Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.2116 (f310e68148*) started at 2026-05-07T03:32:20.719 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 14.0s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... 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 v7.2.1 [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 v1.18.0 [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 v0.3.47 [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 5.94s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling project... 31.1 s ✓ DirectTrajOpt 32.9 s ✓ DirectTrajOpt → MadNLPSolverExt 2 dependencies successfully precompiled in 69 seconds. 216 already precompiled. Precompilation completed after 90.94s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_BfMiyh/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_BfMiyh/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 v7.2.1 [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 v1.18.0 [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 v0.3.47 [f8b46487] TestItemRunner v1.1.5 [1c621080] TestItems v1.0.0 [a759f4b9] TimerOutputs v0.5.29 [6dad8b7f] TrajectoryIndexingUtils v0.1.0 [3bb67fe8] TranscodingStreams v0.11.3 [781d530d] TruncatedStacktraces v1.4.0 [ae81ac8f] ASL_jll v0.1.3+0 [6e34b625] Bzip2_jll v1.0.9+0 [e33a78d0] Hwloc_jll v2.13.0+1 [9cc047cb] Ipopt_jll v300.1400.1901+0 [94ce4f54] Libiconv_jll v1.18.0+0 [d00139f3] METIS_jll v5.1.3+0 ⌅ [d7ed1dd3] MUMPS_seq_jll v500.800.200+0 [656ef2d0] OpenBLAS32_jll v0.3.33+0 [efe28fd5] OpenSpecFun_jll v0.5.6+0 [319450e9] SPRAL_jll v2025.9.18+0 ⌅ [02c8fc9c] XML2_jll v2.13.9+0 [a65dc6b1] Xorg_libpciaccess_jll v0.19.0+0 [0dad84c5] ArgTools v1.1.2 [56f22d72] Artifacts v1.11.0 [2a0f44e3] Base64 v1.11.0 [ade2ca70] Dates v1.11.0 [8ba89e20] Distributed v1.11.0 [f43a241f] Downloads v1.7.0 [7b1f6079] FileWatching v1.11.0 [9fa8497b] Future v1.11.0 [b77e0a4c] InteractiveUtils v1.11.0 [ac6e5ff7] JuliaSyntaxHighlighting v1.13.0 [b27032c2] LibCURL v1.0.0 [76f85450] LibGit2 v1.11.0 [8f399da3] Libdl v1.11.0 [37e2e46d] LinearAlgebra v1.13.0 [56ddb016] Logging v1.11.0 [d6f4376e] Markdown v1.11.0 [a63ad114] Mmap v1.11.0 [ca575930] NetworkOptions v1.3.0 [44cfe95a] Pkg v1.14.0 [de0858da] Printf v1.11.0 [9a3f8284] Random v1.11.0 [ea8e919c] SHA v1.0.0 [9e88b42a] Serialization v1.11.0 [6462fe0b] Sockets v1.11.0 [2f01184e] SparseArrays v1.13.0 [f489334b] StyledStrings v1.13.0 [4607b0f0] SuiteSparse [fa267f1f] TOML v1.0.3 [a4e569a6] Tar v1.10.0 [8dfed614] Test v1.11.0 [cf7118a7] UUIDs v1.11.0 [4ec0a83e] Unicode v1.11.0 [e66e0078] CompilerSupportLibraries_jll v1.5.1+0 [deac9b47] LibCURL_jll v8.19.0+0 [e37daf67] LibGit2_jll v1.9.2+0 [29816b5a] LibSSH2_jll v1.11.3+1 [14a3606d] MozillaCACerts_jll v2026.3.19 [4536629a] OpenBLAS_jll v0.3.33+0 [05823500] OpenLibm_jll v0.8.7+0 [458c3c95] OpenSSL_jll v3.5.6+0 [efcefdf7] PCRE2_jll v10.47.0+0 [bea87d4a] SuiteSparse_jll v7.10.1+0 [83775a58] Zlib_jll v1.3.2+0 [3161d3a3] Zstd_jll v1.5.7+1 [8e850b90] libblastrampoline_jll v5.15.0+0 [8e850ede] nghttp2_jll v1.69.0+0 [3f19e933] p7zip_jll v17.8.0+0 Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. Testing Running tests... ┌ 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: 1.899s integrator 2 jacobian structure: 0.055s integrator 3 jacobian structure: 0.0s jacobian structure: 1872 nonzeros (1.995s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.063s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 2.281s sub-objective 2 (QuadraticRegularizer): 1.851s sub-objective 3 (LinearRegularizer): 0.073s sub-objective 4 (MinimumTimeObjective): 0.016s objective hessian structure: 4.316s hessian structure: 2431 nonzeros (4.43s) linear index maps built (0.0s) evaluator ready (total: 6.898s) evaluator created (11.389s) NL constraint bounds extracted (0.092s) NLP block data built (0.0s) Ipopt optimizer configured (0.408s) 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 (3.606s) optimizer initialization complete (total: 16.377s) ****************************************************************************** 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 3.6918873e+00 2.22e+00 1.08e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.2064480e+00 5.31e-01 1.61e+01 -0.5 3.61e+00 0.0 1.31e-01 7.67e-01f 1 2 3.6779349e+00 3.90e-01 1.46e+01 0.3 4.06e+00 0.4 4.20e-01 2.49e-01f 1 3 4.5658839e+00 2.61e-02 2.41e+00 -0.3 3.29e-01 0.9 8.97e-01 1.00e+00f 1 4 4.1881638e+00 4.15e-03 4.90e-01 -1.3 8.44e-02 0.4 1.00e+00 1.00e+00h 1 5 3.4387763e+00 2.22e-02 1.95e-01 -2.2 2.47e-01 -0.1 9.88e-01 1.00e+00f 1 6 6.5414029e+00 7.39e-01 1.58e+00 -0.1 2.83e+01 -0.6 1.86e-02 3.59e-02f 1 7 4.2522532e+00 3.53e-01 8.17e-01 -1.7 4.88e-01 -0.2 1.00e+00 1.00e+00f 1 8 3.4957826e+00 2.80e-01 4.81e-01 -1.7 1.34e+00 -0.6 4.60e-01 3.25e-01f 1 9 2.5350629e+00 1.05e-01 4.71e-01 -1.7 6.27e-01 -1.1 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.1982805e+00 7.48e-02 8.94e-02 -2.3 1.22e+00 -1.6 9.57e-01 8.16e-01h 1 11 1.8983383e+00 1.39e-01 2.22e-01 -2.7 2.10e+00 -2.1 7.20e-01 9.83e-01h 1 12 1.8454379e+00 1.48e-02 2.20e-02 -3.5 9.51e-01 -1.6 9.98e-01 1.00e+00h 1 13 1.7556700e+00 2.53e-01 7.30e-02 -4.0 2.05e+00 -2.1 1.81e-01 8.40e-01h 1 14 1.5367741e+00 2.09e-01 8.24e-02 -4.0 3.46e+00 -2.6 1.00e+00 1.00e+00h 1 15 1.3719897e+00 2.28e-01 1.22e-01 -3.4 6.22e+00 -3.1 1.00e+00 1.00e+00h 1 16 1.2144903e+00 4.55e-01 1.13e-01 -3.5 9.85e+00 -3.5 1.00e+00 1.00e+00h 1 17 1.0772143e+00 6.77e-01 1.22e-01 -4.0 1.57e+01 -4.0 1.00e+00 1.00e+00h 1 18 1.0776568e+00 4.68e-02 8.62e-03 -4.0 7.37e+00 -3.6 1.00e+00 1.00e+00h 1 19 1.0072121e+00 3.45e-01 5.47e-02 -4.0 1.33e+01 -4.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 9.2735713e-01 8.54e-01 1.01e-01 -4.0 2.06e+01 -4.5 1.00e+00 1.00e+00h 1 21 9.2580528e-01 4.88e-02 1.36e-02 -4.0 9.03e+00 -4.1 1.00e+00 1.00e+00h 1 22 8.8099288e-01 4.04e-01 4.87e-02 -4.0 1.67e+01 -4.6 1.00e+00 1.00e+00h 1 23 1.4160138e+00 1.25e+01 2.06e+00 -2.0 1.63e+02 -5.1 5.22e-02 8.16e-01f 1 24 1.2626257e+00 1.16e+01 4.86e+00 -2.3 3.13e+01 -3.7 1.00e+00 7.39e-02h 1 25 1.0670013e+00 5.77e-01 1.44e+00 -2.3 1.34e+01 -4.2 7.64e-01 1.00e+00h 1 26 9.7415705e-01 2.05e-01 1.01e-01 -2.3 2.24e+01 -4.7 9.58e-01 1.00e+00h 1 27 9.4186634e-01 4.86e-01 1.78e-01 -2.3 3.86e+01 -5.2 1.00e+00 1.00e+00h 1 28 8.8570772e-01 4.37e+00 7.51e-01 -2.3 1.32e+02 -5.7 1.00e+00 1.00e+00h 1 29 8.5360727e-01 5.55e+00 6.74e-01 -2.3 1.21e+02 -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 7.5129295e-01 2.70e+00 4.62e-01 -2.6 2.04e+02 -6.6 1.00e+00 1.00e+00h 1 31 9.4023569e-01 9.44e+00 6.00e+00 -2.1 3.21e+02 -7.1 9.54e-01 1.00e+00h 1 32 8.3584345e-01 2.07e+00 4.22e-01 -2.1 3.10e+02 -6.7 1.00e+00 5.01e-01h 1 33 8.7186422e-01 8.17e+00 2.88e+00 -2.1 3.12e+02 -7.1 1.00e+00 1.00e+00h 1 34 8.5651616e-01 1.40e+00 4.29e+00 -2.1 5.21e+02 -7.6 1.00e+00 1.00e+00h 1 35 8.3622362e-01 1.87e+01 7.74e+00 -2.1 1.48e+03 -8.1 1.00e+00 1.00e+00h 1 36 8.5074989e-01 1.88e+01 3.48e+00 -2.1 6.26e+02 -7.7 1.00e+00 1.00e+00h 1 37 8.1961937e-01 1.30e+01 7.78e+00 -2.1 6.63e+02 -8.1 9.99e-01 1.00e+00h 1 38 8.5210504e-01 3.25e+00 2.89e+00 -2.1 3.77e+02 -7.7 1.00e+00 1.00e+00h 1 39 8.6242900e-01 5.26e+00 7.25e+00 -2.1 7.15e+02 -8.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 8.5671917e-01 4.14e+00 1.41e+01 -2.1 1.22e+03 -8.7 1.00e+00 1.00e+00h 1 41 8.5469146e-01 9.67e+01 2.51e+01 -2.1 6.54e+03 -9.2 1.00e+00 1.00e+00h 1 42 8.4553894e-01 6.64e+01 7.76e+00 -2.1 2.62e+03 -8.7 9.14e-01 5.00e-01h 2 43 8.3823352e-01 1.51e+02 9.51e+00 -2.1 5.56e+04 -9.2 1.14e-01 1.06e-01h 2 44 8.6271277e-01 1.11e+02 5.38e+00 -2.1 4.30e+03 -8.8 1.00e+00 4.49e-01h 2 45 8.5271028e-01 2.76e+01 5.32e+00 -2.1 1.25e+03 -8.4 1.00e+00 1.00e+00h 1 46 8.3895222e-01 1.33e+01 1.33e+01 -2.1 1.02e+03 -8.8 3.90e-01 8.66e-01h 1 47 8.5590492e-01 5.59e+01 2.22e+01 -2.1 5.12e+03 -9.3 1.00e+00 8.54e-01h 1 48 8.7550404e-01 8.78e+01 6.31e+01 -2.1 8.37e+03 -9.8 4.16e-01 1.00e+00h 1 49 8.5733195e-01 8.85e+01 4.53e+01 -2.1 1.95e+04 -9.4 3.43e-01 1.95e-01h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 8.6565881e-01 9.64e+01 3.60e+01 -2.1 9.61e+03 -8.9 2.49e-01 2.33e-01h 2 51 8.5312542e-01 1.36e+02 2.18e+01 -2.1 4.34e+04 -9.4 4.55e-01 1.00e-01h 2 52 8.8429215e-01 5.04e+01 2.85e+00 -2.1 1.20e+03 -7.2 1.00e+00 6.44e-01h 1 53 8.3937195e-01 1.85e+01 1.81e+00 -2.1 6.76e+02 -7.7 8.81e-01 6.27e-01h 1 54 8.9655027e-01 1.50e+00 2.32e+00 -2.1 3.50e+02 -8.1 8.40e-01 1.00e+00h 1 55 9.4929646e-01 1.43e+00 3.99e+00 -2.1 7.18e+02 -8.6 9.38e-01 9.35e-01H 1 56 9.1257103e-01 1.33e+00 6.63e+00 -2.1 4.56e+03 -9.1 6.22e-02 2.50e-01h 3 57 8.8838770e-01 5.77e+01 1.49e+01 -2.1 1.02e+04 -9.6 1.00e+00 5.00e-01h 2 58 9.1042676e-01 1.08e+01 1.17e+01 -2.1 1.38e+03 -9.1 1.00e+00 1.00e+00h 1 59 8.9714227e-01 8.31e+01 3.43e+01 -2.1 6.48e+03 -9.6 5.89e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 9.1194309e-01 1.77e+02 4.99e+01 -2.1 2.62e+04 -10.1 3.64e-01 4.72e-01h 2 61 9.0056287e-01 2.26e+02 1.03e+01 -2.1 2.64e+04 -9.7 1.00e+00 4.00e-01h 2 62 9.0077557e-01 2.26e+02 9.89e+00 -2.1 2.04e+04 -9.2 2.42e-01 1.98e-01h 2 63 9.0110088e-01 2.94e+02 1.34e+01 -2.1 5.14e+04 -9.7 2.10e-01 1.99e-01h 2 64 8.9578839e-01 2.42e+02 3.31e+00 -2.1 3.13e+03 -8.4 7.79e-01 1.98e-01h 2 65 8.8620142e-01 2.08e+02 3.77e+00 -2.1 6.10e+03 -8.9 3.25e-01 1.79e-01h 2 66 8.9656858e-01 1.90e+02 4.43e+00 -2.1 5.35e+03 -8.4 1.17e-01 1.14e-01h 2 67 8.9096505e-01 1.90e+02 3.80e+00 -2.1 6.01e+04 -8.9 6.36e-02 1.48e-02h 3 68 8.8972398e-01 6.95e-01 3.76e+00 -2.1 1.95e+02 -6.7 1.00e+00 1.00e+00h 1 69 9.1887213e-01 1.33e-01 1.49e+00 -2.1 8.60e+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 7.8686230e-01 6.25e-02 2.59e+00 -2.6 1.64e+02 -7.6 1.00e+00 9.53e-01h 1 71 7.4570346e-01 6.55e-01 1.59e+00 -2.8 3.26e+02 -8.1 1.00e+00 1.00e+00h 1 72 7.2444020e-01 4.49e+00 2.70e+00 -3.0 1.12e+03 -8.6 1.00e+00 1.00e+00h 1 73 6.8062907e-01 1.94e+01 5.21e+00 -3.1 3.61e+03 -9.1 1.00e+00 1.00e+00h 1 74 7.3615144e-01 2.88e+01 6.32e+01 -2.6 4.70e+03 -9.5 4.47e-01 1.00e+00h 1 75 7.1204228e-01 2.14e+01 3.03e+01 -2.8 1.98e+03 -9.1 5.19e-01 3.57e-01h 1 76 7.1550310e-01 1.82e+01 2.38e+01 -2.8 4.03e+03 -9.6 6.21e-01 6.18e-01H 1 77 6.9580277e-01 3.20e+01 2.55e+01 -2.8 4.48e+04 -10.1 3.16e-02 6.83e-02h 2 78 7.2155921e-01 2.20e+01 3.01e+01 -2.8 8.78e+03 -9.6 2.61e-01 6.60e-01H 1 79 6.9867866e-01 1.41e+01 3.55e+01 -2.8 1.45e+04 -10.1 6.73e-03 1.58e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 6.9465530e-01 1.01e+02 4.27e+01 -2.8 3.44e+04 -10.6 4.33e-01 4.24e-01h 2 81 6.7978365e-01 6.97e+01 2.82e+00 -2.8 4.71e+03 -9.3 1.00e+00 4.66e-01h 1 82 7.1711672e-01 6.11e+01 5.36e+00 -2.5 3.09e+03 -8.8 3.46e-01 7.72e-01h 1 83 6.9355211e-01 6.43e+01 1.04e+01 -2.7 3.65e+03 -9.3 2.26e-01 1.00e+00h 1 84 6.6895870e-01 2.14e+01 8.69e+00 -2.7 7.13e+03 -8.9 2.80e-01 4.26e-01h 1 85 3.8522319e+00 1.69e+03 4.26e+02 -1.0 5.30e+04 -9.4 2.01e-02 7.42e-01f 1 86 3.1908172e+00 1.23e+03 6.14e+01 -1.5 1.24e+03 -6.2 8.31e-01 2.71e-01h 1 87 1.8676502e+00 7.39e+00 3.44e+01 -1.5 8.27e+02 -6.7 8.16e-01 1.00e+00h 1 88 1.9769962e+00 3.15e-01 2.59e+00 -1.5 1.24e+02 -6.3 9.11e-01 1.00e+00h 1 89 1.8870245e+00 8.82e-02 2.15e+00 -1.5 1.86e+02 -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 90 1.8529731e+00 4.37e-02 3.55e+00 -1.5 1.89e+02 -7.2 1.00e+00 1.00e+00h 1 91 1.8308935e+00 1.44e-01 6.90e+00 -1.5 3.78e+02 -7.7 1.00e+00 1.00e+00h 1 92 1.8056779e+00 3.31e-01 1.32e+01 -1.5 6.91e+02 -8.2 1.00e+00 1.00e+00h 1 93 1.7815136e+00 3.05e-01 2.38e+01 -1.5 1.23e+03 -8.7 1.00e+00 1.00e+00h 1 94 1.7709007e+00 2.11e+00 4.43e+01 -1.5 2.25e+03 -9.2 1.00e+00 1.00e+00h 1 95 1.7459586e+00 4.58e+00 7.49e+01 -1.5 4.32e+03 -9.6 1.00e+00 1.00e+00h 1 96 1.7680018e+00 1.15e+01 1.28e+02 -1.5 8.79e+03 -10.1 1.00e+00 1.00e+00h 1 97 1.7465875e+00 2.36e+01 1.87e+02 -1.5 1.96e+04 -10.6 1.00e+00 1.00e+00h 1 98 1.7924193e+00 4.89e+01 2.81e+02 -1.5 2.56e+04 -11.1 1.00e+00 1.00e+00h 1 99 1.7692259e+00 1.26e+02 2.97e+02 -1.5 9.29e+04 -11.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 1.8113993e+00 1.94e+02 3.30e+02 -1.5 6.39e+04 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.8113992536172119e+00 1.8113992536172119e+00 Dual infeasibility......: 3.3021278225372885e+02 3.3021278225372885e+02 Constraint violation....: 1.9402563733971988e+02 1.9402563733971988e+02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 3.4576069475095735e-02 3.4576069475095735e-02 Overall NLP error.......: 3.3021278225372885e+02 3.3021278225372885e+02 Number of objective function evaluations = 160 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 160 Number of inequality constraint evaluations = 160 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 68.151 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: 0.055s integrator 2 jacobian structure: 0.05s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.106s) 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): 0.319s sub-objective 2 (QuadraticRegularizer): 0.085s sub-objective 3 (QuadraticRegularizer): 0.0s objective hessian structure: 0.493s hessian structure: 1749 nonzeros (0.592s) linear index maps built (0.0s) evaluator ready (total: 0.698s) evaluator created (0.698s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.116s) 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 (2.875s) optimizer initialization complete (total: 3.689s) 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 2.0706983e+00 3.10e+00 8.51e-02 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7006717e+00 2.19e+00 3.82e+00 -0.6 1.54e+01 -2.0 1.59e-01 2.92e-01f 1 2 1.6733443e+00 2.09e+00 1.21e+01 0.5 1.35e+01 -0.7 1.70e-01 4.55e-02f 1 3 1.5392469e+00 1.45e+00 1.87e+01 0.2 3.43e+00 -0.2 6.32e-01 3.09e-01h 1 4 1.5576731e+00 1.14e+00 1.80e+01 0.3 2.71e+00 0.2 6.45e-01 2.11e-01h 1 5 1.6291129e+00 8.79e-01 4.00e+01 0.4 1.44e+00 0.6 7.40e-01 2.30e-01h 1 6 1.6387644e+00 8.37e-01 4.30e+01 -4.0 4.35e+01 0.1 2.77e-02 4.71e-02h 1 7 1.8046820e+00 5.43e-01 3.35e+01 0.6 3.76e+00 0.6 4.13e-01 3.52e-01f 1 8 1.8403483e+00 3.20e-01 7.08e+01 0.6 2.66e+00 1.0 7.50e-01 4.11e-01h 1 9 1.9724122e+00 6.83e-01 7.94e+01 0.2 4.66e+00 0.5 3.81e-01 6.57e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0219114e+00 5.00e-01 4.90e+01 -0.0 3.55e+00 0.0 6.60e-01 1.00e+00h 1 11 1.9353405e+00 3.76e-02 1.85e+01 0.5 5.67e-01 1.4 8.89e-01 1.00e+00f 1 12 1.9545942e+00 5.45e-04 4.96e+00 -0.6 4.65e-02 0.9 9.64e-01 1.00e+00h 1 13 1.8992457e+00 7.99e-05 7.82e-02 -1.5 3.13e-02 0.4 9.93e-01 1.00e+00f 1 14 1.6566791e+00 2.07e-03 1.08e-01 -1.9 1.28e-01 -0.1 9.14e-01 1.00e+00f 1 15 1.4630723e+00 3.12e-03 6.36e-02 -2.4 2.31e-01 -0.6 9.96e-01 8.72e-01f 1 16 1.4043576e+00 9.62e-02 1.25e-01 -2.0 1.17e+00 -1.0 7.59e-01 5.17e-01f 1 17 1.3338926e+00 4.78e-02 3.13e-01 -2.2 7.21e-01 -1.5 9.75e-01 5.21e-01f 1 18 1.2627231e+00 6.09e-02 5.21e-02 -2.4 1.20e+00 -2.0 9.73e-01 9.88e-01h 1 19 1.2100259e+00 4.72e-02 5.69e-03 -3.3 1.03e+00 -2.5 9.88e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.2040296e+00 7.57e-04 3.92e-03 -3.7 4.24e-01 -2.0 9.73e-01 1.00e+00h 1 21 1.1958794e+00 1.63e-02 1.07e-02 -4.0 7.20e-01 -2.5 1.00e+00 1.00e+00h 1 22 1.1955181e+00 7.84e-04 2.44e-03 -4.0 2.97e-01 -2.1 1.00e+00 1.00e+00h 1 23 1.1923901e+00 8.63e-03 2.68e-03 -4.0 7.90e-01 -2.6 1.00e+00 1.00e+00h 1 24 1.1892395e+00 1.31e-02 3.93e-02 -4.0 1.66e+00 -3.0 1.00e+00 6.59e-01h 1 25 1.1825838e+00 5.30e-02 1.59e-02 -4.0 2.21e+00 -3.5 1.00e+00 9.87e-01h 1 26 1.1779975e+00 7.88e-02 1.05e-02 -4.0 3.47e+00 -4.0 1.00e+00 1.00e+00h 1 27 1.1742234e+00 8.71e-02 1.35e-02 -4.0 5.35e+00 -4.5 1.00e+00 1.00e+00h 1 28 1.1709244e+00 1.21e-01 8.48e-03 -4.0 8.15e+00 -4.9 1.00e+00 1.00e+00h 1 29 1.1684616e+00 1.43e-01 7.85e-03 -4.0 1.25e+01 -5.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.1663627e+00 1.82e-01 3.14e-03 -4.0 1.92e+01 -5.9 1.00e+00 1.00e+00h 1 31 1.1647460e+00 2.19e-01 2.02e-04 -4.0 2.91e+01 -6.4 1.00e+00 1.00e+00h 1 32 1.1634195e+00 2.69e-01 5.63e-03 -4.0 4.41e+01 -6.9 1.00e+00 1.00e+00h 1 33 1.1623898e+00 3.20e-01 1.08e-02 -4.0 6.59e+01 -7.3 1.00e+00 1.00e+00h 1 34 1.1615718e+00 3.78e-01 1.72e-02 -4.0 9.74e+01 -7.8 1.00e+00 1.00e+00h 1 35 1.1609646e+00 4.27e-01 2.25e-02 -4.0 1.40e+02 -8.3 1.00e+00 1.00e+00h 1 36 1.1605650e+00 4.40e-01 2.46e-02 -4.0 1.90e+02 -8.8 1.00e+00 1.00e+00h 1 37 1.1605249e+00 2.91e-01 1.15e-02 -4.0 2.06e+02 -9.2 1.00e+00 1.00e+00h 1 38 1.1608561e+00 7.30e-04 2.01e-03 -4.0 3.87e+01 -9.7 1.00e+00 1.00e+00h 1 39 1.1608489e+00 1.40e-04 5.57e-06 -4.0 4.72e+00 -10.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.1608491e+00 4.11e-09 2.55e-09 -4.0 1.78e-02 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 40 (scaled) (unscaled) Objective...............: 1.1608491306771112e+00 1.1608491306771112e+00 Dual infeasibility......: 2.5519751685118552e-09 2.5519751685118552e-09 Constraint violation....: 4.1063383804385012e-09 4.1063383804385012e-09 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000002668000271e-04 1.0000002668000271e-04 Overall NLP error.......: 4.1063383804385012e-09 4.1063383804385012e-09 Number of objective function evaluations = 41 Number of objective gradient evaluations = 41 Number of equality constraint evaluations = 41 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 41 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 40 Total seconds in IPOPT = 36.878 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 (0.086s) integrator 1 hessian structure: 0.047s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.324s sub-objective 2 (QuadraticRegularizer): 0.084s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.016s objective hessian structure: 0.514s hessian structure: 375 nonzeros (0.56s) linear index maps built (0.0s) evaluator ready (total: 0.765s) evaluator created (0.766s) NL constraint bounds extracted (0.011s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.118s) applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.926s) optimizer initialization complete (total: 3.82s) 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 2.2476825e+00 1.06e+00 1.03e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.9835437e+00 1.50e-01 1.84e+00 -0.8 9.26e-01 0.0 9.82e-01 1.00e+00h 1 2 1.8652504e+00 3.47e-02 6.09e-01 -0.9 4.97e-01 -0.5 6.80e-01 7.69e-01h 1 3 1.5070053e+00 1.69e-02 3.40e+00 -1.4 6.34e+00 - 8.44e-01 9.12e-01H 1 4 1.1861452e+00 3.32e-03 5.72e-01 -2.1 5.50e-01 -1.0 9.97e-01 7.99e-01f 1 5 1.0961192e+00 1.82e-04 3.77e-01 -3.5 5.61e+00 - 1.00e+00 1.00e+00h 1 6 1.0921062e+00 4.79e-05 1.52e-02 -4.0 1.13e+00 - 1.00e+00 7.34e-01h 1 7 1.0910349e+00 9.11e-08 1.57e-03 -4.0 3.81e-01 - 1.00e+00 1.00e+00h 1 8 1.0910386e+00 7.87e-13 1.46e-06 -4.0 1.18e-02 - 1.00e+00 1.00e+00h 1 9 1.0910386e+00 8.88e-16 1.02e-05 -4.0 2.35e-06 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0910386e+00 8.88e-16 1.02e-05 -4.0 6.96e-13 - 1.00e+00 1.00e+00h 1 11 1.0908587e+00 1.78e-15 1.88e-09 -4.1 1.99e-05 - 1.00e+00 1.00e+00f 1 12 1.0910386e+00 8.88e-16 1.98e-09 -4.0 1.99e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 12 (scaled) (unscaled) Objective...............: 1.0910385864123910e+00 1.0910385864123910e+00 Dual infeasibility......: 1.9821498748449386e-09 1.9821498748449386e-09 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000114091619609e-04 1.0000114091619609e-04 Overall NLP error.......: 1.9821498748449386e-09 1.9821498748449386e-09 Number of objective function evaluations = 14 Number of objective gradient evaluations = 13 Number of equality constraint evaluations = 14 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 13 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 12 Total seconds in IPOPT = 23.938 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: 0.094s hessian structure: 30 nonzeros (0.094s) linear index maps built (0.0s) evaluator ready (total: 0.094s) evaluator created (0.094s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.125s) 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 (2.946s) optimizer initialization complete (total: 3.166s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 30 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.6999792e-02 8.33e-17 1.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Number of Iterations....: 1 Number of objective function evaluations = 2 Number of objective gradient evaluations = 2 Number of equality constraint evaluations = 2 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 = 1 Total seconds in IPOPT = 2.487 EXIT: Invalid number in NLP function or derivative detected. 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): 0.093s sub-objective 2 (QuadraticRegularizer): 0.0s objective hessian structure: 0.191s hessian structure: 40 nonzeros (0.191s) linear index maps built (0.0s) evaluator ready (total: 0.191s) evaluator created (0.191s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.124s) applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial value of t applying constraint: bounds on u applying constraint: bounds on t applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) linear constraints added: 6 (2.864s) optimizer initialization complete (total: 3.18s) 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 1.9070414e+00 4.81e-01 7.54e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.3935611e+00 1.91e-09 1.53e-01 -0.4 4.23e-01 -2.0 9.85e-01 1.00e+00f 1 2 3.7223814e-01 1.97e-09 2.81e-01 -1.2 1.26e+00 -1.6 9.35e-01 1.00e+00f 1 3 1.7365847e-01 5.42e-10 6.05e-02 -2.1 5.86e-01 -1.1 9.99e-01 1.00e+00f 1 4 4.5503696e-02 5.31e-11 4.56e-02 -2.9 8.80e-01 -1.6 9.99e-01 1.00e+00f 1 5 8.7265367e-03 3.23e-11 1.90e-02 -4.0 7.50e-01 -2.1 1.00e+00 1.00e+00f 1 6 1.7852587e-03 7.21e-12 5.82e-03 -4.0 4.66e-01 -2.6 1.00e+00 1.00e+00f 1 7 6.0892533e-04 1.49e-12 1.73e-03 -4.0 2.34e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.3723812e-04 1.78e-13 3.63e-04 -4.0 1.00e-01 -3.5 1.00e+00 1.00e+00f 1 9 4.6156297e-04 1.65e-14 1.61e-04 -4.0 3.11e-02 -4.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 3.0079201e-04 7.75e-15 5.00e-04 -4.1 9.19e-02 -4.5 1.00e+00 1.00e+00f 1 11 4.5437135e-04 3.75e-15 3.71e-04 -4.0 2.12e-01 -5.0 1.00e+00 5.00e-01f 2 12 2.7553955e-04 2.44e-15 6.02e-04 -4.1 1.14e-01 -5.4 1.00e+00 1.00e+00f 1 13 4.6173032e-04 1.33e-15 4.89e-04 -4.0 2.68e-01 -5.9 1.00e+00 5.00e-01f 2 14 2.6405840e-04 1.24e-15 6.83e-04 -4.1 1.31e-01 -6.4 1.00e+00 1.00e+00f 1 15 4.6273865e-04 8.88e-16 5.36e-04 -4.0 2.93e-01 -6.9 1.00e+00 5.00e-01f 2 16 2.6016429e-04 1.03e-15 7.13e-04 -4.1 1.38e-01 -7.4 1.00e+00 1.00e+00f 1 17 4.6286360e-04 7.77e-16 5.55e-04 -4.0 3.04e-01 -7.8 1.00e+00 5.00e-01f 2 18 2.5887930e-04 8.19e-16 7.30e-04 -4.1 1.41e-01 -8.3 1.00e+00 1.00e+00f 1 19 4.6256149e-04 5.55e-16 5.62e-04 -4.0 3.09e-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 2.5847249e-04 7.67e-16 7.42e-04 -4.1 1.43e-01 -9.3 1.00e+00 1.00e+00f 1 21 4.6215795e-04 5.55e-16 5.67e-04 -4.0 3.12e-01 -9.7 1.00e+00 5.00e-01f 2 22 2.5834532e-04 7.22e-16 7.51e-04 -4.1 1.45e-01 -10.2 1.00e+00 1.00e+00f 1 23 4.6173472e-04 4.44e-16 5.69e-04 -4.0 3.15e-01 -10.7 1.00e+00 5.00e-01f 2 24 2.5830651e-04 7.01e-16 7.60e-04 -4.1 1.47e-01 -11.2 1.00e+00 1.00e+00f 1 25 4.6132048e-04 4.44e-16 5.72e-04 -4.0 3.17e-01 -11.6 1.00e+00 5.00e-01f 2 26 2.5829501e-04 6.63e-16 7.68e-04 -4.1 1.49e-01 -12.1 1.00e+00 1.00e+00f 1 27 4.6092344e-04 4.44e-16 5.74e-04 -4.0 3.19e-01 -12.6 1.00e+00 5.00e-01f 2 28 2.5829169e-04 6.00e-16 7.76e-04 -4.1 1.50e-01 -13.1 1.00e+00 1.00e+00f 1 29 4.3503773e-04 6.33e-15 8.63e-04 -4.1 1.47e-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 3.4164050e-04 7.77e-16 1.41e-04 -4.1 1.30e-01 -14.0 1.00e+00 5.00e-01f 2 31 2.7288281e-05 6.27e-15 1.19e-03 -6.2 5.05e-01 -14.5 9.54e-01 1.00e+00f 1 32 1.4330288e-03 2.00e-15 7.11e-03 -4.0 2.04e+00 -15.0 1.00e+00 5.00e-01f 2 33 2.7888506e-05 1.83e-14 2.86e-03 -4.2 1.00e+00 -15.5 1.00e+00 1.00e+00f 1 34 7.2637810e-04 2.64e-14 4.43e-03 -4.2 7.53e-01 -15.9 1.00e+00 1.00e+00f 1 35 2.5391018e-04 2.66e-15 3.97e-04 -4.2 6.24e-01 -16.4 1.00e+00 5.00e-01f 2 36 2.4979323e-05 3.07e-15 9.79e-04 -6.2 4.50e-01 -16.9 9.60e-01 1.00e+00f 1 37 4.0597780e-04 1.39e-15 1.36e-03 -4.0 2.44e+00 -17.4 1.00e+00 2.50e-01f 3 38 2.8997681e-04 7.33e-15 1.93e-04 -4.2 1.88e-01 -17.8 1.00e+00 5.00e-01f 2 39 2.4027188e-05 3.11e-15 1.11e-03 -6.3 5.05e-01 -18.3 9.54e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.8442112e-03 2.71e-16 9.46e-03 -4.0 2.41e+00 -18.8 1.00e+00 5.00e-01f 2 41 1.8469878e-05 1.89e-14 3.24e-03 -4.1 1.23e+00 -19.3 1.00e+00 1.00e+00f 1 42 1.6912697e-03 2.40e-14 9.76e-03 -4.0 1.18e+00 -19.8 1.00e+00 1.00e+00f 1 43 7.4801479e-06 1.47e-14 2.51e-03 -4.2 1.30e+00 -20.0 1.00e+00 1.00e+00f 1 44 4.7533968e-04 1.33e-15 3.26e-03 -4.0 1.62e+00 -20.0 1.00e+00 5.00e-01f 2 45 2.1196731e-04 2.89e-15 2.85e-04 -4.2 4.53e-01 -20.0 1.00e+00 5.00e-01f 2 46 2.0022876e-05 3.66e-15 8.83e-04 -6.4 4.52e-01 -20.0 9.59e-01 1.00e+00f 1 47 7.9952497e-06 2.72e-15 1.11e-04 -6.4 1.18e-01 -20.0 1.00e+00 1.00e+00f 1 48 2.0304866e-06 4.44e-16 6.95e-05 -6.4 1.37e-01 -20.0 1.00e+00 1.00e+00f 1 49 7.5317526e-04 3.19e-16 7.34e-04 -4.0 2.72e+01 -20.0 1.00e+00 4.44e-02f 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.6705183e-04 4.44e-14 1.95e-03 -4.0 3.49e-01 -20.0 1.00e+00 1.00e+00f 1 51 5.7425369e-04 1.27e-14 1.62e-03 -4.0 2.46e-01 -20.0 1.00e+00 1.00e+00f 1 52 4.1520387e-04 2.66e-15 3.12e-04 -4.0 2.26e-01 -20.0 1.00e+00 5.00e-01f 2 53 3.5439064e-05 6.33e-15 1.61e-03 -6.0 5.96e-01 -20.0 9.44e-01 1.00e+00f 1 54 1.5180091e-05 4.77e-15 1.76e-04 -6.0 1.36e-01 -20.0 1.00e+00 1.00e+00f 1 55 4.0017812e-06 7.22e-16 1.19e-04 -6.0 1.68e-01 -20.0 1.00e+00 1.00e+00f 1 56 4.4211546e-06 2.78e-16 1.02e-05 -6.0 1.65e-02 -20.0 1.00e+00 1.00e+00h 1 57 4.1752881e-06 2.43e-17 2.16e-06 -6.0 3.57e-03 -20.0 1.00e+00 1.00e+00h 1 58 2.8862753e-07 4.12e-17 5.19e-05 -9.0 2.17e-01 -20.0 9.79e-01 1.00e+00f 1 59 3.8686551e-04 3.05e-16 2.15e-03 -4.0 8.03e+01 -20.0 1.00e+00 1.52e-02f 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 3.8315069e-04 3.20e-14 7.14e-05 -4.1 1.22e-02 -20.0 1.00e+00 1.00e+00f 1 61 2.9566686e-05 5.66e-15 1.66e-03 -6.1 6.62e-01 -20.0 9.36e-01 1.00e+00f 1 62 1.3251061e-05 3.77e-15 1.63e-04 -6.1 1.36e-01 -20.0 1.00e+00 1.00e+00f 1 63 3.4433600e-06 5.55e-16 1.20e-04 -6.1 1.81e-01 -20.0 1.00e+00 1.00e+00f 1 64 3.9438657e-06 2.22e-16 1.26e-05 -6.1 2.17e-02 -20.0 1.00e+00 1.00e+00h 1 65 3.6456590e-06 5.46e-17 8.23e-07 -6.1 1.44e-03 -20.0 1.00e+00 1.00e+00h 1 66 2.5846197e-07 3.38e-17 5.20e-05 -9.0 2.30e-01 -20.0 9.77e-01 1.00e+00f 1 67 3.0028181e-03 5.90e-16 1.46e-02 -4.0 9.71e+01 -20.0 1.00e+00 2.51e-02f 3 68 6.1493024e-05 5.28e-14 7.20e-03 -3.9 1.68e+00 -20.0 1.00e+00 1.00e+00f 1 69 7.7164889e-04 3.46e-14 5.52e-03 -3.9 8.60e-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 4.3982143e-04 6.88e-15 7.07e-04 -3.9 5.05e-01 -20.0 1.00e+00 5.00e-01f 2 71 4.3077104e-05 4.11e-15 2.03e-03 -5.9 6.84e-01 -20.0 9.34e-01 1.00e+00f 1 72 1.7891519e-05 4.22e-15 2.47e-04 -5.9 1.76e-01 -20.0 1.00e+00 1.00e+00f 1 73 5.1999665e-06 7.29e-16 1.57e-04 -5.9 1.97e-01 -20.0 1.00e+00 1.00e+00f 1 74 6.0159654e-06 2.73e-16 1.91e-05 -5.9 2.67e-02 -20.0 1.00e+00 1.00e+00h 1 75 5.4880207e-06 5.72e-17 3.62e-06 -5.9 5.16e-03 -20.0 1.00e+00 1.00e+00h 1 76 3.9836939e-07 1.11e-16 7.70e-05 -8.9 2.74e-01 -20.0 9.73e-01 1.00e+00f 1 77 1.5951964e-07 2.86e-17 8.18e-06 -8.9 6.12e-02 -20.0 1.00e+00 1.00e+00f 1 78 1.8789626e-03 6.49e-16 7.93e-04 -4.0 2.95e+02 -20.0 1.00e+00 8.27e-03f 3 79 4.3389344e-04 7.06e-14 6.47e-03 -3.8 8.45e-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 9.5591127e-04 2.49e-14 2.89e-03 -3.8 3.37e-01 -20.0 1.00e+00 1.00e+00f 1 81 5.4595435e-04 1.11e-14 2.56e-03 -3.8 3.36e-01 -20.0 1.00e+00 1.00e+00f 1 82 9.4770334e-04 4.44e-15 1.91e-03 -3.8 2.18e-01 -20.0 1.00e+00 1.00e+00f 1 83 5.7340135e-04 7.99e-15 2.20e-03 -3.8 2.84e-01 -20.0 1.00e+00 1.00e+00f 1 84 9.2619294e-04 4.66e-15 1.59e-03 -3.8 1.82e-01 -20.0 1.00e+00 1.00e+00f 1 85 4.9175651e-05 9.44e-15 3.40e-03 -5.6 9.82e-01 -20.0 9.02e-01 1.00e+00f 1 86 2.6865849e-05 7.88e-15 2.15e-04 -5.6 1.29e-01 -20.0 1.00e+00 1.00e+00f 1 87 8.2232250e-06 8.88e-16 2.11e-04 -5.6 2.12e-01 -20.0 1.00e+00 1.00e+00f 1 88 1.2224252e-05 4.44e-16 7.16e-05 -5.6 7.22e-02 -20.0 1.00e+00 1.00e+00f 1 89 9.1185768e-06 1.27e-16 3.89e-05 -5.6 4.18e-02 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 1.2232325e-05 1.01e-16 5.81e-05 -5.6 5.79e-02 -20.0 1.00e+00 1.00e+00f 1 91 9.1601429e-06 8.15e-17 3.96e-05 -5.6 4.25e-02 -20.0 1.00e+00 1.00e+00f 1 92 1.2160151e-05 1.25e-16 5.71e-05 -5.6 5.70e-02 -20.0 1.00e+00 1.00e+00f 1 93 9.2057938e-06 1.21e-16 3.90e-05 -5.6 4.18e-02 -20.0 1.00e+00 1.00e+00f 1 94 1.2089667e-05 9.37e-17 5.59e-05 -5.6 5.59e-02 -20.0 1.00e+00 1.00e+00f 1 95 9.2508728e-06 1.23e-16 3.84e-05 -5.6 4.11e-02 -20.0 1.00e+00 1.00e+00f 1 96 1.2020556e-05 1.11e-16 5.47e-05 -5.6 5.48e-02 -20.0 1.00e+00 1.00e+00f 1 97 9.2953240e-06 1.11e-16 3.77e-05 -5.6 4.03e-02 -20.0 1.00e+00 1.00e+00f 1 98 1.1952917e-05 1.12e-16 5.34e-05 -5.6 5.36e-02 -20.0 1.00e+00 1.00e+00f 1 99 9.3390733e-06 5.90e-17 3.69e-05 -5.6 3.94e-02 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 1.1886835e-05 1.11e-16 5.21e-05 -5.6 5.23e-02 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.1886835425486771e-05 1.1886835425486771e-05 Dual infeasibility......: 5.2067683079241541e-05 5.2067683079241541e-05 Constraint violation....: 1.1102230246251565e-16 1.1102230246251565e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.3187848198706188e-06 2.3187848198706188e-06 Overall NLP error.......: 9.7692609861689821e-05 9.7692609861689821e-05 Number of objective function evaluations = 156 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 156 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 = 3.036 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: 0.062s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.668s jacobian structure: 1600 nonzeros (2.751s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.807s 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): 0.018s objective hessian structure: 0.019s hessian structure: 1749 nonzeros (3.878s) linear index maps built (0.0s) evaluator ready (total: 6.63s) evaluator created (6.655s) NL constraint bounds extracted (0.103s) 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 (0.122s) optimizer initialization complete (total: 6.881s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.0798361e+00 2.77e+00 9.27e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.0107582e+00 7.85e-01 1.25e+00 -1.0 1.84e+00 0.0 9.38e-01 7.18e-01h 1 2 2.6748105e+00 2.28e-02 9.02e-01 -1.1 6.92e-01 -0.5 9.50e-01 1.00e+00f 1 3 2.3399716e+00 3.77e-02 1.32e-01 -1.5 2.96e-01 -1.0 9.33e-01 9.30e-01h 1 4 2.1643030e+00 4.61e-03 1.27e-01 -2.6 2.29e-01 -1.4 7.99e-01 9.31e-01h 1 5 2.0944516e+00 9.26e-04 2.10e-02 -3.6 9.83e-02 -1.9 9.98e-01 9.56e-01h 1 6 2.0909429e+00 4.74e-06 1.16e-03 -4.0 7.43e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0909002e+00 2.09e-07 2.04e-05 -4.0 1.49e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908958e+00 1.28e-09 2.00e-05 -4.0 4.38e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908838e+00 7.20e-09 1.91e-05 -4.0 1.25e-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 2.0908554e+00 4.37e-08 8.74e-05 -4.0 3.36e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907890e+00 2.46e-07 4.40e-04 -4.0 8.73e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0906074e+00 2.40e-06 7.12e-04 -4.0 2.64e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0900013e+00 4.23e-07 2.35e-03 -4.0 7.32e+00 -5.7 1.00e+00 9.79e-01H 1 14 2.0891545e+00 5.16e-05 3.96e-02 -4.0 2.51e+01 -6.2 1.00e+00 5.00e-01f 2 15 2.0887380e+00 4.85e-06 2.23e-03 -4.0 1.62e+00 -4.9 1.00e+00 9.99e-01h 1 16 2.0885584e+00 2.09e-06 2.21e-03 -4.0 3.70e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0875946e+00 3.84e-05 6.46e-03 -4.0 1.10e+01 -5.8 1.00e+00 8.99e-01h 1 18 2.0859356e+00 2.35e-04 1.57e-02 -4.0 2.56e+01 -6.3 1.00e+00 1.00e+00f 1 19 2.0844945e+00 2.71e-04 7.92e-02 -4.0 4.90e+01 -6.8 1.00e+00 3.76e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827102e+00 2.64e-04 3.55e-02 -4.0 6.03e+01 -7.3 1.00e+00 7.30e-01h 1 21 2.0826164e+00 1.46e-03 3.80e-02 -4.0 1.22e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.4899019e+00 4.07e-04 9.84e+00 -4.0 1.04e+03 -8.2 3.37e-02 1.00e+00H 1 23 2.0891254e+00 5.94e-05 1.22e+00 -4.1 1.80e-01 -0.4 7.93e-01 8.54e-01f 1 24 2.0893341e+00 5.92e-05 5.28e+00 -4.1 7.85e-02 -0.8 1.00e+00 3.91e-03f 9 25 2.0891968e+00 5.79e-08 1.61e-03 -4.1 3.38e-02 -1.3 1.00e+00 1.00e+00h 1 26 2.0890426e+00 1.86e-07 1.46e-03 -4.0 9.20e-02 -1.8 1.00e+00 1.00e+00h 1 27 2.0886885e+00 1.00e-06 1.08e-03 -4.0 2.05e-01 -2.3 1.00e+00 1.00e+00h 1 28 2.0887650e+00 2.47e-07 1.17e-04 -4.0 2.69e-02 -2.8 1.00e+00 1.00e+00h 1 29 2.0885796e+00 5.55e-07 4.35e-05 -4.1 2.48e-02 -3.