e+00 9.05e-05 2.22e-06 -6.1 1.70e+01 -15.5 1.00e+00 1.00e+00h 1 61 2.0819806e+00 1.03e-02 3.96e-04 -4.0 8.49e+01 -16.0 1.00e+00 1.00e+00f 1 62 2.0816780e+00 9.65e-04 4.95e-05 -4.1 4.57e+01 -16.5 1.00e+00 1.00e+00h 1 63 2.0816420e+00 4.58e-07 3.09e-05 -4.1 8.54e+00 -16.9 1.00e+00 1.00e+00h 1 64 2.0818414e+00 1.26e-04 3.61e-05 -4.0 7.46e+00 -17.4 1.00e+00 1.00e+00h 1 65 2.0815817e+00 2.11e-04 2.94e-05 -4.1 9.63e+00 -17.9 1.00e+00 1.00e+00h 1 66 2.0805923e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -18.4 9.77e-01 9.68e-01h 1 67 2.0805497e+00 7.03e-05 1.80e-06 -6.1 1.55e+01 -18.8 1.00e+00 1.00e+00h 1 68 2.0819871e+00 1.06e-02 4.00e-04 -4.0 8.58e+01 -19.3 1.00e+00 1.00e+00f 1 69 2.0816826e+00 9.87e-04 5.24e-05 -4.1 4.71e+01 -19.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0816444e+00 5.44e-07 3.10e-05 -4.1 8.94e+00 -20.0 1.00e+00 1.00e+00h 1 71 2.0805933e+00 3.65e-03 1.55e-04 -6.1 4.19e+01 -20.0 9.76e-01 9.71e-01h 1 72 2.0805509e+00 7.35e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 73 2.0805468e+00 5.07e-08 3.09e-07 -6.1 2.92e+00 -20.0 1.00e+00 1.00e+00h 1 74 2.0820226e+00 1.22e-02 4.21e-04 -4.0 9.85e+01 -20.0 1.00e+00 1.00e+00f 1 75 2.0817083e+00 1.09e-03 6.84e-05 -4.1 5.45e+01 -20.0 1.00e+00 1.00e+00h 1 76 2.0816573e+00 1.18e-06 3.13e-05 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 77 2.0805943e+00 3.73e-03 1.58e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.71e-01h 1 78 2.0805512e+00 7.57e-05 2.01e-06 -6.1 1.64e+01 -20.0 1.00e+00 1.00e+00h 1 79 2.0805469e+00 5.37e-08 3.14e-07 -6.1 3.01e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805365e+00 9.26e-07 7.80e-07 -9.0 9.40e-01 -20.0 1.00e+00 9.97e-01h 1 81 2.0820402e+00 1.30e-02 4.35e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 82 2.0817219e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 83 2.0816639e+00 1.62e-06 3.15e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 84 2.0805948e+00 3.76e-03 1.59e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 85 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 86 2.0805470e+00 5.53e-08 3.17e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 87 2.0805365e+00 9.45e-07 8.03e-07 -9.0 9.51e-01 -20.0 1.00e+00 9.97e-01h 1 88 2.0805365e+00 8.66e-11 3.60e-10 -9.0 2.64e-02 -20.0 1.00e+00 1.00e+00h 1 89 2.0820406e+00 1.30e-02 4.36e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0817222e+00 1.13e-03 7.75e-05 -4.1 5.82e+01 -20.0 1.00e+00 1.00e+00h 1 91 2.0816640e+00 1.63e-06 3.15e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0805948e+00 3.76e-03 1.60e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 93 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 94 2.0805470e+00 5.54e-08 3.17e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 9.45e-07 8.04e-07 -9.0 9.51e-01 -20.0 1.00e+00 9.97e-01h 1 96 2.0805365e+00 8.67e-11 3.60e-10 -9.0 2.64e-02 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 2.22e-16 3.60e-10 -9.0 1.02e-05 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 4.44e-16 3.60e-10 -9.0 1.80e-10 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 4.44e-16 3.60e-10 -9.0 1.80e-10 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805365e+00 6.66e-16 3.60e-10 -9.0 1.80e-10 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595436475e+00 2.0805364595436475e+00 Dual infeasibility......: 3.6019323941491885e-10 3.6019323941491885e-10 Constraint violation....: 6.6613381477509392e-16 6.6613381477509392e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090971184536e-10 9.0909090971184536e-10 Overall NLP error.......: 9.9999090909091564e-05 9.9999090909091564e-05 Number of objective function evaluations = 115 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 115 Number of inequality constraint evaluations = 115 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 37.017 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: 0.062s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) jacobian structure: 2.917s jacobian structure: 1594 nonzeros (2.98s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) hessian structure: 6.682s 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 (6.733s) linear index maps built (0.0s) evaluator ready (total: 9.713s) evaluator created (9.735s) 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: 9.736s) 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 5.9315064e+01 3.04e+00 2.39e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4275549e+01 1.78e+00 2.51e+01 -0.5 2.04e+00 0.0 8.51e-01 4.07e-01f 1 2 3.7026683e+00 1.14e-01 3.16e+01 -0.1 1.69e+00 -0.5 6.26e-01 1.00e+00f 1 3 3.4509386e+00 2.83e-02 4.11e+00 -0.2 3.32e-01 -0.1 7.44e-01 1.00e+00f 1 4 3.1982019e+00 8.68e-03 3.63e-01 -1.0 1.83e-01 -0.5 9.94e-01 1.00e+00h 1 5 2.5157827e+00 2.62e-02 1.63e-01 -1.6 2.23e-01 -1.0 8.65e-01 1.00e+00f 1 6 2.1644394e+00 2.08e-02 1.12e-01 -2.1 4.50e-01 -1.5 9.64e-01 8.80e-01h 1 7 2.1017524e+00 9.19e-04 1.64e-02 -2.9 6.51e-02 -2.0 9.78e-01 1.00e+00h 1 8 2.0909808e+00 1.30e-05 2.16e-04 -4.0 7.53e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908896e+00 3.00e-07 2.15e-04 -4.0 1.94e-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 2.0908829e+00 1.50e-09 2.15e-04 -4.0 5.66e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908657e+00 1.21e-08 2.15e-04 -4.0 1.58e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908290e+00 7.16e-08 2.15e-04 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907535e+00 3.28e-07 7.48e-04 -4.0 9.93e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905519e+00 3.10e-06 9.73e-04 -4.0 3.03e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0899218e+00 2.59e-05 1.17e-03 -4.0 8.53e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0890475e+00 4.14e-05 4.83e-02 -4.0 2.50e+01 -6.3 1.00e+00 4.05e-01h 1 17 2.0861729e+00 1.20e-03 9.27e-02 -4.0 5.95e+01 -6.7 1.00e+00 1.00e+00f 1 18 2.0844559e+00 4.79e-04 4.75e-02 -4.0 5.87e+00 -5.4 1.00e+00 6.30e-01h 1 19 2.0842351e+00 6.26e-05 6.24e-03 -4.0 6.44e+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 20 2.0833085e+00 3.63e-05 4.48e-03 -4.0 1.39e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0827220e+00 9.66e-05 8.41e-03 -4.0 2.23e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0826669e+00 1.08e-04 5.38e-03 -4.0 5.71e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0822392e+00 5.97e-04 7.40e-03 -4.0 1.36e+02 -7.8 9.67e-01 1.00e+00h 1 24 2.0824497e+00 1.31e-03 1.92e-02 -4.0 3.05e+01 -6.5 1.00e+00 1.00e+00h 1 25 2.0820911e+00 1.38e-03 1.97e-02 -4.0 2.11e+01 -6.9 1.00e+00 1.00e+00h 1 26 2.1018290e+00 2.34e-04 1.75e-01 -4.0 8.08e+01 -6.5 4.40e-02 2.61e-01h 1 27 2.0918408e+00 8.25e-05 3.84e-01 -4.1 1.49e-01 -0.7 1.00e+00 6.47e-01h 1 28 2.0850875e+00 3.88e-07 7.41e-01 -4.1 1.87e-01 -1.1 3.62e-01 1.00e+00f 1 29 2.0859045e+00 3.76e-05 2.23e+00 -3.0 3.16e-01 -1.6 1.00e+00 3.93e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0834500e+00 1.99e-05 5.04e-02 -3.1 9.71e-02 -1.2 1.00e+00 1.00e+00f 1 31 2.0837674e+00 1.92e-06 6.62e-03 -3.1 2.15e-02 -1.7 1.00e+00 1.00e+00h 1 32 2.0833937e+00 4.98e-07 1.27e-01 -3.8 2.10e-02 -2.1 9.51e-01 1.00e+00h 1 33 2.0824481e+00 4.86e-06 8.77e-04 -4.0 5.26e-02 -2.6 1.00e+00 1.00e+00h 1 34 2.0823971e+00 5.52e-08 2.15e-04 -4.0 7.74e-03 -3.1 1.00e+00 1.00e+00h 1 35 2.0823950e+00 3.09e-09 2.15e-04 -4.0 2.31e-02 -3.6 1.00e+00 1.00e+00h 1 36 2.0823914e+00 4.32e-09 2.15e-04 -4.0 6.91e-02 -4.1 1.00e+00 1.00e+00h 1 37 2.0823808e+00 3.78e-08 2.15e-04 -4.0 2.05e-01 -4.5 1.00e+00 1.00e+00h 1 38 2.0823510e+00 3.12e-07 2.15e-04 -4.0 6.10e-01 -5.0 1.00e+00 1.00e+00h 1 39 2.0822772e+00 2.97e-06 2.15e-04 -4.0 1.84e+00 -5.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0821161e+00 3.90e-05 2.20e-04 -4.0 6.19e+00 -6.0 1.00e+00 1.00e+00h 1 41 2.0820527e+00 7.62e-05 4.20e-03 -4.0 7.08e+01 -6.4 9.11e-02 9.76e-02h 4 42 2.0820644e+00 6.88e-05 1.67e-02 -4.0 7.53e-01 -4.2 6.13e-01 6.23e-01h 1 43 2.0820625e+00 2.16e-05 1.91e-03 -4.0 4.17e-01 -4.7 1.00e+00 1.00e+00h 1 44 2.0820881e+00 1.96e-06 2.33e-04 -4.0 3.67e-01 -5.2 1.00e+00 1.00e+00h 1 45 2.0821123e+00 8.85e-07 2.15e-04 -4.0 8.22e-01 -5.6 1.00e+00 1.00e+00h 1 46 2.0821373e+00 4.09e-06 2.15e-04 -4.0 1.59e+00 -6.1 1.00e+00 1.00e+00h 1 47 2.0819304e+00 1.06e-04 8.58e-04 -4.1 6.29e+00 -6.6 1.00e+00 1.00e+00h 1 48 2.0820948e+00 2.23e-04 1.29e-03 -4.0 1.07e+01 -7.1 1.00e+00 1.00e+00h 1 49 2.0817666e+00 7.49e-04 7.58e-04 -4.1 3.14e+01 -7.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0819028e+00 1.12e-03 4.91e-03 -4.0 4.77e+01 -8.0 1.00e+00 1.00e+00h 1 51 2.0815932e+00 1.28e-03 3.35e-03 -4.1 5.69e+01 -8.5 1.00e+00 1.00e+00h 1 52 2.0818407e+00 8.14e-04 6.82e-04 -4.0 3.46e+01 -9.0 1.00e+00 1.00e+00h 1 53 2.0818384e+00 3.07e-06 2.15e-04 -4.0 7.97e+00 -9.5 1.00e+00 1.00e+00h 1 54 2.0818383e+00 8.30e-09 2.15e-04 -4.0 7.53e-01 -9.9 1.00e+00 1.00e+00h 1 55 2.0818383e+00 7.68e-12 2.15e-04 -4.0 2.51e-02 -10.4 1.00e+00 1.00e+00h 1 56 2.0818383e+00 3.84e-12 1.08e-04 -4.0 2.90e-04 -10.9 1.00e+00 5.00e-01h 2 57 2.0818383e+00 6.66e-16 2.15e-04 -4.0 1.46e-04 -11.8 1.00e+00 1.00e+00H 1 58 2.0818383e+00 2.22e-16 2.15e-04 -4.0 2.00e-05 -12.3 1.00e+00 1.00e+00h 1 59 2.0815797e+00 2.05e-04 1.72e-04 -4.1 9.35e+00 -12.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0818395e+00 2.13e-04 2.15e-04 -4.0 9.67e+00 -13.3 1.00e+00 1.00e+00h 1 61 2.0815804e+00 2.11e-04 1.72e-04 -4.1 9.63e+00 -13.8 1.00e+00 1.00e+00h 1 62 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -14.2 9.78e-01 9.71e-01h 1 63 2.0818882e+00 6.56e-03 2.96e-04 -4.0 6.10e+01 -14.7 1.00e+00 1.00e+00f 1 64 2.0816136e+00 4.88e-04 1.77e-04 -4.1 2.07e+01 -15.2 1.00e+00 1.00e+00h 1 65 2.0805989e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -15.7 9.76e-01 9.65e-01h 1 66 2.0805508e+00 8.46e-05 2.20e-06 -6.1 1.69e+01 -16.1 1.00e+00 1.00e+00h 1 67 2.0819794e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -16.6 1.00e+00 1.00e+00f 1 68 2.0816837e+00 9.34e-04 1.84e-04 -4.1 4.57e+01 -17.1 1.00e+00 1.00e+00h 1 69 2.0816477e+00 4.73e-07 1.84e-04 -4.1 8.53e+00 -17.