Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.2113 (886384998d*) started at 2026-05-03T23:32:44.239 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 14.51s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Installed DirectTrajOpt ─ v0.9.3 Updating `~/.julia/environments/v1.14/Project.toml` [c823fa1f] + DirectTrajOpt v0.9.3 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 v0.9.3 [ffbed154] + DocStringExtensions v0.9.5 [4e289a0a] + EnumX v1.0.7 [f151be2c] + EnzymeCore v0.8.20 [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 v1.19.0 [1a297f60] + FillArrays v1.16.0 [6a86dc24] + FiniteDiff v2.31.0 [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 v1.5.2 [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 v2.8.1 [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 6.45s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling project... 31.0 s ✓ DirectTrajOpt 34.6 s ✓ DirectTrajOpt → MadNLPSolverExt 2 dependencies successfully precompiled in 79 seconds. 216 already precompiled. Precompilation completed after 94.46s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_LUT7TR/Project.toml` [c823fa1f] DirectTrajOpt v0.9.3 [e24c0720] ExponentialAction v0.2.10 [6a86dc24] FiniteDiff v2.31.0 [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_LUT7TR/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 v0.9.3 [ffbed154] DocStringExtensions v0.9.5 [4e289a0a] EnumX v1.0.7 [f151be2c] EnzymeCore v0.8.20 [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 v1.19.0 [1a297f60] FillArrays v1.16.0 [6a86dc24] FiniteDiff v2.31.0 [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 v1.5.2 [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 v2.8.1 [2efcf032] SymbolicIndexingInterface v0.3.46 [f8b46487] TestItemRunner v1.1.5 [1c621080] TestItems v1.0.0 [a759f4b9] TimerOutputs 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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... ┌ 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/bnQ8f/src/problems.jl:66 initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 1.99s integrator 2 jacobian structure: 0.057s integrator 3 jacobian structure: 0.0s jacobian structure: 1872 nonzeros (2.083s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.049s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 2.418s sub-objective 2 (QuadraticRegularizer): 1.879s sub-objective 3 (LinearRegularizer): 0.076s sub-objective 4 (MinimumTimeObjective): 0.015s objective hessian structure: 4.481s hessian structure: 2431 nonzeros (4.581s) linear index maps built (0.0s) evaluator ready (total: 7.121s) evaluator created (11.435s) NL constraint bounds extracted (0.091s) NLP block data built (0.0s) Ipopt optimizer configured (0.391s) variables set (0.783s) 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 (3.9s) optimizer initialization complete (total: 16.693s) ****************************************************************************** This program contains Ipopt, a library for large-scale nonlinear optimization. Ipopt is released as open source code under the Eclipse Public License (EPL). For more information visit https://github.com/coin-or/Ipopt ****************************************************************************** This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1808 Number of nonzeros in inequality constraint Jacobian.: 80 Number of nonzeros in Lagrangian Hessian.............: 2239 Total number of variables............................: 122 variables with only lower bounds: 30 variables with lower and upper bounds: 0 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 40 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 40 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.3706621e+00 2.53e+00 1.04e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.2219828e+00 4.39e+00 3.80e+00 -0.5 2.57e+01 -4.0 8.57e-01 9.43e-01f 1 2 2.3957299e+00 5.54e-01 1.31e+01 -1.1 2.59e+00 -1.8 2.13e-01 9.53e-01f 1 3 2.5110444e+00 4.42e-02 1.06e+00 -1.3 1.54e+00 -1.3 7.57e-01 1.00e+00f 1 4 2.4547270e+00 1.89e-03 2.70e-02 -2.3 2.18e-01 -0.9 9.82e-01 1.00e+00h 1 5 2.4263885e+00 3.74e-04 3.11e-02 -3.8 9.72e-02 -0.5 9.85e-01 1.00e+00h 1 6 2.3367716e+00 5.01e-03 3.63e-02 -4.0 3.37e-01 -1.0 1.00e+00 1.00e+00f 1 7 2.3032213e+00 2.40e-03 3.82e-02 -4.0 1.37e-01 -0.5 1.00e+00 5.75e-01h 1 8 2.2654004e+00 2.17e-03 4.58e-02 -4.0 6.97e-01 -1.0 1.00e+00 2.49e-01h 1 9 2.2250071e+00 1.12e-03 9.79e-02 -4.0 2.04e-01 -0.6 1.00e+00 7.26e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.1481517e+00 4.20e-03 8.15e-02 -4.0 8.70e-01 -1.1 1.00e+00 3.94e-01f 1 11 2.1331132e+00 4.23e-03 2.38e-01 -3.8 4.74e+00 -1.5 1.00e+00 1.32e-02h 1 12 1.9678420e+00 1.64e-02 1.15e-01 -3.9 8.86e-01 -1.1 1.00e+00 1.00e+00f 1 13 1.7780083e+00 2.69e-02 2.83e-01 -3.2 1.47e+00 -1.6 1.00e+00 6.97e-01f 1 14 1.5470824e+00 4.62e-02 2.47e-01 -3.0 1.45e+00 -2.1 1.00e+00 9.32e-01h 1 15 1.4621927e+00 4.39e-02 1.26e-01 -3.1 1.91e+00 -2.6 1.00e+00 7.91e-01h 1 16 1.3330104e+00 1.03e-01 1.63e-01 -4.0 3.86e+00 -3.0 6.15e-01 1.00e+00h 1 17 1.3301507e+00 1.02e-01 1.80e-01 -4.0 1.17e+02 -2.6 9.41e-04 1.28e-02h 1 18 1.2572342e+00 3.59e-02 4.45e-02 -4.0 3.76e+00 -3.1 1.00e+00 1.00e+00h 1 19 1.1674601e+00 1.02e-01 8.22e-02 -3.3 9.37e+00 -3.6 9.74e-01 9.75e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.1309932e+00 1.20e+00 9.95e-02 -4.0 3.97e+01 -4.0 2.14e-01 3.30e-01h 1 21 1.1192972e+00 1.73e+00 1.29e-01 -2.6 1.68e+02 -4.5 9.60e-02 1.68e-01h 1 22 9.9760053e-01 8.75e-01 6.97e-02 -3.2 1.59e+01 -4.1 1.00e+00 1.00e+00h 1 23 9.2556783e-01 6.67e-01 1.37e-01 -3.5 2.80e+01 -4.6 9.99e-01 1.00e+00h 1 24 8.3803560e-01 1.67e+00 8.92e-02 -3.7 3.95e+01 -5.0 1.00e+00 1.00e+00h 1 25 7.7725878e-01 2.87e+00 2.16e-01 -3.3 8.00e+01 -5.5 1.00e+00 1.00e+00h 1 26 7.9042968e-01 2.47e-01 1.17e-01 -3.0 2.75e+01 -5.1 1.00e+00 1.00e+00h 1 27 7.8188238e-01 1.20e+01 9.58e-01 -2.7 1.47e+02 -5.6 9.88e-01 1.00e+00h 1 28 7.2716429e-01 5.77e+00 3.87e-01 -2.9 1.59e+02 -6.0 5.16e-01 6.00e-01h 1 29 6.9287791e-01 2.12e-01 1.72e-01 -3.2 4.12e+01 -5.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 6.6650432e-01 1.87e+00 1.98e-01 -3.3 7.82e+01 -6.1 1.00e+00 1.00e+00h 1 31 6.3231857e-01 3.00e+00 2.21e-01 -3.7 2.01e+02 -6.6 1.00e+00 1.00e+00h 1 32 6.0599379e-01 4.32e+00 7.59e-01 -3.4 2.51e+02 -7.1 1.00e+00 1.00e+00h 1 33 6.0387847e-01 1.74e+00 1.34e-01 -3.7 1.15e+02 -6.6 1.00e+00 1.00e+00h 1 34 5.8887504e-01 3.00e+00 2.83e-01 -3.9 2.54e+02 -7.1 1.00e+00 1.00e+00h 1 35 5.8450274e-01 1.32e+00 6.43e-02 -4.0 8.02e+01 -6.7 1.00e+00 1.00e+00h 1 36 5.7853205e-01 2.70e+00 1.98e-01 -4.0 2.05e+02 -7.2 1.00e+00 1.00e+00h 1 37 5.7736941e-01 8.38e-01 7.84e-02 -4.0 6.56e+01 -6.7 1.00e+00 1.00e+00h 1 38 5.7255169e-01 2.46e+00 2.00e-01 -4.0 1.95e+02 -7.2 1.00e+00 1.00e+00h 1 39 5.7116564e-01 7.60e-01 9.15e-02 -4.0 5.96e+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 40 5.6712389e-01 2.69e+00 2.11e-01 -4.0 1.95e+02 -7.3 1.00e+00 1.00e+00h 1 41 5.6562256e-01 8.62e-01 9.88e-02 -4.0 5.97e+01 -6.8 1.00e+00 1.00e+00h 1 42 5.6211338e-01 3.07e+00 2.83e-01 -4.0 1.97e+02 -7.3 1.00e+00 1.00e+00h 1 43 5.6074111e-01 1.03e+00 1.00e-01 -4.0 6.27e+01 -6.9 1.00e+00 1.00e+00h 1 44 5.5764457e-01 3.38e+00 3.50e-01 -4.0 1.99e+02 -7.4 1.00e+00 1.00e+00h 1 45 5.5658837e-01 1.20e+00 1.02e-01 -4.0 6.71e+01 -6.9 1.00e+00 1.00e+00h 1 46 5.5376070e-01 3.56e+00 4.03e-01 -4.0 2.00e+02 -7.4 1.00e+00 1.00e+00h 1 47 5.5309696e-01 1.37e+00 1.08e-01 -4.0 7.21e+01 -7.0 1.00e+00 1.00e+00h 1 48 5.5033869e-01 3.64e+00 4.42e-01 -4.0 1.99e+02 -7.5 1.00e+00 1.00e+00h 1 49 5.5012130e-01 1.55e+00 1.21e-01 -4.0 7.79e+01 -7.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 5.4725131e-01 3.62e+00 4.66e-01 -4.0 1.97e+02 -7.5 1.00e+00 1.00e+00h 1 51 5.4754826e-01 1.75e+00 1.38e-01 -4.0 8.45e+01 -7.1 1.00e+00 1.00e+00h 1 52 5.4446471e-01 3.53e+00 4.78e-01 -4.0 1.94e+02 -7.6 1.00e+00 1.00e+00h 1 53 5.4533806e-01 1.97e+00 1.58e-01 -4.0 9.22e+01 -7.1 1.00e+00 1.00e+00h 1 54 5.4195843e-01 3.41e+00 4.83e-01 -4.0 1.92e+02 -7.6 1.00e+00 1.00e+00h 1 55 5.4342681e-01 2.23e+00 1.76e-01 -4.0 1.01e+02 -7.2 1.00e+00 1.00e+00h 1 56 5.3950163e-01 3.30e+00 4.86e-01 -4.0 1.91e+02 -7.7 1.00e+00 1.00e+00h 1 57 5.4169254e-01 2.56e+00 2.85e-01 -4.0 1.12e+02 -7.2 1.00e+00 1.00e+00h 1 58 5.3692351e-01 3.20e+00 4.85e-01 -4.0 1.92e+02 -7.7 1.00e+00 1.00e+00h 1 59 5.5644917e-01 9.26e-01 4.07e-01 -4.0 1.25e+02 -7.3 1.00e+00 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 5.3699081e-01 2.11e+00 3.06e-01 -4.0 1.42e+02 -7.8 1.00e+00 1.00e+00h 1 61 5.4463221e-01 2.76e-01 1.96e-01 -4.0 6.74e+01 -7.3 1.00e+00 1.00e+00h 1 62 5.4343265e-01 1.97e+00 3.23e-01 -4.0 2.96e+02 -7.8 1.00e+00 1.00e+00h 1 63 5.4019875e-01 1.41e+00 2.67e-01 -4.0 9.89e+01 -7.4 1.00e+00 1.00e+00h 1 64 5.3490455e-01 4.62e+00 6.22e-01 -4.0 2.63e+02 -7.9 1.00e+00 1.00e+00h 1 65 5.6471872e-01 3.76e+00 7.85e-01 -3.8 2.91e+02 -7.4 1.00e+00 9.40e-01H 1 66 5.4164871e-01 3.08e+00 5.21e-01 -3.9 4.17e+02 -7.9 1.38e-01 8.43e-01h 1 67 5.3664375e-01 3.68e+01 6.29e-01 -3.9 6.74e+03 -8.4 1.00e+00 3.01e-01h 2 68 5.3360053e-01 3.25e+01 3.80e-01 -3.9 1.45e+03 -8.0 3.26e-01 3.83e-01h 2 69 5.4485459e-01 2.29e+01 2.36e+00 -4.0 5.99e+02 -7.5 3.73e-01 6.29e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 5.3097988e-01 1.74e+01 9.37e-01 -4.1 7.55e+02 -8.0 8.65e-01 6.80e-01h 1 71 5.2808297e-01 9.71e+00 1.54e+00 -4.0 3.78e+02 -7.6 4.17e-01 1.00e+00h 1 72 5.2452433e-01 4.45e+00 1.02e+00 -3.7 2.76e+02 -8.1 8.15e-01 1.00e+00h 1 73 5.3813523e-01 4.01e+00 6.28e-01 -3.7 3.11e+02 -6.7 8.87e-01 7.15e-01h 1 74 5.3072476e-01 1.84e+00 4.12e-01 -3.8 1.27e+02 -7.2 4.50e-02 7.51e-01h 1 75 5.2909805e-01 8.87e+00 1.17e+00 -4.0 3.45e+02 -7.7 1.98e-01 1.00e+00f 1 76 5.2403746e-01 1.81e+01 8.60e-01 -4.0 2.73e+04 -8.2 3.43e-02 2.88e-02h 2 77 5.4381369e-01 5.62e-01 7.44e-01 -4.0 1.03e+02 -6.8 1.00e+00 1.00e+00h 1 78 5.3286568e-01 1.52e+00 3.08e-01 -4.0 1.38e+02 -7.3 1.00e+00 1.00e+00h 1 79 5.4194067e-01 3.86e-01 7.55e-01 -4.0 1.22e+02 -7.8 1.00e+00 9.61e-01H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 5.5324481e-01 3.38e+01 8.18e-01 -3.4 7.73e+03 -8.3 4.19e-01 2.64e-01H 1 81 5.4873952e-01 2.61e+01 2.30e+00 -3.8 1.92e+03 -7.9 1.03e-02 2.30e-01h 1 82 5.2977997e-01 5.75e+00 1.54e+00 -3.8 6.33e+02 -8.3 1.74e-01 1.00e+00h 1 83 5.4056760e-01 2.08e+00 6.80e-01 -3.8 3.17e+02 -7.9 7.68e-01 1.00e+00h 1 84 5.3833220e-01 6.83e+00 6.54e-01 -3.8 1.89e+03 -8.4 7.98e-01 5.73e-01H 1 85 5.3952990e-01 1.16e+00 2.24e+00 -3.8 1.33e+03 -8.9 1.00e+00 1.00e+00H 1 86 5.3472362e-01 1.48e+00 1.75e+00 -3.8 7.35e+02 -7.5 2.22e-01 1.02e-01h 2 87 5.3668556e-01 2.03e-01 3.25e-01 -3.8 9.06e+01 -8.0 1.00e+00 1.00e+00h 1 88 5.4662039e-01 1.90e-01 1.82e+00 -3.6 6.37e+02 -8.5 1.00e+00 1.00e+00H 1 89 5.4187513e-01 5.59e+01 3.08e+00 -3.6 3.62e+03 -9.0 1.00e+00 9.99e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 5.3762359e-01 5.98e+01 2.97e+00 -3.8 1.62e+04 -8.5 4.77e-02 5.07e-02h 3 91 5.3059884e-01 2.69e+01 4.50e-01 -3.8 1.07e+02 -7.2 1.00e+00 5.49e-01h 1 92 5.3221038e-01 6.42e-02 2.29e-01 -3.8 3.06e+01 -6.8 1.00e+00 1.00e+00h 1 93 5.3122792e-01 3.47e-02 5.65e-01 -4.0 9.15e+01 -7.3 1.00e+00 1.00e+00H 1 94 5.3144993e-01 1.76e+00 3.18e-01 -3.6 3.57e+02 -7.7 1.00e+00 4.71e-01h 2 95 5.2720066e-01 4.13e+00 6.04e-01 -3.9 5.49e+02 -8.2 5.08e-01 5.00e-01h 2 96 5.2618508e-01 5.31e+00 1.52e-01 -4.0 7.25e+02 -7.8 4.31e-01 2.70e-01h 2 97 5.2314266e-01 8.53e+00 8.88e-01 -4.0 8.66e+02 -8.3 1.00e+00 4.96e-01h 2 98 5.2104406e-01 1.13e+01 2.17e-01 -4.0 3.22e+03 -7.8 9.38e-02 8.70e-02h 2 99 5.1971719e-01 1.62e+01 1.14e+00 -4.0 2.30e+03 -8.3 2.45e-01 2.46e-01h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 5.3087570e-01 6.99e+00 5.52e-01 -4.0 5.06e+02 -7.0 1.00e+00 6.93e-01h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 5.3087570060899270e-01 5.3087570060899270e-01 Dual infeasibility......: 5.5215014925422623e-01 5.5215014925422623e-01 Constraint violation....: 6.9921297731539003e+00 6.9921297731539003e+00 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.8756096168492719e-04 1.8756096168492719e-04 Overall NLP error.......: 6.9921297731539003e+00 6.9921297731539003e+00 Number of objective function evaluations = 150 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 150 Number of inequality constraint evaluations = 150 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 55.250 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: 0.048s integrator 2 jacobian structure: 0.054s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.103s) 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): 0.333s sub-objective 2 (QuadraticRegularizer): 0.085s sub-objective 3 (QuadraticRegularizer): 0.0s objective hessian structure: 0.51s hessian structure: 1749 nonzeros (0.61s) linear index maps built (0.0s) evaluator ready (total: 0.713s) evaluator created (0.713s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.119s) 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 (3.128s) optimizer initialization complete (total: 3.961s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1529 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 73 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.5997539e+00 3.10e+00 2.22e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6569613e+00 2.06e+00 1.45e+00 -0.4 8.61e+00 -2.0 3.01e-01 3.36e-01f 1 2 1.4855479e+00 9.39e-01 2.15e+00 -0.5 4.72e+00 -1.6 4.46e-01 5.44e-01h 1 3 1.6953567e+00 3.92e-01 1.43e+00 -1.0 4.47e+00 -2.1 5.50e-01 5.89e-01h 1 4 1.7543799e+00 1.44e-01 5.93e-01 -1.3 1.74e+00 -2.5 7.72e-01 1.00e+00h 1 5 1.5044435e+00 4.10e-03 2.59e-02 -1.7 4.06e-01 -3.0 9.87e-01 1.00e+00h 1 6 1.2968663e+00 1.94e-02 1.10e-01 -4.0 3.28e-01 -3.5 6.44e-01 1.00e+00f 1 7 1.1933901e+00 4.04e-01 6.30e-02 -2.8 1.45e+00 -4.0 9.99e-01 1.00e+00h 1 8 1.1815066e+00 1.23e+00 1.04e-01 -2.8 1.70e+01 -4.4 1.00e+00 1.00e+00H 1 9 1.2362755e+00 2.41e+00 1.66e-01 -2.3 3.25e+01 -4.0 3.68e-01 5.00e-01h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.1923265e+00 8.64e-01 5.56e-02 -2.7 9.57e+00 -4.5 1.00e+00 1.00e+00h 1 11 1.1579771e+00 1.13e+00 2.18e-01 -3.6 1.75e+01 -5.0 9.91e-01 1.00e+00h 1 12 1.2658487e+00 6.53e+00 3.07e+00 -2.2 9.39e+01 -5.4 6.06e-01 1.00e+00h 1 13 1.2943467e+00 1.70e+00 1.09e+00 -2.3 7.43e+01 -5.9 1.00e+00 5.96e-01h 1 14 1.2866031e+00 1.64e+00 8.84e-01 -2.3 4.72e+02 -5.5 2.55e-02 9.49e-02h 2 15 1.2849540e+00 1.64e+00 1.40e+00 -2.3 1.66e+04 -5.1 5.61e-04 7.88e-05h 4 16 1.2821040e+00 1.64e+00 4.67e+01 -2.3 1.15e+03 -5.5 6.47e-01 4.62e-03h 3 17 1.2492968e+00 1.02e+00 9.44e+01 -2.3 6.24e+02 -6.0 4.13e-01 1.00e+00h 1 18 1.2452172e+00 5.95e-02 4.08e+00 -2.3 1.30e+02 -6.5 8.15e-01 1.00e+00h 1 19 1.2073235e+00 7.95e-01 3.92e-01 -2.5 3.64e+02 -7.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.1945449e+00 4.73e+00 1.72e-01 -2.6 1.79e+03 -7.5 1.33e-01 2.92e-01h 1 21 1.1904663e+00 2.41e+00 1.11e+00 -2.6 2.97e+02 -7.0 1.00e+00 1.00e+00h 1 22 1.1925884e+00 2.81e-01 3.94e-01 -2.6 1.09e+02 -7.5 1.00e+00 1.00e+00h 1 23 1.1662812e+00 4.24e-01 6.04e-02 -3.7 5.25e+01 -8.0 1.00e+00 1.00e+00h 1 24 1.1578447e+00 1.72e+00 2.42e-01 -4.0 1.55e+02 -8.5 1.00e+00 1.00e+00h 1 25 1.1614749e+00 2.67e-02 8.04e-02 -4.0 2.47e+02 -8.9 1.00e+00 1.00e+00h 1 26 1.1615881e+00 3.96e-01 3.78e-02 -3.7 1.77e+02 -9.4 1.00e+00 1.00e+00h 1 27 1.1615258e+00 1.23e-02 2.60e-03 -3.8 7.65e+01 -9.9 1.00e+00 1.00e+00h 1 28 1.1607530e+00 6.61e-02 6.73e-03 -4.0 9.78e+01 -10.4 1.00e+00 1.00e+00h 1 29 1.1608478e+00 1.49e-03 2.58e-04 -4.0 1.18e+01 -10.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.1608491e+00 1.81e-06 1.75e-07 -4.0 6.67e-01 -11.3 1.00e+00 1.00e+00h 1 31 1.1608491e+00 1.93e-11 1.67e-14 -4.0 1.90e-03 -11.8 1.00e+00 1.00e+00h 1 Number of Iterations....: 31 (scaled) (unscaled) Objective...............: 1.1608491307796158e+00 1.1608491307796158e+00 Dual infeasibility......: 1.6717448822825554e-14 1.6717448822825554e-14 Constraint violation....: 1.9268142636974517e-11 1.9268142636974517e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000507e-04 1.0000000000000507e-04 Overall NLP error.......: 1.9268142636974517e-11 1.9268142636974517e-11 Number of objective function evaluations = 45 Number of objective gradient evaluations = 32 Number of equality constraint evaluations = 45 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 32 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 31 Total seconds in IPOPT = 36.431 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.052s jacobian structure: 180 nonzeros (0.083s) integrator 1 hessian structure: 0.048s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.318s sub-objective 2 (QuadraticRegularizer): 0.083s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.016s objective hessian structure: 0.508s hessian structure: 375 nonzeros (0.557s) linear index maps built (0.0s) evaluator ready (total: 0.757s) evaluator created (0.757s) NL constraint bounds extracted (0.01s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.112s) applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.687s) optimizer initialization complete (total: 3.567s) 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 1.5269337e+00 1.21e+00 1.10e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5618523e+00 2.37e-01 2.72e+00 -1.3 2.95e+00 - 9.88e-01 1.00e+00h 1 2 1.6746234e+00 6.24e-02 1.33e+00 -1.1 2.37e-01 0.0 1.00e+00 7.36e-01h 1 3 1.7337198e+00 5.74e-02 9.31e+00 -0.6 2.15e+02 - 5.94e-02 7.98e-02h 1 4 1.6498368e+00 1.67e-02 2.18e+00 -1.5 3.66e-01 -0.5 9.98e-01 7.34e-01h 1 5 1.3659168e+00 1.13e-02 1.87e+00 -4.0 1.56e+01 - 4.02e-01 3.58e-01f 1 6 1.1467657e+00 7.26e-04 5.59e-02 -2.8 3.60e-02 -1.0 9.83e-01 9.26e-01h 1 7 1.2065199e+00 2.10e-05 6.47e+00 -4.0 2.06e+01 - 3.95e-01 1.00e+00h 1 8 1.1014004e+00 9.50e-06 2.73e+00 -3.9 5.29e-01 -1.4 1.00e+00 5.49e-01f 1 9 1.1007389e+00 9.13e-06 9.88e-01 -4.0 1.76e-02 -1.9 1.00e+00 3.85e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0910562e+00 3.17e-08 9.86e-01 -4.0 1.26e+01 - 7.01e-01 1.00e+00f 1 11 1.0911252e+00 3.07e-08 2.84e-03 -4.0 2.10e-01 - 1.00e+00 3.12e-02f 6 12 1.0908891e+00 3.12e-12 2.20e-04 -4.1 1.37e-01 - 1.00e+00 1.00e+00h 1 13 1.0910386e+00 8.88e-16 5.60e-05 -4.0 1.31e-03 - 1.00e+00 1.00e+00f 1 14 1.0908587e+00 2.53e-21 4.86e-09 -4.1 1.39e-04 - 1.00e+00 1.00e+00f 1 15 1.0910386e+00 8.88e-16 5.86e-09 -4.0 6.08e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 15 (scaled) (unscaled) Objective...............: 1.0910385864139549e+00 1.0910385864139549e+00 Dual infeasibility......: 5.8598680352517363e-09 5.8598680352517363e-09 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000496627373351e-04 1.0000496627373351e-04 Overall NLP error.......: 5.8598680352517363e-09 5.8598680352517363e-09 Number of objective function evaluations = 21 Number of objective gradient evaluations = 16 Number of equality constraint evaluations = 21 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 16 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 15 Total seconds in IPOPT = 23.204 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: 0.129s hessian structure: 30 nonzeros (0.129s) linear index maps built (0.0s) evaluator ready (total: 0.129s) evaluator created (0.129s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.113s) 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 (2.733s) optimizer initialization complete (total: 2.976s) 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 9.1227300e-03 8.33e-17 1.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 9.0307667e-03 8.72e-12 1.24e-02 -2.2 3.51e-02 -2.0 9.88e-01 1.00e+00f 1 2 3.6165849e-03 3.60e-12 8.08e-02 -3.6 3.96e-02 -1.6 9.59e-01 1.00e+00f 1 3 3.3846941e-04 3.61e-12 6.70e-02 -4.0 8.53e-02 -1.1 1.00e+00 8.14e-01f 1 4 7.2587330e-05 1.14e-12 1.16e-02 -3.4 4.89e-01 -1.6 1.00e+00 4.01e-01f 2 5 2.1010782e-04 2.09e-12 1.20e-02 -3.1 1.52e+00 -2.1 1.00e+00 5.00e-01f 2 6 2.1010782e-04 2.09e-12 1.00e-02 -3.2 2.52e+00 -2.6 3.65e-01 4.86e-15h 47 7 5.1976712e-04 1.50e-12 8.77e-03 -3.2 4.28e+00 -3.1 2.02e-01 2.02e-01S 62 8 6.5094365e-04 1.23e-12 1.14e-02 -3.2 1.03e+00 -3.5 1.00e+00 1.91e-01f 2 9 6.5257436e-04 1.09e-12 1.11e-02 -3.2 1.40e+00 -4.0 1.00e+00 2.50e-01f 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 5.7252377e-04 9.98e-13 1.39e-02 -3.2 8.12e-01 -4.5 1.00e+00 1.25e-01f 4 11 4.4119855e-04 6.45e-13 2.33e-02 -3.2 2.33e+00 -5.0 1.00e+00 5.00e-01f 2 12 3.0696461e-04 6.51e-13 3.44e-02 -3.2 1.90e+01 -4.5 7.96e-02 2.78e-02f 3 13 3.0696460e-04 6.51e-13 4.56e-02 -3.2 1.13e+00 -5.0 1.00e+00 2.12e-08h 25 14 2.0093473e-04 5.80e-13 5.07e-02 -3.2 1.05e+00 -5.5 1.00e+00 1.25e-01f 4 15 2.0093471e-04 5.80e-13 5.58e-02 -3.2 7.45e-01 -6.0 1.00e+00 2.98e-08h 26 16 2.0093471e-04 5.80e-13 6.08e-02 -3.2 9.20e-01 -6.4 1.00e+00 1.86e-09h 30 17 2.0093469e-04 5.80e-13 6.59e-02 -3.2 8.37e-01 -6.9 1.00e+00 1.49e-08h 27 18 2.0093469e-04 5.80e-13 7.10e-02 -3.2 9.25e-01 -7.4 1.00e+00 4.66e-10h 32 19 2.0093469e-04 5.80e-13 7.61e-02 -3.2 8.94e-01 -7.9 1.00e+00 1.86e-09h 30 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.9079781e-04 5.76e-13 8.05e-02 -3.2 9.62e-01 -8.4 1.00e+00 7.81e-03f 8 21 1.9079780e-04 5.76e-13 8.50e-02 -3.2 9.35e-01 -8.8 1.00e+00 3.73e-09h 29 22 1.6924217e-04 5.68e-13 8.82e-02 -3.2 9.87e-01 -9.3 1.00e+00 1.56e-02f 7 23 1.6924216e-04 5.68e-13 9.13e-02 -3.2 9.55e-01 -9.8 1.00e+00 1.86e-09h 30 24 1.6924216e-04 5.68e-13 9.45e-02 -3.2 9.92e-01 -10.3 1.00e+00 9.31e-10h 31 25 1.6924216e-04 5.68e-13 9.76e-02 -3.2 1.01e+00 -10.7 1.00e+00 4.66e-10h 32 26 1.6924216e-04 5.68e-13 1.01e-01 -3.2 1.04e+00 -11.2 1.00e+00 9.31e-10h 31 27 1.6924216e-04 5.68e-13 1.04e-01 -3.2 1.08e+00 -11.7 1.00e+00 9.31e-10h 31 28 1.6885261e-04 5.68e-13 1.07e-01 -3.2 1.09e+00 -12.2 1.00e+00 2.44e-04f 13 29 1.6885261e-04 5.69e-13 1.10e-01 -3.2 1.11e+00 -12.7 1.00e+00 2.30e-10h 33 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.6569670e-04 5.68e-13 1.13e-01 -3.2 1.11e+00 -13.1 1.00e+00 1.93e-03f 10 31 1.6569670e-04 5.68e-13 1.16e-01 -3.2 1.13e+00 -13.6 1.00e+00 4.55e-10h 32 32 1.6569670e-04 5.68e-13 1.19e-01 -3.2 1.12e+00 -14.1 1.00e+00 2.29e-10h 33 33 1.6569670e-04 5.68e-13 1.22e-01 -3.2 1.13e+00 -14.6 1.00e+00 5.67e-11h 35 34 1.6569670e-04 5.68e-13 1.25e-01 -3.2 1.11e+00 -15.0 1.00e+00 2.30e-10h 33 35 1.6408370e-04 5.67e-13 1.28e-01 -3.2 1.13e+00 -15.5 1.00e+00 9.51e-04f 11 36 1.6408370e-04 5.67e-13 1.30e-01 -3.2 1.11e+00 -16.0 1.00e+00 5.77e-11h 35 37 1.6246414e-04 5.67e-13 1.33e-01 -3.2 1.13e+00 -16.5 1.00e+00 9.51e-04f 11 38 1.6246414e-04 5.67e-13 1.36e-01 -3.2 1.10e+00 -16.9 1.00e+00 2.32e-10h 33 39 1.6084234e-04 5.67e-13 1.38e-01 -3.2 1.13e+00 -17.4 1.00e+00 9.50e-04f 11 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.6084233e-04 5.66e-13 1.41e-01 -3.2 1.09e+00 -17.9 1.00e+00 2.33e-10h 33 41 1.6002963e-04 5.66e-13 1.43e-01 -3.2 1.13e+00 -18.4 1.00e+00 4.74e-04f 12 42 1.6002963e-04 5.66e-13 1.46e-01 -3.2 1.09e+00 -18.9 1.00e+00 1.16e-10h 34 43 1.5680585e-04 5.65e-13 1.48e-01 -3.2 1.14e+00 -19.3 1.00e+00 1.89e-03f 10 44 1.5680585e-04 5.65e-13 1.50e-01 -3.2 1.08e+00 -19.8 8.80e-01 2.91e-11h 36 45 1.5680585e-04 5.65e-13 1.52e-01 -3.2 1.14e+00 -20.0 1.00e+00 1.12e-10h 34 46 1.5680585e-04 5.65e-13 1.54e-01 -3.2 1.09e+00 -20.0 8.43e-01 1.16e-10h 34 47 1.5361083e-04 5.65e-13 1.56e-01 -3.2 1.14e+00 -20.0 1.00e+00 1.88e-03f 10 48 1.5361083e-04 5.65e-13 1.58e-01 -3.2 1.08e+00 -20.0 8.44e-01 5.82e-11h 35 49 1.5361083e-04 5.65e-13 1.60e-01 -3.2 1.13e+00 -20.0 1.00e+00 5.62e-11h 35 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 1.5361083e-04 5.65e-13 1.62e-01 -3.2 1.08e+00 -20.0 8.46e-01 5.82e-11h 35 51 1.5046090e-04 5.64e-13 1.64e-01 -3.2 1.13e+00 -20.0 1.00e+00 1.89e-03f 10 52 1.5046090e-04 5.64e-13 1.65e-01 -3.2 1.08e+00 -20.0 8.47e-01 2.91e-11h 36 53 1.5046090e-04 5.63e-13 1.67e-01 -3.2 1.12e+00 -20.0 1.00e+00 1.41e-11h 37 54 1.5046090e-04 5.63e-13 1.69e-01 -3.2 1.08e+00 -20.0 8.49e-01 7.28e-12h 38 55 1.4738052e-04 5.63e-13 1.70e-01 -3.2 1.12e+00 -20.0 1.00e+00 1.90e-03f 10 56 1.4738052e-04 5.62e-13 1.71e-01 -3.2 1.08e+00 -20.0 8.50e-01 5.82e-11h 35 57 1.4738052e-04 5.62e-13 1.72e-01 -3.2 1.12e+00 -20.0 1.00e+00 2.83e-11h 36 58 1.4585943e-04 5.62e-13 1.73e-01 -3.2 1.08e+00 -20.0 8.52e-01 9.77e-04f 11 59 1.4511774e-04 5.62e-13 1.74e-01 -3.2 1.11e+00 -20.0 1.00e+00 4.76e-04f 12 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 1.4437571e-04 5.62e-13 1.75e-01 -3.2 1.08e+00 -20.0 8.54e-01 4.88e-04f 12 61 1.4151937e-04 5.61e-13 1.76e-01 -3.2 1.11e+00 -20.0 1.00e+00 1.91e-03f 10 62 1.4151937e-04 5.61e-13 1.77e-01 -3.2 1.08e+00 -20.0 8.56e-01 1.46e-11h 37 63 1.3880068e-04 5.60e-13 1.77e-01 -3.2 1.11e+00 -20.0 1.00e+00 1.91e-03f 10 64 1.3880068e-04 5.61e-13 1.77e-01 -3.2 1.08e+00 -20.0 8.60e-01 5.82e-11h 35 65 1.3380693e-04 5.59e-13 1.77e-01 -3.2 1.10e+00 -20.0 1.00e+00 3.83e-03f 9 66 1.3380693e-04 5.59e-13 1.76e-01 -3.2 1.07e+00 -20.0 8.65e-01 2.91e-11h 36 67 1.3265344e-04 5.59e-13 1.76e-01 -3.2 1.10e+00 -20.0 1.00e+00 9.58e-04f 11 68 1.3045368e-04 5.58e-13 1.75e-01 -3.2 1.07e+00 -20.0 8.71e-01 1.95e-03f 10 69 1.2841704e-04 5.57e-13 1.74e-01 -3.2 1.09e+00 -20.0 1.00e+00 1.92e-03f 10 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 1.2653239e-04 5.56e-13 1.72e-01 -3.2 1.07e+00 -20.0 8.77e-01 1.95e-03f 10 71 1.2323390e-04 5.54e-13 1.70e-01 -3.2 1.09e+00 -20.0 1.00e+00 3.84e-03f 9 72 1.2250654e-04 5.54e-13 1.67e-01 -3.2 1.07e+00 -20.0 8.86e-01 9.77e-04f 11 73 1.1802024e-04 5.50e-13 1.64e-01 -3.2 1.08e+00 -20.0 1.00e+00 7.70e-03f 8 74 1.1802024e-04 5.50e-13 1.60e-01 -3.2 1.28e+00 -20.0 8.98e-01 7.28e-12h 38 75 1.1582067e-04 5.46e-13 1.55e-01 -3.2 1.15e+00 -20.0 1.00e+00 7.72e-03f 8 76 1.1582067e-04 5.46e-13 1.50e-01 -3.2 1.35e+00 -20.0 9.14e-01 2.91e-11h 36 77 1.1566497e-04 5.42e-13 1.44e-01 -3.2 1.23e+00 -20.0 1.00e+00 7.74e-03f 8 78 1.1595502e-04 5.41e-13 1.38e-01 -3.2 1.40e+00 -20.0 9.30e-01 1.95e-03f 10 79 1.1807004e-04 5.38e-13 1.30e-01 -3.2 1.33e+00 -20.0 1.00e+00 7.75e-03f 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 1.1887381e-04 5.37e-13 1.23e-01 -3.2 1.43e+00 -20.0 9.50e-01 1.95e-03f 10 81 1.2277872e-04 5.33e-13 1.14e-01 -3.2 1.36e+00 -20.0 1.00e+00 7.77e-03f 8 82 1.2335772e-04 5.33e-13 1.05e-01 -3.2 1.44e+00 -20.0 9.71e-01 9.77e-04f 11 83 1.2828015e-04 5.29e-13 9.58e-02 -3.2 1.36e+00 -20.0 1.00e+00 7.80e-03f 8 84 1.2828015e-04 5.29e-13 8.63e-02 -3.2 1.42e+00 -20.0 9.90e-01 1.82e-12h 40 85 1.3349236e-04 5.25e-13 7.61e-02 -3.2 1.34e+00 -20.0 1.00e+00 7.81e-03f 8 86 1.3349236e-04 5.25e-13 6.59e-02 -3.2 1.39e+00 -20.0 1.00e+00 5.82e-11h 35 87 1.3849126e-04 5.21e-13 5.52e-02 -3.2 1.36e+00 -20.0 1.00e+00 7.81e-03f 8 88 1.3849126e-04 5.21e-13 4.44e-02 -3.2 1.35e+00 -20.0 1.00e+00 5.82e-11h 35 89 1.4279625e-04 5.18e-13 3.34e-02 -3.2 1.42e+00 -20.0 1.00e+00 7.81e-03f 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 1.4279625e-04 5.18e-13 3.17e-02 -3.2 1.35e+00 -20.0 1.00e+00 5.82e-11h 35 91 1.4973812e-04 5.11e-13 3.36e-02 -3.2 1.51e+00 -20.0 1.00e+00 1.56e-02f 7 92 1.4973812e-04 5.10e-13 2.91e-02 -3.2 1.29e+00 -20.0 1.00e+00 5.82e-11h 35 93 1.5455831e-04 5.03e-13 3.46e-02 -3.2 1.70e+00 -20.0 1.00e+00 1.56e-02f 7 94 1.5455831e-04 5.03e-13 2.42e-02 -3.2 1.13e+00 -20.0 1.00e+00 5.82e-11h 35 95 1.6096685e-04 4.84e-13 4.37e-02 -3.2 2.60e+00 -20.0 1.00e+00 4.17e-02f 5 96 1.6096685e-04 4.84e-13 4.41e-02 -3.2 1.02e+00 -20.0 8.42e-01 5.82e-11h 35 97 1.6210503e-04 4.70e-13 5.31e-02 -3.2 2.98e+00 -20.0 1.00e+00 3.42e-02f 5 98 1.6210503e-04 4.70e-13 6.21e-02 -3.2 9.62e-01 -20.0 8.49e-01 1.46e-11h 37 99 1.6210503e-04 4.70e-13 7.10e-02 -3.2 2.35e+00 -20.0 1.00e+00 3.78e-11h 35 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 1.6210503e-04 4.70e-13 8.00e-02 -3.2 8.86e-01 -20.0 8.46e-01 5.82e-11h 35 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.6210503480271494e-04 1.6210503480271494e-04 Dual infeasibility......: 8.0006083249097651e-02 8.0006083249097651e-02 Constraint violation....: 4.7039976081020285e-13 4.7039976081020285e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 3.3358728358080125e-02 3.3358728358080125e-02 Overall NLP error.......: 8.0006083249097651e-02 8.0006083249097651e-02 Number of objective function evaluations = 2321 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 2321 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 1 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 3.107 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): 0.085s sub-objective 2 (QuadraticRegularizer): 0.0s objective hessian structure: 0.173s hessian structure: 40 nonzeros (0.173s) linear index maps built (0.0s) evaluator ready (total: 0.174s) evaluator created (0.174s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.114s) 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 (3.047s) optimizer initialization complete (total: 3.336s) 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 1.8270587e+00 9.80e-01 9.99e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8522437e+00 4.97e-09 4.78e-01 -0.1 7.15e-01 -2.0 1.00e+00 1.00e+00f 1 2 4.2716920e-01 4.49e-09 5.07e-01 -4.0 1.46e+00 -1.6 7.40e-01 1.00e+00f 1 3 2.2209873e-01 3.74e-11 7.18e-02 -1.9 5.68e-01 -1.1 9.97e-01 1.00e+00f 1 4 5.7344053e-02 2.25e-11 6.09e-02 -2.7 9.87e-01 -1.6 1.00e+00 1.00e+00f 1 5 1.1420761e-02 3.67e-11 2.57e-02 -3.6 8.37e-01 -2.1 1.00e+00 1.00e+00f 1 6 2.2460332e-03 9.29e-12 8.29e-03 -4.0 5.66e-01 -2.6 1.00e+00 1.00e+00f 1 7 6.4571147e-04 1.86e-12 2.42e-03 -4.0 3.11e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.2218138e-04 3.12e-13 4.79e-04 -4.0 8.25e-02 -3.5 1.00e+00 1.00e+00f 1 9 4.7872061e-04 3.57e-14 2.53e-04 -4.0 3.76e-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 2.9147355e-04 1.12e-14 4.92e-04 -4.1 9.11e-02 -4.5 1.00e+00 1.00e+00f 1 11 4.5994287e-04 6.55e-15 3.84e-04 -4.0 2.08e-01 -5.0 1.00e+00 5.00e-01f 2 12 2.7223773e-04 4.55e-15 5.26e-04 -4.1 1.00e-01 -5.4 1.00e+00 1.00e+00f 1 13 4.6726255e-04 3.33e-15 4.71e-04 -4.0 2.49e-01 -5.9 1.00e+00 5.00e-01f 2 14 2.6283927e-04 2.44e-15 5.94e-04 -4.1 1.14e-01 -6.4 1.00e+00 1.00e+00f 1 15 4.6766941e-04 2.44e-15 5.08e-04 -4.0 2.69e-01 -6.9 1.00e+00 5.00e-01f 2 16 2.5969957e-04 1.89e-15 6.21e-04 -4.1 1.20e-01 -7.4 1.00e+00 1.00e+00f 1 17 4.6756055e-04 1.89e-15 5.25e-04 -4.0 2.79e-01 -7.8 1.00e+00 5.00e-01f 2 18 2.5865787e-04 1.55e-15 6.39e-04 -4.1 1.24e-01 -8.3 1.00e+00 1.00e+00f 1 19 4.6705624e-04 1.67e-15 5.33e-04 -4.0 2.84e-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 2.5834120e-04 1.33e-15 6.54e-04 -4.1 1.26e-01 -9.3 1.00e+00 1.00e+00f 1 21 4.6646792e-04 1.44e-15 5.39e-04 -4.0 2.89e-01 -9.7 1.00e+00 5.00e-01f 2 22 2.5825504e-04 1.22e-15 6.67e-04 -4.1 1.29e-01 -10.2 1.00e+00 1.00e+00f 1 23 4.6586258e-04 1.33e-15 5.44e-04 -4.0 2.93e-01 -10.7 1.00e+00 5.00e-01f 2 24 2.5824043e-04 1.10e-15 6.79e-04 -4.1 1.31e-01 -11.2 1.00e+00 1.00e+00f 1 25 4.6526755e-04 1.11e-15 5.49e-04 -4.0 2.96e-01 -11.6 1.00e+00 5.00e-01f 2 26 2.5824594e-04 1.01e-15 6.91e-04 -4.1 1.34e-01 -12.1 1.00e+00 1.00e+00f 1 27 3.0929820e-05 9.66e-15 8.66e-04 -6.2 3.69e-01 -12.6 9.69e-01 1.00e+00f 1 28 1.7492971e-03 2.66e-15 7.51e-03 -4.0 1.95e+00 -13.1 1.00e+00 5.00e-01f 2 29 2.4345014e-05 2.48e-14 2.81e-03 -4.1 9.92e-01 -13.