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0887328e+00 1.62e-06 6.09e-05 -4.0 7.30e-02 -3.7 1.00e+00 1.00e+00h 1 31 2.0885448e+00 5.29e-06 2.88e-05 -4.1 2.24e-01 -4.2 1.00e+00 1.00e+00h 1 32 2.0886534e+00 1.45e-05 1.50e-04 -4.0 6.50e-01 -4.7 1.00e+00 1.00e+00h 1 33 2.0883064e+00 4.74e-05 9.35e-05 -4.1 1.95e+00 -5.1 1.00e+00 1.00e+00h 1 34 2.0870259e+00 6.49e-04 2.76e-03 -6.1 6.23e+00 -5.6 9.90e-01 1.00e+00h 1 35 2.0866382e+00 4.60e-04 8.31e-02 -6.1 1.56e+01 -6.1 1.00e+00 3.12e-01h 1 36 2.0857084e+00 1.78e-04 2.44e-02 -6.1 3.66e+01 -6.6 8.40e-01 8.20e-01h 1 37 2.0857472e+00 1.34e-02 1.58e-01 -4.0 1.07e+02 -7.0 3.00e-01 1.00e+00f 1 38 2.0824783e+00 5.32e-03 1.19e-01 -4.4 1.70e+02 -7.5 1.00e+00 1.00e+00h 1 39 2.0819142e+00 1.13e-02 4.25e-02 -4.0 2.55e+02 -8.0 6.48e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0820080e+00 1.83e-03 4.59e-02 -4.0 4.89e+01 -6.7 1.00e+00 1.00e+00h 1 41 2.0862327e+00 2.62e-02 1.34e-02 -3.3 1.09e+02 -7.2 9.37e-01 1.00e+00h 1 42 2.1026197e+00 2.06e-02 1.29e+00 -3.4 5.51e+02 -5.8 4.73e-03 3.06e-02h 1 43 2.0879441e+00 2.62e-05 3.63e-02 -3.4 2.51e-01 -0.9 1.00e+00 1.00e+00f 1 44 2.0857776e+00 9.27e-06 1.67e-02 -4.0 5.68e-02 -1.4 1.00e+00 1.00e+00h 1 45 2.0845257e+00 6.97e-05 4.90e-03 -4.0 1.50e-01 -1.8 1.00e+00 1.00e+00h 1 46 2.0835636e+00 8.73e-05 1.45e-02 -4.0 2.52e-01 -2.3 1.00e+00 1.00e+00h 1 47 2.0832294e+00 5.44e-05 3.71e-01 -4.0 2.72e-01 -2.8 1.00e+00 3.72e-01h 1 48 2.0832874e+00 4.63e-06 7.01e-04 -4.0 6.13e-02 -3.3 1.00e+00 1.00e+00h 1 49 2.1007470e+00 6.78e-07 2.82e-01 -4.0 4.76e-01 -3.7 2.55e-01 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0888826e+00 4.05e-06 4.27e-02 -4.1 1.40e-01 -0.6 1.00e+00 1.00e+00f 1 51 2.0870879e+00 5.27e-06 5.42e-01 -4.1 1.16e+00 -1.1 3.68e-01 7.04e-02f 1 52 2.0833451e+00 4.37e-06 1.21e-02 -4.0 1.53e-01 -1.6 1.00e+00 1.00e+00f 1 53 2.0833237e+00 1.41e-07 3.73e-04 -4.0 2.20e-02 -2.0 1.00e+00 1.00e+00h 1 54 2.0833305e+00 1.76e-08 5.14e-04 -4.0 1.68e-01 -2.5 1.00e+00 1.00e+00f 1 55 2.0833273e+00 9.08e-08 1.17e-04 -4.0 3.94e-02 -3.0 1.00e+00 1.00e+00h 1 56 2.0833233e+00 2.38e-07 7.15e-05 -4.0 3.80e-02 -3.5 1.00e+00 1.00e+00h 1 57 2.0833198e+00 3.79e-07 9.74e-06 -4.0 8.64e-02 -3.9 1.00e+00 1.00e+00h 1 58 2.0833112e+00 1.14e-06 9.66e-06 -4.0 2.57e-01 -4.4 1.00e+00 1.00e+00h 1 59 2.0832858e+00 9.04e-06 1.51e-05 -4.0 7.54e-01 -4.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0832121e+00 6.34e-05 1.15e-04 -4.0 2.13e+00 -5.4 1.00e+00 1.00e+00h 1 61 2.0830108e+00 3.02e-04 6.88e-04 -4.0 5.48e+00 -5.9 1.00e+00 1.00e+00h 1 62 2.0825441e+00 7.70e-04 2.86e-03 -4.0 1.20e+01 -6.3 1.00e+00 1.00e+00h 1 63 2.0818980e+00 9.17e-04 6.13e-03 -4.0 1.69e+01 -6.8 1.00e+00 1.00e+00h 1 64 2.0818326e+00 1.33e-04 3.55e-03 -4.0 9.81e+00 -7.3 1.00e+00 1.00e+00h 1 65 2.0818372e+00 1.01e-04 7.36e-04 -4.0 1.65e+01 -7.8 1.00e+00 1.00e+00h 1 66 2.0818382e+00 4.61e-05 8.50e-04 -4.0 1.99e+01 -8.2 1.00e+00 1.00e+00h 1 67 2.0818417e+00 1.55e-05 3.38e-04 -4.0 1.68e+01 -8.7 1.00e+00 1.00e+00h 1 68 2.0818432e+00 1.26e-06 3.13e-05 -4.0 6.33e+00 -9.2 1.00e+00 1.00e+00h 1 69 2.0818434e+00 1.92e-08 5.05e-07 -4.0 9.46e-01 -9.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0818434e+00 4.57e-11 1.66e-09 -4.0 5.24e-02 -10.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 70 (scaled) (unscaled) Objective...............: 2.0818434104398817e+00 2.0818434104398817e+00 Dual infeasibility......: 1.6591660590998397e-09 1.6591660590998397e-09 Constraint violation....: 4.5691450623053242e-11 4.5691450623053242e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000000e-04 1.0000000000000000e-04 Overall NLP error.......: 1.6591660590998397e-09 1.6591660590998397e-09 Number of objective function evaluations = 87 Number of objective gradient evaluations = 71 Number of equality constraint evaluations = 87 Number of inequality constraint evaluations = 87 Number of equality constraint Jacobian evaluations = 71 Number of inequality constraint Jacobian evaluations = 71 Number of Lagrangian Hessian evaluations = 70 Total seconds in IPOPT = 26.717 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.061s integrator 2 jacobian structure: 0.056s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 6.262s jacobian structure: 1680 nonzeros (6.38s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.049s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 12.398s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.361s sub-objective 2 (QuadraticRegularizer): 0.095s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.019s sub-objective 5 (GlobalObjective): 0.834s objective hessian structure: 1.403s hessian structure: 1964 nonzeros (13.903s) linear index maps built (0.0s) evaluator ready (total: 20.283s) evaluator created (20.31s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.124s) 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 (4.929s) optimizer initialization complete (total: 25.363s) 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 1.7934998e+01 3.07e+00 4.27e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 7.0409637e+00 8.89e-01 2.27e+00 -1.0 2.00e+00 0.0 7.16e-01 7.11e-01f 1 2 2.8478691e+00 2.69e-02 1.96e+00 -0.8 1.03e+00 -0.5 6.94e-01 1.00e+00f 1 3 2.4879618e+00 7.00e-03 9.68e-02 -1.6 1.52e-01 -1.0 1.00e+00 1.00e+00h 1 4 2.1673598e+00 1.40e-02 1.47e-01 -2.6 3.36e-01 -1.4 9.62e-01 8.03e-01f 1 5 2.1013181e+00 4.89e-04 2.02e-02 -3.1 4.08e-02 -1.9 9.94e-01 1.00e+00h 1 6 2.0908182e+00 1.82e-05 2.51e-04 -4.0 9.05e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0909176e+00 3.36e-07 2.14e-05 -4.0 1.56e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909126e+00 9.27e-10 2.09e-05 -4.0 4.57e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908993e+00 6.70e-09 4.62e-05 -4.0 1.30e-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 2.0908687e+00 4.31e-08 9.78e-05 -4.0 3.46e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0908011e+00 2.36e-07 5.10e-04 -4.0 8.83e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0906195e+00 2.34e-06 8.05e-04 -4.0 2.66e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0900282e+00 1.97e-05 1.34e-03 -4.0 7.27e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0882951e+00 1.54e-04 1.45e-02 -4.0 2.24e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0876529e+00 9.08e-05 2.01e-02 -4.0 1.11e+01 -5.8 1.00e+00 5.55e-01h 1 16 2.0861370e+00 2.15e-04 1.53e-02 -4.0 2.34e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0849183e+00 2.41e-04 1.14e-01 -4.0 5.48e+01 -6.7 1.00e+00 2.60e-01h 1 18 2.0827500e+00 4.40e-04 4.84e-02 -4.0 5.28e+01 -7.2 1.00e+00 7.79e-01h 1 19 2.0827031e+00 1.77e-03 4.18e-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 2.0891054e+00 5.88e-07 3.80e-01 -4.0 4.48e+02 -8.2 1.21e-01 1.00e+00H 1 21 2.0832864e+00 1.44e-03 1.55e+00 -4.0 7.80e+00 -5.0 1.71e-01 4.83e-01f 1 22 2.0829551e+00 1.44e-03 1.54e+00 -4.0 7.30e+01 -3.7 1.15e-03 4.66e-03h 1 23 2.0830808e+00 1.40e-03 1.49e+00 -4.0 6.63e+00 -4.2 1.58e-02 3.41e-02h 1 24 2.0827838e+00 1.42e-03 1.49e+00 -4.0 1.17e+02 -4.7 1.61e-04 1.96e-03f 1 25 2.0828151e+00 1.42e-03 5.78e+00 -4.0 1.42e+02 -3.3 2.26e-01 2.65e-04f 2 26 2.0833034e+00 1.16e-06 1.11e-03 -3.9 3.43e-02 -3.8 1.00e+00 1.00e+00h 1 27 2.0830455e+00 3.63e-06 8.20e-05 -4.0 1.32e-01 -4.3 1.00e+00 1.00e+00h 1 28 2.0829964e+00 8.08e-07 3.64e-05 -4.0 3.83e-01 -4.8 1.00e+00 1.00e+00h 1 29 2.0829241e+00 1.17e-06 7.28e-05 -4.0 1.08e+00 -5.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0827666e+00 7.48e-06 4.18e-04 -4.0 2.89e+00 -5.7 1.00e+00 1.00e+00h 1 31 2.0825657e+00 2.43e-05 1.12e-03 -4.0 7.22e+00 -6.2 1.00e+00 1.00e+00h 1 32 2.0823888e+00 1.84e-05 1.57e-03 -4.0 1.78e+01 -6.7 1.00e+00 1.00e+00h 1 33 2.0821224e+00 1.36e-04 4.48e-03 -4.0 4.00e+01 -7.1 1.00e+00 1.00e+00h 1 34 2.0818303e+00 4.06e-04 4.84e-03 -4.0 8.55e+01 -7.6 7.39e-01 1.00e+00h 1 35 2.0831473e+00 4.22e-06 3.01e-02 -4.0 3.12e+01 -6.3 1.00e+00 1.00e+00H 1 36 2.0818896e+00 1.47e-05 2.57e-03 -4.0 2.29e-01 -4.1 1.00e+00 1.00e+00h 1 37 2.0817444e+00 2.30e-05 1.17e-03 -4.0 5.83e-01 -4.5 1.00e+00 1.00e+00h 1 38 2.0817395e+00 1.01e-05 7.80e-04 -4.0 1.03e+00 -5.0 1.00e+00 1.00e+00h 1 39 2.0818435e+00 1.49e-04 7.03e-04 -4.0 2.89e+00 -5.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818659e+00 1.95e-04 4.57e-02 -4.1 4.86e+01 -6.0 5.15e-02 3.26e-02h 4 41 2.0817940e+00 3.81e-05 2.15e-01 -4.1 9.36e+00 -6.4 1.00e+00 2.92e-01h 2 42 2.0815796e+00 2.16e-04 2.73e-03 -4.1 4.67e+00 -6.9 1.00e+00 1.00e+00h 1 43 2.0818431e+00 2.21e-04 3.77e-04 -4.0 8.57e+00 -7.4 1.00e+00 1.00e+00h 1 44 2.0815929e+00 2.40e-04 3.83e-04 -4.1 1.07e+01 -7.9 1.00e+00 1.00e+00h 1 45 2.0806380e+00 3.14e-03 5.07e-04 -6.1 4.09e+01 -8.4 9.79e-01 9.31e-01h 1 46 2.0818810e+00 4.82e-03 1.99e-03 -4.0 4.15e+01 -8.8 1.00e+00 1.00e+00f 1 47 2.0816133e+00 4.66e-04 3.52e-04 -4.1 1.95e+01 -9.3 1.00e+00 1.00e+00h 1 48 2.0806031e+00 3.47e-03 2.10e-04 -6.1 4.19e+01 -9.8 9.76e-01 9.61e-01h 1 49 2.0811917e+00 3.20e-03 9.26e-03 -4.0 5.79e+01 -10.3 1.00e+00 4.68e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0814789e+00 2.36e-04 2.94e-05 -4.1 8.83e+00 -10.7 1.00e+00 1.00e+00h 1 51 2.0818437e+00 4.68e-04 3.99e-05 -4.0 1.51e+01 -11.2 1.00e+00 1.00e+00h 1 52 2.0815829e+00 2.23e-04 3.24e-05 -4.1 1.02e+01 -11.7 1.00e+00 1.00e+00h 1 53 2.0805927e+00 3.32e-03 1.40e-04 -6.1 4.05e+01 -12.2 9.77e-01 9.67e-01h 1 54 2.0818892e+00 6.58e-03 2.97e-04 -4.0 6.13e+01 -12.6 1.00e+00 1.00e+00f 1 55 2.0816122e+00 4.93e-04 3.30e-05 -4.1 2.06e+01 -13.1 1.00e+00 1.00e+00h 1 56 2.0806014e+00 3.47e-03 1.90e-04 -6.1 4.19e+01 -13.6 9.76e-01 9.61e-01h 1 57 2.0805507e+00 9.04e-05 2.22e-06 -6.1 1.70e+01 -14.1 1.00e+00 1.00e+00h 1 58 2.0806491e+00 1.41e-04 2.46e-02 -4.0 8.49e+01 -14.6 1.00e+00 7.60e-02f 1 59 2.0813836e+00 1.68e-03 7.46e-05 -4.2 2.72e+01 -15.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0813970e+00 3.57e-05 2.63e-05 -4.2 3.34e+01 -15.5 1.00e+00 1.00e+00h 1 61 2.0818437e+00 6.80e-04 3.99e-05 -4.0 1.74e+01 -16.0 1.00e+00 1.00e+00h 1 62 2.0815830e+00 2.26e-04 3.24e-05 -4.1 1.03e+01 -16.5 1.00e+00 1.00e+00h 1 63 2.0805926e+00 3.32e-03 1.40e-04 -6.1 4.05e+01 -16.9 9.77e-01 9.68e-01h 1 64 2.0805497e+00 7.09e-05 1.81e-06 -6.1 1.56e+01 -17.4 1.00e+00 1.00e+00h 1 65 2.0819869e+00 1.06e-02 4.00e-04 -4.0 8.58e+01 -17.9 1.00e+00 1.00e+00f 1 66 2.0816825e+00 9.86e-04 5.23e-05 -4.1 4.70e+01 -18.4 1.00e+00 1.00e+00h 1 67 2.0816443e+00 5.42e-07 3.41e-05 -4.1 8.94e+00 -18.8 1.00e+00 1.00e+00h 1 68 2.0818414e+00 1.23e-04 3.98e-05 -4.0 7.36e+00 -19.3 1.00e+00 1.00e+00h 1 69 2.0815817e+00 2.11e-04 3.24e-05 -4.1 9.62e+00 -19.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0805923e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -20.0 9.77e-01 9.68e-01h 1 71 2.0805497e+00 7.03e-05 1.80e-06 -6.1 1.55e+01 -20.0 1.00e+00 1.00e+00h 1 72 2.0819871e+00 1.06e-02 4.00e-04 -4.0 8.58e+01 -20.0 1.00e+00 1.00e+00f 1 73 2.0816826e+00 9.87e-04 5.24e-05 -4.1 4.71e+01 -20.0 1.00e+00 1.00e+00h 1 74 2.0816444e+00 5.44e-07 3.41e-05 -4.1 8.94e+00 -20.0 1.00e+00 1.00e+00h 1 75 2.0805933e+00 3.65e-03 1.55e-04 -6.1 4.19e+01 -20.0 9.76e-01 9.71e-01h 1 76 2.0805509e+00 7.35e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 77 2.0805468e+00 5.07e-08 3.40e-07 -6.1 2.92e+00 -20.0 1.00e+00 1.00e+00h 1 78 2.0820226e+00 1.22e-02 4.21e-04 -4.0 9.85e+01 -20.0 1.00e+00 1.00e+00f 1 79 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 80 2.0816573e+00 1.18e-06 3.45e-05 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 81 2.0805943e+00 3.73e-03 1.58e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.71e-01h 1 82 2.0805512e+00 7.57e-05 2.01e-06 -6.1 1.64e+01 -20.0 1.00e+00 1.00e+00h 1 83 2.0805469e+00 5.37e-08 3.46e-07 -6.1 3.01e+00 -20.0 1.00e+00 1.00e+00h 1 84 2.0805365e+00 9.26e-07 7.80e-07 -9.0 9.40e-01 -20.0 1.00e+00 9.97e-01h 1 85 2.0820402e+00 1.30e-02 4.35e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 86 2.0817219e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 87 2.0816639e+00 1.62e-06 3.47e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 88 2.0805948e+00 3.76e-03 1.59e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 89 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 90 2.0805470e+00 5.53e-08 3.49e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 91 2.0805365e+00 9.45e-07 8.03e-07 -9.0 9.51e-01 -20.0 1.00e+00 9.97e-01h 1 92 2.0805365e+00 8.67e-11 3.97e-10 -9.0 2.64e-02 -20.0 1.00e+00 1.00e+00h 1 93 2.0820406e+00 1.30e-02 4.36e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 94 2.0817222e+00 1.13e-03 7.75e-05 -4.1 5.82e+01 -20.0 1.00e+00 1.00e+00h 1 95 2.0816640e+00 1.63e-06 3.47e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0805948e+00 3.76e-03 1.60e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 97 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 98 2.0805470e+00 5.54e-08 3.49e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 99 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 100 2.0805365e+00 8.67e-11 3.97e-10 -9.0 2.64e-02 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595545663e+00 2.0805364595545663e+00 Dual infeasibility......: 3.9669422825787949e-10 3.9669422825787949e-10 Constraint violation....: 8.6739948557124080e-11 8.6739948557124080e-11 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.1448573344780131e-10 9.1448573344780131e-10 Overall NLP error.......: 9.9999090910175549e-05 9.9999090910175549e-05 Number of objective function evaluations = 112 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 112 Number of inequality constraint evaluations = 112 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 54.584 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 1 integrator 1 jacobian structure: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) jacobian structure: 4.289s jacobian structure: 1594 nonzeros (4.351s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) hessian structure: 13.715s 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 (13.768s) linear index maps built (0.0s) evaluator ready (total: 18.119s) evaluator created (18.141s) 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: 18.141s) 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 1.4108297e+02 3.18e+00 3.73e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.5282376e+01 1.55e+00 2.02e+01 -0.5 2.12e+00 0.0 1.00e+00 4.62e-01f 1 2 3.8562489e+00 1.46e-01 1.13e+01 0.1 1.32e+00 -0.5 1.00e+00 1.00e+00f 1 3 3.5124207e+00 2.80e-01 5.77e+00 -0.3 2.25e+00 -1.0 6.24e-01 1.00e+00f 1 4 3.3443136e+00 4.56e-01 3.39e+00 -0.3 5.40e+00 -1.4 8.51e-01 4.75e-01h 1 5 3.0613587e+00 2.59e-01 1.77e+00 -4.0 6.54e-01 -0.1 4.70e-01 4.31e-01h 1 6 2.5705763e+00 4.45e-02 7.30e-01 -2.1 4.26e-01 -0.6 7.45e-01 1.00e+00f 1 7 2.2873980e+00 2.59e-02 6.36e-01 -1.6 6.67e-01 -1.1 8.94e-01 8.82e-01h 1 8 2.1810969e+00 6.51e-03 1.39e-01 -2.1 1.61e-01 -1.5 9.64e-01 1.00e+00h 1 9 2.0979093e+00 6.63e-04 2.40e-02 -3.5 7.15e-02 -2.0 1.00e+00 9.00e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908927e+00 2.85e-05 1.95e-03 -4.0 1.45e-02 -2.5 1.00e+00 1.00e+00h 1 11 2.0908382e+00 1.52e-07 2.41e-04 -4.0 4.42e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0908323e+00 8.96e-10 2.41e-04 -4.0 4.73e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908200e+00 8.20e-09 2.41e-04 -4.0 1.38e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0907884e+00 5.84e-08 2.41e-04 -4.0 3.86e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0907061e+00 3.92e-07 2.53e-04 -4.0 1.07e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0904538e+00 3.46e-06 4.65e-04 -4.0 3.15e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0903561e+00 5.75e-07 3.92e-04 -4.0 1.29e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0900206e+00 1.74e-06 6.49e-03 -4.0 5.01e+00 -5.4 1.00e+00 6.17e-01H 1 19 2.0891733e+00 6.56e-05 1.17e-02 -4.0 1.32e+01 -5.9 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0885014e+00 4.88e-05 3.14e-02 -4.0 8.93e+00 -5.5 1.00e+00 4.43e-01h 1 21 2.0876147e+00 5.88e-05 1.05e-02 -4.0 1.31e+01 -5.9 1.00e+00 1.00e+00h 1 22 2.0862698e+00 1.18e-04 5.89e-02 -4.0 3.42e+01 -6.4 1.00e+00 4.46e-01h 1 23 2.0832852e+00 9.84e-04 5.16e-02 -4.0 5.40e+01 -6.9 1.00e+00 1.00e+00h 1 24 2.0825529e+00 5.21e-04 1.72e-02 -4.0 7.15e+01 -7.4 1.00e+00 1.00e+00h 1 25 2.0822423e+00 6.67e-04 9.84e-03 -4.0 1.55e+02 -7.8 8.44e-01 1.00e+00h 1 26 2.0824340e+00 1.17e-03 1.74e-02 -4.0 3.11e+01 -6.5 1.00e+00 1.00e+00h 1 27 2.0820598e+00 1.38e-03 1.89e-02 -4.0 2.26e+01 -7.0 1.00e+00 1.00e+00h 1 28 2.1058844e+00 4.49e-04 1.95e-01 -4.0 2.35e+02 -6.6 1.37e-02 9.83e-02h 1 29 2.0871688e+00 4.22e-07 4.71e-02 -4.1 2.85e-01 -0.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0846474e+00 6.83e-08 3.08e-02 -4.0 5.80e-02 -0.3 1.00e+00 1.00e+00h 1 31 2.0828155e+00 6.86e-09 1.39e-02 -4.0 8.10e-02 -0.8 1.00e+00 1.00e+00h 1 32 2.0823739e+00 7.20e-09 2.73e-03 -4.0 4.79e-02 -1.2 1.00e+00 1.00e+00h 1 33 2.0823718e+00 2.98e-07 5.22e-04 -4.0 2.70e-02 -1.7 1.00e+00 1.00e+00h 1 34 2.0823780e+00 9.90e-09 2.40e-04 -4.0 3.65e-03 -2.2 1.00e+00 1.00e+00h 1 35 2.0822384e+00 1.27e-07 1.92e-04 -4.1 7.92e-03 -2.7 1.00e+00 1.00e+00h 1 36 2.0823855e+00 1.79e-07 2.41e-04 -4.0 8.74e-03 -3.2 1.00e+00 1.00e+00h 1 37 2.0822346e+00 6.34e-07 1.92e-04 -4.1 2.83e-02 -3.6 1.00e+00 1.00e+00h 1 38 2.0823805e+00 1.65e-06 2.41e-04 -4.0 7.39e-02 -4.1 1.00e+00 1.00e+00h 1 39 2.0822154e+00 5.67e-06 1.92e-04 -4.1 2.49e-01 -4.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0823359e+00 1.41e-05 2.41e-04 -4.0 6.53e-01 -5.1 1.00e+00 1.00e+00h 1 41 2.0820866e+00 4.80e-05 1.92e-04 -4.1 1.95e+00 -5.5 1.00e+00 1.00e+00h 1 42 2.0821162e+00 1.18e-04 5.61e-04 -4.0 6.20e+00 -6.0 1.00e+00 1.00e+00h 1 43 2.1060678e+00 1.63e-05 2.46e-01 -4.1 4.30e+01 -6.5 1.84e-01 1.00e+00H 1 44 2.0989564e+00 1.31e-05 4.87e+00 -4.1 2.49e-01 -0.6 9.63e-01 1.92e-01f 1 45 2.0873357e+00 7.52e-06 5.69e+00 -4.1 2.44e-01 -1.1 8.64e-01 4.28e-01f 1 46 2.0823114e+00 1.82e-06 6.49e-01 -4.1 1.11e-01 -1.6 1.00e+00 7.59e-01f 1 47 2.0817217e+00 4.86e-06 1.36e+00 -4.1 3.01e-02 -2.1 5.97e-01 9.54e-01f 1 48 2.0820023e+00 1.76e-06 4.10e-02 -4.0 3.08e-02 -2.6 1.00e+00 9.41e-01f 1 49 2.0817981e+00 1.46e-06 2.15e-04 -4.1 2.43e-02 -3.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0817678e+00 8.18e-07 2.41e-04 -4.0 8.60e-02 -3.5 1.00e+00 1.00e+00h 1 51 2.0817783e+00 4.67e-07 2.41e-04 -4.0 2.29e-01 -4.0 1.00e+00 1.00e+00h 1 52 2.0818323e+00 2.38e-06 3.46e-04 -4.0 5.19e-01 -4.5 1.00e+00 1.00e+00h 1 53 2.0817883e+00 6.09e-06 7.39e-04 -4.1 5.14e-01 -4.9 1.00e+00 1.00e+00h 1 54 2.0811443e+00 1.75e-04 3.51e-03 -6.1 2.08e+00 -5.4 9.96e-01 1.00e+00h 1 55 2.0810471e+00 4.40e-05 1.70e-02 -4.9 2.90e+00 -5.9 1.00e+00 7.12e-01h 1 56 2.0822985e+00 1.56e-03 1.70e-02 -4.0 1.40e+01 -6.4 1.00e+00 1.00e+00f 1 57 2.0820689e+00 2.39e-04 2.61e-03 -4.1 1.92e+01 -6.9 1.00e+00 1.00e+00h 1 58 2.0820473e+00 7.72e-05 1.32e-03 -4.1 1.08e+01 -6.4 1.00e+00 1.00e+00h 1 59 2.0820696e+00 1.60e-04 3.73e-03 -4.1 3.08e+02 -6.9 3.70e-02 3.31e-02h 5 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0820644e+00 1.47e-04 1.79e-01 -4.1 2.45e+01 -7.4 1.00e+00 7.51e-02h 2 61 2.0818040e+00 1.00e-03 2.81e-02 -4.1 5.01e+01 -7.9 1.00e+00 1.00e+00h 1 62 2.0817007e+00 4.06e-04 6.11e-03 -4.1 6.16e+01 -8.3 1.00e+00 1.00e+00h 1 63 2.0816747e+00 7.13e-05 1.93e-03 -4.1 4.91e+01 -8.8 1.00e+00 1.00e+00h 1 64 2.0818389e+00 2.37e-04 2.41e-04 -4.0 1.57e+01 -9.3 1.00e+00 1.00e+00h 1 65 2.0815801e+00 2.24e-04 1.92e-04 -4.1 1.01e+01 -9.8 1.00e+00 1.00e+00h 1 66 2.0805903e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -10.2 9.78e-01 9.71e-01h 1 67 2.0818882e+00 6.53e-03 3.40e-04 -4.0 6.07e+01 -10.7 1.00e+00 1.00e+00f 1 68 2.0816137e+00 4.89e-04 1.97e-04 -4.1 2.07e+01 -11.2 1.00e+00 1.00e+00h 1 69 2.0805990e+00 3.47e-03 1.51e-04 -6.1 4.15e+01 -11.7 9.76e-01 9.65e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0805508e+00 8.48e-05 2.35e-06 -6.1 1.70e+01 -12.2 1.00e+00 1.00e+00h 1 71 2.0819793e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -12.6 1.00e+00 1.00e+00f 1 72 2.0816836e+00 9.34e-04 2.05e-04 -4.1 4.57e+01 -13.1 1.00e+00 1.00e+00h 1 73 2.0816477e+00 4.72e-07 2.05e-04 -4.1 8.52e+00 -13.6 1.00e+00 1.00e+00h 1 74 2.0818389e+00 1.15e-04 2.41e-04 -4.0 7.07e+00 -14.1 1.00e+00 1.00e+00h 1 75 2.0815801e+00 2.08e-04 1.93e-04 -4.1 9.50e+00 -14.5 1.00e+00 1.00e+00h 1 76 2.0805898e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -15.0 9.78e-01 9.71e-01h 1 77 2.0805497e+00 6.51e-05 1.78e-06 -6.1 1.55e+01 -15.5 1.00e+00 1.00e+00h 1 78 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -16.0 1.00e+00 1.00e+00f 1 79 2.0816887e+00 9.54e-04 2.06e-04 -4.1 4.72e+01 -16.