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0818389e+00 1.15e-04 2.15e-04 -4.0 7.07e+00 -18.0 1.00e+00 1.00e+00h 1 71 2.0815801e+00 2.08e-04 1.72e-04 -4.1 9.50e+00 -18.5 1.00e+00 1.00e+00h 1 72 2.0805898e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -19.0 9.78e-01 9.71e-01h 1 73 2.0805497e+00 6.51e-05 1.78e-06 -6.1 1.55e+01 -19.5 1.00e+00 1.00e+00h 1 74 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -20.0 1.00e+00 1.00e+00f 1 75 2.0816887e+00 9.54e-04 1.84e-04 -4.1 4.72e+01 -20.0 1.00e+00 1.00e+00h 1 76 2.0816504e+00 5.63e-07 1.84e-04 -4.1 8.93e+00 -20.0 1.00e+00 1.00e+00h 1 77 2.0805906e+00 3.68e-03 1.60e-04 -6.1 4.16e+01 -20.0 9.77e-01 9.75e-01h 1 78 2.0805511e+00 6.76e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 79 2.0805469e+00 4.72e-08 1.70e-06 -6.1 2.95e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.89e+01 -20.0 1.00e+00 1.00e+00f 1 81 2.0817159e+00 1.04e-03 1.86e-04 -4.1 5.46e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0816648e+00 1.22e-06 1.86e-04 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 83 2.0805915e+00 3.76e-03 1.66e-04 -6.1 4.20e+01 -20.0 9.76e-01 9.75e-01h 1 84 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 85 2.0805471e+00 4.99e-08 1.73e-06 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 86 2.0805365e+00 9.55e-07 8.02e-07 -9.0 9.57e-01 -20.0 1.00e+00 9.97e-01h 1 87 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 88 2.0817306e+00 1.08e-03 1.88e-04 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0816723e+00 1.67e-06 1.88e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 91 2.0805516e+00 7.07e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0805472e+00 5.15e-08 1.75e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 93 2.0805365e+00 9.76e-07 8.28e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 94 2.0805365e+00 9.27e-11 1.96e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 95 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 96 2.0817309e+00 1.08e-03 1.88e-04 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 97 2.0816725e+00 1.68e-06 1.88e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 98 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 99 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805472e+00 5.16e-08 1.75e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805471888606091e+00 2.0805471888606091e+00 Dual infeasibility......: 1.7504403271895872e-06 1.7504403271895872e-06 Constraint violation....: 5.1567784264960892e-08 5.1567784264960892e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.0544269497184539e-07 9.0544269497184539e-07 Overall NLP error.......: 9.9188961448572286e-05 9.9188961448572286e-05 Number of objective function evaluations = 108 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 108 Number of inequality constraint evaluations = 108 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 38.515 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.062s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.049s) linear index maps built (0.0s) evaluator ready (total: 0.112s) evaluator created (0.112s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.112s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.4751950e+00 3.08e+00 6.33e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7351931e+00 2.11e-01 1.56e+00 -0.8 2.42e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.5932689e+00 1.95e-02 4.37e-01 -1.2 1.10e+00 -2.5 9.48e-01 1.00e+00h 1 3 2.2248162e+00 1.40e-01 2.66e-01 -2.1 2.64e+00 -3.0 9.36e-01 9.10e-01h 1 4 2.1301658e+00 1.38e-02 3.34e-02 -2.4 8.56e-01 -3.4 9.20e-01 1.00e+00h 1 5 2.0921249e+00 1.49e-03 5.35e-03 -4.0 3.78e-01 -3.9 9.99e-01 9.56e-01h 1 6 2.0907991e+00 1.16e-04 3.78e-04 -4.0 5.02e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0906480e+00 1.20e-06 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0902070e+00 7.75e-06 3.45e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0888949e+00 7.09e-05 3.07e-04 -4.0 1.33e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0850587e+00 6.71e-04 2.80e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0850586813931189e+00 2.0850586813931189e+00 Dual infeasibility......: 2.7966325786198333e-03 2.7966325786198333e-03 Constraint violation....: 6.7123050313044885e-04 6.7123050313044885e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999999991e-05 9.9999999999999991e-05 Overall NLP error.......: 2.7966325786198333e-03 2.7966325786198333e-03 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 27.125 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.061s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.051s) linear index maps built (0.0s) evaluator ready (total: 0.112s) evaluator created (0.112s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.113s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 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 3.5456313e+00 2.99e+00 6.57e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5796651e+00 1.10e-01 2.33e+00 -0.8 1.75e+00 0.0 1.00e+00 9.64e-01f 1 2 2.5150608e+00 1.78e-02 5.50e-01 -1.2 2.70e-01 -0.5 9.62e-01 1.00e+00f 1 3 2.2455097e+00 6.40e-03 5.49e-02 -1.9 9.84e-02 -1.0 9.54e-01 1.00e+00h 1 4 2.1057547e+00 1.30e-03 9.83e-03 -3.1 5.07e-02 -1.4 9.48e-01 9.57e-01h 1 5 2.0909441e+00 1.54e-05 5.84e-04 -4.0 5.64e-03 -1.9 1.00e+00 9.94e-01h 1 6 2.0909277e+00 3.27e-07 6.34e-05 -4.0 1.54e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0909261e+00 9.58e-10 2.06e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909217e+00 7.67e-10 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909084e+00 6.91e-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 2.0908685e+00 6.22e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907491e+00 5.61e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903915e+00 5.07e-06 2.26e-05 -4.0 3.64e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0893258e+00 4.63e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861932e+00 4.35e-04 1.81e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796362e+00 2.52e-03 8.60e-02 -4.0 8.73e+01 -6.7 1.00e+00 7.59e-01h 1 16 2.0812304e+00 1.71e-04 2.03e-01 -4.0 7.14e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778276e+00 6.51e-03 2.97e-02 -4.0 1.13e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0782239e+00 1.78e-02 8.34e-02 -3.7 1.89e+02 -8.1 9.72e-01 1.00e+00h 1 19 2.0769234e+00 7.41e-03 1.85e-02 -3.8 3.23e+02 -8.6 1.00e+00 8.74e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0760710e+00 8.25e-03 2.24e-02 -3.9 4.92e+02 -9.1 1.00e+00 9.65e-01f 1 21 2.0757562e+00 9.04e-03 1.08e-02 -4.0 1.54e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756816e+00 6.23e-04 4.85e-04 -4.0 6.92e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 8.69e-06 8.19e-06 -4.0 2.33e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 5.21e-08 1.53e-06 -4.0 1.52e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.65e-09 1.55e-07 -4.0 5.38e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 8.16e-11 3.17e-09 -4.0 9.53e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122142162e+00 2.0756712122142162e+00 Dual infeasibility......: 3.1747803443517384e-09 3.1747803443517384e-09 Constraint violation....: 8.1567530507697938e-11 8.1567530507697938e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000018e-04 1.0000000000000018e-04 Overall NLP error.......: 3.1747803443517384e-09 3.1747803443517384e-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 = 27.337 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.062s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.062s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.112s) evaluator created (0.112s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.112s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.8593081e+00 2.88e+00 2.93e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8145165e+00 1.62e-01 1.28e+00 -1.0 2.07e+00 -2.0 9.71e-01 1.00e+00f 1 2 2.5649025e+00 4.30e-01 5.14e-01 -1.1 3.40e+00 -2.5 8.68e-01 8.14e-01h 1 3 2.2007676e+00 2.63e-01 6.38e-01 -2.5 5.67e+00 -3.0 8.09e-01 9.84e-01h 1 4 2.1107055e+00 2.33e-02 4.80e-02 -2.6 1.37e+00 -3.4 9.97e-01 1.00e+00h 1 5 2.0921338e+00 2.70e-04 4.44e-03 -3.7 1.22e-01 -3.9 9.94e-01 1.00e+00h 1 6 2.0907995e+00 9.78e-05 2.38e-04 -4.0 5.03e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0906554e+00 1.42e-06 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0902145e+00 7.76e-06 3.45e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0889023e+00 7.10e-05 3.07e-04 -4.0 1.33e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0850660e+00 6.72e-04 2.80e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0850659691534474e+00 2.0850659691534474e+00 Dual infeasibility......: 2.7977458392940192e-03 2.7977458392940192e-03 Constraint violation....: 6.7233324901139202e-04 6.7233324901139202e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 2.7977458392940192e-03 2.7977458392940192e-03 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 27.514 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: 1.697s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (1.698s) 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: 0.001s hessian structure: 1749 nonzeros (0.053s) linear index maps built (0.0s) evaluator ready (total: 1.751s) evaluator created (1.751s) 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: 1.752s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 0 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.4153420e+00 2.72e+00 3.88e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6910617e+00 8.74e-02 2.68e+00 -0.8 2.25e+00 - 6.04e-01 1.00e+00f 1 2 2.7634035e+00 2.06e-02 6.00e-01 -0.9 4.97e-01 - 9.91e-01 1.00e+00f 1 3 2.3782098e+00 9.34e-03 1.93e-01 -1.9 1.87e-01 - 9.18e-01 1.00e+00h 1 4 2.1239076e+00 5.56e-03 5.36e-02 -2.8 1.72e-01 - 9.93e-01 9.71e-01h 1 5 2.0909837e+00 1.33e-04 1.33e-02 -4.0 2.77e-02 - 1.00e+00 9.95e-01h 1 6 2.0908937e+00 2.91e-07 1.79e-03 -4.0 5.79e-03 - 1.00e+00 1.00e+00h 1 7 2.0908938e+00 4.13e-12 6.65e-05 -4.0 6.65e-05 - 1.00e+00 1.00e+00h 1 8 2.0908938e+00 3.17e-15 6.63e-05 -4.0 6.63e-05 - 1.00e+00 1.00e+00h 1 9 2.0908938e+00 1.62e-16 6.61e-05 -4.0 6.61e-05 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908938e+00 2.22e-16 6.59e-05 -4.0 6.59e-05 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0908937972843771e+00 2.0908937972843771e+00 Dual infeasibility......: 6.5873938868973110e-05 6.5873938868973110e-05 Constraint violation....: 2.2204460492503131e-16 2.2204460492503131e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000036e-04 1.0000000000000036e-04 Overall NLP error.......: 6.5873938868973110e-05 6.5873938868973110e-05 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 0 Total seconds in IPOPT = 9.173 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.067s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.054s) linear index maps built (0.0s) evaluator ready (total: 0.121s) 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: 0.122s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 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 1.8854299e+00 4.00e+00 4.29e-01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.3865100e+00 3.44e-01 4.13e+00 -1.0 2.55e+00 0.0 4.56e-01 9.13e-01h 1 2 2.4141495e+00 1.53e-01 3.59e+00 -1.0 3.51e-01 0.4 1.60e-01 5.55e-01h 1 3 2.8344417e+00 2.70e-02 1.69e+00 -1.0 4.52e-01 -0.1 8.83e-01 1.00e+00f 1 4 2.6245857e+00 1.75e-02 4.48e-01 -1.0 1.49e-01 -0.5 1.00e+00 1.00e+00h 1 5 2.3733421e+00 4.92e-03 3.37e-02 -1.7 1.08e-01 -1.0 1.00e+00 1.00e+00h 1 6 2.1305352e+00 6.35e-03 4.79e-02 -2.5 2.04e-01 -1.5 1.00e+00 9.01e-01f 1 7 2.1151895e+00 8.47e-05 1.76e-03 -2.5 2.99e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0914868e+00 1.57e-05 6.76e-05 -3.8 6.14e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908859e+00 1.14e-06 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 2.0908809e+00 4.79e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0908808585902765e+00 2.0908808585902765e+00 Dual infeasibility......: 2.0582579562920696e-05 2.0582579562920696e-05 Constraint violation....: 4.7931923013999622e-10 4.7931923013999622e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000266489e-04 1.0000000000266489e-04 Overall NLP error.......: 2.0582579562920696e-05 2.0582579562920696e-05 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 28.592 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.067s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.053s) linear index maps built (0.0s) evaluator ready (total: 0.12s) evaluator created (0.12s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.121s) [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: 0.068s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.069s) integrator 1 hessian structure: 0.058s 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 (0.06s) linear index maps built (0.0s) evaluator ready (total: 0.13s) evaluator created (0.13s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (2.097s) optimizer initialization complete (total: 2.228s) 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 5.8349726e+00 3.77e+00 3.97e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.0009375e+00 3.38e-02 4.73e-01 -1.0 2.57e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3394472e+00 1.71e-02 6.27e-02 -1.8 2.47e-01 -1.6 9.74e-01 1.00e+00f 1 3 2.1451604e+00 8.25e-03 3.52e-01 -3.2 2.02e-01 -1.1 9.67e-01 1.00e+00h 1 4 2.0963570e+00 2.15e-03 2.07e-01 -4.0 1.17e-01 -1.6 1.00e+00 9.01e-01h 1 5 2.0919530e+00 8.90e-04 9.99e-01 -4.0 6.70e-01 -2.1 1.00e+00 3.63e-01h 1 6 2.0907253e+00 9.65e-04 5.63e-01 -4.0 9.79e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0909258e+00 1.14e-05 3.75e-02 -4.0 1.25e-01 -3.1 1.00e+00 1.00e+00h 1 8 2.0909780e+00 1.25e-06 3.83e-05 -4.0 7.04e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909554e+00 1.46e-07 2.06e-05 -4.0 2.11e-01 -4.