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.5811404e-03 3.26e-14 7.82e-03 -4.0 9.61e-01 -14.0 1.00e+00 1.00e+00f 1 31 1.0044613e-05 1.91e-14 2.22e-03 -4.2 1.06e+00 -14.5 1.00e+00 1.00e+00f 1 32 4.6854022e-04 1.55e-15 2.72e-03 -4.0 1.35e+00 -15.0 1.00e+00 5.00e-01f 2 33 2.1918461e-04 3.22e-15 2.32e-04 -4.2 3.68e-01 -15.5 1.00e+00 5.00e-01f 2 34 2.0159865e-05 4.66e-15 7.85e-04 -6.4 4.02e-01 -15.9 9.65e-01 1.00e+00f 1 35 8.1080694e-06 3.39e-15 9.67e-05 -6.4 1.02e-01 -16.4 1.00e+00 1.00e+00f 1 36 1.5723602e-03 1.11e-15 5.49e-03 -4.0 9.46e+00 -16.9 1.00e+00 1.25e-01f 4 37 9.6284475e-05 5.56e-14 3.44e-03 -4.0 7.89e-01 -17.4 1.00e+00 1.00e+00f 1 38 7.5448680e-04 3.77e-14 3.53e-03 -4.0 5.32e-01 -17.8 1.00e+00 1.00e+00f 1 39 3.8078344e-04 7.11e-15 4.28e-04 -4.0 4.15e-01 -18.3 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 3.5519192e-05 5.66e-15 1.30e-03 -6.0 4.94e-01 -18.8 9.56e-01 1.00e+00f 1 41 1.4636153e-05 5.50e-15 1.57e-04 -6.0 1.23e-01 -19.3 1.00e+00 1.00e+00f 1 42 4.0349482e-06 8.88e-16 9.91e-05 -6.0 1.40e-01 -19.8 1.00e+00 1.00e+00f 1 43 1.1124028e-03 7.91e-16 3.36e-03 -4.0 1.53e+01 -20.0 1.00e+00 7.85e-02f 4 44 1.5462950e-04 4.95e-14 2.94e-03 -4.0 6.04e-01 -20.0 1.00e+00 1.00e+00f 1 45 6.8707095e-04 2.46e-14 2.88e-03 -4.0 4.32e-01 -20.0 1.00e+00 1.00e+00f 1 46 3.9092973e-04 4.44e-15 4.20e-04 -4.0 3.66e-01 -20.0 1.00e+00 5.00e-01f 2 47 3.5584047e-05 5.88e-15 1.43e-03 -6.0 5.37e-01 -20.0 9.51e-01 1.00e+00f 1 48 1.4778337e-05 5.00e-15 1.68e-04 -6.0 1.31e-01 -20.0 1.00e+00 1.00e+00f 1 49 3.9529144e-06 7.77e-16 1.08e-04 -6.0 1.54e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 8.9690301e-04 5.62e-16 2.35e-03 -4.0 1.65e+01 -20.0 1.00e+00 7.29e-02f 4 51 1.8949394e-04 4.25e-14 2.57e-03 -4.0 5.07e-01 -20.0 1.00e+00 1.00e+00f 1 52 6.2523771e-04 1.73e-14 2.43e-03 -4.0 3.70e-01 -20.0 1.00e+00 1.00e+00f 1 53 3.8752900e-04 3.11e-15 4.05e-04 -4.0 3.29e-01 -20.0 1.00e+00 5.00e-01f 2 54 3.4678485e-05 5.55e-15 1.51e-03 -6.1 5.72e-01 -20.0 9.47e-01 1.00e+00f 1 55 1.4499190e-05 4.44e-15 1.74e-04 -6.1 1.38e-01 -20.0 1.00e+00 1.00e+00f 1 56 3.8106668e-06 7.22e-16 1.14e-04 -6.1 1.65e-01 -20.0 1.00e+00 1.00e+00f 1 57 7.3774440e-04 3.30e-16 1.44e-03 -4.0 1.78e+01 -20.0 1.00e+00 6.70e-02f 4 58 2.2556317e-04 3.73e-14 2.16e-03 -4.1 4.11e-01 -20.0 1.00e+00 1.00e+00f 1 59 5.6459145e-04 1.18e-14 1.93e-03 -4.1 3.00e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 3.8439818e-04 2.00e-15 3.70e-04 -4.1 2.80e-01 -20.0 1.00e+00 5.00e-01f 2 61 3.3665333e-05 5.44e-15 1.59e-03 -6.1 6.07e-01 -20.0 9.43e-01 1.00e+00f 1 62 1.4213146e-05 4.00e-15 1.79e-04 -6.1 1.43e-01 -20.0 1.00e+00 1.00e+00f 1 63 3.6897670e-06 6.66e-16 1.19e-04 -6.1 1.75e-01 -20.0 1.00e+00 1.00e+00f 1 64 6.2163037e-04 4.20e-16 6.48e-04 -4.0 1.92e+01 -20.0 1.00e+00 6.22e-02f 4 65 2.5841608e-04 3.31e-14 1.75e-03 -4.1 3.23e-01 -20.0 1.00e+00 1.00e+00f 1 66 5.1079331e-04 7.99e-15 1.45e-03 -4.1 2.30e-01 -20.0 1.00e+00 1.00e+00f 1 67 3.8027323e-04 1.11e-15 3.24e-04 -4.1 2.27e-01 -20.0 1.00e+00 5.00e-01f 2 68 3.2572474e-05 5.22e-15 1.66e-03 -6.1 6.38e-01 -20.0 9.39e-01 1.00e+00f 1 69 1.3897562e-05 3.77e-15 1.82e-04 -6.1 1.47e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 3.5791871e-06 6.11e-16 1.24e-04 -6.1 1.83e-01 -20.0 1.00e+00 1.00e+00f 1 71 5.3551386e-04 2.43e-16 7.76e-05 -4.0 2.05e+01 -20.0 1.00e+00 5.81e-02f 4 72 2.8726754e-04 3.00e-14 1.35e-03 -4.1 2.44e-01 -20.0 1.00e+00 1.00e+00f 1 73 4.6541970e-04 5.11e-15 1.01e-03 -4.1 1.65e-01 -20.0 1.00e+00 1.00e+00f 1 74 2.9965097e-04 3.77e-15 9.65e-04 -4.1 1.75e-01 -20.0 1.00e+00 1.00e+00f 1 75 4.5863168e-04 2.89e-15 8.77e-04 -4.1 1.43e-01 -20.0 1.00e+00 1.00e+00f 1 76 3.0660111e-04 3.33e-15 8.73e-04 -4.1 1.57e-01 -20.0 1.00e+00 1.00e+00f 1 77 4.5192899e-04 2.66e-15 7.86e-04 -4.1 1.29e-01 -20.0 1.00e+00 1.00e+00f 1 78 2.3754542e-05 4.66e-15 1.82e-03 -6.1 7.68e-01 -20.0 9.25e-01 1.00e+00f 1 79 1.2322817e-05 3.89e-15 1.22e-04 -6.1 1.08e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 3.0810990e-06 4.44e-16 1.16e-04 -6.1 1.84e-01 -20.0 1.00e+00 1.00e+00f 1 81 4.9154087e-04 4.86e-16 5.63e-04 -4.0 2.31e+01 -20.0 1.00e+00 5.16e-02f 4 82 3.1044836e-04 2.91e-14 1.05e-03 -4.1 1.87e-01 -20.0 1.00e+00 1.00e+00f 1 83 4.4130755e-04 3.77e-15 7.10e-04 -4.1 1.17e-01 -20.0 1.00e+00 1.00e+00f 1 84 2.4418579e-05 4.44e-15 1.89e-03 -6.1 7.89e-01 -20.0 9.22e-01 1.00e+00f 1 85 1.2451518e-05 3.66e-15 1.33e-04 -6.1 1.17e-01 -20.0 1.00e+00 1.00e+00f 1 86 3.1194022e-06 3.89e-16 1.22e-04 -6.1 1.93e-01 -20.0 1.00e+00 1.00e+00f 1 87 3.9715361e-06 2.22e-16 2.05e-05 -6.1 3.57e-02 -20.0 1.00e+00 1.00e+00f 1 88 3.4323925e-06 5.55e-17 5.78e-06 -6.1 1.03e-02 -20.0 1.00e+00 1.00e+00h 1 89 2.6024506e-07 5.55e-17 5.29e-05 -9.0 2.35e-01 -20.0 9.77e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.4496672e-03 6.31e-16 1.20e-02 -4.0 1.05e+02 -20.0 1.00e+00 2.32e-02f 3 91 8.4415352e-05 4.84e-14 7.10e-03 -3.9 1.55e+00 -20.0 1.00e+00 1.00e+00f 1 92 7.7210880e-04 2.89e-14 5.38e-03 -3.9 8.14e-01 -20.0 1.00e+00 1.00e+00f 1 93 4.3935807e-04 5.55e-15 7.74e-04 -3.9 5.38e-01 -20.0 1.00e+00 5.00e-01f 2 94 4.3428062e-05 4.33e-15 2.14e-03 -5.9 7.16e-01 -20.0 9.30e-01 1.00e+00f 1 95 1.7932695e-05 4.00e-15 2.63e-04 -5.9 1.86e-01 -20.0 1.00e+00 1.00e+00f 1 96 5.1289796e-06 7.77e-16 1.66e-04 -5.9 2.09e-01 -20.0 1.00e+00 1.00e+00f 1 97 5.8304426e-06 3.33e-16 1.76e-05 -5.9 2.49e-02 -20.0 1.00e+00 1.00e+00h 1 98 5.3876314e-06 5.12e-17 2.72e-06 -5.9 3.92e-03 -20.0 1.00e+00 1.00e+00h 1 99 3.8744974e-07 6.20e-17 7.97e-05 -8.9 2.87e-01 -20.0 9.71e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 1.5585731e-07 3.12e-17 8.37e-06 -8.9 6.35e-02 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.5585731394702960e-07 1.5585731394702960e-07 Dual infeasibility......: 8.3733486977599866e-06 8.3733486977599866e-06 Constraint violation....: 3.1225022567582528e-17 3.1225022567582528e-17 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 5.3680034777597242e-08 5.3680034777597242e-08 Overall NLP error.......: 9.9998667792693824e-05 9.9998667792693824e-05 Number of objective function evaluations = 171 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 171 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 1 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 3.397 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, 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: 2.842s jacobian structure: 1600 nonzeros (2.921s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.87s 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): 0.017s objective hessian structure: 0.018s hessian structure: 1749 nonzeros (3.94s) linear index maps built (0.0s) evaluator ready (total: 6.861s) evaluator created (6.885s) NL constraint bounds extracted (0.104s) 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 (0.125s) optimizer initialization complete (total: 7.114s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 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 2.1944728e+00 3.46e+00 5.57e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6371585e+00 1.14e-01 2.30e+00 -1.1 1.86e+00 0.0 4.62e-01 9.66e-01h 1 2 2.3495299e+00 3.64e-02 1.91e+00 -1.0 3.20e-01 0.4 9.49e-01 6.41e-01h 1 3 2.4242828e+00 6.24e-03 1.37e+00 -1.2 3.27e-01 -0.1 9.87e-01 1.00e+00f 1 4 2.3388103e+00 5.97e-03 3.66e-01 -1.9 2.66e-01 -0.5 7.83e-01 3.37e-01h 1 5 2.1818372e+00 2.04e-03 3.04e-01 -2.3 7.19e-02 0.8 9.93e-01 9.91e-01h 1 6 2.1549685e+00 1.66e-03 6.18e-01 -3.3 5.30e-02 0.3 1.00e+00 1.98e-01h 1 7 2.0986376e+00 4.35e-04 1.77e-01 -4.0 5.88e-02 -0.2 1.00e+00 7.91e-01h 1 8 2.0909051e+00 4.18e-05 1.53e-02 -4.0 1.80e-02 -0.6 1.00e+00 1.00e+00h 1 9 2.0909061e+00 8.53e-08 6.66e-04 -4.0 1.42e-03 -1.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909037e+00 8.76e-10 9.40e-05 -4.0 3.61e-03 -1.6 1.00e+00 1.00e+00h 1 11 2.0909018e+00 3.92e-11 6.05e-05 -4.0 6.98e-03 -2.1 1.00e+00 1.00e+00h 1 12 2.0908992e+00 1.24e-10 2.19e-05 -4.0 7.54e-03 -2.5 1.00e+00 1.00e+00h 1 13 2.0908959e+00 2.56e-10 2.11e-05 -4.0 2.19e-02 -3.0 1.00e+00 1.00e+00h 1 14 2.0908884e+00 1.82e-09 2.06e-05 -4.0 6.42e-02 -3.5 1.00e+00 1.00e+00h 1 15 2.0908681e+00 1.45e-08 3.75e-05 -4.0 1.83e-01 -4.0 1.00e+00 1.00e+00h 1 16 2.0908214e+00 9.12e-08 1.57e-04 -4.0 4.83e-01 -4.4 1.00e+00 1.00e+00h 1 17 2.0907269e+00 4.55e-07 7.37e-04 -4.0 1.20e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0904697e+00 4.85e-06 6.36e-04 -4.0 3.80e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0903610e+00 5.97e-07 4.59e-04 -4.0 1.38e+00 -5.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0902212e+00 1.20e-06 1.51e-02 -4.0 5.43e+00 -5.5 1.00e+00 2.57e-01h 2 21 2.0891560e+00 5.09e-05 1.76e-03 -4.0 1.25e+01 -5.9 1.00e+00 1.00e+00h 1 22 2.0865576e+00 3.92e-04 2.02e-02 -4.0 3.41e+01 -6.4 1.00e+00 1.00e+00h 1 23 2.0854642e+00 3.79e-04 1.51e-01 -4.0 6.74e+01 -6.9 1.00e+00 1.96e-01h 1 24 2.0827396e+00 8.81e-04 7.06e-02 -4.0 7.35e+01 -7.4 1.00e+00 7.28e-01h 1 25 2.0826143e+00 2.48e-03 4.51e-02 -4.0 1.42e+02 -7.8 9.71e-01 1.00e+00h 1 26 2.0828842e+00 7.59e-04 1.65e-02 -4.0 2.69e+01 -6.5 1.00e+00 1.00e+00h 1 27 2.0827579e+00 1.04e-03 7.26e-03 -4.0 6.97e+01 -7.0 5.81e-01 1.00e+00h 1 28 2.0825353e+00 4.25e-05 2.54e-03 -4.0 5.66e-01 -4.8 1.00e+00 9.71e-01h 1 29 2.0824717e+00 1.09e-04 2.82e-03 -4.0 1.17e+00 -5.2 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0822992e+00 2.58e-04 4.84e-04 -4.0 4.31e+00 -5.7 1.00e+00 1.00e+00h 1 31 2.0821552e+00 1.02e-04 1.48e-03 -4.0 2.89e+00 -5.3 1.00e+00 1.00e+00h 1 32 2.0821384e+00 1.14e-05 1.77e-03 -4.0 1.28e+00 -5.8 1.00e+00 1.00e+00h 1 33 2.0821800e+00 2.27e-05 2.12e-04 -4.0 2.32e+00 -6.2 1.00e+00 1.00e+00h 1 34 2.0821789e+00 2.68e-05 4.15e-04 -4.0 6.12e+00 -6.7 1.00e+00 1.00e+00h 1 35 2.0821191e+00 7.06e-06 4.96e-04 -4.0 1.70e+01 -7.2 1.00e+00 1.00e+00h 1 36 2.0820064e+00 5.13e-05 2.90e-03 -4.0 3.51e+01 -7.7 1.00e+00 1.00e+00h 1 37 2.0818985e+00 1.40e-04 5.13e-03 -4.0 5.40e+01 -8.1 1.00e+00 1.00e+00h 1 38 2.0818526e+00 1.25e-04 3.02e-03 -4.0 5.65e+01 -8.6 1.00e+00 1.00e+00h 1 39 2.0818442e+00 2.25e-05 4.41e-04 -4.0 2.75e+01 -9.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818434e+00 6.09e-07 1.73e-05 -4.0 5.37e+00 -9.6 1.00e+00 1.00e+00h 1 41 2.0818434e+00 2.28e-09 9.44e-08 -4.0 3.86e-01 -10.1 1.00e+00 1.00e+00h 1 42 2.0818434e+00 1.16e-12 1.00e-09 -4.0 9.82e-03 -10.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 42 (scaled) (unscaled) Objective...............: 2.0818434105350452e+00 2.0818434105350452e+00 Dual infeasibility......: 1.0000000039866357e-09 1.0000000039866357e-09 Constraint violation....: 1.1635137298071641e-12 1.1635137298071641e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 1.0000000039866357e-09 1.0000000039866357e-09 Number of objective function evaluations = 46 Number of objective gradient evaluations = 43 Number of equality constraint evaluations = 46 Number of inequality constraint evaluations = 46 Number of equality constraint Jacobian evaluations = 43 Number of inequality constraint Jacobian evaluations = 43 Number of Lagrangian Hessian evaluations = 42 Total seconds in IPOPT = 26.746 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.059s integrator 2 jacobian structure: 0.053s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 6.213s jacobian structure: 1680 nonzeros (6.326s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.05s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 12.421s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.346s sub-objective 2 (QuadraticRegularizer): 0.086s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.016s sub-objective 5 (GlobalObjective): 0.819s objective hessian structure: 1.362s hessian structure: 1964 nonzeros (13.883s) linear index maps built (0.0s) evaluator ready (total: 20.209s) evaluator created (20.234s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.119s) 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 (5.036s) optimizer initialization complete (total: 25.39s) 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 1.2233737e+01 2.65e+00 3.09e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9453301e+00 2.98e-01 2.24e+00 -0.9 3.92e+00 -2.0 6.86e-01 9.30e-01f 1 2 2.8321882e+00 1.01e-01 7.71e-01 -0.8 1.78e+00 -1.6 7.94e-01 6.29e-01f 1 3 2.4770084e+00 3.45e-02 6.08e-01 -1.3 7.88e-01 -2.1 7.91e-01 9.54e-01h 1 4 2.3015062e+00 2.71e-02 3.13e-01 -1.9 1.27e+00 -2.5 9.27e-01 7.12e-01h 1 5 2.1433924e+00 4.98e-02 1.51e-01 -2.7 1.88e+00 -3.0 9.96e-01 7.52e-01h 1 6 2.0954104e+00 5.53e-03 1.20e-02 -3.3 5.61e-01 -3.5 9.97e-01 1.00e+00h 1 7 2.0909286e+00 2.04e-04 1.11e-03 -4.0 2.21e-01 -4.0 1.00e+00 1.00e+00h 1 8 2.0908745e+00 2.79e-06 2.79e-04 -4.0 4.86e-01 -4.4 1.00e+00 1.00e+00h 1 9 2.0907803e+00 4.74e-07 8.25e-04 -4.0 1.20e+00 -4.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0905331e+00 4.42e-06 1.05e-03 -4.0 3.80e+00 -5.4 1.00e+00 1.00e+00h 1 11 2.0899001e+00 2.22e-05 1.04e-02 -4.0 9.91e+00 -5.9 1.00e+00 7.63e-01h 1 12 2.0887896e+00 9.63e-05 5.68e-02 -4.0 3.30e+01 -6.3 1.00e+00 5.00e-01f 2 13 2.0882767e+00 2.17e-05 4.11e-03 -4.0 2.34e+00 -5.0 1.00e+00 8.56e-01h 1 14 2.0880289e+00 3.93e-06 2.98e-03 -4.0 4.91e+00 -5.5 1.00e+00 1.00e+00h 1 15 2.0869276e+00 5.58e-05 8.48e-03 -4.0 1.43e+01 -6.0 1.00e+00 8.21e-01h 1 16 2.0850204e+00 3.36e-04 1.77e-02 -4.0 3.10e+01 -6.4 1.00e+00 1.00e+00h 1 17 2.0834303e+00 3.11e-04 4.71e-02 -4.0 4.36e+01 -6.9 1.00e+00 5.24e-01h 1 18 2.0825347e+00 1.63e-04 9.37e-03 -4.0 7.31e+01 -7.4 1.00e+00 7.67e-01h 1 19 2.0822975e+00 3.32e-04 1.25e-02 -4.0 1.52e+02 -7.9 9.48e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0825530e+00 1.27e-03 2.52e-02 -4.0 3.45e+01 -6.5 1.00e+00 1.00e+00h 1 21 2.0821471e+00 1.36e-03 3.50e-02 -4.0 3.45e+01 -7.0 9.26e-01 1.00e+00h 1 22 2.0824723e+00 6.40e-04 5.97e-02 -4.0 3.29e+00 -4.8 4.33e-01 4.08e-01h 1 23 2.0822176e+00 4.99e-04 3.88e-03 -4.0 2.35e+00 -5.3 1.00e+00 1.00e+00h 1 24 2.0822910e+00 4.02e-04 4.84e-03 -4.0 3.42e+00 -5.7 1.00e+00 1.00e+00h 1 25 2.0822030e+00 1.75e-04 2.03e-03 -4.0 3.16e+00 -6.2 1.00e+00 1.00e+00h 1 26 2.0821633e+00 1.20e-04 3.78e-04 -4.0 6.95e+00 -6.7 1.00e+00 1.00e+00h 1 27 2.0820986e+00 1.66e-05 8.68e-04 -4.0 1.67e+01 -7.2 1.00e+00 1.00e+00h 1 28 2.0819927e+00 6.21e-05 2.81e-03 -4.0 3.30e+01 -7.7 1.00e+00 1.00e+00h 1 29 2.0818932e+00 1.33e-04 4.64e-03 -4.0 5.18e+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 30 2.0818499e+00 1.16e-04 2.81e-03 -4.0 5.54e+01 -8.6 1.00e+00 1.00e+00h 1 31 2.0818415e+00 2.19e-05 4.36e-04 -4.0 2.77e+01 -9.1 1.00e+00 1.00e+00h 1 32 2.0818408e+00 6.40e-07 3.59e-05 -4.0 5.58e+00 -9.6 1.00e+00 1.00e+00h 1 33 2.0818407e+00 2.56e-09 3.59e-05 -4.0 4.13e-01 -10.0 1.00e+00 1.00e+00h 1 34 2.0818407e+00 1.39e-12 3.59e-05 -4.0 1.08e-02 -10.5 1.00e+00 1.00e+00h 1 35 2.0818407e+00 6.66e-16 3.59e-05 -4.0 9.71e-05 -11.0 1.00e+00 1.00e+00H 1 36 2.0818407e+00 8.88e-16 3.59e-05 -4.0 1.80e-05 -11.5 1.00e+00 1.00e+00h 1 37 2.0815814e+00 2.08e-04 2.92e-05 -4.1 9.47e+00 -12.0 1.00e+00 1.00e+00h 1 38 2.0818419e+00 2.15e-04 3.60e-05 -4.0 9.79e+00 -12.4 1.00e+00 1.00e+00h 1 39 2.0815819e+00 2.14e-04 2.93e-05 -4.1 9.75e+00 -12.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0805924e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -13.4 9.77e-01 9.68e-01h 1 41 2.0818894e+00 6.59e-03 2.97e-04 -4.0 6.14e+01 -13.9 1.00e+00 1.00e+00f 1 42 2.0816124e+00 4.95e-04 2.98e-05 -4.1 2.07e+01 -14.3 1.00e+00 1.00e+00h 1 43 2.0806015e+00 3.47e-03 1.91e-04 -6.1 4.19e+01 -14.8 9.76e-01 9.61e-01h 1 44 2.0805507e+00 9.05e-05 2.22e-06 -6.1 1.70e+01 -15.3 1.00e+00 1.00e+00h 1 45 2.0819806e+00 1.03e-02 3.96e-04 -4.0 8.49e+01 -15.8 1.00e+00 1.00e+00f 1 46 2.0816780e+00 9.65e-04 4.95e-05 -4.1 4.57e+01 -16.2 1.00e+00 1.00e+00h 1 47 2.0816420e+00 4.58e-07 3.08e-05 -4.1 8.54e+00 -16.7 1.00e+00 1.00e+00h 1 48 2.0818414e+00 1.26e-04 3.59e-05 -4.0 7.46e+00 -17.2 1.00e+00 1.00e+00h 1 49 2.0815817e+00 2.11e-04 2.92e-05 -4.1 9.63e+00 -17.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0805923e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -18.2 9.77e-01 9.68e-01h 1 51 2.0805497e+00 7.03e-05 1.80e-06 -6.1 1.55e+01 -18.6 1.00e+00 1.00e+00h 1 52 2.0819871e+00 1.06e-02 4.00e-04 -4.0 8.58e+01 -19.1 1.00e+00 1.00e+00f 1 53 2.0816826e+00 9.87e-04 5.24e-05 -4.1 4.71e+01 -19.6 1.00e+00 1.00e+00h 1 54 2.0816444e+00 5.44e-07 3.08e-05 -4.1 8.94e+00 -20.0 1.00e+00 1.00e+00h 1 55 2.0805933e+00 3.65e-03 1.55e-04 -6.1 4.19e+01 -20.0 9.76e-01 9.71e-01h 1 56 2.0805509e+00 7.35e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 57 2.0805468e+00 5.07e-08 3.07e-07 -6.1 2.92e+00 -20.0 1.00e+00 1.00e+00h 1 58 2.0820226e+00 1.22e-02 4.21e-04 -4.0 9.85e+01 -20.0 1.00e+00 1.00e+00f 1 59 2.0817083e+00 1.09e-03 6.84e-05 -4.1 5.45e+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 2.0816573e+00 1.18e-06 3.11e-05 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 61 2.0805943e+00 3.73e-03 1.58e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.71e-01h 1 62 2.0805512e+00 7.57e-05 2.01e-06 -6.1 1.64e+01 -20.0 1.00e+00 1.00e+00h 1 63 2.0805469e+00 5.37e-08 3.13e-07 -6.1 3.01e+00 -20.0 1.00e+00 1.00e+00h 1 64 2.0805365e+00 9.26e-07 7.80e-07 -9.0 9.40e-01 -20.0 1.00e+00 9.97e-01h 1 65 2.0820402e+00 1.30e-02 4.35e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 66 2.0817219e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0816639e+00 1.62e-06 3.13e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 68 2.0805948e+00 3.76e-03 1.59e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 69 2.0805514e+00 7.69e-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 70 2.0805470e+00 5.53e-08 3.15e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 71 2.0805365e+00 9.45e-07 8.03e-07 -9.0 9.51e-01 -20.0 1.00e+00 9.97e-01h 1 72 2.0805365e+00 8.66e-11 3.58e-10 -9.0 2.64e-02 -20.0 1.00e+00 1.00e+00h 1 73 2.0820406e+00 1.30e-02 4.36e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 74 2.0817222e+00 1.13e-03 7.75e-05 -4.1 5.82e+01 -20.0 1.00e+00 1.00e+00h 1 75 2.0816640e+00 1.63e-06 3.13e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 76 2.0805948e+00 3.76e-03 1.60e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 77 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 78 2.0805470e+00 5.54e-08 3.15e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 79 2.0805365e+00 9.45e-07 8.04e-07 -9.0 9.51e-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 80 2.0805365e+00 8.67e-11 3.58e-10 -9.0 2.64e-02 -20.0 1.00e+00 1.00e+00h 1 81 2.0805365e+00 2.22e-16 3.58e-10 -9.0 1.02e-05 -20.0 1.00e+00 1.00e+00h 1 82 2.0805365e+00 4.44e-16 3.58e-10 -9.0 1.79e-10 -20.0 1.00e+00 1.00e+00h 1 83 2.0805365e+00 6.66e-16 3.58e-10 -9.0 1.79e-10 -20.0 1.00e+00 1.00e+00h 1 84 2.0805365e+00 6.66e-16 3.58e-10 -9.0 1.79e-10 -20.0 1.00e+00 1.00e+00h 1 85 2.0805365e+00 6.66e-16 3.58e-10 -9.0 1.79e-10 -20.0 1.00e+00 1.00e+00h 1 86 2.0805365e+00 6.66e-16 3.58e-10 -9.0 1.79e-10 -20.0 1.00e+00 1.00e+00h 1 87 2.0805365e+00 6.66e-16 3.58e-10 -9.0 1.79e-10 -20.0 1.00e+00 1.00e+00h 1 88 2.0805365e+00 6.66e-16 3.58e-10 -9.0 1.79e-10 -20.0 1.00e+00 1.00e+00h 1 89 2.0805365e+00 6.66e-16 3.58e-10 -9.0 1.79e-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 90 2.0805365e+00 6.66e-16 3.58e-10 -9.0 1.79e-10 -20.0 1.00e+00 1.00e+00h 1 91 2.0805365e+00 6.66e-16 3.58e-10 -9.0 1.79e-10 -20.0 1.00e+00 1.00e+00h 1 92 2.0805365e+00 6.66e-16 3.58e-10 -9.0 1.79e-10 -20.0 1.00e+00 1.00e+00h 1 93 2.0805365e+00 6.66e-16 3.58e-10 -9.0 1.79e-10 -20.0 1.00e+00 1.00e+00h 1 94 2.0805365e+00 6.66e-16 3.58e-10 -9.0 1.79e-10 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 6.66e-16 3.58e-10 -9.0 1.79e-10 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 6.66e-16 3.58e-10 -9.0 1.79e-10 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 6.66e-16 3.58e-10 -9.0 1.79e-10 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 6.66e-16 3.58e-10 -9.0 1.79e-10 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 6.66e-16 3.58e-10 -9.0 1.79e-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 3.58e-10 -9.0 1.79e-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......: 3.5815147642826640e-10 3.5815147642826640e-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 = 107 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 107 Number of inequality constraint evaluations = 107 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 52.917 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: 0.057s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) jacobian structure: 4.122s jacobian structure: 1594 nonzeros (4.18s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) hessian structure: 13.837s 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 (13.887s) linear index maps built (0.0s) evaluator ready (total: 18.069s) evaluator created (18.091s) 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: 18.092s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 10 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 1 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.1773824e+02 3.79e+00 3.40e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 6.1102021e+00 4.90e-01 4.66e+00 -0.5 2.70e+00 0.0 1.00e+00 8.71e-01f 1 2 3.2470585e+00 1.37e-01 6.02e+00 -0.6 1.15e+00 -0.5 6.71e-01 1.00e+00f 1 3 3.0456305e+00 1.11e-01 4.59e-01 -0.7 5.06e-01 -1.0 9.47e-01 9.35e-01h 1 4 2.6855260e+00 1.51e-02 1.46e-01 -1.6 2.76e-01 -1.4 9.35e-01 1.00e+00f 1 5 2.1906719e+00 3.73e-02 1.06e-01 -2.1 5.18e-01 -1.9 9.74e-01 8.75e-01f 1 6 2.1064307e+00 2.41e-03 2.14e-02 -2.8 1.47e-01 -2.4 8.97e-01 1.00e+00h 1 7 2.0910003e+00 2.50e-05 2.41e-04 -4.0 1.41e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908943e+00 1.15e-06 2.30e-04 -4.0 4.54e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908820e+00 9.21e-09 2.30e-04 -4.0 1.29e-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 2.0908533e+00 5.46e-08 2.30e-04 -4.0 3.45e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907867e+00 2.74e-07 5.03e-04 -4.0 8.84e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0906050e+00 2.36e-06 7.85e-04 -4.0 2.66e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0900091e+00 1.96e-05 1.41e-03 -4.0 7.24e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0884050e+00 1.58e-04 1.49e-02 -4.0 2.26e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0877364e+00 1.51e-04 1.87e-01 -4.0 4.47e+01 -5.8 1.00e+00 1.37e-01h 1 16 2.0860267e+00 2.98e-04 1.51e-02 -4.0 2.40e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0842841e+00 2.96e-04 4.97e-02 -4.0 4.35e+01 -6.7 1.00e+00 5.85e-01h 1 18 2.0827169e+00 2.25e-04 2.83e-02 -4.0 5.48e+01 -7.2 1.00e+00 7.05e-01h 1 19 2.0826527e+00 1.41e-03 3.81e-02 -4.0 1.12e+02 -7.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0995428e+00 8.64e-06 7.94e-01 -4.0 5.23e+02 -8.2 9.41e-02 1.00e+00H 1 21 2.0848258e+00 9.55e-03 5.42e+00 -4.0 3.68e+01 -5.0 3.19e-02 2.42e-01f 1 22 2.0836947e+00 8.86e-04 5.05e-01 -4.1 1.01e+00 -2.8 1.00e+00 9.07e-01h 1 23 2.0841663e+00 4.47e-04 1.01e+00 -4.1 7.76e-01 -3.3 1.00e+00 4.92e-01f 2 24 2.0838865e+00 9.42e-06 1.42e-03 -4.0 2.65e-01 -3.7 1.00e+00 1.00e+00h 1 25 2.0837297e+00 8.84e-06 2.30e-04 -4.0 1.50e-01 -4.2 1.00e+00 1.00e+00h 1 26 2.0836972e+00 4.52e-07 2.30e-04 -4.0 4.45e-01 -4.7 1.00e+00 1.00e+00h 1 27 2.0836015e+00 1.05e-06 2.30e-04 -4.0 1.27e+00 -5.2 1.00e+00 1.00e+00h 1 28 2.0833708e+00 7.89e-06 5.60e-04 -4.0 3.33e+00 -5.7 1.00e+00 1.00e+00h 1 29 2.0830184e+00 3.90e-05 2.08e-03 -4.0 8.27e+00 -6.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0827486e+00 5.03e-05 2.81e-03 -4.0 1.95e+01 -6.6 1.00e+00 1.00e+00h 1 31 2.0823595e+00 1.90e-04 6.48e-03 -4.0 4.38e+01 -7.1 1.00e+00 1.00e+00h 1 32 2.0819384e+00 6.40e-04 1.72e-02 -4.0 8.53e+01 -7.6 1.00e+00 1.00e+00h 1 33 2.0822489e+00 2.09e-05 5.72e-02 -4.0 1.22e+02 -7.1 1.00e+00 1.00e+00H 1 34 2.0818438e+00 4.56e-05 1.53e-03 -4.0 2.35e+00 -5.8 1.00e+00 1.00e+00h 1 35 2.0819370e+00 2.12e-04 5.44e-04 -4.0 6.03e+00 -6.3 1.00e+00 1.00e+00h 1 36 2.0816988e+00 3.09e-04 7.65e-04 -4.1 2.06e+01 -6.8 1.00e+00 1.00e+00h 1 37 2.0854491e+00 7.76e-06 5.32e-01 -4.0 7.47e+00 -5.4 5.72e-01 1.00e+00H 1 38 2.0836542e+00 8.61e-07 1.94e-02 -4.0 5.68e-02 -0.5 1.00e+00 1.00e+00h 1 39 2.0823480e+00 2.07e-06 9.23e-03 -4.0 8.57e-02 -1.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0819713e+00 9.70e-07 1.89e-01 -4.1 5.59e-02 -1.4 1.00e+00 8.25e-01h 1 41 2.0822492e+00 1.45e-06 1.44e-03 -4.0 5.31e-02 -1.9 1.00e+00 1.00e+00f 1 42 2.0820492e+00 4.24e-07 3.69e-04 -4.1 9.04e-02 -2.4 1.00e+00 1.00e+00h 1 43 2.0815655e+00 3.42e-06 7.38e-02 -6.1 4.16e-01 -2.9 4.22e-01 4.56e-01h 1 44 2.0821876e+00 3.11e-06 2.09e-03 -4.0 1.68e-01 -3.4 1.00e+00 1.00e+00f 1 45 2.0819784e+00 7.98e-06 2.02e-04 -4.1 1.07e-01 -3.8 1.00e+00 1.00e+00h 1 46 2.0814829e+00 8.92e-06 1.12e-01 -6.1 2.94e-01 -4.3 5.16e-01 6.14e-01h 1 47 2.0821446e+00 3.39e-05 2.49e-03 -4.0 3.56e-01 -4.8 1.00e+00 1.00e+00f 1 48 2.0827163e+00 7.35e-05 2.64e-01 -4.1 4.77e+00 -5.3 3.32e-01 5.60e-01H 1 49 2.0818746e+00 4.29e-05 3.94e-01 -4.1 1.45e+00 -5.7 2.47e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0817196e+00 6.16e-07 3.24e-02 -4.1 3.98e-02 -1.7 9.76e-01 1.00e+00h 1 51 2.0818780e+00 7.49e-07 2.30e-04 -4.0 3.33e-02 -2.2 1.00e+00 1.00e+00h 1 52 2.0817460e+00 2.40e-07 1.86e-04 -4.1 2.03e-02 -2.7 1.00e+00 1.00e+00h 1 53 2.0818619e+00 1.74e-07 2.30e-04 -4.0 2.95e-02 -3.1 1.00e+00 1.00e+00h 1 54 2.0817349e+00 7.71e-07 1.84e-04 -4.1 3.41e-02 -3.6 1.00e+00 1.00e+00h 1 55 2.0811964e+00 1.07e-05 4.14e-02 -6.1 1.20e-01 -4.1 8.10e-01 1.00e+00h 1 56 2.0819822e+00 8.18e-06 1.95e-03 -4.0 1.16e-01 -2.8 1.00e+00 1.00e+00f 1 57 2.0817377e+00 9.48e-07 3.36e-04 -4.1 3.51e-02 -3.2 1.00e+00 1.00e+00h 1 58 2.0812039e+00 4.63e-06 4.70e-02 -6.1 5.19e-02 -3.7 8.03e-01 1.00e+00h 1 59 2.0812788e+00 4.05e-06 1.82e-02 -4.6 3.15e-01 -4.2 1.00e+00 8.47e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0818587e+00 2.68e-05 3.69e-02 -4.0 5.45e-01 -4.7 1.00e+00 8.85e-01f 1 61 2.0817360e+00 4.92e-05 4.87e-04 -4.1 8.07e-01 -5.1 1.00e+00 1.00e+00h 1 62 2.0810512e+00 2.98e-04 2.98e-03 -6.1 3.04e+00 -5.6 9.92e-01 1.00e+00h 1 63 2.0812703e+00 1.82e-04 3.99e-01 -4.5 8.75e-01 -3.4 1.96e-01 3.91e-01h 1 64 2.0811275e+00 8.33e-07 3.89e-02 -5.1 3.52e-01 -3.9 1.25e-01 1.00e+00h 1 65 2.0810812e+00 7.46e-07 1.78e-01 -4.5 8.69e-01 -2.5 1.00e+00 1.03e-01h 2 66 2.0817996e+00 6.29e-06 2.45e-03 -4.0 6.73e-02 -3.0 1.00e+00 1.00e+00f 1 67 2.0815946e+00 9.50e-07 1.85e-04 -4.1 3.05e-02 -3.5 1.00e+00 1.00e+00h 1 68 2.0810990e+00 8.83e-06 6.93e-02 -6.1 9.46e-02 -4.0 7.63e-01 1.00e+00h 1 69 2.0809756e+00 1.36e-05 4.89e-02 -6.1 2.76e-01 -4.4 6.32e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0809524e+00 6.98e-06 2.05e+00 -5.0 2.84e+00 -4.9 1.00e+00 9.27e-02h 1 71 2.0824353e+00 2.63e-04 5.07e-03 -4.0 5.79e-01 -5.4 1.00e+00 1.00e+00f 1 72 2.0817676e+00 8.68e-05 1.68e+00 -4.1 3.04e-01 -2.3 2.19e-01 6.61e-01h 1 73 2.0816184e+00 2.64e-06 3.53e-03 -4.1 8.41e-02 -1.8 1.00e+00 1.00e+00f 1 74 2.0816231e+00 4.63e-08 8.66e-04 -4.1 5.52e-02 -2.3 1.00e+00 1.00e+00h 1 75 2.0816175e+00 8.90e-09 1.98e-04 -4.1 5.89e-02 -2.8 1.00e+00 1.00e+00h 1 76 2.0811086e+00 2.42e-06 6.91e-02 -6.1 3.33e-02 -3.3 7.54e-01 1.00e+00h 1 77 2.0809884e+00 1.87e-06 3.19e-02 -6.1 5.69e-02 -3.7 8.20e-01 9.89e-01h 1 78 2.0812936e+00 1.52e-06 2.21e-01 -4.0 8.72e-01 -3.3 1.00e+00 2.89e-01f 1 79 2.0815272e+00 1.72e-06 1.59e-03 -4.2 1.77e-01 -3.8 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0815162e+00 3.10e-06 3.29e-04 -4.2 1.17e-01 -4.3 1.00e+00 1.00e+00h 1 81 2.0810413e+00 4.21e-05 3.74e-02 -6.2 5.10e-01 -4.8 8.31e-01 1.00e+00h 1 82 2.0809104e+00 5.18e-05 9.57e-03 -6.2 1.26e+00 -5.2 4.71e-01 9.41e-01h 1 83 2.0814577e+00 6.41e-05 1.79e-01 -4.0 5.50e+00 -5.7 1.00e+00 2.66e-01f 1 84 2.0816012e+00 6.03e-05 8.52e-04 -4.1 1.11e+00 -6.2 1.00e+00 1.00e+00h 1 85 2.1084994e+00 1.97e-04 2.75e-01 -4.1 2.94e+01 -6.7 1.99e-01 8.91e-01H 1 86 2.0815736e+00 4.18e-05 1.19e-01 -4.1 3.78e+01 -7.1 7.51e-04 9.52e-01F 1 87 2.0817170e+00 1.21e-04 6.22e-01 -4.1 3.22e+03 -6.7 1.88e-02 4.24e-03f 6 88 2.0817219e+00 1.05e-06 8.79e-02 -4.1 3.08e+01 -7.2 8.14e-01 1.00e+00H 1 89 2.0818490e+00 3.16e-06 2.40e-01 -4.0 2.28e+02 -7.7 1.00e+00 1.93e-02f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0818030e+00 2.61e-04 2.64e-02 -4.0 1.22e+01 -8.1 9.29e-01 1.00e+00h 1 91 2.0818049e+00 3.97e-05 2.24e-04 -4.0 1.43e+01 -8.6 1.00e+00 1.00e+00h 1 92 2.0806010e+00 4.67e-03 3.41e-04 -6.0 4.63e+01 -9.1 9.75e-01 9.76e-01h 1 93 2.0808430e+00 3.97e-03 1.38e-02 -4.0 5.17e+01 -9.6 1.00e+00 1.93e-01f 1 94 2.0818363e+00 2.49e-03 6.65e-04 -4.0 2.94e+01 -10.1 1.00e+00 1.00e+00h 1 95 2.0815787e+00 1.52e-04 1.84e-04 -4.1 7.01e+00 -10.5 1.00e+00 1.00e+00h 1 96 2.0805873e+00 3.29e-03 1.39e-04 -6.1 3.98e+01 -11.0 9.78e-01 9.73e-01h 1 97 2.0814916e+00 4.25e-03 5.53e-03 -4.0 6.14e+01 -11.5 1.00e+00 7.02e-01f 1 98 2.0815322e+00 6.60e-05 1.75e-04 -4.1 1.41e+01 -12.0 1.00e+00 1.00e+00h 1 99 2.0805894e+00 3.01e-03 1.28e-04 -6.2 3.87e+01 -12.4 9.78e-01 9.68e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0807399e+00 2.74e-03 1.63e-02 -4.0 6.18e+01 -12.9 1.00e+00 1.20e-01f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0807398991019168e+00 2.0807398991019168e+00 Dual infeasibility......: 1.6278283899677393e-02 1.6278283899677393e-02 Constraint violation....: 2.7432138275100826e-03 2.7432138275100826e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.9964329261292781e-04 1.9964329261292781e-04 Overall NLP error.......: 1.6278283899677393e-02 1.6278283899677393e-02 Number of objective function evaluations = 122 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 122 Number of inequality constraint evaluations = 122 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 35.330 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: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.06s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.052s) linear index maps built (0.0s) evaluator ready (total: 0.113s) evaluator created (0.113s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 1.5953999e+00 3.16e+00 3.04e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8068570e+00 6.12e-02 4.15e+00 -0.9 2.28e+00 0.0 7.72e-01 1.00e+00h 1 2 2.6468776e+00 8.67e-03 5.34e-01 -0.9 1.20e-01 0.4 8.77e-01 1.00e+00h 1 3 2.4790621e+00 1.78e-03 3.26e-01 -2.1 6.46e-02 -0.1 8.82e-01 1.00e+00h 1 4 2.2220960e+00 6.11e-03 1.17e-01 -1.9 1.77e-01 -0.5 9.75e-01 1.00e+00f 1 5 2.1656401e+00 5.21e-03 4.29e-01 -2.5 2.27e-01 -1.0 9.94e-01 2.97e-01h 1 6 2.0946338e+00 5.62e-04 2.88e-02 -3.3 4.20e-02 -1.5 1.00e+00 9.57e-01h 1 7 2.0908995e+00 6.19e-06 2.83e-03 -4.0 9.95e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908983e+00 1.15e-08 2.39e-05 -4.0 6.54e-03 -2.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 8 (scaled) (unscaled) Objective...............: 2.0908983181235206e+00 2.0908983181235206e+00 Dual infeasibility......: 2.3925212276601623e-05 2.3925212276601623e-05 Constraint violation....: 1.1521213719601492e-08 1.1521213719601492e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000831875232867e-04 1.0000831875232867e-04 Overall NLP error.......: 2.3925212276601623e-05 2.3925212276601623e-05 Number of objective function evaluations = 9 Number of objective gradient evaluations = 9 Number of equality constraint evaluations = 9 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 9 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 8 Total seconds in IPOPT = 25.302 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: 0.05s 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: 0.109s) evaluator created (0.109s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.11s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 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 1.8102342e+00 2.72e+00 4.59e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8710206e+00 1.21e-01 7.72e+00 -0.9 1.94e+00 0.0 6.53e-01 1.00e+00h 1 2 2.7338810e+00 2.97e-02 1.96e+00 -0.6 2.16e-01 0.4 1.00e+00 9.25e-01f 1 3 2.7227494e+00 1.76e-03 7.25e-01 -1.1 1.12e-01 -0.1 9.89e-01 1.00e+00f 1 4 2.3936137e+00 8.75e-03 9.46e-02 -1.5 1.61e-01 -0.5 9.63e-01 1.00e+00f 1 5 2.1830108e+00 1.05e-02 2.95e-01 -2.2 4.45e-01 -1.0 9.85e-01 5.74e-01h 1 6 2.1254906e+00 3.86e-04 1.95e-02 -2.5 4.12e-02 -1.5 9.85e-01 1.00e+00h 1 7 2.0909961e+00 7.56e-05 9.38e-04 -4.0 1.63e-02 -2.0 1.00e+00 9.92e-01h 1 8 2.0908598e+00 6.71e-07 2.06e-05 -4.0 5.62e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908583e+00 1.68e-09 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908533e+00 9.71e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908384e+00 8.74e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0907936e+00 7.87e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906593e+00 7.10e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902573e+00 6.42e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890604e+00 5.87e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855521e+00 5.54e-04 2.31e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796304e+00 2.27e-03 1.37e-01 -4.0 9.54e+01 -6.7 1.00e+00 6.26e-01h 1 18 2.0806761e+00 1.66e-04 1.86e-01 -4.0 6.78e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775249e+00 7.81e-03 2.59e-02 -4.0 1.19e+02 -7.