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0816504e+00 5.63e-07 2.06e-04 -4.1 8.93e+00 -16.9 1.00e+00 1.00e+00h 1 81 2.0805906e+00 3.68e-03 1.60e-04 -6.1 4.16e+01 -17.4 9.77e-01 9.75e-01h 1 82 2.0805511e+00 6.76e-05 1.95e-06 -6.1 1.62e+01 -17.9 1.00e+00 1.00e+00h 1 83 2.0805469e+00 4.72e-08 1.90e-06 -6.1 2.95e+00 -18.4 1.00e+00 1.00e+00h 1 84 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.89e+01 -18.8 1.00e+00 1.00e+00f 1 85 2.0817159e+00 1.04e-03 2.08e-04 -4.1 5.46e+01 -19.3 1.00e+00 1.00e+00h 1 86 2.0816648e+00 1.22e-06 2.08e-04 -4.1 1.10e+01 -19.8 1.00e+00 1.00e+00h 1 87 2.0805915e+00 3.76e-03 1.66e-04 -6.1 4.20e+01 -20.0 9.76e-01 9.75e-01h 1 88 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0805471e+00 4.99e-08 1.94e-06 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805365e+00 9.55e-07 8.02e-07 -9.0 9.57e-01 -20.0 1.00e+00 9.97e-01h 1 91 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 92 2.0817306e+00 1.08e-03 2.09e-04 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 93 2.0816723e+00 1.67e-06 2.09e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 94 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 95 2.0805516e+00 7.07e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0805472e+00 5.15e-08 1.95e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 9.76e-07 8.28e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 98 2.0805365e+00 9.27e-11 2.19e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 99 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0817309e+00 1.08e-03 2.09e-04 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0817309354616338e+00 2.0817309354616338e+00 Dual infeasibility......: 2.0943992802516728e-04 2.0943992802516728e-04 Constraint violation....: 1.0814498438803666e-03 1.0814498438803666e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.1664941730925177e-04 1.1664941730925177e-04 Overall NLP error.......: 1.0814498438803666e-03 1.0814498438803666e-03 Number of objective function evaluations = 110 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 110 Number of inequality constraint evaluations = 110 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 37.327 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.062s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.063s) integrator 1 hessian structure: 0.053s 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: 0.117s) evaluator created (0.117s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.117s) 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 2.3268994e+00 2.56e+00 2.88e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.0616568e+00 8.63e-01 2.32e+00 -0.8 2.10e+00 0.0 1.00e+00 6.63e-01f 1 2 2.5999693e+00 3.61e-02 1.08e+00 -1.0 7.36e-01 -0.5 9.72e-01 1.00e+00h 1 3 2.4757835e+00 9.42e-02 4.65e-01 -1.3 1.28e+00 -1.0 5.54e-01 4.29e-01h 1 4 2.2871331e+00 4.90e-02 4.74e-01 -1.7 9.63e-01 -1.4 8.65e-01 6.81e-01h 1 5 2.1609334e+00 1.96e-03 9.56e-02 -2.2 1.41e-01 -1.9 9.80e-01 1.00e+00h 1 6 2.0950309e+00 1.01e-03 1.58e-02 -3.6 1.08e-01 -2.4 9.96e-01 9.00e-01h 1 7 2.0910168e+00 1.20e-05 1.21e-03 -4.0 1.61e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909797e+00 2.06e-07 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 8 (scaled) (unscaled) Objective...............: 2.0909797428156112e+00 2.0909797428156112e+00 Dual infeasibility......: 2.0596406221393370e-05 2.0596406221393370e-05 Constraint violation....: 2.0576459022411675e-07 2.0576459022411675e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000865938371721e-04 1.0000865938371721e-04 Overall NLP error.......: 2.0596406221393370e-05 2.0596406221393370e-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 = 25.825 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.062s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.062s) integrator 1 hessian structure: 0.054s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.055s) linear index maps built (0.0s) evaluator ready (total: 0.118s) evaluator created (0.118s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.119s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.0573474e+00 3.34e+00 9.75e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8316543e+00 3.25e-01 1.76e+00 -1.0 1.96e+00 0.0 8.88e-01 9.03e-01h 1 2 2.5784697e+00 9.33e-02 5.44e-01 -1.1 4.17e-01 -0.5 8.46e-01 7.08e-01f 1 3 2.3942524e+00 2.70e-02 2.19e-01 -1.5 3.08e-01 -1.0 9.69e-01 8.35e-01h 1 4 2.1510535e+00 4.44e-03 3.07e-02 -2.2 1.45e-01 -1.4 9.80e-01 1.00e+00h 1 5 2.0938458e+00 4.13e-04 2.19e-02 -3.8 4.63e-02 -1.9 9.91e-01 9.26e-01h 1 6 2.0908592e+00 3.02e-06 1.51e-03 -4.0 9.16e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0908363e+00 7.11e-08 2.22e-05 -4.0 1.62e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908319e+00 1.04e-09 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908186e+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 2.0907788e+00 6.22e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0906594e+00 5.61e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903020e+00 5.07e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892369e+00 4.63e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861063e+00 4.35e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796294e+00 2.48e-03 8.81e-02 -4.0 8.71e+01 -6.7 1.00e+00 7.52e-01h 1 16 2.0811976e+00 1.22e-04 1.78e-01 -4.0 6.98e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778212e+00 5.59e-03 2.40e-02 -4.0 1.13e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0782190e+00 1.74e-02 4.74e-02 -3.7 1.74e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0768700e+00 9.24e-03 2.56e-02 -3.8 3.13e+02 -8.6 1.00e+00 9.15e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0760881e+00 8.14e-03 2.51e-02 -3.9 4.60e+02 -9.1 1.00e+00 9.78e-01f 1 21 2.0757482e+00 9.86e-03 1.11e-02 -4.0 1.43e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756797e+00 5.48e-04 4.47e-04 -4.0 6.20e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 4.79e-06 8.76e-06 -4.0 2.35e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 6.35e-08 1.55e-06 -4.0 1.54e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.71e-09 1.57e-07 -4.0 5.42e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 8.30e-11 3.22e-09 -4.0 9.62e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122129861e+00 2.0756712122129861e+00 Dual infeasibility......: 3.2205586408698503e-09 3.2205586408698503e-09 Constraint violation....: 8.2992945849014177e-11 8.2992945849014177e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000019e-04 1.0000000000000019e-04 Overall NLP error.......: 3.2205586408698503e-09 3.2205586408698503e-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 = 26.994 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.057s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.058s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.108s) evaluator created (0.108s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.11s) 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 1.6847711e+00 2.31e+00 4.74e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6169500e+00 8.52e-02 8.79e-01 -1.1 1.92e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.2763553e+00 1.06e-01 4.05e-01 -1.5 1.93e+00 -2.5 8.69e-01 1.00e+00h 1 3 2.1956630e+00 2.52e-02 1.22e-01 -2.0 1.50e+00 -3.0 9.52e-01 1.00e+00h 1 4 2.1056587e+00 1.14e-02 4.31e-02 -2.7 1.06e+00 -3.4 9.89e-01 1.00e+00h 1 5 2.0923370e+00 2.44e-04 3.52e-03 -3.6 1.61e-01 -3.9 9.96e-01 1.00e+00h 1 6 2.0907534e+00 9.99e-05 2.42e-04 -4.0 5.03e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0906071e+00 4.87e-07 2.05e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0901662e+00 7.75e-06 3.44e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0888544e+00 7.11e-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 2.0850194e+00 6.73e-04 2.81e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0850194441268863e+00 2.0850194441268863e+00 Dual infeasibility......: 2.8056440200197848e-03 2.8056440200197848e-03 Constraint violation....: 6.7296210414369284e-04 6.7296210414369284e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000000e-04 1.0000000000000000e-04 Overall NLP error.......: 2.8056440200197848e-03 2.8056440200197848e-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 = 25.991 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.067s) integrator 1 hessian structure: 0.056s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.057s) linear index maps built (0.0s) evaluator ready (total: 0.125s) evaluator created (0.125s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.125s) 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.............: 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 2.0626496e+00 3.49e+00 1.07e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8563487e+00 1.88e-01 4.09e+00 -0.9 2.16e+00 - 9.90e-01 9.52e-01h 1 2 2.5812233e+00 2.21e-01 4.09e+00 -1.2 1.95e+00 - 5.37e-01 9.38e-01f 1 3 2.4808875e+00 4.14e-02 1.35e+00 -1.1 8.87e-01 - 6.06e-01 8.88e-01f 1 4 2.3376548e+00 9.10e-03 4.00e-01 -2.0 6.29e-01 - 9.98e-01 1.00e+00h 1 5 2.1709206e+00 3.71e-02 1.11e-01 -2.5 2.12e+00 - 9.91e-01 5.92e-01h 1 6 2.0933186e+00 5.48e-03 2.74e-02 -3.8 4.82e-01 - 1.00e+00 9.55e-01h 1 7 2.0908657e+00 2.82e-05 3.71e-03 -4.0 4.83e-02 - 1.00e+00 1.00e+00h 1 8 2.0908724e+00 1.70e-09 1.10e-04 -4.0 1.10e-04 - 1.00e+00 1.00e+00h 1 9 2.0908698e+00 2.00e-09 9.98e-05 -4.0 2.41e-02 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0794453e+00 2.01e-03 2.59e-01 -4.0 1.38e+03 - 8.86e-02 8.82e-02f 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0794453452795718e+00 2.0794453452795718e+00 Dual infeasibility......: 2.5881184288494069e-01 2.5881184288494069e-01 Constraint violation....: 2.0079376564807738e-03 2.0079376564807738e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000051815293114e-04 1.0000051815293114e-04 Overall NLP error.......: 2.5881184288494069e-01 2.5881184288494069e-01 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 = 8.260 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: 0.064s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.064s) integrator 1 hessian structure: 0.054s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.055s) linear index maps built (0.0s) evaluator ready (total: 0.121s) evaluator created (0.121s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.121s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 6.5126577e+00 2.80e+00 4.96e-01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6966529e+00 8.88e-01 2.07e+00 -1.0 2.01e+00 0.0 5.05e-01 6.83e-01f 1 2 2.3729555e+00 3.84e-01 1.09e+00 -1.0 6.59e-01 -0.5 9.74e-01 5.32e-01f 1 3 2.7206805e+00 1.93e-02 6.86e-01 -1.0 5.42e-01 -1.0 8.51e-01 1.00e+00f 1 4 2.3997718e+00 2.43e-02 3.64e-01 -1.7 3.38e-01 -1.4 9.08e-01 6.72e-01h 1 5 2.2620824e+00 1.94e-03 2.59e-02 -1.7 9.45e-02 -1.9 1.00e+00 1.00e+00f 1 6 2.0994190e+00 8.45e-04 3.29e-03 -3.8 4.53e-02 -2.4 9.66e-01 1.00e+00h 1 7 2.0913514e+00 2.48e-05 6.16e-04 -3.8 2.18e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908986e+00 2.42e-06 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908851e+00 2.03e-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 2.0908452e+00 6.21e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0908452451498620e+00 2.0908452451498620e+00 Dual infeasibility......: 2.0577942441039810e-05 2.0577942441039810e-05 Constraint violation....: 6.2062166796342244e-08 6.2062166796342244e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999994733e-05 9.9999999999994733e-05 Overall NLP error.......: 2.0577942441039810e-05 2.0577942441039810e-05 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 27.363 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.121s) integrator 1 hessian structure: 0.246s 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 (0.247s) linear index maps built (0.0s) evaluator ready (total: 0.437s) evaluator created (0.437s) 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: 0.438s) initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.064s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.065s) integrator 1 hessian structure: 0.055s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.056s) 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: 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 (1.869s) optimizer initialization complete (total: 1.99s) 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 2.5178373e+00 2.71e+00 1.81e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7958101e+00 2.09e-02 7.52e-01 -1.1 1.96e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.2980648e+00 2.57e-02 7.63e-02 -1.7 3.02e-01 -1.6 9.81e-01 1.00e+00h 1 3 2.1389308e+00 8.65e-03 1.46e-01 -2.9 1.61e-01 -1.1 9.59e-01 1.00e+00h 1 4 2.1018330e+00 2.93e-03 6.26e-01 -3.6 3.00e-01 -1.6 1.00e+00 7.00e-01h 1 5 2.0934907e+00 1.08e-03 4.41e-01 -4.0 4.22e-01 -2.1 1.00e+00 5.13e-01h 1 6 2.0911631e+00 4.72e-04 2.35e-01 -4.0 7.75e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0909874e+00 1.06e-06 4.71e-03 -4.0 2.35e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0909848e+00 3.10e-07 2.06e-05 -4.0 7.04e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909640e+00 1.65e-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 2.0909021e+00 1.47e-07 2.05e-05 -4.0 6.31e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907197e+00 1.29e-06 4.96e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0901998e+00 1.09e-05 4.20e-04 -4.0 5.44e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888559e+00 8.20e-05 3.16e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861665e+00 4.40e-04 1.74e-02 -4.0 3.46e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830933e+00 9.15e-04 4.71e-02 -4.0 5.32e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828600e+00 9.30e-04 2.34e-02 -4.0 5.41e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823463e+00 3.97e-04 1.01e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820401e+00 9.44e-05 1.85e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.71e-04 8.69e-03 -4.0 9.93e+01 -8.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0819393e+00 3.70e-05 8.47e-04 -4.0 3.11e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.35e-07 1.39e-05 -4.0 4.46e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.88e-10 3.29e-08 -4.0 2.46e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.54e-13 1.23e-11 -4.0 4.61e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907191031e+00 2.0819382907191031e+00 Dual infeasibility......: 1.2262721735397872e-11 1.2262721735397872e-11 Constraint violation....: 2.5401902803423582e-13 2.5401902803423582e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000037e-04 1.0000000000000037e-04 Overall NLP error.......: 1.2262721735397872e-11 1.2262721735397872e-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 = 27.169 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 (0.067s) integrator 1 hessian structure: 0.055s integrator 2 hessian structure: 0.034s 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 (0.09s) linear index maps built (0.0s) evaluator ready (total: 0.157s) evaluator created (0.157s) 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 (0.063s) optimizer initialization complete (total: 0.22s) 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 4.0331060e+00 2.68e+00 2.85e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8293521e+00 2.12e-02 5.62e-01 -1.1 1.97e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.2991713e+00 2.95e-02 1.16e-01 -1.7 2.92e-01 -1.6 9.24e-01 1.00e+00h 1 3 2.1326148e+00 1.20e-03 2.41e-01 -2.6 6.39e-02 -1.1 9.86e-01 1.00e+00h 1 4 2.0982614e+00 6.86e-04 9.06e-02 -3.9 8.55e-02 -1.6 1.00e+00 7.97e-01h 1 5 2.0924574e+00 4.16e-04 9.74e-01 -4.0 7.47e-01 -2.1 1.00e+00 4.30e-01h 1 6 2.0908758e+00 2.13e-04 3.61e-01 -4.0 7.43e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0907491e+00 3.43e-06 2.32e-02 -4.0 8.10e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0908952e+00 5.05e-06 2.43e-04 -4.0 6.36e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908785e+00 1.59e-08 2.94e-05 -4.0 1.82e-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 2.0908378e+00 8.77e-08 1.21e-04 -4.0 4.94e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907354e+00 6.24e-07 4.51e-04 -4.0 1.32e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904271e+00 5.55e-06 5.73e-04 -4.0 3.85e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0903044e+00 9.39e-07 5.82e-04 -4.0 1.61e+00 -5.0 1.00e+00 1.00e+00h 1 14 2.0901537e+00 1.57e-06 2.20e-02 -4.0 7.13e+00 -5.5 1.00e+00 2.01e-01h 2 15 2.0889625e+00 6.77e-05 3.03e-03 -4.0 1.41e+01 -6.0 1.00e+00 1.00e+00h 1 16 2.0872899e+00 1.68e-04 5.49e-02 -4.0 3.75e+01 -6.4 1.00e+00 5.30e-01h 1 17 2.0836190e+00 1.55e-03 5.66e-02 -4.0 6.53e+01 -6.9 1.00e+00 1.00e+00h 1 18 2.0826480e+00 8.44e-04 3.36e-02 -4.0 4.24e+01 -7.4 1.00e+00 4.62e-01h 1 19 2.0822969e+00 4.62e-04 2.24e-02 -4.0 1.55e+02 -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 2.0836330e+00 4.41e-06 1.97e-01 -4.0 1.91e+02 -7.5 2.97e-01 1.00e+00H 1 21 2.0847643e+00 1.35e-03 5.21e-01 -3.2 9.83e+00 -5.2 9.90e-01 4.81e-01f 1 22 2.0843282e+00 1.27e-03 2.76e-01 -3.3 1.05e+01 -5.7 2.52e-01 5.46e-02h 1 23 2.0868068e+00 1.37e-03 5.39e-01 -3.3 8.59e+01 -6.2 1.00e+00 1.00e+00F 1 24 2.0862666e+00 3.31e-03 6.63e-02 -3.3 1.57e+01 -6.7 9.73e-01 1.00e+00h 1 25 2.0867109e+00 2.85e-03 8.07e-03 -3.3 2.83e+01 -7.1 1.00e+00 1.00e+00h 1 26 2.0866170e+00 1.26e-03 1.00e-03 -3.3 1.52e+01 -7.6 1.00e+00 1.00e+00h 1 27 2.0811733e+00 4.40e-02 1.31e-02 -5.0 8.97e+01 -8.1 9.21e-01 1.00e+00h 1 28 2.0818561e+00 4.72e-03 6.54e-03 -4.0 5.48e+01 -8.6 1.00e+00 1.00e+00h 1 29 2.0818395e+00 7.13e-05 6.68e-04 -4.0 2.85e+01 -9.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0818384e+00 8.17e-07 2.26e-05 -4.0 6.24e+00 -9.5 1.00e+00 1.00e+00h 1 31 2.0818383e+00 4.28e-09 1.64e-07 -4.0 5.12e-01 -10.0 1.00e+00 1.00e+00h 1 32 2.0818383e+00 2.77e-12 1.46e-10 -4.0 1.50e-02 -10.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 32 (scaled) (unscaled) Objective...............: 2.0818383021858140e+00 2.0818383021858140e+00 Dual infeasibility......: 1.4564525377836618e-10 1.4564525377836618e-10 Constraint violation....: 2.7711166694643907e-12 2.7711166694643907e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000013e-04 1.0000000000000013e-04 Overall NLP error.......: 1.4564525377836618e-10 1.4564525377836618e-10 Number of objective function evaluations = 38 Number of objective gradient evaluations = 33 Number of equality constraint evaluations = 38 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 33 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 32 Total seconds in IPOPT = 27.002 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.044s jacobian structure: 180 nonzeros (0.072s) integrator 1 hessian structure: 0.051s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.322s sub-objective 2 (QuadraticRegularizer): 0.079s sub-objective 3 (MinimumTimeObjective): 0.018s objective hessian structure: 0.515s hessian structure: 375 nonzeros (0.567s) linear index maps built (0.0s) evaluator ready (total: 0.75s) evaluator created (0.75s) NL constraint bounds extracted (0.012s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.094s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.413s) optimizer initialization complete (total: 4.27s) 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 1.2923836e+00 9.61e-01 1.02e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8489987e+00 6.12e-01 3.89e+00 -0.8 3.10e+00 -2.0 1.00e+00 6.02e-01h 1 2 1.4567474e+00 2.85e-01 2.26e+00 -1.0 4.49e-01 -0.7 9.78e-01 1.00e+00f 1 3 1.4551437e+00 1.54e-01 6.24e-01 -0.6 1.44e+00 -1.1 5.99e-01 4.59e-01h 1 4 1.2354117e+00 6.35e-02 8.84e-01 -1.6 8.32e-01 -1.6 9.57e-01 1.00e+00h 1 5 1.2692647e+00 9.19e-02 1.82e+00 -1.7 1.35e+00 -2.1 9.69e-01 1.00e+00h 1 6 1.1897734e+00 2.09e-02 7.22e-01 -1.7 2.15e+00 -1.7 9.97e-01 3.08e-01h 1 7 1.1295567e+00 1.61e-03 2.78e-01 -2.9 1.04e-01 -2.2 1.00e+00 9.29e-01h 1 8 1.0952634e+00 1.36e-04 3.57e-01 -4.0 3.58e+00 - 1.00e+00 1.00e+00h 1 9 1.0912997e+00 4.17e-05 1.80e-02 -4.0 9.01e-01 - 1.00e+00 6.87e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0908965e+00 2.92e-07 3.73e-03 -4.0 4.21e-01 - 1.00e+00 1.00e+00h 1 11 1.0908997e+00 1.26e-11 6.35e-05 -4.0 1.27e-02 - 1.00e+00 1.00e+00h 1 12 1.0908997e+00 1.65e-19 6.32e-05 -4.0 2.78e-06 - 1.00e+00 1.00e+00h 1 13 1.0908997e+00 1.58e-27 4.44e-16 -4.0 2.46e-12 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 13 (scaled) (unscaled) Objective...............: 1.0908997263265459e+00 1.0908997263265459e+00 Dual infeasibility......: 4.4408920985005177e-16 4.4408920985005177e-16 Constraint violation....: 1.5848527535734565e-27 1.5848527535734565e-27 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 4.4408920985005177e-16 4.4408920985005177e-16 Number of objective function evaluations = 14 Number of objective gradient evaluations = 14 Number of equality constraint evaluations = 14 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 14 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 13 Total seconds in IPOPT = 26.190 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.065s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.554s jacobian structure: 1600 nonzeros (2.619s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.775s 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 (3.827s) linear index maps built (0.0s) evaluator ready (total: 6.447s) evaluator created (6.472s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.182s) variables set (0.727s) 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 (3.009s) optimizer initialization complete (total: 10.491s) 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 2.1436750e+00 3.38e+00 7.84e-01 9.44e-01 -1.0 - 0.00e+00 1 0 1 2.3313985e+00 2.05e-01 1.94e+00 4.71e-01 -1.0 0.0 9.40e-01 1 1h 2 2.6836066e+00 1.46e-02 4.55e-01 1.15e-01 -1.0 -0.5 1.00e+00 2 1h 3 2.3807794e+00 7.95e-03 1.14e-01 3.74e-02 -1.7 -1.0 1.00e+00 2 1h 4 2.1272697e+00 8.86e-03 2.26e-02 7.02e-03 -2.5 -1.4 9.46e-01 2 1h 5 2.0917508e+00 9.17e-04 5.19e-03 3.33e-04 -3.8 -1.9 9.65e-01 2 1h 6 2.0914334e+00 6.33e-06 2.09e-04 1.57e-04 -3.8 -2.4 1.00e+00 2 1h 7 2.0900758e+00 2.27e-06 2.12e-04 4.18e-05 -5.7 -2.9 1.00e+00 2 1h 8 2.0900511e+00 1.94e-06 2.30e-04 1.14e-05 -5.7 -3.3 1.00e+00 2 1h 9 2.0900331e+00 1.81e-05 5.43e-05 3.81e-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 2.0899936e+00 1.44e-04 1.99e-05 2.09e-06 -5.7 -4.3 1.00e+00 2 1h 11 2.0898806e+00 4.61e-04 3.36e-05 1.84e-06 -5.7 -4.8 1.00e+00 2 1h 12 2.0896906e+00 2.64e-04 5.48e-03 1.87e-06 -5.7 -5.2 5.66e-01 1 1h 13 2.0887764e+00 1.78e-04 1.92e-03 5.92e-06 -5.7 -5.7 1.00e+00 1 1h 14 2.0884375e+00 1.57e-04 9.43e-02 2.30e-06 -5.7 -6.2 1.17e-01 1 1h 15 2.0839691e+00 4.93e-05 4.51e-02 5.05e-06 -5.7 -6.7 1.00e+00 1 1h 16 2.0831080e+00 4.02e-05 1.40e-01 2.86e-06 -5.7 -7.2 1.87e-01 1 1h 17 2.0816810e+00 2.92e-05 1.41e-01 3.37e-06 -5.7 -7.6 2.79e-01 2 1h 18 2.0814085e+00 3.09e-05 1.95e-01 4.25e-05 -5.7 -8.1 2.86e-01 1 1h 19 2.0806749e+00 4.07e-05 1.34e-01 2.02e-05 -5.7 -8.6 8.93e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0881109e+00 2.68e-07 2.88e-01 3.23e-04 -5.7 -7.3 1.00e+00 1 1H 21 2.0839095e+00 8.42e-05 2.31e+00 2.14e-04 -5.7 -5.0 2.35e-01 1 2h 22 2.0813582e+00 2.93e-05 8.30e-01 2.25e-05 -5.7 -1.9 6.54e-01 1 1h 23 2.0811357e+00 1.28e-05 4.06e-01 3.29e-06 -5.7 -2.4 5.53e-01 2 1h 24 2.0811440e+00 1.44e-08 1.73e-05 9.76e-06 -5.7 -2.8 1.00e+00 1 1h 25 2.0811174e+00 5.77e-08 1.88e-04 1.32e-07 -8.6 -3.3 1.00e+00 2 1h 26 2.0811134e+00 1.66e-09 1.12e-05 2.64e-09 -8.6 -3.8 1.00e+00 1 1h 27 2.0811022e+00 1.18e-11 1.12e-05 2.51e-09 -8.6 -4.3 1.00e+00 2 1h 28 2.0810689e+00 1.05e-10 1.11e-05 2.51e-09 -8.6 -4.8 1.00e+00 2 1h 29 2.0809720e+00 9.11e-10 3.85e-05 2.51e-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 2.0809481e+00 8.88e-10 1.25e-02 4.14e-09 -8.6 -5.7 8.77e-02 2 1h 31 2.0809247e+00 1.16e-08 5.36e-03 4.52e-06 -8.6 -6.2 1.00e+00 2 1h 32 2.0809182e+00 1.10e-08 1.18e-02 4.04e-06 -8.6 -6.7 8.09e-02 2 1h 33 2.0807697e+00 1.39e-07 2.08e-03 9.39e-07 -8.6 -7.1 1.00e+00 2 1h 34 2.0806178e+00 4.07e-08 2.81e-03 2.16e-07 -8.6 -7.6 8.91e-01 2 1h 35 2.0805975e+00 3.51e-08 2.06e-01 4.42e-05 -8.6 -7.2 2.41e-01 1 1h 36 2.0805612e+00 7.24e-09 6.32e-02 2.09e-06 -8.6 -7.7 8.04e-01 2 1h 37 2.0805676e+00 3.97e-09 5.56e-02 1.55e-06 -8.6 -6.3 4.54e-01 1 1h 38 2.0805624e+00 3.04e-11 4.55e-04 2.13e-08 -8.6 -4.1 1.00e+00 1 1h 39 2.0805620e+00 2.41e-12 5.57e-02 2.76e-09 -8.6 -4.6 7.57e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805619e+00 9.59e-13 4.35e-02 2.56e-09 -8.6 -5.1 4.68e-01 2 1h 41 2.0805616e+00 2.29e-12 8.73e-06 2.19e-08 -8.6 -5.5 1.00e+00 2 1h 42 2.0805608e+00 1.51e-12 2.78e-04 2.56e-09 -8.6 -6.0 7.45e-01 2 1h 43 2.0805582e+00 1.24e-11 1.16e-04 4.95e-09 -8.6 -6.5 8.85e-01 2 1h 44 2.0805568e+00 1.63e-11 8.94e-03 2.01e-07 -8.6 -7.0 3.48e-01 2 1h 45 2.0805536e+00 9.34e-11 2.86e-03 1.59e-07 -8.6 -7.4 6.50e-01 2 1h 46 2.0805454e+00 3.04e-10 3.22e-04 1.35e-08 -8.6 -7.9 1.00e+00 2 1h 47 2.0805388e+00 4.11e-10 3.55e-04 3.04e-09 -8.6 -8.4 1.00e+00 1 1h 48 2.0805367e+00 3.89e-10 2.69e-03 2.55e-09 -8.6 -8.9 1.00e+00 1 1h 49 2.0805368e+00 3.97e-11 1.53e-05 9.25e-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 50 2.0805367e+00 3.26e-11 2.18e-03 2.52e-09 -8.6 -7.1 1.00e+00 1 1h 51 2.0805367e+00 8.63e-12 4.26e-04 2.51e-09 -8.6 -5.8 7.29e-01 1 1h 52 2.0805367e+00 1.97e-12 2.89e-06 2.76e-08 -8.6 -6.3 1.00e+00 2 1h 53 2.0805366e+00 3.54e-13 5.35e-04 2.52e-09 -8.6 -6.7 1.00e+00 2 1h 54 2.0805366e+00 3.74e-13 7.18e-07 2.51e-09 -8.6 -5.4 1.00e+00 1 1h 55 2.0805366e+00 1.71e-13 3.96e-07 2.52e-09 -8.6 -5.9 1.00e+00 1 1h 56 2.0805366e+00 4.26e-14 3.28e-05 2.51e-09 -8.6 -6.4 1.00e+00 1 1h 57 2.0805366e+00 3.03e-13 1.43e-02 4.03e-09 -8.6 -5.9 1.93e-01 1 3h 58 2.0805366e+00 4.80e-14 1.20e-06 2.58e-09 -8.6 -6.4 1.00e+00 1 1h 59 2.0805366e+00 1.23e-13 9.62e-08 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 2.0805366e+00 3.40e-13 2.17e-07 2.51e-09 -8.6 -7.4 1.00e+00 2 1h 61 2.0805366e+00 1.38e-12 1.11e-06 2.51e-09 -8.6 -7.9 1.00e+00 2 1h 62 2.0805365e+00 3.37e-12 2.79e-06 2.51e-09 -8.6 -8.3 1.00e+00 1 1h 63 2.0805365e+00 2.28e-12 2.39e-06 2.51e-09 -8.6 -8.8 1.00e+00 1 1h 64 2.0805365e+00 2.82e-13 3.91e-07 2.51e-09 -8.6 -9.3 1.00e+00 1 1h 65 2.0805365e+00 4.55e-15 9.19e-09 2.51e-09 -8.6 -9.8 1.00e+00 1 1h Number of Iterations....: 65 (scaled) (unscaled) Objective...............: 2.0805364803023405e+00 2.0805364803023405e+00 Dual infeasibility......: 9.1857275674733785e-09 9.1857275674733785e-09 Constraint violation....: 4.5519144009631418e-15 4.5519144009631418e-15 Complementarity.........: 2.5059035603634035e-09 2.5059035603634035e-09 Overall NLP error.......: 9.1857275674733785e-09 9.1857275674733785e-09 Number of objective function evaluations = 72 Number of objective gradient evaluations = 66 Number of constraint evaluations = 72 Number of constraint Jacobian evaluations = 66 Number of Lagrangian Hessian evaluations = 65 Number of KKT factorizations = 156 Number of KKT backsolves = 103 Total wall secs in initialization = 23.426 s Total wall secs in linear solver = 0.097 s Total wall secs in NLP function evaluations = 20.577 s Total wall secs in solver (w/o init./fun./lin. alg.) = 50.234 s Total wall secs = 94.334 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: 0.064s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 2.767s jacobian structure: 1680 nonzeros (2.832s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 11.282s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s sub-objective 5 (GlobalObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1964 nonzeros (11.335s) linear index maps built (0.0s) evaluator ready (total: 14.167s) evaluator created (14.187s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.0s) variables set (0.082s) 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 (4.877s) optimizer initialization complete (total: 19.147s) 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 1.6419190e+01 2.87e+00 3.14e+00 1.84e+00 -1.0 - 0.00e+00 1 0 1 2.6710274e+00 4.22e-01 2.03e+00 4.68e-01 -1.0 -2.0 9.93e-01 1 1h 2 2.7016348e+00 6.31e-02 4.93e-01 1.10e-01 -1.0 -2.5 1.00e+00 2 1h 3 2.3574527e+00 7.20e-02 6.13e-02 3.50e-02 -1.7 -3.0 1.00e+00 2 1h 4 2.1262675e+00 2.15e-02 2.36e-02 5.05e-03 -2.5 -3.4 1.00e+00 2 1h 5 2.0912415e+00 1.13e-03 5.51e-03 4.90e-04 -3.8 -3.9 9.94e-01 2 1h 6 2.0912283e+00 3.29e-04 2.97e-04 1.51e-04 -3.8 -4.4 1.00e+00 2 1h 7 2.0898122e+00 1.50e-04 4.48e-04 4.03e-05 -5.7 -4.9 1.00e+00 2 1h 8 2.0897352e+00 1.82e-05 7.39e-04 2.84e-06 -5.7 -4.4 8.80e-01 1 1h 9 2.0895815e+00 1.07e-05 3.94e-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 2.0893748e+00 1.19e-05 9.30e-03 1.89e-06 -5.7 -5.4 4.57e-01 1 1h 11 2.0881721e+00 3.75e-05 2.53e-03 6.10e-06 -5.7 -5.9 1.00e+00 1 1h 12 2.0877332e+00 3.29e-05 1.02e-01 2.38e-06 -5.7 -6.3 1.38e-01 1 1h 13 2.0828720e+00 3.96e-05 6.26e-02 4.49e-06 -5.7 -6.8 1.00e+00 1 1h 14 2.0818193e+00 3.08e-05 1.03e-01 2.43e-06 -5.7 -7.3 2.77e-01 1 1h 15 2.0817275e+00 2.98e-05 7.60e-02 7.82e-06 -5.7 -7.8 2.98e-02 2 1h 16 2.0812769e+00 3.32e-05 1.28e-01 5.57e-06 -5.7 -8.3 3.87e-01 2 1h 17 2.0816105e+00 6.12e-05 2.01e-01 6.12e-04 -5.7 -6.9 6.24e-01 1 1h 18 2.0812655e+00 5.26e-06 6.25e-03 1.48e-04 -5.7 -6.5 1.00e+00 1 1h 19 2.0810998e+00 1.56e-06 7.10e-04 3.05e-05 -5.7 -7.0 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0809186e+00 7.34e-07 1.35e-03 5.33e-06 -5.7 -7.5 1.00e+00 1 1h 21 2.0807040e+00 1.62e-06 4.23e-03 2.40e-06 -5.7 -7.9 1.00e+00 1 1h 22 2.0806133e+00 1.68e-06 3.91e-03 1.89e-06 -5.7 -8.4 6.15e-01 2 1h 23 2.0806231e+00 1.06e-06 8.30e-04 2.36e-05 -5.7 -7.1 1.00e+00 1 1h 24 2.0805989e+00 1.87e-06 1.44e-03 2.33e-06 -5.7 -7.6 1.00e+00 1 1h 25 2.0805911e+00 6.34e-07 1.38e-02 1.89e-06 -5.7 -7.1 6.60e-01 1 1h 26 2.0805842e+00 1.84e-07 1.73e-04 1.84e-06 -5.7 -7.6 1.00e+00 1 1h 27 2.0805711e+00 4.02e-07 1.77e-03 1.87e-06 -5.7 -8.1 1.00e+00 1 1h 28 2.0805724e+00 2.21e-07 1.30e-01 3.22e-06 -5.7 -6.8 3.52e-02 1 4h 29 2.0805799e+00 9.75e-08 7.91e-02 2.00e-06 -5.7 -7.2 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0805665e+00 1.01e-07 5.75e-02 1.86e-06 -5.7 -4.1 8.91e-01 1 1h 31 2.0805805e+00 6.49e-08 7.57e-04 2.83e-05 -5.7 -4.6 1.00e+00 1 1h 32 2.0805748e+00 2.90e-07 1.06e-04 5.93e-06 -5.7 -5.1 1.00e+00 1 1h 33 2.0805706e+00 6.49e-08 9.27e-05 2.35e-06 -5.7 -4.6 1.00e+00 1 1h 34 2.0805705e+00 6.49e-08 8.17e-06 1.85e-06 -5.7 -5.1 1.00e+00 1 1h 35 2.0805510e+00 3.34e-07 5.40e-03 6.10e-07 -8.6 -5.6 7.97e-01 2 1h 36 2.0805470e+00 1.71e-07 7.71e-04 1.64e-07 -8.6 -6.1 9.04e-01 2 1h 37 2.0805455e+00 6.47e-08 9.27e-04 2.87e-08 -8.6 -6.5 7.98e-01 2 1h 38 2.0805449e+00 4.96e-08 2.85e-03 2.02e-08 -8.6 -7.0 2.55e-01 2 1h 39 2.0805434e+00 3.53e-08 2.09e-03 5.77e-09 -8.6 -7.5 6.89e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805401e+00 2.60e-08 1.41e-04 3.63e-09 -8.6 -8.0 1.00e+00 1 1h 41 2.0805374e+00 4.73e-10 1.64e-04 2.51e-09 -8.6 -8.4 1.00e+00 1 1h 42 2.0805365e+00 3.36e-10 2.11e-03 2.52e-09 -8.6 -8.9 1.00e+00 1 1h 43 2.0805365e+00 1.38e-10 1.62e-05 5.71e-07 -8.6 -6.7 1.00e+00 1 1h 44 2.0805365e+00 1.17e-10 3.50e-06 2.51e-09 -8.6 -7.2 1.00e+00 1 1h 45 2.0805367e+00 8.66e-11 3.18e-04 2.51e-09 -8.6 -7.6 9.28e-01 1 1h 46 2.0805366e+00 9.11e-11 6.24e-04 2.51e-09 -8.6 -8.1 1.00e+00 1 1h 47 2.0805365e+00 8.94e-11 1.33e-06 2.53e-09 -8.6 -5.0 1.00e+00 1 1h 48 2.0805365e+00 8.92e-11 5.29e-06 2.51e-09 -8.6 -5.5 1.00e+00 1 1h 49 2.0805365e+00 8.92e-11 1.21e-07 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 2.0805365e+00 8.92e-11 1.75e-08 2.51e-09 -8.6 -6.4 1.00e+00 1 1h 51 2.0805365e+00 1.44e-10 9.57e-09 9.21e-10 -9.0 -6.9 1.00e+00 1 1h Number of Iterations....: 51 (scaled) (unscaled) Objective...............: 2.0805364782406177e+00 2.0805364782406177e+00 Dual infeasibility......: 9.5707559570750852e-09 9.5707559570750852e-09 Constraint violation....: 1.4383338964307768e-10 1.4383338964307768e-10 Complementarity.........: 9.2079812786614007e-10 9.2079812786614007e-10 Overall NLP error.......: 9.5707559570750852e-09 9.5707559570750852e-09 Number of objective function evaluations = 56 Number of objective gradient evaluations = 52 Number of constraint evaluations = 56 Number of constraint Jacobian evaluations = 52 Number of Lagrangian Hessian evaluations = 51 Number of KKT factorizations = 125 Number of KKT backsolves = 66 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.064 s Total wall secs in NLP function evaluations = 26.518 s Total wall secs in solver (w/o init./fun./lin. alg.) = 10.858 s Total wall secs = 37.442 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 (NonlinearKnotPointConstraint) jacobian structure: 2.641s jacobian structure: 1600 nonzeros (2.703s) integrator 1 hessian structure: 0.054s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.267s 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 (4.322s) linear index maps