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908936e+00 1.47e-07 2.05e-05 -4.0 6.31e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907114e+00 1.29e-06 4.96e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0901920e+00 1.09e-05 4.19e-04 -4.0 5.44e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888494e+00 8.19e-05 3.15e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861624e+00 4.39e-04 1.74e-02 -4.0 3.47e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830914e+00 9.14e-04 4.71e-02 -4.0 5.32e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828477e+00 9.33e-04 2.27e-02 -4.0 5.42e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823436e+00 3.89e-04 1.01e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820399e+00 9.63e-05 1.85e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819518e+00 2.69e-04 8.65e-03 -4.0 9.91e+01 -8.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0819393e+00 3.67e-05 8.42e-04 -4.0 3.10e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.29e-07 1.38e-05 -4.0 4.43e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.74e-10 3.22e-08 -4.0 2.43e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.50e-13 1.20e-11 -4.0 4.56e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907190818e+00 2.0819382907190818e+00 Dual infeasibility......: 1.2001487016645093e-11 1.2001487016645093e-11 Constraint violation....: 2.5046631435543532e-13 2.5046631435543532e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000000e-04 1.0000000000000000e-04 Overall NLP error.......: 1.2001487016645093e-11 1.2001487016645093e-11 Number of objective function evaluations = 24 Number of objective gradient evaluations = 24 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 24 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 23 Total seconds in IPOPT = 28.729 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: 0.05s 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 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.051s) 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: 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 (0.055s) optimizer initialization complete (total: 0.171s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1528 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 77 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.1779954e+00 2.90e+00 2.74e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7831309e+00 2.00e-02 5.45e-01 -1.0 1.95e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3616553e+00 2.72e-02 4.82e-02 -1.8 3.96e-01 -1.6 9.58e-01 1.00e+00h 1 3 2.1530092e+00 2.53e-03 1.44e-01 -2.8 9.37e-02 -1.1 9.90e-01 9.26e-01h 1 4 2.1066915e+00 1.21e-03 2.75e-01 -3.5 8.95e-02 -1.6 1.00e+00 8.66e-01h 1 5 2.0926115e+00 4.78e-04 2.37e-01 -4.0 1.53e-01 -2.1 1.00e+00 5.53e-01h 1 6 2.0916101e+00 1.89e-04 1.45e+00 -4.0 1.28e+00 -2.6 1.00e+00 3.10e-01h 1 7 2.0909361e+00 8.66e-05 1.44e-01 -4.0 1.18e+00 -3.1 1.00e+00 1.00e+00h 1 8 2.0908850e+00 2.98e-06 9.79e-03 -4.0 5.37e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908883e+00 8.97e-07 1.85e-05 -4.0 1.59e-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 2.0908520e+00 6.58e-08 3.14e-05 -4.0 4.63e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907458e+00 5.66e-07 1.18e-04 -4.0 1.35e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0905847e+00 1.25e-06 9.82e-03 -4.0 4.72e+00 -5.4 1.00e+00 3.65e-01h 2 13 2.0897271e+00 2.95e-05 1.18e-02 -4.0 1.27e+01 -5.9 1.00e+00 7.55e-01h 1 14 2.0877472e+00 4.39e-04 4.72e-02 -4.0 3.59e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0866313e+00 1.10e-04 9.75e-03 -4.0 2.69e+00 -5.1 1.00e+00 7.76e-01h 1 16 2.0864508e+00 1.18e-05 3.63e-03 -4.0 4.70e+00 -5.5 1.00e+00 1.00e+00h 1 17 2.0854294e+00 5.58e-05 3.88e-03 -4.0 1.29e+01 -6.0 1.00e+00 1.00e+00h 1 18 2.0838794e+00 2.13e-04 1.29e-02 -4.0 2.70e+01 -6.5 1.00e+00 1.00e+00h 1 19 2.0827406e+00 5.40e-05 1.09e-02 -4.0 3.25e+01 -7.0 1.00e+00 7.90e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827863e+00 7.56e-04 2.52e-02 -4.0 7.58e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0819473e+00 2.48e-03 7.08e-03 -4.1 1.71e+02 -7.9 7.90e-01 1.00e+00h 1 22 2.2070356e+00 3.13e-04 9.41e-01 -4.0 1.13e+02 -6.6 5.93e-01 1.00e+00H 1 23 2.1677213e+00 1.76e-08 7.83e-01 -3.9 4.47e-02 1.2 1.00e+00 1.00e+00f 1 24 2.1152619e+00 1.22e-08 4.82e-01 -3.9 8.24e-02 0.8 1.00e+00 1.00e+00f 1 25 2.0869572e+00 1.54e-08 1.68e-01 -3.9 8.69e-02 0.3 1.00e+00 1.00e+00f 1 26 2.0832105e+00 1.51e-08 3.32e-02 -4.0 3.85e-02 -0.2 1.00e+00 9.39e-01f 1 27 2.0833574e+00 1.12e-08 4.04e-02 -4.0 1.37e-02 -0.7 1.00e+00 2.50e-01f 3 28 2.0831933e+00 7.65e-08 1.27e-03 -4.1 1.75e-02 -1.1 1.00e+00 1.00e+00h 1 29 2.0831845e+00 3.19e-07 8.03e-04 -4.0 3.34e-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 2.0831647e+00 1.77e-07 1.78e-04 -4.0 2.22e-02 -2.1 1.00e+00 1.00e+00h 1 31 2.0831794e+00 8.44e-09 9.00e-06 -4.0 3.37e-03 -2.6 1.00e+00 1.00e+00h 1 32 2.0831790e+00 1.30e-09 9.03e-06 -4.0 1.01e-02 -3.1 1.00e+00 1.00e+00h 1 33 2.0831770e+00 3.23e-10 9.02e-06 -4.0 3.04e-02 -3.5 1.00e+00 1.00e+00h 1 34 2.0831710e+00 3.60e-09 8.99e-06 -4.0 9.09e-02 -4.0 1.00e+00 1.00e+00h 1 35 2.0831531e+00 3.19e-08 8.91e-06 -4.0 2.70e-01 -4.5 1.00e+00 1.00e+00h 1 36 2.0831012e+00 2.73e-07 2.59e-05 -4.0 7.88e-01 -5.0 1.00e+00 1.00e+00h 1 37 2.0829610e+00 2.14e-06 1.99e-04 -4.0 2.17e+00 -5.4 1.00e+00 1.00e+00h 1 38 2.0826595e+00 1.12e-05 1.11e-03 -4.0 5.25e+00 -5.9 1.00e+00 1.00e+00h 1 39 2.0823403e+00 4.17e-05 2.75e-03 -4.0 1.11e+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 2.0821294e+00 1.69e-05 2.87e-03 -4.0 2.68e+01 -6.9 1.00e+00 1.00e+00h 1 41 2.0840793e+00 1.86e-07 8.68e-02 -4.0 9.99e+01 -7.3 2.54e-01 1.00e+00H 1 42 2.0819416e+00 3.41e-04 1.05e+00 -4.1 7.92e+00 -5.1 1.00e+00 4.65e-01f 1 43 2.0817460e+00 6.71e-05 4.09e-02 -4.0 1.27e+00 -5.6 1.00e+00 9.63e-01f 1 44 2.0820731e+00 2.70e-04 1.86e-03 -4.0 3.27e+00 -6.1 1.00e+00 1.00e+00h 1 45 2.0818801e+00 1.04e-04 6.09e-04 -4.1 8.49e+00 -6.5 1.00e+00 1.00e+00h 1 46 2.0809444e+00 9.61e-04 3.05e-03 -6.1 1.28e+01 -7.0 9.78e-01 8.39e-01h 1 47 2.0819785e+00 6.67e-03 4.45e-03 -4.0 6.12e+01 -7.5 9.22e-01 1.00e+00f 1 48 2.0940633e+00 2.71e-03 1.34e-01 -4.1 2.88e+01 -6.2 8.75e-01 1.00e+00h 1 49 2.0872638e+00 3.52e-07 4.57e-02 -4.1 8.94e-02 -0.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0829753e+00 3.81e-08 1.84e-02 -4.1 1.32e-01 -0.8 1.00e+00 1.00e+00f 1 51 2.0823586e+00 3.11e-07 2.55e-03 -4.0 6.29e-02 -1.3 1.00e+00 1.00e+00f 1 52 2.0823639e+00 7.08e-07 8.11e-04 -4.0 4.54e-02 -1.8 1.00e+00 1.00e+00h 1 53 2.0823584e+00 1.91e-07 1.20e-04 -4.0 2.01e-02 -2.2 1.00e+00 1.00e+00h 1 54 2.0823734e+00 1.22e-08 6.60e-06 -4.0 3.39e-03 -2.7 1.00e+00 1.00e+00h 1 55 2.0823728e+00 1.26e-09 6.61e-06 -4.0 1.02e-02 -3.2 1.00e+00 1.00e+00h 1 56 2.0823709e+00 6.70e-10 6.60e-06 -4.0 3.05e-02 -3.7 1.00e+00 1.00e+00h 1 57 2.0823651e+00 5.42e-09 6.56e-06 -4.0 9.08e-02 -4.1 1.00e+00 1.00e+00h 1 58 2.0823481e+00 4.96e-08 6.45e-06 -4.0 2.68e-01 -4.6 1.00e+00 1.00e+00h 1 59 2.0822993e+00 4.70e-07 3.68e-05 -4.0 7.66e-01 -5.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0821716e+00 4.92e-06 2.58e-04 -4.0 2.11e+00 -5.6 1.00e+00 1.00e+00h 1 61 2.0818999e+00 7.53e-05 7.63e-04 -4.0 7.17e+00 -6.1 1.00e+00 1.00e+00h 1 62 2.0818522e+00 7.85e-05 4.66e-03 -4.1 3.11e+01 -6.5 1.45e-01 1.12e-01h 4 63 2.0818606e+00 8.53e-05 9.11e-01 -4.1 9.17e+00 -5.2 4.11e-01 9.07e-02h 2 64 2.0816821e+00 7.09e-05 1.95e-04 -4.1 9.24e-01 -5.7 1.00e+00 1.00e+00h 1 65 2.0819169e+00 1.80e-04 6.23e-04 -4.0 2.54e+00 -6.2 1.00e+00 1.00e+00h 1 66 2.0817308e+00 8.41e-05 9.66e-04 -4.1 3.51e+00 -6.6 1.00e+00 1.00e+00h 1 67 2.0816959e+00 3.37e-05 2.96e-04 -4.1 7.47e+00 -7.1 1.00e+00 1.00e+00h 1 68 2.0819028e+00 4.20e-04 7.37e-04 -4.0 1.82e+01 -7.6 1.00e+00 1.00e+00h 1 69 2.0816148e+00 7.44e-04 8.30e-04 -4.1 3.22e+01 -8.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0818446e+00 9.43e-04 1.28e-03 -4.0 4.00e+01 -8.5 1.00e+00 1.00e+00h 1 71 2.0815810e+00 5.44e-04 3.14e-04 -4.1 2.36e+01 -9.0 1.00e+00 1.00e+00h 1 72 2.0818394e+00 1.94e-04 4.05e-05 -4.0 8.05e+00 -9.5 1.00e+00 1.00e+00h 1 73 2.0815805e+00 2.09e-04 1.37e-05 -4.1 9.52e+00 -10.0 1.00e+00 1.00e+00h 1 74 2.0818395e+00 2.08e-04 1.19e-05 -4.0 9.51e+00 -10.4 1.00e+00 1.00e+00h 1 75 2.0815804e+00 2.10e-04 9.97e-06 -4.1 9.59e+00 -10.9 1.00e+00 1.00e+00h 1 76 2.0818395e+00 2.11e-04 9.54e-06 -4.0 9.61e+00 -11.4 1.00e+00 1.00e+00h 1 77 2.0815804e+00 2.11e-04 9.19e-06 -4.1 9.62e+00 -11.9 1.00e+00 1.00e+00h 1 78 2.0818395e+00 2.11e-04 9.28e-06 -4.0 9.62e+00 -12.4 1.00e+00 1.00e+00h 1 79 2.0815804e+00 2.11e-04 9.10e-06 -4.1 9.62e+00 -12.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -13.3 9.78e-01 9.71e-01h 1 81 2.0818882e+00 6.56e-03 2.96e-04 -4.0 6.10e+01 -13.8 1.00e+00 1.00e+00f 1 82 2.0816141e+00 4.87e-04 1.05e-05 -4.1 2.07e+01 -14.3 1.00e+00 1.00e+00h 1 83 2.0805989e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -14.7 9.76e-01 9.65e-01h 1 84 2.0805508e+00 8.46e-05 2.20e-06 -6.1 1.69e+01 -15.2 1.00e+00 1.00e+00h 1 85 2.0819794e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -15.7 1.00e+00 1.00e+00f 1 86 2.0816850e+00 9.29e-04 4.93e-05 -4.1 4.57e+01 -16.2 1.00e+00 1.00e+00h 1 87 2.0816490e+00 4.77e-07 7.43e-07 -4.1 8.50e+00 -16.6 1.00e+00 1.00e+00h 1 88 2.0818389e+00 1.13e-04 4.87e-06 -4.0 7.02e+00 -17.1 1.00e+00 1.00e+00h 1 89 2.0815801e+00 2.08e-04 9.04e-06 -4.1 9.49e+00 -17.