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0769591e+00 1.58e-03 7.58e-02 -4.0 1.97e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0763223e+00 2.17e-03 2.27e-02 -4.0 3.42e+02 -8.6 1.00e+00 7.07e-01h 1 22 2.0755239e+00 1.65e-03 2.69e-02 -4.0 6.02e+02 -9.1 1.00e+00 7.58e-01h 1 23 2.0758077e+00 3.83e-03 1.59e-02 -4.0 1.80e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753940e+00 1.36e-03 8.30e-04 -4.1 1.04e+02 -10.1 1.00e+00 1.00e+00h 1 25 2.0756721e+00 4.73e-04 8.32e-06 -4.0 2.23e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 6.12e-07 1.22e-06 -4.0 1.25e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.57e-09 9.57e-08 -4.0 4.72e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.54e-11 1.77e-09 -4.0 7.52e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121637939e+00 2.0756712121637939e+00 Dual infeasibility......: 1.7731021816807038e-09 1.7731021816807038e-09 Constraint violation....: 4.5370707191239035e-11 4.5370707191239035e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000018e-04 1.0000000000000018e-04 Overall NLP error.......: 1.7731021816807038e-09 1.7731021816807038e-09 Number of objective function evaluations = 30 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 30 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 26.447 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.058s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.058s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.049s) linear index maps built (0.0s) evaluator ready (total: 0.107s) evaluator created (0.107s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: 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: 0.108s) 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: 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 9.6567993e-01 3.60e+00 4.16e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6342975e+00 1.29e-01 8.25e-01 -1.1 2.86e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.2381676e+00 1.45e-01 2.03e-01 -1.7 1.88e+00 -2.5 8.63e-01 1.00e+00h 1 3 2.1604171e+00 1.27e-02 1.14e-01 -2.1 9.64e-01 -3.0 8.97e-01 1.00e+00h 1 4 2.0994900e+00 3.78e-03 2.67e-02 -3.2 5.13e-01 -3.4 9.95e-01 9.64e-01h 1 5 2.0909152e+00 1.69e-04 4.07e-04 -4.0 1.61e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0907984e+00 1.10e-05 2.89e-05 -4.0 5.00e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0906510e+00 8.11e-07 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0902100e+00 7.73e-06 3.44e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0888978e+00 7.08e-05 3.07e-04 -4.0 1.33e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0850615e+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...............: 2.0850614600218758e+00 2.0850614600218758e+00 Dual infeasibility......: 2.7966173246055711e-03 2.7966173246055711e-03 Constraint violation....: 6.7129880576088929e-04 6.7129880576088929e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 2.7966173246055711e-03 2.7966173246055711e-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 = 25.988 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.06s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.051s) linear index maps built (0.0s) evaluator ready (total: 0.113s) evaluator created (0.113s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.001s) optimizer initialization complete (total: 0.114s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 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 2.3119028e+00 4.64e+00 3.22e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.3389152e+00 6.83e-01 3.23e+00 -1.1 2.60e+00 - 6.47e-01 8.53e-01h 1 2 2.9643279e+00 9.11e-01 6.15e+01 1.0 1.54e+02 - 8.81e-02 1.62e-02f 1 3 3.3973780e+00 1.25e-01 1.09e+01 -0.1 1.75e+00 - 8.69e-01 1.00e+00f 1 4 3.2257963e+00 8.37e-03 1.89e-01 -1.0 3.30e-01 - 9.87e-01 1.00e+00h 1 5 2.6092656e+00 9.56e-03 3.03e-01 -1.6 1.25e-01 - 9.61e-01 1.00e+00f 1 6 2.1748282e+00 7.08e-03 9.30e-02 -2.4 1.07e-01 - 9.94e-01 8.01e-01f 1 7 2.1001587e+00 3.27e-03 6.80e-02 -3.2 3.05e-01 - 9.93e-01 9.33e-01h 1 8 2.0908057e+00 7.80e-05 1.35e-02 -4.0 6.36e-02 - 1.00e+00 1.00e+00h 1 9 2.0908649e+00 4.17e-08 5.15e-04 -4.0 1.73e-03 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908640e+00 4.07e-12 2.06e-05 -4.0 2.06e-05 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0908639586063500e+00 2.0908639586063500e+00 Dual infeasibility......: 2.0581147357456781e-05 2.0581147357456781e-05 Constraint violation....: 4.0676958329433077e-12 4.0676958329433077e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000007189256954e-04 1.0000007189256954e-04 Overall NLP error.......: 2.0581147357456781e-05 2.0581147357456781e-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 = 8.278 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.065s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.066s) integrator 1 hessian structure: 0.052s 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 (0.001s) optimizer initialization complete (total: 0.123s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.8695372e+00 2.63e+00 3.02e-01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8079747e+00 7.20e-02 4.91e+00 -1.0 2.02e+00 0.0 6.50e-01 1.00e+00f 1 2 2.5593713e+00 2.96e-02 9.83e-01 -1.0 2.09e-01 0.4 9.04e-01 1.00e+00h 1 3 2.3821682e+00 2.99e-03 3.26e-01 -1.7 1.10e-01 -0.1 8.29e-01 1.00e+00h 1 4 2.2719448e+00 1.83e-03 4.04e-01 -1.7 1.22e-01 -0.5 1.00e+00 5.60e-01H 1 5 2.2569539e+00 6.11e-04 6.78e-02 -1.7 3.44e-02 -1.0 1.00e+00 1.00e+00f 1 6 2.1160604e+00 5.03e-04 4.03e-03 -2.5 4.13e-02 -1.5 1.00e+00 1.00e+00f 1 7 2.0914071e+00 3.32e-05 2.57e-04 -3.8 1.51e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0909110e+00 3.79e-07 2.06e-05 -4.0 5.63e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909093e+00 5.14e-10 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909043e+00 9.74e-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...............: 2.0909043485947509e+00 2.0909043485947509e+00 Dual infeasibility......: 2.0585531476661885e-05 2.0585531476661885e-05 Constraint violation....: 9.7367877649467971e-10 9.7367877649467971e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999999923e-05 9.9999999999999923e-05 Overall NLP error.......: 2.0585531476661885e-05 2.0585531476661885e-05 Number of objective function evaluations = 12 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 12 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 27.129 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.063s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.064s) integrator 1 hessian structure: 0.053s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.055s) linear index maps built (0.0s) evaluator ready (total: 0.12s) evaluator created (0.12s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.12s) initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.06s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (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: 0.112s) 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: symmetry constraint on u applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (1.818s) optimizer initialization complete (total: 1.93s) 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 2.9685811e+00 4.02e+00 2.27e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9131335e+00 1.64e-02 1.53e+00 -1.0 2.76e+00 -2.0 9.86e-01 1.00e+00h 1 2 2.3358821e+00 1.49e-02 5.21e-02 -1.7 2.05e-01 -1.6 9.96e-01 1.00e+00h 1 3 2.1096168e+00 3.09e-03 2.28e-01 -3.6 8.83e-02 -1.1 8.92e-01 1.00e+00h 1 4 2.0954056e+00 1.12e-03 1.48e-01 -3.9 9.00e-02 -1.6 1.00e+00 7.75e-01h 1 5 2.0909255e+00 5.78e-05 3.28e-02 -4.0 1.65e-01 -2.1 1.00e+00 8.20e-01h 1 6 2.0909955e+00 3.56e-05 3.48e-02 -4.0 2.39e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0910112e+00 1.31e-07 1.27e-04 -4.0 2.35e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0910061e+00 1.94e-08 2.06e-05 -4.0 7.05e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909853e+00 1.64e-08 2.06e-05 -4.0 2.11e-01 -4.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909234e+00 1.47e-07 2.05e-05 -4.0 6.32e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907407e+00 1.29e-06 4.97e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0902202e+00 1.09e-05 4.21e-04 -4.0 5.45e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888745e+00 8.20e-05 3.16e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861813e+00 4.40e-04 1.75e-02 -4.0 3.47e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0831020e+00 9.14e-04 4.72e-02 -4.0 5.33e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828510e+00 9.31e-04 2.26e-02 -4.0 5.43e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823461e+00 3.87e-04 1.02e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820405e+00 9.48e-05 1.86e-02 -4.0 1.46e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.71e-04 8.71e-03 -4.0 9.94e+01 -8.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0819393e+00 3.70e-05 8.47e-04 -4.0 3.11e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.32e-07 1.39e-05 -4.0 4.45e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.80e-10 3.26e-08 -4.0 2.45e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.51e-13 1.22e-11 -4.0 4.59e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907190955e+00 2.0819382907190955e+00 Dual infeasibility......: 1.2168464559548717e-11 1.2168464559548717e-11 Constraint violation....: 2.5135449277513544e-13 2.5135449277513544e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000047e-04 1.0000000000000047e-04 Overall NLP error.......: 1.2168464559548717e-11 1.2168464559548717e-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 = 26.849 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: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.049s) linear index maps built (0.0s) evaluator ready (total: 0.109s) evaluator created (0.109s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.057s) optimizer initialization complete (total: 0.166s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1528 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 77 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.0382469e+00 3.29e+00 3.11e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8956152e+00 2.14e-02 4.24e-01 -1.0 2.13e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3023205e+00 2.05e-02 8.57e-02 -1.8 3.05e-01 -1.6 9.69e-01 1.00e+00h 1 3 2.1403466e+00 2.06e-03 2.23e-01 -3.1 1.03e-01 -1.1 9.97e-01 9.85e-01h 1 4 2.0985133e+00 1.09e-03 1.85e-01 -4.0 9.79e-02 -1.6 1.00e+00 8.28e-01h 1 5 2.0922882e+00 3.06e-04 1.14e+00 -4.0 8.70e-01 -2.1 1.00e+00 3.83e-01h 1 6 2.0911672e+00 2.20e-04 1.26e+00 -4.0 1.32e+00 -2.6 1.00e+00 4.16e-01h 1 7 2.0908954e+00 3.71e-05 1.54e-01 -4.0 1.02e+00 -3.1 1.00e+00 1.00e+00h 1 8 2.0908885e+00 3.67e-06 4.99e-03 -4.0 8.09e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908924e+00 1.93e-06 4.92e-05 -4.0 2.20e-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 2.0908459e+00 1.12e-07 2.91e-04 -4.0 5.40e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907461e+00 5.38e-07 1.04e-03 -4.0 1.33e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904697e+00 6.12e-06 8.66e-04 -4.0 4.28e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0903050e+00 5.83e-06 1.73e-02 -4.0 1.27e+01 -5.9 5.76e-01 1.47e-01h 2 14 2.0887391e+00 1.55e-04 4.02e-02 -4.0 3.02e+01 -6.4 1.00e+00 6.69e-01h 1 15 2.0859565e+00 1.58e-03 1.19e-01 -4.0 7.00e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0835784e+00 8.46e-04 1.60e-01 -4.0 1.26e+01 -5.5 1.00e+00 5.14e-01h 1 17 2.0833775e+00 1.40e-04 1.02e-02 -4.0 5.09e+00 -6.0 1.00e+00 1.00e+00h 1 18 2.0828994e+00 6.00e-05 3.13e-03 -4.0 1.01e+01 -6.5 1.00e+00 1.00e+00h 1 19 2.0827649e+00 6.69e-05 2.62e-03 -4.0 2.83e+01 -7.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0824957e+00 1.84e-04 3.13e-03 -4.0 7.34e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0821468e+00 9.89e-04 9.73e-03 -4.0 1.82e+02 -7.9 5.59e-01 1.00e+00h 1 22 2.0821498e+00 1.31e-03 2.19e+00 -4.0 2.11e+02 -6.6 1.00e+00 6.97e-02h 3 23 2.0820903e+00 6.82e-05 3.41e-03 -4.0 2.97e+00 -5.3 1.00e+00 1.00e+00h 1 24 2.0870976e+00 9.15e-05 7.30e-01 -4.0 5.38e-01 -3.9 1.80e-01 6.98e-01H 1 25 2.0832790e+00 8.57e-05 8.17e-02 -4.1 5.61e-01 -4.4 9.64e-02 1.00e+00f 1 26 2.0821182e+00 1.15e-05 5.09e-03 -4.0 1.82e-01 -1.3 1.00e+00 1.00e+00h 1 27 2.0821320e+00 1.45e-07 6.83e-04 -4.0 3.26e-02 -1.8 1.00e+00 1.00e+00h 1 28 2.0821534e+00 2.04e-08 2.35e-04 -4.0 4.06e-02 -2.2 1.00e+00 1.00e+00h 1 29 2.0821501e+00 4.87e-08 1.12e-04 -4.0 5.88e-02 -2.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0821460e+00 1.85e-07 5.43e-05 -4.0 3.60e-02 -3.2 1.00e+00 1.00e+00h 1 31 2.0821445e+00 3.37e-07 1.03e-05 -4.0 4.82e-02 -3.7 1.00e+00 1.00e+00h 1 32 2.0821440e+00 9.74e-07 9.76e-06 -4.0 1.37e-01 -4.1 1.00e+00 1.00e+00h 1 33 2.0820111e+00 1.45e-05 9.34e-05 -4.1 3.82e-01 -4.6 1.00e+00 1.00e+00h 1 34 2.0821428e+00 8.82e-06 2.00e-04 -4.0 7.51e-01 -5.1 1.00e+00 1.00e+00h 1 35 2.0819777e+00 6.40e-05 2.89e-04 -4.1 1.49e+00 -5.6 1.00e+00 1.00e+00h 1 36 2.0821041e+00 2.29e-05 5.83e-04 -4.0 1.68e+00 -6.1 1.00e+00 1.00e+00h 1 37 2.0818679e+00 1.38e-04 2.00e-04 -4.1 5.71e+00 -6.5 1.00e+00 1.00e+00h 1 38 2.0820409e+00 1.75e-04 1.15e-03 -4.0 7.98e+00 -7.0 1.00e+00 1.00e+00h 1 39 2.0817404e+00 5.76e-04 3.65e-04 -4.1 2.45e+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 40 2.0818988e+00 9.29e-04 3.40e-03 -4.0 3.99e+01 -8.0 1.00e+00 1.00e+00h 1 41 2.0815953e+00 1.14e-03 2.64e-03 -4.1 5.13e+01 -8.4 1.00e+00 1.00e+00h 1 42 2.0818409e+00 8.21e-04 6.82e-04 -4.0 3.49e+01 -8.9 1.00e+00 1.00e+00h 1 43 2.0815805e+00 3.12e-04 6.07e-05 -4.1 1.37e+01 -9.4 1.00e+00 1.00e+00h 1 44 2.0818394e+00 1.91e-04 2.30e-05 -4.0 8.71e+00 -9.9 1.00e+00 1.00e+00h 1 45 2.0818383e+00 2.55e-08 5.11e-08 -4.0 3.46e-01 -10.4 1.00e+00 1.00e+00h 1 46 2.0818383e+00 1.61e-13 9.83e-12 -4.0 2.31e-03 -10.8 1.00e+00 1.00e+00h 1 Number of Iterations....: 46 (scaled) (unscaled) Objective...............: 2.0818383021801297e+00 2.0818383021801297e+00 Dual infeasibility......: 9.8304909676959207e-12 9.8304909676959207e-12 Constraint violation....: 1.6070478281449141e-13 1.6070478281449141e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000486317e-04 1.0000000000486317e-04 Overall NLP error.......: 9.8304909676959207e-12 9.8304909676959207e-12 Number of objective function evaluations = 55 Number of objective gradient evaluations = 47 Number of equality constraint evaluations = 55 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 47 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 46 Total seconds in IPOPT = 27.950 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.053s jacobian structure: 180 nonzeros (0.085s) integrator 1 hessian structure: 0.052s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.355s sub-objective 2 (QuadraticRegularizer): 0.093s sub-objective 3 (MinimumTimeObjective): 0.017s objective hessian structure: 0.562s hessian structure: 375 nonzeros (0.614s) linear index maps built (0.0s) evaluator ready (total: 0.841s) evaluator created (0.841s) NL constraint bounds extracted (0.011s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.128s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.726s) optimizer initialization complete (total: 4.708s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 196 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 28 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.6675440e+00 1.03e+00 1.05e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5037625e+00 3.25e-01 1.60e+00 -0.8 8.77e-01 0.0 9.91e-01 9.14e-01h 1 2 1.4321649e+00 1.47e-01 5.19e-01 -0.6 1.25e+00 - 5.65e-01 4.40e-01f 1 3 1.0561496e+00 5.03e-02 5.76e-01 -1.7 1.36e+00 - 9.14e-01 1.00e+00h 1 4 9.0042658e-01 6.20e-02 1.88e+00 -1.9 6.26e+00 - 9.81e-01 3.03e-01h 1 5 7.1837082e-01 7.62e-02 7.78e-01 -2.7 4.96e+00 - 1.00e+00 8.63e-01h 1 6 8.2519982e-01 5.99e-02 1.30e+00 -2.6 8.36e+00 - 9.89e-01 4.23e-01h 1 7 1.2600302e+00 4.65e-02 4.97e+00 -2.3 2.17e-01 -0.5 1.00e+00 1.00e+00h 1 8 1.1766999e+00 2.38e-02 2.00e+00 -2.5 3.66e-01 -1.0 1.00e+00 4.12e-01f 1 9 4.8739739e+00 1.19e-02 1.17e+02 -4.0 8.37e+01 - 4.04e-02 5.47e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.1154832e+00 6.58e-03 6.18e+01 -3.3 2.13e+00 -1.4 1.00e+00 4.44e-01f 1 11 1.7738540e+00 5.27e-03 4.93e+01 -3.3 1.28e+00 -1.9 1.00e+00 2.00e-01f 1 12 1.3311362e+00 2.73e-03 2.38e+01 -4.0 2.37e+00 -2.4 1.00e+00 4.82e-01f 1 13 1.3278553e+00 2.68e-03 1.62e+01 -4.0 8.34e-01 -2.9 1.00e+00 1.83e-02h 1 14 1.0913483e+00 1.41e-04 1.05e+01 -4.0 3.85e+01 - 2.53e-01 1.00e+00f 1 15 1.0918824e+00 4.62e-07 2.30e-03 -4.0 1.83e-01 - 1.00e+00 1.00e+00h 1 16 1.0908995e+00 6.99e-12 6.50e-05 -4.0 1.09e-02 - 1.00e+00 1.00e+00f 1 17 1.0908997e+00 1.61e-18 1.94e-08 -4.0 1.12e-03 - 1.00e+00 1.00e+00h 1 18 1.0908997e+00 3.24e-27 7.69e-16 -4.0 2.04e-08 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 18 (scaled) (unscaled) Objective...............: 1.0908997263265459e+00 1.0908997263265459e+00 Dual infeasibility......: 7.6934986159571395e-16 7.6934986159571395e-16 Constraint violation....: 3.2421498929368020e-27 3.2421498929368020e-27 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 7.6934986159571395e-16 7.6934986159571395e-16 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 = 23.348 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.43s jacobian structure: 1600 nonzeros (2.497s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.608s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (3.66s) linear index maps built (0.0s) evaluator ready (total: 6.158s) evaluator created (6.182s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.181s) variables set (0.715s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (3.08s) optimizer initialization complete (total: 10.253s) 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 3.2624624e+00 3.23e+00 4.73e-01 9.59e-01 -1.0 - 0.00e+00 1 0 1 2.3040079e+00 1.56e+00 1.80e+00 7.96e-01 -1.0 0.0 5.16e-01 1 1h 2 2.3799629e+00 5.62e-01 1.82e+00 2.14e-01 -1.0 -0.5 6.40e-01 2 1h 3 2.8025853e+00 1.08e-01 1.98e+00 1.43e-01 -1.0 -1.0 1.00e+00 2 1h 4 2.7473939e+00 1.07e-01 1.15e+00 1.09e-01 -1.0 -1.4 6.51e-01 2 1h 5 2.7836643e+00 6.16e-02 1.43e-01 1.15e-01 -1.0 -1.9 1.00e+00 2 1h 6 2.2653084e+00 4.59e-02 1.24e-01 2.38e-02 -2.5 -2.4 1.00e+00 2 1h 7 2.1167237e+00 6.42e-03 1.38e-02 4.55e-03 -2.5 -2.9 1.00e+00 2 1h 8 2.0914608e+00 5.48e-04 6.58e-04 2.15e-04 -3.8 -3.3 1.00e+00 2 1h 9 2.0899971e+00 8.65e-05 6.85e-04 3.61e-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 2.0899605e+00 3.05e-04 4.13e-04 3.26e-06 -5.7 -4.3 1.00e+00 2 1h 11 2.0898517e+00 6.27e-05 2.06e-04 2.13e-06 -5.7 -4.8 1.00e+00 2 1h 12 2.0897736e+00 5.13e-05 1.24e-02 1.90e-06 -5.7 -5.2 1.91e-01 1 1h 13 2.0888442e+00 1.76e-05 1.64e-03 3.07e-06 -5.7 -5.7 1.00e+00 1 1h 14 2.0885691e+00 1.60e-05 9.51e-02 2.30e-06 -5.7 -6.2 9.66e-02 1 1h 15 2.0840333e+00 2.80e-05 4.55e-02 5.72e-06 -5.7 -6.7 1.00e+00 1 1h 16 2.0832364e+00 2.44e-05 1.45e-01 2.97e-06 -5.7 -7.2 1.68e-01 1 1h 17 2.0816868e+00 2.30e-05 1.44e-01 3.31e-06 -5.7 -7.6 2.95e-01 2 1h 18 2.0814067e+00 3.32e-05 1.98e-01 4.73e-05 -5.7 -8.1 2.96e-01 1 1h 19 2.0806724e+00 4.07e-05 1.36e-01 2.22e-05 -5.7 -8.6 9.01e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0918292e+00 3.42e-07 3.26e-01 3.45e-04 -5.7 -7.3 1.00e+00 1 1H 21 2.0877890e+00 8.09e-05 2.30e+00 2.47e-04 -5.7 -5.0 1.08e-01 1 2h 22 2.0819935e+00 5.45e-05 1.58e+00 8.99e-05 -5.7 -1.9 3.36e-01 1 1h 23 2.0815063e+00 1.18e-05 1.79e-01 2.90e-05 -5.7 -2.4 1.00e+00 2 1h 24 2.0811986e+00 1.31e-05 9.72e-02 2.08e-06 -5.7 -2.8 2.80e-01 2 1h 25 2.0812003e+00 1.96e-06 1.19e-01 7.16e-06 -5.7 -3.3 8.50e-01 1 1h 26 2.0811933e+00 7.44e-08 1.10e-05 1.85e-06 -5.7 -3.8 1.00e+00 2 1h 27 2.0811635e+00 5.44e-07 1.13e-05 8.49e-08 -8.6 -4.3 1.00e+00 2 1h 28 2.0811291e+00 1.20e-08 1.13e-05 1.57e-08 -8.6 -4.8 1.00e+00 2 1h 29 2.0810292e+00 9.37e-10 3.93e-05 3.82e-09 -8.6 -5.2 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0809959e+00 9.32e-10 1.27e-02 6.25e-09 -8.6 -5.7 1.18e-01 1 1h 31 2.0809674e+00 8.67e-09 5.42e-03 2.37e-06 -8.6 -6.2 1.00e+00 2 1h 32 2.0809667e+00 8.59e-09 1.61e-02 2.05e-06 -8.6 -6.7 9.30e-03 2 1h 33 2.0807973e+00 1.08e-07 2.46e-03 4.10e-07 -8.6 -7.1 1.00e+00 2 1h 34 2.0806106e+00 2.70e-08 4.83e-03 6.75e-08 -8.6 -7.6 1.00e+00 2 1h 35 2.0806060e+00 2.38e-08 2.32e-01 2.26e-05 -8.6 -7.2 1.26e-01 1 1h 36 2.0805607e+00 5.14e-09 8.43e-02 9.95e-07 -8.6 -7.7 7.97e-01 1 1h 37 2.0805616e+00 2.51e-09 7.01e-02 5.24e-06 -8.6 -6.3 5.12e-01 1 1h 38 2.0805616e+00 2.51e-09 2.40e-02 2.91e-06 -8.6 -6.8 1.55e-03 2 1h 39 2.0805554e+00 3.99e-10 6.69e-03 1.07e-06 -8.6 -7.3 8.41e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0806441e+00 8.88e-16 2.79e-03 6.35e-06 -8.6 -6.9 1.00e+00 1 1H 41 2.0806364e+00 3.96e-11 4.72e-01 6.96e-06 -8.6 -4.6 2.41e-02 1 1h 42 2.0805520e+00 8.30e-10 1.89e-01 8.45e-08 -8.6 -4.2 8.40e-01 1 1h 43 2.0805520e+00 8.17e-10 1.63e+00 5.20e-08 -8.6 -4.7 1.59e-02 1 1h 44 2.0805519e+00 2.91e-11 7.64e-05 1.42e-08 -8.6 -5.2 1.00e+00 1 1h 45 2.0805517e+00 9.71e-12 1.18e-04 2.86e-09 -8.6 -5.6 9.52e-01 2 1h 46 2.0805514e+00 4.34e-11 4.80e-04 2.58e-09 -8.6 -6.1 7.46e-01 2 1h 47 2.0805509e+00 3.39e-10 1.39e-05 1.06e-07 -8.6 -6.6 1.00e+00 2 1h 48 2.0805493e+00 5.69e-10 1.11e-05 1.36e-08 -8.6 -7.1 1.00e+00 2 1h 49 2.0805461e+00 2.81e-10 5.50e-05 2.51e-09 -8.6 -7.5 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805412e+00 1.77e-10 1.51e-04 2.51e-09 -8.6 -8.0 1.00e+00 1 1h 51 2.0805375e+00 3.60e-10 2.55e-04 2.51e-09 -8.6 -8.5 1.00e+00 1 1h 52 2.0805365e+00 2.18e-10 4.54e-03 2.53e-09 -8.6 -9.0 1.00e+00 1 1h 53 2.0805375e+00 3.58e-11 2.59e-04 5.11e-07 -8.6 -6.7 1.00e+00 1 1h 54 2.0805367e+00 2.77e-13 7.48e-05 1.23e-07 -8.6 -4.5 1.00e+00 1 1h 55 2.0805366e+00 4.82e-13 1.78e-05 2.49e-08 -8.6 -5.0 1.00e+00 1 1h 56 2.0805366e+00 1.15e-13 1.01e-06 6.87e-09 -8.6 -5.5 1.00e+00 2 1h 57 2.0805365e+00 1.99e-13 9.50e-08 3.12e-09 -8.6 -5.9 1.00e+00 2 1h 58 2.0805365e+00 1.05e-12 3.12e-08 2.51e-09 -8.6 -6.4 1.00e+00 2 1h 59 2.0805365e+00 2.59e-12 1.54e-07 2.51e-09 -8.6 -6.9 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 60 2.0805365e+00 1.92e-12 4.00e-04 2.51e-09 -8.6 -7.4 1.00e+00 2 1h 61 2.0805365e+00 1.76e-12 1.99e-02 3.15e-09 -8.6 -6.1 1.31e-01 1 2h 62 2.0805365e+00 1.56e-12 1.83e-03 3.35e-09 -8.6 -6.5 1.50e-01 1 2h 63 2.0805365e+00 2.05e-12 1.06e-06 2.51e-09 -8.6 -7.0 1.00e+00 1 1h 64 2.0805365e+00 4.95e-13 2.03e-07 2.51e-09 -8.6 -7.5 1.00e+00 1 1h 65 2.0805365e+00 1.08e-13 2.65e-07 2.51e-09 -8.6 -7.1 1.00e+00 1 1h 66 2.0806025e+00 8.88e-16 5.25e-03 2.67e-09 -8.6 -7.5 1.00e+00 2 1H 67 2.0806012e+00 6.04e-14 2.43e-01 2.96e-09 -8.6 -3.5 1.17e-02 1 7h 68 2.0806011e+00 7.11e-14 3.51e-01 3.23e-09 -8.6 -4.0 1.02e-03 1 9h 69 2.0806008e+00 7.73e-14 6.98e-01 5.19e-09 -8.6 -3.5 2.59e-03 1 8h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 70 2.0806008e+00 7.73e-14 7.65e-01 5.56e-09 -8.6 -4.0 5.98e-05 1 12h 71 2.0805372e+00 7.65e-09 1.19e+00 1.78e-08 -8.6 -3.6 1.00e+00 1 1h 72 2.0805371e+00 7.08e-09 1.83e+00 4.64e-08 -8.6 -4.1 7.39e-02 1 1h 73 2.0805367e+00 5.15e-09 1.34e+00 3.31e-08 -8.6 -4.6 2.72e-01 1 1h 74 2.0805366e+00 4.30e-09 1.14e+00 7.90e-09 -8.6 -5.0 1.66e-01 1 1h 75 2.0805366e+00 3.66e-09 9.83e-01 1.03e-08 -8.6 -5.5 1.49e-01 1 1h 76 2.0805366e+00 1.17e-09 3.22e-01 4.40e-09 -8.6 -6.0 6.74e-01 1 1h 77 2.0805366e+00 4.59e-11 4.59e-05 2.93e-09 -8.6 -6.5 1.00e+00 2 1h 78 2.0805366e+00 1.97e-12 2.34e-07 2.51e-09 -8.6 -6.9 1.00e+00 2 1h 79 2.0805365e+00 1.06e-12 1.01e-06 2.51e-09 -8.6 -7.4 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 80 2.0805365e+00 1.61e-12 2.61e-04 2.52e-09 -8.6 -7.9 1.00e+00 2 1h 81 2.0805365e+00 7.21e-12 2.08e-05 1.48e-07 -8.6 -6.6 1.00e+00 1 1h 82 2.0805365e+00 2.51e-12 4.68e-04 2.51e-09 -8.6 -7.0 1.00e+00 1 1h 83 2.0805365e+00 3.30e-13 9.58e-05 1.14e-08 -8.6 -7.5 8.45e-01 1 1h 84 2.0805365e+00 7.65e-14 2.71e-05 4.22e-09 -8.6 -8.0 1.00e+00 1 1h 85 2.0805365e+00 6.04e-14 3.41e-05 2.51e-09 -8.6 -6.7 1.00e+00 1 1h 86 2.0805365e+00 3.02e-14 7.05e-06 2.51e-09 -8.6 -7.1 1.00e+00 1 1h 87 2.0805365e+00 8.55e-15 1.73e-06 2.51e-09 -8.6 -7.6 1.00e+00 1 1h 88 2.0805365e+00 3.42e-14 4.00e-07 2.52e-09 -8.6 -8.1 1.00e+00 1 1h 89 2.0805365e+00 6.61e-14 9.46e-08 2.51e-09 -8.6 -8.6 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 3.20e-14 4.18e-08 2.51e-09 -8.6 -9.0 1.00e+00 1 1h 91 2.0805365e+00 2.44e-15 2.92e-09 2.51e-09 -8.6 -9.5 1.00e+00 1 1h Number of Iterations....: 91 (scaled) (unscaled) Objective...............: 2.0805364803023405e+00 2.0805364803023405e+00 Dual infeasibility......: 2.9198433670885038e-09 2.9198433670885038e-09 Constraint violation....: 2.4424906541753444e-15 2.4424906541753444e-15 Complementarity.........: 2.5059035599889600e-09 2.5059035599889600e-09 Overall NLP error.......: 2.9198433670885038e-09 2.9198433670885038e-09 Number of objective function evaluations = 136 Number of objective gradient evaluations = 92 Number of constraint evaluations = 136 Number of constraint Jacobian evaluations = 92 Number of Lagrangian Hessian evaluations = 91 Number of KKT factorizations = 222 Number of KKT backsolves = 140 Total wall secs in initialization = 21.297 s Total wall secs in linear solver = 0.117 s Total wall secs in NLP function evaluations = 18.886 s Total wall secs in solver (w/o init./fun./lin. alg.) = 53.101 s Total wall secs = 93.401 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 2.413s jacobian structure: 1680 nonzeros (2.475s) integrator 1 hessian structure: 0.037s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 10.326s 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 (10.364s) linear index maps built (0.0s) evaluator ready (total: 12.84s) evaluator created (12.864s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.0s) variables set (0.088s) 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 (5.22s) optimizer initialization complete (total: 18.173s) 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 1.7585313e+01 2.98e+00 4.66e+00 1.87e+00 -1.0 - 0.00e+00 1 0 1 1.7337495e+01 1.97e+00 6.78e+01 8.15e-01 -1.0 2.0 3.39e-01 1 1h 2 1.7333035e+01 1.95e+00 1.09e+02 6.31e-01 -1.0 2.4 1.06e-02 1 1h 3 1.7194377e+01 1.85e+00 1.20e+02 5.39e-01 -1.0 1.9 5.20e-02 2 1h 4 1.6950117e+01 1.72e+00 1.11e+02 5.05e-01 -1.0 1.5 6.86e-02 2 1h 5 1.6918241e+01 1.62e+00 1.18e+02 4.85e-01 -1.0 1.9 5.57e-02 2 1h 6 1.6915289e+01 1.60e+00 9.75e+01 4.81e-01 -1.0 3.2 1.45e-02 1 1h 7 1.6928961e+01 1.51e+00 8.30e+02 3.53e-01 -1.0 2.7 5.36e-02 1 1h 8 1.7007480e+01 9.31e-01 5.99e+02 3.23e-01 -1.0 2.3 3.85e-01 1 1h 9 1.6983298e+01 8.28e-01 4.51e+02 2.84e-01 -1.0 1.8 1.10e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 1.7221970e+01 1.14e-01 3.98e+02 3.82e-01 -1.0 2.2 1.00e+00 1 1h 11 1.7135390e+01 8.07e-02 2.72e+02 1.92e-01 -1.0 2.6 2.96e-01 1 1h 12 1.7090319e+01 4.05e-02 5.81e+02 5.38e-01 -1.0 3.1 1.00e+00 1 1h 13 1.7087231e+01 1.88e-02 2.42e+02 2.25e-01 -1.0 3.5 5.41e-01 1 1h 14 1.7046805e+01 1.21e-03 2.98e+01 1.02e+00 -1.0 3.0 1.00e+00 1 1h 15 1.6902328e+01 3.65e-05 4.21e+00 1.29e-01 -1.0 2.5 1.00e+00 1 1h 16 1.6469746e+01 2.30e-04 4.26e+00 1.58e-01 -1.0 2.1 1.00e+00 1 1h 17 1.5233668e+01 9.29e-04 4.02e+00 1.11e-01 -1.0 1.6 1.00e+00 1 1f 18 1.2266410e+01 4.46e-03 3.51e+00 1.05e-01 -1.0 1.1 1.00e+00 2 1f 19 7.3638612e+00 2.47e-02 2.42e+00 1.09e-01 -1.0 0.6 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 3.6305207e+00 7.07e-02 1.02e+00 1.00e-01 -1.0 0.2 1.00e+00 2 1h 21 2.7176752e+00 1.27e-02 3.20e-01 1.56e-01 -1.0 -0.3 1.00e+00 2 1h 22 2.3956027e+00 4.38e-03 1.72e-01 3.56e-02 -1.7 -0.8 1.00e+00 2 1h 23 2.1376735e+00 1.36e-02 4.10e-02 7.57e-03 -2.5 -1.3 8.68e-01 2 1h 24 2.1152607e+00 1.41e-03 2.79e-03 2.87e-03 -2.5 -1.7 1.00e+00 2 1h 25 2.0914629e+00 1.35e-05 1.16e-04 1.66e-04 -3.8 -2.2 1.00e+00 2 1h 26 2.0899886e+00 1.45e-06 1.76e-05 4.26e-06 -5.7 -2.7 1.00e+00 2 1h 27 2.0899686e+00 4.95e-07 2.09e-05 5.60e-07 -8.6 -3.2 1.00e+00 2 1h 28 2.0899587e+00 4.33e-06 4.77e-05 1.41e-07 -8.6 -3.7 1.00e+00 2 1h 29 2.0899408e+00 1.19e-05 5.77e-04 2.51e-09 -8.6 -4.1 5.88e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0898614e+00 5.08e-05 3.78e-05 1.36e-08 -8.6 -4.6 1.00e+00 2 1h 31 2.0898223e+00 4.40e-05 7.35e-03 2.55e-09 -8.6 -5.1 1.66e-01 1 1h 32 2.0891496e+00 5.82e-05 5.96e-04 8.56e-09 -8.6 -5.6 1.00e+00 1 1h 33 2.0890219e+00 5.41e-05 6.19e-02 2.91e-09 -8.6 -6.0 7.18e-02 1 1h 34 2.0851648e+00 1.19e-05 2.73e-02 6.26e-09 -8.6 -6.5 1.00e+00 1 1h 35 2.0845879e+00 1.06e-05 1.64e-01 4.36e-09 -8.6 -7.0 1.16e-01 1 1h 36 2.0816670e+00 5.69e-06 1.57e-01 3.28e-09 -8.6 -7.5 4.80e-01 1 1h 37 2.0816670e+00 5.69e-06 2.18e-01 5.18e-09 -8.6 -8.0 1.92e-05 1 1h 38 2.0814935e+00 5.09e-06 2.49e-01 7.56e-09 -8.6 -8.4 1.05e-01 1 1h 39 2.0816034e+00 1.45e-08 1.48e-01 2.22e-06 -8.6 -7.1 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0814239e+00 1.12e-08 3.08e-01 2.46e-06 -8.6 -5.8 2.25e-01 1 1h 41 2.0812792e+00 7.87e-09 1.70e-01 1.82e-06 -8.6 -6.2 3.16e-01 1 1h 42 2.0812251e+00 2.57e-09 3.89e-04 4.17e-07 -8.6 -6.7 1.00e+00 1 1h 43 2.0810931e+00 9.20e-09 5.73e-04 6.99e-09 -8.6 -7.2 1.00e+00 1 1h 44 2.0808566e+00 1.70e-08 2.48e-03 2.51e-09 -8.6 -7.7 1.00e+00 1 1h 45 2.0806787e+00 1.27e-08 7.16e-03 2.58e-09 -8.6 -8.2 6.77e-01 1 1h 46 2.0805910e+00 1.00e-08 4.42e-03 4.26e-06 -8.6 -8.6 5.38e-01 1 1h 47 2.0808487e+00 2.02e-14 2.55e-02 1.09e-04 -8.6 -7.3 1.00e+00 1 1H 48 2.0806456e+00 1.34e-08 4.06e-02 1.96e-06 -8.6 -6.0 5.48e-01 1 1h 49 2.0806303e+00 1.02e-08 4.55e-02 4.03e-09 -8.6 -6.5 6.14e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0806177e+00 5.20e-09 1.24e-01 2.58e-09 -8.6 -6.9 4.61e-01 1 1h 51 2.0806121e+00 4.88e-09 1.03e-01 4.06e-09 -8.6 -7.4 9.73e-02 2 1h 52 2.0805747e+00 3.66e-08 4.04e-03 6.29e-05 -8.6 -7.0 1.00e+00 1 1h 53 2.0805718e+00 3.21e-08 1.10e-01 1.26e-07 -8.6 -7.5 1.23e-01 1 1h 54 2.0805709e+00 1.89e-08 9.46e-02 1.99e-07 -8.6 -6.1 4.17e-01 1 1h 55 2.0805690e+00 4.06e-09 3.07e-03 8.99e-07 -8.6 -6.6 8.43e-01 1 1h 56 2.0805645e+00 2.33e-09 5.64e-03 4.33e-09 -8.6 -7.1 1.00e+00 1 1h 57 2.0805638e+00 1.31e-09 3.12e-02 3.88e-09 -8.6 -5.8 4.38e-01 1 1h 58 2.0805641e+00 2.30e-10 3.42e-05 1.08e-06 -8.6 -6.2 1.00e+00 1 1h 59 2.0805627e+00 2.05e-10 1.78e-01 5.80e-09 -8.6 -6.7 1.11e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 60 2.0805588e+00 9.29e-10 1.13e-04 2.51e-09 -8.6 -7.2 1.00e+00 1 1h 61 2.0805516e+00 6.29e-10 1.68e-04 4.17e-09 -8.6 -7.7 1.00e+00 1 1h 62 2.0805427e+00 4.48e-10 3.42e-04 2.53e-09 -8.6 -8.1 1.00e+00 1 1h 63 2.0805375e+00 6.06e-10 1.13e-03 2.51e-09 -8.6 -8.6 1.00e+00 1 1h 64 2.0806829e+00 1.78e-15 2.74e-03 6.53e-06 -8.6 -7.3 1.00e+00 1 1H 65 2.0806487e+00 3.14e-10 2.07e-01 5.45e-06 -8.6 -5.1 9.10e-02 1 3h 66 2.0805511e+00 1.00e-09 4.21e-01 1.37e-06 -8.6 -4.6 6.23e-01 1 1h 67 2.0805502e+00 9.58e-10 5.77e-01 1.69e-06 -8.6 -5.1 4.17e-02 1 1h 68 2.0805402e+00 3.33e-10 1.87e-01 1.05e-08 -8.6 -5.6 7.07e-01 1 1h 69 2.0805400e+00 1.59e-10 1.60e-01 7.34e-09 -8.6 -6.1 4.12e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 70 2.0805397e+00 8.88e-16 1.25e-04 4.90e-08 -8.6 -6.5 1.00e+00 1 1H 71 2.0805389e+00 8.88e-16 8.78e-06 6.07e-09 -8.6 -7.0 1.00e+00 1 1H 72 2.0805377e+00 4.59e-10 3.19e-05 2.70e-09 -8.6 -7.5 1.00e+00 1 1h 73 2.0805368e+00 9.66e-11 1.81e-03 2.63e-09 -8.6 -8.0 1.00e+00 1 1h 74 2.0805368e+00 9.86e-11 2.08e-05 1.38e-06 -8.6 -6.6 1.00e+00 1 1h 75 2.0805367e+00 1.02e-10 8.56e-05 2.51e-09 -8.6 -7.1 1.00e+00 1 1h 76 2.0805372e+00 8.52e-11 5.14e-04 1.75e-08 -8.6 -6.7 9.34e-01 1 1h 77 2.0805368e+00 8.97e-11 2.89e-03 1.01e-08 -8.6 -7.2 1.00e+00 1 1h 78 2.0805367e+00 8.97e-11 3.47e-06 2.51e-09 -8.6 -4.9 1.00e+00 1 1h 79 2.0805367e+00 8.92e-11 1.36e-05 2.51e-09 -8.6 -5.4 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 80 2.0805367e+00 8.91e-11 3.77e-07 2.51e-09 -8.6 -5.9 1.00e+00 1 1h 81 2.0805367e+00 8.92e-11 5.04e-08 2.51e-09 -8.6 -6.4 1.00e+00 1 1h 82 2.0805367e+00 8.93e-11 3.18e-08 2.51e-09 -8.6 -6.8 1.00e+00 1 1h 83 2.0805367e+00 8.96e-11 2.14e-07 2.51e-09 -8.6 -7.3 1.00e+00 1 1h 84 2.0805366e+00 8.97e-11 1.19e-06 2.51e-09 -8.6 -7.8 1.00e+00 1 1h 85 2.0805365e+00 9.17e-11 3.76e-06 2.51e-09 -8.6 -8.3 1.00e+00 1 1h 86 2.0805365e+00 9.22e-11 3.93e-06 2.51e-09 -8.6 -8.8 1.00e+00 1 1h 87 2.0805365e+00 8.98e-11 8.19e-07 2.51e-09 -8.6 -9.2 1.00e+00 1 1h 88 2.0805365e+00 8.92e-11 2.50e-08 2.51e-09 -8.6 -9.7 1.00e+00 1 1h 89 2.0805365e+00 3.24e-11 3.83e-10 9.09e-10 -9.0 -10.2 1.00e+00 1 1h Number of Iterations....: 89 (scaled) (unscaled) Objective...............: 2.0805364595436706e+00 2.0805364595436706e+00 Dual infeasibility......: 3.8281427095644608e-10 3.8281427095644608e-10 Constraint violation....: 3.2354563472836162e-11 3.2354563472836162e-11 Complementarity.........: 9.0912901024159855e-10 9.0912901024159855e-10 Overall NLP error.......: 9.0912901024159855e-10 9.0912901024159855e-10 Number of objective function evaluations = 97 Number of objective gradient evaluations = 90 Number of constraint evaluations = 97 Number of constraint Jacobian evaluations = 90 Number of Lagrangian Hessian evaluations = 89 Number of KKT factorizations = 215 Number of KKT backsolves = 113 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.115 s Total wall secs in NLP function evaluations = 23.730 s Total wall secs in solver (w/o init./fun./lin. alg.) = 10.884 s Total wall secs = 34.730 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.063s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.494s jacobian structure: 1600 nonzeros (2.558s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.68s 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 (3.733s) linear index maps built (0.0s) evaluator ready (total: 6.291s) evaluator created (6.314s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 6.315s) 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 1.8643122e+01 3.66e+00 7.84e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.0803704e+01 2.34e-01 4.71e+00 -0.9 2.62e+00 -4.0 9.50e-01 1.00e+00f 1 2 1.0479301e+01 6.53e-02 9.55e-01 -0.5 6.25e-01 -4.5 7.67e-01 7.14e-01h 1 3 9.8394500e+00 8.29e-03 4.79e-01 -1.8 2.26e-01 -5.0 9.13e-01 1.00e+00h 1 4 9.5760034e+00 4.44e-03 3.99e-02 -2.1 1.53e-01 -5.4 9.05e-01 1.00e+00h 1 5 9.4626801e+00 1.40e-03 6.96e-03 -3.0 9.03e-02 -5.9 9.97e-01 1.00e+00h 1 6 9.4301310e+00 4.08e-04 1.51e-03 -4.0 4.28e-02 -6.4 1.00e+00 1.00e+00h 1 7 9.4260827e+00 5.18e-05 1.79e-04 -4.0 1.21e-02 -6.9 1.00e+00 1.00e+00h 1 8 9.4258125e+00 1.58e-06 4.09e-06 -4.0 1.95e-03 -7.3 1.00e+00 1.00e+00h 1 9 9.4258086e+00 1.84e-09 4.49e-09 -4.0 7.75e-05 -7.8 1.00e+00 1.00e+00h 1 Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 9.4258086241766108e+00 9.4258086241766108e+00 Dual infeasibility......: 4.4908642984897718e-09 4.4908642984897718e-09 Constraint violation....: 1.8417968261630335e-09 1.8417968261630335e-09 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000879977555178e-04 1.0000879977555178e-04 Overall NLP error.......: 8.7997755517788120e-09 8.7997755517788120e-09 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 = 24.432 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: 0.002s) 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 1.8643122e+01 3.66e+00 7.84e-01 9.88e-01 -1.0 - 0.00e+00 1 0 1 1.0785388e+01 2.10e-01 4.30e+00 2.66e-01 -1.0 -4.0 1.00e+00 2 1h 2 1.0583001e+01 2.20e-01 2.29e+00 1.87e-01 -1.0 -4.5 1.00e+00 2 1h 3 1.0261863e+01 1.30e-01 4.81e-01 2.87e-01 -1.0 -5.0 6.24e-01 2 1h 4 9.8033616e+00 1.25e-02 6.96e-02 9.55e-02 -1.7 -5.4 1.00e+00 2 1h 5 9.5538941e+00 1.42e-02 4.71e-02 2.48e-02 -2.5 -5.9 1.00e+00 2 1h 6 9.4716027e+00 1.11e-03 3.65e-03 7.05e-03 -2.5 -6.4 1.00e+00 2 1h 7 9.4325832e+00 3.66e-04 3.26e-03 1.33e-03 -3.8 -6.9 1.00e+00 2 1h 8 9.4268404e+00 5.16e-05 1.98e-04 2.68e-04 -3.8 -7.3 1.00e+00 2 1h 9 9.4245851e+00 6.94e-06 2.38e-05 1.68e-05 -5.7 -7.8 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 9.4245370e+00 6.04e-08 1.10e-07 1.94e-06 -5.7 -8.3 1.00e+00 2 1h 11 9.4245130e+00 5.02e-10 1.79e-09 3.73e-09 -8.6 -8.8 1.00e+00 2 1h Number of Iterations....: 11 (scaled) (unscaled) Objective...............: 9.4245129855075884e+00 9.4245129855075884e+00 Dual infeasibility......: 1.7916343963975123e-09 1.7916343963975123e-09 Constraint violation....: 5.0189796763078220e-10 5.0189796763078220e-10 Complementarity.........: 3.7324714089530337e-09 3.7324714089530337e-09 Overall NLP error.......: 3.7324714089530337e-09 3.7324714089530337e-09 Number of objective function evaluations = 12 Number of objective gradient evaluations = 12 Number of constraint evaluations = 12 Number of constraint Jacobian evaluations = 12 Number of Lagrangian Hessian evaluations = 11 Number of KKT factorizations = 23 Number of KKT backsolves = 23 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.010 s Total wall secs in NLP function evaluations = 1.398 s Total wall secs in solver (w/o init./fun./lin. alg.) = 0.010 s Total wall secs = 1.421 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.06s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.052s) linear index maps built (0.0s) evaluator ready (total: 0.112s) evaluator created (0.113s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.352s) optimizer initialization complete (total: 0.466s) 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 5.0645530e+00 2.98e+00 3.18e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7723143e+00 2.36e-02 2.24e+00 -1.0 1.82e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3123377e+00 9.96e-02 3.05e-01 -1.8 1.94e+00 -2.5 9.96e-01 1.00e+00h 1 3 2.1591479e+00 2.61e-02 1.33e-01 -2.3 1.51e+00 -3.0 9.49e-01 1.00e+00h 1 4 2.0990323e+00 3.19e-03 1.63e-02 -3.1 4.74e-01 -3.4 9.94e-01 1.00e+00h 1 5 2.0910297e+00 1.36e-04 4.26e-04 -4.0 1.65e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0909050e+00 4.86e-06 3.53e-05 -4.0 5.02e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0907571e+00 8.25e-07 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0903147e+00 7.65e-06 3.46e-05 -4.0 4.50e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0889980e+00 6.98e-05 3.08e-04 -4.0 1.34e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0851473e+00 6.53e-04 2.81e-03 -4.0 3.91e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0797728e+00 1.92e-03 1.46e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.29e-01h 1 12 2.0803853e+00 4.86e-05 1.67e-01 -4.0 6.44e+01 -7.2 1.00e+00 1.00e+00H 1 13 2.0775149e+00 5.88e-03 1.97e-02 -4.0 1.25e+02 -7.7 1.00e+00 9.74e-01h 1 14 2.0771981e+00 6.34e-04 6.16e-02 -4.0 2.12e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0761846e+00 1.03e-03 2.58e-02 -4.0 3.57e+02 -8.7 1.00e+00 7.64e-01h 1 16 2.0755868e+00 6.08e-04 2.53e-02 -4.0 5.10e+02 -9.2 1.00e+00 7.15e-01h 1 17 2.0758582e+00 8.05e-04 1.17e-02 -4.0 1.42e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0754574e+00 1.85e-03 4.79e-04 -4.1 8.00e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0757715e+00 5.10e-04 7.49e-06 -4.0 2.10e+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 2.0754220e+00 6.67e-04 8.52e-07 -4.1 2.52e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0757717e+00 3.71e-04 8.25e-07 -4.0 1.40e+01 -11.5 1.00e+00 1.00e+00h 1 22 2.0754219e+00 5.46e-04 2.68e-07 -4.1 2.06e+01 -12.0 1.00e+00 1.00e+00h 1 23 2.0757717e+00 6.02e-04 1.14e-07 -4.0 2.27e+01 -12.5 1.00e+00 1.00e+00h 1 24 2.0754219e+00 6.01e-04 9.83e-08 -4.1 2.27e+01 -13.0 1.00e+00 1.00e+00h 1 25 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -13.5 9.28e-01 1.00e+00h 1 26 2.0758523e+00 1.72e-01 1.56e-04 -4.0 1.29e+03 -13.9 1.00e+00 1.00e+00h 1 27 2.0754378e+00 2.84e-02 8.74e-05 -4.1 1.05e+03 -14.4 1.00e+00 1.00e+00h 1 28 2.0754277e+00 1.24e-05 2.12e-06 -4.1 1.63e+02 -14.9 1.00e+00 1.00e+00h 1 29 2.0757717e+00 7.83e-04 1.74e-07 -4.0 3.01e+01 -15.