built (0.0s) evaluator ready (total: 7.025s) evaluator created (7.051s) 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: 7.052s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1376 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1306 Total number of variables............................: 92 variables with only lower bounds: 0 variables with lower and upper bounds: 16 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.1567323e+01 3.47e+00 6.87e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.1185765e+01 2.07e-01 2.08e+00 -0.9 2.45e+00 -4.0 9.36e-01 1.00e+00f 1 2 1.0276598e+01 2.74e-02 2.81e-01 -1.0 7.72e-01 -4.5 9.19e-01 1.00e+00f 1 3 9.7365379e+00 5.14e-03 4.59e-02 -2.0 2.27e-01 -5.0 9.27e-01 1.00e+00h 1 4 9.5099993e+00 3.43e-03 2.48e-02 -2.7 1.34e-01 -5.4 9.76e-01 1.00e+00f 1 5 9.4392570e+00 6.98e-04 3.37e-03 -3.8 7.21e-02 -5.9 9.99e-01 1.00e+00h 1 6 9.4269660e+00 1.21e-04 5.54e-04 -4.0 2.28e-02 -6.4 1.00e+00 1.00e+00h 1 7 9.4258472e+00 8.04e-06 3.24e-05 -4.0 4.49e-03 -6.9 1.00e+00 1.00e+00h 1 8 9.4258087e+00 4.56e-08 1.52e-07 -4.0 3.20e-04 -7.3 1.00e+00 1.00e+00h 1 9 9.4258086e+00 1.88e-12 1.00e-09 -4.0 3.08e-06 -7.8 1.00e+00 1.00e+00h 1 Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 9.4258086225829913e+00 9.4258086225829913e+00 Dual infeasibility......: 1.0000000031734841e-09 1.0000000031734841e-09 Constraint violation....: 1.8806067814125527e-12 1.8806067814125527e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000001116233551e-04 1.0000001116233551e-04 Overall NLP error.......: 1.0000000031734841e-09 1.0000000031734841e-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 = 29.144 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 2.1567323e+01 3.47e+00 6.87e-01 9.25e-01 -1.0 - 0.00e+00 1 0 1 1.1069328e+01 1.77e-01 2.07e+00 3.20e-01 -1.0 -4.0 1.00e+00 2 1h 2 1.0211422e+01 1.77e-01 1.88e-01 1.29e-01 -1.0 -4.5 1.00e+00 2 1h 3 9.6301689e+00 5.34e-03 8.52e-02 3.13e-02 -2.5 -5.0 1.00e+00 2 1h 4 9.4922516e+00 3.36e-03 9.81e-03 7.58e-03 -2.5 -5.4 1.00e+00 2 1h 5 9.4361692e+00 8.63e-04 8.07e-03 1.89e-03 -3.8 -5.9 1.00e+00 2 1h 6 9.4272983e+00 1.67e-04 4.49e-04 4.39e-04 -3.8 -6.4 1.00e+00 2 1h 7 9.4246221e+00 2.35e-05 1.51e-04 4.65e-05 -5.7 -6.9 1.00e+00 2 1h 8 9.4245373e+00 4.80e-07 6.48e-07 2.59e-06 -5.7 -7.3 1.00e+00 2 1h 9 9.4245130e+00 1.13e-09 2.66e-09 4.84e-09 -8.6 -7.8 1.00e+00 2 1h Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 9.4245129858023908e+00 9.4245129858023908e+00 Dual infeasibility......: 2.6594935143009479e-09 2.6594935143009479e-09 Constraint violation....: 1.1312419889719649e-09 1.1312419889719649e-09 Complementarity.........: 4.8409636088704112e-09 4.8409636088704112e-09 Overall NLP error.......: 4.8409636088704112e-09 4.8409636088704112e-09 Number of objective function evaluations = 10 Number of objective gradient evaluations = 10 Number of constraint evaluations = 10 Number of constraint Jacobian evaluations = 10 Number of Lagrangian Hessian evaluations = 9 Number of KKT factorizations = 19 Number of KKT backsolves = 19 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.009 s Total wall secs in NLP function evaluations = 0.191 s Total wall secs in solver (w/o init./fun./lin. alg.) = 0.009 s Total wall secs = 0.210 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: 0.065s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.066s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.053s) linear index maps built (0.0s) evaluator ready (total: 0.119s) evaluator created (0.119s) 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 (0.367s) optimizer initialization complete (total: 0.487s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 81 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.8181095e+00 3.11e+00 1.40e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.3809010e+00 2.35e+00 5.76e+00 -1.2 4.39e+01 -4.0 9.74e-01 1.00e+00h 1 2 2.3151928e+00 1.21e-01 1.78e+00 -1.5 1.15e+01 -4.5 9.99e-01 1.00e+00h 1 3 2.1746785e+00 1.75e-01 2.34e-01 -2.3 1.13e+01 -5.0 9.99e-01 1.00e+00h 1 4 2.0947005e+00 1.47e-01 1.09e-01 -3.0 1.65e+01 -5.4 9.96e-01 1.00e+00h 1 5 2.0908948e+00 1.72e-02 4.13e-02 -3.4 2.24e+01 -5.9 9.98e-01 1.00e+00h 1 6 2.0830573e+00 1.63e-02 3.11e-02 -3.9 4.43e+01 -6.4 1.00e+00 1.00e+00h 1 7 2.0904249e+00 2.04e-02 4.98e-02 -3.0 1.68e+01 -6.9 1.00e+00 1.00e+00h 1 8 2.0875114e+00 1.50e-02 6.97e-03 -3.1 2.90e+01 -7.3 1.00e+00 1.00e+00h 1 9 2.0784665e+00 7.65e-02 6.43e-03 -4.0 9.62e+01 -7.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0765296e+00 7.21e-03 1.08e-02 -4.0 2.33e+02 -8.3 1.00e+00 1.00e+00h 1 11 2.0761307e+00 1.19e-03 2.87e-02 -4.0 3.56e+02 -8.8 1.00e+00 1.00e+00h 1 12 2.0756077e+00 1.29e-04 2.26e-02 -4.0 3.88e+02 -9.2 1.00e+00 6.60e-01h 1 13 2.0758270e+00 4.99e-04 7.05e-03 -4.0 1.18e+02 -9.7 1.00e+00 1.00e+00h 1 14 2.0754427e+00 9.98e-04 1.54e-04 -4.1 4.11e+01 -10.2 1.00e+00 1.00e+00h 1 15 2.0757716e+00 5.46e-04 3.32e-06 -4.0 2.18e+01 -10.7 1.00e+00 1.00e+00h 1 16 2.0754220e+00 6.48e-04 6.61e-07 -4.1 2.45e+01 -11.2 1.00e+00 1.00e+00h 1 17 2.0757717e+00 3.83e-04 7.07e-07 -4.0 1.45e+01 -11.6 1.00e+00 1.00e+00h 1 18 2.0754219e+00 5.54e-04 2.33e-07 -4.1 2.09e+01 -12.1 1.00e+00 1.00e+00h 1 19 2.0757717e+00 6.04e-04 9.83e-08 -4.0 2.28e+01 -12.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0754219e+00 6.02e-04 1.03e-07 -4.1 2.27e+01 -13.1 1.00e+00 1.00e+00h 1 21 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -13.5 9.28e-01 1.00e+00h 1 22 2.0758523e+00 1.72e-01 1.56e-04 -4.0 1.29e+03 -14.0 1.00e+00 1.00e+00h 1 23 2.0754378e+00 2.85e-02 8.78e-05 -4.1 1.05e+03 -14.5 1.00e+00 1.00e+00h 1 24 2.0754277e+00 1.24e-05 2.11e-06 -4.1 1.63e+02 -15.0 1.00e+00 1.00e+00h 1 25 2.0757717e+00 7.84e-04 1.74e-07 -4.0 3.01e+01 -15.5 1.00e+00 1.00e+00h 1 26 2.0754219e+00 6.34e-04 1.30e-07 -4.1 2.39e+01 -15.9 1.00e+00 1.00e+00h 1 27 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -16.4 9.28e-01 1.00e+00h 1 28 2.0739729e+00 7.49e-04 2.53e-04 -6.1 8.48e+02 -16.9 8.16e-01 1.00e+00h 1 29 2.0743069e+00 2.58e-02 1.46e-02 -4.0 8.97e+03 -17.4 1.00e+00 1.46e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0749156e+00 3.43e-02 4.23e-05 -4.3 7.15e+02 -17.8 1.00e+00 1.00e+00h 1 31 2.0749194e+00 4.29e-04 1.42e-05 -4.3 5.34e+02 -18.3 1.00e+00 1.00e+00h 1 32 2.0757799e+00 1.06e-02 3.26e-06 -4.0 1.65e+02 -18.8 1.00e+00 1.00e+00h 1 33 2.0754236e+00 2.17e-03 7.34e-07 -4.1 8.12e+01 -19.3 1.00e+00 1.00e+00h 1 34 2.0754217e+00 1.05e-06 2.50e-08 -4.1 1.90e+01 -19.7 1.00e+00 1.00e+00h 1 35 2.0757718e+00 7.83e-04 1.70e-07 -4.0 2.96e+01 -20.0 1.00e+00 1.00e+00h 1 36 2.0754219e+00 6.34e-04 1.30e-07 -4.1 2.39e+01 -20.0 1.00e+00 1.00e+00h 1 37 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 38 2.0739729e+00 7.49e-04 2.53e-04 -6.1 8.48e+02 -20.0 8.16e-01 1.00e+00h 1 39 2.0739618e+00 7.48e-07 1.83e-05 -6.1 5.36e+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 40 2.0741610e+00 2.72e-02 1.81e-02 -4.0 3.03e+04 -20.0 1.00e+00 8.17e-02f 1 41 2.0748450e+00 7.42e-02 5.83e-05 -4.3 1.43e+03 -20.0 1.00e+00 1.00e+00f 1 42 2.0748594e+00 4.17e-04 5.58e-06 -4.3 3.96e+02 -20.0 1.00e+00 1.00e+00h 1 43 2.0740038e+00 1.17e-02 4.14e-04 -6.5 1.83e+02 -20.0 8.92e-01 1.00e+00h 1 44 2.0739628e+00 2.48e-04 2.84e-04 -6.5 7.31e+02 -20.0 7.61e-01 1.00e+00h 1 45 2.0739529e+00 2.78e-07 2.04e-05 -6.5 6.29e+02 -20.0 1.00e+00 1.00e+00h 1 46 2.0741325e+00 2.58e-02 1.91e-02 -4.0 3.70e+04 -20.0 1.00e+00 7.19e-02f 1 47 2.0748276e+00 8.42e-02 6.63e-05 -4.3 1.60e+03 -20.0 1.00e+00 1.00e+00f 1 48 2.0748443e+00 3.56e-04 3.40e-06 -4.3 3.15e+02 -20.0 1.00e+00 1.00e+00h 1 49 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 50 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 51 2.0739527e+00 2.69e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 52 2.0741318e+00 2.58e-02 1.92e-02 -4.0 3.72e+04 -20.0 1.00e+00 7.16e-02f 1 53 2.0748272e+00 8.45e-02 6.65e-05 -4.3 1.61e+03 -20.0 1.00e+00 1.00e+00f 1 54 2.0748440e+00 3.54e-04 3.34e-06 -4.3 3.13e+02 -20.0 1.00e+00 1.00e+00h 1 55 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 56 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 57 2.0739527e+00 2.68e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 58 2.0741318e+00 2.58e-02 1.92e-02 -4.0 3.72e+04 -20.0 1.00e+00 7.16e-02f 1 59 2.0748272e+00 8.45e-02 6.65e-05 -4.3 1.61e+03 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0748440e+00 3.54e-04 3.34e-06 -4.3 3.13e+02 -20.0 1.00e+00 1.00e+00h 1 61 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 62 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 63 2.0739527e+00 2.68e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 64 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 65 2.0741226e+00 2.63e-02 1.95e-02 -4.0 4.26e+04 -20.0 1.00e+00 6.77e-02f 1 66 2.0748234e+00 8.99e-02 7.10e-05 -4.3 1.70e+03 -20.0 1.00e+00 1.00e+00f 1 67 2.0748412e+00 3.13e-04 2.43e-06 -4.3 2.70e+02 -20.0 1.00e+00 1.00e+00h 1 68 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 69 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 71 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 72 2.0741225e+00 2.63e-02 1.95e-02 -4.0 4.27e+04 -20.0 1.00e+00 6.76e-02f 1 73 2.0748233e+00 9.00e-02 7.11e-05 -4.3 1.70e+03 -20.0 1.00e+00 1.00e+00f 1 74 2.0748411e+00 3.13e-04 2.42e-06 -4.3 2.70e+02 -20.0 1.00e+00 1.00e+00h 1 75 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 76 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 77 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 78 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 79 2.0739440e+00 6.21e-05 3.00e-06 -9.0 1.42e+02 -20.0 9.56e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0740989e+00 2.54e-02 2.06e-02 -4.0 5.21e+04 -20.0 1.00e+00 5.99e-02f 1 81 2.0748092e+00 1.02e-01 8.36e-05 -4.3 1.92e+03 -20.0 1.00e+00 1.00e+00f 1 82 2.0748293e+00 2.04e-04 1.06e-06 -4.3 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 83 2.0740026e+00 1.16e-02 4.11e-04 -6.5 1.88e+02 -20.0 8.89e-01 1.00e+00h 1 84 2.0739622e+00 2.30e-04 2.84e-04 -6.5 7.25e+02 -20.0 7.59e-01 1.00e+00h 1 85 2.0739525e+00 2.60e-07 1.99e-05 -6.5 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 86 2.0739518e+00 4.59e-09 7.61e-07 -6.5 1.66e+02 -20.0 1.00e+00 1.00e+00h 1 87 2.0741220e+00 2.63e-02 1.96e-02 -4.0 4.28e+04 -20.0 1.00e+00 6.75e-02f 1 88 2.0748230e+00 9.02e-02 7.13e-05 -4.3 1.71e+03 -20.0 1.00e+00 1.00e+00f 1 89 2.0748409e+00 3.11e-04 2.38e-06 -4.3 2.68e+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 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 91 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 92 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 93 2.0739520e+00 4.54e-09 7.53e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 94 2.0739440e+00 6.21e-05 3.00e-06 -9.0 1.42e+02 -20.0 9.56e-01 1.00e+00h 1 95 2.0740989e+00 2.54e-02 2.06e-02 -4.0 5.21e+04 -20.0 1.00e+00 5.99e-02f 1 96 2.0748092e+00 1.02e-01 8.37e-05 -4.3 1.92e+03 -20.0 1.00e+00 1.00e+00f 1 97 2.0748293e+00 2.04e-04 1.06e-06 -4.3 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 98 2.0740026e+00 1.16e-02 4.11e-04 -6.5 1.88e+02 -20.0 8.89e-01 1.00e+00h 1 99 2.0739622e+00 2.30e-04 2.84e-04 -6.5 7.25e+02 -20.0 7.59e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0739525e+00 2.60e-07 1.99e-05 -6.5 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0739525125989102e+00 2.0739525125989102e+00 Dual infeasibility......: 1.9893600830392442e-05 1.9893600830392442e-05 Constraint violation....: 2.6030378874608573e-07 2.6030378874608573e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 6.1601907672001799e-07 6.1601907672001799e-07 Overall NLP error.......: 9.9745518747822260e-05 9.9745518747822260e-05 Number of objective function evaluations = 101 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 101 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 30.248 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: 0.056s jacobian structure: 180 nonzeros (0.09s) integrator 1 hessian structure: 0.054s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.369s sub-objective 2 (QuadraticRegularizer): 0.094s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.019s objective hessian structure: 0.582s hessian structure: 375 nonzeros (0.636s) linear index maps built (0.0s) evaluator ready (total: 0.889s) evaluator created (0.889s) NL constraint bounds extracted (0.013s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.122s) applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.192s) optimizer initialization complete (total: 4.219s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 194 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 27 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.6015657e+00 9.88e-01 1.17e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6837483e+00 2.75e-01 2.03e+00 -0.8 8.41e-01 0.0 9.77e-01 1.00e+00h 1 2 1.6189851e+00 3.66e-02 5.53e-01 -0.8 3.13e-01 -0.5 7.21e-01 8.67e-01h 1 3 1.4501277e+00 1.62e-01 3.47e+00 -1.6 8.36e+00 - 8.58e-01 1.00e+00f 1 4 1.9473373e+00 2.41e-02 3.53e+00 -1.2 5.82e-01 -1.0 5.89e-01 1.00e+00H 1 5 1.7875536e+00 6.90e-02 4.38e+00 -0.8 2.38e+00 -0.5 1.00e+00 2.58e-01f 1 6 1.4570108e+00 4.72e-03 8.18e-01 -1.6 6.24e-02 -1.0 1.00e+00 1.00e+00f 1 7 1.1532294e+00 1.11e-04 7.10e-01 -2.7 6.03e-02 -1.5 9.96e-01 1.00e+00f 1 8 1.1003984e+00 1.44e-07 6.53e-02 -3.8 6.31e-02 -2.0 1.00e+00 1.00e+00f 1 9 1.0958010e+00 7.40e-10 1.64e-03 -4.0 5.11e-02 -1.5 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0955154e+00 6.00e-15 7.33e-04 -4.0 7.52e-02 -2.0 1.00e+00 1.00e+00f 1 11 1.0952050e+00 1.08e-27 7.11e-04 -4.0 2.19e-01 -2.5 1.00e+00 1.00e+00f 1 12 1.0948402e+00 5.16e-28 3.72e-03 -4.0 6.01e-01 -3.0 4.42e-01 5.00e-01f 2 13 1.0945438e+00 3.07e-29 8.16e-04 -4.0 2.28e-01 -2.5 1.00e+00 1.00e+00f 1 14 1.0909361e+00 2.25e-24 4.30e-01 -4.0 6.55e+00 - 1.00e+00 1.00e+00f 1 15 1.0908881e+00 3.16e-25 2.96e-05 -4.0 5.41e-02 - 1.00e+00 1.00e+00f 1 16 1.0908997e+00 5.00e-27 4.11e-09 -4.0 2.32e-04 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 16 (scaled) (unscaled) Objective...............: 1.0908997266050813e+00 1.0908997266050813e+00 Dual infeasibility......: 4.1134405704768354e-09 4.1134405704768354e-09 Constraint violation....: 4.9964543505765062e-27 4.9964543505765062e-27 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000027444166078e-04 1.0000027444166078e-04 Overall NLP error.......: 4.1134405704768354e-09 4.1134405704768354e-09 Number of objective function evaluations = 20 Number of objective gradient evaluations = 17 Number of equality constraint evaluations = 20 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 17 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 16 Total seconds in IPOPT = 22.527 EXIT: Optimal Solution Found. ┌ 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: 0.07s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.071s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.052s) linear index maps built (0.0s) evaluator ready (total: 0.124s) evaluator created (0.124s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: bounds constraint on trajectory variable ddu applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.128s) optimizer initialization complete (total: 0.255s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.1344819e+00 2.07e+00 5.86e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7565823e+00 3.46e-02 5.62e-01 -1.0 1.82e+00 - 1.00e+00 1.00e+00f 1 2 2.4043273e+00 7.81e-03 1.65e-01 -1.6 1.08e-01 - 9.03e-01 1.00e+00h 1 3 2.1849341e+00 4.23e-03 8.71e-02 -2.3 8.65e-02 - 8.45e-01 7.31e-01h 1 4 2.0964345e+00 2.42e-04 3.38e-03 -3.5 3.00e-02 - 9.95e-01 1.00e+00h 1 5 2.0908971e+00 5.33e-05 6.54e-04 -4.0 9.22e-02 - 1.00e+00 1.00e+00h 1 6 2.0908949e+00 6.26e-07 1.84e-05 -4.0 2.78e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 6.46e-10 2.68e-09 -4.0 4.69e-02 - 1.00e+00 1.00e+00h 1 8 2.0908972e+00 6.98e-14 1.13e-13 -4.0 5.22e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 8 (scaled) (unscaled) Objective...............: 2.0908971978672151e+00 2.0908971978672151e+00 Dual infeasibility......: 1.1293575666662670e-13 1.1293575666662670e-13 Constraint violation....: 6.9822294647414740e-14 6.9822294647414740e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000561929162e-04 1.0000000561929162e-04 Overall NLP error.......: 5.6192916124278916e-12 5.6192916124278916e-12 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 = 29.355 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.063s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.063s) integrator 1 hessian structure: 0.052s 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 (0.054s) 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: 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: 0.119s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.7256822e+00 1.51e+00 4.17e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.1045693e+00 7.43e-01 1.48e+00 -0.9 7.28e+00 -4.0 6.24e-01 7.50e-01f 1 2 2.4071872e+00 1.42e-01 5.78e+00 -1.2 3.02e+00 -1.8 2.92e-01 8.29e-01h 1 3 2.5343322e+00 4.98e-03 6.41e-01 -1.3 2.13e-01 -0.4 9.69e-01 1.00e+00f 1 4 2.3697492e+00 7.05e-03 1.53e-01 -1.6 2.06e-01 -0.9 9.88e-01 1.00e+00f 1 5 2.2115934e+00 7.91e-03 1.11e-01 -1.9 5.15e-01 -1.4 9.90e-01 7.01e-01h 1 6 2.1246069e+00 7.52e-04 4.79e-02 -2.5 6.86e-02 -1.9 9.81e-01 9.70e-01h 1 7 2.0957769e+00 2.51e-04 3.22e-02 -3.1 4.57e-02 -2.3 9.93e-01 1.00e+00h 1 8 2.0908365e+00 1.09e-05 2.16e-03 -4.0 1.56e-02 -2.8 1.00e+00 1.00e+00h 1 9 2.0908249e+00 3.08e-07 1.89e-05 -4.0 3.79e-02 -3.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908141e+00 6.21e-09 1.87e-05 -4.0 1.13e-01 -3.8 1.00e+00 1.00e+00h 1 11 2.0907825e+00 4.01e-08 1.83e-05 -4.0 3.30e-01 -4.3 1.00e+00 1.00e+00h 1 12 2.0906947e+00 3.04e-07 1.24e-04 -4.0 9.21e-01 -4.7 1.00e+00 1.00e+00h 1 13 2.0904852e+00 1.64e-06 7.67e-04 -4.0 2.25e+00 -5.2 1.00e+00 1.00e+00h 1 14 2.0901624e+00 3.74e-06 2.48e-03 -4.0 4.04e+00 -5.7 1.00e+00 1.00e+00h 1 15 2.0899398e+00 3.98e-06 2.78e-03 -4.0 5.16e+00 -6.2 1.00e+00 1.00e+00h 1 16 2.0898601e+00 9.00e-07 1.47e-03 -4.0 7.68e+00 -6.6 1.00e+00 1.00e+00h 1 17 2.0898322e+00 8.25e-07 1.20e-03 -4.0 1.06e+01 -7.1 1.00e+00 1.00e+00h 1 18 2.0898245e+00 1.43e-06 6.54e-04 -4.0 8.66e+00 -7.6 1.00e+00 1.00e+00h 1 19 2.0898221e+00 3.46e-07 8.27e-05 -4.0 2.76e+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 7.40e-09 1.40e-06 -4.0 4.24e-01 -8.5 1.00e+00 1.00e+00h 1 21 2.0898219e+00 1.08e-11 3.76e-09 -4.0 2.67e-02 -9.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 21 (scaled) (unscaled) Objective...............: 2.0898218500494026e+00 2.0898218500494026e+00 Dual infeasibility......: 3.7621774314855558e-09 3.7621774314855558e-09 Constraint violation....: 1.0832640340296962e-11 1.0832640340296962e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 3.7621774314855558e-09 3.7621774314855558e-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 = 28.194 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.067s) integrator 1 hessian structure: 0.055s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.057s) linear index maps built (0.0s) evaluator ready (total: 0.125s) evaluator created (0.126s) 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 (0.001s) optimizer initialization complete (total: 0.128s) 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 5.4730088e+00 2.54e+00 1.08e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 5.5787447e+00 2.54e+00 2.27e+02 1.5 4.22e+01 0.0 6.50e-02 2.31e-03h 1 2 5.5932775e+00 2.55e+00 3.36e+02 1.9 5.32e+01 -0.5 9.33e-02 4.08e-02f 1 3 5.0208652e+00 2.26e+00 8.68e+02 1.3 2.35e+01 -1.0 2.38e-01 1.21e-01f 1 4 4.8737520e+00 2.07e+00 8.04e+02 -0.4 4.35e+01 -1.4 8.17e-02 8.41e-02h 1 5 4.8782292e+00 1.87e+00 1.59e+03 1.3 7.86e+01 -1.9 3.32e-01 1.02e-01f 1 6 4.8949117e+00 1.87e+00 1.32e+03 -4.0 1.41e+05 -2.4 9.09e-05 4.21e-05h 4 7 5.0052393e+00 1.70e+00 1.36e+03 1.3 7.94e+01 -2.9 1.76e-01 9.12e-02h 1 8 4.9527891e+00 1.56e+00 2.07e+04 1.4 5.13e+01 -1.5 9.93e-01 8.37e-02h 1 9 5.1028548e+00 1.48e+00 3.19e+05 1.9 7.98e+01 -2.0 1.00e+00 4.85e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 5.1329626e+00 1.48e+00 3.43e+05 -4.0 3.85e+03 -2.5 9.60e-03 4.03e-03h 4 11 5.2503081e+00 3.10e+00 5.80e+04 2.0 1.62e+03 -3.0 2.40e-01 8.97e-03f 2 12 5.2399674e+00 3.07e+00 2.94e+05 1.9 1.68e+01 -3.4 5.75e-01 9.32e-03h 1 13 5.2951948e+00 2.54e+00 8.12e+05 1.9 1.07e+02 -3.9 8.48e-02 3.18e-02h 1 14 5.3059109e+00 2.49e+00 2.22e+07 1.9 9.17e+01 -4.4 3.38e-01 1.09e-02h 1 15 5.3016623e+00 2.49e+00 7.67e+09 1.9 2.94e+02 -4.9 1.00e+00 2.76e-03h 1 16 5.3014413e+00 2.49e+00 1.11e+13 1.9 1.28e+03 -5.4 2.38e-01 1.57e-04h 1 17 5.2331777e+00 2.40e+00 2.36e+16 1.9 7.73e+03 -5.8 1.58e-05 3.39e-02f 4 18 5.2327422e+00 2.40e+00 2.36e+16 1.9 9.87e-01 16.0 1.25e-04 1.94e-04h 1 19r 5.2327422e+00 2.40e+00 9.96e+02 1.9 0.00e+00 15.5 0.00e+00 3.60e-07R 5 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20r 5.1440463e+00 7.24e-01 8.74e+02 2.5 9.96e+01 - 7.90e-01 4.57e-02f 1 21 5.0148518e+00 6.78e-01 6.95e+13 -0.2 9.47e-01 15.1 6.85e-01 6.35e-02h 1 22 5.0135287e+00 6.78e-01 6.97e+13 0.6 8.94e-01 14.6 1.00e+00 6.68e-04h 1 23r 5.0135287e+00 6.78e-01 9.98e+02 1.9 0.00e+00 14.1 0.00e+00 3.64e-07R 5 24r 4.5586231e+00 2.18e-01 8.92e+02 0.0 9.41e+00 - 1.07e-01 1.11e-01f 1 25 4.5582686e+00 2.18e-01 1.51e+10 -0.8 4.94e-01 13.6 7.75e-01 7.15e-04h 1 26r 4.5582686e+00 2.18e-01 1.00e+03 -0.5 0.00e+00 13.2 0.00e+00 4.47e-07R 5 27r 3.8283212e+00 2.22e-01 9.95e+02 1.5 1.20e+03 - 1.22e-02 2.73e-03f 1 28r 4.0124675e+00 2.91e-01 9.27e+02 1.7 2.45e+02 - 4.09e-01 3.21e-02f 1 29r 3.9767998e+00 2.86e-01 8.15e+02 1.1 4.53e+00 - 5.21e-01 1.04e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30r 3.8300984e+00 2.83e-01 3.66e+02 1.1 9.38e+00 - 1.00e+00 5.60e-01f 1 31r 4.0796768e+00 2.00e-01 8.57e+00 0.1 5.00e-01 - 9.94e-01 9.78e-01f 1 32r 4.8124090e+00 4.70e-01 2.29e+01 -4.0 3.88e+01 - 6.51e-02 8.23e-02f 1 33r 5.0731277e+00 2.04e-01 1.30e+02 -0.2 7.92e-01 0.0 1.00e+00 6.10e-01f 1 34r 4.9882682e+00 1.99e-01 1.30e+02 -0.9 1.37e-01 1.3 1.00e+00 6.85e-01f 1 35r 4.9085590e+00 1.99e-01 8.75e+01 -1.1 2.40e-01 0.9 6.60e-01 4.84e-01f 1 36r 4.8509304e+00 1.99e-01 5.05e-01 -1.4 2.85e-02 1.3 1.00e+00 1.00e+00f 1 37r 4.8588812e+00 1.99e-01 1.34e+00 -2.5 2.91e-02 0.8 9.89e-01 9.04e-01f 1 38r 4.8488243e+00 1.99e-01 1.51e-02 -3.6 2.39e-02 0.3 1.00e+00 1.00e+00f 1 39r 4.8392711e+00 1.99e-01 8.57e-03 -4.0 2.01e-02 -0.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40r 4.8227949e+00 1.99e-01 8.33e-03 -4.0 3.56e-02 -0.6 1.00e+00 1.00e+00h 1 41r 4.4090554e+00 1.84e+00 1.29e-02 -3.6 2.77e+01 - 9.09e-01 8.52e-01f 1 42r 4.1840449e+00 2.61e+00 1.21e-02 -3.8 3.45e+01 - 6.36e-01 1.00e+00h 1 43r 4.1806642e+00 1.99e-01 9.40e-04 -4.0 2.75e+01 - 1.00e+00 1.00e+00h 1 44r 4.2070865e+00 1.99e-01 1.11e-05 -4.0 3.07e-01 - 1.00e+00 1.00e+00h 1 45r 4.2069000e+00 1.99e-01 4.74e-09 -4.0 1.08e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 45 (scaled) (unscaled) Objective...............: 4.2069012961773611e+00 4.2069012961773611e+00 Dual infeasibility......: 1.9611194189969319e+00 1.9611194189969319e+00 Constraint violation....: 1.9875045036490191e-01 1.9875045036490191e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000004276065e-04 1.0000000004276065e-04 Overall NLP error.......: 1.9611194189969319e+00 1.9611194189969319e+00 Number of objective function evaluations = 80 Number of objective gradient evaluations = 28 Number of equality constraint evaluations = 80 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 50 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 46 Total seconds in IPOPT = 29.512 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: 0.063s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.063s) 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 sub-objective 4 (GlobalObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1804 nonzeros (0.052s) linear index maps built (0.0s) evaluator ready (total: 0.116s) evaluator created (0.116s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.116s) 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 4.0828954e+00 2.67e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.4234909e+00 1.30e-01 2.80e+00 -0.8 1.97e+00 0.0 8.07e-01 9.55e-01f 1 2 2.8079202e+00 5.57e-02 1.97e+00 -0.9 2.63e-01 0.4 9.68e-01 5.70e-01f 1 3 2.6678495e+00 2.87e-03 2.69e-01 -1.2 1.58e-01 -0.1 9.52e-01 1.00e+00h 1 4 2.3192238e+00 5.98e-03 5.01e-01 -1.7 2.00e-01 -0.5 9.01e-01 1.00e+00f 1 5 2.1307339e+00 3.75e-03 1.21e-01 -2.4 1.09e-01 -1.0 9.96e-01 7.21e-01h 1 6 2.0938021e+00 4.06e-04 3.01e-02 -3.5 2.78e-02 -1.5 9.96e-01 8.93e-01h 1 7 2.0909805e+00 4.95e-06 3.35e-03 -4.0 1.03e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0909602e+00 2.96e-08 2.87e-05 -4.0 7.85e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909585e+00 2.04e-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 2.0909535e+00 9.68e-10 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909385e+00 8.72e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908937e+00 7.85e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907593e+00 7.08e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903571e+00 6.40e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891595e+00 5.86e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856485e+00 5.52e-04 2.30e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796332e+00 2.31e-03 1.35e-01 -4.0 9.58e+01 -6.7 1.00e+00 6.34e-01h 1 18 2.0807146e+00 1.74e-04 1.90e-01 -4.0 6.91e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775343e+00 7.95e-03 2.68e-02 -4.0 1.19e+02 -7.7 1.00e+00 9.98e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0769592e+00 1.90e-03 8.40e-02 -4.0 2.09e+02 -8.2 9.79e-01 1.00e+00h 1 21 2.0763748e+00 1.90e-03 3.15e-02 -4.0 3.54e+02 -8.6 1.00e+00 6.46e-01h 1 22 2.0755535e+00 1.76e-03 2.76e-02 -4.0 6.40e+02 -9.1 1.00e+00 7.60e-01h 1 23 2.0758168e+00 4.31e-03 1.78e-02 -4.0 1.93e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753859e+00 1.40e-03 9.63e-04 -4.1 1.12e+02 -10.1 1.00e+00 1.00e+00h 1 25 2.0756722e+00 4.72e-04 1.01e-05 -4.0 2.15e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 6.12e-07 1.10e-06 -4.0 1.18e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.16e-09 8.13e-08 -4.0 4.21e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 3.62e-11 1.45e-09 -4.0 6.63e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121555423e+00 2.0756712121555423e+00 Dual infeasibility......: 1.4471389494987320e-09 1.4471389494987320e-09 Constraint violation....: 3.6159852889738886e-11 3.6159852889738886e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000052e-04 1.0000000000000052e-04 Overall NLP error.......: 1.4471389494987320e-09 1.4471389494987320e-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 = 31.396 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: 2.779s jacobian structure: 1600 nonzeros (2.847s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.995s 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 (4.046s) linear index maps built (0.0s) evaluator ready (total: 6.893s) evaluator created (6.92s) 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: 6.921s) 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 2.6577632e+00 4.28e+00 5.02e-01 9.50e-01 -1.0 - 0.00e+00 1 0 1 2.5976395e+00 7.68e-02 3.24e+00 5.32e-01 -1.0 0.0 1.00e+00 1 1h 2 2.4268816e+00 2.07e-02 1.26e+00 1.06e-01 -1.0 0.4 1.00e+00 1 1h 3 2.9077798e+00 3.78e-02 1.99e+00 1.04e-01 -1.0 -0.1 1.00e+00 1 1h 4 2.5781582e+00 1.35e-02 6.86e-01 1.05e-01 -1.0 0.4 6.68e-01 1 1h 5 2.4122155e+00 3.01e-03 3.27e-01 3.58e-02 -1.7 -0.1 1.00e+00 1 1h 6 2.2304689e+00 7.95e-03 8.07e-02 2.21e-02 -1.7 -0.6 9.28e-01 1 1h 7 2.1177400e+00 1.48e-03 1.44e-02 4.30e-03 -2.5 -1.1 1.00e+00 1 1h 8 2.0911761e+00 2.81e-04 2.06e-03 1.71e-04 -3.8 -1.5 1.00e+00 1 1h 9 2.0914284e+00 7.18e-07 1.16e-04 1.51e-04 -3.8 -2.0 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0900878e+00 1.21e-06 6.50e-05 2.05e-05 -5.7 -2.5 1.00e+00 1 1h 11 2.0900754e+00 3.33e-08 1.28e-04 5.69e-06 -5.7 -3.0 1.00e+00 1 1h 12 2.0900640e+00 2.20e-07 1.29e-04 2.43e-06 -5.7 -3.4 1.00e+00 1 1h 13 2.0900459e+00 5.36e-06 2.05e-05 1.87e-06 -5.7 -3.9 1.00e+00 1 1h 14 2.0899948e+00 4.87e-04 9.46e-05 1.84e-06 -5.7 -4.4 1.00e+00 1 1h 15 2.0898975e+00 2.54e-04 1.45e-03 1.84e-06 -5.7 -4.9 1.00e+00 1 1h 16 2.0898574e+00 1.13e-07 1.42e-03 1.84e-06 -5.7 -3.5 1.00e+00 1 1h 17 2.0898471e+00 2.95e-07 3.50e-04 1.47e-05 -5.7 -4.0 1.00e+00 1 1h 18 2.0897778e+00 1.80e-06 1.89e-04 1.85e-06 -5.7 -4.5 9.26e-01 1 1h 19 2.0896014e+00 4.74e-06 2.44e-04 1.84e-06 -5.7 -5.0 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0894257e+00 4.25e-06 1.34e-02 1.90e-06 -5.7 -5.5 3.30e-01 1 1h 21 2.0880508e+00 1.04e-05 2.99e-03 5.53e-06 -5.7 -5.9 1.00e+00 