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -18.1 9.78e-01 9.71e-01h 1 91 2.0805497e+00 6.51e-05 1.78e-06 -6.1 1.55e+01 -18.6 1.00e+00 1.00e+00h 1 92 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -19.0 1.00e+00 1.00e+00f 1 93 2.0816901e+00 9.49e-04 5.23e-05 -4.1 4.72e+01 -19.5 1.00e+00 1.00e+00h 1 94 2.0816518e+00 5.68e-07 7.86e-07 -4.1 8.91e+00 -20.0 1.00e+00 1.00e+00h 1 95 2.0805907e+00 3.69e-03 1.61e-04 -6.1 4.17e+01 -20.0 9.77e-01 9.75e-01h 1 96 2.0805511e+00 6.76e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 97 2.0805469e+00 4.72e-08 2.03e-08 -6.1 2.96e+00 -20.0 1.00e+00 1.00e+00h 1 98 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.88e+01 -20.0 1.00e+00 1.00e+00f 1 99 2.0817176e+00 1.03e-03 6.82e-05 -4.1 5.46e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0816664e+00 1.23e-06 1.00e-06 -4.1 1.09e+01 -20.0 1.00e+00 1.00e+00h 1 101 2.0805915e+00 3.77e-03 1.67e-04 -6.1 4.21e+01 -20.0 9.76e-01 9.75e-01h 1 102 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 103 2.0805471e+00 5.00e-08 2.15e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 104 2.0805365e+00 9.59e-07 8.07e-07 -9.0 9.59e-01 -20.0 1.00e+00 9.97e-01h 1 105 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 106 2.0817324e+00 1.07e-03 7.73e-05 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 107 2.0816741e+00 1.68e-06 1.10e-06 -4.1 1.18e+01 -20.0 1.00e+00 1.00e+00h 1 108 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 109 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 110 2.0805472e+00 5.16e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 111 2.0805365e+00 9.80e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 112 2.0805365e+00 9.37e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 113 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 114 2.0817328e+00 1.07e-03 7.75e-05 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 115 2.0816743e+00 1.69e-06 1.10e-06 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 116 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 117 2.0805516e+00 7.08e-05 2.06e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 118 2.0805472e+00 5.17e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 119 2.0805365e+00 9.81e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 120 2.0805365e+00 9.39e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 121 2.0805365e+00 4.44e-16 3.37e-16 -9.0 1.11e-05 -20.0 1.00e+00 1.00e+00h 1 122 2.0805365e+00 6.66e-16 2.22e-16 -9.0 1.99e-12 -20.0 1.00e+00 1.00e+00h 1 123 2.0805365e+00 2.22e-16 2.41e-16 -9.0 8.86e-14 -20.0 1.00e+00 1.00e+00 0 124 2.0805365e+00 8.88e-16 2.03e-16 -9.0 6.79e-14 -20.0 1.00e+00 1.00e+00T 0 Number of Iterations....: 124 (scaled) (unscaled) Objective...............: 2.0805364715330508e+00 2.0805364715330508e+00 Dual infeasibility......: 2.0309745975833971e-16 2.0309745975833971e-16 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 9.0909103283437487e-09 9.0909103283437487e-09 Complementarity.........: 9.0909090969342984e-10 9.0909090969342984e-10 Overall NLP error.......: 9.9999090909091523e-05 9.9999090909091523e-05 Number of objective function evaluations = 139 Number of objective gradient evaluations = 125 Number of equality constraint evaluations = 139 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 125 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 125 Total seconds in IPOPT = 27.485 EXIT: Search Direction is becoming Too Small. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.049s jacobian structure: 180 nonzeros (0.08s) integrator 1 hessian structure: 0.046s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.32s sub-objective 2 (QuadraticRegularizer): 0.082s sub-objective 3 (MinimumTimeObjective): 0.016s objective hessian structure: 0.505s hessian structure: 375 nonzeros (0.552s) linear index maps built (0.0s) evaluator ready (total: 0.786s) evaluator created (0.786s) NL constraint bounds extracted (0.011s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.109s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.289s) optimizer initialization complete (total: 4.196s) 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 2.5892924e+00 1.10e+00 1.02e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.3686995e+00 1.71e-01 1.37e+00 -1.0 7.96e-01 0.0 1.00e+00 1.00e+00h 1 2 1.8318577e+00 1.72e-01 3.51e+00 1.0 2.99e+02 - 2.52e-02 5.38e-03f 2 3 1.4724558e+00 1.12e-01 8.41e-01 -1.1 1.98e+00 - 8.05e-01 1.00e+00h 1 4 1.1549042e+00 8.96e-02 9.24e-01 -1.4 3.63e+00 - 9.48e-01 1.94e-01h 1 5 1.5169341e+00 6.96e-02 1.35e+00 -1.3 1.87e-01 -0.5 8.54e-01 1.00e+00h 1 6 1.4469478e+00 3.68e-02 1.25e+00 -1.4 7.35e-01 -1.0 9.97e-01 4.96e-01h 1 7 2.8829411e+00 1.99e-01 1.01e+01 -0.3 4.84e+00 -1.4 4.69e-01 1.72e-01f 1 8 3.0561043e+00 3.62e-01 1.94e+01 -0.8 3.66e+00 -1.9 1.00e+00 2.37e-01f 2 9 3.0486097e+00 2.21e-02 3.63e+01 -0.8 9.66e-01 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.9315644e+00 1.34e-02 4.77e+01 -0.8 4.62e-01 -0.6 9.37e-01 9.79e-01H 1 11 5.3418203e+00 1.56e-01 4.08e+02 0.6 7.12e+00 -1.1 6.24e-01 1.42e-01f 1 12 4.6839313e+00 7.84e-03 7.29e+05 0.3 5.68e+00 - 1.00e+00 1.00e+00f 1 13 3.5941329e+00 2.96e-04 5.46e+04 -0.3 3.57e+00 - 1.00e+00 1.00e+00f 1 14 2.9578771e+00 5.31e-05 1.71e+04 -0.5 5.37e-01 - 1.00e+00 1.00e+00f 1 15 2.1024955e+00 1.18e-05 3.78e+03 -1.2 3.86e-01 - 1.00e+00 7.79e-01f 1 16 1.1447397e+00 1.60e-06 6.78e+02 -2.4 3.07e-01 - 1.00e+00 1.00e+00f 1 17 1.0917261e+00 3.55e-15 3.42e-02 -4.0 1.74e-01 - 1.00e+00 1.00e+00f 1 18 1.0909054e+00 1.36e-18 5.91e-03 -4.0 6.08e-01 - 1.00e+00 1.00e+00f 1 19 1.0908997e+00 1.04e-23 1.64e-05 -4.0 3.35e-02 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.0908997e+00 5.33e-27 5.00e-12 -4.0 1.85e-05 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 20 (scaled) (unscaled) Objective...............: 1.0908997263270221e+00 1.0908997263270221e+00 Dual infeasibility......: 5.0034825458192267e-12 5.0034825458192267e-12 Constraint violation....: 5.3276286018934940e-27 5.3276286018934940e-27 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000040282817e-04 1.0000000040282817e-04 Overall NLP error.......: 5.0034825458192267e-12 5.0034825458192267e-12 Number of objective function evaluations = 31 Number of objective gradient evaluations = 21 Number of equality constraint evaluations = 31 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 21 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 20 Total seconds in IPOPT = 25.111 EXIT: Optimal Solution Found. [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=110, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! Difference in Hessian initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.061s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.049s) linear index maps built (0.0s) evaluator ready (total: 0.11s) evaluator created (0.11s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.111s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 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 5.0446630e+00 1.75e+00 6.87e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8811824e+00 4.44e-02 1.66e+00 -1.0 1.67e+00 0.0 9.88e-01 1.00e+00f 1 2 2.5582629e+00 5.41e-02 5.19e-01 -1.1 6.47e-01 -0.5 9.83e-01 6.82e-01h 1 3 2.2463897e+00 2.06e-02 2.44e-01 -1.7 3.73e-01 -1.0 9.98e-01 8.03e-01h 1 4 2.1509454e+00 1.72e-03 1.29e-01 -2.3 8.90e-02 -1.4 9.73e-01 1.00e+00h 1 5 2.0959866e+00 3.38e-04 7.74e-03 -3.9 2.42e-02 -1.9 9.97e-01 8.97e-01h 1 6 2.0909081e+00 1.04e-05 2.93e-03 -4.0 1.19e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0908989e+00 1.97e-08 2.06e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908945e+00 8.66e-10 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908812e+00 6.90e-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 2.0908414e+00 6.22e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907220e+00 5.60e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903644e+00 5.07e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892989e+00 4.63e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861669e+00 4.35e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796321e+00 2.52e-03 8.66e-02 -4.0 8.73e+01 -6.7 1.00e+00 7.57e-01h 1 16 2.0812280e+00 1.24e-04 1.79e-01 -4.0 7.05e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778271e+00 5.66e-03 2.39e-02 -4.0 1.13e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0782254e+00 1.80e-02 5.00e-02 -3.7 1.80e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0768886e+00 8.81e-03 2.73e-02 -3.8 3.16e+02 -8.6 1.00e+00 9.04e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0761253e+00 7.76e-03 2.54e-02 -3.9 4.66e+02 -9.1 1.00e+00 9.76e-01f 1 21 2.0757461e+00 1.03e-02 1.13e-02 -4.0 1.44e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756794e+00 5.70e-04 4.48e-04 -4.0 6.21e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 4.49e-06 8.94e-06 -4.0 2.37e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 6.42e-08 1.57e-06 -4.0 1.54e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.66e-09 1.56e-07 -4.0 5.29e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.98e-11 3.12e-09 -4.0 9.29e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122096159e+00 2.0756712122096159e+00 Dual infeasibility......: 3.1173004905486398e-09 3.1173004905486398e-09 Constraint violation....: 7.9807160879852290e-11 7.9807160879852290e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000030e-04 1.0000000000000030e-04 Overall NLP error.......: 3.1173004905486398e-09 3.1173004905486398e-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 = 27.484 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.062s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.049s) 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: 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 (0.144s) optimizer initialization complete (total: 0.256s) 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 1.6484587e+00 2.60e+00 4.35e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.0313722e+00 6.98e-01 1.77e+00 -1.0 2.39e+00 0.0 9.28e-01 7.32e-01f 1 2 2.6410265e+00 1.39e-02 8.74e-01 -1.0 6.37e-01 -0.5 9.27e-01 1.00e+00h 1 3 2.3164532e+00 7.51e-03 5.27e-02 -1.7 9.89e-02 -1.0 9.80e-01 1.00e+00h 1 4 2.1272877e+00 2.14e-03 5.69e-02 -2.8 9.42e-02 -1.4 9.99e-01 8.86e-01h 1 5 2.0936021e+00 6.59e-04 8.25e-02 -3.9 1.65e-01 -1.9 9.99e-01 8.55e-01h 1 6 2.0910680e+00 9.16e-05 1.89e-02 -4.0 3.79e-01 -2.4 1.00e+00 1.00e+00h 1 7 2.0908968e+00 5.74e-07 5.60e-03 -4.0 3.03e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908907e+00 8.63e-08 1.52e-04 -4.0 4.51e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908774e+00 9.00e-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 2.0908376e+00 6.20e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907182e+00 5.59e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903606e+00 5.05e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892951e+00 4.61e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861632e+00 4.33e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796277e+00 2.51e-03 8.65e-02 -4.0 8.73e+01 -6.7 1.00e+00 7.57e-01h 1 16 2.0812768e+00 1.54e-04 1.92e-01 -4.0 6.73e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778381e+00 5.76e-03 2.68e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781551e+00 1.60e-02 3.55e-02 -3.7 1.50e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767326e+00 1.30e-02 1.85e-02 -3.8 2.81e+02 -8.