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0754219e+00 6.34e-04 1.30e-07 -4.1 2.39e+01 -15.8 1.00e+00 1.00e+00h 1 31 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -16.3 9.28e-01 1.00e+00h 1 32 2.0739729e+00 7.49e-04 2.53e-04 -6.1 8.48e+02 -16.8 8.16e-01 1.00e+00h 1 33 2.0743069e+00 2.58e-02 1.46e-02 -4.0 8.97e+03 -17.3 1.00e+00 1.46e-01f 1 34 2.0749156e+00 3.43e-02 4.23e-05 -4.3 7.15e+02 -17.7 1.00e+00 1.00e+00h 1 35 2.0749194e+00 4.29e-04 1.42e-05 -4.3 5.34e+02 -18.2 1.00e+00 1.00e+00h 1 36 2.0757799e+00 1.06e-02 3.26e-06 -4.0 1.65e+02 -18.7 1.00e+00 1.00e+00h 1 37 2.0754236e+00 2.17e-03 7.34e-07 -4.1 8.12e+01 -19.2 1.00e+00 1.00e+00h 1 38 2.0754217e+00 1.05e-06 2.50e-08 -4.1 1.90e+01 -19.7 1.00e+00 1.00e+00h 1 39 2.0757718e+00 7.83e-04 1.70e-07 -4.0 2.96e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0754219e+00 6.34e-04 1.30e-07 -4.1 2.39e+01 -20.0 1.00e+00 1.00e+00h 1 41 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 42 2.0739729e+00 7.49e-04 2.53e-04 -6.1 8.48e+02 -20.0 8.16e-01 1.00e+00h 1 43 2.0739618e+00 7.48e-07 1.83e-05 -6.1 5.36e+02 -20.0 1.00e+00 1.00e+00h 1 44 2.0741610e+00 2.72e-02 1.81e-02 -4.0 3.03e+04 -20.0 1.00e+00 8.17e-02f 1 45 2.0748450e+00 7.42e-02 5.83e-05 -4.3 1.43e+03 -20.0 1.00e+00 1.00e+00f 1 46 2.0748594e+00 4.17e-04 5.58e-06 -4.3 3.96e+02 -20.0 1.00e+00 1.00e+00h 1 47 2.0740038e+00 1.17e-02 4.14e-04 -6.5 1.83e+02 -20.0 8.92e-01 1.00e+00h 1 48 2.0739628e+00 2.48e-04 2.84e-04 -6.5 7.31e+02 -20.0 7.61e-01 1.00e+00h 1 49 2.0739529e+00 2.78e-07 2.04e-05 -6.5 6.29e+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 2.0741325e+00 2.58e-02 1.91e-02 -4.0 3.70e+04 -20.0 1.00e+00 7.19e-02f 1 51 2.0748276e+00 8.42e-02 6.63e-05 -4.3 1.60e+03 -20.0 1.00e+00 1.00e+00f 1 52 2.0748443e+00 3.56e-04 3.40e-06 -4.3 3.15e+02 -20.0 1.00e+00 1.00e+00h 1 53 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 54 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 55 2.0739527e+00 2.69e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 56 2.0741318e+00 2.58e-02 1.92e-02 -4.0 3.72e+04 -20.0 1.00e+00 7.16e-02f 1 57 2.0748272e+00 8.45e-02 6.65e-05 -4.3 1.61e+03 -20.0 1.00e+00 1.00e+00f 1 58 2.0748440e+00 3.54e-04 3.34e-06 -4.3 3.13e+02 -20.0 1.00e+00 1.00e+00h 1 59 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 61 2.0739527e+00 2.68e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 62 2.0741318e+00 2.58e-02 1.92e-02 -4.0 3.72e+04 -20.0 1.00e+00 7.16e-02f 1 63 2.0748272e+00 8.45e-02 6.65e-05 -4.3 1.61e+03 -20.0 1.00e+00 1.00e+00f 1 64 2.0748440e+00 3.54e-04 3.34e-06 -4.3 3.13e+02 -20.0 1.00e+00 1.00e+00h 1 65 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 66 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 67 2.0739527e+00 2.68e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 68 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 69 2.0741226e+00 2.63e-02 1.95e-02 -4.0 4.26e+04 -20.0 1.00e+00 6.77e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0748234e+00 8.99e-02 7.10e-05 -4.3 1.70e+03 -20.0 1.00e+00 1.00e+00f 1 71 2.0748412e+00 3.13e-04 2.43e-06 -4.3 2.70e+02 -20.0 1.00e+00 1.00e+00h 1 72 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 73 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 74 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 75 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 76 2.0741225e+00 2.63e-02 1.95e-02 -4.0 4.27e+04 -20.0 1.00e+00 6.76e-02f 1 77 2.0748233e+00 9.00e-02 7.11e-05 -4.3 1.70e+03 -20.0 1.00e+00 1.00e+00f 1 78 2.0748411e+00 3.13e-04 2.42e-06 -4.3 2.70e+02 -20.0 1.00e+00 1.00e+00h 1 79 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 81 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 82 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 83 2.0739440e+00 6.21e-05 3.00e-06 -9.0 1.42e+02 -20.0 9.56e-01 1.00e+00h 1 84 2.0740989e+00 2.54e-02 2.06e-02 -4.0 5.21e+04 -20.0 1.00e+00 5.99e-02f 1 85 2.0748092e+00 1.02e-01 8.36e-05 -4.3 1.92e+03 -20.0 1.00e+00 1.00e+00f 1 86 2.0748293e+00 2.04e-04 1.06e-06 -4.3 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 87 2.0740026e+00 1.16e-02 4.11e-04 -6.5 1.88e+02 -20.0 8.89e-01 1.00e+00h 1 88 2.0739622e+00 2.30e-04 2.84e-04 -6.5 7.25e+02 -20.0 7.59e-01 1.00e+00h 1 89 2.0739525e+00 2.60e-07 1.99e-05 -6.5 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0739518e+00 4.59e-09 7.61e-07 -6.5 1.66e+02 -20.0 1.00e+00 1.00e+00h 1 91 2.0741220e+00 2.63e-02 1.96e-02 -4.0 4.28e+04 -20.0 1.00e+00 6.75e-02f 1 92 2.0748230e+00 9.02e-02 7.13e-05 -4.3 1.71e+03 -20.0 1.00e+00 1.00e+00f 1 93 2.0748409e+00 3.11e-04 2.38e-06 -4.3 2.68e+02 -20.0 1.00e+00 1.00e+00h 1 94 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 95 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 96 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 97 2.0739520e+00 4.54e-09 7.53e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 98 2.0739440e+00 6.21e-05 3.00e-06 -9.0 1.42e+02 -20.0 9.56e-01 1.00e+00h 1 99 2.0740989e+00 2.54e-02 2.06e-02 -4.0 5.21e+04 -20.0 1.00e+00 5.99e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0748092e+00 1.02e-01 8.37e-05 -4.3 1.92e+03 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0748092138579128e+00 2.0748092138579128e+00 Dual infeasibility......: 8.3650444729791012e-05 8.3650444729791012e-05 Constraint violation....: 1.0240270858532075e-01 1.0240270858532075e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 6.8229653538553949e-05 6.8229653538553949e-05 Overall NLP error.......: 1.0240270858532075e-01 1.0240270858532075e-01 Number of objective function evaluations = 102 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 102 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 27.001 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.054s jacobian structure: 180 nonzeros (0.085s) integrator 1 hessian structure: 0.049s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.341s sub-objective 2 (QuadraticRegularizer): 0.084s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.016s objective hessian structure: 0.532s hessian structure: 375 nonzeros (0.581s) linear index maps built (0.0s) evaluator ready (total: 0.822s) evaluator created (0.822s) NL constraint bounds extracted (0.011s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.118s) applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.016s) optimizer initialization complete (total: 3.968s) 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 2.1232433e+00 8.11e-01 1.10e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.9954732e+00 1.62e-01 1.99e+00 -0.8 8.11e-01 0.0 9.99e-01 1.00e+00h 1 2 1.9299510e+00 3.31e-02 5.72e-01 -0.8 3.80e-01 -0.5 7.18e-01 7.96e-01h 1 3 1.9228361e+00 7.75e-03 8.94e+00 -1.5 1.11e+01 - 8.98e-01 1.00e+00H 1 4 1.2064339e+00 5.51e-03 1.03e+00 -2.1 7.43e-01 -1.0 1.00e+00 7.79e-01f 1 5 1.1074914e+00 5.35e-05 4.27e-03 -3.1 7.56e-02 -1.4 1.00e+00 1.00e+00h 1 6 1.0981878e+00 3.71e-07 1.73e-03 -4.0 8.74e-02 -1.9 1.00e+00 1.00e+00h 1 7 1.0974328e+00 3.23e-10 1.05e-03 -4.0 2.56e-01 -2.4 1.00e+00 1.00e+00h 1 8 1.0969373e+00 2.82e-10 1.33e-01 -4.0 1.05e+01 - 5.41e-02 1.25e-01f 4 9 1.0956894e+00 4.68e-11 3.71e-03 -4.0 9.31e-02 -2.0 1.00e+00 8.34e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0939457e+00 3.55e-13 8.57e-01 -4.0 9.14e+00 - 1.00e+00 1.00e+00f 1 11 1.0913907e+00 9.88e-14 5.07e-03 -4.0 1.70e-01 -2.4 1.00e+00 7.22e-01f 1 12 1.0922232e+00 1.04e-18 1.74e-02 -3.7 1.32e+00 - 6.91e-01 1.00e+00f 1 13 1.0914588e+00 5.46e-25 2.44e-04 -3.8 1.09e-02 -2.0 1.00e+00 1.00e+00f 1 14 1.0908635e+00 2.73e-25 1.44e-02 -5.7 2.97e+00 - 1.76e-01 5.00e-01f 2 15 1.0908751e+00 1.49e-25 4.13e-03 -4.0 4.03e-02 -2.5 1.00e+00 4.55e-01f 2 16 1.0907226e+00 1.92e-30 2.43e-04 -4.1 2.49e-01 -3.0 1.00e+00 1.00e+00f 1 17 1.0908660e+00 9.44e-29 3.91e-03 -4.0 1.58e+00 -3.4 2.69e-01 5.00e-01f 2 18 1.0905862e+00 4.31e-31 1.11e-04 -4.2 2.66e-02 -2.1 1.00e+00 1.00e+00f 1 19 1.0909206e+00 1.02e-29 2.34e-03 -4.0 1.90e-01 -2.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.0908370e+00 8.43e-30 5.92e-04 -4.1 3.26e-01 - 5.48e-01 5.00e-01f 2 21 1.0900097e+00 9.76e-31 2.10e-04 -6.1 4.21e-02 -2.2 1.00e+00 1.00e+00f 1 22 1.0924213e+00 1.70e-29 2.97e-02 -4.0 5.87e-01 -2.6 1.00e+00 6.77e-01f 1 23 1.0911289e+00 6.48e-30 5.36e-03 -4.1 3.09e-01 - 4.67e-02 1.00e+00f 1 24 1.0908685e+00 5.99e-37 2.94e-03 -4.1 5.45e-02 -1.3 1.00e+00 1.00e+00f 1 25 1.0907977e+00 4.83e-36 3.20e-03 -4.1 1.32e-01 -1.8 1.00e+00 1.00e+00f 1 26 1.0907294e+00 2.99e-36 6.68e-04 -4.1 1.17e-01 -2.3 1.00e+00 5.00e-01f 2 27 1.0900065e+00 8.57e-29 3.05e-05 -6.1 6.91e-03 - 9.91e-01 1.00e+00f 1 28 1.0901741e+00 2.02e-24 7.31e-07 -4.0 1.80e+00 - 1.00e+00 1.88e-01f 1 29 1.0904441e+00 6.93e-28 5.66e-04 -4.3 1.65e-01 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.0904388e+00 5.19e-28 3.00e-04 -4.3 2.69e-01 - 8.75e-01 2.50e-01f 3 31 1.0900030e+00 1.38e-29 3.43e-08 -6.5 3.77e-04 - 1.00e+00 1.00e+00f 1 32 1.0900675e+00 1.07e-24 1.49e-07 -4.0 3.59e+00 - 1.00e+00 7.19e-02f 1 33 1.0904202e+00 5.01e-27 4.06e-08 -4.3 1.14e-01 - 1.00e+00 1.00e+00f 1 34 1.0900028e+00 4.44e-29 9.36e-09 -6.5 8.93e-04 - 1.00e+00 1.00e+00f 1 35 1.0900111e+00 2.62e-25 9.27e-09 -4.0 4.06e+01 - 1.00e+00 9.22e-03f 1 36 1.0903999e+00 2.61e-25 8.12e-09 -4.4 1.09e-01 - 1.00e+00 1.00e+00f 1 37 1.0900026e+00 2.14e-28 8.48e-09 -6.5 9.07e-04 - 1.00e+00 1.00e+00f 1 38 1.0900101e+00 5.17e-27 8.41e-09 -4.0 4.56e+01 - 1.00e+00 8.33e-03f 1 39 1.0903995e+00 1.14e-24 8.14e-09 -4.4 1.09e-01 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.0900026e+00 3.61e-28 8.46e-09 -6.5 9.07e-04 - 1.00e+00 1.00e+00f 1 41 1.0900101e+00 4.27e-25 8.39e-09 -4.0 4.57e+01 - 1.00e+00 8.32e-03f 1 42 1.0903995e+00 4.97e-25 8.14e-09 -4.4 1.09e-01 - 1.00e+00 1.00e+00f 1 43 1.0900026e+00 3.80e-28 8.46e-09 -6.5 9.07e-04 - 1.00e+00 1.00e+00f 1 44 1.0899999e+00 3.77e-26 3.82e-13 -9.0 4.16e-04 - 1.00e+00 1.00e+00f 1 45 1.0899999e+00 3.76e-26 3.82e-13 -4.0 1.48e+04 - 1.00e+00 2.56e-05f 1 46 1.0903958e+00 2.49e-31 8.42e-09 -4.4 1.08e-01 - 1.00e+00 1.00e+00f 1 47 1.0900026e+00 4.25e-29 8.31e-09 -6.5 9.10e-04 - 1.00e+00 1.00e+00f 1 48 1.0899999e+00 2.93e-27 3.71e-13 -9.0 4.24e-04 - 1.00e+00 1.00e+00f 1 49 1.0899999e+00 1.52e-40 5.59e-16 -9.0 1.36e-01 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 1.0899999e+00 3.04e-43 1.15e-16 -9.0 6.41e-16 - 1.00e+00 1.00e+00 0 51 1.0899999e+00 1.70e-45 1.15e-16 -9.0 2.79e-17 - 1.00e+00 1.00e+00T 0 Number of Iterations....: 51 (scaled) (unscaled) Objective...............: 1.0899999181818181e+00 1.0899999181818181e+00 Dual infeasibility......: 1.1497964039208775e-16 1.1497964039208775e-16 Constraint violation....: 1.6953642551535429e-45 1.6953642551535429e-45 Variable bound violation: 9.0909090932206338e-09 9.0909090932206338e-09 Complementarity.........: 9.0909090909090920e-10 9.0909090909090920e-10 Overall NLP error.......: 9.9999090909091604e-05 9.9999090909091604e-05 Number of objective function evaluations = 66 Number of objective gradient evaluations = 52 Number of equality constraint evaluations = 66 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 52 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 52 Total seconds in IPOPT = 23.141 EXIT: Search Direction is becoming Too Small. ┌ Error: Invalid options argument (an instance of String, not a subtype of AbstractSolverOptions) └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/solve.jl:78 ┌ Error: No solver backend with matching options argument type (an instance of Main.var"##178"._FakeSolverOptions) └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/solve.jl:122 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: 0.0s 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: bounds constraint on trajectory variable ddu applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.183s) optimizer initialization complete (total: 0.303s) 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 2.7507173e+00 2.07e+00 4.45e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6972194e+00 2.41e-02 6.74e-01 -1.1 2.23e+00 - 1.00e+00 1.00e+00f 1 2 2.4318877e+00 8.85e-03 3.06e-01 -1.5 2.18e-01 - 8.77e-01 1.00e+00f 1 3 2.1855664e+00 4.62e-03 1.24e-01 -2.2 8.22e-02 - 9.36e-01 7.43e-01h 1 4 2.0968499e+00 2.41e-04 4.13e-03 -3.3 2.82e-02 - 9.93e-01 1.00e+00h 1 5 2.0908974e+00 2.82e-05 8.76e-04 -4.0 4.48e-02 - 1.00e+00 1.00e+00h 1 6 2.0908979e+00 4.84e-07 2.29e-05 -4.0 1.77e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 2.62e-11 3.45e-10 -4.0 9.15e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971974189026e+00 2.0908971974189026e+00 Dual infeasibility......: 3.4534905856797686e-10 3.4534905856797686e-10 Constraint violation....: 2.6211701862829950e-11 2.6211701862829950e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000359552397372e-04 1.0000359552397372e-04 Overall NLP error.......: 3.5955239737145775e-09 3.5955239737145775e-09 Number of objective function evaluations = 8 Number of objective gradient evaluations = 8 Number of equality constraint evaluations = 8 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 8 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 7 Total seconds in IPOPT = 27.407 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 (0.061s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.048s) linear index maps built (0.0s) evaluator ready (total: 0.11s) 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: 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: 0.111s) 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: 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 2.5763670e+00 1.81e+00 6.90e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5737279e+00 6.80e-01 1.26e+01 -0.7 6.83e+00 -4.0 8.25e-01 7.96e-01f 1 2 2.4586556e+00 7.02e-01 1.44e+01 -0.2 1.37e+01 -0.9 4.36e-01 2.76e-01f 1 3 2.7892484e+00 9.43e-02 6.40e+01 -0.8 4.49e+00 -1.3 4.79e-01 1.00e+00f 1 4 2.7727305e+00 4.63e-03 1.65e+00 -0.8 3.39e-01 -0.9 9.95e-01 1.00e+00f 1 5 2.5813720e+00 1.47e-02 2.35e-01 -1.5 2.33e-01 -1.4 9.98e-01 1.00e+00h 1 6 2.3042740e+00 1.47e-02 1.66e-01 -1.8 4.76e-01 -1.9 9.83e-01 7.23e-01f 1 7 2.2119532e+00 2.24e-02 2.11e-01 -2.0 8.43e-01 -2.3 9.48e-01 6.62e-01h 1 8 2.1213475e+00 6.51e-03 3.45e-02 -2.4 3.38e-01 -2.8 9.88e-01 1.00e+00h 1 9 2.0959561e+00 9.24e-04 3.60e-02 -3.6 1.69e-01 -3.3 9.98e-01 8.53e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0910114e+00 1.01e-04 2.78e-03 -4.0 1.29e-01 -3.8 1.00e+00 1.00e+00h 1 11 2.0909444e+00 3.06e-06 1.94e-04 -4.0 3.63e-01 -4.3 1.00e+00 1.00e+00h 1 12 2.0908463e+00 4.29e-07 1.39e-04 -4.0 1.02e+00 -4.7 1.00e+00 1.00e+00h 1 13 2.0906056e+00 2.54e-06 8.70e-04 -4.0 2.52e+00 -5.2 1.00e+00 1.00e+00h 1 14 2.0902011e+00 5.92e-06 3.07e-03 -4.0 4.47e+00 -5.7 1.00e+00 1.00e+00h 1 15 2.0899481e+00 9.44e-06 3.19e-03 -4.0 7.30e+00 -6.2 1.00e+00 1.00e+00h 1 16 2.0898556e+00 4.11e-06 2.68e-03 -4.0 8.61e+00 -6.6 1.00e+00 1.00e+00h 1 17 2.0898281e+00 8.99e-07 1.42e-03 -4.0 1.30e+01 -7.1 1.00e+00 1.00e+00h 1 18 2.0898239e+00 2.14e-06 8.51e-04 -4.0 1.03e+01 -7.6 1.00e+00 1.00e+00h 1 19 2.0898221e+00 5.57e-07 9.98e-05 -4.0 3.54e+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 7.78e-09 1.40e-06 -4.0 3.70e-01 -8.5 1.00e+00 1.00e+00h 1 21 2.0898218e+00 1.03e-11 3.40e-09 -4.0 2.87e-02 -9.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 21 (scaled) (unscaled) Objective...............: 2.0898218499813210e+00 2.0898218499813210e+00 Dual infeasibility......: 3.3978681286813903e-09 3.3978681286813903e-09 Constraint violation....: 1.0311389112352409e-11 1.0311389112352409e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000000e-04 1.0000000000000000e-04 Overall NLP error.......: 3.3978681286813903e-09 3.3978681286813903e-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 = 28.675 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.048s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.049s) integrator 1 hessian structure: 0.039s 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 (0.04s) linear index maps built (0.0s) evaluator ready (total: 0.089s) evaluator created (0.089s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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: 0.089s) 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 2.9197583e+00 2.69e+00 5.66e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5287034e+00 2.12e+00 2.04e+01 -0.1 2.66e+00 0.0 1.01e-02 2.13e-01f 1 2 2.3317529e+00 1.03e+00 1.02e+01 -1.3 1.96e+00 -0.5 2.52e-01 5.12e-01h 1 3 2.3297838e+00 1.02e+00 8.38e+01 -1.6 1.94e+00 -1.0 6.27e-01 1.05e-02h 1 4 2.3463642e+00 1.02e+00 5.61e+02 -4.0 7.89e+01 -0.5 1.88e-03 2.88e-04h 1 5 2.6563873e+00 1.01e+00 5.70e+02 -0.3 1.78e+02 -1.0 5.03e-03 2.86e-03h 1 6 2.6644912e+00 1.01e+00 8.67e+05 1.1 4.14e+01 0.3 2.68e-01 7.58e-05h 1 7 2.6646604e+00 1.01e+00 5.11e+10 1.7 9.80e+00 -0.2 8.78e-01 1.47e-05h 1 8r 2.6646604e+00 1.01e+00 9.72e+02 1.7 0.00e+00 -0.6 0.00e+00 9.86e-08R 2 9r 2.6400426e+00 3.84e-01 8.95e+02 1.9 1.78e+01 - 3.72e-01 5.77e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.6431442e+00 3.75e-01 3.24e+01 -1.3 6.40e-01 -1.1 6.54e-01 2.37e-02h 1 11 2.6561978e+00 3.75e-01 5.32e+04 0.7 3.30e+01 -1.6 2.67e-01 3.43e-04h 1 12 2.6582821e+00 3.75e-01 1.02e+09 0.6 4.90e+01 -2.1 1.00e+00 5.14e-05h 1 13r 2.6582821e+00 3.75e-01 9.97e+02 2.5 0.00e+00 -2.5 0.00e+00 2.80e-07R 2 14r 3.4716616e+00 2.05e-01 2.31e+02 1.0 9.04e-01 - 9.91e-01 5.97e-01f 1 15 3.4637970e+00 2.01e-01 2.83e+01 -4.0 9.03e-01 -3.0 6.53e-01 2.21e-02h 1 16 3.5089165e+00 2.00e-01 1.02e+02 -0.3 9.60e+01 -3.5 2.03e-02 4.22e-03f 2 17 3.5496553e+00 1.99e-01 1.86e+03 -1.0 2.58e+01 -4.0 1.08e-01 4.51e-03h 1 18 3.5603429e+00 1.99e-01 1.17e+07 1.1 2.49e+02 -4.4 1.00e+00 1.85e-04h 1 19 3.5624415e+00 1.99e-01 6.35e+09 1.9 3.94e+01 -4.9 1.96e-02 3.56e-05h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20r 3.5624415e+00 1.99e-01 1.00e+03 2.5 0.00e+00 -5.4 0.00e+00 1.81e-07R 2 21r 3.6653584e+00 2.00e-01 2.25e+02 0.2 4.10e-01 - 7.86e-01 8.37e-01f 1 22r 4.0626333e+00 2.06e-01 1.47e+02 -0.3 1.57e+00 0.0 5.06e-01 8.05e-01f 1 23r 4.2110774e+00 1.99e-01 2.84e+00 -0.4 8.68e-01 - 9.89e-01 1.00e+00f 1 24r 4.2339544e+00 1.99e-01 1.37e+01 -1.4 5.25e-01 - 9.47e-01 8.50e-01f 1 25r 4.3457049e+00 1.99e-01 7.10e+00 -1.6 9.94e-02 -0.5 9.10e-01 1.00e+00f 1 26r 4.3054587e+00 1.99e-01 1.82e-01 -1.9 1.70e-01 - 1.00e+00 1.00e+00f 1 27r 4.2262925e+00 1.99e-01 1.73e-01 -2.8 7.93e-02 - 9.77e-01 1.00e+00f 1 28r 4.0866995e+00 1.99e-01 9.73e-03 -3.6 4.24e-02 - 9.99e-01 1.00e+00f 1 29r 3.9294522e+00 1.99e-01 2.10e-03 -4.0 5.36e-02 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30r 4.1350620e+00 1.99e-01 7.39e-04 -4.0 7.13e-02 - 1.00e+00 1.00e+00h 1 31r 4.0593782e+00 1.99e-01 4.14e-04 -4.1 2.64e-02 - 1.00e+00 1.00e+00h 1 32r 4.1068709e+00 1.99e-01 4.13e-04 -4.0 1.71e-02 - 1.00e+00 1.00e+00h 1 33r 4.0846613e+00 1.99e-01 2.93e-06 -4.0 7.25e-03 - 1.00e+00 1.00e+00h 1 34r 4.0839889e+00 1.99e-01 2.34e-09 -4.0 2.56e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 34 (scaled) (unscaled) Objective...............: 4.0839887029716113e+00 4.0839887029716113e+00 Dual infeasibility......: 1.9426116650230236e+00 1.9426116650230236e+00 Constraint violation....: 1.9875045033837924e-01 1.9875045033837924e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000001612e-04 1.0000000000001612e-04 Overall NLP error.......: 1.9426116650230236e+00 1.9426116650230236e+00 Number of objective function evaluations = 44 Number of objective gradient evaluations = 22 Number of equality constraint evaluations = 44 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 39 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 35 Total seconds in IPOPT = 28.083 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: 0.07s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.071s) 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 sub-objective 4 (GlobalObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1804 nonzeros (0.053s) linear index maps built (0.0s) evaluator ready (total: 0.124s) evaluator created (0.124s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: bounds constraint on 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: 0.125s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 36 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.7930702e+00 2.22e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.5122918e+00 2.09e-01 1.95e+00 -0.9 1.95e+00 0.0 7.78e-01 1.00e+00f 1 2 2.8204132e+00 9.31e-02 1.51e+00 -0.9 7.11e-01 -0.5 7.19e-01 9.51e-01f 1 3 2.4296883e+00 7.24e-03 2.55e+00 -2.7 1.90e-01 -1.0 4.89e-01 1.00e+00h 1 4 2.2113688e+00 1.18e-02 1.22e-01 -2.0 2.82e-01 -1.4 9.97e-01 1.00e+00f 1 5 2.1011180e+00 1.16e-03 7.47e-03 -3.3 7.15e-02 -1.9 9.93e-01 1.00e+00h 1 6 2.0909305e+00 1.04e-05 5.57e-04 -4.0 8.03e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0908854e+00 1.29e-07 2.06e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908810e+00 8.43e-10 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908677e+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 2.0908279e+00 6.22e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907085e+00 5.60e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903510e+00 5.07e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892855e+00 4.63e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861538e+00 4.35e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796323e+00 2.51e-03 8.69e-02 -4.0 8.72e+01 -6.7 1.00e+00 7.56e-01h 1 16 2.0812596e+00 1.43e-04 1.88e-01 -4.0 6.79e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778372e+00 5.59e-03 2.61e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781439e+00 1.65e-02 3.24e-02 -3.7 1.53e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767343e+00 1.30e-02 1.71e-02 -3.8 2.88e+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 2.0759261e+00 8.66e-03 2.22e-02 -3.9 4.15e+02 -9.1 1.00e+00 9.91e-01h 1 21 2.0757619e+00 7.73e-03 9.64e-03 -4.0 1.37e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756790e+00 4.01e-04 4.00e-04 -4.0 5.77e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 2.92e-06 7.64e-06 -4.0 2.25e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 5.28e-08 1.38e-06 -4.0 1.44e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.10e-09 1.34e-07 -4.0 4.87e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 6.70e-11 2.66e-09 -4.0 8.58e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122032490e+00 2.0756712122032490e+00 Dual infeasibility......: 2.6625073210886311e-09 2.6625073210886311e-09 Constraint violation....: 6.6968985912296830e-11 6.6968985912296830e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000009e-04 1.0000000000000009e-04 Overall NLP error.......: 2.6625073210886311e-09 2.6625073210886311e-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 = 29.544 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.795s jacobian structure: 1600 nonzeros (2.862s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.958s 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 (4.011s) linear index maps built (0.0s) evaluator ready (total: 6.873s) evaluator created (6.896s) 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: 6.897s) 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 3.7216564e+00 3.62e+00 3.97e-01 9.64e-01 -1.0 - 0.00e+00 1 0 1 3.2911771e+00 2.74e+00 4.05e-01 8.15e-01 -1.0 -2.0 2.42e-01 1 1h 2 2.7205207e+00 1.05e-01 9.15e-01 2.14e-01 -1.0 -1.6 1.00e+00 1 1h 3 2.2927129e+00 1.17e-01 5.68e-01 7.19e-02 -1.7 -2.1 1.00e+00 1 1h 4 2.2683566e+00 8.89e-03 9.94e-02 2.46e-02 -1.7 -2.5 1.00e+00 1 1h 5 2.1209267e+00 5.40e-03 1.37e-02 4.58e-03 -2.5 -3.0 1.00e+00 1 1h 6 2.0915912e+00 2.39e-04 3.17e-03 2.19e-04 -3.8 -3.5 1.00e+00 1 1h 7 2.0913685e+00 2.21e-05 1.03e-04 1.51e-04 -3.8 -4.0 1.00e+00 1 1h 8 2.0900010e+00 1.17e-04 1.51e-04 1.86e-05 -5.7 -4.4 1.00e+00 1 1h 9 2.0899701e+00 3.22e-05 2.51e-04 3.62e-06 -5.7 -4.0 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0899111e+00 2.03e-04 7.94e-05 1.84e-06 -5.7 -4.5 1.00e+00 1 1h 11 2.0897401e+00 3.34e-04 2.12e-04 1.85e-06 -5.7 -5.0 9.69e-01 1 1h 12 2.0892471e+00 7.83e-05 8.33e-04 5.40e-06 -5.7 -5.4 1.00e+00 1 1h 13 2.0889683e+00 6.70e-05 4.90e-02 2.07e-06 -5.7 -5.9 1.74e-01 1 1h 14 2.0858407e+00 4.78e-05 1.83e-02 5.25e-06 -5.7 -6.4 1.00e+00 1 1h 15 2.0851498e+00 4.13e-05 1.59e-01 3.00e-06 -5.7 -6.9 1.39e-01 1 1h 16 2.0817233e+00 3.34e-05 1.44e-01 2.10e-06 -5.7 -7.4 5.79e-01 1 1h 17 2.0815244e+00 1.76e-04 1.38e-01 5.49e-04 -5.7 -7.8 1.00e+00 1 1h 18 2.0810969e+00 9.43e-05 3.77e-02 3.08e-04 -5.7 -8.3 3.86e-01 1 1h 19 2.0806797e+00 1.25e-05 5.12e-02 1.57e-04 -5.7 -8.8 8.00e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0821135e+00 1.07e-05 1.01e-01 1.18e-04 -5.7 -6.5 1.52e-01 1 1h 21 2.0815876e+00 7.31e-06 1.38e-01 8.90e-05 -5.7 -7.0 3.15e-01 1 1h 22 2.0815002e+00 7.27e-06 1.07e-01 8.80e-05 -5.7 -3.0 1.30e-02 1 1h 23 2.0814725e+00 7.17e-06 5.74e-01 8.03e-05 -5.7 -1.7 1.44e-02 1 1h 24 2.0810618e+00 4.20e-06 1.58e+00 7.80e-05 -5.7 -2.1 4.14e-01 1 1h 25 2.0810105e+00 4.17e-06 1.57e+00 7.95e-05 -5.7 -1.7 6.91e-03 1 1h 26 2.0810515e+00 4.17e-06 6.20e+00 9.01e-05 -5.7 -1.3 6.66e-04 1 2h 27 2.0810502e+00 4.09e-06 4.73e+00 4.96e-05 -5.7 -1.8 1.93e-02 1 1h 28 2.0806978e+00 4.72e-08 3.80e-01 6.34e-06 -5.7 -2.2 1.00e+00 1 1h 29 2.0806610e+00 1.98e-08 1.46e-01 3.62e-06 -5.7 -2.7 6.10e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0806531e+00 1.55e-08 6.14e-02 4.60e-06 -5.7 -3.2 9.06e-01 1 1h 31 2.0806568e+00 1.41e-08 7.76e-05 1.13e-05 -5.7 -3.7 1.00e+00 1 1h 32 2.0806535e+00 4.47e-09 1.68e-05 3.80e-06 -5.7 -4.1 1.00e+00 1 1h 33 2.0806338e+00 3.19e-07 5.81e-05 9.60e-07 -8.6 -4.6 9.82e-01 1 1h 34 2.0806318e+00 9.76e-08 1.19e-02 3.47e-07 -8.6 -5.1 6.94e-01 1 1h 35 2.0806297e+00 2.79e-08 2.94e-03 9.86e-08 -8.6 -5.6 7.82e-01 1 1h 36 2.0806276e+00 6.23e-09 7.85e-05 1.83e-08 -8.6 -6.1 1.00e+00 1 1h 37 2.0806217e+00 9.62e-10 7.42e-06 5.57e-09 -8.6 -6.5 1.00e+00 1 1h 38 2.0806184e+00 8.42e-10 8.27e-04 2.61e-09 -8.6 -7.0 2.09e-01 1 1h 39 2.0806133e+00 5.38e-10 7.93e-05 2.05e-07 -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 40 2.0805987e+00 1.09e-09 1.83e-03 5.22e-08 -8.6 -7.1 1.00e+00 1 1h 41 2.0805962e+00 2.88e-08 5.25e-04 1.11e-06 -8.6 -6.6 1.00e+00 1 1h 42 2.0805946e+00 2.49e-10 1.15e-04 2.72e-07 -8.6 -4.4 1.00e+00 1 1h 43 2.0805942e+00 7.84e-11 1.33e-05 5.26e-08 -8.6 -4.0 1.00e+00 1 1h 44 2.0805939e+00 1.69e-13 2.32e-05 1.42e-08 -8.6 -4.5 1.00e+00 1 1h 45 2.0805937e+00 1.70e-10 1.51e-05 2.51e-09 -8.6 -4.9 9.99e-01 1 1h 46 2.0805934e+00 6.53e-11 3.29e-06 9.28e-09 -8.6 -5.4 1.00e+00 1 1h 47 2.0805925e+00 1.86e-10 7.95e-07 2.56e-09 -8.6 -5.9 1.00e+00 1 1h 48 2.0805899e+00 1.35e-09 2.21e-06 2.51e-09 -8.6 -6.4 1.00e+00 1 1h 49 2.0805860e+00 1.53e-09 4.99e-04 2.68e-09 -8.6 -6.8 5.08e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805661e+00 6.79e-09 1.33e-04 7.93e-09 -8.6 -7.3 1.00e+00 1 1h 51 2.0805531e+00 4.92e-09 4.67e-03 2.59e-09 -8.6 -7.8 2.90e-01 1 1h 52 2.0805504e+00 4.77e-09 1.25e-02 2.70e-09 -8.6 -8.3 3.12e-02 1 1h 53 2.0805378e+00 4.94e-09 9.94e-04 1.24e-07 -8.6 -8.7 1.00e+00 1 1h 54 2.0805365e+00 8.13e-10 3.12e-03 2.53e-09 -8.6 -9.2 1.00e+00 1 1h 55 2.0805779e+00 4.97e-10 3.05e-02 3.60e-06 -8.6 -7.0 4.36e-01 1 2h 56 2.0805449e+00 2.82e-10 6.50e-01 1.47e-06 -8.6 -3.9 5.76e-01 1 1h 57 2.0805367e+00 1.16e-10 1.90e-02 4.06e-09 -8.6 -4.3 9.68e-01 1 1h 58 2.0805366e+00 9.23e-11 2.30e-01 5.19e-09 -8.6 -4.8 1.99e-01 1 1h 59 2.0805366e+00 3.90e-12 8.55e-03 3.20e-09 -8.6 -5.3 9.64e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 60 2.0805366e+00 1.04e-12 1.27e-06 1.09e-08 -8.6 -5.8 1.00e+00 1 1h 61 2.0805366e+00 3.35e-12 4.83e-08 3.15e-09 -8.6 -6.2 1.00e+00 1 1h 62 2.0805366e+00 1.20e-11 1.12e-07 2.51e-09 -8.6 -6.7 1.00e+00 1 1h 63 2.0805365e+00 1.33e-11 6.23e-07 2.51e-09 -8.6 -7.2 1.00e+00 1 1h 64 2.0805365e+00 2.57e-12 5.57e-05 2.51e-09 -8.6 -7.7 1.00e+00 1 1h 65 2.0807057e+00 8.88e-16 4.02e-03 6.40e-07 -8.6 -7.2 1.00e+00 1 1H 66 2.0806992e+00 2.42e-12 1.67e+00 7.07e-07 -8.6 -4.1 1.75e-02 1 2h 67 2.0806990e+00 2.42e-12 2.04e+00 7.65e-07 -8.6 -4.6 2.44e-04 1 10h 68 2.0806981e+00 2.43e-12 2.14e+00 7.78e-07 -8.6 -4.2 2.56e-03 1 9h 69 2.0806980e+00 2.43e-12 2.19e+00 7.87e-07 -8.6 -4.6 5.85e-05 1 12h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 70 2.0805386e+00 1.34e-09 3.95e-01 4.17e-08 -8.6 -4.2 6.99e-01 1 1h 71 2.0805381e+00 1.19e-09 2.48e+00 6.41e-08 -8.6 -4.7 1.09e-01 1 1h 72 2.0805370e+00 5.79e-10 1.26e+00 3.50e-08 -8.6 -5.2 4.98e-01 1 1h 73 2.0805370e+00 3.44e-10 7.50e-01 1.01e-08 -8.6 -5.6 4.21e-01 1 1h 74 2.0805369e+00 9.55e-11 9.62e-05 2.99e-09 -8.6 -6.1 1.00e+00 1 1h 75 2.0805369e+00 1.44e-11 2.88e-07 2.52e-09 -8.6 -6.6 1.00e+00 1 1h 76 2.0805368e+00 2.32e-11 1.79e-06 2.51e-09 -8.6 -7.1 1.00e+00 1 1h 77 2.0805366e+00 