Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.2168 (2569364ac4*) started at 2026-05-10T23:20:01.294 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 14.33s ################################################################################ # 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 v7.3.0 [163ba53b] + DiffResults v1.1.0 [b552c78f] + DiffRules v1.15.1 [a0c0ee7d] + DifferentiationInterface v0.7.17 [c823fa1f] + DirectTrajOpt v0.9.3 [ffbed154] + DocStringExtensions v0.9.5 [4e289a0a] + EnumX v1.0.7 [f151be2c] + EnzymeCore v0.8.20 [e24c0720] + ExponentialAction v0.2.10 [e2ba6199] + ExprTools v0.1.10 [7034ab61] + FastBroadcast v1.3.2 [9aa1b823] + FastClosures v0.3.2 [a4df4552] + FastPower v1.3.1 [5789e2e9] + FileIO v1.19.0 [1a297f60] + FillArrays v1.16.0 [6a86dc24] + FiniteDiff v2.31.0 [f6369f11] + ForwardDiff v1.3.3 [069b7b12] + FunctionWrappers v1.1.3 [77dc65aa] + FunctionWrappersWrappers v1.8.0 [46192b85] + GPUArraysCore v0.2.0 [076d061b] + HashArrayMappedTries v0.2.0 [3587e190] + InverseFunctions v0.1.17 [b6b21f68] + Ipopt v1.14.3 [92d709cd] + IrrationalConstants v0.2.6 [82899510] + IteratorInterfaceExtensions v1.0.0 [033835bb] + JLD2 v0.6.4 [692b3bcd] + JLLWrappers v1.8.0 [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 v4.1.0 [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 [1bc83da4] + SafeTestsets v0.1.0 [0bca4576] + SciMLBase v3.9.1 [19f34311] + SciMLJacobianOperators v0.1.13 ⌅ [a6db7da4] + SciMLLogging v1.9.1 [c0aeaf25] + SciMLOperators v1.19.0 [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 v1.9.3+0 [29816b5a] + LibSSH2_jll v1.11.101+0 [14a3606d] + MozillaCACerts_jll v2026.3.19 [4536629a] + OpenBLAS_jll v0.3.33+0 [05823500] + OpenLibm_jll v0.8.7+0 [458c3c95] + OpenSSL_jll v3.5.6+0 [efcefdf7] + PCRE2_jll v10.47.0+0 [bea87d4a] + SuiteSparse_jll v7.10.1+0 [83775a58] + Zlib_jll v1.3.2+0 [3161d3a3] + Zstd_jll v1.5.7+1 [8e850b90] + libblastrampoline_jll v5.15.0+0 [8e850ede] + nghttp2_jll v1.69.0+0 [3f19e933] + p7zip_jll v17.8.0+0 Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. To see why use `status --outdated -m` Installation completed after 6.43s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling project... 29.4 s ✓ DirectTrajOpt 32.3 s ✓ DirectTrajOpt → MadNLPSolverExt 2 dependencies successfully precompiled in 65 seconds. 217 already precompiled. Precompilation completed after 89.59s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_wzhSwg/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 v3.9.1 [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_wzhSwg/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 v7.3.0 [163ba53b] DiffResults v1.1.0 [b552c78f] DiffRules v1.15.1 [a0c0ee7d] DifferentiationInterface v0.7.17 [c823fa1f] DirectTrajOpt v0.9.3 [ffbed154] DocStringExtensions v0.9.5 [4e289a0a] EnumX v1.0.7 [f151be2c] EnzymeCore v0.8.20 [e24c0720] ExponentialAction v0.2.10 [e2ba6199] ExprTools v0.1.10 [7034ab61] FastBroadcast v1.3.2 [9aa1b823] FastClosures v0.3.2 [a4df4552] FastPower v1.3.1 [5789e2e9] FileIO v1.19.0 [1a297f60] FillArrays v1.16.0 [6a86dc24] FiniteDiff v2.31.0 [f6369f11] ForwardDiff v1.3.3 [069b7b12] FunctionWrappers v1.1.3 [77dc65aa] FunctionWrappersWrappers v1.8.0 [46192b85] GPUArraysCore v0.2.0 [076d061b] HashArrayMappedTries v0.2.0 [3587e190] InverseFunctions v0.1.17 [b6b21f68] Ipopt v1.14.3 [92d709cd] IrrationalConstants v0.2.6 [82899510] IteratorInterfaceExtensions v1.0.0 [033835bb] JLD2 v0.6.4 [692b3bcd] JLLWrappers v1.8.0 [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 v4.1.0 [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 [1bc83da4] SafeTestsets v0.1.0 [0bca4576] SciMLBase v3.9.1 [19f34311] SciMLJacobianOperators v0.1.13 ⌅ [a6db7da4] SciMLLogging v1.9.1 [c0aeaf25] SciMLOperators v1.19.0 [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 v1.9.3+0 [29816b5a] LibSSH2_jll v1.11.101+0 [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: 1.964s integrator 2 jacobian structure: 0.06s integrator 3 jacobian structure: 0.0s jacobian structure: 1872 nonzeros (2.066s) integrator 1 hessian structure: 0.053s integrator 2 hessian structure: 0.054s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 2.429s sub-objective 2 (QuadraticRegularizer): 1.842s sub-objective 3 (LinearRegularizer): 0.08s sub-objective 4 (MinimumTimeObjective): 0.016s objective hessian structure: 4.462s hessian structure: 2431 nonzeros (4.57s) linear index maps built (0.0s) evaluator ready (total: 7.118s) evaluator created (11.466s) NL constraint bounds extracted (0.088s) NLP block data built (0.0s) Ipopt optimizer configured (0.382s) variables set (0.864s) 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 (3.357s) optimizer initialization complete (total: 16.24s) ****************************************************************************** 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 3.0169692e+00 2.06e+00 1.07e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.7198882e+00 1.07e+00 2.07e+01 -0.6 1.35e+01 -2.0 5.13e-01 1.00e+00f 1 2 2.9842811e+00 2.41e-01 8.83e-01 -0.9 6.67e-01 -0.7 7.11e-01 9.71e-01f 1 3 2.4634998e+00 7.04e-02 1.65e-01 -1.6 4.66e-01 -1.1 8.68e-01 9.50e-01h 1 4 2.2479942e+00 3.41e-02 2.77e-01 -2.1 8.01e-01 -1.6 8.65e-01 5.15e-01h 1 5 2.0653279e+00 1.43e-02 1.01e-01 -2.3 