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0757985e+00 2.19e-04 2.15e-02 -3.9 4.13e+02 -9.1 1.00e+00 9.95e-01H 1 21 2.0757811e+00 6.36e-03 9.70e-03 -4.0 1.41e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756782e+00 3.46e-04 4.29e-04 -4.0 6.09e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 1.55e-06 7.52e-06 -4.0 2.10e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756713e+00 5.72e-08 1.38e-06 -4.0 1.48e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756713e+00 3.90e-09 1.64e-07 -4.0 6.15e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756713e+00 1.00e-10 3.90e-09 -4.0 1.12e+00 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712528796930e+00 2.0756712528796930e+00 Dual infeasibility......: 3.9041925585471191e-09 3.9041925585471191e-09 Constraint violation....: 1.0033696096201083e-10 1.0033696096201083e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000015e-04 1.0000000000000015e-04 Overall NLP error.......: 3.9041925585471191e-09 3.9041925585471191e-09 Number of objective function evaluations = 29 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 29 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 = 27.621 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.062s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.112s) 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: equality constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.0s) optimizer initialization complete (total: 0.113s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 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 4.8794925e+00 2.48e+00 2.95e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6881994e+00 5.84e-02 7.90e-01 -1.1 1.86e+00 -2.0 9.85e-01 1.00e+00f 1 2 2.4556488e+00 3.60e-02 2.26e-01 -1.4 8.03e-01 -2.5 8.96e-01 1.00e+00h 1 3 2.1736117e+00 3.10e-02 5.17e-02 -2.3 1.19e+00 -3.0 9.99e-01 1.00e+00h 1 4 2.0952496e+00 8.40e-03 2.20e-02 -3.3 7.65e-01 -3.4 9.44e-01 9.92e-01h 1 5 2.0909028e+00 1.40e-04 1.00e-03 -4.0 1.82e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0908078e+00 8.68e-06 2.69e-05 -4.0 5.00e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0906604e+00 8.42e-07 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0902194e+00 7.75e-06 3.44e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0889072e+00 7.10e-05 3.07e-04 -4.0 1.33e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0850706e+00 6.72e-04 2.80e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0796339e+00 2.10e-03 1.76e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.37e-01h 1 12 2.0802623e+00 3.58e-04 1.82e-01 -4.0 6.67e+01 -7.2 1.00e+00 9.76e-01H 1 13 2.0774243e+00 8.44e-03 2.02e-02 -4.0 1.24e+02 -7.7 1.00e+00 9.66e-01h 1 14 2.0770023e+00 1.48e-03 7.54e-02 -4.0 2.08e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0761807e+00 3.59e-03 1.67e-02 -4.0 3.51e+02 -8.7 1.00e+00 8.28e-01h 1 16 2.0755512e+00 1.83e-03 3.05e-02 -4.0 5.19e+02 -9.2 1.00e+00 7.17e-01h 1 17 2.0757531e+00 3.19e-03 1.09e-02 -4.0 1.44e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0753729e+00 1.17e-03 4.29e-04 -4.1 7.54e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0756723e+00 4.68e-04 6.18e-06 -4.0 2.08e+01 -10.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0756712e+00 5.69e-07 9.02e-07 -4.0 1.07e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0756712e+00 1.59e-09 5.90e-08 -4.0 3.70e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0756712e+00 2.27e-11 9.13e-10 -4.0 5.34e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0756712121304974e+00 2.0756712121304974e+00 Dual infeasibility......: 9.1284407043403827e-10 9.1284407043403827e-10 Constraint violation....: 2.2694068846362825e-11 2.2694068846362825e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000025e-04 1.0000000000000025e-04 Overall NLP error.......: 9.1284407043403827e-10 9.1284407043403827e-10 Number of objective function evaluations = 24 Number of objective gradient evaluations = 23 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 23 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 22 Total seconds in IPOPT = 28.209 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.057s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.057s) integrator 1 hessian structure: 0.044s 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: 0.0s hessian structure: 1749 nonzeros (0.045s) 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: 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: 0.102s) 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 2.9903312e+00 3.21e+00 2.40e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8671051e+00 2.08e+00 9.66e+00 -0.9 2.62e+01 -2.0 3.32e-02 3.52e-01f 1 2 2.8420019e+00 1.87e+00 9.05e+00 -4.0 9.88e+01 -2.5 3.74e-02 6.24e-02h 1 3 2.9406018e+00 1.15e+00 5.43e+00 -1.6 1.79e+01 -3.0 1.63e-01 3.98e-01h 1 4 2.9778770e+00 8.37e-01 6.49e+00 -0.9 6.24e+00 -1.6 6.24e-01 2.73e-01f 1 5 3.0617102e+00 2.64e-01 4.47e+00 -1.1 8.65e+00 -2.1 9.81e-01 9.49e-01h 1 6 3.0006025e+00 8.80e-03 1.62e+00 -1.5 3.07e+00 -1.7 9.76e-01 1.00e+00f 1 7 2.8443662e+00 3.66e-02 7.31e-01 -1.9 1.60e+00 -2.2 9.37e-01 1.00e+00h 1 8 2.7166886e+00 1.81e-01 1.68e-01 -2.3 2.78e+00 -2.6 1.00e+00 1.00e+00h 1 9 2.5538451e+00 3.50e-01 2.12e-01 -2.6 5.38e+00 -3.1 9.85e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.4298148e+00 1.88e-01 2.62e-01 -2.3 1.16e+01 -3.6 1.00e+00 1.00e+00h 1 11 2.3257429e+00 2.90e-01 1.90e-01 -2.3 9.76e+00 -4.1 8.76e-01 1.00e+00h 1 12 2.2323314e+00 3.24e-01 1.71e-01 -2.7 1.74e+01 -4.5 9.94e-01 1.00e+00h 1 13 2.1632725e+00 4.11e-01 1.33e-01 -2.8 2.59e+01 -5.0 9.96e-01 1.00e+00h 1 14 2.1558576e+00 3.92e-01 1.02e+00 -2.6 2.61e+02 -4.6 9.50e-02 1.70e-02h 1 15 2.1427091e+00 2.07e-01 7.59e-01 -2.9 2.52e+01 -5.1 7.08e-01 1.00e+00h 1 16 2.1176197e+00 2.83e-01 1.63e+00 -2.5 8.96e+01 -5.5 9.78e-01 3.48e-01h 1 17 2.1064633e+00 2.03e-01 2.18e-01 -3.1 5.86e+01 -6.0 1.00e+00 1.00e+00h 1 18 2.0983257e+00 1.30e-01 8.33e-02 -2.8 4.73e+01 -6.5 1.00e+00 1.00e+00h 1 19 2.0857500e+00 1.04e-01 7.16e-02 -3.5 9.02e+01 -7.0 9.96e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0863366e+00 8.05e-02 6.04e-02 -3.1 1.14e+02 -7.5 1.00e+00 1.00e+00h 1 21 2.0791929e+00 8.90e-02 2.04e-02 -3.8 8.68e+01 -7.9 1.00e+00 9.99e-01h 1 22 2.0783729e+00 7.77e-03 6.98e-03 -4.0 1.97e+02 -8.4 1.00e+00 1.00e+00h 1 23 2.0774534e+00 3.37e-03 9.48e-03 -4.0 5.40e+02 -8.9 1.00e+00 1.00e+00h 1 24 2.0778275e+00 1.12e-02 6.60e-02 -3.6 5.29e+02 -9.4 1.00e+00 3.52e-01h 2 25 2.0780101e+00 8.00e-04 3.91e-03 -3.8 5.21e+01 -9.8 1.00e+00 1.00e+00h 1 26 2.0771396e+00 5.25e-03 3.96e-05 -4.0 6.41e+01 -10.3 1.00e+00 1.00e+00h 1 27 2.0771517e+00 1.34e-05 1.65e-05 -4.0 6.46e+01 -10.8 1.00e+00 1.00e+00h 1 28 2.0771514e+00 1.10e-07 3.69e-06 -4.0 2.26e+01 -11.3 1.00e+00 1.00e+00h 1 29 2.0771514e+00 2.79e-09 5.90e-08 -4.0 2.84e+00 -11.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0771514e+00 3.44e-12 1.11e-10 -4.0 1.24e-01 -12.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 2.0771513788913927e+00 2.0771513788913927e+00 Dual infeasibility......: 1.1136031051288409e-10 1.1136031051288409e-10 Constraint violation....: 3.4363623058197845e-12 3.4363623058197845e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000003e-04 1.0000000000000003e-04 Overall NLP error.......: 1.1136031051288409e-10 1.1136031051288409e-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 = 30.084 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 (0.046s) linear index maps built (0.0s) evaluator ready (total: 0.105s) evaluator created (0.105s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: bounds on Δt applying constraint: per-timestep equality constraint on trajectory variable u linear constraints added: 3 (0.046s) optimizer initialization complete (total: 0.15s) 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 2.9297131e+00 2.63e+00 2.64e-02 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.2216204e+00 9.74e-01 1.69e+01 -0.8 1.86e+01 - 9.99e-01 6.00e-01h 1 2 3.3899528e+00 9.44e-01 4.15e+02 -0.5 4.49e+02 - 1.00e+00 3.06e-02h 1 3 1.8143600e+01 1.31e+00 1.44e+03 -0.3 5.61e+02 - 8.69e-01 3.29e-01h 1 4 1.8257170e+01 1.30e+00 1.01e+04 -0.1 3.56e+01 0.0 1.00e+00 6.32e-03h 1 5 1.9276866e+01 1.19e+00 1.05e+06 1.4 3.50e+02 -0.5 1.00e+00 8.66e-02f 1 6 1.1468846e+02 1.20e+01 1.21e+06 1.4 2.96e+02 -1.0 2.28e-02 2.79e-01f 2 7 2.3676382e+01 1.11e+00 1.06e+06 1.4 2.08e+02 -0.5 1.35e-01 1.57e-01f 1 8 2.3840979e+01 1.06e+00 2.99e+05 -4.0 2.74e+02 -1.0 4.13e-01 2.82e-02h 1 9 3.2859467e+02 1.72e+01 2.01e+06 2.3 1.03e+03 -1.5 1.00e+00 4.38e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.5075272e+02 8.53e+00 1.13e+05 2.4 1.76e+02 -1.1 7.40e-01 1.00e+00f 1 11 9.1501909e+01 1.94e+00 8.79e+03 2.4 3.62e+01 -1.5 1.00e+00 1.00e+00f 1 12 8.2761550e+01 2.16e-01 1.45e+03 1.4 2.15e+01 -2.0 9.93e-01 1.00e+00f 1 13 7.4942835e+01 4.08e-02 1.21e+02 0.3 3.22e+01 -2.5 1.00e+00 1.00e+00f 1 14 5.1765626e+01 3.40e-01 5.85e+01 -0.1 9.44e+01 -3.0 9.99e-01 1.00e+00f 1 15 2.8298715e+01 5.37e+00 5.01e+02 0.2 2.61e+02 -3.4 1.00e+00 1.00e+00f 1 16 2.1400142e+01 4.98e+00 2.56e+02 0.1 7.27e+02 -2.1 1.65e-01 5.44e-02f 1 17 2.1602212e+01 4.78e+00 3.11e+03 1.1 2.48e+02 -1.7 4.51e-01 1.05e-01h 1 18 3.9168639e+01 4.57e+00 3.16e+03 0.9 2.50e+02 - 7.77e-01 1.00e+00f 1 19 3.6856648e+01 4.31e+00 1.29e+03 0.8 4.75e+02 -2.2 1.92e-01 5.52e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 3.2347914e+01 3.46e+00 1.03e+04 0.8 1.54e+02 -1.7 2.18e-01 2.11e-01h 1 21 3.6091710e+01 3.24e+00 2.40e+04 0.8 3.93e+02 -2.2 1.48e-01 2.50e-01f 3 22 4.8856672e+01 3.60e+00 6.04e+03 0.8 1.97e+02 -2.7 1.00e+00 5.84e-01H 1 23 2.2780980e+01 1.19e+00 5.07e+03 0.8 3.60e+01 -0.5 4.88e-02 5.77e-01f 1 24 2.5011287e+01 9.04e-01 4.54e+04 1.9 4.26e+01 -0.0 8.52e-01 2.20e-01h 1 25 3.0634071e+01 3.68e-01 6.79e+04 2.4 2.97e+01 -0.5 4.28e-01 6.50e-01f 1 26 3.0074284e+02 2.03e+01 1.28e+05 2.4 1.85e+02 -1.0 7.33e-01 5.00e-01f 2 27 4.0622861e+01 5.13e+00 3.21e+04 2.3 5.55e+01 -1.5 1.00e+00 1.00e+00f 1 28 1.7051202e+01 1.26e+00 8.67e+03 2.3 3.67e+01 -1.0 1.00e+00 1.00e+00f 1 29 1.6604130e+01 2.60e-01 2.56e+03 -3.7 1.22e+01 -0.6 5.84e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 9.3200043e+00 5.60e-01 2.64e+02 1.4 4.21e+01 - 8.90e-01 1.00e+00f 1 31 9.9963730e+00 3.08e-02 4.87e+01 -0.6 2.08e+00 -1.1 8.66e-01 1.00e+00h 1 32 5.6269151e+00 1.17e+00 1.10e+01 -0.1 5.77e+01 - 9.92e-01 5.00e-01f 2 33 5.8810094e+00 9.33e-01 7.95e+00 -0.2 1.07e+01 - 7.53e-01 1.00e+00F 1 34 5.3186652e+00 1.29e-01 1.96e+00 -0.8 8.94e-01 -0.7 9.58e-01 1.00e+00h 1 35 5.3750235e+00 2.03e-01 2.79e+00 -1.2 1.45e+00 -1.1 6.11e-01 1.00e+00h 1 36 5.3546525e+00 3.42e-01 8.23e-01 -1.2 5.57e+00 - 9.67e-01 1.00e+00h 1 37 5.4045743e+00 1.66e-01 9.63e-01 -1.3 1.64e+00 - 1.00e+00 1.00e+00h 1 38 5.4745094e+00 1.82e-02 1.99e-01 -2.2 7.94e-01 - 1.00e+00 1.00e+00h 1 39 5.4820528e+00 1.09e-02 2.83e-02 -2.9 4.02e-01 - 9.99e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 5.4950605e+00 8.50e-05 8.60e-04 -4.0 4.28e-02 - 1.00e+00 1.00e+00h 1 41 5.4950389e+00 2.22e-08 1.91e-07 -4.0 5.40e-04 - 1.00e+00 1.00e+00h 1 42 5.4950389e+00 1.05e-14 3.49e-14 -4.0 2.13e-07 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 42 (scaled) (unscaled) Objective...............: 5.4950389325828226e+00 5.4950389325828226e+00 Dual infeasibility......: 3.4948172827897750e-14 3.4948172827897750e-14 Constraint violation....: 1.0547118733938987e-14 1.0547118733938987e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000001061147e-04 1.0000000001061147e-04 Overall NLP error.......: 3.4948172827897750e-14 3.4948172827897750e-14 Number of objective function evaluations = 58 Number of objective gradient evaluations = 43 Number of equality constraint evaluations = 58 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 43 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 42 Total seconds in IPOPT = 28.963 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.063s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.064s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.051s) linear index maps built (0.0s) evaluator ready (total: 0.115s) evaluator created (0.115s) 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 applying constraint: equality constraint on global variable g linear constraints added: 6 (0.153s) optimizer initialization complete (total: 0.268s) 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 3.9916005e+00 4.22e+00 5.95e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5512051e+00 7.96e-02 2.41e+00 -0.9 2.42e+00 0.0 9.60e-01 1.00e+00f 1 2 2.4386828e+00 6.07e-02 1.05e+00 -1.0 4.73e-01 -0.5 8.03e-01 8.74e-01f 1 3 2.5808741e+00 8.87e-03 5.73e-01 -1.3 2.09e-01 -1.0 9.71e-01 1.00e+00f 1 4 2.2925247e+00 1.35e-02 2.83e-01 -1.8 4.96e-01 -1.4 9.91e-01 5.21e-01f 1 5 2.1171533e+00 2.16e-03 5.37e-02 -2.7 8.28e-02 -1.9 9.97e-01 1.00e+00h 1 6 2.0910664e+00 1.10e-04 1.71e-03 -4.0 2.62e-02 -2.4 1.00e+00 9.79e-01h 1 7 2.0909379e+00 1.31e-06 2.06e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909335e+00 4.04e-09 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909202e+00 6.87e-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 2.0908804e+00 6.19e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907609e+00 5.58e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0904033e+00 5.05e-06 2.26e-05 -4.0 3.64e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0893375e+00 4.61e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0862046e+00 4.33e-04 1.81e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796273e+00 2.54e-03 8.54e-02 -4.0 8.74e+01 -6.7 1.00e+00 7.62e-01h 1 16 2.0812828e+00 1.41e-04 1.89e-01 -4.0 6.85e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778376e+00 5.49e-03 2.61e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781526e+00 1.67e-02 3.38e-02 -3.7 1.54e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767388e+00 1.30e-02 1.67e-02 -3.8 2.90e+02 -8.