1 1h 22 2.0876017e+00 9.12e-06 1.13e-01 2.45e-06 -5.7 -6.4 1.29e-01 1 1h 23 2.0825087e+00 4.67e-05 7.30e-02 4.28e-06 -5.7 -6.9 1.00e+00 1 1h 24 2.0817534e+00 3.80e-05 1.02e-01 5.31e-06 -5.7 -7.4 2.08e-01 1 1h 25 2.0812421e+00 1.18e-04 1.15e-01 2.20e-04 -5.7 -7.8 1.00e+00 1 1h 26 2.0811254e+00 9.87e-05 3.34e-02 1.37e-04 -5.7 -8.3 1.54e-01 1 1h 27 2.0811062e+00 2.41e-06 5.37e-03 1.23e-04 -5.7 -7.0 1.00e+00 1 1h 28 2.0808561e+00 3.58e-06 6.14e-03 2.92e-05 -5.7 -7.5 1.00e+00 1 1h 29 2.0807310e+00 2.32e-06 6.70e-03 7.58e-06 -5.7 -7.9 6.50e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0826814e+00 1.89e-09 1.28e-01 2.27e-06 -5.7 -8.4 1.00e+00 1 1H 31 2.0825009e+00 1.43e-06 2.32e-01 2.60e-06 -5.7 -6.2 1.69e-02 1 4h 32 2.0819868e+00 4.59e-06 3.90e-01 2.32e-06 -5.7 -5.8 1.27e-01 1 3h 33 2.0817404e+00 4.19e-06 4.52e-01 2.68e-05 -5.7 -2.6 9.10e-02 1 1h 34 2.0808997e+00 1.87e-06 1.14e-01 7.01e-06 -5.7 -3.1 5.44e-01 1 1h 35 2.0808657e+00 1.71e-06 1.41e-01 2.07e-06 -5.7 -3.6 1.34e-01 1 1h 36 2.0808454e+00 1.45e-06 4.89e-01 2.58e-06 -5.7 -4.1 1.51e-01 1 1h 37 2.0808434e+00 2.06e-08 1.76e-05 2.52e-06 -5.7 -4.5 1.00e+00 1 1h 38 2.0808259e+00 3.15e-07 9.07e-03 8.55e-07 -8.6 -5.0 6.67e-01 1 1h 39 2.0808124e+00 5.97e-07 2.63e-04 3.87e-08 -8.6 -5.5 9.73e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0808100e+00 4.86e-07 2.47e-02 2.99e-08 -8.6 -6.0 1.87e-01 1 1h 41 2.0807777e+00 5.31e-08 4.74e-04 4.53e-09 -8.6 -6.4 1.00e+00 1 1h 42 2.0807559e+00 3.82e-08 1.67e-02 3.28e-09 -8.6 -6.9 2.80e-01 1 1h 43 2.0806881e+00 1.71e-08 1.56e-02 3.73e-07 -8.6 -7.4 5.53e-01 1 1h 44 2.0805676e+00 7.97e-09 4.71e-03 7.80e-07 -8.6 -7.9 1.00e+00 1 1h 45 2.0805431e+00 1.84e-08 1.45e-01 7.07e-07 -8.6 -7.4 9.79e-02 1 1h 46 2.0805391e+00 1.11e-08 3.54e-02 1.82e-07 -8.6 -6.1 3.90e-01 1 1h 47 2.0805411e+00 3.81e-09 5.26e-04 6.53e-06 -8.6 -6.6 1.00e+00 1 1h 48 2.0805399e+00 2.81e-09 3.58e-03 2.52e-09 -8.6 -7.1 2.90e-01 1 1h 49 2.0805380e+00 1.23e-09 4.50e-02 2.59e-09 -8.6 -5.7 5.62e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805396e+00 1.02e-10 3.22e-05 3.01e-06 -8.6 -6.2 1.00e+00 1 1h 51 2.0805385e+00 1.28e-10 1.57e-05 6.24e-07 -8.6 -6.7 1.00e+00 1 1h 52 2.0805380e+00 1.92e-11 6.21e-06 1.16e-07 -8.6 -6.3 1.00e+00 1 1h 53 2.0805378e+00 8.60e-11 8.13e-07 2.45e-08 -8.6 -6.7 1.00e+00 1 1h 54 2.0805377e+00 1.63e-10 8.26e-07 6.03e-09 -8.6 -7.2 1.00e+00 1 1h 55 2.0805374e+00 1.34e-10 2.92e-06 2.99e-09 -8.6 -7.7 1.00e+00 1 1h 56 2.0805369e+00 1.07e-10 1.41e-05 2.51e-09 -8.6 -8.2 1.00e+00 1 1h 57 2.0805366e+00 8.09e-11 8.21e-04 2.51e-09 -8.6 -8.7 1.00e+00 1 1h 58 2.0805366e+00 4.56e-12 3.29e-06 1.43e-07 -8.6 -6.4 1.00e+00 1 1h 59 2.0805365e+00 2.59e-12 4.49e-04 2.51e-09 -8.6 -6.9 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 60 2.0805366e+00 4.53e-13 1.02e-04 1.25e-08 -8.6 -7.4 9.90e-01 1 1h 61 2.0805365e+00 1.43e-12 2.94e-05 4.51e-09 -8.6 -7.9 1.00e+00 1 1h 62 2.0805365e+00 9.41e-13 1.36e-04 2.51e-09 -8.6 -6.5 4.47e-01 1 1h 63 2.0805365e+00 1.47e-13 1.51e-05 4.39e-09 -8.6 -7.0 1.00e+00 1 1h 64 2.0805365e+00 1.36e-13 6.98e-05 4.86e-09 -8.6 -7.5 7.87e-02 1 2h 65 2.0805365e+00 1.15e-12 4.28e-07 2.51e-09 -8.6 -8.0 1.00e+00 1 1h 66 2.0805365e+00 2.61e-12 1.02e-06 2.90e-09 -8.6 -8.4 1.00e+00 1 1h 67 2.0805365e+00 2.05e-12 7.28e-07 2.52e-09 -8.6 -8.9 1.00e+00 1 1h 68 2.0805365e+00 2.89e-13 8.99e-08 2.51e-09 -8.6 -9.4 1.00e+00 1 1h 69 2.0805365e+00 5.55e-15 1.48e-09 2.51e-09 -8.6 -9.9 1.00e+00 1 1h Number of Iterations....: 69 (scaled) (unscaled) Objective...............: 2.0805364803022219e+00 2.0805364803022219e+00 Dual infeasibility......: 1.4767909672919188e-09 1.4767909672919188e-09 Constraint violation....: 5.5511151231257827e-15 5.5511151231257827e-15 Complementarity.........: 2.5059035601262314e-09 2.5059035601262314e-09 Overall NLP error.......: 2.5059035601262314e-09 2.5059035601262314e-09 Number of objective function evaluations = 80 Number of objective gradient evaluations = 70 Number of constraint evaluations = 80 Number of constraint Jacobian evaluations = 70 Number of Lagrangian Hessian evaluations = 69 Number of KKT factorizations = 166 Number of KKT backsolves = 74 Total wall secs in initialization = 6.259 s Total wall secs in linear solver = 0.150 s Total wall secs in NLP function evaluations = 20.262 s Total wall secs in solver (w/o init./fun./lin. alg.) = 30.174 s Total wall secs = 56.844 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 2.5827871e+00 3.45e+00 6.85e-01 9.71e-01 -1.0 - 0.00e+00 1 0 1 1.9676232e+00 1.66e+00 1.30e+00 5.17e-01 -1.0 0.0 5.20e-01 1 1h 2 2.5890266e+00 9.92e-02 1.35e+00 2.44e-01 -1.0 -0.5 1.00e+00 2 1h 3 2.6422542e+00 6.68e-02 7.25e-01 1.35e-01 -1.0 -1.0 6.10e-01 2 1h 4 2.4551743e+00 5.29e-02 6.01e-01 8.51e-02 -1.7 -0.5 2.08e-01 1 1h 5 2.4201526e+00 7.09e-02 3.91e-01 4.53e-02 -1.7 -1.0 5.47e-01 2 1h 6 2.2845205e+00 7.48e-02 2.82e-01 3.85e-02 -1.7 -1.5 3.89e-01 2 1h 7 2.2706115e+00 3.56e-03 4.94e-02 2.18e-02 -1.7 -2.0 1.00e+00 2 1h 8 2.1174222e+00 2.34e-03 9.89e-03 3.53e-03 -2.5 -2.4 1.00e+00 2 1h 9 2.0914269e+00 6.10e-04 1.09e-03 1.89e-04 -3.8 -2.9 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0900296e+00 1.06e-05 2.85e-05 1.25e-05 -5.7 -3.4 1.00e+00 2 1h 11 2.0900092e+00 3.85e-05 1.19e-04 3.41e-06 -5.7 -3.9 1.00e+00 2 1h 12 2.0899657e+00 2.36e-04 6.34e-04 1.84e-06 -5.7 -4.3 1.00e+00 2 1h 13 2.0899492e+00 7.04e-06 1.32e-04 1.84e-06 -5.7 -3.9 1.00e+00 1 1h 14 2.0899223e+00 1.42e-05 1.07e-03 1.87e-06 -5.7 -4.4 4.96e-01 2 1h 15 2.0897907e+00 9.37e-05 3.36e-04 3.44e-06 -5.7 -4.9 1.00e+00 1 1h 16 2.0897389e+00 3.31e-05 9.39e-04 1.85e-06 -5.7 -4.4 6.56e-01 1 1h 17 2.0895865e+00 6.73e-06 3.37e-04 4.14e-06 -5.7 -4.9 1.00e+00 1 1h 18 2.0894047e+00 6.47e-06 1.15e-02 1.90e-06 -5.7 -5.4 3.68e-01 1 1h 19 2.0881670e+00 2.00e-05 2.51e-03 4.56e-06 -5.7 -5.9 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0877164e+00 1.73e-05 9.99e-02 2.37e-06 -5.7 -6.4 1.45e-01 1 1h 21 2.0828142e+00 4.05e-05 6.39e-02 4.39e-06 -5.7 -6.8 1.00e+00 1 1h 22 2.0817492e+00 3.12e-05 1.02e-01 2.40e-06 -5.7 -7.3 2.85e-01 1 1h 23 2.0813782e+00 1.16e-04 1.15e-01 3.21e-04 -5.7 -7.8 1.00e+00 2 1h 24 2.0811405e+00 8.28e-05 4.03e-02 2.08e-04 -5.7 -8.3 2.50e-01 1 1h 25 2.0806530e+00 1.09e-05 4.35e-02 9.37e-05 -5.7 -8.7 8.67e-01 1 1h 26 2.0807333e+00 1.04e-05 8.97e-02 1.28e-04 -5.7 -6.5 6.51e-01 1 1h 27 2.0807118e+00 8.29e-06 1.06e-01 5.93e-05 -5.7 -7.0 2.03e-01 2 1h 28 2.0806690e+00 5.97e-06 7.65e-02 3.97e-05 -5.7 -7.5 2.76e-01 2 1h 29 2.0806332e+00 5.68e-06 5.28e-03 1.79e-05 -5.7 -7.0 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0805856e+00 3.30e-06 1.35e-02 3.55e-06 -5.7 -7.5 7.57e-01 2 1h 31 2.0805897e+00 3.95e-07 1.18e-03 1.50e-05 -5.7 -5.3 1.00e+00 1 1h 32 2.0805860e+00 1.47e-07 1.45e-04 3.28e-06 -5.7 -5.8 1.00e+00 2 1h 33 2.0805843e+00 1.76e-08 3.87e-05 1.99e-06 -5.7 -6.2 1.00e+00 1 1h 34 2.0805807e+00 7.19e-09 3.73e-05 1.85e-06 -5.7 -6.7 1.00e+00 1 1h 35 2.0805726e+00 1.68e-08 1.85e-04 1.84e-06 -5.7 -7.2 1.00e+00 1 1h 36 2.0805682e+00 4.44e-08 1.08e-04 1.84e-06 -5.7 -7.7 1.00e+00 2 1h 37 2.0805636e+00 1.86e-07 2.24e-04 1.86e-06 -5.7 -8.1 1.00e+00 1 1h 38 2.0805608e+00 2.01e-07 2.29e-04 1.84e-06 -5.7 -8.6 1.00e+00 1 1h 39 2.0805604e+00 4.62e-08 4.89e-05 1.84e-06 -5.7 -9.1 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805604e+00 1.55e-09 2.10e-06 1.84e-06 -5.7 -9.6 1.00e+00 1 1h 41 2.0805367e+00 3.97e-06 3.48e-06 6.22e-08 -8.6 -10.1 9.93e-01 2 1h 42 2.0805365e+00 1.58e-09 4.13e-09 2.55e-09 -8.6 -10.5 1.00e+00 2 1h Number of Iterations....: 42 (scaled) (unscaled) Objective...............: 2.0805364803887292e+00 2.0805364803887292e+00 Dual infeasibility......: 4.1266856598554114e-09 4.1266856598554114e-09 Constraint violation....: 1.5800969421775335e-09 1.5800969421775335e-09 Complementarity.........: 2.5518103723044155e-09 2.5518103723044155e-09 Overall NLP error.......: 4.1266856598554114e-09 4.1266856598554114e-09 Number of objective function evaluations = 43 Number of objective gradient evaluations = 43 Number of constraint evaluations = 43 Number of constraint Jacobian evaluations = 43 Number of Lagrangian Hessian evaluations = 42 Number of KKT factorizations = 97 Number of KKT backsolves = 62 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.042 s Total wall secs in NLP function evaluations = 20.403 s Total wall secs in solver (w/o init./fun./lin. alg.) = 9.112 s Total wall secs = 29.559 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 ┌ 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 1.8869770e+00 1.71e+00 5.92e-01 9.61e-01 -1.0 - 0.00e+00 1 0 1 2.8088431e+00 3.97e-02 1.61e+00 1.83e-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 2.7432605e+00 2.72e-02 1.94e-01 1.05e-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 2.3449459e+00 1.08e-02 2.08e-01 2.78e-02 -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 4 2.1157419e+00 8.81e-03 2.33e-01 4.51e-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 2.1157430e+00 5.38e-04 8.87e-03 3.19e-03 -2.5 - 1.00e+00 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.1157429516207524e+00 2.1157429516207524e+00 Dual infeasibility......: 8.8679535541821668e-03 8.8679535541821668e-03 Constraint violation....: 5.3797236016639438e-04 5.3797236016639438e-04 Complementarity.........: 3.1860261537087556e-03 3.1860261537087556e-03 Overall NLP error.......: 8.8679535541821668e-03 8.8679535541821668e-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 = 0.642 s Total wall secs in linear solver = 0.005 s Total wall secs in NLP function evaluations = 0.161 s Total wall secs in solver (w/o init./fun./lin. alg.) = 39.256 s Total wall secs = 40.064 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 4.2092647e+00 2.82e+00 8.98e-01 9.86e-01 -1.0 - 0.00e+00 1 0 1 2.7281683e+00 9.58e-02 1.43e+00 1.69e-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 2.7702673e+00 1.63e-02 1.62e-01 1.04e-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 2.3285234e+00 4.30e-03 1.77e-01 2.76e-02 -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 4 2.1114632e+00 3.23e-03 6.49e-02 4.21e-03 -2.5 - 9.78e-01 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 5 2.1155623e+00 7.75e-04 5.26e-03 2.98e-03 -2.5 - 1.00e+00 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.1155623224393318e+00 2.1155623224393318e+00 Dual infeasibility......: 5.2639823819890302e-03 5.2639823819890302e-03 Constraint violation....: 7.7498717417712193e-04 7.7498717417712193e-04 Complementarity.........: 2.9752841140996502e-03 2.9752841140996502e-03 Overall NLP error.......: 5.2639823819890302e-03 5.2639823819890302e-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 = 0.001 s Total wall secs in linear solver = 0.004 s Total wall secs in NLP function evaluations = 0.146 s Total wall secs in solver (w/o init./fun./lin. alg.) = 9.993 s Total wall secs = 10.145 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 4.3222869e+00 3.90e+00 5.70e-01 9.67e-01 -1.0 - 0.00e+00 1 0 1 2.7265684e+00 7.96e-02 1.67e+00 1.28e-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 2.6987162e+00 3.69e-02 3.28e-01 1.01e-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 2.3855032e+00 1.06e-02 1.55e-01 3.56e-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 2.1216871e+00 6.01e-03 1.19e-01 4.79e-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 2.1150358e+00 1.74e-03 1.07e-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 2.0914454e+00 2.37e-05 4.80e-03 1.78e-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 2.0913439e+00 2.92e-08 1.69e-04 1.50e-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 2.0899961e+00 1.59e-06 5.55e-04 3.82e-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 2.0899750e+00 8.13e-07 5.98e-04 1.02e-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 2.0899672e+00 1.19e-06 2.02e-04 3.25e-06 -5.7 - 1.00e+00 1 1h Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0899671696639346e+00 2.0899671696639346e+00 Dual infeasibility......: 2.0164234657937385e-04 2.0164234657937385e-04 Constraint violation....: 1.1919188016573656e-06 1.1919188016573656e-06 Complementarity.........: 3.2473412486177720e-06 3.2473412486177720e-06 Overall NLP error.......: 2.0164234657937385e-04 2.0164234657937385e-04 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 = 0.179 s Total wall secs in solver (w/o init./fun./lin. alg.) = 10.131 s Total wall secs = 10.320 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 5.9175444e+00 3.63e+00 2.29e+00 1.96e+00 -1.0 - 0.00e+00 1 0 1 2.7894618e+00 9.73e-01 1.97e+00 7.72e-01 -1.0 -2.0 1.00e+00 1 1h 2 2.6599503e+00 8.63e-01 3.79e+00 4.49e-01 -1.0 -2.5 1.51e-01 2 1h 3 2.5781121e+00 4.91e-01 2.00e+00 2.57e-01 -1.0 -3.0 5.35e-01 2 1h 4 2.5593847e+00 4.98e-01 1.97e+00 2.54e-01 -1.0 -3.4 2.40e-02 2 2h 5 2.5467437e+00 4.88e-01 2.55e+00 2.09e-01 -1.0 -2.1 5.66e-02 1 1h 6 2.6759476e+00 3.98e-01 2.66e+00 1.40e-01 -1.0 -2.6 1.00e+00 2 1h 7 2.6698329e+00 8.62e-02 2.17e-01 1.15e-01 -1.0 -2.2 1.00e+00 1 1h 8 2.4034865e+00 1.27e-01 6.35e-01 4.55e-02 -1.7 -2.6 7.19e-01 2 1h 9 2.2564682e+00 1.62e-02 1.68e-01 2.09e-02 -1.7 -3.1 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.1187660e+00 1.05e-02 1.05e-02 4.54e-03 -2.5 -3.6 1.00e+00 2 1h 11 2.0915255e+00 6.26e-04 1.83e-03 2.92e-04 -3.8 -4.1 1.00e+00 2 1h 12 2.0914106e+00 1.23e-04 3.81e-04 1.52e-04 -3.8 -4.5 1.00e+00 2 1h 13 2.0899674e+00 5.06e-04 8.57e-04 3.39e-05 -5.7 -5.0 1.00e+00 2 1h 14 2.0898943e+00 3.49e-04 7.78e-03 3.00e-06 -5.7 -4.6 4.10e-01 1 1h 15 2.0896724e+00 7.79e-04 2.21e-04 1.85e-06 -5.7 -5.1 1.00e+00 2 1h 16 2.0894257e+00 5.72e-04 1.48e-02 1.91e-06 -5.7 -5.5 3.86e-01 2 1h 17 2.0877765e+00 6.77e-04 4.18e-03 6.54e-06 -5.7 -6.0 1.00e+00 1 1h 18 2.0872760e+00 5.94e-04 1.28e-01 2.56e-06 -5.7 -6.5 1.26e-01 1 1h 19 2.0819665e+00 9.97e-05 8.90e-02 3.91e-06 -5.7 -7.0 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0817842e+00 9.42e-05 9.00e-02 9.37e-06 -5.7 -7.5 5.61e-02 2 1h 21 2.0815428e+00 6.85e-05 1.66e-01 1.27e-05 -5.7 -7.9 2.74e-01 1 1h 22 2.0806916e+00 4.01e-05 9.52e-02 5.22e-06 -5.7 -8.4 1.00e+00 1 1h 23 2.0806793e+00 2.78e-06 5.26e-04 1.15e-05 -5.7 -7.1 9.77e-01 1 1h 24 2.0806394e+00 1.02e-06 1.22e-03 3.86e-06 -5.7 -7.6 1.00e+00 1 1h 25 2.0805963e+00 1.73e-06 1.30e-03 1.93e-06 -5.7 -8.0 8.47e-01 1 1h 26 2.0805915e+00 4.22e-06 1.49e-02 2.19e-06 -5.7 -8.5 1.00e+00 1 1h 27 2.0805778e+00 2.37e-06 4.26e-02 1.87e-06 -5.7 -6.3 4.19e-01 1 1h 28 2.0805776e+00 1.57e-06 5.20e-04 1.42e-05 -5.7 -6.8 1.00e+00 1 1h 29 2.0805654e+00 8.14e-07 1.43e-03 1.85e-06 -5.7 -7.2 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0805656e+00 6.51e-08 4.74e-06 1.89e-06 -5.7 -5.9 1.00e+00 1 1h 31 2.0805457e+00 1.14e-06 3.29e-03 5.73e-07 -8.6 -6.4 8.32e-01 2 1h 32 2.0805404e+00 7.21e-07 3.48e-05 1.15e-07 -8.6 -6.9 1.00e+00 1 1h 33 2.0805396e+00 3.35e-07 2.93e-04 1.96e-08 -8.6 -7.3 5.36e-01 1 1h 34 2.0805393e+00 1.64e-07 3.87e-03 1.09e-08 -8.6 -6.9 5.09e-01 1 1h 35 2.0805386e+00 2.34e-10 5.33e-03 2.54e-09 -8.6 -7.4 1.00e+00 1 1h 36 2.0805386e+00 2.31e-10 1.93e-02 2.56e-09 -8.6 -7.0 1.49e-02 1 1h 37 2.0805381e+00 1.47e-10 1.87e-05 8.17e-09 -8.6 -7.4 1.00e+00 1 1h 38 2.0805381e+00 1.08e-10 3.58e-03 2.52e-09 -8.6 -7.0 2.64e-01 1 1h 39 2.0805377e+00 1.18e-10 1.02e-05 3.52e-09 -8.6 -7.5 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805372e+00 3.04e-10 2.12e-05 2.51e-09 -8.6 -8.0 1.00e+00 1 1h 41 2.0805367e+00 7.32e-10 3.29e-05 2.51e-09 -8.6 -8.4 1.00e+00 1 1h 42 2.0805365e+00 5.81e-10 1.34e-03 2.51e-09 -8.6 -8.9 1.00e+00 1 1h 43 2.0805366e+00 2.93e-10 6.10e-03 1.52e-07 -8.6 -6.7 5.00e-01 1 2h 44 2.0805365e+00 8.93e-11 2.52e-05 3.63e-08 -8.6 -5.4 1.00e+00 1 1h 45 2.0805365e+00 8.92e-11 4.01e-06 9.95e-09 -8.6 -5.8 1.00e+00 1 1h 46 2.0805365e+00 8.96e-11 4.63e-07 3.89e-09 -8.6 -6.3 1.00e+00 1 1h 47 2.0805365e+00 9.10e-11 3.67e-07 2.51e-09 -8.6 -6.8 1.00e+00 1 1h 48 2.0805365e+00 8.92e-11 4.16e-07 2.51e-09 -8.6 -6.4 1.00e+00 1 1h 49 2.0805371e+00 8.88e-16 2.38e-03 2.59e-09 -8.6 -6.8 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 8.88e-16 5.76e-05 2.60e-09 -8.6 -4.6 1.00e+00 1 1H Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0805366557206666e+00 2.0805366557206666e+00 Dual infeasibility......: 5.7631863926193162e-05 5.7631863926193162e-05 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Complementarity.........: 2.6015536108165403e-09 2.6015536108165403e-09 Overall NLP error.......: 5.7631863926193162e-05 5.7631863926193162e-05 Number of objective function evaluations = 58 Number of objective gradient evaluations = 51 Number of constraint evaluations = 58 Number of constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Number of KKT factorizations = 125 Number of KKT backsolves = 73 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.065 s Total wall secs in NLP function evaluations = 28.016 s Total wall secs in solver (w/o init./fun./lin. alg.) = 11.426 s Total wall secs = 39.508 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 2.3951077e+00 3.41e+00 5.25e-01 9.69e-01 -1.0 - 0.00e+00 1 0 1 2.6323796e+00 8.34e-02 2.69e+00 1.39e-01 -1.0 0.0 1.00e+00 1 1h 2 2.4470855e+00 4.05e-02 1.13e+00 1.17e-01 -1.0 0.4 5.13e-01 1 1h 3 2.7087808e+00 2.92e-02 9.91e-01 1.18e-01 -1.0 -0.1 1.00e+00 2 1h 4 2.6056797e+00 8.28e-02 7.64e-01 9.32e-02 -1.7 -0.5 2.89e-01 2 1h 5 2.4918601e+00 6.24e-02 5.20e-01 6.44e-02 -1.7 -1.0 2.70e-01 2 1h 6 2.4636888e+00 5.91e-02 4.58e-01 5.68e-02 -1.7 -0.6 7.68e-02 1 1h 7 2.3348706e+00 3.92e-02 2.91e-01 3.57e-02 -1.7 -0.2 5.44e-01 1 1h 8 2.2662908e+00 2.73e-02 7.15e-01 7.53e-02 -1.7 -0.6 5.85e-01 2 1h 9 2.2503208e+00 1.06e-02 1.29e-01 2.94e-02 -1.7 -1.1 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.1317402e+00 3.93e-04 6.98e-03 6.49e-03 -2.5 -1.6 1.00e+00 2 1h 11 2.0913564e+00 1.35e-04 6.25e-03 1.87e-04 -3.8 -2.1 1.00e+00 2 1h 12 2.0914072e+00 3.71e-07 4.74e-05 1.50e-04 -3.8 -2.5 1.00e+00 2 1h 13 2.0900671e+00 3.35e-06 2.18e-05 1.39e-05 -5.7 -3.0 1.00e+00 2 1h 14 2.0900555e+00 1.69e-06 9.57e-05 4.28e-06 -5.7 -3.5 1.00e+00 2 1h 15 2.0900354e+00 1.68e-05 8.43e-05 2.18e-06 -5.7 -4.0 1.00e+00 2 1h 16 2.0899835e+00 4.23e-04 8.74e-05 1.84e-06 -5.7 -4.4 1.00e+00 2 1h 17 2.0899227e+00 3.07e-04 4.16e-03 1.86e-06 -5.7 -4.9 3.55e-01 2 1h 18 2.0894636e+00 4.09e-04 7.94e-04 2.80e-06 -5.7 -5.4 1.00e+00 1 1h 19 2.0892926e+00 3.78e-04 7.14e-02 2.15e-06 -5.7 -5.9 8.09e-02 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0862638e+00 5.46e-05 1.75e-02 5.38e-06 -5.7 -6.4 1.00e+00 1 1h 21 2.0857081e+00 4.90e-05 1.75e-01 3.08e-06 -5.7 -6.8 1.05e-01 1 1h 22 2.0817240e+00 4.24e-05 1.47e-01 2.03e-06 -5.7 -7.3 6.45e-01 1 1h 23 2.0816432e+00 1.79e-04 1.35e-01 6.46e-04 -5.7 -7.8 1.00e+00 1 1h 24 2.0810969e+00 7.56e-05 3.60e-02 3.27e-04 -5.7 -8.3 4.66e-01 2 1h 25 2.0806975e+00 1.30e-05 5.27e-02 1.60e-04 -5.7 -8.7 8.02e-01 1 1h 26 2.0807813e+00 6.21e-06 9.36e-02 1.29e-04 -5.7 -6.5 1.00e+00 1 1h 27 2.0807263e+00 4.71e-06 8.01e-02 9.36e-05 -5.7 -7.0 2.42e-01 2 1h 28 2.0806555e+00 1.94e-06 3.69e-02 3.98e-05 -5.7 -7.5 5.26e-01 2 1h 29 2.0806678e+00 3.17e-07 6.08e-03 3.08e-05 -5.7 -7.0 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0806059e+00 4.27e-07 1.34e-03 4.72e-06 -5.7 -7.5 1.00e+00 2 1h 31 2.0805744e+00 3.20e-07 1.98e-03 3.15e-06 -5.7 -8.0 5.48e-01 2 1h 32 2.0805842e+00 1.44e-06 2.32e-02 1.30e-05 -5.7 -6.7 1.00e+00 1 1h 33 2.0805731e+00 6.61e-07 5.48e-04 4.28e-06 -5.7 -7.1 9.88e-01 1 1h 34 2.0806162e+00 6.04e-08 1.18e-01 1.86e-06 -5.7 -5.8 5.05e-01 1 1h 35 2.0805821e+00 7.79e-08 1.31e-03 3.99e-06 -5.7 -6.3 1.00e+00 1 1h 36 2.0805773e+00 1.20e-07 4.85e-01 5.26e-06 -5.7 -5.0 2.30e-01 1 2h 37 2.0805744e+00 4.68e-08 4.50e-05 1.86e-06 -5.7 -5.4 1.00e+00 1 1h 38 2.0805745e+00 1.89e-08 4.02e-05 1.84e-06 -5.7 -5.9 1.00e+00 1 1h 39 2.0805738e+00 1.18e-08 1.69e-05 2.01e-06 -5.7 -6.4 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805522e+00 3.09e-06 1.13e-03 5.26e-07 -8.6 -6.9 8.73e-01 2 1h 41 2.0805498e+00 3.31e-08 1.10e-05 6.11e-08 -8.6 -5.5 1.00e+00 1 1h 42 2.0805497e+00 1.09e-10 7.37e-07 8.70e-09 -8.6 -5.1 1.00e+00 1 1h 43 2.0805495e+00 5.46e-13 1.17e-05 3.57e-09 -8.6 -5.6 1.00e+00 2 1h 44 2.0805493e+00 2.70e-13 9.26e-07 2.53e-09 -8.6 -5.2 1.00e+00 1 1h 45 2.0805492e+00 4.79e-13 4.39e-03 2.90e-09 -8.6 -5.6 4.15e-01 2 1h 46 2.0805490e+00 9.92e-13 1.79e-03 3.46e-09 -8.6 -6.1 2.27e-01 2 1h 47 2.0805481e+00 1.32e-11 4.94e-03 3.99e-09 -8.6 -6.6 4.40e-01 2 1h 48 2.0805478e+00 1.31e-11 3.71e-03 3.84e-09 -8.6 -7.1 6.70e-02 2 1h 49 2.0805445e+00 3.39e-10 1.41e-04 1.37e-08 -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 2.0805427e+00 2.25e-10 1.57e-03 9.14e-09 -8.6 -8.0 3.58e-01 1 1h Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0805427153254894e+00 2.0805427153254894e+00 Dual infeasibility......: 1.5674977207679186e-03 1.5674977207679186e-03 Constraint violation....: 2.2485879824785115e-10 2.2485879824785115e-10 Complementarity.........: 9.1420737283389782e-09 9.1420737283389782e-09 Overall NLP error.......: 1.5674977207679186e-03 1.5674977207679186e-03 Number of objective function evaluations = 53 Number of objective gradient evaluations = 51 Number of constraint evaluations = 53 Number of constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Number of KKT factorizations = 120 Number of KKT backsolves = 77 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.051 s Total wall secs in NLP function evaluations = 20.685 s Total wall secs in solver (w/o init./fun./lin. alg.) = 10.023 s Total wall secs = 30.760 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 Lapack-CPU (BUNCHKAUFMAN) Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 4.1402305e+00 3.45e+00 6.99e-01 9.39e-01 -1.0 - 0.00e+00 1 0 1 2.7221314e+00 6.59e-02 4.16e+00 6.16e-01 -1.0 0.0 1.00e+00 1 1h 2 2.6701182e+00 4.52e-02 9.83e-01 1.14e-01 -1.0 0.4 1.00e+00 1 1h 3 2.4831183e+00 1.21e-03 3.52e-01 3.58e-02 -1.7 -0.1 1.00e+00 1 1h 4 2.2523047e+00 7.50e-03 1.24e-01 2.23e-02 -1.7 -0.5 8.06e-01 1 1h 5 2.1271560e+00 1.27e-03 4.95e-02 7.08e-03 -2.5 -1.0 8.58e-01 1 1h 6 2.1151087e+00 1.84e-03 8.37e-03 2.86e-03 -2.5 -1.5 1.00e+00 1 1h 7 2.0916202e+00 1.99e-05 3.34e-04 1.94e-04 -3.8 -2.0 1.00e+00 1 1h 8 2.0900186e+00 7.98e-07 1.25e-04 4.27e-05 -5.7 -2.4 1.00e+00 1 1h 9 2.0899931e+00 1.76e-07 2.80e-04 1.16e-05 -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 2.0899788e+00 1.80e-06 1.53e-04 3.49e-06 -5.7 -3.4 1.00e+00 1 1h 11 2.0899632e+00 1.29e-05 1.98e-05 1.86e-06 -5.7 -3.9 1.00e+00 1 1h 12 2.0899206e+00 7.98e-05 1.97e-05 1.84e-06 -5.7 -4.3 1.00e+00 1 1h 13 2.0897933e+00 1.66e-04 2.91e-05 1.84e-06 -5.7 -4.8 1.00e+00 1 1h 14 2.0894247e+00 8.98e-05 1.69e-04 1.84e-06 -5.7 -5.3 1.00e+00 1 1h 15 2.0889859e+00 6.03e-05 2.26e-02 1.94e-06 -5.7 -5.8 4.26e-01 1 1h 16 2.0865395e+00 2.78e-05 9.99e-03 6.63e-06 -5.7 -6.3 1.00e+00 1 1h 17 2.0858353e+00 2.36e-05 1.45e-01 2.77e-06 -5.7 -6.7 1.54e-01 1 1h 18 2.0817420e+00 4.18e-05 1.26e-01 2.17e-06 -5.7 -7.2 7.18e-01 1 1h 19 2.0818529e+00 2.01e-08 1.26e-01 7.79e-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 2.0811093e+00 2.79e-05 3.32e-02 3.28e-04 -5.7 -8.2 5.93e-01 1 1h 21 2.0806889e+00 1.24e-05 4.78e-02 1.29e-04 -5.7 -8.6 9.07e-01 1 1h 22 2.0806831e+00 1.16e-05 4.20e-02 1.22e-04 -5.7 -7.3 7.00e-02 1 2h 23 2.0806709e+00 8.96e-06 7.15e-02 3.65e-05 -5.7 -6.0 2.26e-01 1 1h 24 2.0806645e+00 4.00e-07 9.00e-04 4.64e-06 -5.7 -6.5 1.00e+00 1 1h 25 2.0806839e+00 5.22e-07 2.95e-02 3.82e-06 -5.7 -6.9 3.34e-01 1 2h 26 2.0806596e+00 5.22e-07 2.57e-01 1.98e-06 -5.7 -4.7 5.80e-01 1 1H 27 2.0806579e+00 5.23e-07 6.57e-01 3.50e-06 -5.7 -5.2 1.68e-02 1 2h 28 2.0806488e+00 2.95e-08 1.47e-04 1.85e-06 -5.7 -5.7 1.00e+00 1 1h 29 2.0806487e+00 5.18e-08 8.79e-05 2.87e-06 -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 30 2.0806395e+00 1.25e-07 5.52e-03 1.93e-06 -5.7 -6.6 1.00e+00 1 1h 31 2.0806468e+00 1.62e-11 2.02e-03 1.76e-05 -5.7 -5.3 1.00e+00 1 1H 32 2.0806399e+00 1.07e-07 4.61e-04 5.34e-06 -5.7 -5.8 1.00e+00 1 1h 33 2.0806376e+00 3.70e-08 4.67e-04 1.86e-06 -5.7 -6.2 1.00e+00 1 1h 34 2.0806310e+00 6.78e-08 1.03e-04 1.84e-06 -5.7 -6.7 1.00e+00 1 1h 35 2.0806142e+00 6.94e-08 1.47e-04 1.91e-06 -5.7 -7.2 1.00e+00 1 1h 36 2.0805770e+00 3.20e-07 7.15e-04 1.85e-06 -5.7 -7.7 1.00e+00 1 1h 37 2.0805752e+00 3.57e-07 9.85e-04 1.17e-05 -5.7 -8.1 1.00e+00 1 1h 38 2.0805625e+00 4.72e-07 5.42e-04 2.94e-06 -5.7 -8.6 1.00e+00 1 1h 39 2.0805604e+00 1.05e-07 1.10e-04 1.85e-06 -5.7 -9.1 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805604e+00 3.49e-09 4.22e-06 1.84e-06 -5.7 -9.6 1.00e+00 1 1h 41 2.0805367e+00 3.97e-06 3.50e-06 6.23e-08 -8.6 -10.1 9.93e-01 1 1h 42 2.0805365e+00 1.59e-09 4.12e-09 2.55e-09 -8.6 -10.5 1.00e+00 1 1h Number of Iterations....: 42 (scaled) (unscaled) Objective...............: 2.0805364803889255e+00 2.0805364803889255e+00 Dual infeasibility......: 4.1230042990836324e-09 4.1230042990836324e-09 Constraint violation....: 1.5865120328584226e-09 1.5865120328584226e-09 Complementarity.........: 2.5519421931344279e-09 2.5519421931344279e-09 Overall NLP error.......: 4.1230042990836324e-09 4.1230042990836324e-09 Number of objective function evaluations = 52 Number of objective gradient evaluations = 43 Number of constraint evaluations = 52 Number of constraint Jacobian evaluations = 43 Number of Lagrangian Hessian evaluations = 42 Number of KKT factorizations = 97 Number of KKT backsolves = 49 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.088 s Total wall secs in NLP function evaluations = 20.414 s Total wall secs in solver (w/o init./fun./lin. alg.) = 10.059 s Total wall secs = 30.562 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 2.2067955e+00 2.55e+00 6.03e-01 9.77e-01 -1.0 - 0.00e+00 1 0 1 2.2187719e+00 6.60e-01 4.47e+00 8.40e-01 -1.6 0.0 7.43e-01 2 1h 2 3.1765113e+00 9.52e-02 4.24e+00 8.05e-01 -0.7 -0.5 1.00e+00 2 1h 3 2.6577090e+00 5.07e-02 2.12e+00 2.79e-01 -3.1 -1.0 1.00e+00 2 1h 4 2.4674241e+00 3.34e-02 2.29e-01 9.89e-02 -1.3 -1.4 1.00e+00 2 1h 5 2.2236125e+00 1.18e-02 5.64e-02 2.80e-02 -2.0 -1.9 1.00e+00 2 1h 6 2.1012666e+00 2.88e-03 5.32e-03 1.84e-03 -3.0 -2.4 1.00e+00 2 1h 7 2.0904064e+00 9.56e-04 7.85e-04 4.81e-05 -4.5 -2.9 1.00e+00 2 1h 8 2.0903643e+00 2.72e-06 2.30e-05 3.53e-05 -4.5 -3.3 1.00e+00 2 1h 9 2.0900333e+00 2.30e-05 2.14e-05 7.26e-07 -6.7 -3.8 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0899996e+00 2.71e-04 1.57e-03 2.80e-07 -6.7 -4.3 1.00e+00 1 1h 11 2.0899832e+00 8.82e-05 5.39e-05 5.63e-07 -6.7 -3.9 1.00e+00 1 1h 12 2.0899657e+00 8.75e-05 3.41e-04 2.09e-07 -6.7 -4.3 2.18e-01 1 1h 13 2.0898827e+00 4.36e-04 1.52e-03 1.06e-05 -6.7 -4.8 1.00e+00 1 1h 14 2.0897962e+00 2.97e-04 7.76e-03 2.11e-07 -6.7 -4.4 3.21e-01 1 1h 15 2.0896543e+00 4.68e-06 1.52e-03 2.09e-07 -6.7 -4.9 1.00e+00 1 1h 16 2.0894477e+00 4.44e-06 7.87e-03 2.13e-07 -6.7 -5.4 5.00e-01 1 1h 17 2.0883197e+00 8.14e-06 1.81e-03 7.50e-07 -6.7 -5.8 1.00e+00 1 1h 18 2.0879295e+00 7.06e-06 8.84e-02 2.61e-07 -6.7 -6.3 1.43e-01 1 1h 19 2.0831501e+00 4.02e-06 5.62e-02 4.87e-07 -6.7 -6.8 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0821242e+00 3.23e-06 1.14e-01 2.84e-07 -6.7 -7.3 2.57e-01 2 1h 21 2.0817055e+00 2.96e-06 1.33e-01 7.55e-07 -6.7 -7.7 9.35e-02 1 1h 22 2.0815054e+00 3.07e-06 2.30e-01 5.47e-06 -6.7 -8.2 1.53e-01 1 1h 23 2.0806568e+00 5.96e-06 1.70e-01 2.99e-06 -6.7 -8.7 8.33e-01 1 1h 24 2.0806562e+00 5.92e-06 1.32e-01 1.27e-06 -6.7 -6.5 6.18e-03 1 1h 25 2.0806561e+00 5.90e-06 3.71e-02 3.15e-06 -6.7 -6.9 3.41e-03 1 7f 26 2.0806444e+00 4.10e-06 2.24e-02 2.08e-06 -6.8 -7.4 3.14e-01 1 1h 27 2.0805936e+00 2.56e-06 3.47e-03 5.66e-07 -6.8 -7.9 8.33e-01 1 1h 28 2.0805558e+00 1.18e-06 1.03e-02 3.44e-06 -6.8 -8.4 1.00e+00 1 1h 29 2.0805643e+00 6.31e-07 3.22e-02 6.55e-05 -6.8 -7.0 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0805488e+00 1.49e-07 2.19e-02 1.46e-07 -6.8 -7.5 6.81e-01 2 1h 31 2.0805541e+00 1.47e-07 1.16e-01 1.34e-06 -6.8 -7.1 1.45e-02 1 1h 32 2.0805464e+00 4.34e-08 5.35e-04 4.34e-07 -6.8 -7.6 1.00e+00 2 1h 33 2.0805418e+00 8.15e-09 1.45e-04 1.45e-07 -6.8 -8.0 1.00e+00 1 1h 34 2.0805389e+00 1.58e-08 2.31e-04 2.62e-07 -6.8 -8.5 1.00e+00 1 1h 35 2.0805384e+00 5.40e-09 7.33e-05 1.46e-07 -6.8 -9.0 1.00e+00 1 1h 36 2.0805383e+00 2.76e-10 4.62e-06 1.45e-07 -6.8 -9.5 1.00e+00 1 1h 37 2.0805383e+00 1.91e-12 5.83e-08 1.45e-07 -6.8 -10.0 1.00e+00 1 1h 38 2.0805365e+00 2.70e-08 9.60e-10 1.24e-09 -9.0 -10.4 1.00e+00 2 1h 39 2.0805365e+00 5.55e-15 8.94e-13 9.09e-10 -9.0 -10.9 1.00e+00 2 1h Number of Iterations....: 39 (scaled) (unscaled) Objective...............: 2.0805364595436395e+00 2.0805364595436395e+00 Dual infeasibility......: 8.9417362403310108e-13 8.9417362403310108e-13 Constraint violation....: 5.5511151231257827e-15 5.5511151231257827e-15 Complementarity.........: 9.0909197256806276e-10 9.0909197256806276e-10 Overall NLP error.......: 9.0909197256806276e-10 9.0909197256806276e-10 