8.49e-01 -2.1 8.90e-01 7.98e-01h 1 6 2.0097732e+00 1.69e-03 6.40e-02 -3.4 3.88e-01 -2.6 9.86e-01 8.82e-01h 1 7 2.0009535e+00 2.15e-05 1.46e-03 -4.0 9.22e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0009627e+00 1.62e-06 6.57e-02 -4.0 2.93e-01 -3.5 1.00e+00 1.00e+00h 1 9 2.0010281e+00 8.94e-09 1.06e-02 -4.0 4.87e-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 2.0010481e+00 6.31e-11 1.83e-02 -4.0 9.25e-01 -4.5 1.00e+00 1.00e+00f 1 11 2.0007042e+00 7.00e-09 2.31e-02 -4.2 1.16e+00 -5.0 1.00e+00 1.00e+00f 1 12 2.0011854e+00 5.64e-09 7.30e-02 -4.0 3.67e+00 -5.4 1.00e+00 1.00e+00f 1 13 2.0007965e+00 4.18e-09 5.67e-02 -4.1 3.49e+00 -5.9 1.00e+00 8.13e-01f 1 14 2.0010231e+00 3.49e-10 1.80e-01 -4.1 9.03e+00 -6.4 1.00e+00 1.00e+00f 1 15 2.0008351e+00 6.38e-10 2.18e-01 -4.1 1.19e+01 -6.9 1.00e+00 9.18e-01f 1 16 2.0011456e+00 1.31e-09 4.75e-01 -4.1 2.38e+01 -7.4 1.00e+00 1.00e+00f 1 17 2.0009064e+00 3.44e-09 6.32e-01 -4.1 3.51e+01 -7.8 1.00e+00 9.01e-01f 1 18 2.0012124e+00 4.66e-09 1.27e+00 -4.1 6.33e+01 -8.3 1.00e+00 1.00e+00f 1 19 2.0009244e+00 9.08e-09 1.85e+00 -4.1 1.00e+02 -8.8 1.00e+00 9.24e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0012530e+00 6.90e-09 3.44e+00 -4.1 1.72e+02 -9.3 1.00e+00 1.00e+00f 1 21 2.0009163e+00 1.10e-08 5.52e+00 -4.1 2.98e+02 -9.7 1.00e+00 9.26e-01f 1 22 2.0012758e+00 5.68e-09 9.68e+00 -4.1 4.84e+02 -10.2 1.00e+00 1.00e+00f 1 23 2.0008846e+00 1.01e-08 1.70e+01 -4.1 9.06e+02 -10.7 1.00e+00 9.37e-01f 1 24 2.0013072e+00 3.18e-09 2.76e+01 -4.1 1.38e+03 -11.2 1.00e+00 1.00e+00f 1 25 2.0008331e+00 7.72e-09 4.83e+01 -4.1 2.56e+03 -11.6 1.00e+00 9.43e-01f 1 26 2.0013282e+00 1.21e-09 7.67e+01 -4.1 3.84e+03 -12.1 1.00e+00 1.00e+00f 1 27 2.0007506e+00 5.26e-09 1.27e+02 -4.1 6.61e+03 -12.6 1.00e+00 9.61e-01f 1 28 2.0013049e+00 2.25e-10 1.90e+02 -4.1 9.51e+03 -13.1 1.00e+00 1.00e+00f 1 29 2.0006445e+00 2.65e-09 2.54e+02 -4.1 1.27e+04 -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 2.0017012e+00 7.05e-11 4.36e+02 -4.0 2.18e+04 -14.0 1.00e+00 1.00e+00f 1 31 2.0009363e+00 6.57e-10 4.54e+01 -4.1 5.08e+03 -14.5 1.00e+00 4.47e-01f 2 32 2.0007275e+00 2.43e-10 2.24e+02 -4.1 1.12e+04 -15.0 1.00e+00 1.00e+00f 1 33 2.0006408e+00 6.34e-12 2.29e+02 -4.1 1.14e+04 -15.5 1.00e+00 1.00e+00f 1 34 2.0005969e+00 5.29e-13 1.21e+02 -4.1 6.03e+03 -15.9 1.00e+00 1.00e+00h 1 35 2.0009116e+00 7.91e-13 1.54e+02 -4.0 7.71e+03 -16.4 1.00e+00 1.00e+00f 1 36 2.0005622e+00 2.03e-13 1.43e+02 -4.1 7.15e+03 -16.9 1.00e+00 1.00e+00f 1 37 2.0008772e+00 5.78e-12 1.44e+02 -4.0 7.20e+03 -17.4 1.00e+00 1.00e+00f 1 38 2.0005586e+00 2.11e-12 1.32e+02 -4.1 6.59e+03 -17.8 1.00e+00 1.00e+00f 1 39 2.0006553e+00 8.72e-12 7.01e+01 -4.1 3.50e+03 -18.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0006189e+00 9.20e-12 2.39e+01 -4.1 1.19e+03 -18.8 1.00e+00 1.00e+00h 1 41 2.0006342e+00 1.21e-11 1.05e+01 -4.1 5.25e+02 -19.3 1.00e+00 1.00e+00h 1 42 2.0006280e+00 1.43e-11 4.26e+00 -4.1 2.13e+02 -19.8 1.00e+00 1.00e+00h 1 43 2.0006305e+00 1.05e-11 1.71e+00 -4.1 8.57e+01 -20.0 1.00e+00 1.00e+00h 1 44 2.0006295e+00 4.22e-12 7.16e-01 -4.1 3.58e+01 -20.0 1.00e+00 1.00e+00h 1 45 2.0006299e+00 1.74e-12 2.84e-01 -4.1 1.42e+01 -20.0 1.00e+00 1.00e+00h 1 46 2.0006298e+00 7.02e-13 1.20e-01 -4.1 5.98e+00 -20.0 1.00e+00 1.00e+00h 1 47 2.0006298e+00 2.90e-13 4.74e-02 -4.1 2.37e+00 -20.0 1.00e+00 1.00e+00h 1 48 2.0006298e+00 1.17e-13 1.99e-02 -4.1 9.96e-01 -20.0 1.00e+00 1.00e+00h 1 49 2.0006298e+00 4.83e-14 7.89e-03 -4.1 3.95e-01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0006298e+00 1.95e-14 3.32e-03 -4.1 1.66e-01 -20.0 1.00e+00 1.00e+00h 1 51 2.0006298e+00 8.04e-15 1.32e-03 -4.1 9.48e-02 -20.0 1.00e+00 1.00e+00h 1 52 2.0006298e+00 3.24e-15 5.54e-04 -4.1 9.48e-02 -20.0 1.00e+00 1.00e+00h 1 53 1.9998548e+00 1.21e-08 2.25e+02 -6.1 1.13e+04 -20.0 1.00e+00 1.00e+00f 1 54 2.0006838e+00 3.07e-09 2.09e+03 -4.0 2.09e+05 -20.0 1.00e+00 5.00e-01f 2 55 2.0004215e+00 9.65e-11 2.30e+03 -3.9 1.15e+05 -20.0 1.00e+00 1.00e+00f 1 56 2.0009591e+00 3.49e-09 5.55e+02 -3.9 2.78e+04 -20.0 1.00e+00 1.00e+00f 1 57 2.0010401e+00 3.04e-09 1.06e+02 -3.9 5.32e+03 -20.0 1.00e+00 1.00e+00h 1 58 2.0010525e+00 7.46e-10 2.71e+01 -3.9 1.36e+03 -20.0 1.00e+00 1.00e+00h 1 59 2.0010694e+00 5.74e-10 6.10e+00 -3.9 3.05e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0010712e+00 1.33e-10 4.72e+00 -3.9 2.36e+02 -20.0 1.00e+00 1.00e+00h 1 61 2.0010739e+00 9.79e-11 1.06e+00 -3.9 5.32e+01 -20.0 1.00e+00 1.00e+00h 1 62 2.0010742e+00 2.24e-11 7.85e-01 -3.9 3.92e+01 -20.0 1.00e+00 1.00e+00h 1 63 2.0010747e+00 1.64e-11 1.79e-01 -3.9 8.95e+00 -20.0 1.00e+00 1.00e+00h 1 64 2.0010747e+00 3.74e-12 1.31e-01 -3.9 6.54e+00 -20.0 1.00e+00 1.00e+00h 1 65 2.0010748e+00 2.72e-12 2.99e-02 -3.9 1.49e+00 -20.0 1.00e+00 1.00e+00h 1 66 2.0010748e+00 6.22e-13 2.18e-02 -3.9 1.09e+00 -20.0 1.00e+00 1.00e+00h 1 67 2.0010748e+00 4.53e-13 4.98e-03 -3.9 4.93e-01 -20.0 1.00e+00 1.00e+00h 1 68 2.0010748e+00 1.04e-13 3.63e-03 -3.9 4.93e-01 -20.0 1.00e+00 1.00e+00h 1 69 2.0010748e+00 7.55e-14 8.30e-04 -3.9 4.93e-01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 1.9998649e+00 8.66e-08 2.43e+02 -5.9 1.22e+04 -20.0 1.00e+00 1.00e+00f 1 71 1.9998453e+00 3.09e-13 2.18e+02 -5.9 1.17e+04 -20.0 9.30e-01 1.00e+00h 1 72 1.8268054e+00 2.01e-13 1.94e+06 -5.9 9.72e+07 -20.0 