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0759658e+00 7.83e-03 2.24e-02 -3.9 4.18e+02 -9.1 1.00e+00 9.91e-01h 1 21 2.0757572e+00 8.17e-03 9.69e-03 -4.0 1.37e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756814e+00 4.26e-04 3.93e-04 -4.0 5.71e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 7.10e-06 7.82e-06 -4.0 2.31e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 5.51e-08 1.47e-06 -4.0 1.49e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.36e-09 1.44e-07 -4.0 5.07e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.29e-11 2.87e-09 -4.0 8.93e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122070948e+00 2.0756712122070948e+00 Dual infeasibility......: 2.8746982335802612e-09 2.8746982335802612e-09 Constraint violation....: 7.2932992978280708e-11 7.2932992978280708e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000011e-04 1.0000000000000011e-04 Overall NLP error.......: 2.8746982335802612e-09 2.8746982335802612e-09 Number of objective function evaluations = 28 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 26 Total seconds in IPOPT = 25.837 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 0 integrators, 0 nonlinear constraints dynamics constraints: 0, nonlinear constraints: 0 jacobian structure: 0 nonzeros (0.0s) computing objective hessian structure (QuadraticRegularizer)... objective hessian structure: 0.09s hessian structure: 30 nonzeros (0.09s) linear index maps built (0.0s) evaluator ready (total: 0.091s) evaluator created (0.091s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.13s) 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 (3.133s) optimizer initialization complete (total: 3.356s) 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 1.0326451e-02 8.33e-17 9.97e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.0340975e-02 8.70e-12 1.17e-02 -2.2 3.23e-02 -2.0 9.88e-01 1.00e+00f 1 2 3.0153739e-03 1.34e-10 7.43e-02 -2.0 8.21e-01 -1.6 1.00e+00 1.00e+00f 1 3 1.5915844e-03 6.67e-12 6.04e-02 -2.8 1.95e-01 -1.1 9.68e-01 4.70e-01f 2 4 3.4029601e-04 1.74e-11 4.80e-02 -3.3 2.91e-01 -1.6 9.98e-01 3.89e-01f 2 5 1.0679967e-04 1.77e-11 5.04e-02 -3.5 1.10e+00 -2.1 1.00e+00 1.09e-01f 4 6 1.0679967e-04 1.77e-11 5.32e-02 -3.3 1.95e+00 -2.6 9.97e-01 2.17e-15h 48 7 1.0679967e-04 1.77e-11 5.54e-02 -3.0 1.76e+00 -3.1 1.00e+00 7.54e-15h 47 8 3.2187817e-03 1.94e-11 4.83e-02 -3.0 1.31e+00 -3.5 7.31e-01 7.31e-01S 60 9 2.3779382e-03 1.83e-11 5.01e-02 -3.0 1.68e+00 -1.3 9.67e-01 9.86e-02f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.3779382e-03 1.83e-11 5.21e-02 -3.0 1.49e+00 -1.8 1.00e+00 7.90e-15h 46 11 2.3753954e-03 1.83e-11 5.07e-02 -3.0 6.79e-01 -2.3 1.00e+00 1.19e-03f 10 12 1.5719777e-03 1.48e-11 4.55e-02 -3.0 3.70e-01 -1.8 1.00e+00 2.43e-01f 3 13 1.5719777e-03 1.48e-11 4.52e-02 -3.0 3.18e-01 -2.3 1.00e+00 2.84e-14h 46 14 1.6149642e-03 5.40e-12 2.02e-02 -3.0 2.99e-01 -2.8 9.89e-01 9.89e-01S 60 15 8.9484958e-04 1.42e-11 1.18e-02 -3.0 3.54e-01 -1.5 1.00e+00 1.00e+00f 1 16 8.8935367e-04 1.40e-11 2.57e-02 -3.0 6.60e-01 -1.9 1.00e+00 1.01e-02f 7 17 8.8935367e-04 1.40e-11 3.26e-02 -3.0 6.78e-01 -2.4 1.00e+00 2.82e-13h 42 18 3.5506713e-04 7.27e-12 3.56e-02 -3.0 3.07e-01 -2.0 1.00e+00 2.50e-01f 3 19 3.5506713e-04 7.27e-12 3.89e-02 -3.0 4.23e-01 -2.5 1.00e+00 4.02e-13h 42 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 6.8246873e-04 4.13e-12 3.88e-02 -3.0 6.72e-01 -2.9 6.82e-01 6.82e-01S 61 21 6.8060894e-04 4.20e-12 3.61e-02 -3.0 1.46e+00 -1.6 8.25e-01 2.94e-01f 2 22 6.8060894e-04 4.20e-12 4.70e-02 -3.0 2.52e+00 -2.1 1.00e+00 9.67e-15h 45 23 6.9162007e-04 4.22e-12 1.89e-02 -3.0 7.85e-01 -2.6 5.47e-01 5.47e-01s 62 24 4.0137933e-04 2.98e-12 2.27e-02 -3.0 2.10e-01 -3.0 1.00e+00 1.00e+00s 62 25 3.0406332e-04 1.47e-13 1.65e-02 -3.0 1.85e-01 -3.5 1.00e+00 0.00e+00S 62 26 3.0406332e-04 1.47e-13 1.17e-02 -3.0 3.50e-02 -4.0 1.00e+00 4.55e-13h 42 27 1.8973939e-04 1.62e-13 1.09e-02 -3.0 7.28e-02 -4.5 1.00e+00 1.00e+00s 59 28 1.5128648e-04 1.51e-15 8.95e-03 -3.0 7.00e-02 -4.9 1.00e+00 0.00e+00S 59 29 1.5128648e-04 1.51e-15 1.61e-02 -4.5 2.83e-01 -5.4 8.53e-01 7.01e-12h 38 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.5128648e-04 1.51e-15 1.64e-02 -4.5 5.10e-01 -5.9 1.00e+00 3.45e-12h 39 31 1.5128648e-04 1.51e-15 1.64e-02 -4.5 5.04e-01 -6.4 1.00e+00 6.98e-12h 38 32 1.5128648e-04 1.51e-15 1.64e-02 -4.5 5.04e-01 -6.9 1.00e+00 3.50e-12h 39 33 1.5128648e-04 1.51e-15 1.63e-02 -4.5 4.94e-01 -7.3 1.00e+00 7.02e-12h 38 34 1.5128648e-04 1.51e-15 1.63e-02 -4.5 4.84e-01 -7.8 1.00e+00 7.03e-12h 38 35 1.5128648e-04 1.51e-15 1.63e-02 -4.5 4.70e-01 -8.3 1.00e+00 7.04e-12h 38 36 1.5128648e-04 1.51e-15 1.63e-02 -4.5 4.53e-01 -8.8 1.00e+00 1.76e-12h 40 37 1.5128648e-04 1.51e-15 1.63e-02 -4.5 5.25e-01 -9.2 1.00e+00 7.07e-12h 38 38 1.5128648e-04 1.51e-15 1.63e-02 -4.5 6.19e-01 -9.7 1.00e+00 7.07e-12h 38 39 1.5128648e-04 1.51e-15 1.63e-02 -4.5 7.10e-01 -10.2 1.00e+00 7.08e-12h 38 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.5128648e-04 1.51e-15 1.62e-02 -4.5 7.99e-01 -10.7 1.00e+00 7.09e-12h 38 41 1.5128648e-04 1.51e-15 1.62e-02 -4.5 8.84e-01 -11.2 1.00e+00 3.55e-12h 39 42 1.5128648e-04 1.51e-15 1.62e-02 -4.5 9.65e-01 -11.6 1.00e+00 3.55e-12h 39 43 1.4447960e-04 1.49e-15 1.87e-02 -4.5 1.17e+00 -12.1 1.00e+00 1.53e-02f 7 44 1.3155707e-04 1.47e-15 2.10e-02 -4.5 1.51e+00 -12.6 1.00e+00 2.88e-02f 6 45 1.2170350e-04 1.45e-15 2.09e-02 -4.5 1.82e+00 -13.1 1.00e+00 2.31e-02f 6 46 1.2059310e-04 1.45e-15 1.84e-02 -4.5 1.87e+00 -13.5 1.00e+00 2.71e-03f 9 47 1.1830092e-04 1.45e-15 1.71e-02 -4.5 1.78e+00 -14.0 1.00e+00 5.70e-03f 8 48 1.1830092e-04 1.45e-15 1.71e-02 -4.5 1.56e+00 -14.5 7.28e-01 7.68e-13h 41 49 1.1799060e-04 1.45e-15 1.79e-02 -4.5 1.70e+00 -15.0 1.00e+00 7.79e-04f 11 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 1.1799060e-04 1.45e-15 1.85e-02 -4.5 1.63e+00 -15.4 5.42e-01 3.03e-12h 39 51 1.1799060e-04 1.45e-15 1.81e-02 -4.5 1.74e+00 -15.9 1.00e+00 2.83e-12h 39 52 1.1799060e-04 1.45e-15 1.85e-02 -4.5 1.57e+00 -16.4 5.55e-01 1.96e-13h 43 53 1.1799060e-04 1.45e-15 1.75e-02 -4.5 1.66e+00 -16.9 1.00e+00 1.48e-12h 40 54 1.1799060e-04 1.45e-15 1.84e-02 -4.5 1.47e+00 -17.4 5.60e-01 1.67e-12h 40 55 1.1799060e-04 1.45e-15 1.68e-02 -4.5 1.59e+00 -17.8 1.00e+00 1.55e-12h 40 56 1.1799060e-04 1.45e-15 1.84e-02 -4.5 1.40e+00 -18.3 5.62e-01 8.79e-13h 41 57 1.1269799e-04 1.44e-15 1.63e-02 -4.5 1.55e+00 -18.8 1.00e+00 1.36e-02f 7 58 1.0703062e-04 1.42e-15 1.81e-02 -4.5 1.35e+00 -19.3 5.62e-01 1.54e-02f 7 59 9.6968204e-05 1.40e-15 2.42e-02 -4.5 1.51e+00 -19.7 8.91e-01 2.71e-02f 6 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 9.0769899e-05 1.39e-15 6.07e-02 -4.0 4.03e+00 -20.0 1.00e+00 1.27e-02f 6 61 9.0769899e-05 1.39e-15 1.74e-02 -3.6 1.27e+00 -20.0 1.00e+00 3.21e-12h 39 62 6.7716740e-05 1.39e-15 9.07e-02 -3.2 7.34e+00 -20.0 1.00e+00 5.47e-02f 3 63 6.7716740e-05 1.39e-15 1.26e-02 -3.4 6.27e-01 -20.0 1.00e+00 1.11e-11h 37 64 6.7716740e-05 1.39e-15 1.20e-02 -3.1 1.32e+00 -20.0 1.00e+00 1.31e-11h 37 65 6.7716740e-05 1.39e-15 1.20e-02 -3.1 5.75e-01 -20.0 1.00e+00 2.91e-11h 36 66 6.7716740e-05 1.39e-15 1.20e-02 -3.1 8.65e-01 -20.0 1.00e+00 1.82e-12h 40 67 6.7716740e-05 1.39e-15 1.20e-02 -3.1 7.01e-01 -20.0 1.00e+00 3.64e-12h 39 68 6.7716740e-05 1.39e-15 1.21e-02 -3.1 7.94e-01 -20.0 1.00e+00 2.91e-11h 36 69 6.7716740e-05 1.39e-15 1.21e-02 -3.1 7.47e-01 -20.0 1.00e+00 2.91e-11h 36 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 6.7716740e-05 1.39e-15 1.21e-02 -3.1 7.79e-01 -20.0 1.00e+00 1.46e-11h 37 71 6.7716740e-05 1.39e-15 1.21e-02 -3.1 7.67e-01 -20.0 1.00e+00 2.91e-11h 36 72 6.7716740e-05 1.39e-15 1.22e-02 -3.1 7.80e-01 -20.0 1.00e+00 2.91e-11h 36 73 6.7716740e-05 1.39e-15 1.22e-02 -3.1 7.78e-01 -20.0 1.00e+00 1.46e-11h 37 74 6.7716740e-05 1.39e-15 1.22e-02 -3.1 7.84e-01 -20.0 1.00e+00 2.91e-11h 36 75 6.7716740e-05 1.39e-15 1.22e-02 -3.1 7.86e-01 -20.0 1.00e+00 7.28e-12h 38 76 6.7716740e-05 1.39e-15 1.23e-02 -3.1 7.91e-01 -20.0 1.00e+00 1.82e-12h 40 77 6.7716740e-05 1.39e-15 1.23e-02 -3.1 7.95e-01 -20.0 1.00e+00 1.46e-11h 37 78 6.7716740e-05 1.39e-15 1.23e-02 -3.1 8.00e-01 -20.0 1.00e+00 7.28e-12h 38 79 6.7716740e-05 1.39e-15 1.23e-02 -3.1 8.05e-01 -20.0 1.00e+00 1.46e-11h 37 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 6.7716740e-05 1.39e-15 1.23e-02 -3.1 8.09e-01 -20.0 1.00e+00 1.46e-11h 37 81 6.7716740e-05 1.39e-15 1.24e-02 -3.1 8.14e-01 -20.0 1.00e+00 1.46e-11h 37 82 6.7716740e-05 1.39e-15 1.24e-02 -3.1 8.18e-01 -20.0 1.00e+00 7.28e-12h 38 83 6.7716740e-05 1.39e-15 1.24e-02 -3.1 8.22e-01 -20.0 1.00e+00 7.28e-12h 38 84 6.7716740e-05 1.39e-15 1.24e-02 -3.1 8.27e-01 -20.0 1.00e+00 7.28e-12h 38 85 6.7716740e-05 1.39e-15 1.24e-02 -3.1 8.31e-01 -20.0 1.00e+00 1.46e-11h 37 86 6.7716740e-05 1.39e-15 1.24e-02 -3.1 8.35e-01 -20.0 1.00e+00 1.82e-12h 40 87 6.7716740e-05 1.39e-15 1.25e-02 -3.1 8.39e-01 -20.0 1.00e+00 3.64e-12h 39 88 6.7716740e-05 1.39e-15 1.25e-02 -3.1 8.42e-01 -20.0 1.00e+00 3.64e-12h 39 89 6.7716740e-05 1.39e-15 1.25e-02 -3.1 8.46e-01 -20.0 1.00e+00 1.46e-11h 37 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 6.7716740e-05 1.39e-15 1.25e-02 -3.1 8.50e-01 -20.0 1.00e+00 1.46e-11h 37 91 6.7716740e-05 1.39e-15 1.25e-02 -3.1 8.53e-01 -20.0 1.00e+00 3.64e-12h 39 92 6.7716740e-05 1.39e-15 1.25e-02 -3.1 8.57e-01 -20.0 1.00e+00 9.09e-13h 41 93 6.7716740e-05 1.39e-15 1.25e-02 -3.1 8.60e-01 -20.0 1.00e+00 3.64e-12h 39 94 6.7716740e-05 1.39e-15 1.26e-02 -3.1 8.64e-01 -20.0 1.00e+00 7.28e-12h 38 95 6.7716740e-05 1.39e-15 1.26e-02 -3.1 8.67e-01 -20.0 1.00e+00 7.28e-12h 38 96 6.7716740e-05 1.39e-15 1.26e-02 -3.1 8.70e-01 -20.0 1.00e+00 7.28e-12h 38 97 6.7716740e-05 1.39e-15 1.26e-02 -3.1 8.74e-01 -20.0 1.00e+00 3.64e-12h 39 98 6.7716740e-05 1.39e-15 1.26e-02 -3.1 8.77e-01 -20.0 1.00e+00 3.64e-12h 39 99 6.7716740e-05 1.39e-15 1.26e-02 -3.1 8.80e-01 -20.0 1.00e+00 7.28e-12h 38 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 6.7716740e-05 1.39e-15 1.26e-02 -3.1 8.83e-01 -20.0 1.00e+00 3.64e-12h 39 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 6.7716739512208225e-05 6.7716739512208225e-05 Dual infeasibility......: 1.2633634385611825e-02 1.2633634385611825e-02 Constraint violation....: 1.3929829512093761e-15 1.3929829512093761e-15 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 4.5129921885010719e-03 4.5129921885010719e-03 Overall NLP error.......: 1.2633634385611825e-02 1.2633634385611825e-02 Number of objective function evaluations = 3130 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 3130 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 1 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 4.960 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): 0.079s sub-objective 2 (QuadraticRegularizer): 0.0s objective hessian structure: 0.145s hessian structure: 40 nonzeros (0.146s) linear index maps built (0.0s) evaluator ready (total: 0.146s) evaluator created (0.146s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.108s) applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial value of t applying constraint: bounds on u applying constraint: bounds on t applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) linear constraints added: 6 (3.201s) optimizer initialization complete (total: 3.455s) 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 1.3840124e+00 4.41e-01 9.20e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 9.0814829e-01 2.92e-09 1.28e-01 -0.5 3.27e-01 -2.0 9.92e-01 1.00e+00f 1 2 2.2346703e-01 2.10e-09 2.38e-01 -2.4 1.11e+00 -1.6 8.30e-01 1.00e+00f 1 3 1.1236483e-01 1.06e-10 3.14e-02 -2.3 4.10e-01 -1.1 9.97e-01 1.00e+00f 1 4 3.3282747e-02 1.39e-11 2.79e-02 -3.3 7.10e-01 -1.6 9.98e-01 1.00e+00f 1 5 7.0730031e-03 1.62e-11 1.36e-02 -4.0 6.71e-01 -2.1 1.00e+00 1.00e+00f 1 6 1.4181068e-03 6.40e-12 4.49e-03 -4.0 4.45e-01 -2.6 1.00e+00 1.00e+00f 1 7 5.3350464e-04 1.77e-12 1.02e-03 -4.0 1.78e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.5171352e-04 2.04e-13 2.53e-04 -4.0 9.37e-02 -3.5 1.00e+00 1.00e+00f 1 9 4.5388114e-04 1.58e-14 1.26e-04 -4.0 2.84e-02 -4.