Number of objective function evaluations = 46 Number of objective gradient evaluations = 40 Number of constraint evaluations = 46 Number of constraint Jacobian evaluations = 40 Number of Lagrangian Hessian evaluations = 39 Number of KKT factorizations = 89 Number of KKT backsolves = 54 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.040 s Total wall secs in NLP function evaluations = 22.934 s Total wall secs in solver (w/o init./fun./lin. alg.) = 11.315 s Total wall secs = 34.290 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 3.0756673e+00 2.99e+00 3.79e-01 9.47e-01 -1.0 - 0.00e+00 1 0 1 3.0869568e+00 4.59e+00 2.83e+00 9.71e-01 -0.2 -2.0 2.02e-01 1 1h 2 2.7484358e+00 1.72e+00 2.17e+00 8.62e-01 -0.6 -1.6 7.48e-01 1 1h 3 2.4960066e+00 7.64e-01 2.53e+00 5.53e-01 -0.8 -2.1 1.52e-01 2 1h 4 2.8403826e+00 8.02e-01 6.39e+00 8.06e-01 -0.9 -2.5 8.94e-01 2 1h 5 2.8026059e+00 5.06e-01 4.08e+00 5.78e-01 -0.8 -0.3 3.68e-01 1 1h 6 2.7400096e+00 9.92e-02 6.62e-01 5.25e-01 -0.8 -0.8 1.00e+00 2 1h 7 2.4851925e+00 1.83e-02 5.85e-01 1.31e-01 -2.7 -1.3 1.00e+00 2 1h 8 2.2758997e+00 1.34e-02 1.56e-01 4.54e-02 -1.6 -1.7 1.00e+00 2 1h 9 2.1313772e+00 7.02e-03 4.38e-02 9.91e-03 -2.4 -2.2 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.1234064e+00 8.53e-03 1.11e-02 4.07e-03 -2.4 -2.7 1.00e+00 2 1h 11 2.0925040e+00 1.41e-04 6.58e-04 2.98e-04 -3.6 -3.2 1.00e+00 2 1h 12 2.0900000e+00 1.77e-05 5.06e-04 6.28e-05 -5.4 -3.6 1.00e+00 2 1h 13 2.0899461e+00 2.07e-05 4.07e-04 1.49e-05 -5.4 -4.1 1.00e+00 2 1h 14 2.0898691e+00 1.58e-04 6.46e-05 4.78e-06 -5.4 -4.6 1.00e+00 2 1h 15 2.0896488e+00 5.21e-04 1.05e-04 3.65e-06 -5.4 -5.1 1.00e+00 2 1h 16 2.0890328e+00 3.95e-04 6.96e-04 5.01e-06 -5.4 -5.5 1.00e+00 1 1h 17 2.0886382e+00 3.21e-04 5.23e-02 4.11e-06 -5.4 -6.0 2.25e-01 1 1h 18 2.0851122e+00 3.64e-04 2.43e-02 1.03e-05 -5.4 -6.5 1.00e+00 1 1h 19 2.0842794e+00 3.05e-04 1.60e-01 5.90e-06 -5.4 -7.0 1.67e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0816817e+00 1.73e-04 1.51e-01 4.80e-06 -5.4 -7.5 4.70e-01 2 1h 21 2.0813571e+00 3.18e-04 1.38e-01 4.45e-04 -5.4 -7.9 1.00e+00 2 1h 22 2.0810384e+00 1.91e-04 1.93e-02 2.63e-04 -5.4 -8.4 3.50e-01 1 1h 23 2.0809587e+00 1.10e-04 4.10e-02 7.97e-04 -5.4 -7.1 1.00e+00 1 1h 24 2.0808439e+00 3.64e-05 1.22e-01 3.09e-05 -5.4 -7.6 5.31e-01 2 1h 25 2.0808380e+00 7.43e-07 5.43e-04 5.16e-06 -5.4 -6.2 1.00e+00 1 1h 26 2.0808331e+00 3.04e-08 1.65e-05 3.71e-06 -5.4 -5.8 1.00e+00 1 1h 27 2.0807993e+00 5.31e-06 2.23e-02 1.51e-06 -8.2 -6.3 5.87e-01 2 1h 28 2.0807458e+00 1.74e-05 8.73e-05 2.18e-07 -8.2 -6.8 9.84e-01 2 1h 29 2.0807268e+00 1.14e-05 1.72e-02 6.77e-08 -8.2 -7.2 3.50e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0806327e+00 1.97e-06 4.65e-03 1.23e-08 -8.2 -7.7 8.99e-01 2 1h 31 2.0805733e+00 6.09e-07 4.92e-03 1.18e-06 -8.2 -8.2 7.21e-01 1 1h 32 2.0805509e+00 1.11e-07 5.15e-03 7.13e-06 -8.2 -8.7 8.78e-01 1 1h 33 2.7942450e+00 2.18e-11 3.39e+00 5.63e-05 -8.2 -7.3 1.00e+00 1 1H 34 2.7744743e+00 2.11e-08 6.55e+00 5.54e-05 -8.2 -3.3 1.28e-02 1 1h 35 2.7677875e+00 2.65e-07 9.88e+00 5.50e-05 -8.2 -2.9 2.56e-03 1 2h 36 2.7677702e+00 2.65e-07 4.52e+02 6.62e-05 -8.2 -1.5 5.09e-06 1 1h 37 2.7499887e+00 2.66e-07 4.61e+02 6.57e-05 -8.2 -1.1 1.19e-02 1 1h 38 2.7391747e+00 2.75e-07 4.08e+02 6.85e-05 -8.2 -1.6 6.64e-03 2 1h 39 2.7307453e+00 3.36e-07 4.17e+02 1.84e-04 -8.2 -2.1 3.60e-03 1 6f iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.7039694e+00 3.66e-07 3.69e+02 1.64e-04 -8.2 -1.6 1.87e-02 1 2h 41 2.7010276e+00 3.83e-07 3.65e+02 1.13e-04 -8.2 -2.1 7.37e-04 1 7h 42 2.6916290e+00 3.88e-07 3.61e+02 1.06e-04 -8.2 -1.7 6.60e-03 1 6h 43 2.5008398e+00 1.03e-04 3.69e+02 2.53e-04 -8.2 -2.2 1.66e-02 1 1f 44 2.5008287e+00 1.03e-04 3.62e+02 5.77e-05 -4.9 -1.7 1.18e-05 2 17f 45 2.0934090e+00 9.04e-04 1.30e+02 8.57e-06 -9.0 -2.2 1.79e-01 1 1h 46 2.0934053e+00 9.03e-04 4.88e+02 9.83e-06 -5.8 -2.7 1.62e-04 2 13f 47 2.0922669e+00 8.56e-04 4.64e+02 1.29e-05 -9.0 -2.3 5.20e-02 1 1h 48 2.0922666e+00 8.56e-04 4.63e+02 2.01e-05 -6.6 -2.8 9.94e-06 2 17f 49 2.0921625e+00 8.52e-04 4.61e+02 2.97e-05 -4.3 -2.3 5.37e-03 1 8f iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.1132798e+00 1.48e-03 8.08e+02 1.71e-03 -3.1 -0.1 3.12e-02 1 2f Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.1132797529542189e+00 2.1132797529542189e+00 Dual infeasibility......: 8.0781803301788773e+02 8.0781803301788773e+02 Constraint violation....: 1.4807417753386898e-03 1.4807417753386898e-03 Complementarity.........: 1.7139190675591982e-03 1.7139190675591982e-03 Overall NLP error.......: 8.0781803301788773e+02 8.0781803301788773e+02 Number of objective function evaluations = 130 Number of objective gradient evaluations = 51 Number of constraint evaluations = 130 Number of constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Number of KKT factorizations = 130 Number of KKT backsolves = 83 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.056 s Total wall secs in NLP function evaluations = 21.360 s Total wall secs in solver (w/o init./fun./lin. alg.) = 12.665 s Total wall secs = 34.082 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 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.064s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.886s jacobian structure: 1600 nonzeros (2.95s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.445s 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 (4.496s) linear index maps built (0.0s) evaluator ready (total: 7.447s) evaluator created (7.471s) 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: 7.486s) 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 2.8079838e+00 3.22e+00 7.24e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.3365688e+00 5.64e-01 2.78e+00 -0.7 6.79e+00 -2.0 1.00e+00 8.55e-01f 1 Hello, world! 2 3.2017539e+00 2.03e-01 2.92e+00 -0.5 1.81e+00 -1.6 6.51e-01 1.00e+00f 1 Hello, world! 3 2.8548982e+00 4.63e-02 1.31e+00 -1.6 6.92e-01 -1.1 7.85e-01 1.00e+00h 1 Hello, world! 4 2.8003521e+00 4.27e-02 9.28e-01 -0.8 9.90e-01 -0.7 4.95e-01 8.25e-02h 2 Hello, world! 5 2.4595876e+00 3.13e-02 1.17e-01 -1.4 4.02e-01 -1.2 9.88e-01 9.94e-01h 1 Hello, world! 6 2.1924788e+00 1.38e-02 1.72e-01 -4.0 4.45e-01 -1.7 8.31e-01 6.62e-01h 1 Hello, world! 7 2.1057855e+00 1.66e-03 1.18e-02 -2.9 1.07e-01 -2.2 9.94e-01 9.48e-01h 1 Hello, world! 8 2.0909168e+00 2.90e-05 7.39e-04 -4.0 1.18e-02 -2.6 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909143e+00 5.74e-07 2.48e-05 -4.0 2.84e-02 -3.1 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 2.0909053e+00 3.71e-09 1.17e-04 -4.0 8.17e-02 -3.6 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908837e+00 2.77e-08 1.10e-04 -4.0 2.23e-01 -4.1 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908382e+00 1.40e-07 2.83e-04 -4.0 5.65e-01 -4.5 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0907286e+00 6.61e-07 8.39e-04 -4.0 1.46e+00 -5.0 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0904170e+00 7.41e-06 5.98e-04 -4.0 4.75e+00 -5.5 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0902789e+00 9.11e-07 6.69e-04 -4.0 1.72e+00 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0901470e+00 1.44e-06 2.61e-02 -4.0 7.68e+00 -5.5 1.00e+00 1.68e-01h 2 Hello, world! 17 2.0889471e+00 7.17e-05 3.15e-03 -4.0 1.48e+01 -6.0 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0880584e+00 8.79e-05 1.16e-01 -4.0 4.68e+01 -6.5 1.00e+00 2.04e-01h 1 Hello, world! 19 2.0835197e+00 2.14e-03 7.49e-02 -4.0 7.47e+01 -7.0 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0825863e+00 1.02e-03 3.10e-02 -4.0 3.43e+01 -7.5 1.00e+00 5.29e-01h 1 Hello, world! 21 2.0822608e+00 3.56e-04 1.84e-02 -4.0 1.67e+02 -7.9 9.40e-01 1.00e+00h 1 Hello, world! 22 2.0825796e+00 1.72e-03 3.68e-02 -4.0 4.24e+01 -6.6 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0822085e+00 1.21e-03 4.07e-02 -4.0 3.73e+01 -7.1 9.36e-01 1.00e+00h 1 Hello, world! 24 2.0826987e+00 3.33e-04 3.71e-02 -4.0 3.36e+00 -4.8 4.81e-01 5.18e-01h 1 Hello, world! 25 2.0822824e+00 7.25e-04 4.79e-03 -4.0 2.87e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0822595e+00 5.25e-04 3.50e-02 -4.0 6.44e+00 -4.9 1.58e-01 1.74e-01h 1 Hello, world! 27 2.0910201e+00 2.27e-05 1.36e-01 -4.0 1.45e+00 -5.4 1.00e+00 1.00e+00H 1 Hello, world! 28 2.0852952e+00 6.11e-06 1.81e-01 -3.9 1.72e-01 -1.3 9.08e-01 7.45e-01f 1 Hello, world! 29 2.0851822e+00 7.98e-06 6.92e-03 -4.0 1.87e-01 -1.8 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 2.0837553e+00 7.11e-05 6.19e-03 -4.0 5.14e-01 -2.3 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0822128e+00 1.58e-04 2.37e-02 -4.0 1.73e+00 -2.8 2.53e-01 3.69e-01h 1 Hello, world! 32 2.0832819e+00 3.45e-05 4.41e-03 -4.0 3.96e-01 -3.2 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0824628e+00 3.52e-05 6.53e-04 -4.0 3.32e-01 -3.7 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0823406e+00 1.49e-05 2.04e-04 -4.0 1.37e-01 -4.2 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0823184e+00 5.89e-06 1.10e-04 -4.0 5.50e-01 -4.7 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0822550e+00 1.41e-05 3.75e-03 -4.0 2.03e+00 -5.2 9.90e-01 1.00e+00h 1 Hello, world! 37 2.0824870e+00 1.07e-05 1.22e+00 -3.2 6.13e+00 -4.7 3.63e-01 6.51e-02h 2 Hello, world! 38 2.0843806e+00 5.74e-07 1.04e+00 -3.7 3.78e+00 -5.2 6.22e-01 1.00e+00H 1 Hello, world! 39 2.0830424e+00 4.33e-07 2.57e-01 -4.0 5.95e-02 -1.2 1.00e+00 8.60e-01f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0834967e+00 3.65e-06 4.01e-03 -3.7 4.32e-02 -1.6 1.00e+00 1.00e+00f 1 Hello, world! 41 2.0828980e+00 2.48e-06 2.25e-03 -3.8 2.52e-01 -2.1 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0823804e+00 2.17e-06 1.25e-03 -4.0 8.81e-02 -2.6 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0822546e+00 3.17e-07 3.45e-05 -4.1 1.44e-02 -3.1 1.00e+00 1.00e+00h 1 Hello, world! 44 2.0824349e+00 1.06e-06 7.25e-05 -4.0 3.65e-02 -3.6 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0822716e+00 2.78e-06 3.46e-05 -4.1 1.10e-01 -4.0 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0816150e+00 4.14e-05 3.89e-02 -6.1 4.04e-01 -4.5 8.47e-01 1.00e+00h 1 Hello, world! 47 2.0824006e+00 1.56e-04 1.68e-03 -4.0 1.16e+00 -5.0 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0820606e+00 8.74e-05 2.65e-02 -4.1 2.27e+00 -5.5 7.92e-01 1.00e+00h 1 Hello, world! 49 2.0820069e+00 1.67e-06 6.50e-04 -4.1 5.86e-02 -3.2 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0821811e+00 9.52e-07 1.99e-04 -4.0 4.43e-02 -3.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0821811209748522e+00 2.0821811209748522e+00 Dual infeasibility......: 1.9870476510665597e-04 1.9870476510665597e-04 Constraint violation....: 9.5216626050387276e-07 9.5216626050387276e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.1418000656275793e-04 1.1418000656275793e-04 Overall NLP error.......: 1.9870476510665597e-04 1.9870476510665597e-04 Number of objective function evaluations = 62 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 62 Number of inequality constraint evaluations = 62 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 31.068 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) evaluator created (0.002s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.002s) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.8079838e+00 3.22e+00 7.24e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.3365688e+00 5.64e-01 2.78e+00 -0.7 6.79e+00 -2.0 1.00e+00 8.55e-01f 1 Hello, world! 2 3.2017539e+00 2.03e-01 2.92e+00 -0.5 1.81e+00 -1.6 6.51e-01 1.00e+00f 1 Hello, world! 3 2.8548982e+00 4.63e-02 1.31e+00 -1.6 6.92e-01 -1.1 7.85e-01 1.00e+00h 1 Hello, world! 4 2.8003521e+00 4.27e-02 9.28e-01 -0.8 9.90e-01 -0.7 4.95e-01 8.25e-02h 2 Hello, world! 5 2.4595876e+00 3.13e-02 1.17e-01 -1.4 4.02e-01 -1.2 9.88e-01 9.94e-01h 1 Hello, world! 6 2.1924788e+00 1.38e-02 1.72e-01 -4.0 4.45e-01 -1.7 8.31e-01 6.62e-01h 1 Hello, world! 7 2.1057855e+00 1.66e-03 1.18e-02 -2.9 1.07e-01 -2.2 9.94e-01 9.48e-01h 1 Hello, world! 8 2.0909168e+00 2.90e-05 7.39e-04 -4.0 1.18e-02 -2.6 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909143e+00 5.74e-07 2.48e-05 -4.0 2.84e-02 -3.1 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 2.0909053e+00 3.71e-09 1.17e-04 -4.0 8.17e-02 -3.6 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908837e+00 2.77e-08 1.10e-04 -4.0 2.23e-01 -4.1 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908382e+00 1.40e-07 2.83e-04 -4.0 5.65e-01 -4.5 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0907286e+00 6.61e-07 8.39e-04 -4.0 1.46e+00 -5.0 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0904170e+00 7.41e-06 5.98e-04 -4.0 4.75e+00 -5.5 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0902789e+00 9.11e-07 6.69e-04 -4.0 1.72e+00 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0901470e+00 1.44e-06 2.61e-02 -4.0 7.68e+00 -5.5 1.00e+00 1.68e-01h 2 Hello, world! 17 2.0889471e+00 7.17e-05 3.15e-03 -4.0 1.48e+01 -6.0 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0880584e+00 8.79e-05 1.16e-01 -4.0 4.68e+01 -6.5 1.00e+00 2.04e-01h 1 Hello, world! 19 2.0835197e+00 2.14e-03 7.49e-02 -4.0 7.47e+01 -7.0 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0825863e+00 1.02e-03 3.10e-02 -4.0 3.43e+01 -7.5 1.00e+00 5.29e-01h 1 Hello, world! 21 2.0822608e+00 3.56e-04 1.84e-02 -4.0 1.67e+02 -7.9 9.40e-01 1.00e+00h 1 Hello, world! 22 2.0825796e+00 1.72e-03 3.68e-02 -4.0 4.24e+01 -6.6 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0822085e+00 1.21e-03 4.07e-02 -4.0 3.73e+01 -7.1 9.36e-01 1.00e+00h 1 Hello, world! 24 2.0826987e+00 3.33e-04 3.71e-02 -4.0 3.36e+00 -4.8 4.81e-01 5.18e-01h 1 Hello, world! 25 2.0822824e+00 7.25e-04 4.79e-03 -4.0 2.87e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0822595e+00 5.25e-04 3.50e-02 -4.0 6.44e+00 -4.9 1.58e-01 1.74e-01h 1 Hello, world! 27 2.0910201e+00 2.27e-05 1.36e-01 -4.0 1.45e+00 -5.4 1.00e+00 1.00e+00H 1 Hello, world! 28 2.0852952e+00 6.11e-06 1.81e-01 -3.9 1.72e-01 -1.3 9.08e-01 7.45e-01f 1 Hello, world! 29 2.0851822e+00 7.98e-06 6.92e-03 -4.0 1.87e-01 -1.8 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 2.0837553e+00 7.11e-05 6.19e-03 -4.0 5.14e-01 -2.3 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0822128e+00 1.58e-04 2.37e-02 -4.0 1.73e+00 -2.8 2.53e-01 3.69e-01h 1 Hello, world! 32 2.0832819e+00 3.45e-05 4.41e-03 -4.0 3.96e-01 -3.2 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0824628e+00 3.52e-05 6.53e-04 -4.0 3.32e-01 -3.7 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0823406e+00 1.49e-05 2.04e-04 -4.0 1.37e-01 -4.2 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0823184e+00 5.89e-06 1.10e-04 -4.0 5.50e-01 -4.7 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0822550e+00 1.41e-05 3.75e-03 -4.0 2.03e+00 -5.2 9.90e-01 1.00e+00h 1 Hello, world! 37 2.0824870e+00 1.07e-05 1.22e+00 -3.2 6.13e+00 -4.7 3.63e-01 6.51e-02h 2 Hello, world! 38 2.0843806e+00 5.74e-07 1.04e+00 -3.7 3.78e+00 -5.2 6.22e-01 1.00e+00H 1 Hello, world! 39 2.0830424e+00 4.33e-07 2.57e-01 -4.0 5.95e-02 -1.2 1.00e+00 8.60e-01f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0834967e+00 3.65e-06 4.01e-03 -3.7 4.32e-02 -1.6 1.00e+00 1.00e+00f 1 Hello, world! 41 2.0828980e+00 2.48e-06 2.25e-03 -3.8 2.52e-01 -2.1 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0823804e+00 2.17e-06 1.25e-03 -4.0 8.81e-02 -2.6 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0822546e+00 3.17e-07 3.45e-05 -4.1 1.44e-02 -3.1 1.00e+00 1.00e+00h 1 Hello, world! 44 2.0824349e+00 1.06e-06 7.25e-05 -4.0 3.65e-02 -3.6 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0822716e+00 2.78e-06 3.46e-05 -4.1 1.10e-01 -4.0 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0816150e+00 4.14e-05 3.89e-02 -6.1 4.04e-01 -4.5 8.47e-01 1.00e+00h 1 Hello, world! 47 2.0824006e+00 1.56e-04 1.68e-03 -4.0 1.16e+00 -5.0 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0820606e+00 8.74e-05 2.65e-02 -4.1 2.27e+00 -5.5 7.92e-01 1.00e+00h 1 Hello, world! 49 2.0820069e+00 1.67e-06 6.50e-04 -4.1 5.86e-02 -3.2 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0821811e+00 9.52e-07 1.99e-04 -4.0 4.43e-02 -3.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0821811209748522e+00 2.0821811209748522e+00 Dual infeasibility......: 1.9870476510665597e-04 1.9870476510665597e-04 Constraint violation....: 9.5216626050387276e-07 9.5216626050387276e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.1418000656275793e-04 1.1418000656275793e-04 Overall NLP error.......: 1.9870476510665597e-04 1.9870476510665597e-04 Number of objective function evaluations = 62 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 62 Number of inequality constraint evaluations = 62 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 0.972 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: 0.072s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.94s jacobian structure: 1600 nonzeros (3.012s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.093s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.56s 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 (4.704s) linear index maps built (0.0s) evaluator ready (total: 7.717s) evaluator created (7.743s) 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) 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 6.0713177e+00 2.91e+00 6.85e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.0562663e+00 2.69e-01 4.42e+00 -0.9 2.28e+00 0.0 4.67e-01 1.00e+00f 1 2 2.7681420e+00 1.96e-01 3.20e+00 -1.3 2.33e+00 -0.5 2.59e-01 3.12e-01h 1 3 2.5622475e+00 9.65e-02 6.20e+00 -0.6 2.45e-01 0.9 1.00e+00 5.56e-01f 1 4 2.7054217e+00 3.17e-02 3.91e+00 -0.7 3.80e-01 0.4 8.45e-01 1.00e+00f 1 5 2.5177238e+00 3.08e-03 8.76e-01 -1.4 7.75e-02 -0.1 1.00e+00 1.00e+00h 1 6 2.3501936e+00 7.56e-03 4.98e-01 -1.9 2.44e-01 -0.6 9.96e-01 4.73e-01f 1 7 2.1422251e+00 2.14e-03 1.68e-01 -2.7 6.73e-02 -1.1 9.97e-01 8.35e-01h 1 8 2.0933852e+00 2.55e-04 6.01e-02 -4.0 4.70e-02 -1.5 1.00e+00 8.86e-01h 1 9 2.0908938e+00 5.01e-06 7.41e-03 -4.0 1.06e-02 -2.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908946e+00 2.80e-08 4.55e-05 -4.0 1.39e-02 -2.5 1.00e+00 1.00e+00h 1 11 2.0908918e+00 7.47e-10 1.82e-05 -4.0 1.68e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0908866e+00 1.03e-09 1.80e-05 -4.0 4.98e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908732e+00 8.28e-09 2.57e-05 -4.0 1.43e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0908400e+00 5.63e-08 9.24e-05 -4.0 3.94e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0907577e+00 4.24e-07 3.44e-04 -4.0 1.07e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0905184e+00 3.66e-06 3.54e-04 -4.0 3.21e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0904192e+00 5.19e-07 4.01e-04 -4.0 1.26e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0902644e+00 1.26e-06 1.19e-02 -4.0 4.78e+00 -5.4 1.00e+00 3.23e-01h 2 19 2.0892307e+00 4.59e-05 2.20e-03 -4.0 1.17e+01 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0872525e+00 3.45e-04 3.04e-02 -4.0 3.16e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0861221e+00 2.60e-04 6.88e-02 -4.0 2.14e+01 -5.9 1.00e+00 3.71e-01h 1 22 2.0846012e+00 2.22e-04 2.08e-02 -4.0 2.58e+01 -6.4 1.00e+00 1.00e+00h 1 23 2.0827305e+00 1.54e-04 2.39e-02 -4.0 3.45e+01 -6.9 1.00e+00 9.12e-01h 1 24 2.0830487e+00 1.25e-03 3.67e-02 -4.0 6.03e+01 -7.4 1.00e+00 1.00e+00h 1 25 2.0821140e+00 1.39e-03 8.66e-03 -4.1 1.44e+02 -7.8 1.00e+00 1.00e+00h 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0821139794786787e+00 2.0821139794786787e+00 Dual infeasibility......: 8.6636046672585662e-03 8.6636046672585662e-03 Constraint violation....: 1.3871810752208447e-03 1.3871810752208447e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.6695119270347084e-04 1.6695119270347084e-04 Overall NLP error.......: 8.6636046672585662e-03 8.6636046672585662e-03 Number of objective function evaluations = 29 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 29 Number of inequality constraint evaluations = 29 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 30.678 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 6.0713177e+00 2.91e+00 6.85e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.0562663e+00 2.69e-01 4.42e+00 -0.9 2.28e+00 0.0 4.67e-01 1.00e+00f 1 2 2.7681420e+00 1.96e-01 3.20e+00 -1.3 2.33e+00 -0.5 2.59e-01 3.12e-01h 1 3 2.5622475e+00 9.65e-02 6.20e+00 -0.6 2.45e-01 0.9 1.00e+00 5.56e-01f 1 4 2.7054217e+00 3.17e-02 3.91e+00 -0.7 3.80e-01 0.4 8.45e-01 1.00e+00f 1 5 2.5177238e+00 3.08e-03 8.76e-01 -1.4 7.75e-02 -0.1 1.00e+00 1.00e+00h 1 6 2.3501936e+00 7.56e-03 4.98e-01 -1.9 2.44e-01 -0.6 9.96e-01 4.73e-01f 1 7 2.1422251e+00 2.14e-03 1.68e-01 -2.7 6.73e-02 -1.1 9.97e-01 8.35e-01h 1 8 2.0933852e+00 2.55e-04 6.01e-02 -4.0 4.70e-02 -1.5 1.00e+00 8.86e-01h 1 9 2.0908938e+00 5.01e-06 7.41e-03 -4.0 1.06e-02 -2.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908946e+00 2.80e-08 4.55e-05 -4.0 1.39e-02 -2.5 1.00e+00 1.00e+00h 1 11 2.0908918e+00 7.47e-10 1.82e-05 -4.0 1.68e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0908866e+00 1.03e-09 1.80e-05 -4.0 4.98e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908732e+00 8.28e-09 2.57e-05 -4.0 1.43e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0908400e+00 5.63e-08 9.24e-05 -4.0 3.94e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0907577e+00 4.24e-07 3.44e-04 -4.0 1.07e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0905184e+00 3.66e-06 3.54e-04 -4.0 3.21e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0904192e+00 5.19e-07 4.01e-04 -4.0 1.26e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0902644e+00 1.26e-06 1.19e-02 -4.0 4.78e+00 -5.4 1.00e+00 3.23e-01h 2 19 2.0892307e+00 4.59e-05 2.20e-03 -4.0 1.17e+01 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0872525e+00 3.45e-04 3.04e-02 -4.0 3.16e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0861221e+00 2.60e-04 6.88e-02 -4.0 2.14e+01 -5.9 1.00e+00 3.71e-01h 1 22 2.0846012e+00 2.22e-04 2.08e-02 -4.0 2.58e+01 -6.4 1.00e+00 1.00e+00h 1 23 2.0827305e+00 1.54e-04 2.39e-02 -4.0 3.45e+01 -6.9 1.00e+00 9.12e-01h 1 24 2.0830487e+00 1.25e-03 3.67e-02 -4.0 6.03e+01 -7.4 1.00e+00 1.00e+00h 1 25 2.0821140e+00 1.39e-03 8.66e-03 -4.1 1.44e+02 -7.8 1.00e+00 1.00e+00h 1 26 2.0823039e+00 2.64e-03 4.42e-02 -4.0 9.99e+01 -7.4 5.74e-01 1.00e+00h 1 27 2.0820535e+00 4.79e-05 6.85e-04 -4.1 1.05e+00 -5.2 1.00e+00 1.00e+00h 1 28 2.0821448e+00 9.02e-05 7.55e-04 -4.0 2.81e+00 -5.7 1.00e+00 1.00e+00h 1 29 2.0818010e+00 4.30e-04 6.60e-02 -4.1 1.19e+01 -6.1 5.80e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0845933e+00 4.04e-04 2.29e+00 -4.0 7.40e+00 -4.8 2.44e-01 7.29e-01H 1 31 2.0822208e+00 9.91e-04 4.84e-01 -4.2 3.76e+00 -5.3 8.80e-03 7.12e-01h 1 32 2.0817439e+00 1.70e-03 4.63e-01 -4.2 5.97e+01 -5.8 5.48e-03 2.09e-02f 1 33 2.0821687e+00 2.25e-03 4.06e+00 -4.0 9.49e+01 -6.2 1.00e+00 8.90e-02f 2 34 2.0828109e+00 6.48e-04 6.10e-02 -3.8 5.71e+00 -6.7 9.82e-01 1.00e+00h 1 35 2.0829028e+00 1.73e-03 8.17e-04 -3.8 1.13e+01 -7.2 1.00e+00 1.00e+00h 1 36 2.0828549e+00 5.03e-04 4.87e-04 -3.8 2.47e+01 -7.7 1.00e+00 1.00e+00h 1 37 2.0806896e+00 1.47e-02 1.69e-03 -5.7 7.82e+01 -8.1 9.59e-01 1.00e+00h 1 38 2.0818752e+00 6.32e-03 2.09e-03 -4.0 5.72e+01 -8.6 1.00e+00 1.00e+00h 1 39 2.0815941e+00 6.49e-04 2.98e-04 -4.1 2.39e+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 2.0818443e+00 1.78e-04 3.67e-05 -4.0 7.62e+00 -9.6 1.00e+00 1.00e+00h 1 41 2.0818434e+00 2.09e-08 5.00e-08 -4.0 3.06e-01 -10.1 1.00e+00 1.00e+00h 1 42 2.0818434e+00 5.84e-13 1.00e-09 -4.0 5.23e-03 -10.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 42 (scaled) (unscaled) Objective...............: 2.0818434105375769e+00 2.0818434105375769e+00 Dual infeasibility......: 1.0000000017098111e-09 1.0000000017098111e-09 Constraint violation....: 5.8442140016268240e-13 5.8442140016268240e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000143327e-04 1.0000000000143327e-04 Overall NLP error.......: 1.0000000017098111e-09 1.0000000017098111e-09 Number of objective function evaluations = 50 Number of objective gradient evaluations = 43 Number of equality constraint evaluations = 50 Number of inequality constraint evaluations = 50 Number of equality constraint Jacobian evaluations = 43 Number of inequality constraint Jacobian evaluations = 43 Number of Lagrangian Hessian evaluations = 42 Total seconds in IPOPT = 0.730 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) evaluator created (0.002s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.003s) 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 6.0713177e+00 2.91e+00 6.85e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.0562663e+00 2.69e-01 4.42e+00 -0.9 2.28e+00 0.0 4.67e-01 1.00e+00f 1 2 2.7681420e+00 1.96e-01 3.20e+00 -1.3 2.33e+00 -0.5 2.59e-01 3.12e-01h 1 3 2.5622475e+00 9.65e-02 6.20e+00 -0.6 2.45e-01 0.9 1.00e+00 5.56e-01f 1 4 2.7054217e+00 3.17e-02 3.91e+00 -0.7 3.80e-01 0.4 8.45e-01 1.00e+00f 1 5 2.5177238e+00 3.08e-03 8.76e-01 -1.4 7.75e-02 -0.1 1.00e+00 1.00e+00h 1 6 2.3501936e+00 7.56e-03 4.98e-01 -1.9 2.44e-01 -0.6 9.96e-01 4.73e-01f 1 7 2.1422251e+00 2.14e-03 1.68e-01 -2.7 6.73e-02 -1.1 9.97e-01 8.35e-01h 1 8 2.0933852e+00 2.55e-04 6.01e-02 -4.0 4.70e-02 -1.5 1.00e+00 8.86e-01h 1 9 2.0908938e+00 5.01e-06 7.41e-03 -4.0 1.06e-02 -2.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908946e+00 2.80e-08 4.55e-05 -4.0 1.39e-02 -2.5 1.00e+00 1.00e+00h 1 11 2.0908918e+00 7.47e-10 1.82e-05 -4.0 1.68e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0908866e+00 1.03e-09 1.80e-05 -4.0 4.98e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908732e+00 8.28e-09 2.57e-05 -4.0 1.43e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0908400e+00 5.63e-08 9.24e-05 -4.0 3.94e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0907577e+00 4.24e-07 3.44e-04 -4.0 1.07e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0905184e+00 3.66e-06 3.54e-04 -4.0 3.21e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0904192e+00 5.19e-07 4.01e-04 -4.0 1.26e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0902644e+00 1.26e-06 1.19e-02 -4.0 4.78e+00 -5.4 1.00e+00 3.23e-01h 2 19 2.0892307e+00 4.59e-05 2.20e-03 -4.0 1.17e+01 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0872525e+00 3.45e-04 3.04e-02 -4.0 3.16e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0861221e+00 2.60e-04 6.88e-02 -4.0 2.14e+01 -5.9 1.00e+00 3.71e-01h 1 22 2.0846012e+00 2.22e-04 2.08e-02 -4.0 2.58e+01 -6.4 1.00e+00 1.00e+00h 1 23 2.0827305e+00 1.54e-04 2.39e-02 -4.0 3.45e+01 -6.9 1.00e+00 9.12e-01h 1 24 2.0830487e+00 1.25e-03 3.67e-02 -4.0 6.03e+01 -7.4 1.00e+00 1.00e+00h 1 25 2.0821140e+00 1.39e-03 8.66e-03 -4.1 1.44e+02 -7.8 1.00e+00 1.00e+00h 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0821139794786787e+00 2.0821139794786787e+00 Dual infeasibility......: 8.6636046672585662e-03 8.6636046672585662e-03 Constraint violation....: 1.3871810752208447e-03 1.3871810752208447e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.6695119270347084e-04 1.6695119270347084e-04 Overall NLP error.......: 8.6636046672585662e-03 8.6636046672585662e-03 Number of objective function evaluations = 29 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 29 Number of inequality constraint evaluations = 29 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 0.368 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: 0.073s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.068s jacobian structure: 1600 nonzeros (3.141s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.773s 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 (4.825s) linear index maps built (0.0s) evaluator ready (total: 7.967s) evaluator created (7.996s) 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: 7.996s) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.6826740e+00 2.66e+00 7.64e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.2367029e+00 2.86e-01 1.37e+00 -1.0 1.51e+00 0.0 9.51e-01 8.92e-01f 1 Hello, world! 2 2.5933596e+00 7.37e-03 4.05e-01 -1.0 2.08e-01 -0.5 9.19e-01 1.00e+00h 1 Hello, world! 3 2.2997406e+00 7.75e-03 1.24e-01 -2.1 1.83e-01 -1.0 9.43e-01 1.00e+00h 1 Hello, world! 4 2.1274567e+00 2.41e-03 9.13e-02 -3.0 1.33e-01 -1.4 9.98e-01 8.11e-01h 1 Hello, world! 5 2.0922928e+00 4.00e-05 2.31e-03 -4.0 9.13e-03 -1.9 1.00e+00 1.00e+00h 1 Hello, world! 6 2.0908931e+00 1.24e-06 9.95e-05 -4.0 1.69e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0908900e+00 5.77e-09 2.10e-05 -4.0 1.53e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908842e+00 8.87e-10 2.06e-05 -4.0 4.51e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908696e+00 6.64e-09 1.98e-05 -4.0 1.30e-01 -3.