9.51e-12 6.40e-06 2.51e-09 -8.6 -7.6 1.00e+00 1 1h 78 2.0805365e+00 1.40e-11 4.08e-04 2.51e-09 -8.6 -8.0 1.00e+00 1 1h 79 2.0805366e+00 1.29e-11 5.67e-06 2.68e-07 -8.6 -6.7 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 1.07e-11 1.10e-03 2.51e-09 -8.6 -7.2 1.00e+00 1 1h 81 2.0805365e+00 4.63e-12 2.44e-03 2.52e-09 -8.6 -5.9 5.26e-01 1 1h 82 2.0805365e+00 2.62e-12 3.60e-06 3.02e-08 -8.6 -6.3 1.00e+00 1 1h 83 2.0805366e+00 2.72e-12 1.27e-03 2.51e-09 -8.6 -6.8 1.00e+00 1 1h 84 2.0805365e+00 2.85e-13 3.79e-06 2.51e-09 -8.6 -4.6 1.00e+00 1 1h 85 2.0805365e+00 6.57e-14 5.44e-06 2.51e-09 -8.6 -5.1 1.00e+00 1 1h 86 2.0805365e+00 3.55e-15 1.10e-06 2.51e-09 -8.6 -5.5 1.00e+00 1 1h 87 2.0805365e+00 6.66e-14 1.05e-07 3.26e-09 -8.6 -6.0 1.00e+00 1 1h 88 2.0805365e+00 2.55e-14 1.58e-08 2.51e-09 -8.6 -6.5 1.00e+00 1 1h 89 2.0805365e+00 1.66e-10 5.03e-08 9.63e-10 -9.0 -7.0 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 2.22e-14 9.20e-09 9.09e-10 -9.0 -6.5 1.00e+00 1 1h Number of Iterations....: 90 (scaled) (unscaled) Objective...............: 2.0805364665220205e+00 2.0805364665220205e+00 Dual infeasibility......: 9.2049164822051714e-09 9.2049164822051714e-09 Constraint violation....: 2.2204460492503131e-14 2.2204460492503131e-14 Complementarity.........: 9.0910119162547827e-10 9.0910119162547827e-10 Overall NLP error.......: 9.2049164822051714e-09 9.2049164822051714e-09 Number of objective function evaluations = 129 Number of objective gradient evaluations = 91 Number of constraint evaluations = 129 Number of constraint Jacobian evaluations = 91 Number of Lagrangian Hessian evaluations = 90 Number of KKT factorizations = 224 Number of KKT backsolves = 98 Total wall secs in initialization = 6.173 s Total wall secs in linear solver = 0.218 s Total wall secs in NLP function evaluations = 21.494 s Total wall secs in solver (w/o init./fun./lin. alg.) = 28.960 s Total wall secs = 56.846 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 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 5.4931101e+00 1.50e+00 3.47e-01 9.54e-01 -1.0 - 0.00e+00 1 0 1 2.7229884e+00 1.50e-01 1.17e+00 1.43e-01 -1.0 -2.0 1.00e+00 2 1h 2 2.7284741e+00 6.21e-02 4.78e-01 1.08e-01 -1.0 -2.5 1.00e+00 2 1h 3 2.3073902e+00 9.94e-02 1.07e-01 3.58e-02 -1.7 -3.0 1.00e+00 2 1h 4 2.1260032e+00 4.87e-02 4.85e-02 7.30e-03 -2.5 -3.4 1.00e+00 2 1h 5 2.1150339e+00 1.21e-03 7.98e-03 3.00e-03 -2.5 -3.9 1.00e+00 2 1h 6 2.0914387e+00 1.04e-03 6.26e-04 1.90e-04 -3.8 -4.4 1.00e+00 2 1h 7 2.0897971e+00 1.91e-04 6.19e-04 4.74e-05 -5.7 -4.9 1.00e+00 2 1h 8 2.0897184e+00 5.92e-05 2.62e-03 3.20e-06 -5.7 -4.4 6.91e-01 1 1h 9 2.0895644e+00 2.16e-05 4.15e-04 1.86e-06 -5.7 -4.9 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0892967e+00 2.93e-05 6.86e-03 1.87e-06 -5.7 -5.4 5.97e-01 1 1h 11 2.0881056e+00 6.90e-05 2.58e-03 6.96e-06 -5.7 -5.9 1.00e+00 1 1h 12 2.0876425e+00 6.00e-05 9.98e-02 2.37e-06 -5.7 -6.3 1.47e-01 1 1h 13 2.0828372e+00 3.90e-05 6.19e-02 4.44e-06 -5.7 -6.8 1.00e+00 1 1h 14 2.0817640e+00 3.00e-05 1.00e-01 2.40e-06 -5.7 -7.3 2.87e-01 1 1h 15 2.0817475e+00 2.96e-05 1.43e-01 4.92e-06 -5.7 -7.8 1.18e-02 2 1h 16 2.0813373e+00 2.98e-05 1.50e-01 3.77e-06 -5.7 -8.3 3.34e-01 1 1h 17 2.0815125e+00 8.17e-05 2.81e-01 7.43e-04 -5.7 -6.9 1.00e+00 1 1h 18 2.0813224e+00 8.67e-06 1.17e-02 1.41e-04 -5.7 -6.5 1.00e+00 1 1h 19 2.0812021e+00 2.37e-07 6.08e-04 2.51e-05 -5.7 -6.1 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0811509e+00 2.85e-07 3.69e-04 5.27e-06 -5.7 -6.5 1.00e+00 2 1h 21 2.0810557e+00 2.27e-07 3.96e-04 1.86e-06 -5.7 -7.0 1.00e+00 2 1h 22 2.0808825e+00 1.15e-06 1.72e-03 2.01e-06 -5.7 -7.5 1.00e+00 2 1h 23 2.0806778e+00 1.76e-06 3.99e-03 1.84e-06 -5.7 -8.0 9.90e-01 2 1h 24 2.0806046e+00 1.95e-06 3.29e-03 1.08e-05 -5.7 -8.5 6.63e-01 1 1h 25 2.0806845e+00 1.44e-09 3.96e-02 8.92e-05 -5.7 -7.1 1.00e+00 1 1H 26 2.0806392e+00 3.70e-07 2.65e-04 2.32e-05 -5.7 -5.8 1.00e+00 1 1h 27 2.0806209e+00 1.91e-07 1.63e-04 6.48e-06 -5.7 -6.3 1.00e+00 1 1h 28 2.0806053e+00 7.36e-08 8.41e-04 2.03e-06 -5.7 -6.8 1.00e+00 1 1h 29 2.0811851e+00 2.57e-09 8.35e-03 2.20e-05 -5.7 -6.3 1.00e+00 1 1H iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0810642e+00 9.13e-08 6.41e+00 2.98e-05 -5.7 -4.1 8.79e-02 1 2h 31 2.0809884e+00 1.02e-07 9.72e+00 6.03e-05 -5.7 -4.6 4.30e-02 1 4h 32 2.0805918e+00 1.53e-08 1.84e-01 2.35e-06 -5.7 -4.1 8.87e-01 1 1H 33 2.0805937e+00 1.01e-08 8.82e-05 1.87e-06 -5.7 -4.6 1.00e+00 1 1h 34 2.0805967e+00 5.31e-08 9.08e-06 2.01e-06 -5.7 -5.1 1.00e+00 2 1h 35 2.0805773e+00 7.31e-07 2.59e-03 5.23e-07 -8.6 -5.6 8.55e-01 2 1h 36 2.0805725e+00 3.98e-07 1.94e-03 1.76e-07 -8.6 -6.1 6.52e-01 2 1h 37 2.0805687e+00 1.77e-07 1.89e-03 1.79e-08 -8.6 -6.5 8.87e-01 2 1h 38 2.0805656e+00 1.20e-07 2.08e-03 1.24e-08 -8.6 -7.0 3.71e-01 2 1h 39 2.0805620e+00 9.19e-08 8.38e-03 1.49e-07 -8.6 -7.5 2.99e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805501e+00 1.32e-07 4.17e-04 1.03e-07 -8.6 -8.0 1.00e+00 2 1h 41 2.0805398e+00 1.02e-09 6.57e-04 6.63e-09 -8.6 -8.4 1.00e+00 1 1h 42 2.0805367e+00 6.47e-10 5.80e-03 2.58e-09 -8.6 -8.9 1.00e+00 1 1h 43 2.0805368e+00 5.23e-11 1.97e-05 1.11e-06 -8.6 -6.7 1.00e+00 1 1h 44 2.0805367e+00 4.11e-11 2.19e-03 2.52e-09 -8.6 -7.2 1.00e+00 1 1h 45 2.0805367e+00 1.05e-12 1.02e-06 3.08e-09 -8.6 -5.8 1.00e+00 1 1h 46 2.0805367e+00 4.26e-14 1.41e-04 2.51e-09 -8.6 -6.3 1.00e+00 1 1h 47 2.0805367e+00 8.88e-16 2.75e-06 2.53e-09 -8.6 -5.0 1.00e+00 1 1H 48 2.0805367e+00 2.23e-12 5.23e-06 2.51e-09 -8.6 -5.5 1.00e+00 2 1h 49 2.0805367e+00 1.30e-12 1.19e-06 2.51e-09 -8.6 -5.9 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 2.40e-13 1.59e-07 2.51e-09 -8.6 -6.4 1.00e+00 2 1h Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0805366707168291e+00 2.0805366707168291e+00 Dual infeasibility......: 1.5861782176607164e-07 1.5861782176607164e-07 Constraint violation....: 2.3980817331903381e-13 2.3980817331903381e-13 Complementarity.........: 2.5067258964217354e-09 2.5067258964217354e-09 Overall NLP error.......: 1.5861782176607164e-07 1.5861782176607164e-07 Number of objective function evaluations = 61 Number of objective gradient evaluations = 51 Number of constraint evaluations = 61 Number of constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Number of KKT factorizations = 123 Number of KKT backsolves = 78 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.055 s Total wall secs in NLP function evaluations = 20.590 s Total wall secs in solver (w/o init./fun./lin. alg.) = 8.988 s Total wall secs = 29.635 s EXIT: Maximum Number of Iterations Exceeded. ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 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 2.5702063e+00 2.31e+00 4.46e-01 9.91e-01 -1.0 - 0.00e+00 1 0 1 2.5990928e+00 3.92e-01 9.67e-01 2.27e-01 -1.0 - 8.34e-01 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 2 2.3484850e+00 2.81e-02 5.05e-01 7.63e-02 -1.7 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 3 2.2434458e+00 7.72e-03 8.83e-02 2.37e-02 -1.7 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 4 2.1233920e+00 2.09e-03 3.69e-02 5.16e-03 -2.5 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 5 2.1152825e+00 6.69e-04 3.51e-03 2.85e-03 -2.5 - 1.00e+00 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.1152824688391254e+00 2.1152824688391254e+00 Dual infeasibility......: 3.5095872216504014e-03 3.5095872216504014e-03 Constraint violation....: 6.6857853536994583e-04 6.6857853536994583e-04 Complementarity.........: 2.8520684315858306e-03 2.8520684315858306e-03 Overall NLP error.......: 3.5095872216504014e-03 3.5095872216504014e-03 Number of objective function evaluations = 6 Number of objective gradient evaluations = 6 Number of constraint evaluations = 6 Number of constraint Jacobian evaluations = 6 Number of Lagrangian Hessian evaluations = 0 Number of KKT factorizations = 6 Number of KKT backsolves = 6 Total wall secs in initialization = 0.656 s Total wall secs in linear solver = 0.005 s Total wall secs in NLP function evaluations = 0.149 s Total wall secs in solver (w/o init./fun./lin. alg.) = 40.494 s Total wall secs = 41.303 s EXIT: Maximum Number of Iterations Exceeded. ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 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 5.4576423e+00 2.80e+00 9.79e-01 9.70e-01 -1.0 - 0.00e+00 1 0 1 2.7098860e+00 4.73e-02 2.38e+00 2.48e-01 -1.0 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 2 2.6226632e+00 2.63e-02 4.34e-01 1.14e-01 -1.0 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 3 2.4109517e+00 3.52e-03 2.72e-01 3.58e-02 -1.7 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 4 2.2321973e+00 9.18e-03 5.55e-02 2.08e-02 -1.7 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 5 2.1200915e+00 2.44e-03 2.87e-02 3.83e-03 -2.5 - 1.00e+00 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.1200914648509919e+00 2.1200914648509919e+00 Dual infeasibility......: 2.8676110253391500e-02 2.8676110253391500e-02 Constraint violation....: 2.4429723013491243e-03 2.4429723013491243e-03 Complementarity.........: 3.8263413696556308e-03 3.8263413696556308e-03 Overall NLP error.......: 2.8676110253391500e-02 2.8676110253391500e-02 Number of objective function evaluations = 6 Number of objective gradient evaluations = 6 Number of constraint evaluations = 6 Number of constraint Jacobian evaluations = 6 Number of Lagrangian Hessian evaluations = 0 Number of KKT factorizations = 6 Number of KKT backsolves = 6 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.005 s Total wall secs in NLP function evaluations = 0.153 s Total wall secs in solver (w/o init./fun./lin. alg.) = 9.761 s Total wall secs = 9.920 s EXIT: Maximum Number of Iterations Exceeded. ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 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 5.2099440e+00 3.98e+00 5.59e-01 9.84e-01 -1.0 - 0.00e+00 1 0 1 2.6093206e+00 6.56e-02 1.30e+00 1.77e-01 -1.0 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 2 2.6668222e+00 3.04e-02 2.56e-01 1.03e-01 -1.0 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 3 2.3858672e+00 7.74e-03 1.41e-01 3.58e-02 -1.7 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 4 2.1188025e+00 7.66e-03 7.43e-02 4.04e-03 -2.5 - 9.73e-01 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 5 2.1154477e+00 1.42e-03 1.82e-02 2.89e-03 -2.5 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 6 2.0914824e+00 5.21e-05 5.60e-03 2.26e-04 -3.8 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 7 2.0913484e+00 1.80e-08 3.88e-04 1.56e-04 -3.8 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 8 2.0899920e+00 1.64e-06 2.99e-04 4.41e-05 -5.7 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 9 2.0899706e+00 5.76e-08 3.57e-04 1.18e-05 -5.7 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0899640e+00 7.59e-08 6.32e-05 3.81e-06 -5.7 - 1.00e+00 1 1h Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0899639538229846e+00 2.0899639538229846e+00 Dual infeasibility......: 6.3187832093235382e-05 6.3187832093235382e-05 Constraint violation....: 7.5858988424215568e-08 7.5858988424215568e-08 Complementarity.........: 3.8074860745381557e-06 3.8074860745381557e-06 Overall NLP error.......: 6.3187832093235382e-05 6.3187832093235382e-05 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of constraint evaluations = 11 Number of constraint Jacobian evaluations = 11 Number of Lagrangian Hessian evaluations = 0 Number of KKT factorizations = 11 Number of KKT backsolves = 11 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.009 s Total wall secs in NLP function evaluations = 0.171 s Total wall secs in solver (w/o init./fun./lin. alg.) = 9.916 s Total wall secs = 10.098 s EXIT: Maximum Number of Iterations Exceeded. ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 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 1.4222791e+01 1.93e+00 3.68e+00 1.79e+00 -1.0 - 0.00e+00 1 0 1 7.2625495e+00 9.33e-01 2.41e+00 5.70e-01 -1.0 0.0 5.17e-01 1 1h 2 2.7054348e+00 2.70e-01 7.55e-01 1.25e-01 -1.0 -0.5 1.00e+00 2 1h 3 2.3390045e+00 1.29e-02 1.01e-01 3.55e-02 -1.7 -1.0 1.00e+00 2 1h 4 2.1249515e+00 1.96e-03 9.81e-03 5.25e-03 -2.5 -1.4 1.00e+00 2 1h 5 2.0915573e+00 5.12e-04 2.71e-03 2.34e-04 -3.8 -1.9 1.00e+00 2 1h 6 2.0913923e+00 7.58e-06 2.57e-04 1.50e-04 -3.8 -2.4 1.00e+00 2 1h 7 2.0900520e+00 2.46e-06 2.28e-05 1.60e-05 -5.7 -2.9 1.00e+00 2 1h 8 2.0900415e+00 1.95e-06 8.64e-05 4.75e-06 -5.7 -3.3 1.00e+00 2 1h 9 2.0900258e+00 2.61e-05 7.18e-05 2.28e-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 2.0899876e+00 4.21e-04 1.97e-05 1.86e-06 -5.7 -4.3 1.00e+00 2 1h 11 2.0898933e+00 8.60e-05 6.04e-04 1.85e-06 -5.7 -4.8 8.69e-01 2 1h 12 2.0895836e+00 3.73e-05 7.91e-04 5.74e-06 -5.7 -5.2 1.00e+00 1 1h 13 2.0894802e+00 1.64e-05 2.86e-03 1.86e-06 -5.7 -4.8 5.61e-01 1 1h 14 2.0891291e+00 1.43e-06 8.02e-04 4.97e-06 -5.7 -5.3 1.00e+00 1 1h 15 2.0887884e+00 1.23e-06 2.62e-02 1.96e-06 -5.7 -5.8 3.28e-01 1 1h 16 2.0863889e+00 5.76e-06 1.00e-02 5.25e-06 -5.7 -6.3 1.00e+00 1 1h 17 2.0856471e+00 5.44e-06 1.37e-01 2.74e-06 -5.7 -6.7 1.69e-01 1 1h 18 2.0817454e+00 3.81e-05 1.22e-01 2.11e-06 -5.7 -7.2 7.01e-01 1 1h 19 2.0818295e+00 1.93e-08 1.25e-01 7.51e-04 -5.7 -7.7 1.00e+00 1 1H iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0811123e+00 2.65e-05 3.37e-02 3.24e-04 -5.7 -8.2 5.78e-01 1 1h 21 2.0806826e+00 1.32e-05 5.07e-02 1.24e-04 -5.7 -8.6 9.41e-01 1 1h 22 2.0806873e+00 1.24e-05 3.42e-02 1.25e-04 -5.7 -7.3 6.25e-02 1 5h 23 2.0806661e+00 9.19e-06 4.89e-02 5.42e-05 -5.7 -6.9 2.62e-01 1 1h 24 2.0836173e+00 6.53e-06 2.44e-01 5.02e-05 -5.7 -6.5 4.55e-01 1 1h 25 2.0836586e+00 6.53e-06 2.52e-01 5.02e-05 -5.7 -6.0 2.97e-04 1 8h 26 2.0828345e+00 5.56e-06 2.81e+00 4.84e-05 -5.7 -2.0 1.62e-01 1 1h 27 2.0825909e+00 4.84e-06 2.51e+00 1.68e-05 -5.7 -0.7 1.29e-01 1 1h 28 2.0818204e+00 4.90e-07 4.55e+00 8.48e-05 -5.7 -1.1 1.00e+00 2 1h 29 2.0817957e+00 4.81e-07 4.93e+00 7.16e-05 -5.7 -1.6 1.81e-02 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0815891e+00 4.28e-07 6.32e+00 6.60e-06 -5.7 -2.1 1.11e-01 2 1h 31 2.0813594e+00 2.58e-07 3.81e+00 4.84e-06 -5.7 -0.8 3.97e-01 1 1h 32 2.0812278e+00 1.25e-07 1.25e-01 1.63e-04 -5.7 -1.2 5.14e-01 2 1h 33 2.0811252e+00 1.05e-07 7.96e-01 1.04e-04 -5.7 -1.7 1.57e-01 2 1h 34 2.0807511e+00 5.51e-08 3.87e-01 3.45e-06 -5.7 -2.2 7.34e-01 2 1h 35 2.0806863e+00 6.06e-08 8.28e-01 3.29e-06 -5.7 -2.7 1.00e+00 2 1h 36 2.0806672e+00 9.10e-08 7.41e-01 3.08e-06 -5.7 -3.2 6.74e-02 1 1h 37 2.0806964e+00 7.63e-08 8.09e-02 3.39e-05 -5.7 -3.6 9.02e-01 1 1h 38 2.0806683e+00 1.52e-07 4.07e-05 3.14e-06 -5.7 -4.1 1.00e+00 2 1h 39 2.0806667e+00 6.40e-08 9.52e-06 1.96e-06 -5.7 -4.6 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0806447e+00 6.29e-07 2.39e-04 4.15e-07 -8.6 -5.1 9.82e-01 2 1h 41 2.0806419e+00 2.73e-08 2.21e-04 4.60e-08 -8.6 -5.5 9.96e-01 1 1h 42 2.0806364e+00 3.28e-09 5.55e-06 8.00e-09 -8.6 -6.0 1.00e+00 1 1h 43 2.0806246e+00 8.68e-10 5.53e-04 3.16e-09 -8.6 -6.5 7.42e-01 1 1h 44 2.0806122e+00 7.24e-10 1.04e-03 1.56e-06 -8.6 -7.0 1.00e+00 1 1h 45 2.0805782e+00 7.39e-10 3.30e-03 8.20e-08 -8.6 -7.4 1.00e+00 1 1h 46 2.0808288e+00 1.89e-14 8.14e-03 7.42e-06 -8.6 -7.0 1.00e+00 1 1H 47 2.0808198e+00 1.40e-10 8.07e-03 7.34e-06 -8.6 -3.9 1.00e-02 1 3h 48 2.0807792e+00 2.81e-10 1.44e-01 6.68e-06 -8.6 -3.5 8.68e-02 1 2h 49 2.0805734e+00 1.88e-07 4.86e+00 3.35e-08 -8.6 -3.9 2.96e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805730e+00 1.26e-07 3.63e+00 1.09e-08 -8.6 -4.4 3.32e-01 1 1h Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0805730447264614e+00 2.0805730447264614e+00 Dual infeasibility......: 3.6318819907105873e+00 3.6318819907105873e+00 Constraint violation....: 1.2573346408473185e-07 1.2573346408473185e-07 Complementarity.........: 1.0913979359784741e-08 1.0913979359784741e-08 Overall NLP error.......: 3.6318819907105873e+00 3.6318819907105873e+00 Number of objective function evaluations = 71 Number of objective gradient evaluations = 51 Number of constraint evaluations = 71 Number of constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Number of KKT factorizations = 124 Number of KKT backsolves = 77 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.065 s Total wall secs in NLP function evaluations = 25.553 s Total wall secs in solver (w/o init./fun./lin. alg.) = 11.598 s Total wall secs = 37.218 s EXIT: Maximum Number of Iterations Exceeded. ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 This is MadNLP version v0.9.1, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 1.2554309e+00 3.10e+00 4.47e-01 9.79e-01 -1.0 - 0.00e+00 1 0 1 2.6041334e+00 1.30e-01 4.11e+00 3.76e-01 -1.0 0.0 1.00e+00 1 1h 2 2.6602354e+00 4.96e-02 1.92e+00 1.28e-01 -1.0 -0.5 6.18e-01 2 1h 3 2.6012727e+00 2.96e-02 2.59e-01 1.38e-01 -1.0 -0.1 1.00e+00 1 1h 4 2.3512823e+00 2.48e-03 3.77e-02 3.59e-02 -1.7 -0.5 1.00e+00 2 1h 5 2.1178163e+00 6.27e-03 1.65e-02 4.51e-03 -2.5 -1.0 1.00e+00 2 1h 6 2.0912852e+00 5.91e-04 2.43e-03 2.57e-04 -3.8 -1.5 9.92e-01 2 1h 7 2.0913951e+00 3.10e-07 6.97e-05 1.51e-04 -3.8 -2.0 1.00e+00 2 1h 8 2.0900569e+00 9.67e-07 3.66e-05 1.15e-05 -5.7 -2.4 1.00e+00 2 1h 9 2.0900508e+00 1.35e-07 5.58e-05 3.32e-06 -5.7 -2.9 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0900420e+00 1.25e-06 7.75e-05 1.96e-06 -5.7 -3.4 1.00e+00 2 1h 11 2.0900260e+00 1.51e-05 3.51e-05 1.85e-06 -5.7 -3.9 1.00e+00 2 1h 12 2.0899834e+00 3.59e-04 6.85e-05 1.84e-06 -5.7 -4.3 1.00e+00 2 1h 13 2.0899406e+00 2.45e-04 3.56e-03 1.86e-06 -5.7 -4.8 3.28e-01 2 1h 14 2.0895780e+00 2.76e-04 6.63e-04 2.23e-06 -5.7 -5.3 1.00e+00 1 1h 15 2.0894597e+00 2.68e-04 6.65e-02 2.11e-06 -5.7 -5.8 2.78e-02 1 1h 16 2.0868819e+00 7.79e-05 1.38e-02 5.38e-06 -5.7 -6.3 1.00e+00 1 1h 17 2.0863978e+00 7.07e-05 1.74e-01 2.97e-06 -5.7 -6.7 9.28e-02 1 1h 18 2.0817445e+00 5.25e-05 1.36e-01 2.34e-06 -5.7 -7.2 7.59e-01 1 1h 19 2.0818907e+00 1.64e-04 1.28e-01 8.26e-04 -5.7 -7.7 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0811069e+00 3.21e-05 3.27e-02 3.38e-04 -5.7 -8.2 6.12e-01 2 1h 21 2.0806902e+00 1.38e-05 4.77e-02 1.31e-04 -5.7 -8.6 9.14e-01 1 1h 22 2.0806851e+00 1.29e-05 3.52e-02 1.25e-04 -5.7 -7.3 6.40e-02 1 2h 23 2.0806734e+00 1.03e-05 9.50e-02 3.78e-05 -5.7 -6.0 1.99e-01 1 1h 24 2.0806668e+00 3.25e-07 9.27e-04 4.12e-06 -5.7 -6.5 1.00e+00 1 1h 25 2.0806412e+00 1.65e-07 4.69e-03 2.54e-06 -5.7 -6.9 7.63e-01 2 1h 26 2.0806429e+00 4.02e-07 2.59e-01 9.08e-06 -5.7 -5.6 2.90e-01 1 2h 27 2.0806405e+00 4.92e-08 5.86e-05 2.11e-06 -5.7 -6.1 1.00e+00 2 1h 28 2.0806374e+00 8.36e-08 5.44e-05 2.08e-06 -5.7 -6.6 1.00e+00 1 1h 29 2.0806247e+00 4.29e-08 9.68e-05 1.85e-06 -5.7 -7.0 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0805939e+00 2.23e-07 4.26e-04 1.84e-06 -5.7 -7.5 1.00e+00 1 1h 31 2.0805746e+00 2.04e-07 3.98e-03 1.93e-06 -5.7 -8.0 3.97e-01 1 1h 32 2.0805664e+00 7.23e-07 9.79e-04 5.62e-06 -5.7 -8.5 1.00e+00 1 1h 33 2.0805607e+00 3.40e-07 3.58e-04 1.98e-06 -5.7 -8.9 1.00e+00 1 1h 34 2.0805604e+00 2.09e-08 2.11e-05 1.84e-06 -5.7 -9.4 1.00e+00 1 1h 35 2.0805604e+00 1.64e-10 2.36e-07 1.84e-06 -5.7 -9.9 1.00e+00 1 1h 36 2.0805367e+00 3.95e-06 3.44e-06 6.16e-08 -8.6 -10.4 9.93e-01 2 1h 37 2.0805365e+00 1.55e-09 1.97e-09 2.57e-09 -8.6 -10.9 1.00e+00 2 1h Number of Iterations....: 37 (scaled) (unscaled) Objective...............: 2.0805364804211020e+00 2.0805364804211020e+00 Dual infeasibility......: 1.9676135998292210e-09 1.9676135998292210e-09 Constraint violation....: 1.5484049598057936e-09 1.5484049598057936e-09 Complementarity.........: 2.5662425540026728e-09 2.5662425540026728e-09 Overall NLP error.......: 2.5662425540026728e-09 2.5662425540026728e-09 Number of objective function evaluations = 42 Number of objective gradient evaluations = 38 Number of constraint evaluations = 42 Number of constraint Jacobian evaluations = 38 Number of Lagrangian Hessian evaluations = 37 Number of KKT factorizations = 84 Number of KKT backsolves = 58 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.039 s Total wall secs in NLP function evaluations = 22.973 s Total wall secs in solver (w/o init./fun./lin. alg.) = 10.155 s Total wall secs = 33.168 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 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 1.7767081e+00 3.37e+00 5.34e-01 9.60e-01 -1.0 - 0.00e+00 1 0 1 2.6363044e+00 6.31e-02 5.08e+00 1.60e-01 -1.0 0.0 1.00e+00 1 1h 2 2.6419517e+00 5.16e-02 4.99e-01 1.06e-01 -1.0 0.4 1.00e+00 1 1h 3 2.4515460e+00 9.54e-04 1.42e-01 3.75e-02 -1.7 -0.1 1.00e+00 1 1h 4 2.1107411e+00 2.42e-02 5.34e-02 7.00e-03 -2.5 -0.5 9.62e-01 1 1h 5 2.1158913e+00 2.22e-03 5.76e-03 3.78e-03 -2.5 -1.0 1.00e+00 1 1h 6 2.0915849e+00 1.79e-05 2.73e-04 1.84e-04 -3.8 -1.5 1.00e+00 1 1h 7 2.0900828e+00 2.47e-07 7.36e-05 8.09e-06 -5.7 -2.0 1.00e+00 1 1h 8 2.0900801e+00 3.75e-09 9.30e-05 2.45e-06 -5.7 -2.4 1.00e+00 1 1h 9 2.0900742e+00 4.69e-08 6.67e-05 1.84e-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 2.0900653e+00 5.96e-07 1.03e-04 1.84e-06 -5.7 -3.4 1.00e+00 1 1h 11 2.0900500e+00 6.69e-06 1.98e-05 1.84e-06 -5.7 -3.9 1.00e+00 1 1h 12 2.0900077e+00 1.72e-04 1.97e-05 1.84e-06 -5.7 -4.3 1.00e+00 1 1h 13 2.0898874e+00 8.14e-04 3.34e-04 1.85e-06 -5.7 -4.8 9.29e-01 1 1h 14 2.0895236e+00 1.24e-04 5.47e-04 4.36e-06 -5.7 -5.3 1.00e+00 1 1h 15 2.0892960e+00 1.03e-04 3.61e-02 2.00e-06 -5.7 -5.8 1.88e-01 1 1h 16 2.0867640e+00 3.32e-05 1.12e-02 5.27e-06 -5.7 -6.3 1.00e+00 1 1h 17 2.0861715e+00 2.92e-05 1.58e-01 2.85e-06 -5.7 -6.7 1.23e-01 1 1h 18 2.0817562e+00 4.75e-05 1.31e-01 2.25e-06 -5.7 -7.2 7.42e-01 1 1h 19 2.0818877e+00 1.60e-04 1.28e-01 8.16e-04 -5.7 -7.7 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0811085e+00 3.18e-05 3.31e-02 3.36e-04 -5.7 -8.2 6.08e-01 1 1h 21 2.0806861e+00 1.40e-05 5.06e-02 1.27e-04 -5.7 -8.6 9.46e-01 1 1h 22 2.0806911e+00 1.32e-05 3.59e-02 1.29e-04 -5.7 -7.3 6.25e-02 1 5h 23 2.0806677e+00 1.03e-05 7.99e-02 6.51e-05 -5.7 -7.8 2.22e-01 1 1h 24 2.0806768e+00 7.91e-06 2.43e-01 2.33e-05 -5.7 -5.6 2.30e-01 1 1h 25 2.0806599e+00 3.28e-07 4.33e-04 4.77e-06 -5.7 -6.0 1.00e+00 1 1h 26 2.0806463e+00 5.33e-08 1.89e-04 2.11e-06 -5.7 -6.5 1.00e+00 1 1h 27 2.0806285e+00 6.26e-08 4.64e-03 2.08e-06 -5.7 -7.0 5.56e-01 1 1h 28 2.0806046e+00 4.36e-07 1.87e-03 4.86e-06 -5.7 -7.5 1.00e+00 1 1h 29 2.0805736e+00 3.53e-07 3.88e-03 3.07e-06 -5.7 -7.9 5.60e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0805712e+00 5.57e-07 9.09e-04 1.04e-05 -5.7 -8.4 1.00e+00 1 1h 31 2.0805613e+00 3.26e-07 3.51e-04 2.51e-06 -5.7 -8.9 1.00e+00 1 1h 32 2.0805604e+00 2.53e-08 2.54e-05 1.85e-06 -5.7 -9.4 1.00e+00 1 1h 33 2.0805604e+00 2.51e-10 3.55e-07 1.84e-06 -5.7 -9.8 1.00e+00 1 1h 34 2.0805367e+00 3.95e-06 3.44e-06 6.16e-08 -8.6 -10.3 9.93e-01 1 1h 35 2.0805365e+00 1.55e-09 2.21e-09 2.56e-09 -8.6 -10.8 1.00e+00 1 1h Number of Iterations....: 35 (scaled) (unscaled) Objective...............: 2.0805364804174911e+00 2.0805364804174911e+00 Dual infeasibility......: 2.2100568597416270e-09 2.2100568597416270e-09 Constraint violation....: 1.5517263030062622e-09 1.5517263030062622e-09 Complementarity.........: 2.5646184688390737e-09 2.5646184688390737e-09 Overall NLP error.......: 2.5646184688390737e-09 2.5646184688390737e-09 Number of objective function evaluations = 41 Number of objective gradient evaluations = 36 Number of constraint evaluations = 41 Number of constraint Jacobian evaluations = 36 Number of Lagrangian Hessian evaluations = 35 Number of KKT factorizations = 79 Number of KKT backsolves = 37 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.071 s Total wall secs in NLP function evaluations = 21.190 s Total wall secs in solver (w/o init./fun./lin. alg.) = 10.036 s Total wall secs = 31.297 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 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 2.1412142e+00 3.64e+00 5.78e-01 9.90e-01 -1.0 - 0.00e+00 1 0 1 1.6909413e+00 1.67e+00 5.45e+00 1.37e+00 -0.7 0.0 5.42e-01 1 1h 2 2.7056872e+00 6.22e-02 4.77e+00 4.75e-01 -0.8 -0.5 1.00e+00 2 1h 3 2.8189028e+00 3.09e-02 4.81e-01 1.31e-01 -0.9 -1.0 1.00e+00 2 1h 4 2.3952395e+00 6.47e-02 2.91e-01 4.57e-02 -1.6 -1.4 1.00e+00 2 1h 5 2.3028784e+00 7.87e-03 3.49e-02 2.78e-02 -1.6 -1.9 1.00e+00 2 1h 6 2.1096569e+00 4.20e-03 1.50e-02 4.18e-03 -3.6 -2.4 1.00e+00 2 1h 7 2.0920145e+00 1.28e-03 3.28e-03 2.90e-04 -3.6 -2.9 1.00e+00 2 1h 8 2.0923587e+00 9.11e-06 2.32e-05 2.63e-04 -3.6 -3.3 1.00e+00 2 1h 9 2.0899819e+00 3.46e-05 5.57e-05 1.99e-05 -8.1 -3.8 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0899395e+00 4.52e-05 3.09e-04 4.91e-06 -8.1 -4.3 1.00e+00 2 1h 11 2.0898843e+00 6.11e-05 2.64e-03 9.27e-09 -8.1 -4.8 4.73e-01 1 1h 12 2.0895489e+00 5.13e-04 4.86e-04 8.78e-09 -8.1 -5.2 1.00e+00 2 1h 13 2.0894803e+00 4.77e-04 3.30e-02 9.48e-09 -8.1 -5.7 7.25e-02 2 1h 14 2.0870980e+00 3.32e-04 8.68e-03 2.49e-08 -8.1 -6.2 1.00e+00 1 1h 15 2.0867748e+00 3.08e-04 1.55e-01 1.35e-08 -8.1 -6.7 7.25e-02 2 1h 16 2.0817277e+00 7.33e-05 1.28e-01 1.16e-08 -8.1 -7.2 8.22e-01 2 1h 17 2.0824540e+00 9.78e-07 1.56e-01 1.55e-03 -8.1 -7.6 1.00e+00 1 1h 18 2.0811039e+00 2.07e-07 2.91e-02 4.48e-04 -8.1 -8.1 8.23e-01 1 1h 19 2.0807373e+00 6.65e-08 4.09e-02 1.52e-04 -8.1 -8.6 9.93e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 7.0317128e+00 2.55e-10 2.43e+01 2.97e-04 -8.1 -7.3 1.00e+00 1 1H 21 6.9774194e+00 5.40e-08 2.41e+01 2.99e-04 -8.1 -3.2 4.78e-03 1 1h 22 6.6988687e+00 1.05e-07 2.37e+01 2.89e-04 -8.1 -0.1 1.97e-02 2 2f 23 5.1829704e+00 1.58e-07 1.97e+01 2.58e-04 -8.1 0.3 1.71e-01 1 2f 24 4.9970334e+00 1.75e-07 1.92e+01 2.40e-04 -8.1 -0.1 2.51e-02 2 5f 25 2.0861161e+00 1.31e-07 7.88e-01 1.27e-05 -8.1 0.3 9.04e-01 1 1F 26 2.0861016e+00 7.08e-08 2.37e-02 1.24e-05 -8.1 -0.2 1.00e+00 2 1h 27 2.0860343e+00 3.50e-07 1.87e-03 3.37e-06 -8.1 -0.7 7.25e-01 2 1h 28 2.0860300e+00 2.97e-07 7.98e-01 2.85e-06 -8.1 -1.1 1.52e-01 2 1h 29 2.0859015e+00 8.86e-08 1.72e-03 2.08e-07 -8.1 -1.6 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0855389e+00 2.10e-09 1.70e-03 1.05e-08 -8.1 -2.1 1.00e+00 1 1H 31 2.0850373e+00 1.79e-06 5.13e-02 5.59e-09 -9.0 -2.6 4.86e-01 1 1h 32 2.0850673e+00 2.70e-07 2.48e-01 3.19e-05 -8.9 -3.1 8.47e-01 1 1h 33 2.0850317e+00 4.99e-07 1.55e-05 5.16e-07 -8.9 -3.5 1.00e+00 2 1h 34 2.0850175e+00 2.54e-08 1.55e-05 1.18e-09 -8.9 -4.0 1.00e+00 2 1h 35 2.0849766e+00 1.72e-10 1.55e-05 1.18e-09 -8.9 -4.5 1.00e+00 2 1h 36 2.0848557e+00 7.97e-10 3.15e-05 1.18e-09 -8.9 -5.0 1.00e+00 2 1h 37 2.0845094e+00 5.93e-09 2.69e-04 1.18e-09 -8.9 -5.4 1.00e+00 2 1h 38 2.0840318e+00 1.22e-08 3.40e-02 1.31e-09 -8.9 -5.9 5.16e-01 2 1h 39 2.0838227e+00 2.11e-08 2.69e-01 4.83e-05 -8.9 -6.4 3.59e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0832259e+00 9.89e-08 9.57e-02 4.44e-06 -8.9 -6.9 5.24e-01 2 1h 41 2.0822110e+00 2.16e-07 1.03e-01 2.95e-05 -8.9 -7.3 6.58e-01 2 1h 42 2.0819933e+00 1.93e-07 2.51e-01 2.05e-05 -8.9 -7.8 1.13e-01 1 1h 43 2.0821108e+00 1.77e-08 1.56e-01 2.36e-04 -8.9 -6.5 1.00e+00 1 1h 44 2.0818096e+00 1.34e-08 1.58e-01 1.45e-04 -8.9 -7.0 3.69e-01 2 1h 45 2.0810708e+00 1.62e-08 4.91e-02 3.34e-05 -8.9 -7.4 8.45e-01 2 1h 46 2.0809728e+00 1.36e-08 9.89e-02 3.36e-06 -8.9 -7.9 1.58e-01 2 1h 47 2.0809158e+00 1.27e-08 3.68e-01 5.52e-07 -8.9 -6.6 7.22e-02 1 1h 48 2.0808999e+00 1.08e-08 1.83e-02 9.01e-06 -8.9 -7.1 1.51e-01 2 1h 49 2.0807046e+00 3.81e-09 1.43e-02 4.28e-06 -8.9 -7.5 8.59e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805819e+00 5.02e-09 7.95e-03 1.76e-06 -8.9 -8.0 7.51e-01 1 1h Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0805818933237616e+00 2.0805818933237616e+00 Dual infeasibility......: 7.9456226421721985e-03 7.9456226421721985e-03 Constraint violation....: 5.0227093595367478e-09 5.0227093595367478e-09 Complementarity.........: 1.7566019491101810e-06 1.7566019491101810e-06 Overall NLP error.......: 7.9456226421721985e-03 7.9456226421721985e-03 Number of objective function evaluations = 63 Number of objective gradient evaluations = 51 Number of constraint evaluations = 63 Number of constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Number of KKT factorizations = 120 Number of KKT backsolves = 92 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.055 s Total wall secs in NLP function evaluations = 21.722 s Total wall secs in solver (w/o init./fun./lin. alg.) = 11.803 s Total wall secs = 33.581 s EXIT: Maximum Number of Iterations Exceeded. ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 This is MadNLP version v0.9.1, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 1.5915541e+00 3.84e+00 5.74e-01 9.53e-01 -1.0 - 0.00e+00 1 0 1 1.6464339e+00 2.75e+00 1.46e+01 2.30e+00 -0.2 0.0 2.85e-01 1 1h 2 3.2372986e+00 3.94e-01 1.02e+01 2.23e+00 0.2 -0.5 8.60e-01 2 1h 3 3.7615372e+00 1.04e-01 7.27e+00 1.29e+00 0.0 -1.0 1.00e+00 2 1h 4 3.5731209e+00 1.52e-02 4.17e+00 4.10e-01 -6.0 -0.5 1.00e+00 1 1h 5 3.3307158e+00 2.27e-02 3.16e-01 2.63e-01 -0.6 -1.0 1.00e+00 2 1h 6 2.6950966e+00 2.44e-02 3.27e-01 8.16e-02 -2.0 -1.5 1.00e+00 2 1h 7 2.1803362e+00 3.86e-02 6.88e-02 1.57e-02 -2.0 -2.0 9.65e-01 2 1h 8 2.1020247e+00 2.43e-03 1.73e-02 2.84e-03 -3.0 -2.4 1.00e+00 2 1h 9 2.0989996e+00 9.29e-04 1.89e-03 1.02e-03 -3.0 -2.9 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0902706e+00 4.06e-05 1.53e-04 3.74e-05 -4.5 -3.4 1.00e+00 2 1h 11 2.0899561e+00 4.33e-06 7.30e-05 8.42e-06 -6.7 -3.9 1.00e+00 2 1h 12 2.0899193e+00 1.31e-05 8.10e-04 3.12e-07 -6.7 -4.3 6.89e-01 1 1h 13 2.0897913e+00 8.24e-06 2.51e-05 1.81e-07 -6.7 -4.8 1.00e+00 1 1h 14 2.0897116e+00 6.86e-06 1.12e-02 1.85e-07 -6.7 -5.3 2.11e-01 1 1h 15 2.0886690e+00 6.89e-06 1.50e-03 6.46e-07 -6.7 -5.8 1.00e+00 1 1h 16 2.0884422e+00 6.32e-06 9.04e-02 2.24e-07 -6.7 -6.3 8.56e-02 1 1h 17 2.0836468e+00 3.15e-06 5.14e-02 4.54e-07 -6.7 -6.7 1.00e+00 1 1h 18 2.0828366e+00 2.70e-06 1.34e-01 2.77e-07 -6.7 -7.2 1.82e-01 1 1h 19 2.0816653e+00 2.39e-06 1.45e-01 3.84e-07 -6.7 -7.7 2.28e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0814750e+00 2.61e-06 2.30e-01 2.10e-05 -6.7 -8.2 1.71e-01 1 1h 21 2.0806614e+00 5.32e-06 1.59e-01 1.03e-05 -6.7 -8.6 8.58e-01 1 1h 22 2.0889192e+00 2.64e-08 2.85e-01 2.90e-04 -6.7 -7.3 1.00e+00 1 1H 23 2.0814660e+00 2.16e-04 4.90e+00 2.77e-04 -4.7 -5.1 4.79e-01 1 1h 24 2.0814567e+00 2.17e-04 4.90e+00 2.69e-04 -5.3 -5.6 3.59e-04 2 2h 25 2.0814543e+00 2.17e-04 5.53e+00 1.73e-04 -5.3 -5.1 2.44e-05 1 2h 26 2.0812255e+00 1.43e-05 2.16e-02 4.16e-05 -5.3 -5.6 1.00e+00 2 1h 27 2.0811150e+00 1.05e-05 3.90e-02 3.37e-05 -5.3 -6.1 2.61e-01 2 1h 28 2.0810555e+00 1.07e-05 6.45e-03 2.33e-05 -5.3 -6.6 1.00e+00 1 1h 29 2.0808971e+00 3.03e-06 1.78e-03 8.84e-06 -5.3 -7.0 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0807097e+00 7.62e-06 4.59e-03 5.62e-06 -5.3 -7.5 1.00e+00 1 1h 31 2.0806473e+00 4.81e-05 2.80e-01 2.68e-04 -5.3 -7.1 4.18e-01 1 1h 32 2.0806256e+00 7.12e-06 3.90e-03 5.95e-06 -5.3 -7.6 9.93e-01 1 1h 33 2.0806686e+00 7.09e-06 4.08e-03 6.09e-06 -5.3 -8.0 7.58e-02 1 3h 34 2.0806297e+00 3.18e-06 1.41e-01 7.93e-06 -5.3 -4.0 6.63e-01 1 1h 35 2.0806209e+00 3.14e-06 2.51e-01 5.65e-06 -5.3 -4.5 1.56e-02 2 1h 36 2.0806265e+00 2.71e-06 7.03e-01 5.96e-06 -5.3 -5.0 1.25e-01 2 4f 37 2.0806135e+00 4.02e-07 3.28e-04 3.69e-06 -5.5 -5.4 1.00e+00 1 1h 38 2.0806021e+00 8.28e-07 1.17e-05 2.76e-06 -5.6 -5.9 1.00e+00 2 1h 39 2.0805713e+00 5.55e-06 2.56e-03 1.15e-06 -8.3 -6.4 8.36e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0806219e+00 3.03e-06 1.13e-02 4.16e-07 -8.3 -6.9 5.74e-01 2 1h 41 2.0805610e+00 1.47e-06 8.48e-03 1.66e-07 -8.3 -7.3 7.18e-01 2 1h 42 2.0805558e+00 1.21e-06 5.00e-03 5.21e-08 -8.3 -7.8 2.03e-01 2 1h 43 2.0805410e+00 1.51e-06 6.06e-04 1.64e-08 -8.3 -8.3 1.00e+00 1 1h 44 2.0805369e+00 5.72e-09 4.46e-04 4.94e-09 -8.3 -8.8 1.00e+00 1 1h 45 2.0805365e+00 1.54e-10 5.40e-05 8.71e-09 -8.3 -9.3 1.00e+00 1 1h 46 2.0805365e+00 2.32e-12 2.54e-05 4.56e-09 -8.3 -9.7 1.00e+00 1 1h 47 2.0805365e+00 5.04e-13 2.28e-06 4.55e-09 -8.3 -5.7 1.00e+00 1 1h 48 2.0805365e+00 4.62e-14 4.74e-08 4.55e-09 -8.3 -6.2 1.00e+00 1 1h 49 2.0805365e+00 6.92e-16 8.20e-09 4.55e-09 -8.3 -6.6 1.00e+00 1 1h Number of Iterations....: 49 (scaled) (unscaled) Objective...............: 2.0805365068952208e+00 2.0805365068952208e+00 Dual infeasibility......: 8.2018585221413229e-09 8.2018585221413229e-09 Constraint violation....: 6.9237261907998640e-16 6.9237261907998640e-16 Complementarity.........: 4.5505273956857647e-09 4.5505273956857647e-09 Overall NLP error.......: 8.2018585221413229e-09 8.2018585221413229e-09 Number of objective function evaluations = 61 Number of objective gradient evaluations = 50 Number of constraint evaluations = 61 Number of constraint Jacobian evaluations = 50 Number of Lagrangian Hessian evaluations = 49 Number of KKT factorizations = 119 Number of KKT backsolves = 75 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.052 s Total wall secs in NLP function evaluations = 22.112 s Total wall secs in solver (w/o init./fun./lin. alg.) = 11.001 s Total wall secs = 33.167 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.04s jacobian structure: 1600 nonzeros (3.107s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.464s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (4.518s) linear index maps built (0.0s) evaluator ready (total: 7.626s) evaluator created (7.651s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.001s) optimizer initialization complete (total: 7.668s) 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 2.6663457e+00 1.93e+00 9.00e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.6195433e+00 7.21e-02 2.51e+00 -0.9 1.92e+00 0.0 9.69e-01 9.61e-01f 1 Hello, world! 