1.81e-03 1.00e+00f 1 73 1.8120382e+00 5.21e-13 2.05e+03 -5.5 1.35e+08 -20.0 1.00e+00 7.59e-04f 1 74 1.9418497e+00 5.21e-13 1.31e+06 -4.0 9.40e+10 -20.0 1.00e+00 6.95e-04f 1 75 1.9999579e+00 5.18e-13 6.45e+05 -3.2 6.37e+09 -20.0 1.00e+00 5.06e-03f 1 76 1.9999072e+00 1.93e-11 1.64e+03 -3.2 8.19e+04 -20.0 1.00e+00 1.00e+00f 1 77 2.0292072e+00 5.71e-06 5.13e+01 -3.2 2.57e+03 -20.0 1.00e+00 1.00e+00f 1 78 2.0103635e+00 1.32e-03 8.57e+02 -3.2 8.57e+04 -20.0 1.00e+00 5.00e-01f 2 79 2.0086380e+00 2.54e-04 1.44e+02 -3.2 7.19e+03 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0061632e+00 1.45e-05 1.42e+02 -3.2 7.10e+03 -20.0 1.00e+00 1.00e+00h 1 81 2.0064814e+00 2.66e-06 1.62e+02 -3.2 8.08e+03 -20.0 1.00e+00 1.00e+00h 1 82 2.0059367e+00 4.12e-06 3.24e+01 -3.2 1.62e+03 -20.0 1.00e+00 1.00e+00h 1 83 2.0059963e+00 2.80e-07 3.34e+01 -3.2 1.67e+03 -20.0 1.00e+00 1.00e+00h 1 84 2.0058929e+00 6.60e-07 2.98e+00 -3.2 1.49e+02 -20.0 1.00e+00 1.00e+00h 1 85 2.0059029e+00 4.36e-08 5.77e+00 -3.2 2.88e+02 -20.0 1.00e+00 1.00e+00h 1 86 2.0058853e+00 1.08e-07 4.55e-01 -3.2 8.66e+01 -20.0 1.00e+00 1.00e+00h 1 87 2.0058870e+00 7.18e-09 9.66e-01 -3.2 8.66e+01 -20.0 1.00e+00 1.00e+00h 1 88 2.0058840e+00 1.80e-08 7.58e-02 -3.2 8.64e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0058843e+00 1.19e-09 1.61e-01 -3.2 8.64e+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 2.0058838e+00 2.99e-09 1.26e-02 -3.2 8.64e+01 -20.0 1.00e+00 1.00e+00h 1 91 2.0058839e+00 1.98e-10 2.68e-02 -3.2 8.64e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0058838e+00 4.98e-10 2.11e-03 -3.2 8.64e+01 -20.0 1.00e+00 1.00e+00h 1 93 1.9999841e+00 6.11e-05 2.65e+02 -4.8 1.32e+04 -20.0 1.00e+00 1.00e+00f 1 94 2.0000041e+00 4.87e-10 7.05e+01 -4.8 3.52e+03 -20.0 1.00e+00 1.00e+00h 1 95 2.0000006e+00 4.56e-16 5.22e+02 -4.8 2.61e+04 -20.0 1.00e+00 1.00e+00h 1 96 1.9999302e+00 9.94e-15 5.17e+00 -4.8 2.58e+02 -20.0 1.00e+00 1.00e+00h 1 97 1.9999448e+00 3.73e-14 1.58e+02 -4.8 7.88e+03 -20.0 1.00e+00 1.00e+00h 1 98 1.9999334e+00 3.23e-14 3.55e+01 -4.8 1.77e+03 -20.0 1.00e+00 1.00e+00h 1 99 1.9999357e+00 8.21e-15 3.02e+01 -4.8 1.51e+03 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 1.9999339e+00 5.68e-15 7.64e+00 -4.8 3.82e+02 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.9999338906354149e+00 1.9999338906354149e+00 Dual infeasibility......: 7.6392384712612511e+00 7.6392384712612511e+00 Constraint violation....: 5.6772390701257769e-15 5.6772390701257769e-15 Variable bound violation: 3.0835826692710499e-09 3.0835826692710499e-09 Complementarity.........: 1.4886268764458420e-05 1.4886268764458420e-05 Overall NLP error.......: 6.4505170827872300e+00 7.6392384712612511e+00 Number of objective function evaluations = 116 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 116 Number of inequality constraint evaluations = 116 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 68.807 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: 0.052s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.107s) integrator 1 hessian structure: 0.046s integrator 2 hessian structure: 0.047s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.323s sub-objective 2 (QuadraticRegularizer): 0.086s sub-objective 3 (QuadraticRegularizer): 0.0s objective hessian structure: 0.494s hessian structure: 1749 nonzeros (0.589s) linear index maps built (0.0s) evaluator ready (total: 0.697s) evaluator created (0.697s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.114s) 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 (2.761s) optimizer initialization complete (total: 3.573s) 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 1.0505072e+00 3.23e+00 3.27e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.8728407e-01 2.39e+00 1.73e+00 -0.6 1.19e+01 -2.0 1.74e-01 2.66e-01f 1 2 5.9139994e-01 1.66e+00 4.86e+00 -4.0 4.68e+00 -0.7 8.14e-02 3.02e-01h 1 3 8.0657590e-01 9.67e-01 3.10e+00 -0.5 4.84e+00 -1.1 5.44e-01 4.16e-01f 1 4 1.3954209e+00 3.72e-01 2.24e+00 -4.0 1.91e+00 -0.7 3.48e-01 6.38e-01h 1 5 1.6550342e+00 2.86e-01 1.50e+00 -0.6 2.47e+00 -0.3 5.84e-01 4.23e-01f 1 6 1.8212470e+00 4.09e-01 1.09e+00 -1.0 2.26e+00 -0.8 6.32e-01 8.32e-01h 1 7 1.7247021e+00 2.98e-02 3.71e-01 -1.3 7.00e-01 -1.3 9.00e-01 1.00e+00h 1 8 1.4734929e+00 2.68e-03 2.21e-02 -1.8 6.01e-01 -1.7 9.96e-01 1.00e+00h 1 9 1.2946885e+00 2.48e-02 8.53e-02 -2.7 3.71e-01 -2.2 5.91e-01 9.99e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.2006270e+00 2.86e-01 5.66e-02 -2.9 1.10e+00 -2.7 9.94e-01 1.00e+00h 1 11 1.2161039e+00 2.71e-01 3.18e-02 -2.9 3.66e+00 -3.2 9.23e-01 1.00e+00h 1 12 1.1892812e+00 6.65e-02 1.51e-02 -3.3 1.31e+00 -3.6 1.00e+00 9.99e-01h 1 13 1.1774457e+00 1.17e-01 1.29e-02 -4.0 4.11e+00 -4.1 1.00e+00 1.00e+00h 1 14 1.1736964e+00 1.12e-01 1.54e-02 -4.0 6.17e+00 -4.6 1.00e+00 1.00e+00h 1 15 1.1703369e+00 1.41e-01 9.02e-03 -4.0 9.24e+00 -5.1 1.00e+00 1.00e+00h 1 16 1.1679495e+00 1.60e-01 7.75e-03 -4.0 1.41e+01 -5.5 1.00e+00 1.00e+00h 1 17 1.1659290e+00 1.99e-01 2.33e-03 -4.0 2.14e+01 -6.0 1.00e+00 1.00e+00h 1 18 1.1643950e+00 2.35e-01 1.12e-03 -4.0 3.24e+01 -6.5 1.00e+00 1.00e+00h 1 19 1.1631358e+00 2.85e-01 7.04e-03 -4.0 4.89e+01 -7.