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908340e+00 4.20e-08 9.17e-05 -4.0 3.53e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0907622e+00 2.65e-07 4.74e-04 -4.0 8.84e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0905798e+00 2.44e-06 8.33e-04 -4.0 2.64e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0899824e+00 6.79e-07 2.71e-03 -4.0 7.30e+00 -5.7 1.00e+00 9.66e-01H 1 Hello, world! 14 2.0891353e+00 5.18e-05 4.03e-02 -4.0 2.51e+01 -6.2 1.00e+00 5.00e-01f 2 Hello, world! 15 2.0887223e+00 4.90e-06 2.21e-03 -4.0 1.61e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0885430e+00 2.30e-06 2.19e-03 -4.0 3.69e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0875810e+00 3.85e-05 6.45e-03 -4.0 1.10e+01 -5.8 1.00e+00 9.00e-01h 1 Hello, world! 18 2.0859272e+00 2.33e-04 1.57e-02 -4.0 2.56e+01 -6.3 1.00e+00 1.00e+00f 1 Hello, world! 19 2.0844903e+00 2.68e-04 7.84e-02 -4.0 4.89e+01 -6.8 1.00e+00 3.75e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827184e+00 2.50e-04 3.49e-02 -4.0 6.02e+01 -7.3 1.00e+00 7.29e-01h 1 Hello, world! 21 2.0826177e+00 1.44e-03 3.78e-02 -4.0 1.22e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.3133840e+00 2.08e-04 6.33e+00 -4.0 9.23e+02 -8.2 3.99e-02 1.00e+00H 1 Hello, world! 23 2.0872352e+00 3.21e-05 8.87e-01 -4.1 1.17e-01 -0.4 9.71e-01 8.46e-01f 1 Hello, world! 24 2.0876099e+00 3.19e-05 4.66e+00 -4.0 7.96e-02 -0.8 1.00e+00 7.81e-03f 8 Hello, world! 25 2.0876016e+00 1.15e-07 1.38e-03 -4.0 2.90e-02 -1.3 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0872195e+00 1.41e-07 1.21e-03 -4.0 7.66e-02 -1.8 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0869785e+00 6.81e-07 7.57e-04 -4.0 1.43e-01 -2.3 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0870463e+00 1.58e-07 4.91e-05 -4.0 2.61e-02 -2.8 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0870273e+00 1.74e-07 1.24e-05 -4.0 2.12e-02 -3.2 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0870210e+00 2.65e-08 1.25e-05 -4.0 6.39e-02 -3.7 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0870047e+00 3.46e-08 1.25e-05 -4.0 1.91e-01 -4.2 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0869572e+00 3.05e-07 1.65e-05 -4.0 5.68e-01 -4.7 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0868262e+00 2.50e-06 1.33e-04 -4.0 1.66e+00 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0865221e+00 1.59e-05 8.39e-04 -4.0 4.63e+00 -5.6 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0860523e+00 5.08e-05 2.64e-03 -4.0 1.20e+01 -6.1 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0853370e+00 9.39e-05 4.87e-03 -4.0 3.08e+01 -6.6 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0840762e+00 5.69e-04 2.12e-02 -4.0 7.61e+01 -7.0 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0826406e+00 1.92e-03 5.74e-02 -4.0 1.49e+02 -7.5 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0818593e+00 3.88e-03 3.56e-02 -4.0 2.19e+02 -8.0 6.62e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0817453e+00 2.32e-03 3.56e-02 -4.0 4.71e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0830872e+00 4.63e-03 1.32e-02 -3.7 4.55e+01 -7.2 9.60e-01 1.00e+00h 1 Hello, world! 42 2.1644143e+00 3.40e-03 3.26e-01 -3.8 3.95e+02 -7.6 1.90e-02 1.62e-01h 1 Hello, world! 43 2.0942454e+00 2.88e-03 2.18e-01 -3.8 7.84e+01 -8.1 1.32e-03 1.00e+00f 1 Hello, world! 44 2.0834752e+00 7.18e-08 4.79e-02 -3.8 9.32e-02 -0.3 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0825906e+00 9.52e-08 4.83e-02 -4.0 2.59e-02 -0.7 1.00e+00 8.71e-01f 1 Hello, world! 46 2.0828097e+00 2.50e-07 1.22e-03 -4.0 1.51e-02 -1.2 1.00e+00 1.00e+00f 1 Hello, world! 47 2.0823615e+00 4.76e-07 4.62e-04 -4.1 2.12e-02 -1.7 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0823615e+00 2.39e-08 7.94e-05 -4.0 9.92e-03 -2.2 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0823551e+00 7.94e-09 7.91e-06 -4.0 3.44e-03 -2.6 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0823548e+00 3.14e-09 3.99e-06 -4.0 5.30e-03 -3.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0823548466050994e+00 2.0823548466050994e+00 Dual infeasibility......: 3.9866060486144580e-06 3.9866060486144580e-06 Constraint violation....: 3.1408520229092574e-09 3.1408520229092574e-09 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000005841163920e-04 1.0000005841163920e-04 Overall NLP error.......: 3.9866060486144580e-06 3.9866060486144580e-06 Number of objective function evaluations = 65 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 65 Number of inequality constraint evaluations = 65 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 32.984 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) evaluator created (0.002s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.002s) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.6826740e+00 2.66e+00 7.64e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.2367029e+00 2.86e-01 1.37e+00 -1.0 1.51e+00 0.0 9.51e-01 8.92e-01f 1 Hello, world! 2 2.5933596e+00 7.37e-03 4.05e-01 -1.0 2.08e-01 -0.5 9.19e-01 1.00e+00h 1 Hello, world! 3 2.2997406e+00 7.75e-03 1.24e-01 -2.1 1.83e-01 -1.0 9.43e-01 1.00e+00h 1 Hello, world! 4 2.1274567e+00 2.41e-03 9.13e-02 -3.0 1.33e-01 -1.4 9.98e-01 8.11e-01h 1 Hello, world! 5 2.0922928e+00 4.00e-05 2.31e-03 -4.0 9.13e-03 -1.9 1.00e+00 1.00e+00h 1 Hello, world! 6 2.0908931e+00 1.24e-06 9.95e-05 -4.0 1.69e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0908900e+00 5.77e-09 2.10e-05 -4.0 1.53e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908842e+00 8.87e-10 2.06e-05 -4.0 4.51e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908696e+00 6.64e-09 1.98e-05 -4.0 1.30e-01 -3.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908340e+00 4.20e-08 9.17e-05 -4.0 3.53e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0907622e+00 2.65e-07 4.74e-04 -4.0 8.84e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0905798e+00 2.44e-06 8.33e-04 -4.0 2.64e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0899824e+00 6.79e-07 2.71e-03 -4.0 7.30e+00 -5.7 1.00e+00 9.66e-01H 1 Hello, world! 14 2.0891353e+00 5.18e-05 4.03e-02 -4.0 2.51e+01 -6.2 1.00e+00 5.00e-01f 2 Hello, world! 15 2.0887223e+00 4.90e-06 2.21e-03 -4.0 1.61e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0885430e+00 2.30e-06 2.19e-03 -4.0 3.69e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0875810e+00 3.85e-05 6.45e-03 -4.0 1.10e+01 -5.8 1.00e+00 9.00e-01h 1 Hello, world! 18 2.0859272e+00 2.33e-04 1.57e-02 -4.0 2.56e+01 -6.3 1.00e+00 1.00e+00f 1 Hello, world! 19 2.0844903e+00 2.68e-04 7.84e-02 -4.0 4.89e+01 -6.8 1.00e+00 3.75e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827184e+00 2.50e-04 3.49e-02 -4.0 6.02e+01 -7.3 1.00e+00 7.29e-01h 1 Hello, world! 21 2.0826177e+00 1.44e-03 3.78e-02 -4.0 1.22e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.3133840e+00 2.08e-04 6.33e+00 -4.0 9.23e+02 -8.2 3.99e-02 1.00e+00H 1 Hello, world! 23 2.0872352e+00 3.21e-05 8.87e-01 -4.1 1.17e-01 -0.4 9.71e-01 8.46e-01f 1 Hello, world! 24 2.0876099e+00 3.19e-05 4.66e+00 -4.0 7.96e-02 -0.8 1.00e+00 7.81e-03f 8 Hello, world! 25 2.0876016e+00 1.15e-07 1.38e-03 -4.0 2.90e-02 -1.3 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0872195e+00 1.41e-07 1.21e-03 -4.0 7.66e-02 -1.8 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0869785e+00 6.81e-07 7.57e-04 -4.0 1.43e-01 -2.3 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0870463e+00 1.58e-07 4.91e-05 -4.0 2.61e-02 -2.8 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0870273e+00 1.74e-07 1.24e-05 -4.0 2.12e-02 -3.2 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0870210e+00 2.65e-08 1.25e-05 -4.0 6.39e-02 -3.7 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0870047e+00 3.46e-08 1.25e-05 -4.0 1.91e-01 -4.2 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0869572e+00 3.05e-07 1.65e-05 -4.0 5.68e-01 -4.7 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0868262e+00 2.50e-06 1.33e-04 -4.0 1.66e+00 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0865221e+00 1.59e-05 8.39e-04 -4.0 4.63e+00 -5.6 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0860523e+00 5.08e-05 2.64e-03 -4.0 1.20e+01 -6.1 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0853370e+00 9.39e-05 4.87e-03 -4.0 3.08e+01 -6.6 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0840762e+00 5.69e-04 2.12e-02 -4.0 7.61e+01 -7.0 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0826406e+00 1.92e-03 5.74e-02 -4.0 1.49e+02 -7.5 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0818593e+00 3.88e-03 3.56e-02 -4.0 2.19e+02 -8.0 6.62e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0817453e+00 2.32e-03 3.56e-02 -4.0 4.71e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0830872e+00 4.63e-03 1.32e-02 -3.7 4.55e+01 -7.2 9.60e-01 1.00e+00h 1 Hello, world! 42 2.1644143e+00 3.40e-03 3.26e-01 -3.8 3.95e+02 -7.6 1.90e-02 1.62e-01h 1 Hello, world! 43 2.0942454e+00 2.88e-03 2.18e-01 -3.8 7.84e+01 -8.1 1.32e-03 1.00e+00f 1 Hello, world! 44 2.0834752e+00 7.18e-08 4.79e-02 -3.8 9.32e-02 -0.3 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0825906e+00 9.52e-08 4.83e-02 -4.0 2.59e-02 -0.7 1.00e+00 8.71e-01f 1 Hello, world! 46 2.0828097e+00 2.50e-07 1.22e-03 -4.0 1.51e-02 -1.2 1.00e+00 1.00e+00f 1 Hello, world! 47 2.0823615e+00 4.76e-07 4.62e-04 -4.1 2.12e-02 -1.7 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0823615e+00 2.39e-08 7.94e-05 -4.0 9.92e-03 -2.2 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0823551e+00 7.94e-09 7.91e-06 -4.0 3.44e-03 -2.6 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0823548e+00 3.14e-09 3.99e-06 -4.0 5.30e-03 -3.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0823548466050994e+00 2.0823548466050994e+00 Dual infeasibility......: 3.9866060486144580e-06 3.9866060486144580e-06 Constraint violation....: 3.1408520229092574e-09 3.1408520229092574e-09 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000005841163920e-04 1.0000005841163920e-04 Overall NLP error.......: 3.9866060486144580e-06 3.9866060486144580e-06 Number of objective function evaluations = 65 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 65 Number of inequality constraint evaluations = 65 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 0.760 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: 0.067s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.173s jacobian structure: 1600 nonzeros (3.241s) integrator 1 hessian structure: 0.053s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.717s 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 (4.772s) linear index maps built (0.0s) evaluator ready (total: 8.013s) evaluator created (8.04s) 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: 8.041s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.0566437e+00 3.38e+00 7.91e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7674485e+00 7.85e-02 2.48e+00 -1.0 2.47e+00 0.0 7.24e-01 1.00e+00h 1 2 2.3619052e+00 3.66e-02 8.30e-01 -0.9 2.16e-01 0.4 8.96e-01 9.80e-01h 1 3 2.5332656e+00 1.20e-02 7.80e-01 -1.5 2.08e-01 -0.1 6.95e-01 1.00e+00f 1 4 2.3746949e+00 1.84e-02 4.91e-01 -1.5 2.56e-01 -0.5 8.71e-01 5.69e-01h 1 5 2.2116074e+00 5.69e-03 2.10e-01 -1.9 1.62e-01 -1.0 9.31e-01 6.53e-01h 1 6 2.1190873e+00 4.06e-03 1.44e-01 -3.0 1.54e-01 -1.5 9.99e-01 7.22e-01h 1 7 2.0912039e+00 2.65e-04 3.94e-02 -4.0 4.39e-02 -2.0 1.00e+00 9.35e-01h 1 8 2.0909380e+00 2.24e-06 4.59e-03 -4.0 1.55e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909329e+00 3.39e-08 2.28e-05 -4.0 1.87e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909260e+00 1.41e-09 2.23e-05 -4.0 5.47e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909087e+00 9.99e-09 3.41e-05 -4.0 1.54e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908710e+00 6.25e-08 1.60e-04 -4.0 3.99e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907948e+00 3.12e-07 6.75e-04 -4.0 9.84e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905928e+00 2.93e-06 9.47e-04 -4.0 3.02e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0899436e+00 2.50e-05 1.54e-03 -4.0 8.27e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0881825e+00 1.87e-04 1.71e-02 -4.0 2.47e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0875100e+00 1.76e-04 1.85e-01 -4.0 4.39e+01 -5.8 1.00e+00 1.41e-01h 1 18 2.0857234e+00 3.36e-04 1.56e-02 -4.0 2.57e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0840042e+00 3.01e-04 4.73e-02 -4.0 4.36e+01 -6.8 1.00e+00 5.86e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0826737e+00 1.64e-04 1.99e-02 -4.0 5.90e+01 -7.3 1.00e+00 6.90e-01h 1 21 2.0825492e+00 1.10e-03 3.18e-02 -4.0 1.21e+02 -7.7 1.00e+00 1.00e+00h 1 22 4.6611808e+00 2.84e-03 3.93e+01 -4.0 1.52e+03 -8.2 2.15e-02 1.00e+00H 1 23 2.1002798e+00 4.31e-04 3.23e+00 -4.1 7.86e-01 -0.4 3.63e-01 8.48e-01f 1 24 2.1032501e+00 4.04e-04 4.26e+00 -4.1 5.16e-02 -0.8 1.00e+00 6.25e-02h 5 25 2.1017605e+00 8.57e-08 2.45e-03 -4.1 5.16e-02 -1.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.1017604813006967e+00 2.1017604813006967e+00 Dual infeasibility......: 2.4531581560552056e-03 2.4531581560552056e-03 Constraint violation....: 8.5704937419564531e-08 8.5704937419564531e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.7423882118786484e-03 1.7423882118786484e-03 Overall NLP error.......: 2.4531581560552056e-03 2.4531581560552056e-03 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 = 31.567 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: 0.004s) 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 4.0566437e+00 3.38e+00 7.91e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7674485e+00 7.85e-02 2.48e+00 -1.0 2.47e+00 0.0 7.24e-01 1.00e+00h 1 2 2.3619052e+00 3.66e-02 8.30e-01 -0.9 2.16e-01 0.4 8.96e-01 9.80e-01h 1 3 2.5332656e+00 1.20e-02 7.80e-01 -1.5 2.08e-01 -0.1 6.95e-01 1.00e+00f 1 4 2.3746949e+00 1.84e-02 4.91e-01 -1.5 2.56e-01 -0.5 8.71e-01 5.69e-01h 1 5 2.2116074e+00 5.69e-03 2.10e-01 -1.9 1.62e-01 -1.0 9.31e-01 6.53e-01h 1 6 2.1190873e+00 4.06e-03 1.44e-01 -3.0 1.54e-01 -1.5 9.99e-01 7.22e-01h 1 7 2.0912039e+00 2.65e-04 3.94e-02 -4.0 4.39e-02 -2.0 1.00e+00 9.35e-01h 1 8 2.0909380e+00 2.24e-06 4.59e-03 -4.0 1.55e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909329e+00 3.39e-08 2.28e-05 -4.0 1.87e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909260e+00 1.41e-09 2.23e-05 -4.0 5.47e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909087e+00 9.99e-09 3.41e-05 -4.0 1.54e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908710e+00 6.25e-08 1.60e-04 -4.0 3.99e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907948e+00 3.12e-07 6.75e-04 -4.0 9.84e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905928e+00 2.93e-06 9.47e-04 -4.0 3.02e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0899436e+00 2.50e-05 1.54e-03 -4.0 8.27e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0881825e+00 1.87e-04 1.71e-02 -4.0 2.47e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0875100e+00 1.76e-04 1.85e-01 -4.0 4.39e+01 -5.8 1.00e+00 1.41e-01h 1 18 2.0857234e+00 3.36e-04 1.56e-02 -4.0 2.57e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0840042e+00 3.01e-04 4.73e-02 -4.0 4.36e+01 -6.8 1.00e+00 5.86e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0826737e+00 1.64e-04 1.99e-02 -4.0 5.90e+01 -7.3 1.00e+00 6.90e-01h 1 21 2.0825492e+00 1.10e-03 3.18e-02 -4.0 1.21e+02 -7.7 1.00e+00 1.00e+00h 1 22 4.6611808e+00 2.84e-03 3.93e+01 -4.0 1.52e+03 -8.2 2.15e-02 1.00e+00H 1 23 2.1002798e+00 4.31e-04 3.23e+00 -4.1 7.86e-01 -0.4 3.63e-01 8.48e-01f 1 24 2.1032501e+00 4.04e-04 4.26e+00 -4.1 5.16e-02 -0.8 1.00e+00 6.25e-02h 5 25 2.1017605e+00 8.57e-08 2.45e-03 -4.1 5.16e-02 -1.3 1.00e+00 1.00e+00h 1 26 2.1000097e+00 7.88e-08 2.51e-03 -4.0 1.41e-01 -1.8 1.00e+00 1.00e+00f 1 27 2.0989991e+00 5.41e-07 2.13e-03 -4.0 4.03e-01 -2.3 1.00e+00 1.00e+00f 1 28 2.0980499e+00 1.20e-06 4.19e-01 -4.0 9.02e-01 -2.8 1.00e+00 4.63e-01f 1 29 2.0981333e+00 2.85e-06 3.73e-04 -4.1 9.73e-02 -3.2 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0973081e+00 1.33e-05 2.91e-02 -6.2 1.21e-01 -3.7 8.23e-01 1.00e+00h 1 31 2.0971910e+00 5.65e-06 3.83e-05 -6.2 3.55e-01 -4.2 1.00e+00 1.00e+00h 1 32 2.0970560e+00 1.54e-08 2.30e-05 -6.2 1.06e+00 -4.7 1.00e+00 1.00e+00h 1 33 2.0977287e+00 4.54e-04 2.96e-03 -4.0 2.91e+00 -5.1 1.00e+00 1.00e+00f 1 34 2.0966442e+00 4.21e-04 2.81e-03 -4.1 8.02e+00 -5.6 1.00e+00 1.00e+00h 1 35 2.0955606e+00 8.73e-05 8.01e-03 -4.1 2.05e+01 -6.1 1.00e+00 1.00e+00h 1 36 2.0932793e+00 2.45e-04 1.50e-02 -4.1 5.57e+01 -6.6 1.00e+00 1.00e+00h 1 37 2.0893068e+00 1.30e-03 2.86e-02 -4.1 1.38e+02 -7.0 9.38e-01 1.00e+00h 1 38 2.0849448e+00 3.41e-03 2.54e-01 -4.1 2.68e+02 -7.5 1.00e+00 9.14e-01h 1 39 2.0821110e+00 7.51e-03 1.17e-01 -4.1 3.82e+02 -8.0 7.99e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0837433e+00 3.30e-03 5.00e-01 -4.0 1.09e+02 -6.7 1.00e+00 8.05e-01h 1 41 2.0827154e+00 8.13e-03 1.74e-01 -3.7 1.48e+02 -7.2 8.07e-01 1.00e+00h 1 42 2.0829762e+00 6.57e-03 3.28e+00 -3.7 5.92e+01 -5.8 6.65e-01 1.78e-01h 2 43 2.0825086e+00 6.17e-04 1.56e-01 -3.7 1.11e-01 -1.8 9.80e-01 9.06e-01h 1 44 2.0821340e+00 1.08e-05 2.39e-03 -4.0 6.25e-02 -2.3 1.00e+00 1.00e+00f 1 45 2.0820676e+00 1.74e-07 1.30e-04 -4.0 1.27e-02 -2.7 1.00e+00 1.00e+00h 1 46 2.0820625e+00 1.65e-08 5.85e-06 -4.0 9.59e-03 -3.2 1.00e+00 1.00e+00h 1 47 2.0820613e+00 9.29e-09 5.74e-06 -4.0 2.82e-02 -3.7 1.00e+00 1.00e+00h 1 48 2.0820586e+00 6.14e-08 5.50e-06 -4.0 8.12e-02 -4.2 1.00e+00 1.00e+00h 1 49 2.0820523e+00 4.00e-07 1.23e-05 -4.0 2.19e-01 -4.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0820429e+00 1.76e-06 5.12e-05 -4.0 5.31e-01 -5.1 1.00e+00 1.00e+00h 1 51 2.0820351e+00 4.88e-06 1.27e-04 -4.0 1.22e+00 -5.6 1.00e+00 1.00e+00h 1 52 2.0820232e+00 1.14e-05 2.63e-04 -4.0 2.87e+00 -6.1 1.00e+00 1.00e+00h 1 53 2.0819818e+00 2.93e-05 6.23e-04 -4.0 6.82e+00 -6.6 1.00e+00 1.00e+00h 1 54 2.0819066e+00 7.97e-05 1.54e-03 -4.0 1.47e+01 -7.0 1.00e+00 1.00e+00h 1 55 2.0818555e+00 1.83e-04 3.22e-03 -4.0 2.79e+01 -7.5 1.00e+00 1.00e+00h 1 56 2.0818392e+00 2.66e-04 4.47e-03 -4.0 4.21e+01 -8.0 1.00e+00 1.00e+00h 1 57 2.0818380e+00 1.82e-04 3.37e-03 -4.0 4.97e+01 -8.5 1.00e+00 1.00e+00h 1 58 2.0818422e+00 3.30e-05 7.79e-04 -4.0 3.05e+01 -8.9 1.00e+00 1.00e+00h 1 59 2.0818433e+00 1.19e-06 3.52e-05 -4.0 7.70e+00 -9.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0818434e+00 8.82e-09 3.14e-07 -4.0 7.30e-01 -9.9 1.00e+00 1.00e+00h 1 61 2.0818434e+00 9.29e-12 1.00e-09 -4.0 2.49e-02 -10.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 61 (scaled) (unscaled) Objective...............: 2.0818434105062287e+00 2.0818434105062287e+00 Dual infeasibility......: 1.0000000525317880e-09 1.0000000525317880e-09 Constraint violation....: 9.2867935563845094e-12 9.2867935563845094e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 1.0000000525317880e-09 1.0000000525317880e-09 Number of objective function evaluations = 68 Number of objective gradient evaluations = 62 Number of equality constraint evaluations = 68 Number of inequality constraint evaluations = 68 Number of equality constraint Jacobian evaluations = 62 Number of inequality constraint Jacobian evaluations = 62 Number of Lagrangian Hessian evaluations = 61 Total seconds in IPOPT = 6.136 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 (0.0s) 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 4.0566437e+00 3.38e+00 7.91e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7674485e+00 7.85e-02 2.48e+00 -1.0 2.47e+00 0.0 7.24e-01 1.00e+00h 1 2 2.3619052e+00 3.66e-02 8.30e-01 -0.9 2.16e-01 0.4 8.96e-01 9.80e-01h 1 3 2.5332656e+00 1.20e-02 7.80e-01 -1.5 2.08e-01 -0.1 6.95e-01 1.00e+00f 1 4 2.3746949e+00 1.84e-02 4.91e-01 -1.5 2.56e-01 -0.5 8.71e-01 5.69e-01h 1 5 2.2116074e+00 5.69e-03 2.10e-01 -1.9 1.62e-01 -1.0 9.31e-01 6.53e-01h 1 6 2.1190873e+00 4.06e-03 1.44e-01 -3.0 1.54e-01 -1.5 9.99e-01 7.22e-01h 1 7 2.0912039e+00 2.65e-04 3.94e-02 -4.0 4.39e-02 -2.0 1.00e+00 9.35e-01h 1 8 2.0909380e+00 2.24e-06 4.59e-03 -4.0 1.55e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909329e+00 3.39e-08 2.28e-05 -4.0 1.87e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909260e+00 1.41e-09 2.23e-05 -4.0 5.47e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909087e+00 9.99e-09 3.41e-05 -4.0 1.54e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908710e+00 6.25e-08 1.60e-04 -4.0 3.99e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907948e+00 3.12e-07 6.75e-04 -4.0 9.84e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905928e+00 2.93e-06 9.47e-04 -4.0 3.02e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0899436e+00 2.50e-05 1.54e-03 -4.0 8.27e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0881825e+00 1.87e-04 1.71e-02 -4.0 2.47e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0875100e+00 1.76e-04 1.85e-01 -4.0 4.39e+01 -5.8 1.00e+00 1.41e-01h 1 18 2.0857234e+00 3.36e-04 1.56e-02 -4.0 2.57e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0840042e+00 3.01e-04 4.73e-02 -4.0 4.36e+01 -6.8 1.00e+00 5.86e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0826737e+00 1.64e-04 1.99e-02 -4.0 5.90e+01 -7.3 1.00e+00 6.90e-01h 1 21 2.0825492e+00 1.10e-03 3.18e-02 -4.0 1.21e+02 -7.7 1.00e+00 1.00e+00h 1 22 4.6611808e+00 2.84e-03 3.93e+01 -4.0 1.52e+03 -8.2 2.15e-02 1.00e+00H 1 23 2.1002798e+00 4.31e-04 3.23e+00 -4.1 7.86e-01 -0.4 3.63e-01 8.48e-01f 1 24 2.1032501e+00 4.04e-04 4.26e+00 -4.1 5.16e-02 -0.8 1.00e+00 6.25e-02h 5 25 2.1017605e+00 8.57e-08 2.45e-03 -4.1 5.16e-02 -1.3 1.00e+00 1.00e+00h 1 26 2.1000097e+00 7.88e-08 2.51e-03 -4.0 1.41e-01 -1.8 1.00e+00 1.00e+00f 1 27 2.0989991e+00 5.41e-07 2.13e-03 -4.0 4.03e-01 -2.3 1.00e+00 1.00e+00f 1 28 2.0980499e+00 1.20e-06 4.19e-01 -4.0 9.02e-01 -2.8 1.00e+00 4.63e-01f 1 29 2.0981333e+00 2.85e-06 3.73e-04 -4.1 9.73e-02 -3.2 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0973081e+00 1.33e-05 2.91e-02 -6.2 1.21e-01 -3.7 8.23e-01 1.00e+00h 1 31 2.0971910e+00 5.65e-06 3.83e-05 -6.2 3.55e-01 -4.2 1.00e+00 1.00e+00h 1 32 2.0970560e+00 1.54e-08 2.30e-05 -6.2 1.06e+00 -4.7 1.00e+00 1.00e+00h 1 33 2.0977287e+00 4.54e-04 2.96e-03 -4.0 2.91e+00 -5.1 1.00e+00 1.00e+00f 1 34 2.0966442e+00 4.21e-04 2.81e-03 -4.1 8.02e+00 -5.6 1.00e+00 1.00e+00h 1 35 2.0955606e+00 8.73e-05 8.01e-03 -4.1 2.05e+01 -6.1 1.00e+00 1.00e+00h 1 36 2.0932793e+00 2.45e-04 1.50e-02 -4.1 5.57e+01 -6.6 1.00e+00 1.00e+00h 1 37 2.0893068e+00 1.30e-03 2.86e-02 -4.1 1.38e+02 -7.0 9.38e-01 1.00e+00h 1 38 2.0849448e+00 3.41e-03 2.54e-01 -4.1 2.68e+02 -7.5 1.00e+00 9.14e-01h 1 39 2.0821110e+00 7.51e-03 1.17e-01 -4.1 3.82e+02 -8.0 7.99e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0837433e+00 3.30e-03 5.00e-01 -4.0 1.09e+02 -6.7 1.00e+00 8.05e-01h 1 41 2.0827154e+00 8.13e-03 1.74e-01 -3.7 1.48e+02 -7.2 8.07e-01 1.00e+00h 1 42 2.0829762e+00 6.57e-03 3.28e+00 -3.7 5.92e+01 -5.8 6.65e-01 1.78e-01h 2 43 2.0825086e+00 6.17e-04 1.56e-01 -3.7 1.11e-01 -1.8 9.80e-01 9.06e-01h 1 44 2.0821340e+00 1.08e-05 2.39e-03 -4.0 6.25e-02 -2.3 1.00e+00 1.00e+00f 1 45 2.0820676e+00 1.74e-07 1.30e-04 -4.0 1.27e-02 -2.7 1.00e+00 1.00e+00h 1 46 2.0820625e+00 1.65e-08 5.85e-06 -4.0 9.59e-03 -3.2 1.00e+00 1.00e+00h 1 47 2.0820613e+00 9.29e-09 5.74e-06 -4.0 2.82e-02 -3.7 1.00e+00 1.00e+00h 1 48 2.0820586e+00 6.14e-08 5.50e-06 -4.0 8.12e-02 -4.2 1.00e+00 1.00e+00h 1 49 2.0820523e+00 4.00e-07 1.23e-05 -4.0 2.19e-01 -4.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0820429e+00 1.76e-06 5.12e-05 -4.0 5.31e-01 -5.1 1.00e+00 1.00e+00h 1 51 2.0820351e+00 4.88e-06 1.27e-04 -4.0 1.22e+00 -5.6 1.00e+00 1.00e+00h 1 52 2.0820232e+00 1.14e-05 2.63e-04 -4.0 2.87e+00 -6.1 1.00e+00 1.00e+00h 1 53 2.0819818e+00 2.93e-05 6.23e-04 -4.0 6.82e+00 -6.6 1.00e+00 1.00e+00h 1 54 2.0819066e+00 7.97e-05 1.54e-03 -4.0 1.47e+01 -7.0 1.00e+00 1.00e+00h 1 55 2.0818555e+00 1.83e-04 3.22e-03 -4.0 2.79e+01 -7.5 1.00e+00 1.00e+00h 1 56 2.0818392e+00 2.66e-04 4.47e-03 -4.0 4.21e+01 -8.0 1.00e+00 1.00e+00h 1 57 2.0818380e+00 1.82e-04 3.37e-03 -4.0 4.97e+01 -8.5 1.00e+00 1.00e+00h 1 58 2.0818422e+00 3.30e-05 7.79e-04 -4.0 3.05e+01 -8.9 1.00e+00 1.00e+00h 1 59 2.0818433e+00 1.19e-06 3.52e-05 -4.0 7.70e+00 -9.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0818434e+00 8.82e-09 3.14e-07 -4.0 7.30e-01 -9.9 1.00e+00 1.00e+00h 1 61 2.0818434e+00 9.29e-12 1.00e-09 -4.0 2.49e-02 -10.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 61 (scaled) (unscaled) Objective...............: 2.0818434105062287e+00 2.0818434105062287e+00 Dual infeasibility......: 1.0000000525317880e-09 1.0000000525317880e-09 Constraint violation....: 9.2867935563845094e-12 9.2867935563845094e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 1.0000000525317880e-09 1.0000000525317880e-09 Number of objective function evaluations = 68 Number of objective gradient evaluations = 62 Number of equality constraint evaluations = 68 Number of inequality constraint evaluations = 68 Number of equality constraint Jacobian evaluations = 62 Number of inequality constraint Jacobian evaluations = 62 Number of Lagrangian Hessian evaluations = 61 Total seconds in IPOPT = 0.850 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: 3.211s jacobian structure: 1600 nonzeros (3.278s) integrator 1 hessian structure: 0.053s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.655s 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 (4.709s) linear index maps built (0.0s) evaluator ready (total: 7.987s) evaluator created (8.011s) 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: 8.012s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.9321443e+00 2.72e+00 9.25e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6638151e+00 5.15e-02 2.24e+00 -1.0 1.87e+00 0.0 9.93e-01 1.00e+00f 1 2 2.5699835e+00 3.94e-03 2.04e-01 -1.2 1.36e-01 -0.5 9.48e-01 1.00e+00h 1 3 2.2240082e+00 2.94e-03 6.52e-02 -2.3 8.13e-02 -1.0 9.06e-01 1.00e+00h 1 4 2.1069912e+00 1.55e-03 4.16e-02 -3.5 6.63e-02 -1.4 9.99e-01 8.40e-01h 1 5 2.0909601e+00 2.26e-05 8.83e-04 -4.0 8.83e-03 -1.9 1.00e+00 9.98e-01h 1 6 2.0908943e+00 2.71e-07 2.69e-05 -4.0 6.53e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0908932e+00 8.45e-10 1.85e-05 -4.0 1.35e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908897e+00 5.90e-10 1.83e-05 -4.0 3.99e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908797e+00 5.25e-09 1.76e-05 -4.0 1.15e-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 2.0908542e+00 3.73e-08 6.79e-05 -4.0 3.20e-01 -4.