2 2.5463933e+00 4.54e-02 1.87e+00 -1.0 1.74e+00 -0.5 9.91e-01 3.55e-01f 1 Hello, world! 3 2.4304570e+00 8.11e-02 1.35e+00 -1.3 1.37e+00 -1.0 9.93e-01 5.35e-01h 1 Hello, world! 4 2.2805902e+00 3.64e-02 4.59e-01 -1.8 7.68e-01 -1.4 1.00e+00 5.53e-01h 1 Hello, world! 5 2.1502556e+00 2.36e-02 3.09e-01 -2.7 7.32e-01 -1.9 1.00e+00 6.77e-01h 1 Hello, world! 6 2.0984272e+00 3.96e-03 7.28e-02 -3.6 2.62e-01 -2.4 1.00e+00 9.45e-01h 1 Hello, world! 7 2.0907913e+00 6.83e-05 1.06e-02 -4.0 2.57e-02 -2.9 1.00e+00 9.89e-01h 1 Hello, world! 8 2.0908610e+00 1.22e-06 1.14e-04 -4.0 3.79e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908514e+00 3.76e-08 1.68e-05 -4.0 1.10e-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 2.0908279e+00 3.42e-08 5.98e-05 -4.0 3.11e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0907638e+00 2.15e-07 2.52e-04 -4.0 8.56e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0905788e+00 2.24e-06 3.91e-04 -4.0 2.57e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0903537e+00 2.43e-06 7.75e-03 -4.0 1.20e+01 -5.7 3.71e-01 1.69e-01H 1 Hello, world! 14 2.0893242e+00 2.24e-04 4.05e-02 -4.0 2.61e+01 -6.2 1.00e+00 1.00e+00f 1 Hello, world! 15 2.0879125e+00 8.46e-05 2.30e-02 -4.0 3.17e+00 -4.9 1.00e+00 6.84e-01h 1 Hello, world! 16 2.0879005e+00 1.60e-05 5.61e-03 -4.0 3.33e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0868764e+00 3.84e-05 6.83e-03 -4.0 1.01e+01 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0853203e+00 1.92e-04 9.42e-03 -4.0 2.36e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0830862e+00 4.09e-04 2.69e-02 -4.0 3.93e+01 -6.8 1.00e+00 9.55e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0825942e+00 3.99e-04 1.38e-02 -4.0 5.53e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0823352e+00 3.99e-04 9.91e-03 -4.0 1.23e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.3806204e+01 1.81e-04 1.93e+02 -4.0 2.37e+03 -8.2 1.33e-02 1.00e+00H 1 Hello, world! 23 2.1425176e+00 5.42e-05 1.10e+01 -4.1 5.34e+00 -0.4 1.21e-01 7.01e-01f 1 Hello, world! 24 2.1423185e+00 5.40e-05 6.25e+00 -4.1 1.30e-02 -0.8 1.00e+00 3.17e-03h 1 Hello, world! 25 2.1419465e+00 2.52e-06 9.76e-03 -4.1 7.99e-02 -1.3 1.00e+00 1.00e+00f 1 Hello, world! 26 2.1410367e+00 1.45e-06 3.71e-03 -4.0 2.34e-01 -1.8 1.00e+00 1.00e+00h 1 Hello, world! 27 2.1385009e+00 4.79e-07 4.74e-03 -4.0 6.89e-01 -2.3 1.00e+00 1.00e+00f 1 Hello, world! 28 2.1315530e+00 1.15e-05 3.77e-02 -4.0 1.94e+00 -2.8 1.00e+00 1.00e+00f 1 Hello, world! 29 2.1264871e+00 1.47e-05 1.98e+00 -4.0 4.74e+00 -3.2 1.00e+00 3.14e-01f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.1264694e+00 6.77e-06 3.58e+00 -4.1 1.75e-01 -3.7 1.00e+00 5.84e-01H 1 Hello, world! 31 2.1262336e+00 1.35e-05 5.22e-04 -4.1 5.20e-01 -4.2 1.00e+00 1.00e+00f 1 Hello, world! 32 2.1253287e+00 1.72e-04 1.89e-02 -6.2 1.62e+00 -4.7 8.64e-01 1.00e+00h 1 Hello, world! 33 2.1244437e+00 1.41e-04 5.39e-04 -6.2 4.80e+00 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 34 2.1235168e+00 8.55e-05 1.89e-01 -6.2 1.40e+01 -5.6 1.00e+00 4.04e-01h 1 Hello, world! 35 2.1221387e+00 5.08e-05 2.56e-01 -6.2 3.40e+01 -6.1 1.00e+00 5.60e-01h 1 Hello, world! 36 2.1159874e+00 8.20e-06 1.82e-01 -6.2 9.51e+01 -6.6 1.00e+00 8.81e-01h 1 Hello, world! 37 2.1047435e+00 1.96e-05 5.64e-01 -6.2 2.41e+02 -7.0 6.29e-01 1.00e+00f 1 Hello, world! 38 2.0952965e+00 3.20e-05 1.63e+00 -6.2 4.59e+02 -7.5 1.00e+00 5.79e-01h 1 Hello, world! 39 2.0923642e+00 3.33e-05 2.32e+00 -6.2 7.36e+02 -8.0 7.58e-01 1.80e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0899158e+00 5.11e-05 1.41e+00 -6.2 8.76e+02 -7.6 7.35e-01 3.37e-01h 1 Hello, world! 41 2.0874214e+00 4.27e-05 2.73e+00 -6.2 2.19e+02 -7.2 6.18e-01 1.65e-01h 1 Hello, world! 42 2.0870328e+00 3.32e-05 2.46e+00 -6.2 3.95e+02 -7.6 4.03e-02 2.22e-01h 1 Hello, world! 43 2.0831968e+00 1.02e-04 1.20e+00 -6.2 5.01e+02 -8.1 5.70e-01 5.44e-01h 1 Hello, world! 44 2.0832316e+00 7.11e-05 1.10e+00 -6.2 1.05e+02 -6.8 8.06e-02 2.78e-01h 1 Hello, world! 45 2.0830253e+00 6.06e-05 4.18e-01 -6.2 8.38e+01 -7.3 1.00e+00 1.47e-01h 1 Hello, world! 46 2.0826042e+00 4.79e-05 4.63e-01 -6.2 2.12e+02 -7.7 1.00e+00 2.17e-01h 1 Hello, world! 47 2.0809249e+00 5.66e-05 6.49e-02 -6.2 3.68e+02 -8.2 3.93e-01 1.00e+00h 1 Hello, world! 48 2.0811729e+00 5.74e-05 2.64e+00 -4.0 7.58e+03 -6.9 2.54e-02 2.30e-03f 1 Hello, world! 49 2.0815528e+00 4.17e-03 2.73e+00 -4.8 2.10e+02 -7.4 3.99e-02 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0810872e+00 1.17e-03 1.63e-01 -4.8 9.42e+01 -7.8 9.88e-01 7.42e-01h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0810871905472901e+00 2.0810871905472901e+00 Dual infeasibility......: 1.6252678817872601e-01 1.6252678817872601e-01 Constraint violation....: 1.1681714515474617e-03 1.1681714515474617e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 6.9619736895513209e-05 6.9619736895513209e-05 Overall NLP error.......: 1.6252678817872601e-01 1.6252678817872601e-01 Number of objective function evaluations = 56 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 56 Number of inequality constraint evaluations = 56 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 32.281 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 (0.002s) 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: 0.003s) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.6663457e+00 1.93e+00 9.00e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.6195433e+00 7.21e-02 2.51e+00 -0.9 1.92e+00 0.0 9.69e-01 9.61e-01f 1 Hello, world! 2 2.5463933e+00 4.54e-02 1.87e+00 -1.0 1.74e+00 -0.5 9.91e-01 3.55e-01f 1 Hello, world! 3 2.4304570e+00 8.11e-02 1.35e+00 -1.3 1.37e+00 -1.0 9.93e-01 5.35e-01h 1 Hello, world! 4 2.2805902e+00 3.64e-02 4.59e-01 -1.8 7.68e-01 -1.4 1.00e+00 5.53e-01h 1 Hello, world! 5 2.1502556e+00 2.36e-02 3.09e-01 -2.7 7.32e-01 -1.9 1.00e+00 6.77e-01h 1 Hello, world! 6 2.0984272e+00 3.96e-03 7.28e-02 -3.6 2.62e-01 -2.4 1.00e+00 9.45e-01h 1 Hello, world! 7 2.0907913e+00 6.83e-05 1.06e-02 -4.0 2.57e-02 -2.9 1.00e+00 9.89e-01h 1 Hello, world! 8 2.0908610e+00 1.22e-06 1.14e-04 -4.0 3.79e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908514e+00 3.76e-08 1.68e-05 -4.0 1.10e-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 2.0908279e+00 3.42e-08 5.98e-05 -4.0 3.11e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0907638e+00 2.15e-07 2.52e-04 -4.0 8.56e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0905788e+00 2.24e-06 3.91e-04 -4.0 2.57e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0903537e+00 2.43e-06 7.75e-03 -4.0 1.20e+01 -5.7 3.71e-01 1.69e-01H 1 Hello, world! 14 2.0893242e+00 2.24e-04 4.05e-02 -4.0 2.61e+01 -6.2 1.00e+00 1.00e+00f 1 Hello, world! 15 2.0879125e+00 8.46e-05 2.30e-02 -4.0 3.17e+00 -4.9 1.00e+00 6.84e-01h 1 Hello, world! 16 2.0879005e+00 1.60e-05 5.61e-03 -4.0 3.33e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0868764e+00 3.84e-05 6.83e-03 -4.0 1.01e+01 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0853203e+00 1.92e-04 9.42e-03 -4.0 2.36e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0830862e+00 4.09e-04 2.69e-02 -4.0 3.93e+01 -6.8 1.00e+00 9.55e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0825942e+00 3.99e-04 1.38e-02 -4.0 5.53e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0823352e+00 3.99e-04 9.91e-03 -4.0 1.23e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.3806204e+01 1.81e-04 1.93e+02 -4.0 2.37e+03 -8.2 1.33e-02 1.00e+00H 1 Hello, world! 23 2.1425176e+00 5.42e-05 1.10e+01 -4.1 5.34e+00 -0.4 1.21e-01 7.01e-01f 1 Hello, world! 24 2.1423185e+00 5.40e-05 6.25e+00 -4.1 1.30e-02 -0.8 1.00e+00 3.17e-03h 1 Hello, world! 25 2.1419465e+00 2.52e-06 9.76e-03 -4.1 7.99e-02 -1.3 1.00e+00 1.00e+00f 1 Hello, world! 26 2.1410367e+00 1.45e-06 3.71e-03 -4.0 2.34e-01 -1.8 1.00e+00 1.00e+00h 1 Hello, world! 27 2.1385009e+00 4.79e-07 4.74e-03 -4.0 6.89e-01 -2.3 1.00e+00 1.00e+00f 1 Hello, world! 28 2.1315530e+00 1.15e-05 3.77e-02 -4.0 1.94e+00 -2.8 1.00e+00 1.00e+00f 1 Hello, world! 29 2.1264871e+00 1.47e-05 1.98e+00 -4.0 4.74e+00 -3.2 1.00e+00 3.14e-01f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.1264694e+00 6.77e-06 3.58e+00 -4.1 1.75e-01 -3.7 1.00e+00 5.84e-01H 1 Hello, world! 31 2.1262336e+00 1.35e-05 5.22e-04 -4.1 5.20e-01 -4.2 1.00e+00 1.00e+00f 1 Hello, world! 32 2.1253287e+00 1.72e-04 1.89e-02 -6.2 1.62e+00 -4.7 8.64e-01 1.00e+00h 1 Hello, world! 33 2.1244437e+00 1.41e-04 5.39e-04 -6.2 4.80e+00 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 34 2.1235168e+00 8.55e-05 1.89e-01 -6.2 1.40e+01 -5.6 1.00e+00 4.04e-01h 1 Hello, world! 35 2.1221387e+00 5.08e-05 2.56e-01 -6.2 3.40e+01 -6.1 1.00e+00 5.60e-01h 1 Hello, world! 36 2.1159874e+00 8.20e-06 1.82e-01 -6.2 9.51e+01 -6.6 1.00e+00 8.81e-01h 1 Hello, world! 37 2.1047435e+00 1.96e-05 5.64e-01 -6.2 2.41e+02 -7.0 6.29e-01 1.00e+00f 1 Hello, world! 38 2.0952965e+00 3.20e-05 1.63e+00 -6.2 4.59e+02 -7.5 1.00e+00 5.79e-01h 1 Hello, world! 39 2.0923642e+00 3.33e-05 2.32e+00 -6.2 7.36e+02 -8.0 7.58e-01 1.80e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0899158e+00 5.11e-05 1.41e+00 -6.2 8.76e+02 -7.6 7.35e-01 3.37e-01h 1 Hello, world! 41 2.0874214e+00 4.27e-05 2.73e+00 -6.2 2.19e+02 -7.2 6.18e-01 1.65e-01h 1 Hello, world! 42 2.0870328e+00 3.32e-05 2.46e+00 -6.2 3.95e+02 -7.6 4.03e-02 2.22e-01h 1 Hello, world! 43 2.0831968e+00 1.02e-04 1.20e+00 -6.2 5.01e+02 -8.1 5.70e-01 5.44e-01h 1 Hello, world! 44 2.0832316e+00 7.11e-05 1.10e+00 -6.2 1.05e+02 -6.8 8.06e-02 2.78e-01h 1 Hello, world! 45 2.0830253e+00 6.06e-05 4.18e-01 -6.2 8.38e+01 -7.3 1.00e+00 1.47e-01h 1 Hello, world! 46 2.0826042e+00 4.79e-05 4.63e-01 -6.2 2.12e+02 -7.7 1.00e+00 2.17e-01h 1 Hello, world! 47 2.0809249e+00 5.66e-05 6.49e-02 -6.2 3.68e+02 -8.2 3.93e-01 1.00e+00h 1 Hello, world! 48 2.0811729e+00 5.74e-05 2.64e+00 -4.0 7.58e+03 -6.9 2.54e-02 2.30e-03f 1 Hello, world! 49 2.0815528e+00 4.17e-03 2.73e+00 -4.8 2.10e+02 -7.4 3.99e-02 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0810872e+00 1.17e-03 1.63e-01 -4.8 9.42e+01 -7.8 9.88e-01 7.42e-01h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0810871905472901e+00 2.0810871905472901e+00 Dual infeasibility......: 1.6252678817872601e-01 1.6252678817872601e-01 Constraint violation....: 1.1681714515474617e-03 1.1681714515474617e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 6.9619736895513209e-05 6.9619736895513209e-05 Overall NLP error.......: 1.6252678817872601e-01 1.6252678817872601e-01 Number of objective function evaluations = 56 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 56 Number of inequality constraint evaluations = 56 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 0.935 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: 0.068s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.09s jacobian structure: 1600 nonzeros (3.158s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.619s 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 (4.672s) linear index maps built (0.0s) evaluator ready (total: 7.831s) evaluator created (7.856s) 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: 7.856s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.7452717e+00 3.46e+00 4.06e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4334579e+00 5.83e-01 1.90e+00 -0.9 2.30e+00 0.0 9.83e-01 8.31e-01f 1 2 2.6217617e+00 1.70e-02 7.09e-01 -0.9 4.06e-01 -0.5 8.90e-01 1.00e+00f 1 3 2.3756453e+00 7.80e-03 7.99e-02 -1.9 2.04e-01 -1.0 9.80e-01 1.00e+00h 1 4 2.1479725e+00 4.45e-03 2.00e-02 -2.6 1.24e-01 -1.4 8.78e-01 8.62e-01f 1 5 2.0923690e+00 2.63e-04 4.13e-03 -3.5 3.37e-02 -1.9 9.47e-01 9.97e-01h 1 6 2.0909461e+00 1.64e-06 7.37e-05 -4.0 5.79e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0909424e+00 3.53e-09 2.37e-05 -4.0 1.73e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909363e+00 1.58e-09 2.32e-05 -4.0 5.07e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909203e+00 1.18e-08 2.18e-05 -4.0 1.43e-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 2.0908853e+00 6.50e-08 1.27e-04 -4.0 3.69e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0908160e+00 2.36e-07 6.53e-04 -4.0 8.95e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0906360e+00 2.39e-06 1.01e-03 -4.0 2.66e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0900970e+00 2.11e-05 8.05e-04 -4.0 7.86e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0898563e+00 3.66e-06 1.55e-03 -4.0 3.05e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0897146e+00 4.14e-06 6.60e-02 -4.0 2.38e+01 -5.8 7.62e-01 5.96e-02h 2 16 2.0879285e+00 2.03e-04 9.16e-03 -4.0 2.36e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0876457e+00 2.07e-04 8.87e-01 -3.6 6.00e+02 -6.7 9.92e-01 1.10e-02h 2 18 2.0891653e+00 2.43e-02 6.71e-01 -3.6 3.71e+02 -7.2 1.00e+00 4.75e-02h 4 19 2.0871659e+00 4.82e-02 1.14e-01 -3.6 1.47e+02 -7.7 1.00e+00 2.58e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0856590e+00 3.54e-03 1.14e-02 -3.7 1.81e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0832071e+00 3.11e-03 1.36e-02 -4.0 2.84e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0824560e+00 3.49e-04 1.03e-02 -4.0 5.72e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0822321e+00 3.81e-04 1.06e-02 -4.0 1.41e+02 -7.8 7.39e-01 1.00e+00h 1 24 2.0862434e+00 7.11e-06 3.79e-02 -4.0 4.05e+01 -6.5 1.00e+00 1.00e+00H 1 25 2.0835824e+00 1.04e-08 1.92e-02 -4.0 7.70e-02 -0.6 1.00e+00 1.00e+00h 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0835824089802393e+00 2.0835824089802393e+00 Dual infeasibility......: 1.9229590621462830e-02 1.9229590621462830e-02 Constraint violation....: 1.0357128134297344e-08 1.0357128134297344e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 3.1838192362141369e-04 3.1838192362141369e-04 Overall NLP error.......: 1.9229590621462830e-02 1.9229590621462830e-02 Number of objective function evaluations = 37 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 37 Number of inequality constraint evaluations = 37 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 30.441 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) evaluator created (0.002s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.003s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.7452717e+00 3.46e+00 4.06e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4334579e+00 5.83e-01 1.90e+00 -0.9 2.30e+00 0.0 9.83e-01 8.31e-01f 1 2 2.6217617e+00 1.70e-02 7.09e-01 -0.9 4.06e-01 -0.5 8.90e-01 1.00e+00f 1 3 2.3756453e+00 7.80e-03 7.99e-02 -1.9 2.04e-01 -1.0 9.80e-01 1.00e+00h 1 4 2.1479725e+00 4.45e-03 2.00e-02 -2.6 1.24e-01 -1.4 8.78e-01 8.62e-01f 1 5 2.0923690e+00 2.63e-04 4.13e-03 -3.5 3.37e-02 -1.9 9.47e-01 9.97e-01h 1 6 2.0909461e+00 1.64e-06 7.37e-05 -4.0 5.79e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0909424e+00 3.53e-09 2.37e-05 -4.0 1.73e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909363e+00 1.58e-09 2.32e-05 -4.0 5.07e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909203e+00 1.18e-08 2.18e-05 -4.0 1.43e-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 2.0908853e+00 6.50e-08 1.27e-04 -4.0 3.69e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0908160e+00 2.36e-07 6.53e-04 -4.0 8.95e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0906360e+00 2.39e-06 1.01e-03 -4.0 2.66e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0900970e+00 2.11e-05 8.05e-04 -4.0 7.86e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0898563e+00 3.66e-06 1.55e-03 -4.0 3.05e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0897146e+00 4.14e-06 6.60e-02 -4.0 2.38e+01 -5.8 7.62e-01 5.96e-02h 2 16 2.0879285e+00 2.03e-04 9.16e-03 -4.0 2.36e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0876457e+00 2.07e-04 8.87e-01 -3.6 6.00e+02 -6.7 9.92e-01 1.10e-02h 2 18 2.0891653e+00 2.43e-02 6.71e-01 -3.6 3.71e+02 -7.2 1.00e+00 4.75e-02h 4 19 2.0871659e+00 4.82e-02 1.14e-01 -3.6 1.47e+02 -7.7 1.00e+00 2.58e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0856590e+00 3.54e-03 1.14e-02 -3.7 1.81e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0832071e+00 3.11e-03 1.36e-02 -4.0 2.84e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0824560e+00 3.49e-04 1.03e-02 -4.0 5.72e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0822321e+00 3.81e-04 1.06e-02 -4.0 1.41e+02 -7.8 7.39e-01 1.00e+00h 1 24 2.0862434e+00 7.11e-06 3.79e-02 -4.0 4.05e+01 -6.5 1.00e+00 1.00e+00H 1 25 2.0835824e+00 1.04e-08 1.92e-02 -4.0 7.70e-02 -0.6 1.00e+00 1.00e+00h 1 26 2.0827130e+00 8.74e-10 4.37e-03 -4.0 5.58e-02 -1.1 1.00e+00 1.00e+00f 1 27 2.0826220e+00 1.75e-07 6.48e-04 -4.0 2.28e-02 -1.6 1.00e+00 1.00e+00h 1 28 2.0826257e+00 6.91e-08 9.87e-05 -4.0 1.10e-02 -2.0 1.00e+00 1.00e+00h 1 29 2.0826339e+00 3.13e-09 7.35e-06 -4.0 2.45e-03 -2.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0826337e+00 5.13e-10 7.38e-06 -4.0 7.37e-03 -3.0 1.00e+00 1.00e+00h 1 31 2.0826324e+00 2.53e-10 7.38e-06 -4.0 2.21e-02 -3.5 1.00e+00 1.00e+00h 1 32 2.0826283e+00 2.54e-09 7.35e-06 -4.0 6.61e-02 -4.0 1.00e+00 1.00e+00h 1 33 2.0826161e+00 2.24e-08 7.28e-06 -4.0 1.96e-01 -4.4 1.00e+00 1.00e+00h 1 34 2.0825808e+00 1.90e-07 1.81e-05 -4.0 5.72e-01 -4.9 1.00e+00 1.00e+00h 1 35 2.0824848e+00 1.41e-06 1.41e-04 -4.0 1.63e+00 -5.4 1.00e+00 1.00e+00h 1 36 2.0822675e+00 1.58e-05 7.61e-04 -4.0 4.58e+00 -5.9 1.00e+00 1.00e+00h 1 37 2.0830339e+00 9.34e-07 1.43e-01 -4.0 2.25e+01 -6.3 3.87e-01 1.00e+00H 1 38 2.0827297e+00 6.98e-06 3.43e+00 -4.1 2.85e+00 -4.1 5.49e-01 7.40e-02h 2 39 2.0826658e+00 6.79e-06 1.63e+00 -4.1 1.78e-01 -3.7 3.46e-01 2.77e-02h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818452e+00 6.41e-05 8.48e-02 -4.1 6.10e-01 -4.2 1.00e+00 8.64e-01h 1 41 2.0822226e+00 7.57e-05 2.27e-03 -4.0 5.13e-01 -4.6 1.00e+00 1.00e+00f 1 42 2.0820887e+00 7.97e-05 1.10e-03 -4.0 1.16e+00 -5.1 1.00e+00 1.00e+00h 1 43 2.0820785e+00 1.02e-05 8.10e-04 -4.0 2.28e+00 -5.6 1.00e+00 1.00e+00h 1 44 2.1073644e+00 4.99e-06 9.23e-01 -4.0 3.74e+01 -6.1 1.92e-01 1.00e+00H 1 45 2.0887088e+00 3.06e-08 8.58e-02 -4.1 1.43e-01 -0.2 1.00e+00 1.00e+00f 1 46 2.0829760e+00 3.68e-07 1.65e-02 -4.1 1.13e-01 -0.7 1.00e+00 1.00e+00f 1 47 2.0827064e+00 9.85e-08 1.74e-03 -4.1 2.34e-02 -1.2 1.00e+00 1.00e+00h 1 48 2.0826359e+00 9.44e-07 1.64e-03 -4.1 7.08e-02 -1.7 1.00e+00 1.00e+00f 1 49 2.0824784e+00 1.92e-09 5.08e-04 -4.1 6.74e-02 -2.1 1.00e+00 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0827751e+00 8.12e-07 1.13e-04 -4.0 3.83e-02 -2.6 1.00e+00 1.00e+00f 1 51 2.0825926e+00 2.51e-07 3.21e-05 -4.1 1.06e-02 -3.1 1.00e+00 1.00e+00h 1 52 2.0819116e+00 4.72e-06 1.17e-02 -6.1 4.65e-02 -3.6 8.69e-01 1.00e+00h 1 53 2.0828388e+00 1.25e-05 8.72e-04 -4.0 9.37e-02 -4.0 1.00e+00 1.00e+00f 1 54 2.0825678e+00 8.85e-06 5.86e-05 -4.1 2.79e-01 -4.5 1.00e+00 1.00e+00h 1 55 2.0818226e+00 1.21e-04 5.44e-03 -6.1 1.19e+00 -5.0 9.45e-01 1.00e+00h 1 56 2.0826035e+00 3.19e-04 2.12e-03 -4.0 2.38e+00 -5.5 1.00e+00 1.00e+00h 1 57 2.0820463e+00 1.98e-04 1.39e-03 -4.1 5.21e+00 -5.9 1.00e+00 1.00e+00h 1 58 2.0817803e+00 1.57e-04 3.89e-02 -4.1 1.65e+01 -6.4 7.15e-01 1.00e+00h 1 59 2.0850967e+00 1.32e-05 7.91e-01 -4.0 5.70e+00 -5.1 5.69e-01 9.85e-01H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0826664e+00 2.33e-05 7.36e-01 -4.1 5.85e+00 -2.9 7.81e-04 8.30e-02f 1 61 2.0818970e+00 5.72e-05 6.43e-01 -4.1 3.07e+00 -3.3 8.83e-02 1.21e-01f 1 62 2.0821487e+00 5.48e-05 2.49e+00 -4.1 1.16e+00 -3.8 1.00e+00 7.03e-02f 4 63 2.0820514e+00 1.28e-05 2.22e-04 -4.1 1.74e-01 -4.3 1.00e+00 1.00e+00h 1 64 2.0821078e+00 4.59e-05 2.64e-04 -4.0 6.56e-01 -4.8 1.00e+00 1.00e+00h 1 65 2.0818802e+00 4.64e-05 1.54e-03 -4.1 2.10e+00 -5.2 1.00e+00 1.00e+00h 1 66 2.0818753e+00 1.30e-05 1.21e-03 -4.1 6.98e-01 -5.7 1.00e+00 1.00e+00h 1 67 2.0820834e+00 7.15e-05 3.06e-04 -4.0 2.93e+00 -6.2 1.00e+00 1.00e+00h 1 68 2.0818908e+00 9.08e-05 1.29e-03 -4.1 5.97e+00 -6.7 1.00e+00 1.00e+00h 1 69 2.0818237e+00 3.30e-05 7.11e-04 -4.1 1.44e+01 -7.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0819740e+00 6.17e-04 2.36e-03 -4.0 2.66e+01 -7.6 1.00e+00 1.00e+00h 1 71 2.0816368e+00 1.20e-03 3.13e-03 -4.1 4.70e+01 -8.1 1.00e+00 1.00e+00h 1 72 2.0818521e+00 1.26e-03 2.48e-03 -4.0 5.33e+01 -8.6 1.00e+00 1.00e+00h 1 73 2.0815842e+00 6.58e-04 4.84e-04 -4.1 2.86e+01 -9.1 1.00e+00 1.00e+00h 1 74 2.0818444e+00 2.06e-04 4.21e-05 -4.0 8.56e+00 -9.5 1.00e+00 1.00e+00h 1 75 2.0815838e+00 2.15e-04 1.36e-05 -4.1 9.78e+00 -10.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 75 (scaled) (unscaled) Objective...............: 2.0815837820197749e+00 2.0815837820197749e+00 Dual infeasibility......: 1.3592433917592844e-05 1.3592433917592844e-05 Constraint violation....: 2.1474921851272200e-04 2.1474921851272200e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.0940938397935835e-05 8.0940938397935835e-05 Overall NLP error.......: 2.1474921851272200e-04 2.1474921851272200e-04 Number of objective function evaluations = 103 Number of objective gradient evaluations = 76 Number of equality constraint evaluations = 103 Number of inequality constraint evaluations = 103 Number of equality constraint Jacobian evaluations = 76 Number of inequality constraint Jacobian evaluations = 76 Number of Lagrangian Hessian evaluations = 75 Total seconds in IPOPT = 1.174 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) evaluator created (0.002s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.002s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.7452717e+00 3.46e+00 4.06e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4334579e+00 5.83e-01 1.90e+00 -0.9 2.30e+00 0.0 9.83e-01 8.31e-01f 1 2 2.6217617e+00 1.70e-02 7.09e-01 -0.9 4.06e-01 -0.5 8.90e-01 1.00e+00f 1 3 2.3756453e+00 7.80e-03 7.99e-02 -1.9 2.04e-01 -1.0 9.80e-01 1.00e+00h 1 4 2.1479725e+00 4.45e-03 2.00e-02 -2.6 1.24e-01 -1.4 8.78e-01 8.62e-01f 1 5 2.0923690e+00 2.63e-04 4.13e-03 -3.5 3.37e-02 -1.9 9.47e-01 9.97e-01h 1 6 2.0909461e+00 1.64e-06 7.37e-05 -4.0 5.79e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0909424e+00 3.53e-09 2.37e-05 -4.0 1.73e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909363e+00 1.58e-09 2.32e-05 -4.0 5.07e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909203e+00 1.18e-08 2.18e-05 -4.0 1.43e-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 2.0908853e+00 6.50e-08 1.27e-04 -4.0 3.69e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0908160e+00 2.36e-07 6.53e-04 -4.0 8.95e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0906360e+00 2.39e-06 1.01e-03 -4.0 2.66e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0900970e+00 2.11e-05 8.05e-04 -4.0 7.86e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0898563e+00 3.66e-06 1.55e-03 -4.0 3.05e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0897146e+00 4.14e-06 6.60e-02 -4.0 2.38e+01 -5.8 7.62e-01 5.96e-02h 2 16 2.0879285e+00 2.03e-04 9.16e-03 -4.0 2.36e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0876457e+00 2.07e-04 8.87e-01 -3.6 6.00e+02 -6.7 9.92e-01 1.10e-02h 2 18 2.0891653e+00 2.43e-02 6.71e-01 -3.6 3.71e+02 -7.2 1.00e+00 4.75e-02h 4 19 2.0871659e+00 4.82e-02 1.14e-01 -3.6 1.47e+02 -7.7 1.00e+00 2.58e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0856590e+00 3.54e-03 1.14e-02 -3.7 1.81e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0832071e+00 3.11e-03 1.36e-02 -4.0 2.84e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0824560e+00 3.49e-04 1.03e-02 -4.0 5.72e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0822321e+00 3.81e-04 1.06e-02 -4.0 1.41e+02 -7.8 7.39e-01 1.00e+00h 1 24 2.0862434e+00 7.11e-06 3.79e-02 -4.0 4.05e+01 -6.5 1.00e+00 1.00e+00H 1 25 2.0835824e+00 1.04e-08 1.92e-02 -4.0 7.70e-02 -0.6 1.00e+00 1.00e+00h 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0835824089802393e+00 2.0835824089802393e+00 Dual infeasibility......: 1.9229590621462830e-02 1.9229590621462830e-02 Constraint violation....: 1.0357128134297344e-08 1.0357128134297344e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 3.1838192362141369e-04 3.1838192362141369e-04 Overall NLP error.......: 1.9229590621462830e-02 1.9229590621462830e-02 Number of objective function evaluations = 37 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 37 Number of inequality constraint evaluations = 37 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 0.385 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: 0.071s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.861s jacobian structure: 1600 nonzeros (2.934s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.602s 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 (4.653s) linear index maps built (0.0s) evaluator ready (total: 7.587s) evaluator created (7.609s) 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: 7.61s) 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 2.4878633e+00 4.13e+00 5.68e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.3976737e+00 1.26e-01 3.59e+00 -0.9 2.17e+00 0.0 9.42e-01 9.78e-01f 1 Hello, world! 2 2.7613707e+00 6.67e-02 1.76e+00 -0.7 8.42e-01 -0.5 1.00e+00 7.19e-01f 1 Hello, world! 3 2.7485947e+00 7.19e-02 6.15e-01 -1.1 8.96e-01 -1.0 9.47e-01 7.23e-01h 1 Hello, world! 4 2.4036879e+00 1.99e-02 2.35e-01 -1.4 2.51e-01 -1.4 9.02e-01 1.00e+00f 1 Hello, world! 5 2.1836191e+00 1.17e-02 3.77e-02 -2.2 2.88e-01 -1.9 9.86e-01 8.85e-01h 1 Hello, world! 6 2.0940955e+00 1.12e-03 1.05e-02 -3.4 1.07e-01 -2.4 9.81e-01 1.00e+00h 1 Hello, world! 7 2.0909273e+00 8.52e-06 3.39e-04 -4.0 1.37e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0909145e+00 1.37e-07 1.69e-05 -4.0 3.70e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909060e+00 3.51e-09 1.65e-05 -4.0 1.08e-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 2.0908827e+00 2.79e-08 8.44e-05 -4.0 3.07e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908184e+00 2.16e-07 2.75e-04 -4.0 8.53e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0906299e+00 2.21e-06 3.08e-04 -4.0 2.54e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0905651e+00 2.12e-06 7.27e-03 -4.0 3.15e+02 -5.7 1.54e-02 3.27e-03h 2 Hello, world! 14 2.0889452e+00 1.21e-04 6.68e-03 -4.0 2.08e+01 -6.2 1.00e+00 9.55e-01h 1 Hello, world! 15 2.0865991e+00 9.34e-04 8.59e-02 -4.0 5.38e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0847290e+00 3.69e-04 5.43e-02 -4.0 6.01e+00 -5.4 1.00e+00 6.49e-01h 1 Hello, world! 17 2.0844825e+00 6.41e-05 6.70e-03 -4.0 6.25e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0835381e+00 5.26e-05 4.16e-03 -4.0 1.44e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0827306e+00 8.97e-05 1.08e-02 -4.0 2.01e+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 2.0827827e+00 2.81e-04 1.12e-02 -4.0 5.12e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0820723e+00 2.11e-03 8.21e-03 -4.1 1.19e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 1.0698101e+02 1.60e-03 5.75e+02 -4.0 3.00e+03 -8.2 1.08e-02 1.00e+00H 1 Hello, world! 23 8.7035735e+01 1.57e-03 5.55e+02 -4.1 1.82e+02 -0.4 5.31e-03 1.58e-02f 1 Hello, world! 24 2.1995440e+00 3.23e-04 2.15e+01 -4.1 4.63e+00 0.1 4.78e-01 7.95e-01f 1 Hello, world! 25 2.1990744e+00 3.22e-04 1.80e+01 -4.1 8.41e-03 -0.4 1.00e+00 2.60e-03h 1 Hello, world! 26 2.1990103e+00 2.17e-06 7.02e-03 -4.1 4.17e-02 -0.9 1.00e+00 1.00e+00f 1 Hello, world! 27 2.1972150e+00 1.49e-05 5.23e-03 -4.1 1.24e-01 -1.4 1.00e+00 1.00e+00h 1 Hello, world! 28 2.1954390e+00 3.95e-06 1.52e-01 -4.1 3.58e-01 -1.9 1.00e+00 8.00e-01h 1 Hello, world! 29 2.1903872e+00 5.31e-06 1.09e-02 -4.1 1.04e+00 -2.3 1.00e+00 1.00e+00f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.1763075e+00 3.03e-05 8.64e-02 -4.1 2.94e+00 -2.8 1.00e+00 1.00e+00h 1 Hello, world! 31 2.1622743e+00 5.48e-05 3.59e+00 -4.1 7.31e+00 -3.3 1.00e+00 4.29e-01h 1 Hello, world! 32 2.1627054e+00 4.97e-05 1.40e+01 -4.1 9.96e-01 -3.8 1.00e+00 1.02e-01f 3 Hello, world! 33 2.1621734e+00 9.39e-05 1.93e-03 -4.1 7.73e-01 -4.2 1.00e+00 1.00e+00h 1 Hello, world! 34 2.1616727e+00 8.30e-05 2.01e-04 -4.1 2.30e+00 -4.7 1.00e+00 1.00e+00h 1 Hello, world! 35 2.1597220e+00 7.20e-04 3.76e-03 -6.2 6.97e+00 -5.2 9.81e-01 1.00e+00h 1 Hello, world! 36 2.1589514e+00 6.40e-04 3.90e-01 -6.2 1.96e+01 -5.7 1.00e+00 2.19e-01h 1 Hello, world! 37 2.1567210e+00 4.90e-04 4.13e-01 -6.2 5.16e+01 -6.1 7.34e-01 3.98e-01h 1 Hello, world! 38 2.1458558e+00 2.78e-04 5.93e-01 -6.2 1.44e+02 -6.6 1.00e+00 7.84e-01h 1 Hello, world! 39 2.1229631e+00 2.18e-05 9.19e-01 -6.2 3.61e+02 -7.1 6.61e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.1119242e+00 2.54e-05 1.10e-01 -6.2 6.60e+02 -7.6 4.05e-01 3.50e-01h 1 Hello, world! 41 2.0881403e+00 1.52e-04 1.50e+00 -6.2 1.13e+03 -8.1 8.37e-01 8.46e-01h 1 Hello, world! 42 2.0847456e+00 1.25e-04 7.72e-01 -6.2 1.23e+03 -8.5 2.98e-04 2.70e-01h 1 Hello, world! 43 2.0844635e+00 1.24e-04 1.53e+00 -6.2 7.29e+02 -7.2 1.52e-01 1.49e-02h 1 Hello, world! 44 2.0829131e+00 5.67e-05 7.33e-01 -6.2 4.37e+02 -7.7 5.12e-01 5.80e-01h 1 Hello, world! 45 2.0824714e+00 5.56e-05 4.17e-01 -6.2 1.32e+03 -7.3 1.77e-04 2.56e-02h 1 Hello, world! 46 2.0818516e+00 3.42e-04 1.94e-01 -5.2 2.50e+02 -7.7 1.00e+00 6.30e-01f 1 Hello, world! 47 2.0819963e+00 2.80e-02 1.67e-01 -4.0 4.41e+02 -8.2 3.36e-01 1.00e+00f 1 Hello, world! 48 2.0833942e+00 1.19e-02 3.14e-01 -4.4 1.54e+02 -8.7 3.22e-01 1.00e+00h 1 Hello, world! 49 2.0817124e+00 1.04e-02 2.43e+00 -4.4 1.55e+01 -4.6 4.83e-02 1.33e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0816493e+00 6.83e-06 7.58e-03 -3.9 1.32e-01 -2.4 1.00e+00 1.00e+00f 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0816493065578277e+00 2.0816493065578277e+00 Dual infeasibility......: 7.5779132342243321e-03 7.5779132342243321e-03 Constraint violation....: 6.8276980320775005e-06 6.8276980320775005e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.4450010154282953e-04 1.4450010154282953e-04 Overall NLP error.......: 7.5779132342243321e-03 7.5779132342243321e-03 Number of objective function evaluations = 58 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 58 Number of inequality constraint evaluations = 58 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 33.540 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 (0.003s) linear index maps built (0.0s) evaluator ready (total: 0.005s) evaluator created (0.005s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.005s) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.4878633e+00 4.13e+00 5.68e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.3976737e+00 1.26e-01 3.59e+00 -0.9 2.17e+00 0.0 9.42e-01 9.78e-01f 1 Hello, world! 2 2.7613707e+00 6.67e-02 1.76e+00 -0.7 8.42e-01 -0.5 1.00e+00 7.19e-01f 1 Hello, world! 3 2.7485947e+00 7.19e-02 6.15e-01 -1.1 8.96e-01 -1.0 9.47e-01 7.23e-01h 1 Hello, world! 4 2.4036879e+00 1.99e-02 2.35e-01 -1.4 2.51e-01 -1.4 9.02e-01 1.00e+00f 1 Hello, world! 5 2.1836191e+00 1.17e-02 3.77e-02 -2.2 2.88e-01 -1.9 9.86e-01 8.85e-01h 1 Hello, world! 6 2.0940955e+00 1.12e-03 1.05e-02 -3.4 1.07e-01 -2.4 9.81e-01 1.00e+00h 1 Hello, world! 7 2.0909273e+00 8.52e-06 3.39e-04 -4.0 1.37e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0909145e+00 1.37e-07 1.69e-05 -4.0 3.70e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909060e+00 3.51e-09 1.65e-05 -4.0 1.08e-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 2.0908827e+00 2.79e-08 8.44e-05 -4.0 3.07e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908184e+00 2.16e-07 2.75e-04 -4.0 8.53e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0906299e+00 2.21e-06 3.08e-04 -4.0 2.54e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0905651e+00 2.12e-06 7.27e-03 -4.0 3.15e+02 -5.7 1.54e-02 3.27e-03h 2 Hello, world! 14 2.0889452e+00 1.21e-04 6.68e-03 -4.0 2.08e+01 -6.2 1.00e+00 9.55e-01h 1 Hello, world! 15 2.0865991e+00 9.34e-04 8.59e-02 -4.0 5.38e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0847290e+00 3.69e-04 5.43e-02 -4.0 6.01e+00 -5.4 1.00e+00 6.49e-01h 1 Hello, world! 17 2.0844825e+00 6.41e-05 6.70e-03 -4.0 6.25e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0835381e+00 5.26e-05 4.16e-03 -4.0 1.44e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0827306e+00 8.97e-05 1.08e-02 -4.0 2.01e+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 2.0827827e+00 2.81e-04 1.12e-02 -4.0 5.12e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0820723e+00 2.11e-03 8.21e-03 -4.1 1.19e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 1.0698101e+02 1.60e-03 5.75e+02 -4.0 3.00e+03 -8.2 1.08e-02 1.00e+00H 1 Hello, world! 23 8.7035735e+01 1.57e-03 5.55e+02 -4.1 1.82e+02 -0.4 5.31e-03 1.58e-02f 1 Hello, world! 24 2.1995440e+00 3.23e-04 2.15e+01 -4.1 4.63e+00 0.1 4.78e-01 7.95e-01f 1 Hello, world! 25 2.1990744e+00 3.22e-04 1.80e+01 -4.1 8.41e-03 -0.4 1.00e+00 2.60e-03h 1 Hello, world! 26 2.1990103e+00 2.17e-06 7.02e-03 -4.1 4.17e-02 -0.9 1.00e+00 1.00e+00f 1 Hello, world! 27 2.1972150e+00 1.49e-05 5.23e-03 -4.1 1.24e-01 -1.4 1.00e+00 1.00e+00h 1 Hello, world! 