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.1621671e+00 3.36e-01 1.23e-02 -4.0 7.28e+01 -7.5 1.00e+00 1.00e+00h 1 21 1.1613995e+00 3.94e-01 1.88e-02 -4.0 1.07e+02 -7.9 1.00e+00 1.00e+00h 1 22 1.1608429e+00 4.37e-01 2.36e-02 -4.0 1.52e+02 -8.4 1.00e+00 1.00e+00h 1 23 1.1605096e+00 4.28e-01 2.35e-02 -4.0 2.01e+02 -8.9 1.00e+00 1.00e+00h 1 24 1.1606026e+00 2.05e-01 4.76e-03 -4.0 1.88e+02 -9.4 1.00e+00 1.00e+00h 1 25 1.1608615e+00 4.23e-04 5.85e-04 -4.0 2.21e+00 -9.8 1.00e+00 1.00e+00h 1 26 1.1608495e+00 6.51e-06 8.45e-05 -4.0 1.08e+01 -10.3 1.00e+00 1.00e+00H 1 27 1.1608491e+00 5.37e-07 4.21e-10 -4.0 2.96e-01 -10.8 1.00e+00 1.00e+00h 1 28 1.1608491e+00 6.84e-12 8.53e-13 -4.0 1.09e-03 -11.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 1.1608491307806068e+00 1.1608491307806068e+00 Dual infeasibility......: 8.5278935605878625e-13 8.5278935605878625e-13 Constraint violation....: 6.8425265453697648e-12 6.8425265453697648e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000529e-04 1.0000000000000529e-04 Overall NLP error.......: 6.8425265453697648e-12 6.8425265453697648e-12 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 = 41.424 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.06s jacobian structure: 180 nonzeros (0.094s) integrator 1 hessian structure: 0.056s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.36s sub-objective 2 (QuadraticRegularizer): 0.093s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.018s objective hessian structure: 0.574s hessian structure: 375 nonzeros (0.63s) linear index maps built (0.0s) evaluator ready (total: 0.857s) evaluator created (0.857s) NL constraint bounds extracted (0.012s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.126s) applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.245s) optimizer initialization complete (total: 4.24s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 186 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 19 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.4543756e+00 6.53e-01 1.01e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8748863e+00 1.54e-01 1.74e+00 -0.9 7.29e-01 0.0 9.92e-01 1.00e+00h 1 2 1.7907081e+00 3.18e-02 8.07e-01 -0.9 3.37e-01 -0.5 8.59e-01 7.78e-01h 1 3 1.8747994e+00 2.92e-02 5.92e+00 -1.1 1.29e+01 - 8.91e-01 6.92e-01H 1 4 1.3115217e+00 1.68e-02 3.09e-01 -1.5 4.22e-01 -1.0 1.00e+00 8.58e-01f 1 5 1.1133214e+00 8.94e-05 1.01e+00 -2.9 9.61e+00 - 9.58e-01 1.00e+00h 1 6 1.1108397e+00 8.84e-05 9.86e-01 -3.0 3.77e+01 - 1.00e+00 1.08e-02h 1 7 1.0917520e+00 7.04e-06 1.27e-01 -4.0 2.51e+00 - 1.00e+00 9.22e-01h 1 8 1.0910012e+00 4.66e-08 1.33e-02 -4.0 9.62e-01 - 1.00e+00 1.00e+00h 1 9 1.0910391e+00 1.63e-12 5.50e-05 -4.0 5.76e-02 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0910386e+00 1.78e-15 4.46e-06 -4.0 3.52e-04 - 1.00e+00 1.00e+00h 1 11 1.0910386e+00 8.88e-16 4.46e-06 -4.0 3.83e-08 - 1.00e+00 1.00e+00h 1 12 1.0908587e+00 8.93e-35 1.27e-09 -4.1 1.99e-05 - 1.00e+00 1.00e+00f 1 13 1.0910386e+00 8.88e-16 1.32e-09 -4.0 1.99e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 13 (scaled) (unscaled) Objective...............: 1.0910385864123910e+00 1.0910385864123910e+00 Dual infeasibility......: 1.3192202746870052e-09 1.3192202746870052e-09 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000114091619610e-04 1.0000114091619610e-04 Overall NLP error.......: 1.3192202746870052e-09 1.3192202746870052e-09 Number of objective function evaluations = 15 Number of objective gradient evaluations = 14 Number of equality constraint evaluations = 15 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 = 26.259 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: 0.103s hessian structure: 30 nonzeros (0.103s) linear index maps built (0.0s) evaluator ready (total: 0.103s) evaluator created (0.103s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.136s) applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: bounds on u applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial time t₁ = 0 linear constraints added: 5 (3.211s) optimizer initialization complete (total: 3.45s) 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 1.8662372e-02 8.33e-17 1.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6636255e-02 5.01e-12 1.78e-02 -4.0 2.47e-02 -2.0 9.82e-01 1.00e+00f 1 2 8.1500847e-03 6.01e-13 9.49e-02 -3.0 9.94e-02 -1.6 9.93e-01 1.00e+00f 1 3 1.4730234e-03 1.26e-11 7.74e-02 -3.5 1.45e-01 -1.1 1.00e+00 7.57e-01f 1 4 2.0291151e-04 4.13e-12 2.37e-02 -3.1 4.75e-01 -1.6 9.67e-01 4.52e-01f 2 5 1.9529397e-04 2.83e-12 1.55e-02 -2.9 1.78e+00 -2.1 8.94e-01 4.54e-01f 2 6 1.9529397e-04 2.83e-12 1.00e-02 -2.6 2.63e+00 -2.6 6.06e-01 8.19e-14h 43 7 1.9529397e-04 2.83e-12 1.67e-02 -2.8 1.97e+00 -3.1 7.10e-01 1.18e-14h 46 8 1.9529397e-04 2.83e-12 1.63e-02 -4.1 1.33e+00 -3.5 5.54e-01 1.27e-15h 50 9 9.2321900e-05 2.18e-12 1.24e-02 -4.1 1.12e+00 -4.0 8.52e-01 8.52e-01S 64 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 9.2321900e-05 2.18e-12 2.58e-02 -4.0 2.62e+00 -4.5 1.00e+00 1.61e-14h 45 11 1.3368142e-04 1.43e-12 6.15e-03 -3.6 8.34e-01 -5.0 1.00e+00 4.48e-01f 2 12 1.3368142e-04 1.43e-12 5.36e-03 -3.6 3.18e-01 -5.4 1.00e+00 1.14e-13h 44 13 4.0148575e-05 2.87e-13 4.36e-03 -3.6 2.83e-01 -5.9 1.00e+00 1.00e+00S 59 14 4.0148575e-05 2.87e-13 4.98e-03 -4.0 4.72e-01 -6.4 1.00e+00 1.14e-08h 27 15 4.0148507e-05 2.87e-13 4.48e-03 -3.8 1.95e-01 -6.9 1.00e+00 3.81e-06h 