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 3.0590315e-04 1.46e-14 4.23e-04 -4.1 7.74e-02 -4.5 1.00e+00 1.00e+00f 1 11 4.5748181e-04 6.88e-15 3.58e-04 -4.0 1.98e-01 -5.0 1.00e+00 5.00e-01f 2 12 2.7598843e-04 3.00e-15 5.61e-04 -4.1 1.06e-01 -5.4 1.00e+00 1.00e+00f 1 13 4.6388803e-04 2.00e-15 4.75e-04 -4.0 2.56e-01 -5.9 1.00e+00 5.00e-01f 2 14 2.6415949e-04 1.67e-15 6.38e-04 -4.1 1.22e-01 -6.4 1.00e+00 1.00e+00f 1 15 4.6497713e-04 1.33e-15 5.22e-04 -4.0 2.81e-01 -6.9 1.00e+00 5.00e-01f 2 16 2.6017172e-04 1.23e-15 6.69e-04 -4.1 1.29e-01 -7.4 1.00e+00 1.00e+00f 1 17 4.6501308e-04 1.11e-15 5.41e-04 -4.0 2.92e-01 -7.8 1.00e+00 5.00e-01f 2 18 2.5886492e-04 1.08e-15 6.88e-04 -4.1 1.33e-01 -8.3 1.00e+00 1.00e+00f 1 19 4.6462871e-04 9.99e-16 5.50e-04 -4.0 2.98e-01 -8.8 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.5845268e-04 9.65e-16 7.01e-04 -4.1 1.36e-01 -9.3 1.00e+00 1.00e+00f 1 21 4.6413616e-04 8.88e-16 5.55e-04 -4.0 3.02e-01 -9.7 1.00e+00 5.00e-01f 2 22 2.5832705e-04 8.88e-16 7.13e-04 -4.1 1.38e-01 -10.2 1.00e+00 1.00e+00f 1 23 4.6362330e-04 7.77e-16 5.59e-04 -4.0 3.05e-01 -10.7 1.00e+00 5.00e-01f 2 24 2.5829187e-04 8.40e-16 7.23e-04 -4.1 1.40e-01 -11.2 1.00e+00 1.00e+00f 1 25 4.6312005e-04 7.77e-16 5.62e-04 -4.0 3.08e-01 -11.6 1.00e+00 5.00e-01f 2 26 2.5828425e-04 8.40e-16 7.33e-04 -4.1 1.42e-01 -12.1 1.00e+00 1.00e+00f 1 27 4.6263552e-04 5.55e-16 5.65e-04 -4.0 3.10e-01 -12.6 1.00e+00 5.00e-01f 2 28 2.5828442e-04 7.04e-16 7.43e-04 -4.1 1.44e-01 -13.1 1.00e+00 1.00e+00f 1 29 3.1032544e-05 8.60e-15 9.28e-04 -6.2 3.93e-01 -13.6 9.66e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.7246730e-03 2.22e-15 7.89e-03 -4.0 2.06e+00 -14.0 1.00e+00 5.00e-01f 2 31 2.4861899e-05 2.23e-14 2.98e-03 -4.1 1.05e+00 -14.5 1.00e+00 1.00e+00f 1 32 1.5676029e-03 2.84e-14 8.22e-03 -4.0 1.01e+00 -15.0 1.00e+00 1.00e+00f 1 33 1.0475359e-05 1.72e-14 2.37e-03 -4.2 1.12e+00 -15.5 1.00e+00 1.00e+00f 1 34 4.6099075e-04 1.55e-15 2.81e-03 -4.0 1.41e+00 -15.9 1.00e+00 5.00e-01f 2 35 2.2084664e-04 2.78e-15 2.49e-04 -4.2 3.78e-01 -16.4 1.00e+00 5.00e-01f 2 36 2.0346376e-05 4.27e-15 8.37e-04 -6.4 4.25e-01 -16.9 9.62e-01 1.00e+00f 1 37 8.1892683e-06 3.11e-15 1.03e-04 -6.4 1.08e-01 -17.4 1.00e+00 1.00e+00f 1 38 1.3827668e-03 1.17e-15 4.87e-03 -4.0 9.90e+00 -17.8 1.00e+00 1.21e-01f 4 39 1.1181036e-04 4.97e-14 3.38e-03 -4.0 7.51e-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 7.3018440e-04 3.11e-14 3.43e-03 -4.0 5.17e-01 -18.8 1.00e+00 1.00e+00f 1 41 3.7987526e-04 5.66e-15 4.48e-04 -4.0 4.18e-01 -19.3 1.00e+00 5.00e-01f 2 42 3.5386109e-05 5.55e-15 1.37e-03 -6.0 5.20e-01 -19.8 9.53e-01 1.00e+00f 1 43 1.4575648e-05 5.00e-15 1.65e-04 -6.0 1.30e-01 -20.0 1.00e+00 1.00e+00f 1 44 3.9639201e-06 8.33e-16 1.05e-04 -6.0 1.49e-01 -20.0 1.00e+00 1.00e+00f 1 45 9.4675914e-04 4.68e-16 2.58e-03 -4.0 1.62e+01 -20.0 1.00e+00 7.39e-02f 4 46 1.8137187e-04 4.44e-14 2.67e-03 -4.0 5.31e-01 -20.0 1.00e+00 1.00e+00f 1 47 6.4150592e-04 1.91e-14 2.54e-03 -4.0 3.86e-01 -20.0 1.00e+00 1.00e+00f 1 48 3.8927729e-04 3.33e-15 4.10e-04 -4.0 3.39e-01 -20.0 1.00e+00 5.00e-01f 2 49 3.4985482e-05 5.77e-15 1.50e-03 -6.1 5.63e-01 -20.0 9.48e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 1.4602786e-05 4.66e-15 1.73e-04 -6.1 1.36e-01 -20.0 1.00e+00 1.00e+00f 1 51 3.8546469e-06 7.77e-16 1.13e-04 -6.1 1.62e-01 -20.0 1.00e+00 1.00e+00f 1 52 7.7554411e-04 5.31e-16 1.67e-03 -4.0 1.74e+01 -20.0 1.00e+00 6.86e-02f 4 53 2.1601575e-04 3.84e-14 2.28e-03 -4.0 4.37e-01 -20.0 1.00e+00 1.00e+00f 1 54 5.8030800e-04 1.31e-14 2.06e-03 -4.0 3.19e-01 -20.0 1.00e+00 1.00e+00f 1 55 3.8526458e-04 2.22e-15 3.81e-04 -4.0 2.94e-01 -20.0 1.00e+00 5.00e-01f 2 56 3.3945072e-05 5.55e-15 1.57e-03 -6.1 5.98e-01 -20.0 9.44e-01 1.00e+00f 1 57 1.4291302e-05 4.22e-15 1.78e-04 -6.1 1.41e-01 -20.0 1.00e+00 1.00e+00f 1 58 3.7204368e-06 6.66e-16 1.18e-04 -6.1 1.72e-01 -20.0 1.00e+00 1.00e+00f 1 59 6.4906052e-04 4.09e-16 8.46e-04 -4.0 1.88e+01 -20.0 1.00e+00 6.34e-02f 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.5007169e-04 3.42e-14 1.86e-03 -4.1 3.46e-01 -20.0 1.00e+00 1.00e+00f 1 61 5.2426591e-04 8.88e-15 1.57e-03 -4.1 2.49e-01 -20.0 1.00e+00 1.00e+00f 1 62 3.8143026e-04 1.33e-15 3.37e-04 -4.1 2.41e-01 -20.0 1.00e+00 5.00e-01f 2 63 3.2863347e-05 5.22e-15 1.64e-03 -6.1 6.30e-01 -20.0 9.40e-01 1.00e+00f 1 64 1.3982269e-05 3.77e-15 1.81e-04 -6.1 1.46e-01 -20.0 1.00e+00 1.00e+00f 1 65 3.6073115e-06 6.11e-16 1.23e-04 -6.1 1.81e-01 -20.0 1.00e+00 1.00e+00f 1 66 5.5597219e-04 2.78e-16 1.37e-04 -4.0 2.01e+01 -20.0 1.00e+00 5.91e-02f 4 67 2.8004182e-04 3.09e-14 1.45e-03 -4.1 2.64e-01 -20.0 1.00e+00 1.00e+00f 1 68 4.7661643e-04 5.77e-15 1.12e-03 -4.1 1.82e-01 -20.0 1.00e+00 1.00e+00f 1 69 3.7695357e-04 6.66e-16 2.87e-04 -4.1 1.89e-01 -20.0 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 3.1782809e-05 5.00e-15 1.70e-03 -6.1 6.59e-01 -20.0 9.36e-01 1.00e+00f 1 71 1.3665160e-05 3.55e-15 1.83e-04 -6.1 1.49e-01 -20.0 1.00e+00 1.00e+00f 1 72 3.5063677e-06 5.55e-16 1.26e-04 -6.1 1.89e-01 -20.0 1.00e+00 1.00e+00f 1 73 4.8628231e-04 2.88e-16 4.76e-04 -4.0 2.14e+01 -20.0 1.00e+00 5.56e-02f 4 74 3.0561882e-04 2.80e-14 1.07e-03 -4.1 1.92e-01 -20.0 1.00e+00 1.00e+00f 1 75 4.3745620e-04 3.55e-15 7.23e-04 -4.1 1.20e-01 -20.0 1.00e+00 1.00e+00f 1 76 2.4117468e-05 4.44e-15 1.90e-03 -6.1 7.98e-01 -20.0 9.21e-01 1.00e+00f 1 77 1.2308639e-05 3.55e-15 1.33e-04 -6.1 1.18e-01 -20.0 1.00e+00 1.00e+00f 1 78 3.0725815e-06 4.44e-16 1.23e-04 -6.1 1.96e-01 -20.0 1.00e+00 1.00e+00f 1 79 4.1305262e-04 3.40e-16 1.32e-03 -4.0 2.44e+01 -20.0 1.00e+00 4.86e-02f 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 3.3962911e-04 2.58e-14 5.45e-04 -4.1 9.59e-02 -20.0 1.00e+00 1.00e+00f 1 81 3.1770626e-05 5.11e-15 1.75e-03 -6.1 6.80e-01 -20.0 9.33e-01 1.00e+00f 1 82 1.3131383e-05 3.00e-15 2.06e-04 -6.1 1.71e-01 -20.0 1.00e+00 1.00e+00f 1 83 3.4496944e-06 5.00e-16 1.34e-04 -6.1 2.03e-01 -20.0 1.00e+00 1.00e+00f 1 84 3.6527777e-06 2.22e-16 7.35e-06 -6.1 1.30e-02 -20.0 1.00e+00 1.00e+00h 1 85 2.2841906e-07 5.07e-17 5.76e-05 -9.0 2.65e-01 -20.0 9.74e-01 1.00e+00f 1 86 2.0475446e-03 6.04e-16 1.04e-02 -4.0 1.12e+02 -20.0 1.00e+00 2.17e-02f 3 87 9.5749725e-05 4.35e-14 6.73e-03 -4.0 1.45e+00 -20.0 1.00e+00 1.00e+00f 1 88 7.4509639e-04 2.44e-14 5.20e-03 -4.0 7.87e-01 -20.0 1.00e+00 1.00e+00f 1 89 4.2127212e-04 4.66e-15 8.14e-04 -4.0 5.66e-01 -20.0 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 4.1951770e-05 4.11e-15 2.17e-03 -5.9 7.36e-01 -20.0 9.27e-01 1.00e+00f 1 91 1.7205506e-05 3.66e-15 2.68e-04 -5.9 1.94e-01 -20.0 1.00e+00 1.00e+00f 1 92 4.8248896e-06 6.66e-16 1.69e-04 -5.9 2.19e-01 -20.0 1.00e+00 1.00e+00f 1 93 5.3637353e-06 2.77e-16 1.48e-05 -5.9 2.18e-02 -20.0 1.00e+00 1.00e+00h 1 94 5.0340136e-06 7.81e-17 1.29e-06 -5.9 1.92e-03 -20.0 1.00e+00 1.00e+00h 1 95 3.5723780e-07 6.64e-17 7.89e-05 -8.9 2.95e-01 -20.0 9.71e-01 1.00e+00f 1 96 1.4447480e-07 6.29e-17 8.18e-06 -8.9 6.44e-02 -20.0 1.00e+00 1.00e+00f 1 97 1.3514510e-03 5.72e-16 3.81e-03 -4.0 3.47e+02 -20.0 1.00e+00 7.01e-03f 3 98 5.2164254e-04 5.77e-14 4.78e-03 -3.8 6.11e-01 -20.0 1.00e+00 1.00e+00f 1 99 8.3326360e-04 1.42e-14 1.49e-03 -3.8 1.80e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 4.8979806e-05 7.77e-15 3.77e-03 -5.7 1.09e+00 -20.0 8.86e-01 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 4.8979805708943119e-05 4.8979805708943119e-05 Dual infeasibility......: 3.7707223053130403e-03 3.7707223053130403e-03 Constraint violation....: 7.7715611723760958e-15 7.7715611723760958e-15 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 4.7152045284333160e-05 4.7152045284333160e-05 Overall NLP error.......: 3.7707223053130403e-03 3.7707223053130403e-03 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 = 4.213 EXIT: Maximum Number of Iterations Exceeded. [test_integrator] Starting... [test_integrator] constraint_dim=8, datavec_len=75, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.067s) integrator 1 hessian structure: 0.155s 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 (0.157s) linear index maps built (0.0s) evaluator ready (total: 0.224s) evaluator created (0.224s) 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 (0.405s) optimizer initialization complete (total: 0.629s) 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 3.6374575e+00 3.12e+00 2.61e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8115599e+00 2.44e+00 1.42e+00 -0.6 1.49e+01 -2.0 1.83e-01 2.36e-01f 1 2 2.3334723e+00 1.49e+00 3.78e+00 -0.5 3.30e+00 -0.7 4.62e-01 3.82e-01h 1 3 2.2619351e+00 1.35e+00 6.03e+00 -0.2 6.62e+00 -0.2 4.65e-01 9.43e-02f 1 4 2.0532947e+00 8.37e-01 3.05e+00 -0.5 3.48e+00 -0.7 4.70e-01 3.82e-01f 1 5 2.0420228e+00 2.01e-01 7.30e+00 -0.9 9.72e-01 -0.3 3.59e-01 7.54e-01h 1 6 2.0219289e+00 9.60e-02 3.38e+00 -0.8 7.13e-01 0.1 9.66e-01 5.24e-01h 1 7 1.9029880e+00 2.36e-01 3.06e+00 -4.0 1.62e+00 -0.3 5.42e-01 8.86e-01h 1 8 1.8363590e+00 1.31e-01 1.60e+00 -1.2 7.08e-01 -0.8 9.79e-01 4.60e-01f 1 9 1.6193691e+00 3.37e-02 7.76e-01 -1.8 1.33e+00 -1.3 9.28e-01 8.71e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.4172206e+00 3.78e-03 4.36e-02 -2.3 2.34e-01 -0.9 9.93e-01 1.00e+00h 1 11 1.3136608e+00 8.93e-03 3.47e-02 -2.9 3.92e-01 -1.4 9.93e-01 8.00e-01h 1 12 1.2669265e+00 1.06e-02 1.85e-02 -3.6 1.61e-01 -0.9 1.00e+00 9.79e-01h 1 13 1.2448007e+00 1.35e-02 2.18e-02 -3.7 5.67e-01 -1.4 1.00e+00 8.38e-01h 1 14 1.2367239e+00 3.99e-03 2.22e-02 -3.8 2.12e-01 -1.0 1.00e+00 8.30e-01h 1 15 1.2289873e+00 7.91e-03 1.44e-02 -4.0 2.46e-01 -1.5 1.00e+00 1.00e+00h 1 16 1.2152870e+00 4.21e-02 1.15e-02 -4.0 6.93e-01 -1.9 1.00e+00 1.00e+00h 1 17 1.2009486e+00 2.01e-01 1.15e-01 -4.0 1.47e+00 -2.4 1.51e-01 1.00e+00h 1 18 1.1948755e+00 6.76e-03 4.39e-02 -3.7 1.60e+00 -2.9 1.00e+00 1.00e+00h 1 19 1.1838952e+00 8.06e-02 1.25e-03 -4.0 2.08e+00 -3.