28 2.1954390e+00 3.95e-06 1.52e-01 -4.1 3.58e-01 -1.9 1.00e+00 8.00e-01h 1 Hello, world! 29 2.1903872e+00 5.31e-06 1.09e-02 -4.1 1.04e+00 -2.3 1.00e+00 1.00e+00f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.1763075e+00 3.03e-05 8.64e-02 -4.1 2.94e+00 -2.8 1.00e+00 1.00e+00h 1 Hello, world! 31 2.1622743e+00 5.48e-05 3.59e+00 -4.1 7.31e+00 -3.3 1.00e+00 4.29e-01h 1 Hello, world! 32 2.1627054e+00 4.97e-05 1.40e+01 -4.1 9.96e-01 -3.8 1.00e+00 1.02e-01f 3 Hello, world! 33 2.1621734e+00 9.39e-05 1.93e-03 -4.1 7.73e-01 -4.2 1.00e+00 1.00e+00h 1 Hello, world! 34 2.1616727e+00 8.30e-05 2.01e-04 -4.1 2.30e+00 -4.7 1.00e+00 1.00e+00h 1 Hello, world! 35 2.1597220e+00 7.20e-04 3.76e-03 -6.2 6.97e+00 -5.2 9.81e-01 1.00e+00h 1 Hello, world! 36 2.1589514e+00 6.40e-04 3.90e-01 -6.2 1.96e+01 -5.7 1.00e+00 2.19e-01h 1 Hello, world! 37 2.1567210e+00 4.90e-04 4.13e-01 -6.2 5.16e+01 -6.1 7.34e-01 3.98e-01h 1 Hello, world! 38 2.1458558e+00 2.78e-04 5.93e-01 -6.2 1.44e+02 -6.6 1.00e+00 7.84e-01h 1 Hello, world! 39 2.1229631e+00 2.18e-05 9.19e-01 -6.2 3.61e+02 -7.1 6.61e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.1119242e+00 2.54e-05 1.10e-01 -6.2 6.60e+02 -7.6 4.05e-01 3.50e-01h 1 Hello, world! 41 2.0881403e+00 1.52e-04 1.50e+00 -6.2 1.13e+03 -8.1 8.37e-01 8.46e-01h 1 Hello, world! 42 2.0847456e+00 1.25e-04 7.72e-01 -6.2 1.23e+03 -8.5 2.98e-04 2.70e-01h 1 Hello, world! 43 2.0844635e+00 1.24e-04 1.53e+00 -6.2 7.29e+02 -7.2 1.52e-01 1.49e-02h 1 Hello, world! 44 2.0829131e+00 5.67e-05 7.33e-01 -6.2 4.37e+02 -7.7 5.12e-01 5.80e-01h 1 Hello, world! 45 2.0824714e+00 5.56e-05 4.17e-01 -6.2 1.32e+03 -7.3 1.77e-04 2.56e-02h 1 Hello, world! 46 2.0818516e+00 3.42e-04 1.94e-01 -5.2 2.50e+02 -7.7 1.00e+00 6.30e-01f 1 Hello, world! 47 2.0819963e+00 2.80e-02 1.67e-01 -4.0 4.41e+02 -8.2 3.36e-01 1.00e+00f 1 Hello, world! 48 2.0833942e+00 1.19e-02 3.14e-01 -4.4 1.54e+02 -8.7 3.22e-01 1.00e+00h 1 Hello, world! 49 2.0817124e+00 1.04e-02 2.43e+00 -4.4 1.55e+01 -4.6 4.83e-02 1.33e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0816493e+00 6.83e-06 7.58e-03 -3.9 1.32e-01 -2.4 1.00e+00 1.00e+00f 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0816493065578277e+00 2.0816493065578277e+00 Dual infeasibility......: 7.5779132342243321e-03 7.5779132342243321e-03 Constraint violation....: 6.8276980320775005e-06 6.8276980320775005e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.4450010154282953e-04 1.4450010154282953e-04 Overall NLP error.......: 7.5779132342243321e-03 7.5779132342243321e-03 Number of objective function evaluations = 58 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 58 Number of inequality constraint evaluations = 58 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 0.810 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: 0.064s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.055s jacobian structure: 1600 nonzeros (3.119s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.583s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (4.635s) linear index maps built (0.0s) evaluator ready (total: 7.755s) evaluator created (7.778s) 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: 7.78s) 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 2.4617378e+00 3.34e+00 3.85e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5860028e+00 8.28e-02 5.42e+00 -1.1 2.77e+00 0.0 9.65e-01 1.00e+00h 1 2 3.6527196e+00 3.92e-01 6.73e+00 -0.6 1.51e+00 -0.5 5.98e-01 1.00e+00f 1 3 2.8394085e+00 3.22e-01 2.98e+00 -0.9 1.17e+00 -1.0 5.27e-01 1.00e+00f 1 4 2.7315707e+00 3.61e-02 2.25e-01 -0.9 8.84e-01 -1.4 1.00e+00 1.00e+00h 1 5 2.4314663e+00 1.98e-02 4.42e-01 -4.0 8.86e-01 -1.9 7.69e-01 6.86e-01h 1 6 2.1629307e+00 5.04e-02 1.44e-01 -2.1 1.17e+00 -2.4 9.90e-01 9.05e-01h 1 7 2.1177331e+00 2.18e-03 9.75e-02 -2.6 1.87e-01 -2.9 9.87e-01 1.00e+00h 1 8 2.0918749e+00 2.81e-04 1.62e-03 -3.9 1.09e-01 -3.3 1.00e+00 9.44e-01h 1 9 2.0910306e+00 2.21e-05 1.52e-03 -4.0 1.41e-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 2.0909608e+00 8.25e-07 5.49e-04 -4.0 5.49e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0908119e+00 1.21e-06 3.56e-03 -4.0 1.58e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0905885e+00 2.62e-06 7.22e-03 -4.0 2.49e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0899511e+00 1.91e-05 2.47e-03 -4.0 7.78e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0896238e+00 1.72e-05 1.01e-01 -4.0 6.51e+01 -6.2 5.69e-01 5.31e-02h 1 15 2.0854585e+00 1.27e-03 5.05e-02 -4.0 5.82e+01 -6.7 1.00e+00 1.00e+00h 1 16 2.0846576e+00 8.12e-04 3.77e-02 -4.0 2.10e+01 -6.3 1.00e+00 3.79e-01h 1 17 2.0831776e+00 1.52e-04 2.42e-02 -4.0 2.93e+01 -6.7 1.00e+00 1.00e+00h 1 18 2.0827133e+00 2.57e-04 9.19e-03 -4.0 5.12e+01 -7.2 1.00e+00 1.00e+00h 1 19 2.0823642e+00 4.16e-04 8.90e-03 -4.0 1.18e+02 -7.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0823150e+00 3.31e-04 5.71e-03 -4.0 6.21e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0845280e+00 2.86e-07 7.24e-02 -4.0 1.49e+02 -7.7 3.00e-01 1.00e+00H 1 22 2.0825061e+00 6.73e-04 1.29e+00 -4.0 4.76e+00 -4.6 1.45e-01 3.91e-01f 1 23 2.0823194e+00 6.78e-04 1.29e+00 -4.1 7.35e+02 -4.2 6.24e-05 1.53e-04f 2 24 2.0822321e+00 6.79e-04 1.46e+00 -4.1 8.96e+01 -3.7 2.31e-02 6.28e-04h 2 25 2.0823663e+00 2.57e-04 8.67e-01 -4.0 1.24e-01 -4.2 1.00e+00 6.34e-01h 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0823662504120919e+00 2.0823662504120919e+00 Dual infeasibility......: 8.6699445742976800e-01 8.6699445742976800e-01 Constraint violation....: 2.5657625429165165e-04 2.5657625429165165e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 3.1216436275870337e-04 3.1216436275870337e-04 Overall NLP error.......: 8.6699445742976800e-01 8.6699445742976800e-01 Number of objective function evaluations = 31 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 31 Number of inequality constraint evaluations = 31 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 31.602 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: 0.003s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.4617378e+00 3.34e+00 3.85e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5860028e+00 8.28e-02 5.42e+00 -1.1 2.77e+00 0.0 9.65e-01 1.00e+00h 1 2 3.6527196e+00 3.92e-01 6.73e+00 -0.6 1.51e+00 -0.5 5.98e-01 1.00e+00f 1 3 2.8394085e+00 3.22e-01 2.98e+00 -0.9 1.17e+00 -1.0 5.27e-01 1.00e+00f 1 4 2.7315707e+00 3.61e-02 2.25e-01 -0.9 8.84e-01 -1.4 1.00e+00 1.00e+00h 1 5 2.4314663e+00 1.98e-02 4.42e-01 -4.0 8.86e-01 -1.9 7.69e-01 6.86e-01h 1 6 2.1629307e+00 5.04e-02 1.44e-01 -2.1 1.17e+00 -2.4 9.90e-01 9.05e-01h 1 7 2.1177331e+00 2.18e-03 9.75e-02 -2.6 1.87e-01 -2.9 9.87e-01 1.00e+00h 1 8 2.0918749e+00 2.81e-04 1.62e-03 -3.9 1.09e-01 -3.3 1.00e+00 9.44e-01h 1 9 2.0910306e+00 2.21e-05 1.52e-03 -4.0 1.41e-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 2.0909608e+00 8.25e-07 5.49e-04 -4.0 5.49e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0908119e+00 1.21e-06 3.56e-03 -4.0 1.58e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0905885e+00 2.62e-06 7.22e-03 -4.0 2.49e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0899511e+00 1.91e-05 2.47e-03 -4.0 7.78e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0896238e+00 1.72e-05 1.01e-01 -4.0 6.51e+01 -6.2 5.69e-01 5.31e-02h 1 15 2.0854585e+00 1.27e-03 5.05e-02 -4.0 5.82e+01 -6.7 1.00e+00 1.00e+00h 1 16 2.0846576e+00 8.12e-04 3.77e-02 -4.0 2.10e+01 -6.3 1.00e+00 3.79e-01h 1 17 2.0831776e+00 1.52e-04 2.42e-02 -4.0 2.93e+01 -6.7 1.00e+00 1.00e+00h 1 18 2.0827133e+00 2.57e-04 9.19e-03 -4.0 5.12e+01 -7.2 1.00e+00 1.00e+00h 1 19 2.0823642e+00 4.16e-04 8.90e-03 -4.0 1.18e+02 -7.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0823150e+00 3.31e-04 5.71e-03 -4.0 6.21e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0845280e+00 2.86e-07 7.24e-02 -4.0 1.49e+02 -7.7 3.00e-01 1.00e+00H 1 22 2.0825061e+00 6.73e-04 1.29e+00 -4.0 4.76e+00 -4.6 1.45e-01 3.91e-01f 1 23 2.0823194e+00 6.78e-04 1.29e+00 -4.1 7.35e+02 -4.2 6.24e-05 1.53e-04f 2 24 2.0822321e+00 6.79e-04 1.46e+00 -4.1 8.96e+01 -3.7 2.31e-02 6.28e-04h 2 25 2.0823663e+00 2.57e-04 8.67e-01 -4.0 1.24e-01 -4.2 1.00e+00 6.34e-01h 1 26 2.0822582e+00 9.56e-06 4.04e-04 -4.1 3.08e-01 -4.7 1.00e+00 1.00e+00h 1 27 2.0823574e+00 1.57e-05 1.96e-04 -4.0 7.08e-01 -5.2 1.00e+00 1.00e+00h 1 28 2.0820846e+00 5.33e-05 1.37e-04 -4.1 2.09e+00 -5.7 1.00e+00 1.00e+00h 1 29 2.0821630e+00 1.02e-04 7.99e-04 -4.0 5.08e+00 -6.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0818357e+00 3.08e-04 4.71e-04 -4.1 1.39e+01 -6.6 1.00e+00 1.00e+00h 1 31 2.0822720e+00 4.78e-07 6.31e-02 -4.0 5.89e+01 -7.1 4.00e-01 1.00e+00H 1 32 2.0819982e+00 6.10e-06 2.53e-01 -4.0 1.08e+00 -4.9 1.00e+00 3.86e-01h 2 33 2.0819083e+00 7.36e-06 4.56e-04 -4.0 7.47e-01 -5.3 1.00e+00 1.00e+00h 1 34 2.0820168e+00 5.94e-05 3.42e-04 -4.0 2.11e+00 -5.8 1.00e+00 1.00e+00h 1 35 2.0818494e+00 1.16e-04 3.08e-04 -4.1 5.95e+00 -6.3 1.00e+00 1.00e+00h 1 36 2.0824435e+00 8.57e-06 9.71e-02 -4.0 3.86e+01 -6.8 4.74e-01 1.00e+00H 1 37 2.0822870e+00 2.99e-05 2.36e-01 -4.1 1.70e+00 -4.5 3.45e-01 1.81e-01h 2 38 2.0822009e+00 2.80e-05 1.56e-01 -4.1 7.82e-01 -2.3 1.00e+00 6.33e-02h 2 39 2.0819604e+00 8.44e-08 4.47e-04 -4.1 2.92e-02 -2.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0822591e+00 7.93e-07 1.39e-04 -4.0 1.70e-02 -3.3 1.00e+00 1.00e+00h 1 41 2.0820825e+00 8.86e-07 4.36e-05 -4.1 3.71e-02 -3.7 1.00e+00 1.00e+00h 1 42 2.0814385e+00 1.99e-05 2.74e-02 -6.1 2.02e-01 -4.2 8.52e-01 1.00e+00h 1 43 2.0823114e+00 4.50e-05 1.53e-03 -4.0 3.32e-01 -4.7 1.00e+00 1.00e+00h 1 44 2.0819913e+00 3.50e-05 1.49e-04 -4.1 9.24e-01 -5.2 1.00e+00 1.00e+00h 1 45 2.0811227e+00 4.29e-04 7.53e-03 -6.1 4.37e+00 -5.6 9.57e-01 1.00e+00h 1 46 2.0819152e+00 4.84e-04 7.18e-03 -4.0 4.45e+00 -5.2 1.00e+00 1.00e+00h 1 47 2.0816845e+00 1.14e-04 1.55e-01 -4.1 2.87e+00 -5.7 8.52e-01 1.00e+00h 1 48 2.0817766e+00 2.11e-05 1.11e-03 -4.1 1.78e+00 -6.2 1.00e+00 1.00e+00h 1 49 2.0819298e+00 6.10e-05 1.76e-04 -4.0 4.33e+00 -6.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0817101e+00 1.45e-04 9.94e-04 -4.1 8.83e+00 -7.1 1.00e+00 1.00e+00h 1 51 2.0816603e+00 3.71e-05 8.41e-04 -4.1 1.84e+01 -7.6 1.00e+00 1.00e+00h 1 52 2.0818712e+00 8.61e-04 1.54e-03 -4.0 3.63e+01 -8.1 1.00e+00 1.00e+00h 1 53 2.0815910e+00 9.25e-04 1.16e-03 -4.1 4.14e+01 -8.6 1.00e+00 1.00e+00h 1 54 2.0815827e+00 1.06e-05 3.71e-04 -4.1 2.48e+01 -9.0 1.00e+00 1.00e+00h 1 55 2.0818444e+00 2.12e-04 4.03e-05 -4.0 8.76e+00 -9.5 1.00e+00 1.00e+00h 1 56 2.0815838e+00 2.14e-04 1.47e-05 -4.1 9.76e+00 -10.0 1.00e+00 1.00e+00h 1 57 2.0805954e+00 3.32e-03 1.60e-04 -6.1 4.09e+01 -10.5 9.77e-01 9.64e-01h 1 58 2.0818908e+00 6.59e-03 3.26e-04 -4.0 6.16e+01 -10.9 1.00e+00 1.00e+00f 1 59 2.0816145e+00 4.96e-04 1.10e-05 -4.1 2.08e+01 -11.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0806042e+00 3.49e-03 2.32e-04 -6.1 4.24e+01 -11.9 9.76e-01 9.58e-01h 1 61 2.0805507e+00 9.69e-05 2.33e-06 -6.1 1.71e+01 -12.4 1.00e+00 1.00e+00h 1 62 2.0819818e+00 1.02e-02 3.99e-04 -4.0 8.54e+01 -12.8 1.00e+00 1.00e+00f 1 63 2.0816804e+00 9.65e-04 4.94e-05 -4.1 4.57e+01 -13.3 1.00e+00 1.00e+00h 1 64 2.0816444e+00 4.72e-07 7.73e-07 -4.1 8.40e+00 -13.8 1.00e+00 1.00e+00h 1 65 2.0818441e+00 1.27e-04 5.47e-06 -4.0 7.55e+00 -14.3 1.00e+00 1.00e+00h 1 66 2.0815834e+00 2.14e-04 9.28e-06 -4.1 9.76e+00 -14.8 1.00e+00 1.00e+00h 1 67 2.0805950e+00 3.33e-03 1.58e-04 -6.1 4.09e+01 -15.2 9.77e-01 9.64e-01h 1 68 2.0805497e+00 7.61e-05 1.82e-06 -6.1 1.56e+01 -15.7 1.00e+00 1.00e+00h 1 69 2.0819883e+00 1.06e-02 4.03e-04 -4.0 8.64e+01 -16.2 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0816850e+00 9.86e-04 5.24e-05 -4.1 4.71e+01 -16.7 1.00e+00 1.00e+00h 1 71 2.0816467e+00 5.59e-07 8.13e-07 -4.1 8.79e+00 -17.1 1.00e+00 1.00e+00h 1 72 2.0805963e+00 3.67e-03 1.56e-04 -6.1 4.25e+01 -17.6 9.76e-01 9.67e-01h 1 73 2.0805509e+00 8.01e-05 1.98e-06 -6.1 1.63e+01 -18.1 1.00e+00 1.00e+00h 1 74 2.0805468e+00 5.50e-08 2.37e-08 -6.1 2.91e+00 -18.6 1.00e+00 1.00e+00h 1 75 2.0820237e+00 1.21e-02 4.23e-04 -4.0 9.79e+01 -19.1 1.00e+00 1.00e+00f 1 Number of Iterations....: 75 (scaled) (unscaled) Objective...............: 2.0820236699311359e+00 2.0820236699311359e+00 Dual infeasibility......: 4.2328220990845290e-04 4.2328220990845290e-04 Constraint violation....: 1.2143893825309893e-02 1.2143893825309893e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.4659052608088348e-04 2.4659052608088348e-04 Overall NLP error.......: 1.2143893825309893e-02 1.2143893825309893e-02 Number of objective function evaluations = 90 Number of objective gradient evaluations = 76 Number of equality constraint evaluations = 90 Number of inequality constraint evaluations = 90 Number of equality constraint Jacobian evaluations = 76 Number of inequality constraint Jacobian evaluations = 76 Number of Lagrangian Hessian evaluations = 75 Total seconds in IPOPT = 1.076 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: 0.004s) evaluator created (0.004s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.004s) 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 2.4617378e+00 3.34e+00 3.85e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5860028e+00 8.28e-02 5.42e+00 -1.1 2.77e+00 0.0 9.65e-01 1.00e+00h 1 2 3.6527196e+00 3.92e-01 6.73e+00 -0.6 1.51e+00 -0.5 5.98e-01 1.00e+00f 1 3 2.8394085e+00 3.22e-01 2.98e+00 -0.9 1.17e+00 -1.0 5.27e-01 1.00e+00f 1 4 2.7315707e+00 3.61e-02 2.25e-01 -0.9 8.84e-01 -1.4 1.00e+00 1.00e+00h 1 5 2.4314663e+00 1.98e-02 4.42e-01 -4.0 8.86e-01 -1.9 7.69e-01 6.86e-01h 1 6 2.1629307e+00 5.04e-02 1.44e-01 -2.1 1.17e+00 -2.4 9.90e-01 9.05e-01h 1 7 2.1177331e+00 2.18e-03 9.75e-02 -2.6 1.87e-01 -2.9 9.87e-01 1.00e+00h 1 8 2.0918749e+00 2.81e-04 1.62e-03 -3.9 1.09e-01 -3.3 1.00e+00 9.44e-01h 1 9 2.0910306e+00 2.21e-05 1.52e-03 -4.0 1.41e-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 2.0909608e+00 8.25e-07 5.49e-04 -4.0 5.49e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0908119e+00 1.21e-06 3.56e-03 -4.0 1.58e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0905885e+00 2.62e-06 7.22e-03 -4.0 2.49e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0899511e+00 1.91e-05 2.47e-03 -4.0 7.78e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0896238e+00 1.72e-05 1.01e-01 -4.0 6.51e+01 -6.2 5.69e-01 5.31e-02h 1 15 2.0854585e+00 1.27e-03 5.05e-02 -4.0 5.82e+01 -6.7 1.00e+00 1.00e+00h 1 16 2.0846576e+00 8.12e-04 3.77e-02 -4.0 2.10e+01 -6.3 1.00e+00 3.79e-01h 1 17 2.0831776e+00 1.52e-04 2.42e-02 -4.0 2.93e+01 -6.7 1.00e+00 1.00e+00h 1 18 2.0827133e+00 2.57e-04 9.19e-03 -4.0 5.12e+01 -7.2 1.00e+00 1.00e+00h 1 19 2.0823642e+00 4.16e-04 8.90e-03 -4.0 1.18e+02 -7.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0823150e+00 3.31e-04 5.71e-03 -4.0 6.21e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0845280e+00 2.86e-07 7.24e-02 -4.0 1.49e+02 -7.7 3.00e-01 1.00e+00H 1 22 2.0825061e+00 6.73e-04 1.29e+00 -4.0 4.76e+00 -4.6 1.45e-01 3.91e-01f 1 23 2.0823194e+00 6.78e-04 1.29e+00 -4.1 7.35e+02 -4.2 6.24e-05 1.53e-04f 2 24 2.0822321e+00 6.79e-04 1.46e+00 -4.1 8.96e+01 -3.7 2.31e-02 6.28e-04h 2 25 2.0823663e+00 2.57e-04 8.67e-01 -4.0 1.24e-01 -4.2 1.00e+00 6.34e-01h 1 26 2.0822582e+00 9.56e-06 4.04e-04 -4.1 3.08e-01 -4.7 1.00e+00 1.00e+00h 1 27 2.0823574e+00 1.57e-05 1.96e-04 -4.0 7.08e-01 -5.2 1.00e+00 1.00e+00h 1 28 2.0820846e+00 5.33e-05 1.37e-04 -4.1 2.09e+00 -5.7 1.00e+00 1.00e+00h 1 29 2.0821630e+00 1.02e-04 7.99e-04 -4.0 5.08e+00 -6.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0818357e+00 3.08e-04 4.71e-04 -4.1 1.39e+01 -6.6 1.00e+00 1.00e+00h 1 31 2.0822720e+00 4.78e-07 6.31e-02 -4.0 5.89e+01 -7.1 4.00e-01 1.00e+00H 1 32 2.0819982e+00 6.10e-06 2.53e-01 -4.0 1.08e+00 -4.9 1.00e+00 3.86e-01h 2 33 2.0819083e+00 7.36e-06 4.56e-04 -4.0 7.47e-01 -5.3 1.00e+00 1.00e+00h 1 34 2.0820168e+00 5.94e-05 3.42e-04 -4.0 2.11e+00 -5.8 1.00e+00 1.00e+00h 1 35 2.0818494e+00 1.16e-04 3.08e-04 -4.1 5.95e+00 -6.3 1.00e+00 1.00e+00h 1 36 2.0824435e+00 8.57e-06 9.71e-02 -4.0 3.86e+01 -6.8 4.74e-01 1.00e+00H 1 37 2.0822870e+00 2.99e-05 2.36e-01 -4.1 1.70e+00 -4.5 3.45e-01 1.81e-01h 2 38 2.0822009e+00 2.80e-05 1.56e-01 -4.1 7.82e-01 -2.3 1.00e+00 6.33e-02h 2 39 2.0819604e+00 8.44e-08 4.47e-04 -4.1 2.92e-02 -2.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0822591e+00 7.93e-07 1.39e-04 -4.0 1.70e-02 -3.3 1.00e+00 1.00e+00h 1 41 2.0820825e+00 8.86e-07 4.36e-05 -4.1 3.71e-02 -3.7 1.00e+00 1.00e+00h 1 42 2.0814385e+00 1.99e-05 2.74e-02 -6.1 2.02e-01 -4.2 8.52e-01 1.00e+00h 1 43 2.0823114e+00 4.50e-05 1.53e-03 -4.0 3.32e-01 -4.7 1.00e+00 1.00e+00h 1 44 2.0819913e+00 3.50e-05 1.49e-04 -4.1 9.24e-01 -5.2 1.00e+00 1.00e+00h 1 45 2.0811227e+00 4.29e-04 7.53e-03 -6.1 4.37e+00 -5.6 9.57e-01 1.00e+00h 1 46 2.0819152e+00 4.84e-04 7.18e-03 -4.0 4.45e+00 -5.2 1.00e+00 1.00e+00h 1 47 2.0816845e+00 1.14e-04 1.55e-01 -4.1 2.87e+00 -5.7 8.52e-01 1.00e+00h 1 48 2.0817766e+00 2.11e-05 1.11e-03 -4.1 1.78e+00 -6.2 1.00e+00 1.00e+00h 1 49 2.0819298e+00 6.10e-05 1.76e-04 -4.0 4.33e+00 -6.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0817101e+00 1.45e-04 9.94e-04 -4.1 8.83e+00 -7.1 1.00e+00 1.00e+00h 1 51 2.0816603e+00 3.71e-05 8.41e-04 -4.1 1.84e+01 -7.6 1.00e+00 1.00e+00h 1 52 2.0818712e+00 8.61e-04 1.54e-03 -4.0 3.63e+01 -8.1 1.00e+00 1.00e+00h 1 53 2.0815910e+00 9.25e-04 1.16e-03 -4.1 4.14e+01 -8.6 1.00e+00 1.00e+00h 1 54 2.0815827e+00 1.06e-05 3.71e-04 -4.1 2.48e+01 -9.0 1.00e+00 1.00e+00h 1 55 2.0818444e+00 2.12e-04 4.03e-05 -4.0 8.76e+00 -9.5 1.00e+00 1.00e+00h 1 56 2.0815838e+00 2.14e-04 1.47e-05 -4.1 9.76e+00 -10.0 1.00e+00 1.00e+00h 1 57 2.0805954e+00 3.32e-03 1.60e-04 -6.1 4.09e+01 -10.5 9.77e-01 9.64e-01h 1 58 2.0818908e+00 6.59e-03 3.26e-04 -4.0 6.16e+01 -10.9 1.00e+00 1.00e+00f 1 59 2.0816145e+00 4.96e-04 1.10e-05 -4.1 2.08e+01 -11.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0806042e+00 3.49e-03 2.32e-04 -6.1 4.24e+01 -11.9 9.76e-01 9.58e-01h 1 61 2.0805507e+00 9.69e-05 2.33e-06 -6.1 1.71e+01 -12.4 1.00e+00 1.00e+00h 1 62 2.0819818e+00 1.02e-02 3.99e-04 -4.0 8.54e+01 -12.8 1.00e+00 1.00e+00f 1 63 2.0816804e+00 9.65e-04 4.94e-05 -4.1 4.57e+01 -13.3 1.00e+00 1.00e+00h 1 64 2.0816444e+00 4.72e-07 7.73e-07 -4.1 8.40e+00 -13.8 1.00e+00 1.00e+00h 1 65 2.0818441e+00 1.27e-04 5.47e-06 -4.0 7.55e+00 -14.3 1.00e+00 1.00e+00h 1 66 2.0815834e+00 2.14e-04 9.28e-06 -4.1 9.76e+00 -14.8 1.00e+00 1.00e+00h 1 67 2.0805950e+00 3.33e-03 1.58e-04 -6.1 4.09e+01 -15.2 9.77e-01 9.64e-01h 1 68 2.0805497e+00 7.61e-05 1.82e-06 -6.1 1.56e+01 -15.7 1.00e+00 1.00e+00h 1 69 2.0819883e+00 1.06e-02 4.03e-04 -4.0 8.64e+01 -16.2 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0816850e+00 9.86e-04 5.24e-05 -4.1 4.71e+01 -16.7 1.00e+00 1.00e+00h 1 71 2.0816467e+00 5.59e-07 8.13e-07 -4.1 8.79e+00 -17.1 1.00e+00 1.00e+00h 1 72 2.0805963e+00 3.67e-03 1.56e-04 -6.1 4.25e+01 -17.6 9.76e-01 9.67e-01h 1 73 2.0805509e+00 8.01e-05 1.98e-06 -6.1 1.63e+01 -18.1 1.00e+00 1.00e+00h 1 74 2.0805468e+00 5.50e-08 2.37e-08 -6.1 2.91e+00 -18.6 1.00e+00 1.00e+00h 1 75 2.0820237e+00 1.21e-02 4.23e-04 -4.0 9.79e+01 -19.1 1.00e+00 1.00e+00f 1 76 2.0817108e+00 1.09e-03 6.84e-05 -4.1 5.44e+01 -19.5 1.00e+00 1.00e+00h 1 77 2.0816597e+00 1.20e-06 1.05e-06 -4.1 1.08e+01 -20.0 1.00e+00 1.00e+00h 1 78 2.0805973e+00 3.75e-03 1.59e-04 -6.1 4.29e+01 -20.0 9.76e-01 9.67e-01h 1 79 2.0805512e+00 8.26e-05 2.04e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805470e+00 5.83e-08 2.51e-08 -6.1 3.00e+00 -20.0 1.00e+00 1.00e+00h 1 81 2.0805365e+00 9.22e-07 7.87e-07 -9.0 9.36e-01 -20.0 1.00e+00 9.97e-01h 1 82 2.0820411e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 83 2.0817244e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 84 2.0816662e+00 1.63e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 85 2.0805979e+00 3.78e-03 1.61e-04 -6.1 4.31e+01 -20.0 9.76e-01 9.67e-01h 1 86 2.0805514e+00 8.39e-05 2.07e-06 -6.1 1.67e+01 -20.0 1.00e+00 1.00e+00h 1 87 2.0805470e+00 6.01e-08 2.58e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 88 2.0805365e+00 9.41e-07 8.10e-07 -9.0 9.46e-01 -20.0 1.00e+00 9.97e-01h 1 89 2.0805365e+00 8.66e-11 2.16e-12 -9.0 2.61e-02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0820415e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 91 2.0817247e+00 1.13e-03 7.75e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0816664e+00 1.64e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 93 2.0805979e+00 3.78e-03 1.61e-04 -6.1 4.31e+01 -20.0 9.76e-01 9.67e-01h 1 94 2.0805514e+00 8.39e-05 2.07e-06 -6.1 1.67e+01 -20.0 1.00e+00 1.00e+00h 1 95 2.0805470e+00 6.01e-08 2.58e-08 -6.1 3.05e+00 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 9.41e-07 8.10e-07 -9.0 9.47e-01 -20.0 1.00e+00 9.97e-01h 1 97 2.0805365e+00 8.67e-11 2.17e-12 -9.0 2.61e-02 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 4.44e-16 9.09e-15 -9.0 9.99e-06 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 4.44e-16 9.09e-15 -9.0 1.60e-12 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805365e+00 2.22e-16 9.09e-15 -9.0 9.30e-14 -20.0 1.00e+00 1.00e+00 0 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595436484e+00 2.0805364595436484e+00 Dual infeasibility......: 9.0909090910998750e-15 9.0909090910998750e-15 Constraint violation....: 2.2204460492503131e-16 2.2204460492503131e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090978348416e-10 9.0909090978348416e-10 Overall NLP error.......: 9.9999090909091550e-05 9.9999090909091550e-05 Number of objective function evaluations = 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 = 1.432 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: 3.099s jacobian structure: 1600 nonzeros (3.161s) integrator 1 hessian structure: 0.046s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.368s 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 (4.415s) linear index maps built (0.0s) evaluator ready (total: 7.577s) evaluator created (7.601s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.001s) optimizer initialization complete (total: 7.603s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.9154037e+00 1.83e+00 4.76e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6123560e+00 4.23e-02 3.75e+00 -1.0 1.91e+00 0.0 9.62e-01 1.00e+00f 1 2 2.4442496e+00 1.61e-02 1.03e+00 -1.1 1.87e-01 0.4 8.91e-01 8.78e-01h 1 3 2.2672468e+00 4.69e-03 1.85e-01 -1.9 1.47e-01 -0.1 9.93e-01 1.00e+00h 1 4 2.1448861e+00 1.92e-03 2.33e-01 -2.9 9.01e-02 -0.5 9.97e-01 7.00e-01h 1 5 2.0965973e+00 4.47e-04 1.04e-01 -4.0 4.26e-02 -1.0 1.00e+00 9.28e-01h 1 6 2.0907948e+00 3.13e-05 2.37e-02 -4.0 1.64e-02 -1.5 1.00e+00 1.00e+00h 1 7 2.0908754e+00 3.60e-08 1.43e-04 -4.0 1.31e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0908679e+00 1.96e-09 5.10e-05 -4.0 1.39e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908648e+00 1.04e-10 1.56e-05 -4.0 1.28e-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 2.0908613e+00 4.61e-10 1.56e-05 -4.0 3.84e-02 -3.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0908612791136294e+00 2.0908612791136294e+00 Dual infeasibility......: 1.5621421824028593e-05 1.5621421824028593e-05 Constraint violation....: 4.6144091466696763e-10 4.6144091466696763e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999999951e-05 9.9999999999999951e-05 Overall NLP error.......: 1.5621421824028593e-05 1.5621421824028593e-05 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 11 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 11 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 30.423 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: 0.064s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.125s jacobian structure: 1600 nonzeros (3.19s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.482s 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 (4.532s) linear index maps built (0.0s) evaluator ready (total: 7.722s) evaluator created (7.744s) 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: 7.744s) Fidelity: 0.51 Fidelity: 0.52 Fidelity: 0.53 Fidelity: 0.54 Fidelity: 0.55 Fidelity: 0.56 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: 2.936s jacobian structure: 1600 nonzeros (2.997s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.512s 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 (4.565s) linear index maps built (0.0s) evaluator ready (total: 7.562s) evaluator created (7.587s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.001s) optimizer initialization complete (total: 7.589s) Fidelity: 0.1 Best fidelities: 0: 0.1 Fidelity: 0.2 Best fidelities: 1: 0.2 0: 0.1 Fidelity: 0.30000000000000004 Best fidelities: 2: 0.30000000000000004 1: 0.2 0: 0.1 Fidelity: 0.4 Best fidelities: 3: 0.4 2: 0.30000000000000004 1: 0.2 Fidelity: 0.5 Best fidelities: 3: 0.4 2: 0.30000000000000004 4: 0.5 Fidelity: 0.6000000000000001 Best fidelities: 3: 0.4 4: 0.5 5: 0.6000000000000001 Fidelity: 0.7000000000000001 Best fidelities: 6: 0.7000000000000001 4: 0.5 5: 0.6000000000000001 Fidelity: 0.8 Best fidelities: 6: 0.7000000000000001 5: 0.6000000000000001 7: 0.8 Fidelity: 0.9 Best fidelities: 6: 0.7000000000000001 8: 0.9 7: 0.8 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.068s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.173s jacobian structure: 1600 nonzeros (3.242s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.908s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (4.961s) linear index maps built (0.0s) evaluator ready (total: 8.203s) evaluator created (8.227s) 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: 8.229s) initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.062s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.063s) integrator 1 hessian structure: 0.046s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.048s) linear index maps built (0.0s) evaluator ready (total: 0.112s) 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 4.3573864e+00 3.04e+00 5.54e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4968303e+00 1.46e-01 2.03e+00 -0.9 2.15e+00 0.0 1.00e+00 9.52e-01f 1 2 2.5679209e+00 3.79e-02 1.15e+00 -0.9 4.05e-01 -0.5 9.05e-01 1.00e+00f 1 3 2.3619811e+00 1.11e-02 8.91e-02 -1.9 2.27e-01 -1.0 9.92e-01 1.00e+00h 1 4 2.1533671e+00 2.30e-03 4.45e-02 -2.6 8.75e-02 -1.4 9.68e-01 7.98e-01f 1 5 2.0928401e+00 2.04e-04 1.87e-03 -3.6 2.84e-02 -1.9 9.92e-01 1.00e+00h 1 6 2.0908818e+00 2.45e-06 4.42e-04 -4.0 6.10e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0908780e+00 2.31e-08 2.06e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908736e+00 7.87e-10 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908603e+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 2.0908205e+00 6.23e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907010e+00 5.61e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903436e+00 5.07e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892782e+00 4.63e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861467e+00 4.35e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796433e+00 2.49e-03 8.74e-02 -4.0 8.72e+01 -6.7 1.00e+00 7.54e-01h 1 16 2.0811826e+00 1.75e-04 2.05e-01 -4.0 7.26e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778174e+00 6.76e-03 3.05e-02 -4.0 1.14e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0783131e+00 1.98e-02 1.00e-01 -3.7 2.19e+02 -8.1 8.69e-01 1.00e+00h 1 19 2.0770114e+00 8.20e-03 2.49e-02 -3.8 3.49e+02 -8.6 1.00e+00 7.88e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0761032e+00 9.80e-03 2.33e-02 -3.9 5.27e+02 -9.1 1.00e+00 9.50e-01f 1 21 2.0757598e+00 9.88e-03 1.24e-02 -4.0 1.64e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756830e+00 7.66e-04 5.75e-04 -4.0 7.65e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 9.56e-06 9.56e-06 -4.0 2.33e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 5.81e-08 1.51e-06 -4.0 1.51e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.49e-09 1.49e-07 -4.0 5.16e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.58e-11 2.97e-09 -4.0 9.08e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122074736e+00 2.0756712122074736e+00 Dual infeasibility......: 2.9746304498366391e-09 2.9746304498366391e-09 Constraint violation....: 7.5791817266690487e-11 7.5791817266690487e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000009e-04 1.0000000000000009e-04 Overall NLP error.......: 2.9746304498366391e-09 2.9746304498366391e-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 = 29.487 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: 0.048s 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: 0.114s) evaluator created (0.114s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: equality constraint on 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 (0.148s) optimizer initialization complete (total: 0.262s) 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 6.6931517e+00 2.85e+00 9.04e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8647516e+00 4.13e-02 1.87e+00 -0.9 1.88e+00 0.0 1.00e+00 1.00e+00f 1 2 2.4738771e+00 2.45e-02 4.99e-01 -1.1 2.37e-01 -0.5 9.95e-01 8.27e-01h 1 3 2.2557746e+00 3.47e-03 3.89e-02 -2.1 7.85e-02 -1.0 9.96e-01 1.00e+00h 1 4 2.1027173e+00 9.81e-04 3.62e-02 -3.5 5.18e-02 -1.4 9.94e-01 9.88e-01h 1 5 2.0932715e+00 4.26e-04 4.00e-01 -4.0 2.78e-01 -1.9 1.00e+00 5.50e-01h 1 6 2.0913133e+00 1.42e-04 2.00e-02 -4.0 3.75e-01 -2.4 1.00e+00 1.00e+00h 1 7 2.0908776e+00 3.24e-06 5.87e-03 -4.0 2.78e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908837e+00 5.92e-07 1.92e-04 -4.0 4.51e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908703e+00 1.04e-08 2.06e-05 -4.0 1.35e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908304e+00 6.20e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907110e+00 5.59e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903535e+00 5.05e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892880e+00 4.61e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861563e+00 4.33e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796268e+00 2.50e-03 8.67e-02 -4.0 8.72e+01 -6.7 1.00e+00 7.57e-01h 1 16 2.0812728e+00 1.54e-04 1.92e-01 -4.0 6.72e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778372e+00 5.75e-03 2.67e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781637e+00 1.60e-02 3.66e-02 -3.7 1.50e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767291e+00 1.29e-02 1.84e-02 -3.8 2.83e+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 2.0757841e+00 2.16e-04 2.16e-02 -3.9 4.13e+02 -9.1 1.00e+00 9.96e-01H 1 21 2.0757823e+00 6.17e-03 9.70e-03 -4.0 1.44e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756784e+00 3.41e-04 4.32e-04 -4.0 6.19e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 1.47e-06 7.38e-06 -4.0 2.05e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756713e+00 5.52e-08 1.30e-06 -4.0 1.44e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756713e+00 3.66e-09 1.55e-07 -4.0 6.00e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756713e+00 9.45e-11 3.72e-09 -4.0 1.10e+00 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712528791912e+00 2.0756712528791912e+00 Dual infeasibility......: 3.7203626215430614e-09 3.7203626215430614e-09 Constraint violation....: 9.4526719784937541e-11 9.4526719784937541e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000029e-04 1.0000000000000029e-04 Overall NLP error.......: 3.7203626215430614e-09 3.7203626215430614e-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 = 33.758 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.068s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.068s) integrator 1 hessian structure: 0.053s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.054s) linear index maps built (0.0s) evaluator ready (total: 0.123s) evaluator created (0.123s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.124s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.3691940e+00 4.49e+00 4.54e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6514804e+00 1.19e-01 4.36e+00 -0.9 2.24e+00 0.0 7.67e-01 1.00e+00f 1 2 2.3071903e+00 1.73e-02 1.18e+00 -0.9 1.95e-01 0.4 1.00e+00 1.00e+00h 1 3 2.2986648e+00 9.24e-04 2.08e-01 -1.7 1.74e-01 -0.1 9.99e-01 1.00e+00h 1 4 2.1546034e+00 2.38e-03 1.47e-01 -2.7 7.94e-02 0.4 9.92e-01 9.54e-01f 1 5 2.1344149e+00 2.41e-03 7.95e-01 -3.7 1.94e-01 -0.1 1.00e+00 1.40e-01h 1 6 2.1024303e+00 1.30e-03 3.12e-01 -4.0 5.00e-02 -0.6 1.00e+00 4.62e-01h 1 7 2.0914662e+00 1.14e-04 4.61e-02 -4.0 5.20e-03 -1.1 1.00e+00 9.12e-01h 1 8 2.0909337e+00 1.90e-07 7.18e-04 -4.0 3.23e-03 -1.5 1.00e+00 1.00e+00h 1 9 2.0909264e+00 7.38e-09 6.98e-05 -4.0 7.16e-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 2.0909258e+00 1.26e-11 3.42e-05 -4.0 1.05e-02 -2.5 1.00e+00 1.00e+00h 1 11 2.0909239e+00 1.36e-10 2.06e-05 -4.0 1.90e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0909183e+00 1.22e-09 2.06e-05 -4.0 5.70e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0909015e+00 1.10e-08 2.06e-05 -4.0 1.71e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0908510e+00 9.92e-08 2.06e-05 -4.0 5.13e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0906999e+00 8.95e-07 2.06e-05 -4.0 1.54e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0902477e+00 8.10e-06 3.62e-05 -4.0 4.60e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0889026e+00 7.42e-05 3.22e-04 -4.0 1.37e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0849721e+00 7.04e-04 2.94e-03 -4.0 3.99e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0796400e+00 2.08e-03 1.86e-01 -4.0 1.04e+02 -6.8 1.00e+00 5.17e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0796196e+00 2.06e-03 1.98e-01 -4.1 6.55e+01 -7.3 1.00e+00 8.04e-01H 1 21 2.0774647e+00 8.65e-03 2.87e-02 -4.0 1.22e+02 -7.7 1.00e+00 9.35e-01h 1 22 2.0768285e+00 1.89e-03 6.89e-02 -4.0 2.05e+02 -8.2 1.00e+00 1.00e+00h 1 23 2.0761984e+00 2.48e-03 2.58e-02 -4.0 3.55e+02 -8.7 1.00e+00 8.63e-01h 1 24 2.0755197e+00 1.43e-03 4.05e-02 -4.0 5.65e+02 -9.2 1.00e+00 6.72e-01h 1 25 2.0757613e+00 2.85e-03 1.21e-02 -4.0 1.56e+02 -9.6 1.00e+00 1.00e+00h 1 26 2.0753749e+00 1.11e-03 4.66e-04 -4.1 7.65e+01 -10.1 1.00e+00 1.00e+00h 1 27 2.0756723e+00 4.69e-04 5.35e-06 -4.0 2.10e+01 -10.6 1.00e+00 1.00e+00h 1 28 2.0756712e+00 5.74e-07 9.21e-07 -4.0 1.09e+01 -11.1 1.00e+00 1.00e+00h 1 29 2.0756712e+00 1.64e-09 6.01e-08 -4.0 3.83e+00 -11.