19 16 4.0148506e-05 2.87e-13 4.66e-03 -3.8 2.05e-01 -7.4 1.00e+00 2.98e-08h 26 17 4.0148501e-05 2.87e-13 4.91e-03 -3.8 1.99e-01 -7.8 1.00e+00 1.19e-07h 24 18 4.0148390e-05 2.87e-13 5.12e-03 -3.8 1.94e-01 -8.3 1.00e+00 1.91e-06h 20 19 4.0148356e-05 2.87e-13 6.07e-03 -3.8 1.88e-01 -8.8 1.00e+00 4.77e-07h 22 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 4.0148315e-05 2.87e-13 7.26e-03 -3.8 1.81e-01 -9.3 1.00e+00 4.77e-07h 22 21 4.0148304e-05 2.87e-13 8.45e-03 -3.8 1.74e-01 -9.7 1.00e+00 1.19e-07h 24 22 4.0148304e-05 2.87e-13 9.64e-03 -3.8 1.66e-01 -10.2 1.00e+00 2.33e-10h 33 23 4.0148304e-05 2.87e-13 1.08e-02 -3.8 1.57e-01 -10.7 1.00e+00 5.68e-14h 45 24 4.0148304e-05 2.87e-13 1.20e-02 -3.8 1.48e-01 -11.2 1.00e+00 3.55e-15h 49 25 4.0148286e-05 2.87e-13 1.32e-02 -3.8 1.37e-01 -11.6 1.00e+00 1.19e-07h 24 26 4.0148267e-05 2.87e-13 1.44e-02 -3.8 1.25e-01 -12.1 1.00e+00 1.19e-07h 24 27 4.0148266e-05 2.87e-13 1.56e-02 -3.8 1.11e-01 -12.6 1.00e+00 3.73e-09h 29 28 4.0148261e-05 2.87e-13 1.68e-02 -3.8 1.21e-01 -13.1 1.00e+00 2.98e-08h 26 29 4.0148259e-05 2.87e-13 1.80e-02 -3.8 1.31e-01 -13.6 1.00e+00 7.45e-09h 28 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 4.0148259e-05 2.87e-13 1.92e-02 -3.8 1.42e-01 -14.0 1.00e+00 1.42e-14h 47 31 4.0148259e-05 2.87e-13 2.03e-02 -3.8 1.53e-01 -14.5 1.00e+00 1.86e-09h 30 32 4.0148259e-05 2.87e-13 2.15e-02 -3.8 1.64e-01 -15.0 1.00e+00 3.64e-12h 39 33 4.0148258e-05 2.87e-13 2.27e-02 -3.8 1.76e-01 -15.5 1.00e+00 3.73e-09h 29 34 4.0148258e-05 2.87e-13 2.39e-02 -3.8 1.89e-01 -15.9 1.00e+00 1.42e-14h 47 35 4.0148256e-05 2.87e-13 2.51e-02 -3.8 2.03e-01 -16.4 1.00e+00 7.45e-09h 28 36 4.0148256e-05 2.87e-13 2.63e-02 -3.8 3.33e-01 -16.9 1.00e+00 2.33e-10h 33 37 4.0148255e-05 2.87e-13 2.75e-02 -3.8 7.61e-01 -17.4 1.00e+00 9.31e-10h 31 38 4.0148255e-05 2.87e-13 2.87e-02 -3.8 2.26e-01 -3.5 1.00e+00 1.14e-13h 44 39 4.0148253e-05 2.87e-13 2.99e-02 -3.8 2.38e-01 -4.0 1.00e+00 7.45e-09h 28 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 4.0148253e-05 2.87e-13 3.10e-02 -3.8 4.03e-01 -4.5 1.00e+00 1.82e-12h 40 41 4.0148253e-05 2.87e-13 3.22e-02 -3.8 1.55e+00 -5.0 4.28e-01 3.64e-12h 39 42 4.0148253e-05 2.87e-13 3.34e-02 -3.8 2.71e-01 -3.6 1.00e+00 2.84e-14h 46 43 4.0148252e-05 2.87e-13 3.46e-02 -3.8 2.82e-01 -4.1 1.00e+00 9.31e-10h 31 44 4.0148252e-05 2.87e-13 3.58e-02 -3.8 1.38e+00 -4.6 6.15e-01 4.66e-10h 32 45 4.0148252e-05 2.87e-13 3.70e-02 -3.8 1.55e+00 -4.2 1.00e+00 5.82e-11h 35 46 4.0148252e-05 2.87e-13 3.82e-02 -3.8 4.30e-01 -4.6 8.19e-01 4.55e-13h 42 47 3.6706206e-05 2.89e-13 3.90e-02 -3.8 2.27e+00 -4.2 1.00e+00 7.81e-03f 8 48 3.6706205e-05 2.89e-13 3.99e-02 -4.0 3.79e-01 -4.7 1.00e+00 1.86e-09h 30 49 3.6706205e-05 2.89e-13 4.08e-02 -3.7 2.88e-01 -5.2 1.00e+00 2.84e-14h 46 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 3.7908922e-03 5.42e-15 2.64e-02 -3.7 2.95e-01 -5.6 1.00e+00 1.00e+00S 64 51 3.7908922e-03 5.42e-15 1.50e-01 -3.7 2.90e+00 -1.6 4.55e-01 5.90e-13h 39 52 2.1876492e-03 6.16e-17 3.00e-02 -3.7 9.28e-02 -1.2 1.00e+00 1.00e+00F 1 53 2.1876492e-03 7.98e-17 9.34e-02 -3.7 1.44e+00 -1.7 8.96e-01 2.58e-14h 44 54 6.3160050e-04 1.77e-13 5.58e-02 -3.7 2.63e-01 -1.2 9.51e-01 4.16e-01f 2 55 1.4188536e-04 3.41e-13 5.44e-02 -3.7 5.16e-01 -1.7 1.00e+00 1.52e-01f 3 56 1.3277940e-04 3.70e-13 4.91e-02 -3.7 1.43e+00 -2.2 5.80e-01 2.39e-03f 8 57 1.2809514e-04 3.91e-13 5.07e-02 -3.7 2.38e+00 -2.7 1.00e+00 9.25e-04f 10 58 1.2753115e-04 3.94e-13 5.20e-02 -3.7 2.67e+00 -3.1 3.28e-01 1.03e-04f 13 59 1.2725141e-04 3.95e-13 5.18e-02 -3.7 2.85e+00 -3.6 1.00e+00 4.81e-05f 14 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 8.5721233e-06 1.76e-12 4.96e-02 -3.7 2.46e+00 -4.1 3.57e-01 5.70e-02f 4 61 8.5721233e-06 1.76e-12 5.09e-02 -4.0 3.02e+00 -4.6 1.00e+00 5.35e-15h 46 62 1.7639422e-03 1.95e-11 3.39e-02 -3.0 1.78e+00 -5.0 1.00e+00 5.51e-01f 1 63 1.1592749e-04 1.53e-11 6.15e-02 -3.0 8.73e-02 -5.5 1.00e+00 1.00e+00f 1 64 1.1590549e-04 1.52e-11 1.32e-02 -3.0 9.51e-03 -6.0 1.00e+00 4.88e-04h 12 65 1.1588707e-04 1.52e-11 1.20e-02 -3.0 1.05e-02 -6.5 1.00e+00 4.88e-04h 12 66 1.1586650e-04 1.52e-11 1.22e-02 -3.0 1.05e-02 -7.0 1.00e+00 4.88e-04h 12 67 1.1585515e-04 1.52e-11 1.24e-02 -3.0 1.05e-02 -7.4 1.00e+00 2.44e-04h 13 68 1.1584278e-04 1.52e-11 1.26e-02 -3.0 1.04e-02 -7.9 1.00e+00 2.44e-04h 13 69 1.1582945e-04 1.52e-11 1.28e-02 -3.0 1.08e-02 -8.4 1.00e+00 2.44e-04h 13 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 1.1582232e-04 1.52e-11 1.29e-02 -3.0 1.35e-02 -8.9 1.00e+00 1.22e-04h 14 71 1.1581475e-04 1.52e-11 1.31e-02 -3.0 1.61e-02 -9.3 1.00e+00 1.22e-04h 14 72 1.1580677e-04 1.52e-11 1.32e-02 -3.0 1.88e-02 -9.8 1.00e+00 1.22e-04h 14 73 1.1580258e-04 1.52e-11 1.33e-02 -3.0 2.15e-02 -10.3 1.00e+00 6.10e-05h 15 74 1.1579819e-04 1.52e-11 1.34e-02 -3.0 2.43e-02 -10.8 1.00e+00 6.10e-05h 15 75 1.1579362e-04 1.52e-11 1.36e-02 -3.0 2.71e-02 -11.2 1.00e+00 6.10e-05h 15 76 1.1579125e-04 1.52e-11 1.37e-02 -3.0 2.99e-02 -11.7 1.00e+00 3.05e-05h 16 77 1.1578879e-04 1.52e-11 1.38e-02 -3.0 3.28e-02 -12.2 1.00e+00 3.05e-05h 16 78 1.1578625e-04 1.52e-11 1.38e-02 -3.0 3.56e-02 -12.7 1.00e+00 3.05e-05h 16 79 1.1578363e-04 1.52e-11 1.39e-02 -3.0 3.86e-02 -13.2 1.00e+00 3.05e-05h 16 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 1.1578228e-04 1.52e-11 1.40e-02 -3.0 4.15e-02 -13.6 1.00e+00 1.53e-05h 17 81 1.1578090e-04 1.52e-11 1.41e-02 -3.0 4.45e-02 -14.1 1.00e+00 1.53e-05h 17 82 1.1577948e-04 1.52e-11 1.42e-02 -3.0 4.75e-02 -14.6 1.00e+00 1.53e-05h 17 83 1.1577802e-04 1.52e-11 1.42e-02 -3.0 5.06e-02 -15.1 1.00e+00 1.53e-05h 17 84 1.1577653e-04 1.52e-11 1.43e-02 -3.0 5.37e-02 -15.5 1.00e+00 1.53e-05h 17 85 1.1577653e-04 1.52e-11 1.44e-02 -3.0 5.69e-02 -16.0 1.00e+00 5.68e-14h 45 86 4.0677798e-05 7.81e-16 8.36e-03 -3.0 6.00e-02 -16.5 1.00e+00 1.00e+00S 56 87 4.0677798e-05 7.81e-16 5.58e-03 -4.5 2.88e-01 -17.0 8.63e-01 9.09e-13h 41 88 4.0677798e-05 7.82e-16 4.86e-03 -4.5 4.56e-01 -17.4 1.00e+00 5.68e-14h 45 89 4.0677798e-05 7.83e-16 4.86e-03 -4.5 4.49e-01 -17.9 1.00e+00 1.82e-12h 40 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 4.0677798e-05 7.82e-16 4.86e-03 -4.5 4.51e-01 -18.4 1.00e+00 1.82e-12h 40 91 4.0677798e-05 7.83e-16 4.86e-03 -4.5 4.50e-01 -18.9 1.00e+00 1.42e-14h 47 92 4.0677798e-05 7.84e-16 4.86e-03 -4.5 4.50e-01 -19.4 1.00e+00 4.55e-13h 42 93 4.0677798e-05 7.84e-16 4.86e-03 -4.5 4.50e-01 -19.8 1.00e+00 3.64e-12h 39 94 4.0677798e-05 7.84e-16 4.86e-03 -4.5 4.50e-01 -20.0 1.00e+00 1.82e-12h 40 95 4.0677798e-05 7.84e-16 4.86e-03 -4.5 4.49e-01 -20.0 1.00e+00 3.64e-12h 39 96 4.0677798e-05 7.84e-16 4.86e-03 -4.5 4.49e-01 -20.0 1.00e+00 3.64e-12h 39 97 4.0677798e-05 7.83e-16 4.86e-03 -4.5 4.49e-01 -20.0 1.00e+00 1.82e-12h 40 98 4.0677798e-05 7.83e-16 4.86e-03 -4.5 4.49e-01 -20.0 1.00e+00 4.55e-13h 42 99 4.0677798e-05 7.82e-16 4.87e-03 -4.5 4.49e-01 -20.0 1.00e+00 1.82e-12h 40 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 4.0677798e-05 7.83e-16 4.87e-03 -4.5 4.49e-01 -20.0 1.00e+00 9.09e-13h 41 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 4.0677798191180290e-05 4.0677798191180290e-05 Dual infeasibility......: 4.8656786373844629e-03 4.8656786373844629e-03 Constraint violation....: 7.8279396853453420e-16 7.8279396853453420e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0823287124643668e-03 1.0823287124643668e-03 Overall NLP error.......: 4.8656786373844629e-03 4.8656786373844629e-03 Number of objective function evaluations = 2779 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 2779 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 = 3.785 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 0 integrators, 0 nonlinear constraints dynamics constraints: 0, nonlinear constraints: 0 jacobian structure: 0 nonzeros (0.0s) computing objective hessian structure (CompositeObjective)... sub-objective 1 (QuadraticRegularizer): 0.091s sub-objective 2 (QuadraticRegularizer): 0.0s objective hessian structure: 0.188s hessian structure: 40 nonzeros (0.188s) linear index maps built (0.0s) evaluator ready (total: 0.188s) evaluator created (0.189s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.119s) applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial value of t applying constraint: bounds on u applying constraint: bounds on t applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) linear constraints added: 6 (3.002s) optimizer initialization complete (total: 3.311s) 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 2.2852638e+00 1.22e+00 9.22e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.1282365e+00 4.57e-09 5.28e-01 -0.1 7.88e-01 -2.0 1.00e+00 1.00e+00f 1 2 5.3764199e-01 4.63e-09 6.20e-01 -4.0 1.57e+00 -1.6 7.06e-01 1.00e+00f 1 3 2.7832219e-01 1.65e-11 8.56e-02 -1.8 6.24e-01 -1.1 1.00e+00 1.00e+00f 1 4 6.9681817e-02 4.10e-11 7.47e-02 -2.5 1.08e+00 -1.6 9.97e-01 1.00e+00f 1 5 1.3876574e-02 5.02e-11 3.00e-02 -3.4 8.83e-01 -2.1 1.00e+00 1.00e+00f 1 6 2.7324771e-03 1.18e-11 9.66e-03 -4.0 6.00e-01 -2.6 1.00e+00 1.00e+00f 1 7 7.3922066e-04 2.05e-12 2.93e-03 -4.0 3.45e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.2056544e-04 3.61e-13 7.19e-04 -4.0 1.17e-01 -3.5 1.00e+00 1.00e+00f 1 9 4.7978476e-04 5.15e-14 2.43e-04 -4.0 3.77e-02 -4.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.9048071e-04 1.02e-14 4.92e-04 -4.1 9.12e-02 -4.5 1.00e+00 1.00e+00f 1 11 4.6043478e-04 7.11e-15 3.84e-04 -4.0 2.08e-01 -5.0 1.00e+00 5.00e-01f 2 12 2.7186590e-04 4.77e-15 5.21e-04 -4.1 9.92e-02 -5.4 1.00e+00 1.00e+00f 1 13 4.6770594e-04 3.55e-15 4.69e-04 -4.0 2.48e-01 -5.9 1.00e+00 5.00e-01f 2 14 2.6269380e-04 2.66e-15 5.86e-04 -4.1 1.13e-01 -6.4 1.00e+00 1.00e+00f 1 15 4.6806899e-04 2.66e-15 5.05e-04 -4.0 2.67e-01 -6.9 1.00e+00 5.00e-01f 2 16 2.5963615e-04 2.00e-15 6.13e-04 -4.1 1.18e-01 -7.4 1.00e+00 1.00e+00f 1 17 4.6794458e-04 2.11e-15 5.22e-04 -4.0 2.77e-01 -7.8 1.00e+00 5.00e-01f 2 18 2.5862366e-04 1.67e-15 6.32e-04 -4.1 1.22e-01 -8.3 1.00e+00 1.00e+00f 1 19 4.6742790e-04 1.89e-15 5.31e-04 -4.0 2.82e-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 2.5831911e-04 1.44e-15 6.46e-04 -4.1 1.25e-01 -9.3 1.00e+00 1.00e+00f 1 21 4.6682801e-04 1.55e-15 5.37e-04 -4.0 2.87e-01 -9.7 1.00e+00 5.00e-01f 2 22 2.5823915e-04 1.33e-15 6.60e-04 -4.1 1.28e-01 -10.2 1.00e+00 1.00e+00f 1 23 4.6621067e-04 1.33e-15 5.42e-04 -4.0 2.91e-01 -10.7 1.00e+00 5.00e-01f 2 24 2.5822841e-04 1.16e-15 6.73e-04 -4.1 1.30e-01 -11.2 1.00e+00 1.00e+00f 1 25 4.6560318e-04 1.22e-15 5.46e-04 -4.0 2.94e-01 -11.6 1.00e+00 5.00e-01f 2 26 2.5823667e-04 1.03e-15 6.85e-04 -4.1 1.32e-01 -12.1 1.00e+00 1.00e+00f 1 27 3.0916262e-05 9.83e-15 8.58e-04 -6.2 3.66e-01 -12.6 9.69e-01 1.00e+00f 1 28 1.7525233e-03 2.66e-15 7.46e-03 -4.0 1.93e+00 -13.1 1.00e+00 5.00e-01f 2 29 2.4278302e-05 2.51e-14 2.78e-03 -4.1 9.85e-01 -13.