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.1801534e+00 5.44e-02 2.19e-02 -4.0 3.01e+00 -3.8 6.91e-01 1.00e+00h 1 21 1.1815682e+00 7.03e-04 4.52e-03 -4.0 2.88e-01 -2.5 1.00e+00 1.00e+00h 1 22 1.1807851e+00 1.73e-03 5.57e-04 -4.0 5.41e-01 -3.0 1.00e+00 1.00e+00h 1 23 1.1792212e+00 8.83e-03 1.50e-03 -4.0 1.30e+00 -3.5 1.00e+00 1.00e+00h 1 24 1.1766967e+00 2.80e-02 4.10e-03 -4.0 2.60e+00 -3.9 1.00e+00 1.00e+00h 1 25 1.1737731e+00 5.66e-02 6.42e-03 -4.0 4.53e+00 -4.4 1.00e+00 1.00e+00h 1 26 1.1709906e+00 8.92e-02 7.04e-03 -4.0 7.39e+00 -4.9 1.00e+00 1.00e+00h 1 27 1.1685650e+00 1.25e-01 5.94e-03 -4.0 1.17e+01 -5.4 1.00e+00 1.00e+00h 1 28 1.1665388e+00 1.63e-01 3.44e-03 -4.0 1.81e+01 -5.9 1.00e+00 1.00e+00h 1 29 1.1648838e+00 2.07e-01 1.93e-04 -4.0 2.77e+01 -6.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.1635502e+00 2.56e-01 4.82e-03 -4.0 4.20e+01 -6.8 1.00e+00 1.00e+00h 1 31 1.1624874e+00 3.10e-01 1.03e-02 -4.0 6.31e+01 -7.3 1.00e+00 1.00e+00h 1 32 1.1616531e+00 3.68e-01 1.63e-02 -4.0 9.33e+01 -7.8 1.00e+00 1.00e+00h 1 33 1.1610206e+00 4.21e-01 2.20e-02 -4.0 1.35e+02 -8.2 1.00e+00 1.00e+00h 1 34 1.1605975e+00 4.41e-01 2.46e-02 -4.0 1.85e+02 -8.7 1.00e+00 1.00e+00h 1 35 1.1605042e+00 3.20e-01 1.40e-02 -4.0 2.10e+02 -9.2 1.00e+00 1.00e+00h 1 36 1.1608420e+00 6.57e-03 3.17e-03 -4.0 6.19e+01 -9.7 1.00e+00 1.00e+00h 1 37 1.1608492e+00 3.90e-06 3.73e-06 -4.0 4.77e-01 -10.1 1.00e+00 1.00e+00h 1 38 1.1608491e+00 2.80e-08 3.74e-09 -4.0 6.79e-02 -10.6 1.00e+00 1.00e+00h 1 39 1.1608491e+00 1.07e-12 8.30e-14 -4.0 4.19e-04 -11.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 39 (scaled) (unscaled) Objective...............: 1.1608491307797497e+00 1.1608491307797497e+00 Dual infeasibility......: 8.3003319929081387e-14 8.3003319929081387e-14 Constraint violation....: 1.0675904604795505e-12 1.0675904604795505e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000414e-04 1.0000000000000414e-04 Overall NLP error.......: 1.0675904604795505e-12 1.0675904604795505e-12 Number of objective function evaluations = 40 Number of objective gradient evaluations = 40 Number of equality constraint evaluations = 40 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 40 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 39 Total seconds in IPOPT = 28.862 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 (0.075s) integrator 1 hessian structure: 0.043s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.318s sub-objective 2 (QuadraticRegularizer): 0.077s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.015s objective hessian structure: 0.492s hessian structure: 375 nonzeros (0.535s) linear index maps built (0.0s) evaluator ready (total: 0.771s) evaluator created (0.771s) NL constraint bounds extracted (0.01s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.105s) applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.864s) optimizer initialization complete (total: 3.75s) 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 1.3004262e+00 1.03e+00 1.06e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6962260e+00 1.94e-01 1.75e+00 -0.9 8.00e-01 0.0 9.99e-01 1.00e+00h 1 2 1.7606435e+00 6.92e-02 4.44e-01 -0.8 4.54e-01 -0.5 8.98e-01 6.43e-01f 1 3 1.7709650e+00 1.83e-02 1.14e+00 -1.7 4.28e-01 -1.0 8.91e-01 1.00e+00h 1 4 1.3466959e+00 1.37e-02 3.21e-01 -1.5 2.78e+00 -1.4 9.48e-01 2.99e-01f 1 5 1.3440975e+00 8.96e-04 1.85e+00 -1.7 9.16e+00 - 9.24e-01 1.00e+00h 1 6 1.2537344e+00 6.95e-04 9.96e-01 -2.9 1.50e+00 -1.9 1.00e+00 2.26e-01f 1 7 1.1284026e+00 2.07e-04 1.62e-01 -4.0 5.04e-01 -2.4 1.00e+00 7.13e-01f 1 8 1.0918611e+00 6.12e-06 5.59e-01 -4.0 7.38e+00 - 1.00e+00 1.00e+00f 1 9 1.0910060e+00 3.49e-08 1.17e-02 -4.0 9.15e-01 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0910386e+00 1.61e-11 5.62e-05 -4.0 4.65e-01 - 1.00e+00 1.00e+00f 1 11 1.0911890e+00 1.35e-19 4.42e-03 -4.0 2.29e-01 - 1.00e+00 1.00e+00f 1 12 1.0909684e+00 7.17e-20 2.12e-03 -4.1 2.61e-01 -2.0 7.88e-01 4.70e-01f 2 13 1.0910406e+00 1.46e-25 5.74e-04 -4.0 9.31e-02 - 1.00e+00 1.00e+00f 1 14 1.0908365e+00 8.88e-16 9.35e-05 -4.1 2.81e-02 - 1.00e+00 1.00e+00f 1 15 1.0910386e+00 3.78e-34 1.12e-06 -4.0 1.54e-03 - 1.00e+00 1.00e+00f 1 16 1.0908587e+00 6.48e-35 9.72e-10 -4.1 1.43e-04 - 1.00e+00 1.00e+00f 1 17 1.0901453e+00 8.88e-16 1.53e-08 -6.1 7.90e-05 - 1.00e+00 1.00e+00f 1 18 1.0910388e+00 4.36e-34 7.32e-07 -4.0 1.82e-02 - 1.00e+00 1.00e+00f 1 19 1.0908587e+00 8.39e-35 5.10e-07 -4.1 1.45e-02 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.0901453e+00 5.05e-33 1.53e-08 -6.1 9.89e-05 - 1.00e+00 1.00e+00f 1 21 1.0901388e+00 8.88e-16 1.65e-07 -9.0 8.22e-03 - 9.68e-01 1.00e+00f 1 22 1.0910388e+00 3.34e-30 1.57e-05 -4.0 4.28e-03 -2.4 1.00e+00 1.00e+00f 1 23 1.0908587e+00 5.76e-35 9.73e-10 -4.1 3.24e-04 - 1.00e+00 1.00e+00f 1 24 1.0901453e+00 1.75e-33 1.53e-08 -6.1 7.90e-05 - 1.00e+00 1.00e+00f 1 25 1.0901388e+00 1.84e-36 1.86e-07 -9.0 8.62e-03 - 9.67e-01 1.00e+00f 1 26 1.0901388e+00 3.36e-37 2.07e-07 -9.0 1.70e-04 -2.9 1.00e+00 1.00e+00f 1 27 1.0901388e+00 2.63e-40 2.08e-07 -9.0 5.12e-04 -3.4 1.00e+00 1.00e+00f 1 28 1.0901388e+00 8.88e-16 2.12e-07 -9.0 1.57e-03 -3.9 1.00e+00 1.00e+00f 1 29 1.0904057e+00 2.72e-26 3.11e-04 -4.0 8.64e-01 -4.3 1.00e+00 2.96e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.0906342e+00 1.48e-30 1.01e-04 -4.3 1.41e-01 - 1.00e+00 1.00e+00f 1 31 1.0901425e+00 1.78e-15 3.76e-07 -6.4 7.79e-04 - 1.00e+00 1.00e+00f 1 32 1.0901388e+00 8.88e-16 3.20e-08 -9.0 4.26e-03 - 9.74e-01 1.00e+00f 1 33 1.0901388e+00 1.30e-33 7.51e-08 -9.0 4.99e-03 -4.8 1.00e+00 1.00e+00h 1 34 1.0901388e+00 8.88e-16 3.88e-07 -9.0 1.71e-02 -5.3 1.00e+00 1.00e+00f 1 35 1.0901388e+00 8.88e-16 1.02e-05 -9.0 9.03e-02 -5.8 1.00e+00 1.00e+00h 1 36 1.0901388e+00 1.70e-35 1.68e-05 -9.0 7.85e-02 -5.4 1.00e+00 1.00e+00h 1 37 1.0901464e+00 2.45e-27 1.41e-03 -4.0 6.34e+01 -4.9 1.00e+00 5.31e-03f 1 38 1.0905791e+00 8.88e-16 3.67e-04 -4.3 1.64e-01 - 1.00e+00 1.00e+00f 1 39 1.0901419e+00 8.88e-16 3.58e-06 -6.5 3.27e-03 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.0901419e+00 1.78e-15 2.88e-06 -6.5 4.96e-02 - 1.00e+00 1.00e+00h 1 41 1.0901388e+00 1.78e-15 9.68e-07 -9.0 1.83e-02 - 9.25e-01 1.00e+00f 1 42 1.0901388e+00 5.90e-32 6.62e-06 -9.0 5.66e-02 -5.4 1.00e+00 1.00e+00h 1 43 1.0901388e+00 5.36e-36 7.98e-06 -9.0 4.42e-02 -5.0 1.00e+00 1.00e+00f 1 44 1.0901599e+00 1.78e-15 1.31e-03 -4.0 1.69e+01 -4.5 1.00e+00 1.97e-02f 1 45 1.0905813e+00 8.88e-16 4.01e-04 -4.3 1.63e-01 - 1.00e+00 1.00e+00f 1 46 1.0901419e+00 7.53e-35 4.23e-06 -6.5 3.55e-03 - 1.00e+00 1.00e+00f 1 47 1.0901419e+00 2.89e-38 2.29e-06 -6.5 4.61e-02 - 1.00e+00 1.00e+00f 1 48 1.0901388e+00 8.88e-16 8.32e-07 -9.0 1.77e-02 - 9.26e-01 1.00e+00f 1 49 1.0901388e+00 8.88e-16 7.83e-07 -9.0 1.80e-02 -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 1.0901387e+00 7.24e-35 3.95e-05 -9.0 1.65e-01 -5.5 1.00e+00 1.00e+00h 1 51 1.0901887e+00 1.50e-27 3.80e-03 -4.0 1.75e+01 -4.2 1.00e+00 2.33e-02f 1 52 1.0906939e+00 1.11e-31 9.83e-04 -4.2 2.49e-01 - 1.00e+00 1.00e+00f 1 53 1.0906868e+00 8.02e-37 1.12e-04 -4.2 1.71e-02 - 1.00e+00 1.00e+00f 1 54 1.0901431e+00 8.88e-16 6.94e-07 -6.3 1.62e-03 - 1.00e+00 1.00e+00f 1 55 1.0901388e+00 8.88e-16 3.26e-07 -9.0 1.16e-02 - 9.54e-01 1.00e+00f 1 56 1.0901388e+00 1.78e-15 2.40e-07 -9.0 9.23e-03 -4.7 1.00e+00 1.00e+00h 1 57 1.0901388e+00 8.88e-16 4.78e-06 -9.0 4.37e-02 -5.1 1.00e+00 1.00e+00h 1 58 1.0901388e+00 1.92e-36 3.40e-06 -9.0 2.54e-02 -4.7 1.00e+00 1.00e+00h 1 59 1.0901387e+00 1.78e-15 1.34e-06 -9.0 1.31e-02 -4.3 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 1.0901385e+00 8.88e-16 5.49e-05 -9.0 1.55e-01 -4.8 1.00e+00 9.74e-01f 1 61 1.0923465e+00 8.88e-16 1.72e-02 -4.0 8.95e+03 - 1.56e-08 2.97e-05f 2 62 1.0912130e+00 4.34e-38 1.02e-02 -8.8 4.65e-02 -0.7 1.00e+00 1.00e+00f 1 63 1.0905225e+00 3.54e-40 5.10e-03 -8.8 6.22e-02 -1.2 1.00e+00 1.00e+00f 1 64 1.0903830e+00 1.76e-42 3.75e-03 -8.8 2.11e-02 -0.8 1.00e+00 1.00e+00f 1 65 1.0902476e+00 8.88e-16 2.22e-03 -8.8 3.53e-02 -1.2 1.00e+00 1.00e+00f 1 66 1.0901631e+00 8.88e-16 9.11e-04 -8.8 5.74e-02 -1.7 1.00e+00 1.00e+00f 1 67 1.0901503e+00 8.88e-16 3.10e-04 -8.8 3.02e-02 -2.2 1.00e+00 7.45e-01f 1 68 1.0901393e+00 5.22e-40 2.47e-03 -8.8 1.12e+00 - 3.93e-05 5.00e-01f 2 69 1.0901254e+00 8.88e-16 1.68e-03 -8.8 1.04e-01 -2.7 1.00e+00 2.69e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 1.0903465e+00 1.78e-15 1.30e-02 -4.0 2.95e+04 - 1.43e-09 3.83e-05f 6 71 1.0902133e+00 1.78e-15 5.80e-03 -8.6 8.82e-02 -2.2 1.00e+00 4.91e-01f 1 72 1.0901352e+00 1.90e-35 1.17e-03 -8.6 3.35e+00 - 4.87e-06 2.50e-01f 3 73 1.0901346e+00 8.88e-16 6.70e-05 -8.6 3.61e-02 -2.7 1.00e+00 1.88e-01f 1 74 1.0901340e+00 8.88e-16 2.03e-03 -8.6 3.61e-01 - 1.00e+00 1.00e+00f 1 75 1.0901250e+00 2.51e-38 3.92e-04 -8.6 1.08e-01 -3.2 1.00e+00 3.56e-01f 1 76 1.0926744e+00 1.78e-15 1.10e-01 -4.0 4.46e+00 - 6.35e-02 5.00e-01f 2 77 1.0907276e+00 5.02e-30 3.40e-02 -4.7 1.93e-01 -1.9 1.00e+00 5.97e-01f 1 78 1.0904710e+00 3.76e-30 1.37e-02 -4.7 1.11e+01 - 2.75e-03 2.50e-01f 3 79 1.0904137e+00 8.88e-16 8.08e-03 -4.7 4.31e-02 -2.4 1.00e+00 2.29e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 1.0903261e+00 8.88e-16 1.53e-04 -4.7 3.31e-02 -2.8 1.00e+00 1.00e+00f 1 81 1.0901280e+00 1.78e-15 1.86e-03 -7.0 4.76e-01 - 9.36e-01 1.00e+00f 1 82 1.0901260e+00 1.78e-15 1.71e-03 -7.0 4.94e-01 -3.3 9.91e-01 2.87e-02f 1 83 1.0901270e+00 1.13e-34 8.64e-05 -7.0 1.00e-03 - 1.00e+00 5.00e-01f 2 84 1.0901257e+00 1.51e-35 6.10e-05 -7.0 7.63e-02 - 1.00e+00 8.67e-01f 1 85 1.0901258e+00 7.41e-39 7.07e-07 -7.0 6.75e-03 - 1.00e+00 1.00e+00f 1 86 1.0901249e+00 1.60e-36 1.61e-08 -9.0 3.31e-03 - 1.00e+00 1.00e+00f 1 87 1.0914266e+00 1.14e-33 5.04e-02 -4.0 3.59e+00 - 9.72e-02 5.00e-01f 2 88 1.0906207e+00 1.78e-15 1.75e-02 -4.7 1.14e-01 -2.0 1.00e+00 5.81e-01f 1 89 1.0904102e+00 8.88e-16 2.29e-03 -4.7 6.77e+00 - 8.43e-03 2.50e-01f 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 1.0903990e+00 1.14e-30 1.74e-03 -4.7 7.86e-02 -2.5 1.00e+00 5.00e-01f 2 91 1.0903427e+00 5.51e-31 2.77e-04 -4.7 1.04e-01 -2.9 1.00e+00 1.00e+00f 1 92 1.0903415e+00 8.88e-16 1.19e-04 -4.7 4.10e-02 -2.5 1.00e+00 1.00e+00f 1 93 1.0901347e+00 7.28e-30 1.15e-04 -7.0 2.54e-02 -3.0 9.66e-01 1.00e+00f 1 94 1.0901278e+00 1.78e-15 1.57e-02 -7.0 3.69e+00 - 1.00e+00 3.76e-02f 1 95 1.0901258e+00 2.95e-39 3.57e-04 -7.0 1.89e-01 - 1.00e+00 1.00e+00f 1 96 1.0901259e+00 8.88e-16 6.96e-09 -7.0 3.85e-03 - 1.00e+00 1.00e+00f 1 97 1.0901249e+00 1.78e-15 1.48e-07 -9.0 4.19e-03 - 1.00e+00 9.96e-01f 1 98 1.0901249e+00 8.73e-40 2.09e-12 -9.0 7.18e-06 - 1.00e+00 1.00e+00f 1 99 1.0901249e+00 2.90e-46 2.97e-16 -9.0 1.82e-09 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 1.0901249e+00 3.45e-47 2.97e-16 -9.0 5.78e-17 - 1.00e+00 1.00e+00 0 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.0901249188409512e+00 1.0901249188409512e+00 Dual infeasibility......: 2.9709257108470957e-16 2.9709257108470957e-16 Constraint violation....: 3.4531063497771638e-47 3.4531063497771638e-47 Variable bound violation: 9.0931761825147062e-09 9.0931761825147062e-09 Complementarity.........: 9.0909090948527480e-10 9.0909090948527480e-10 Overall NLP error.......: 9.9999090909090913e-05 9.9999090909090913e-05 Number of objective function evaluations = 137 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 137 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 26.159 EXIT: Maximum Number of Iterations Exceeded. Test Summary: | Pass Total Time Package | 262 262 34m25.1s Testing DirectTrajOpt tests passed Testing completed after 2139.22s PkgEval succeeded after 2327.16s