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0908542383347570e+00 2.0908542383347570e+00 Dual infeasibility......: 6.7907220536172222e-05 6.7907220536172222e-05 Constraint violation....: 3.7268060373851775e-08 3.7268060373851775e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999998297e-05 9.9999999999998297e-05 Overall NLP error.......: 6.7907220536172222e-05 6.7907220536172222e-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 = 31.420 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: 3.11s jacobian structure: 1600 nonzeros (3.182s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.83s 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 (4.883s) linear index maps built (0.0s) evaluator ready (total: 8.065s) evaluator created (8.09s) 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: 8.091s) 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: 0.064s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.187s jacobian structure: 1600 nonzeros (3.252s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.652s 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 (4.704s) linear index maps built (0.0s) evaluator ready (total: 7.956s) evaluator created (7.982s) 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: 7.982s) 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: 0.076s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.282s jacobian structure: 1600 nonzeros (3.359s) integrator 1 hessian structure: 0.059s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.907s 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 (4.968s) linear index maps built (0.0s) evaluator ready (total: 8.328s) evaluator created (8.352s) 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: 8.355s) initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.072s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.073s) integrator 1 hessian structure: 0.05s 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: 0.124s) 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: 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: 0.125s) 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.............: 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 4.4623823e+00 3.68e+00 6.14e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6161123e+00 1.83e+00 2.15e+00 -0.8 2.32e+00 0.0 8.19e-01 5.03e-01f 1 2 2.7469732e+00 5.41e-02 1.55e+00 -0.9 1.40e+00 -0.5 8.85e-01 1.00e+00f 1 3 2.5372099e+00 1.17e-02 3.82e-01 -1.4 3.23e-01 -1.0 9.21e-01 1.00e+00h 1 4 2.3008971e+00 1.13e-02 3.14e-01 -1.8 4.21e-01 -1.4 1.00e+00 6.29e-01h 1 5 2.1231650e+00 6.67e-03 5.08e-02 -2.6 2.99e-01 -1.9 9.86e-01 9.87e-01h 1 6 2.0913047e+00 2.03e-04 4.27e-03 -4.0 3.98e-02 -2.4 1.00e+00 9.88e-01h 1 7 2.0909306e+00 2.15e-06 1.56e-04 -4.0 1.51e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909252e+00 1.39e-08 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909120e+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 2.0908721e+00 6.22e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907527e+00 5.61e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903951e+00 5.07e-06 2.26e-05 -4.0 3.64e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0893294e+00 4.63e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861967e+00 4.35e-04 1.81e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796426e+00 2.54e-03 8.61e-02 -4.0 8.73e+01 -6.7 1.00e+00 7.59e-01h 1 16 2.0812112e+00 1.34e-04 1.72e-01 -4.0 7.30e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778175e+00 6.07e-03 2.52e-02 -4.0 1.14e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0783035e+00 2.09e-02 6.07e-02 -3.7 2.18e+02 -8.1 8.68e-01 1.00e+00h 1 19 2.0770204e+00 1.06e-02 4.10e-02 -3.8 3.49e+02 -8.6 1.00e+00 7.89e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0762737e+00 6.15e-03 2.78e-02 -3.8 5.24e+02 -9.1 1.00e+00 9.55e-01f 1 21 2.0757446e+00 1.29e-02 1.39e-02 -4.0 1.58e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756800e+00 8.01e-04 5.50e-04 -4.0 7.02e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 4.21e-06 1.04e-05 -4.0 2.31e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 7.30e-08 1.46e-06 -4.0 1.48e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.35e-09 1.44e-07 -4.0 5.08e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.31e-11 2.88e-09 -4.0 8.96e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122077845e+00 2.0756712122077845e+00 Dual infeasibility......: 2.8816183722773624e-09 2.8816183722773624e-09 Constraint violation....: 7.3141714906910238e-11 7.3141714906910238e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000040e-04 1.0000000000000040e-04 Overall NLP error.......: 2.8816183722773624e-09 2.8816183722773624e-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 = 30.635 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 (0.069s) 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: 0.121s) 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: 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 (0.151s) optimizer initialization complete (total: 0.272s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1488 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1524 Total number of variables............................: 100 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.1334750e+00 3.47e+00 4.47e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6729957e+00 6.40e-02 2.07e+00 -0.8 1.96e+00 0.0 8.74e-01 1.00e+00f 1 2 2.5799330e+00 3.87e-02 2.17e+00 -1.1 6.61e-01 -0.5 9.93e-01 7.44e-01h 1 3 2.3037064e+00 8.09e-03 4.27e-02 -1.8 1.44e-01 -1.0 9.95e-01 1.00e+00h 1 4 2.1198412e+00 2.21e-03 2.99e-02 -3.0 1.50e-01 -1.4 9.96e-01 9.38e-01h 1 5 2.0943535e+00 6.43e-04 1.13e-01 -4.0 1.55e-01 -1.9 1.00e+00 7.76e-01h 1 6 2.0909127e+00 3.24e-04 9.76e-02 -4.0 5.42e-01 -2.4 1.00e+00 1.00e+00h 1 7 2.0908688e+00 1.36e-06 1.37e-02 -4.0 4.55e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908966e+00 3.48e-07 1.00e-04 -4.0 4.53e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908831e+00 5.52e-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 2.0908433e+00 6.21e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907239e+00 5.59e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903663e+00 5.05e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0893008e+00 4.61e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861687e+00 4.33e-04 1.81e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796277e+00 2.51e-03 8.64e-02 -4.0 8.73e+01 -6.7 1.00e+00 7.58e-01h 1 16 2.0812798e+00 1.54e-04 1.92e-01 -4.0 6.73e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778384e+00 5.76e-03 2.68e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781526e+00 1.61e-02 3.56e-02 -3.7 1.50e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767316e+00 1.30e-02 1.84e-02 -3.8 2.82e+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 2.0757942e+00 2.00e-04 2.15e-02 -3.9 4.14e+02 -9.1 1.00e+00 9.96e-01H 1 21 2.0757820e+00 6.30e-03 9.65e-03 -4.0 1.44e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756783e+00 3.47e-04 4.27e-04 -4.0 6.19e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 1.50e-06 7.36e-06 -4.0 2.07e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756713e+00 5.60e-08 1.34e-06 -4.0 1.46e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756713e+00 3.85e-09 1.62e-07 -4.0 6.18e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756713e+00 1.01e-10 3.98e-09 -4.0 1.13e+00 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712528783976e+00 2.0756712528783976e+00 Dual infeasibility......: 3.9788579346154620e-09 3.9788579346154620e-09 Constraint violation....: 1.0063427868800545e-10 1.0063427868800545e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000037e-04 1.0000000000000037e-04 Overall NLP error.......: 3.9788579346154620e-09 3.9788579346154620e-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 = 34.150 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.063s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.063s) integrator 1 hessian structure: 0.047s 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: 0.112s) evaluator created (0.112s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: equality constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.0s) optimizer initialization complete (total: 0.112s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.3487054e+00 3.07e+00 3.28e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5729142e+00 2.12e-01 1.02e+00 -1.0 2.48e+00 -2.0 1.00e+00 9.84e-01h 1 2 2.2999687e+00 1.66e-01 2.11e-01 -1.7 2.05e+00 -2.5 9.82e-01 1.00e+00h 1 3 2.1344785e+00 7.04e-02 1.85e-01 -2.3 2.18e+00 -3.0 8.79e-01 1.00e+00h 1 4 2.1075024e+00 1.24e-03 2.39e-02 -2.7 2.34e-01 -3.4 9.94e-01 1.00e+00h 1 5 2.0907502e+00 1.60e-04 5.43e-04 -4.0 9.39e-02 -3.9 1.00e+00 1.00e+00h 1 6 2.0906767e+00 8.41e-06 1.89e-04 -4.0 5.00e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0905295e+00 8.83e-07 2.05e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0900888e+00 7.80e-06 3.44e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0887777e+00 7.15e-05 3.08e-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 2.0849452e+00 6.78e-04 2.82e-03 -4.0 3.89e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0796370e+00 2.05e-03 1.78e-01 -4.0 1.01e+02 -6.8 1.00e+00 5.27e-01h 1 12 2.0802309e+00 1.45e-04 1.67e-01 -4.0 6.56e+01 -7.2 1.00e+00 1.00e+00H 1 13 2.0774058e+00 8.02e-03 2.38e-02 -4.0 1.23e+02 -7.7 1.00e+00 9.68e-01h 1 14 2.0770455e+00 1.71e-03 5.27e-02 -4.0 2.08e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0761715e+00 2.90e-03 1.93e-02 -4.0 3.50e+02 -8.7 1.00e+00 8.30e-01h 1 16 2.0755596e+00 1.44e-03 2.64e-02 -4.0 4.96e+02 -9.2 1.00e+00 7.23e-01h 1 17 2.0757463e+00 3.14e-03 1.10e-02 -4.0 1.38e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0753705e+00 1.32e-03 4.07e-04 -4.1 7.28e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0756723e+00 4.77e-04 6.18e-06 -4.0 2.12e+01 -10.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0756712e+00 5.74e-07 9.36e-07 -4.0 1.09e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0756712e+00 1.66e-09 6.13e-08 -4.0 3.81e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0756712e+00 2.40e-11 9.60e-10 -4.0 5.54e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0756712121315739e+00 2.0756712121315739e+00 Dual infeasibility......: 9.6043318621470003e-10 9.6043318621470003e-10 Constraint violation....: 2.4025781364400700e-11 2.4025781364400700e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000013e-04 1.0000000000000013e-04 Overall NLP error.......: 9.6043318621470003e-10 9.6043318621470003e-10 Number of objective function evaluations = 24 Number of objective gradient evaluations = 23 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 23 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 22 Total seconds in IPOPT = 31.721 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: 0.05s 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: 0.115s) evaluator created (0.115s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.116s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1360 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1280 Total number of variables............................: 92 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.6765853e+00 2.99e+00 4.35e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.4527498e+00 2.48e+00 5.24e+01 -4.0 1.21e+01 0.0 1.46e-02 1.73e-01h 1 2 1.4771012e+00 2.43e+00 6.47e+02 0.1 1.09e+02 -0.5 9.14e-01 2.00e-02h 1 3 1.8751244e+00 2.16e+00 1.47e+03 1.4 8.80e+01 -1.0 6.27e-01 6.82e-02f 1 4 2.6415134e+00 1.49e+00 3.31e+03 1.0 4.46e+01 -1.4 2.27e-01 8.03e-01h 1 5 3.0347484e+00 7.89e-01 1.80e+03 0.6 2.94e+00 0.8 1.29e-01 4.48e-01h 1 6 3.1140327e+00 5.86e-01 1.32e+03 0.9 9.19e+00 0.3 6.94e-01 2.90e-01f 1 7 3.1546917e+00 8.84e-02 9.10e+02 0.5 7.97e+00 -0.2 9.01e-01 1.00e+00f 1 8 3.1413737e+00 1.74e-03 3.61e+01 -0.6 7.63e-01 -0.6 9.79e-01 1.00e+00h 1 9 2.8949772e+00 4.19e-02 6.58e-01 -0.8 8.67e-01 -1.1 9.98e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.6710425e+00 2.09e-01 3.95e-01 -1.8 1.51e+00 -1.6 9.95e-01 1.00e+00h 1 11 2.6064131e+00 7.81e-03 2.20e-01 -1.8 2.22e+00 -2.1 9.07e-01 1.00e+00h 1 12 2.4572147e+00 5.23e-02 5.49e-01 -2.5 3.60e+00 -2.5 9.88e-01 1.00e+00h 1 13 2.4130777e+00 3.04e-02 2.44e-01 -2.2 4.23e+00 -3.0 9.30e-01 1.00e+00h 1 14 2.2913336e+00 3.09e-01 1.90e-01 -2.5 8.73e+00 -3.5 9.89e-01 1.00e+00h 1 15 2.2458249e+00 1.37e-01 1.63e-01 -2.0 8.54e+00 -4.0 1.00e+00 8.65e-01h 1 16 2.2378114e+00 6.25e-03 7.26e-01 -2.5 5.09e-01 -1.7 1.00e+00 9.54e-01h 1 17 2.2270420e+00 1.21e-03 5.85e-02 -3.4 4.63e-01 -2.2 1.00e+00 8.16e-01h 1 18 2.2191533e+00 4.63e-04 1.32e-02 -4.0 9.65e-01 -2.7 1.00e+00 1.00e+00h 1 19 2.2156478e+00 5.97e-04 1.90e-01 -4.0 1.84e+00 -3.2 1.00e+00 3.28e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.2021920e+00 1.79e-02 3.37e-02 -4.0 3.71e+00 -3.6 1.00e+00 1.00e+00h 1 21 2.1791751e+00 4.80e-02 3.30e-02 -4.0 7.06e+00 -4.1 1.00e+00 1.00e+00h 1 22 2.1507858e+00 8.94e-02 5.78e-02 -4.0 1.18e+01 -4.6 1.00e+00 1.00e+00h 1 23 2.1235639e+00 1.44e-01 7.97e-02 -4.0 1.95e+01 -5.1 1.00e+00 1.00e+00h 1 24 2.1056029e+00 1.90e-01 1.07e-01 -3.2 2.80e+01 -5.6 1.00e+00 1.00e+00h 1 25 2.0990341e+00 2.49e-01 1.83e-01 -3.0 4.13e+01 -6.0 1.00e+00 1.00e+00h 1 26 2.0884061e+00 2.31e-01 6.43e-02 -3.4 6.34e+01 -6.5 1.00e+00 1.00e+00h 1 27 2.0820841e+00 3.41e-02 1.79e-01 -4.0 1.27e+02 -7.0 1.00e+00 1.00e+00h 1 28 2.0883310e+00 5.21e-02 5.45e-02 -3.0 5.20e+01 -7.5 1.00e+00 1.00e+00h 1 29 2.0863156e+00 3.54e-02 1.17e-02 -3.1 7.70e+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 30 2.0862324e+00 1.20e-02 4.24e-03 -3.1 1.61e+02 -8.4 1.00e+00 1.00e+00h 1 31 2.0773911e+00 2.63e-01 4.40e-03 -4.0 3.87e+02 -8.9 9.24e-01 1.00e+00h 1 32 2.0785712e+00 6.97e-02 2.31e-02 -3.6 4.84e+02 -9.4 1.00e+00 1.00e+00h 1 33 2.0763695e+00 1.28e-02 1.73e-03 -4.0 7.30e+01 -9.8 1.00e+00 1.00e+00h 1 34 2.0764380e+00 5.36e-04 1.33e-05 -4.0 7.21e+01 -10.3 1.00e+00 1.00e+00h 1 35 2.0764308e+00 9.35e-07 2.18e-05 -4.0 6.02e+01 -10.8 1.00e+00 1.00e+00h 1 36 2.0764305e+00 7.40e-08 2.50e-06 -4.0 2.02e+01 -11.3 1.00e+00 1.00e+00h 1 37 2.0764305e+00 1.22e-09 3.60e-08 -4.0 2.40e+00 -11.8 1.00e+00 1.00e+00h 1 38 2.0764305e+00 1.43e-12 6.08e-11 -4.0 9.96e-02 -12.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 38 (scaled) (unscaled) Objective...............: 2.0764304951609089e+00 2.0764304951609089e+00 Dual infeasibility......: 6.0771712152591500e-11 6.0771712152591500e-11 Constraint violation....: 1.4321877017664519e-12 1.4321877017664519e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000042e-04 1.0000000000000042e-04 Overall NLP error.......: 6.0771712152591500e-11 6.0771712152591500e-11 Number of objective function evaluations = 39 Number of objective gradient evaluations = 39 Number of equality constraint evaluations = 39 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 = 38 Total seconds in IPOPT = 32.514 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.073s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.074s) integrator 1 hessian structure: 0.054s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.055s) linear index maps built (0.0s) evaluator ready (total: 0.129s) evaluator created (0.129s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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 (0.053s) optimizer initialization complete (total: 0.182s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1264 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1113 Total number of variables............................: 86 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.6005828e+00 3.34e+00 3.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.0021084e+01 9.40e-01 1.09e+02 -1.0 2.31e+01 - 1.65e-01 7.18e-01h 1 2 2.3401383e+01 9.05e-01 3.83e+03 0.5 4.89e+01 0.0 9.10e-01 3.57e-02f 1 3 7.2482660e+01 7.42e+00 1.76e+04 2.0 3.81e+02 -0.5 1.69e-01 5.72e-02f 1 4 2.2474581e+02 1.50e+01 1.82e+05 1.5 1.58e+02 -1.0 7.58e-01 1.00e+00f 1 5 3.6550871e+01 2.28e+00 7.52e+03 1.5 7.99e+01 0.4 6.73e-01 6.73e-01h 1 6 3.8158294e+01 2.00e+00 8.03e+03 2.2 3.15e+03 - 5.69e-02 3.37e-02h 1 7 3.4924966e+01 1.36e+00 2.41e+06 2.4 2.74e+02 -0.1 1.01e-01 6.65e-01h 1 8 5.1490451e+01 6.07e-01 2.05e+05 1.6 2.88e+01 0.3 1.00e+00 8.55e-01f 1 9 6.2824553e+01 1.55e-01 1.12e+06 1.3 2.17e+01 -0.2 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 8.0724772e+01 1.16e-01 1.30e+06 1.2 7.01e+00 3.0 1.00e+00 8.04e-01h 1 11 8.4467045e+01 1.71e-02 1.79e+06 0.4 4.41e+00 2.5 1.00e+00 1.00e+00f 1 12 8.5109400e+01 6.42e-04 1.03e+05 -1.1 8.27e-01 2.9 1.00e+00 1.00e+00h 1 13 8.4442921e+01 3.50e-07 5.86e+02 -2.4 4.33e-02 2.5 1.00e+00 1.00e+00f 1 14 8.3375757e+01 1.60e-06 7.78e+00 -3.5 8.21e-02 2.0 1.00e+00 1.00e+00f 1 15 8.2223063e+01 1.40e-05 2.79e+00 -4.0 8.85e-02 1.5 1.00e+00 1.00e+00f 1 16 8.0319656e+01 1.08e-04 2.21e+00 -4.0 2.09e-01 1.0 1.00e+00 9.59e-01f 1 17 7.9158911e+01 1.29e-04 2.16e+00 -4.0 5.71e-01 0.5 1.00e+00 2.36e-01f 1 18 6.8336538e+01 4.83e-03 7.89e+01 -4.0 1.40e+00 0.1 1.00e+00 1.00e+00f 1 19 5.6237772e+01 1.39e-02 1.64e+02 -4.0 2.62e+00 -0.4 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 4.8388069e+01 2.26e-02 1.82e+02 -4.0 3.83e+00 -0.9 1.00e+00 1.00e+00f 1 21 4.4988757e+01 2.68e-02 9.08e+01 -4.0 4.66e+00 -1.4 1.00e+00 1.00e+00f 1 22 4.2161456e+01 2.31e-01 1.58e+01 -4.0 6.99e+00 -1.8 1.00e+00 1.00e+00f 1 23 3.7510690e+01 1.70e-01 7.52e+00 -4.0 2.20e+01 -2.3 1.00e+00 1.00e+00f 1 24 2.5827965e+01 1.88e+00 3.51e+01 -3.5 5.86e+01 -2.8 1.00e+00 9.85e-01f 1 25 2.6777100e+01 6.77e-02 1.77e+01 -3.3 4.04e+00 -1.5 1.00e+00 1.00e+00h 1 26 1.2775589e+01 3.74e+00 3.93e+02 -4.0 6.35e+04 - 2.36e-03 3.08e-03f 3 27 1.0333980e+01 3.38e+00 3.47e+02 -1.3 1.53e+02 -1.9 1.00e+00 5.67e-02f 1 28 9.7639720e+00 2.95e+00 2.51e+02 -1.0 4.26e+01 -1.5 1.00e+00 1.03e-01f 1 29 9.1199669e+00 1.81e+00 3.45e+01 0.0 2.67e+01 -2.0 8.23e-01 3.78e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 7.1118019e+00 1.34e+00 1.28e+03 -0.3 1.43e+01 -0.7 1.00e+00 2.35e-01f 1 31 6.7946824e+00 1.33e+00 2.27e+02 1.7 4.12e+02 -1.1 3.06e-02 7.50e-03f 2 32 6.6162999e+00 1.31e+00 1.08e+04 1.1 3.88e+02 -1.6 5.64e-01 1.35e-02f 2 33 9.0114000e+00 1.39e+00 2.87e+03 -0.0 5.07e+02 - 1.00e+00 1.88e-01h 2 34 1.5626460e+01 1.72e+00 8.56e+02 0.2 4.71e+02 - 8.53e-01 2.11e-01h 2 35 1.4599885e+01 2.82e+00 1.93e+03 -0.8 1.38e+02 - 1.42e-01 6.77e-01H 1 36 2.7251010e+01 1.33e+00 4.82e+02 -0.0 3.57e+02 - 5.37e-01 5.00e-01h 2 37 3.4998709e+01 2.11e+00 2.04e+02 -0.0 5.40e+01 -2.1 8.16e-01 1.00e+00h 1 38 2.5403521e+01 4.06e+00 6.04e+02 -0.0 9.71e+01 -2.6 1.00e+00 5.00e-01f 2 39 2.3532734e+01 4.23e+00 9.51e+02 -0.0 2.67e+01 -0.3 1.00e+00 6.42e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.6129773e+01 3.99e+00 1.41e+04 -0.0 3.98e+02 -0.8 1.27e-02 6.70e-02h 2 41 1.7754879e+01 5.39e+00 9.08e+03 -0.0 1.37e+02 -1.3 3.06e-01 5.50e-01H 1 42 1.9801613e+01 5.29e+00 8.82e+03 -0.0 7.00e+03 - 1.60e-03 9.19e-03h 2 43 2.1340594e+01 5.23e+00 2.13e+04 -0.0 4.90e+03 - 9.95e-01 8.36e-03h 2 44 3.9972877e+01 2.29e+00 4.11e+04 -0.0 4.31e+02 - 2.97e-02 2.38e-01h 3 45 6.4274156e+01 4.84e-01 6.45e+04 -0.0 1.92e+01 -0.9 1.64e-01 1.00e+00h 1 46 5.8618190e+01 9.94e-02 5.85e+03 -0.0 5.45e+01 - 9.83e-01 1.00e+00f 1 47 1.9335977e+01 2.06e+00 1.60e+03 -0.0 4.16e+02 - 8.59e-01 1.00e+00f 1 48 1.0725489e+01 1.68e+00 1.36e+02 0.5 6.96e+01 - 1.00e+00 1.00e+00f 1 49 5.8118637e+00 1.54e+00 8.25e+01 0.2 4.56e+02 - 1.00e+00 2.50e-01f 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 8.2308530e+00 1.44e+00 6.72e+01 -0.1 2.31e+01 - 9.70e-01 1.00e+00h 1 51 6.2817822e+00 3.08e-01 3.51e+01 0.2 2.57e+00 -0.4 8.09e-01 9.00e-01h 1 52 8.1451341e+00 8.39e-01 2.82e+01 0.4 5.80e+01 - 8.20e-01 5.00e-01f 2 53 8.6886281e+00 4.13e-01 8.27e+00 0.2 3.68e+00 -0.9 1.00e+00 5.08e-01h 1 54 9.1140879e+00 2.69e-02 1.19e+01 -0.5 1.84e+00 -1.4 9.84e-01 1.00e+00f 1 55 8.2131769e+00 9.87e-02 1.37e+00 -1.3 4.34e+00 -1.9 9.57e-01 9.37e-01f 1 56 7.1508277e+00 1.55e-01 1.09e+01 -0.8 1.49e+01 -2.4 2.08e-01 1.00e+00f 1 57 5.2041741e+00 1.19e+00 1.02e+01 -0.2 4.85e+02 - 1.00e+00 6.49e-02f 4 58 5.2306870e+00 1.13e+00 9.41e+00 -0.6 1.09e+01 - 2.89e-01 6.44e-02H 1 59 6.1710033e+00 4.24e-02 1.68e+02 -0.5 2.49e+02 - 5.53e-01 1.97e-01f 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 7.6266730e+00 6.73e-02 1.61e+02 -0.9 5.87e+00 -1.9 1.00e+00 1.00e+00H 1 61 6.0200647e+00 5.03e-01 1.67e+01 -1.0 2.89e+01 - 1.00e+00 1.00e+00f 1 62 5.5074812e+00 1.24e-01 4.29e+00 -1.4 3.57e+00 - 9.97e-01 1.00e+00h 1 63 5.1608392e+00 7.44e-01 2.13e+00 -1.2 8.14e+00 - 1.00e+00 1.00e+00h 1 64 5.5126021e+00 1.76e-01 2.37e+00 -1.3 4.54e+00 -0.6 9.50e-01 4.27e-01h 1 65 5.4399668e+00 3.06e-02 5.64e-01 -1.4 4.33e-01 - 3.55e-01 1.00e+00f 1 66 5.1473439e+00 3.06e-01 9.04e-01 -2.5 1.05e+00 - 9.78e-01 1.00e+00h 1 67 5.6116234e+00 1.64e-01 1.83e+00 -2.1 1.49e+00 - 1.00e+00 1.00e+00h 1 68 5.4586351e+00 9.40e-03 1.34e-01 -2.2 3.20e-01 -1.1 1.00e+00 1.00e+00h 1 69 5.3193285e+00 1.60e-01 1.25e-01 -2.7 1.96e+00 - 9.86e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 5.4310491e+00 4.18e-03 1.45e-01 -4.0 7.12e-01 - 9.99e-01 1.00e+00h 1 71 5.4278436e+00 5.00e-03 1.78e-02 -4.0 2.22e-01 - 1.00e+00 1.00e+00h 1 72 5.4328532e+00 2.05e-06 1.32e-05 -4.0 2.24e-03 - 1.00e+00 1.00e+00h 1 73 5.4328593e+00 5.68e-09 4.78e-09 -4.0 2.59e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 73 (scaled) (unscaled) Objective...............: 5.4328592788355454e+00 5.4328592788355454e+00 Dual infeasibility......: 4.7761910848304230e-09 4.7761910848304230e-09 Constraint violation....: 5.6829542183223225e-09 5.6829542183223225e-09 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000501847899e-04 1.0000000501847899e-04 Overall NLP error.......: 5.6829542183223225e-09 5.6829542183223225e-09 Number of objective function evaluations = 119 Number of objective gradient evaluations = 74 Number of equality constraint evaluations = 119 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 74 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 73 Total seconds in IPOPT = 31.272 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.069s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.069s) 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: 0.122s) evaluator created (0.122s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.123s) 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 2.9300107e+00 2.57e+00 4.28e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6211931e+00 1.05e-01 1.99e+00 -1.0 1.98e+00 0.0 7.94e-01 1.00e+00h 1 2 2.8329554e+00 1.25e-01 7.98e+00 -0.7 8.95e-01 -0.5 6.97e-01 8.58e-01f 1 3 2.6780115e+00 3.98e-02 4.15e+00 -0.9 5.79e-01 -1.0 7.23e-01 1.00e+00f 1 4 2.5015436e+00 1.30e-02 1.18e-01 -1.5 3.78e-01 -1.4 9.89e-01 1.00e+00h 1 5 2.1894239e+00 1.14e-02 3.16e-02 -2.1 2.47e-01 -1.9 9.13e-01 1.00e+00f 1 6 2.1027672e+00 2.74e-03 2.45e-02 -3.3 2.44e-01 -2.4 9.39e-01 8.79e-01h 1 7 2.0910806e+00 1.75e-05 4.60e-04 -4.0 1.39e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908734e+00 1.38e-06 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908601e+00 7.02e-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 2.0908203e+00 6.26e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907009e+00 5.64e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903434e+00 5.10e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892780e+00 4.66e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861466e+00 4.37e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796477e+00 2.50e-03 8.75e-02 -4.0 8.72e+01 -6.7 1.00e+00 7.54e-01h 1 16 2.0811990e+00 1.75e-04 2.03e-01 -4.0 7.16e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778274e+00 6.69e-03 2.99e-02 -4.0 1.13e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0782479e+00 1.86e-02 8.94e-02 -3.7 2.00e+02 -8.1 9.30e-01 1.00e+00h 1 19 2.0769617e+00 7.40e-03 2.13e-02 -3.8 3.33e+02 -8.6 1.00e+00 8.33e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0760729e+00 8.94e-03 2.28e-02 -3.9 5.09e+02 -9.1 1.00e+00 9.57e-01f 1 21 2.0757589e+00 9.33e-03 1.16e-02 -4.0 1.59e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756824e+00 6.86e-04 5.29e-04 -4.0 7.29e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 9.37e-06 8.81e-06 -4.0 2.33e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 5.45e-08 1.52e-06 -4.0 1.52e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.55e-09 1.51e-07 -4.0 5.24e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.79e-11 3.05e-09 -4.0 9.25e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122103838e+00 2.0756712122103838e+00 Dual infeasibility......: 3.0465880430409487e-09 3.0465880430409487e-09 Constraint violation....: 7.7879813709103018e-11 7.7879813709103018e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000014e-04 1.0000000000000014e-04 Overall NLP error.......: 3.0465880430409487e-09 3.0465880430409487e-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 = 34.948 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 ====================================================================================== 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 19 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 abstract_call_gf_by_type at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:340:173 abstract_call_known at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:2999:1211 abstract_call at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:3107:51 abstract_call at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:3100:4 [inlined] abstract_call at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:3260:21 abstract_eval_call at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:3278:28 [inlined] abstract_eval_statement_expr at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:3642:11 abstract_eval_basic_statement at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:4049:142 [inlined] abstract_eval_basic_statement at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:4006:4 [inlined] typeinf_local at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:4590:703 jfptr_typeinf_local_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:4868:151 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_3.1 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 eval_hessian_of_lagrangian at /home/pkgeval/.julia/packages/DirectTrajOpt/bnQ8f/src/constraints/nonlinear/knot_point_constraint.jl:286:84 unknown function (ip: 0x74ea047e0dec) at (unknown file) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 _ at /home/pkgeval/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:165:320 Evaluator at /home/pkgeval/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:93:24 [inlined] #15 at /home/pkgeval/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:838:8 [inlined] #capture_stdout##0 at /home/pkgeval/.julia/packages/DirectTrajOpt/bnQ8f/test/test_snippets.jl:69:2 [inlined] RedirectStdStream at ./stream.jl:1467:33 capture_stdout at /home/pkgeval/.julia/packages/DirectTrajOpt/bnQ8f/test/test_snippets.jl:68:10 unknown function (ip: 0x74ea047d6d0f) 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: 0x74ea8ebd7f06) 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: 0x74ea8ebd7aae) 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: 0x74ea8eb1db82) 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: 0x74ea97f69249) 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 0x000076fa8eadfa30 Total snapshots: 459. Utilization: 0% ╎459 @Base/task.jl:1168 wait_forever() 458╎ 459 @Base/task.jl:1246 wait() ┌ 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 0x000074ea7d5fc010 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/…:68 capture_stdout(f::Main.var"##2… ╎ ╎ ╎ ╎ ╎ 1 @Base/…ream.jl:1467 (::Base.RedirectStdStream)(th… ╎ ╎ ╎ ╎ ╎ ╎ 1 @DirectTrajOpt/…:69 (::Base.RedirectStdStream)(p… ╎ ╎ ╎ ╎ ╎ ╎ 1 @DirectTrajOpt/…:838 getproperty(stream::Base.P… ╎ ╎ ╎ ╎ ╎ ╎ 1 @DirectTrajOpt/…:93 Evaluator ╎ ╎ ╎ ╎ ╎ ╎ 1 @DirectTrajOpt/…:165 Evaluator(prob::DirectTr… ╎ ╎ ╎ ╎ ╎ ╎ 1 @DirectTrajOpt/…:286 eval_hessian_of_lagrang… ╎ ╎ ╎ ╎ ╎ ╎ ╎ 1 @ForwardDiff/…:32 hessian!(result::SubArray… ╎ ╎ ╎ ╎ ╎ ╎ ╎ 1 @Compiler/…l:1732 typeinf_ext_toplevel(mi:… ╎ ╎ ╎ ╎ ╎ ╎ ╎ 1 @Compiler/…l:1723 typeinf_ext_toplevel(in… ╎ ╎ ╎ ╎ ╎ ╎ ╎ 1 @Compiler/…l:1537 typeinf_ext(interp::Co… ╎ ╎ ╎ ╎ ╎ ╎ ╎ 1 @Compiler/…l:4868 typeinf(interp::Compi… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ 1 @Compiler/…l:4590 typeinf_local(interp… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ 1 @Compiler/…l:4006 init_slot_aliases!(… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ 1 @Compiler/…l:4049 getindex(A::Vector… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ 1 @Compiler/…l:3642 abstract_eval_sta… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ 1 @Compiler/…l:3278 abstract_eval_ca… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ +1 1 @Compiler/…l:3260 abstract_call(in… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ +2 1 @Compiler/…l:3100 call_result_unus… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ +3 1 @Compiler/…l:3107 abstract_call(in… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ +4 1 @Compiler/…l:2999 abstract_call_kn… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ +5 1 @Compiler/…l:131 abstract_call_gf_… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ +6 1 @Compiler/…l:344 kwcall(::@NamedTu… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ +7 1 @Compiler/…l:351 #find_method_matc… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ +8 1 @Compiler/…l:391 find_simple_metho… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ +9 1 @Compiler/…l:110 findall ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ +10 1 @Compiler/…l:119 findall(sig::Type… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ +11 1 @Compiler/…l:70 kwcall(::@NamedTup… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ +12 1 @Compiler/…l:70 findall(sig::DataT… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ +13 1 @Compiler/…l:105 _findall(sig::Dat… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ +14 1 @Base/…ls.jl:1609 getindex(b::Base… [19] signal 15: Terminated in expression starting at /home/pkgeval/.julia/packages/DirectTrajOpt/bnQ8f/src/constraints/nonlinear/global_knot_point_constraint.jl:284 _ZN4llvm22AssumptionCacheTracker18getAssumptionCacheERNS_8FunctionE at /opt/julia/bin/../lib/julia/libLLVM.so.20.1jl (unknown line) _ZN4llvm18BasicAAWrapperPass13runOnFunctionERNS_8FunctionE at /opt/julia/bin/../lib/julia/libLLVM.so.20.1jl (unknown line) _ZN4llvm13FPPassManager13runOnFunctionERNS_8FunctionE at /opt/julia/bin/../lib/julia/libLLVM.so.20.1jl (unknown line) _ZN4llvm13FPPassManager11runOnModuleERNS_6ModuleE at /opt/julia/bin/../lib/julia/libLLVM.so.20.1jl (unknown line) _ZN4llvm6legacy15PassManagerImpl3runERNS_6ModuleE at /opt/julia/bin/../lib/julia/libLLVM.so.20.1jl (unknown line) operator() at /source/src/jitlayers.cpp:1414:23 compileModule at /source/src/jitlayers.cpp:2361:79 materialize at /source/src/jitlayers.cpp:906:36 _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) PkgEval terminated after 2747.01s: test duration exceeded the time limit