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0756712e+00 2.31e-11 9.41e-10 -4.0 5.47e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 2.0756712121289089e+00 2.0756712121289089e+00 Dual infeasibility......: 9.4101839000085633e-10 9.4101839000085633e-10 Constraint violation....: 2.3060997556001439e-11 2.3060997556001439e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000017e-04 1.0000000000000017e-04 Overall NLP error.......: 9.4101839000085633e-10 9.4101839000085633e-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 = 30.840 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.143s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.144s) integrator 1 hessian structure: 0.053s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.054s) linear index maps built (0.0s) evaluator ready (total: 0.199s) evaluator created (0.199s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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: 0.199s) 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 5.2842628e+00 3.23e+00 4.21e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.9119154e+00 2.53e+00 3.32e+01 -0.6 3.20e+01 -2.0 2.65e-01 5.81e-01f 1 2 3.6608167e+00 2.11e+00 1.47e+02 0.1 8.26e+00 0.2 1.00e+00 1.67e-01f 1 3 3.4654802e+00 1.56e+00 9.65e+01 0.6 1.50e+00 -0.2 9.67e-01 2.55e-01f 1 4 3.1919465e+00 5.91e-01 1.15e+02 0.4 5.26e+00 -0.7 9.70e-01 5.62e-01h 1 5 3.0630335e+00 9.18e-02 7.74e+01 -0.2 4.26e+00 -1.2 9.98e-01 8.57e-01h 1 6 2.9626606e+00 6.11e-02 2.90e+00 -0.7 1.26e+00 -1.7 1.00e+00 1.00e+00f 1 7 2.7266854e+00 1.05e-01 2.16e-01 -1.4 1.89e+00 -2.2 9.96e-01 1.00e+00f 1 8 2.4521191e+00 1.62e-01 1.62e-01 -2.2 3.06e+00 -2.6 9.99e-01 9.99e-01h 1 9 2.3504447e+00 1.84e-01 1.22e-01 -2.5 7.16e+00 -3.1 8.97e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.2741716e+00 1.79e-01 2.37e-01 -2.2 1.09e+01 -3.6 1.00e+00 8.32e-01h 1 11 2.2385111e+00 2.33e-01 5.24e-01 -2.2 9.32e+00 -4.1 7.75e-01 1.00e+00h 1 12 2.1706403e+00 3.94e-01 1.37e-01 -2.3 1.79e+01 -4.5 1.00e+00 9.55e-01h 1 13 2.1377048e+00 2.28e-01 7.29e-02 -3.0 1.92e+01 -5.0 9.93e-01 1.00e+00h 1 14 2.1106047e+00 4.31e-01 1.18e-01 -3.5 3.06e+01 -5.5 1.00e+00 1.00e+00h 1 15 2.0971526e+00 6.98e-01 2.59e-01 -3.2 6.51e+01 -6.0 1.00e+00 1.00e+00h 1 16 2.0935895e+00 1.36e-01 1.50e-01 -3.2 7.20e+01 -6.4 1.00e+00 9.93e-01h 1 17 2.0913759e+00 1.39e-01 7.68e-02 -3.0 1.08e+02 -6.9 1.00e+00 1.00e+00h 1 18 2.0796673e+00 1.06e-01 7.78e-02 -3.7 9.38e+01 -7.4 1.00e+00 1.00e+00h 1 19 2.0775148e+00 8.86e-03 3.63e-02 -3.8 8.95e+01 -7.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0769485e+00 1.39e-02 1.25e-02 -4.0 1.61e+02 -8.4 1.00e+00 1.00e+00h 1 21 2.0759876e+00 4.88e-03 5.96e-03 -4.0 4.36e+02 -8.8 1.00e+00 1.00e+00h 1 22 2.0767650e+00 1.29e-02 1.53e-02 -3.8 1.36e+02 -9.3 1.00e+00 1.00e+00h 1 23 2.0763777e+00 2.92e-03 6.70e-04 -3.9 4.99e+01 -9.8 1.00e+00 1.00e+00h 1 24 2.0757726e+00 1.52e-03 2.82e-05 -4.0 3.98e+01 -10.3 1.00e+00 1.00e+00h 1 25 2.0757798e+00 5.08e-06 9.43e-06 -4.0 4.86e+01 -10.7 1.00e+00 1.00e+00h 1 26 2.0757795e+00 4.99e-08 2.14e-06 -4.0 1.92e+01 -11.2 1.00e+00 1.00e+00h 1 27 2.0757794e+00 1.18e-09 4.42e-08 -4.0 2.75e+00 -11.7 1.00e+00 1.00e+00h 1 28 2.0757794e+00 2.14e-12 1.08e-10 -4.0 1.37e-01 -12.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0757794435111103e+00 2.0757794435111103e+00 Dual infeasibility......: 1.0832793283276423e-10 1.0832793283276423e-10 Constraint violation....: 2.1422863483167021e-12 2.1422863483167021e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000066e-04 1.0000000000000066e-04 Overall NLP error.......: 1.0832793283276423e-10 1.0832793283276423e-10 Number of objective function evaluations = 29 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 29 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 31.981 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: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.052s) linear index maps built (0.0s) evaluator ready (total: 0.117s) evaluator created (0.117s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: bounds on Δt applying constraint: per-timestep equality constraint on trajectory variable u linear constraints added: 3 (0.052s) optimizer initialization complete (total: 0.169s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1264 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1113 Total number of variables............................: 86 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.2822239e+00 2.69e+00 6.33e-02 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7270005e+01 3.51e+00 9.20e+01 -0.4 2.25e+01 - 3.53e-01 5.37e-01h 1 2 2.5654131e+01 3.36e+00 1.76e+04 0.1 6.64e+02 0.0 1.00e+00 1.36e-02h 1 3 2.4584933e+02 1.20e+01 1.54e+05 2.1 3.96e+03 - 2.77e-03 4.00e-02f 1 4 2.3102368e+02 1.16e+01 1.40e+05 0.3 2.94e+02 0.4 2.06e-01 3.53e-02f 1 5 2.0657103e+02 1.10e+01 8.15e+04 0.3 1.29e+03 -0.1 6.24e-02 5.38e-02f 1 6 2.0322364e+02 1.09e+01 8.00e+04 0.3 1.48e+03 -0.5 6.44e-02 7.97e-03h 1 7 2.0311971e+02 1.09e+01 8.00e+04 0.3 1.35e+03 -0.1 4.66e-04 2.62e-04h 1 8 1.8243873e+02 1.07e+01 1.32e+05 0.3 1.32e+03 -0.6 1.38e-04 1.55e-02f 1 9 1.8213156e+02 1.07e+01 1.39e+05 0.3 1.04e+03 -0.2 5.85e-02 9.17e-04h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.7488165e+02 1.05e+01 6.11e+05 0.3 1.37e+03 -0.6 9.13e-02 2.06e-02f 1 11 1.7421253e+02 1.04e+01 6.95e+05 0.3 1.24e+03 -0.2 3.08e-02 2.29e-03h 1 12 1.6025533e+02 9.88e+00 2.21e+06 0.3 1.18e+03 0.2 1.00e+00 5.47e-02f 1 13 1.4161935e+02 9.28e+00 1.50e+07 0.3 1.11e+03 0.6 4.12e-04 6.10e-02f 1 14 1.3956985e+02 9.13e+00 2.12e+07 0.3 9.49e+02 1.1 8.45e-04 1.43e-02f 1 15 1.3958513e+02 9.13e+00 2.12e+07 0.3 1.14e+03 0.6 2.27e-03 1.93e-04h 1 16r 1.3958513e+02 9.13e+00 9.99e+02 1.0 0.00e+00 1.0 0.00e+00 3.09e-07R 5 17r 7.1832963e+01 1.20e+01 5.45e+03 2.9 3.79e+05 - 7.21e-03 1.26e-03f 1 18r 8.2543449e+01 1.17e+01 7.27e+03 3.0 9.15e+02 - 1.07e-01 1.61e-02f 1 19r 7.6718055e+01 1.10e+01 3.06e+03 1.7 2.18e+02 - 2.39e-01 6.20e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20r 5.2154820e+01 7.08e+00 1.75e+03 2.1 4.24e+02 - 8.28e-01 2.75e-01f 1 21 4.4521134e+01 5.66e+00 4.40e+04 -0.2 7.63e+01 0.5 1.00e+00 2.15e-01f 1 22 3.4881736e+01 5.48e+00 1.49e+05 1.5 6.08e+02 0.1 1.00e+00 3.07e-02h 1 23 3.2664874e+01 5.58e+00 2.30e+05 -4.0 7.57e+02 -0.4 1.06e-02 3.75e-02f 1 24 6.4590188e+01 5.26e+00 1.02e+05 1.8 4.65e+03 - 2.66e-02 5.74e-02F 1 25 5.0956594e+02 1.25e+01 3.10e+05 1.4 3.47e+02 -0.9 2.80e-02 5.00e-01h 2 26 3.5235117e+02 6.03e+00 1.49e+05 1.4 8.24e+01 -1.4 9.15e-01 6.10e-01f 1 27 3.5057180e+02 5.92e+00 1.47e+05 1.5 5.87e+01 -0.9 1.00e+00 1.76e-02h 1 28 2.4331341e+02 1.54e+00 3.86e+05 0.8 1.82e+02 -1.4 1.00e+00 1.00e+00f 1 29 1.6211197e+02 1.07e+00 3.16e+04 2.2 6.19e+01 -1.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 9.7016182e+01 2.07e+00 4.79e+03 -3.8 2.32e+01 -1.5 6.96e-01 1.00e+00f 1 31 7.7422691e+01 3.63e+00 2.86e+04 2.0 1.36e+02 -1.9 8.84e-01 1.00e+00f 1 32 5.3377973e+01 8.29e+00 1.50e+04 1.8 1.76e+02 -2.4 7.58e-01 1.00e+00f 1 33 7.2820200e+01 5.99e+00 9.87e+03 1.7 6.77e+01 -0.2 7.73e-01 2.51e-01h 1 34 4.0170809e+01 3.01e+00 3.11e+04 1.7 5.90e+01 -0.7 1.00e+00 1.00e+00f 1 35 3.9158433e+01 4.14e+00 2.07e+03 1.8 4.09e+01 -1.1 1.00e+00 1.00e+00f 1 36 2.3217989e+01 1.50e+00 3.81e+02 1.4 1.33e+01 -0.7 9.89e-01 1.00e+00h 1 37 3.0165721e+01 2.03e+00 2.91e+03 0.5 4.46e+01 -1.2 6.12e-01 1.00e+00h 1 38 2.1391576e+01 3.70e+00 1.59e+03 -4.0 1.35e+02 - 3.31e-01 5.00e-01f 2 39 1.4384080e+01 1.60e+00 7.66e+02 0.6 6.75e+00 -0.8 1.00e+00 5.49e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.4427178e+01 1.60e+00 1.34e+03 0.6 3.23e+03 - 3.54e-02 4.92e-04h 6 41 1.4759743e+01 5.22e-01 9.08e+02 0.1 5.49e+02 - 8.56e-01 1.25e-01f 4 42 1.4067364e+01 4.38e-01 4.30e+03 1.8 2.58e+01 -1.2 7.59e-01 1.94e-01f 2 43 1.7515399e+01 9.09e-01 1.99e+02 0.5 2.03e+01 -1.7 9.98e-01 1.00e+00h 1 44 7.9606340e+00 5.93e-01 1.96e+01 0.5 1.56e+01 -2.2 9.29e-01 1.00e+00f 1 45 8.7155673e+00 1.63e-01 5.60e+01 -1.4 1.20e+01 -2.7 7.50e-01 1.00e+00h 1 46 8.2713265e+00 1.03e+00 4.11e+01 -0.2 2.82e+01 -1.3 9.71e-01 2.67e-01f 2 47 6.3012889e+00 5.25e-01 2.94e+00 -4.0 4.88e+01 - 4.43e-01 1.00e+00f 1 48 6.6417081e+00 1.45e-01 9.93e+00 -1.1 1.34e+01 - 8.17e-01 5.00e-01h 2 49 6.7831731e+00 8.60e-02 4.37e+01 -1.1 3.24e+00 -0.9 9.90e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 6.6671556e+00 9.72e-02 3.24e+01 -1.5 3.15e+00 - 1.00e+00 1.00e+00h 1 51 6.7447717e+00 4.15e-02 4.07e+00 -2.2 8.63e-01 -1.4 1.00e+00 1.00e+00h 1 52 6.7408168e+00 1.04e-02 8.37e-01 -3.0 1.89e+00 - 1.00e+00 1.00e+00h 1 53 6.7421007e+00 2.31e-02 2.46e-01 -4.0 2.34e+00 - 1.00e+00 1.00e+00h 1 54 6.7572079e+00 2.57e-04 2.13e-03 -4.0 8.22e-02 - 1.00e+00 1.00e+00h 1 55 6.7574576e+00 1.42e-05 4.52e-05 -4.0 4.55e-02 - 1.00e+00 1.00e+00h 1 56 6.7574829e+00 2.19e-07 6.96e-07 -4.0 9.98e-04 - 1.00e+00 1.00e+00h 1 57 6.7574831e+00 5.88e-11 1.87e-10 -4.0 1.63e-05 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 57 (scaled) (unscaled) Objective...............: 6.7574831353404665e+00 6.7574831353404665e+00 Dual infeasibility......: 1.8692706410528004e-10 1.8692706410528004e-10 Constraint violation....: 5.8797078317240903e-11 5.8797078317240903e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000006876113111e-04 1.0000006876113111e-04 Overall NLP error.......: 1.8692706410528004e-10 1.8692706410528004e-10 Number of objective function evaluations = 88 Number of objective gradient evaluations = 55 Number of equality constraint evaluations = 88 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 = 57 Total seconds in IPOPT = 32.861 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.067s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.068s) 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: 0.118s) evaluator created (0.118s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.118s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.6402469e+00 2.31e+00 8.40e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8115664e+00 3.16e-01 2.30e+00 -0.8 1.91e+00 0.0 1.00e+00 8.64e-01f 1 2 2.7800405e+00 1.64e-01 2.37e+00 -0.6 8.43e-01 -0.5 9.69e-01 4.80e-01f 1 3 2.7837049e+00 2.81e-02 2.38e-01 -1.1 3.12e-01 -1.0 9.71e-01 1.00e+00f 1 4 2.3552279e+00 6.89e-02 3.17e-01 -1.5 9.61e-01 -1.4 9.84e-01 7.10e-01f 1 5 2.1869477e+00 1.35e-02 1.40e-01 -2.0 4.69e-01 -1.9 8.84e-01 1.00e+00h 1 6 2.1027720e+00 1.52e-03 1.79e-02 -3.2 2.00e-01 -2.4 9.97e-01 9.29e-01h 1 7 2.0910759e+00 2.85e-05 9.08e-04 -4.0 1.45e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909332e+00 1.26e-06 2.84e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909195e+00 2.62e-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 2.0908797e+00 6.19e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907602e+00 5.58e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0904026e+00 5.05e-06 2.26e-05 -4.0 3.64e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0893368e+00 4.61e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0862040e+00 4.32e-04 1.81e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796318e+00 2.53e-03 8.56e-02 -4.0 8.73e+01 -6.7 1.00e+00 7.61e-01h 1 16 2.0812470e+00 1.66e-04 2.01e-01 -4.0 7.07e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778303e+00 6.31e-03 2.92e-02 -4.0 1.13e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781990e+00 1.68e-02 7.32e-02 -3.7 1.75e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0768706e+00 9.05e-03 1.68e-02 -3.8 3.13e+02 -8.6 1.00e+00 9.18e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0760512e+00 7.53e-03 2.21e-02 -3.9 4.69e+02 -9.1 1.00e+00 9.75e-01f 1 21 2.0757546e+00 8.55e-03 9.92e-03 -4.0 1.48e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756810e+00 5.49e-04 4.39e-04 -4.0 6.51e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 8.31e-06 7.37e-06 -4.0 2.34e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 4.55e-08 1.54e-06 -4.0 1.53e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.68e-09 1.56e-07 -4.0 5.41e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 8.24e-11 3.20e-09 -4.0 9.60e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122102772e+00 2.0756712122102772e+00 Dual infeasibility......: 3.1962783905877239e-09 3.1962783905877239e-09 Constraint violation....: 8.2371554022131477e-11 8.2371554022131477e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000036e-04 1.0000000000000036e-04 Overall NLP error.......: 3.1962783905877239e-09 3.1962783905877239e-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 = 34.216 EXIT: Optimal Solution Found. ┌ Warning: Constraint jacobian product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:394 ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 Difference in Hessian ====================================================================================== Information request received. A stacktrace will print followed by a 1.0 second profile. --trace-compile is enabled during profile collection. ====================================================================================== cmd: /opt/julia/bin/julia 21 running 1 of 1 signal (10): User defined signal 1 jl_to_typeof at /source/src/julia.h:1040:12 [inlined] ijl_types_equal at /source/src/subtype.c:2414:9 jl_specializations_get_linfo_ at /source/src/gf.c:236:17 #specialize_method#6 at ./runtime_internals.jl:1796:40 [inlined] specialize_method at ./runtime_internals.jl:1783:4 [inlined] typeinf_edge at ./../usr/share/julia/Compiler/src/typeinfer.jl:1147:14 abstract_call_method at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:769:296 infercalls at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:178:51 jfptr_infercalls_21.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 doworkloop at ./../usr/share/julia/Compiler/src/inferencestate.jl:1235:20 jfptr_doworkloop_1.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 typeinf at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:4859:122 typeinf_ext at ./../usr/share/julia/Compiler/src/typeinfer.jl:1537:141 typeinf_ext_toplevel at ./../usr/share/julia/Compiler/src/typeinfer.jl:1723:2 [inlined] typeinf_ext_toplevel at ./../usr/share/julia/Compiler/src/typeinfer.jl:1732:19 jfptr_typeinf_ext_toplevel_2.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 jl_apply at /source/src/julia.h:2327:12 [inlined] jl_type_infer at /source/src/gf.c:463:35 jl_compile_method_internal at /source/src/gf.c:3638:24 _jl_invoke at /source/src/gf.c:4103:16 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 jl_apply at /source/src/julia.h:2327:12 [inlined] do_call at /source/src/interpreter.c:123:26 eval_value at /source/src/interpreter.c:243:16 eval_stmt_value at /source/src/interpreter.c:194:23 [inlined] eval_body at /source/src/interpreter.c:693:13 jl_interpret_toplevel_thunk at /source/src/interpreter.c:884:21 ijl_eval_thunk at /source/src/toplevel.c:768:18 jl_toplevel_eval_flex at /source/src/toplevel.c:712:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:602:15 jl_toplevel_eval_flex at /source/src/toplevel.c:684:27 ijl_toplevel_eval at /source/src/toplevel.c:782:12 ijl_toplevel_eval_in at /source/src/toplevel.c:827:13 eval at ./boot.jl:517:3 include_string at ./loading.jl:3113:145 include_string at ./loading.jl:3123:3 _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 jl_apply at /source/src/julia.h:2327:12 [inlined] jl_f_invokelatest at /source/src/builtins.c:910:23 #run_testitem##6 at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:119:7 [inlined] withpath at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/vendored_code.jl:7:16 #run_testitem##4 at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:118:16 [inlined] cd at ./file.jl:112:19 unknown function (ip: 0x728ba0bd7e76) at (unknown file) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 run_testitem at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:117:127 unknown function (ip: 0x728ba0bd7a1e) at (unknown file) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:277:2 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2415:5 [inlined] macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:275:21 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2415:24 [inlined] macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:253:26 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2415:29 [inlined] #run_tests#7 at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:250:687 run_tests at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:134:3 unknown function (ip: 0x728ba0b1db82) at (unknown file) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 jl_apply at /source/src/julia.h:2327:12 [inlined] do_call at /source/src/interpreter.c:123:26 eval_value at /source/src/interpreter.c:243:16 eval_stmt_value at /source/src/interpreter.c:194:23 [inlined] eval_body at /source/src/interpreter.c:693:13 jl_interpret_toplevel_thunk at /source/src/interpreter.c:884:21 ijl_eval_thunk at /source/src/toplevel.c:768:18 jl_toplevel_eval_flex at /source/src/toplevel.c:712:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:602:15 jl_toplevel_eval_flex at /source/src/toplevel.c:684:27 ijl_toplevel_eval at /source/src/toplevel.c:782:12 ijl_toplevel_eval_in at /source/src/toplevel.c:827:13 eval at ./boot.jl:517:3 include_string at ./loading.jl:3113:145 _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 _include at ./loading.jl:3173:45 include at ./Base.jl:327:3 IncludeInto at ./Base.jl:328:4 jfptr_IncludeInto_1.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 jl_apply at /source/src/julia.h:2327:12 [inlined] do_call at /source/src/interpreter.c:123:26 eval_value at /source/src/interpreter.c:243:16 eval_stmt_value at /source/src/interpreter.c:194:23 [inlined] eval_body at /source/src/interpreter.c:693:13 jl_interpret_toplevel_thunk at /source/src/interpreter.c:884:21 ijl_eval_thunk at /source/src/toplevel.c:768:18 jl_toplevel_eval_flex at /source/src/toplevel.c:712:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:602:15 jl_toplevel_eval_flex at /source/src/toplevel.c:684:27 ijl_toplevel_eval at /source/src/toplevel.c:782:12 ijl_toplevel_eval_in at /source/src/toplevel.c:827:13 eval at ./boot.jl:517:3 exec_options at ./client.jl:318:410 _start at ./client.jl:593:36 jfptr__start_0.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 jl_apply at /source/src/julia.h:2327:12 [inlined] true_main at /source/src/jlapi.c:971:29 jl_repl_entrypoint at /source/src/jlapi.c:1138:15 main at /source/cli/loader_exe.c:58:15 unknown function (ip: 0x728ba9fe8249) at /lib/x86_64-linux-gnu/libc.so.6 __libc_start_main at /lib/x86_64-linux-gnu/libc.so.6 (unknown line) unknown function (ip: 0x4010b8) at /workspace/srcdir/glibc-2.17/csu/../sysdeps/x86_64/start.S unknown function (ip: (nil)) at (unknown file) ============================================================== Profile collected. A report will print at the next yield point. Disabling --trace-compile ============================================================== ====================================================================================== Information request received. A stacktrace will print followed by a 1.0 second profile. --trace-compile is enabled during profile collection. ====================================================================================== cmd: /opt/julia/bin/julia 1 running 0 of 1 signal (10): User defined signal 1 epoll_pwait at /lib/x86_64-linux-gnu/libc.so.6 (unknown line) uv__io_poll at /workspace/srcdir/libuv/src/unix/linux.c:1404 uv_run at /workspace/srcdir/libuv/src/unix/core.c:430 ijl_task_get_next at /source/src/scheduler.c:457:34 wait at ./task.jl:1246:50 wait_forever at ./task.jl:1168:5 jfptr_wait_forever_0.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 jl_apply at /source/src/julia.h:2327:12 [inlined] start_task at /source/src/task.c:1275:19 unknown function (ip: (nil)) at (unknown file) ============================================================== Profile collected. A report will print at the next yield point. Disabling --trace-compile ============================================================== ┌ Warning: There were no samples collected in one or more groups. │ This may be due to idle threads, or you may need to run your │ program longer (perhaps by running it multiple times), │ or adjust the delay between samples with `Profile.init()`. └ @ Profile /opt/julia/share/julia/stdlib/v1.14/Profile/src/Profile.jl:1361 Overhead ╎ [+additional indent] Count File:Line Function ========================================================= Thread 1 (default) Task 0x00007cfae866e1d0 Total snapshots: 558. Utilization: 0% ╎558 @Base/task.jl:1168 wait_forever() 557╎ 558 @Base/task.jl:1246 wait() [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=120, global_len=0 ┌ Warning: There were no samples collected in one or more groups. │ This may be due to idle threads, or you may need to run your │ program longer (perhaps by running it multiple times), │ or adjust the delay between samples with `Profile.init()`. └ @ Profile /opt/julia/share/julia/stdlib/v1.14/Profile/src/Profile.jl:1361 [test_integrator] Testing evaluate!...Overhead ╎ [+additional indent] Count File:Line Function ========================================================= Thread 1 (default) Task 0x0000728b8f5fc010 Total snapshots: 1. Utilization: 100% ╎1 @Base/client.jl:593 _start() ╎ 1 @Base/client.jl:318 exec_options(opts::Base.JLOptions) ╎ 1 @Base/boot.jl:517 eval(m::Module, e::Any) ╎ 1 @Base/Base.jl:328 (::Base.IncludeInto)(fname::String) ╎ 1 @Base/Base.jl:327 include(mapexpr::Function, mod::Module, _path::Strin… ╎ 1 @Base/loading.jl:3173 _include(mapexpr::Function, mod::Module, _path:… ╎ ╎ 1 @Base/loading.jl:3113 include_string(mapexpr::typeof(identity), mod:… ╎ ╎ 1 @Base/boot.jl:517 eval(m::Module, e::Any) ╎ ╎ 1 @TestItemRunner/…er.jl:134 run_tests(path::String) ╎ ╎ 1 @TestItemRunner/…r.jl:250 run_tests(path::String; filter::Nothing… ╎ ╎ 1 @Test/src/Test.jl:2415 iterate(A::Vector{Any}, state::Int64) ╎ ╎ ╎ 1 @TestItemRunner/….jl:253 macro expansion ╎ ╎ ╎ 1 @Test/src/Test.jl:2415 macro expansion ╎ ╎ ╎ 1 @TestItemRunner/….jl:275 macro expansion ╎ ╎ ╎ 1 @Test/src/Test.jl:2415 macro expansion ╎ ╎ ╎ 1 @TestItemRunner/…jl:277 macro expansion ╎ ╎ ╎ ╎ 1 @TestItemRunner/…l:117 run_testitem(filepath::String, use_… ╎ ╎ ╎ ╎ 1 @Base/file.jl:112 cd(f::TestItemRunner.var"#run_testitem#… ╎ ╎ ╎ ╎ 1 @TestItemRunner/…l:118 (::TestItemRunner.var"#run_testit… ╎ ╎ ╎ ╎ 1 @TestItemRunner/…l:7 withpath(f::TestItemRunner.var"#ru… ╎ ╎ ╎ ╎ 1 @TestItemRunner/…:119 haskey(d::IdDict{Any, Any}, k::S… ╎ ╎ ╎ ╎ ╎ 1 @Base/loading.jl:3123 include_string(m::Module, txt::… ╎ ╎ ╎ ╎ ╎ 1 @Base/loading.jl:3113 include_string(mapexpr::typeof… ╎ ╎ ╎ ╎ ╎ 1 @Base/boot.jl:517 eval(m::Module, e::Any) ╎ ╎ ╎ ╎ ╎ 1 @DirectTrajOpt/…:257 kwcall(::@NamedTuple{atol::Fl… ╎ ╎ ╎ ╎ ╎ 1 @DirectTrajOpt/…:275 test_objective(obj::LinearRe… [1] signal 15: Terminated in expression starting at /PkgEval.jl/scripts/evaluate.jl:214 epoll_pwait at /lib/x86_64-linux-gnu/libc.so.6 (unknown line) uv__io_poll at /workspace/srcdir/libuv/src/unix/linux.c:1404 uv_run at /workspace/srcdir/libuv/src/unix/core.c:430 ijl_task_get_next at /source/src/scheduler.c:457:34 wait at ./task.jl:1246:50 wait_forever at ./task.jl:1168:5 jfptr_wait_forever_0.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 jl_apply at /source/src/julia.h:2327:12 [inlined] start_task at /source/src/task.c:1275:19 unknown function (ip: (nil)) at (unknown file) Allocations: 19798310 (Pool: 19797603; Big: 707); GC: 16 [21] signal 15: Terminated in expression starting at /home/pkgeval/.julia/packages/DirectTrajOpt/bnQ8f/src/integrators/time_dependent_bilinear_integrator.jl:256 _ZNK4llvm5Value14getAllMetadataERNS_15SmallVectorImplISt4pairIjPNS_6MDNodeEEEE at /opt/julia/bin/../lib/julia/libLLVM.so.20.1jl (unknown line) _ZN12_GLOBAL__N_18Verifier16visitInstructionERN4llvm11InstructionE at /opt/julia/bin/../lib/julia/libLLVM.so.20.1jl (unknown line) _ZN12_GLOBAL__N_18Verifier6verifyERKN4llvm8FunctionE at /opt/julia/bin/../lib/julia/libLLVM.so.20.1jl (unknown line) _ZN4llvm14verifyFunctionERKNS_8FunctionEPNS_11raw_ostreamE at /opt/julia/bin/../lib/julia/libLLVM.so.20.1jl (unknown line) verifyLLVMIR at /source/src/pipeline.cpp:1077:23 run at /source/src/llvm-propagate-addrspaces.cpp:309:5 run at /source/usr/include/llvm/IR/PassManagerInternal.h:91:41 _ZN4llvm11PassManagerINS_8FunctionENS_15AnalysisManagerIS1_JEEEJEE3runERS1_RS3_ at /opt/julia/bin/../lib/julia/libLLVM.so.20.1jl (unknown line) run at /source/usr/include/llvm/IR/PassManagerInternal.h:91:41 _ZN4llvm27ModuleToFunctionPassAdaptor3runERNS_6ModuleERNS_15AnalysisManagerIS1_JEEE at /opt/julia/bin/../lib/julia/libLLVM.so.20.1jl (unknown line) run at /source/usr/include/llvm/IR/PassManagerInternal.h:91:41 _ZN4llvm11PassManagerINS_6ModuleENS_15AnalysisManagerIS1_JEEEJEE3runERS1_RS3_ at /opt/julia/bin/../lib/julia/libLLVM.so.20.1jl (unknown line) run at /source/src/pipeline.cpp:977:12 operator() at /source/src/jitlayers.cpp:1298:17 operator() at /source/src/jitlayers.cpp:1435:12 [inlined] optimizeModule at /source/src/jitlayers.cpp:2353:18 materialize at /source/src/jitlayers.cpp:905:31 _ZN4llvm3orc19MaterializationTask3runEv at /opt/julia/bin/../lib/julia/libLLVM.so.20.1jl (unknown line) dispatch at /source/src/julia-task-dispatcher.h:353:11 _ZN4llvm3orc16ExecutionSession22dispatchOutstandingMUsEv at /opt/julia/bin/../lib/julia/libLLVM.so.20.1jl (unknown line) _ZN4llvm3orc16ExecutionSession17OL_completeLookupESt10unique_ptrINS0_21InProgressLookupStateESt14default_deleteIS3_EESt10shared_ptrINS0_23AsynchronousSymbolQueryEESt8functionIFvRKNS_8DenseMapIPNS0_8JITDylibENS_8DenseSetINS0_15SymbolStringPtrENS_12DenseMapInfoISF_vEEEENSG_ISD_vEENS_6detail12DenseMapPairISD_SI_EEEEEE at /opt/julia/bin/../lib/julia/libLLVM.so.20.1jl (unknown line) _ZN4llvm3orc25InProgressFullLookupState8completeESt10unique_ptrINS0_21InProgressLookupStateESt14default_deleteIS3_EE at /opt/julia/bin/../lib/julia/libLLVM.so.20.1jl (unknown line) _ZN4llvm3orc16ExecutionSession19OL_applyQueryPhase1ESt10unique_ptrINS0_21InProgressLookupStateESt14default_deleteIS3_EENS_5ErrorE at /opt/julia/bin/../lib/julia/libLLVM.so.20.1jl (unknown line) _ZN4llvm3orc16ExecutionSession6lookupENS0_10LookupKindERKSt6vectorISt4pairIPNS0_8JITDylibENS0_19JITDylibLookupFlagsEESaIS8_EENS0_15SymbolLookupSetENS0_11SymbolStateENS_15unique_functionIFvNS_8ExpectedINS_8DenseMapINS0_15SymbolStringPtrENS0_17ExecutorSymbolDefENS_12DenseMapInfoISI_vEENS_6detail12DenseMapPairISI_SJ_EEEEEEEEESt8functionIFvRKNSH_IS6_NS_8DenseSetISI_SL_EENSK_IS6_vEENSN_IS6_SV_EEEEEE at /opt/julia/bin/../lib/julia/libLLVM.so.20.1jl (unknown line) publishCIs at /source/src/jitlayers.cpp:2056:14 jl_compile_codeinst_impl at /source/src/jitlayers.cpp:510:39 jl_compile_method_internal at /source/src/gf.c:3650:27 _jl_invoke at /source/src/gf.c:4103:16 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 #evaluate!#23 at /home/pkgeval/.julia/packages/DirectTrajOpt/bnQ8f/src/integrators/time_dependent_bilinear_integrator.jl:167:70 evaluate! at /home/pkgeval/.julia/packages/DirectTrajOpt/bnQ8f/src/integrators/time_dependent_bilinear_integrator.jl:145:4 [inlined] #33 at /home/pkgeval/.julia/packages/DirectTrajOpt/bnQ8f/src/integrators/_integrators.jl:138:39 unknown function (ip: 0x728b123a31cf) at (unknown file) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:781:6 [inlined] #test_integrator#30 at /home/pkgeval/.julia/packages/DirectTrajOpt/bnQ8f/src/integrators/_integrators.jl:143:88 test_integrator at /home/pkgeval/.julia/packages/DirectTrajOpt/bnQ8f/src/integrators/_integrators.jl:97:52 unknown function (ip: 0x728b1237c578) at (unknown file) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 jl_apply at /source/src/julia.h:2327:12 [inlined] do_call at /source/src/interpreter.c:123:26 eval_value at /source/src/interpreter.c:243:16 eval_stmt_value at /source/src/interpreter.c:194:23 [inlined] eval_body at /source/src/interpreter.c:693:13 jl_interpret_toplevel_thunk at /source/src/interpreter.c:884:21 ijl_eval_thunk at /source/src/toplevel.c:768:18 jl_toplevel_eval_flex at /source/src/toplevel.c:712:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:602:15 jl_toplevel_eval_flex at /source/src/toplevel.c:684:27 ijl_toplevel_eval at /source/src/toplevel.c:782:12 ijl_toplevel_eval_in at /source/src/toplevel.c:827:13 eval at ./boot.jl:517:3 include_string at ./loading.jl:3113:145 include_string at ./loading.jl:3123:3 _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 jl_apply at /source/src/julia.h:2327:12 [inlined] jl_f_invokelatest at /source/src/builtins.c:910:23 #run_testitem##6 at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:119:7 [inlined] withpath at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/vendored_code.jl:7:16 #run_testitem##4 at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:118:16 [inlined] cd at ./file.jl:112:19 unknown function (ip: 0x728ba0bd7e76) at (unknown file) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 run_testitem at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:117:127 unknown function (ip: 0x728ba0bd7a1e) at (unknown file) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:277:2 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2415:5 [inlined] macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:275:21 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2415:24 [inlined] macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:253:26 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2415:29 [inlined] #run_tests#7 at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:250:687 run_tests at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:134:3 unknown function (ip: 0x728ba0b1db82) at (unknown file) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 jl_apply at /source/src/julia.h:2327:12 [inlined] do_call at /source/src/interpreter.c:123:26 eval_value at /source/src/interpreter.c:243:16 eval_stmt_value at /source/src/interpreter.c:194:23 [inlined] eval_body at /source/src/interpreter.c:693:13 jl_interpret_toplevel_thunk at /source/src/interpreter.c:884:21 ijl_eval_thunk at /source/src/toplevel.c:768:18 jl_toplevel_eval_flex at /source/src/toplevel.c:712:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:602:15 jl_toplevel_eval_flex at /source/src/toplevel.c:684:27 ijl_toplevel_eval at /source/src/toplevel.c:782:12 ijl_toplevel_eval_in at /source/src/toplevel.c:827:13 eval at ./boot.jl:517:3 include_string at ./loading.jl:3113:145 _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 _include at ./loading.jl:3173:45 include at ./Base.jl:327:3 IncludeInto at ./Base.jl:328:4 jfptr_IncludeInto_1.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 jl_apply at /source/src/julia.h:2327:12 [inlined] do_call at /source/src/interpreter.c:123:26 eval_value at /source/src/interpreter.c:243:16 eval_stmt_value at /source/src/interpreter.c:194:23 [inlined] eval_body at /source/src/interpreter.c:693:13 jl_interpret_toplevel_thunk at /source/src/interpreter.c:884:21 ijl_eval_thunk at /source/src/toplevel.c:768:18 jl_toplevel_eval_flex at /source/src/toplevel.c:712:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:602:15 jl_toplevel_eval_flex at /source/src/toplevel.c:684:27 ijl_toplevel_eval at /source/src/toplevel.c:782:12 ijl_toplevel_eval_in at /source/src/toplevel.c:827:13 eval at ./boot.jl:517:3 exec_options at ./client.jl:318:410 _start at ./client.jl:593:36 jfptr__start_0.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 jl_apply at /source/src/julia.h:2327:12 [inlined] true_main at /source/src/jlapi.c:971:29 jl_repl_entrypoint at /source/src/jlapi.c:1138:15 main at /source/cli/loader_exe.c:58:15 unknown function (ip: 0x728ba9fe8249) at /lib/x86_64-linux-gnu/libc.so.6 __libc_start_main at /lib/x86_64-linux-gnu/libc.so.6 (unknown line) unknown function (ip: 0x4010b8) at /workspace/srcdir/glibc-2.17/csu/../sysdeps/x86_64/start.S unknown function (ip: (nil)) at (unknown file) Allocations: 1536628979 (Pool: 1536549728; Big: 79251); GC: 658 PkgEval terminated after 2728.48s: test duration exceeded the time limit