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.5828865e-03 3.33e-14 7.77e-03 -4.0 9.54e-01 -14.0 1.00e+00 1.00e+00f 1 31 9.9899315e-06 1.93e-14 2.20e-03 -4.2 1.06e+00 -14.5 1.00e+00 1.00e+00f 1 32 4.6954741e-04 1.67e-15 2.70e-03 -4.0 1.34e+00 -15.0 1.00e+00 5.00e-01f 2 33 2.1896654e-04 3.22e-15 2.30e-04 -4.2 3.67e-01 -15.5 1.00e+00 5.00e-01f 2 34 2.0135311e-05 4.72e-15 7.78e-04 -6.4 3.99e-01 -15.9 9.65e-01 1.00e+00f 1 35 8.0974296e-06 3.50e-15 9.59e-05 -6.4 1.01e-01 -16.4 1.00e+00 1.00e+00f 1 36 1.5772232e-03 1.33e-15 5.47e-03 -4.0 9.40e+00 -16.9 1.00e+00 1.25e-01f 4 37 9.6032296e-05 5.64e-14 3.42e-03 -4.0 7.85e-01 -17.4 1.00e+00 1.00e+00f 1 38 7.5566654e-04 3.82e-14 3.51e-03 -4.0 5.30e-01 -17.8 1.00e+00 1.00e+00f 1 39 3.8098622e-04 7.22e-15 4.24e-04 -4.0 4.13e-01 -18.3 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 3.5511312e-05 5.66e-15 1.29e-03 -6.0 4.91e-01 -18.8 9.57e-01 1.00e+00f 1 41 1.4635708e-05 5.55e-15 1.56e-04 -6.0 1.22e-01 -19.3 1.00e+00 1.00e+00f 1 42 4.0369869e-06 9.44e-16 9.84e-05 -6.0 1.39e-01 -19.8 1.00e+00 1.00e+00f 1 43 1.1363685e-03 6.66e-16 3.47e-03 -4.0 1.52e+01 -20.0 1.00e+00 7.90e-02f 4 44 1.5126201e-04 5.04e-14 2.97e-03 -4.0 6.13e-01 -20.0 1.00e+00 1.00e+00f 1 45 6.9271674e-04 2.55e-14 2.92e-03 -4.0 4.37e-01 -20.0 1.00e+00 1.00e+00f 1 46 3.9109596e-04 4.66e-15 4.21e-04 -4.0 3.69e-01 -20.0 1.00e+00 5.00e-01f 2 47 3.5649455e-05 5.88e-15 1.42e-03 -6.0 5.33e-01 -20.0 9.51e-01 1.00e+00f 1 48 1.4798022e-05 5.05e-15 1.67e-04 -6.0 1.30e-01 -20.0 1.00e+00 1.00e+00f 1 49 3.9656364e-06 8.33e-16 1.08e-04 -6.0 1.53e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 9.1469218e-04 7.22e-16 2.45e-03 -4.0 1.63e+01 -20.0 1.00e+00 7.34e-02f 4 51 1.8602307e-04 4.32e-14 2.61e-03 -4.0 5.17e-01 -20.0 1.00e+00 1.00e+00f 1 52 6.3115348e-04 1.78e-14 2.47e-03 -4.0 3.77e-01 -20.0 1.00e+00 1.00e+00f 1 53 3.8777660e-04 3.11e-15 4.07e-04 -4.0 3.34e-01 -20.0 1.00e+00 5.00e-01f 2 54 3.4766268e-05 5.66e-15 1.51e-03 -6.1 5.69e-01 -20.0 9.47e-01 1.00e+00f 1 55 1.4524084e-05 4.44e-15 1.74e-04 -6.1 1.37e-01 -20.0 1.00e+00 1.00e+00f 1 56 3.8226480e-06 7.22e-16 1.14e-04 -6.1 1.64e-01 -20.0 1.00e+00 1.00e+00f 1 57 7.5069534e-04 4.30e-16 1.52e-03 -4.0 1.77e+01 -20.0 1.00e+00 6.75e-02f 4 58 2.2228022e-04 3.77e-14 2.20e-03 -4.1 4.20e-01 -20.0 1.00e+00 1.00e+00f 1 59 5.7007516e-04 1.24e-14 1.97e-03 -4.1 3.07e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 3.8475023e-04 2.22e-15 3.73e-04 -4.1 2.85e-01 -20.0 1.00e+00 5.00e-01f 2 61 3.3766702e-05 5.44e-15 1.59e-03 -6.1 6.03e-01 -20.0 9.43e-01 1.00e+00f 1 62 1.4242109e-05 4.11e-15 1.78e-04 -6.1 1.42e-01 -20.0 1.00e+00 1.00e+00f 1 63 3.7008514e-06 6.66e-16 1.19e-04 -6.1 1.74e-01 -20.0 1.00e+00 1.00e+00f 1 64 6.3117218e-04 3.96e-16 7.18e-04 -4.0 1.91e+01 -20.0 1.00e+00 6.26e-02f 4 65 2.5546549e-04 3.38e-14 1.79e-03 -4.1 3.31e-01 -20.0 1.00e+00 1.00e+00f 1 66 5.1553379e-04 8.44e-15 1.49e-03 -4.1 2.37e-01 -20.0 1.00e+00 1.00e+00f 1 67 3.8068749e-04 1.33e-15 3.28e-04 -4.1 2.32e-01 -20.0 1.00e+00 5.00e-01f 2 68 3.2676014e-05 5.11e-15 1.65e-03 -6.1 6.35e-01 -20.0 9.39e-01 1.00e+00f 1 69 1.3927734e-05 3.77e-15 1.81e-04 -6.1 1.46e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 3.5890956e-06 6.11e-16 1.23e-04 -6.1 1.83e-01 -20.0 1.00e+00 1.00e+00f 1 71 5.4263034e-04 5.45e-16 7.80e-05 -4.0 2.04e+01 -20.0 1.00e+00 5.85e-02f 4 72 2.8472756e-04 3.04e-14 1.38e-03 -4.1 2.51e-01 -20.0 1.00e+00 1.00e+00f 1 73 4.6934345e-04 5.33e-15 1.05e-03 -4.1 1.71e-01 -20.0 1.00e+00 1.00e+00f 1 74 2.9758420e-04 3.77e-15 9.90e-04 -4.1 1.80e-01 -20.0 1.00e+00 1.00e+00f 1 75 4.6234920e-04 2.77e-15 9.11e-04 -4.1 1.48e-01 -20.0 1.00e+00 1.00e+00f 1 76 3.0468418e-04 3.55e-15 8.96e-04 -4.1 1.62e-01 -20.0 1.00e+00 1.00e+00f 1 77 4.5537600e-04 2.66e-15 8.17e-04 -4.1 1.34e-01 -20.0 1.00e+00 1.00e+00f 1 78 2.3582978e-05 4.55e-15 1.82e-03 -6.1 7.70e-01 -20.0 9.25e-01 1.00e+00f 1 79 1.2299491e-05 3.89e-15 1.20e-04 -6.1 1.06e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 3.0757125e-06 4.44e-16 1.15e-04 -6.1 1.84e-01 -20.0 1.00e+00 1.00e+00f 1 81 4.9557366e-04 3.61e-16 5.30e-04 -4.0 2.31e+01 -20.0 1.00e+00 5.17e-02f 4 82 3.0915318e-04 2.93e-14 1.07e-03 -4.1 1.91e-01 -20.0 1.00e+00 1.00e+00f 1 83 4.4364935e-04 3.77e-15 7.32e-04 -4.1 1.21e-01 -20.0 1.00e+00 1.00e+00f 1 84 2.4300816e-05 4.44e-15 1.89e-03 -6.1 7.90e-01 -20.0 9.22e-01 1.00e+00f 1 85 1.2437843e-05 3.66e-15 1.32e-04 -6.1 1.15e-01 -20.0 1.00e+00 1.00e+00f 1 86 3.1164606e-06 4.44e-16 1.22e-04 -6.1 1.93e-01 -20.0 1.00e+00 1.00e+00f 1 87 3.9833030e-06 2.22e-16 2.08e-05 -6.1 3.61e-02 -20.0 1.00e+00 1.00e+00f 1 88 3.4330658e-06 5.55e-17 5.95e-06 -6.1 1.07e-02 -20.0 1.00e+00 1.00e+00h 1 89 2.6094354e-07 9.45e-17 5.27e-05 -9.0 2.35e-01 -20.0 9.77e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.4714633e-03 7.04e-16 1.21e-02 -4.0 1.04e+02 -20.0 1.00e+00 2.33e-02f 3 91 8.3551187e-05 4.86e-14 7.11e-03 -3.9 1.55e+00 -20.0 1.00e+00 1.00e+00f 1 92 7.7278970e-04 2.93e-14 5.39e-03 -3.9 8.16e-01 -20.0 1.00e+00 1.00e+00f 1 93 4.3975486e-04 5.55e-15 7.72e-04 -3.9 5.36e-01 -20.0 1.00e+00 5.00e-01f 2 94 4.3452610e-05 4.22e-15 2.14e-03 -5.9 7.14e-01 -20.0 9.30e-01 1.00e+00f 1 95 1.7947700e-05 4.00e-15 2.62e-04 -5.9 1.86e-01 -20.0 1.00e+00 1.00e+00f 1 96 5.1375503e-06 6.66e-16 1.66e-04 -5.9 2.09e-01 -20.0 1.00e+00 1.00e+00f 1 97 5.8454487e-06 3.33e-16 1.77e-05 -5.9 2.50e-02 -20.0 1.00e+00 1.00e+00h 1 98 5.3980047e-06 6.59e-17 2.78e-06 -5.9 3.99e-03 -20.0 1.00e+00 1.00e+00h 1 99 3.8839423e-07 5.90e-17 7.97e-05 -8.9 2.86e-01 -20.0 9.71e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 1.5620203e-07 5.64e-17 8.37e-06 -8.9 6.34e-02 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.5620202776943084e-07 1.5620202776943084e-07 Dual infeasibility......: 8.3728756237492219e-06 8.3728756237492219e-06 Constraint violation....: 5.6378512969246231e-17 5.6378512969246231e-17 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 5.3805709530836020e-08 5.3805709530836020e-08 Overall NLP error.......: 9.9998663381117034e-05 9.9998663381117034e-05 Number of objective function evaluations = 168 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 168 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 1 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 4.182 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: 0.064s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.877s jacobian structure: 1600 nonzeros (2.959s) integrator 1 hessian structure: 0.053s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.945s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.017s objective hessian structure: 0.018s hessian structure: 1749 nonzeros (4.017s) linear index maps built (0.0s) evaluator ready (total: 6.977s) evaluator created (7.0s) 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 (0.125s) optimizer initialization complete (total: 7.229s) 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 2.5950029e+00 2.99e+00 8.14e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7751035e+00 3.88e-02 3.52e+00 -1.1 1.85e+00 0.0 9.65e-01 1.00e+00h 1 2 2.3172914e+00 1.52e-02 4.37e-01 -1.5 1.75e-01 0.4 9.94e-01 1.00e+00h 1 3 2.1344733e+00 2.58e-03 1.21e-01 -2.1 8.14e-02 -0.1 9.85e-01 9.44e-01h 1 4 2.1014426e+00 2.99e-04 8.63e-02 -3.4 5.58e-02 -0.5 9.99e-01 1.00e+00h 1 5 2.0909002e+00 3.00e-05 3.35e-02 -4.0 1.61e-02 -1.0 1.00e+00 1.00e+00h 1 6 2.0908545e+00 1.16e-07 8.07e-04 -4.0 5.51e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0908546e+00 2.63e-09 1.31e-04 -4.0 1.19e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0908547e+00 5.38e-11 6.39e-05 -4.0 1.75e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0906734e+00 3.19e-07 1.94e-05 -4.1 1.59e-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 2.0908493e+00 9.43e-07 1.91e-05 -4.0 4.71e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0906569e+00 2.67e-06 1.82e-05 -4.1 1.34e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908069e+00 7.35e-06 9.72e-05 -4.0 3.65e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0905539e+00 1.90e-05 4.12e-04 -4.1 9.62e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905224e+00 5.95e-05 4.50e-04 -4.0 2.85e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0902503e+00 4.56e-05 1.16e-02 -4.0 1.10e+01 -5.8 5.74e-01 2.36e-01h 1 16 2.0890654e+00 2.72e-04 4.49e-02 -4.0 2.87e+01 -6.3 1.00e+00 1.00e+00f 1 17 2.0876053e+00 1.05e-04 2.46e-02 -4.0 3.42e+00 -4.9 1.00e+00 6.75e-01h 1 18 2.0875827e+00 1.73e-05 5.89e-03 -4.0 3.63e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0865092e+00 4.57e-05 7.28e-03 -4.0 1.09e+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 2.0849327e+00 2.06e-04 1.05e-02 -4.0 2.49e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0827816e+00 3.46e-04 2.76e-02 -4.0 3.75e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0831539e+00 1.27e-03 3.76e-02 -4.0 5.50e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0822025e+00 9.97e-04 7.33e-03 -4.1 1.34e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.0991610e+00 7.45e-06 7.27e-01 -4.0 4.81e+02 -8.3 1.12e-01 1.00e+00H 1 25 2.0847455e+00 1.79e-02 6.88e+00 -4.1 3.18e+02 -5.1 4.55e-03 4.30e-02f 1 26 2.0836796e+00 1.80e-02 6.86e+00 -4.1 4.12e+02 -3.8 7.55e-06 2.65e-03f 1 27 2.0837458e+00 1.80e-02 6.93e+00 -4.1 1.68e+03 -4.3 1.07e-07 1.42e-04f 2 28 2.0832610e+00 1.39e-02 5.50e+00 -4.1 5.72e-01 -2.9 1.00e+00 2.31e-01h 1 29 2.0832339e+00 8.94e-03 4.13e+00 -4.1 3.16e-01 -3.4 1.00e+00 3.56e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0833651e+00 3.76e-06 1.11e-03 -4.1 8.40e-02 -3.9 1.00e+00 1.00e+00f 1 31 2.0836095e+00 8.45e-06 1.28e-04 -4.0 2.15e-01 -4.4 1.00e+00 1.00e+00h 1 32 2.0833780e+00 1.85e-05 6.15e-05 -4.1 6.96e-01 -4.9 1.00e+00 1.00e+00h 1 33 2.0824768e+00 2.86e-04 1.18e-03 -6.1 2.86e+00 -5.3 1.00e+00 1.00e+00h 1 34 2.0830794e+00 7.03e-04 4.16e-03 -4.0 4.97e+00 -5.8 1.00e+00 1.00e+00h 1 35 2.0824389e+00 4.28e-04 3.20e-03 -4.1 9.91e+00 -6.3 1.00e+00 1.00e+00h 1 36 2.0825278e+00 5.77e-04 2.58e-03 -4.0 2.29e+01 -6.8 1.00e+00 1.00e+00h 1 37 2.0819268e+00 8.68e-04 9.42e-03 -4.1 5.09e+01 -7.2 1.00e+00 1.00e+00h 1 38 2.0818256e+00 2.36e-03 5.42e-03 -4.0 1.06e+02 -7.7 7.93e-01 1.00e+00h 1 39 2.0816793e+00 1.29e-03 1.97e-02 -4.0 2.57e+01 -6.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0817478e+00 4.50e-04 6.32e-03 -4.0 1.34e+01 -6.9 9.75e-01 1.00e+00h 1 41 2.0850947e+00 4.50e-04 4.04e-02 -4.0 2.05e+01 -7.3 1.00e+00 9.70e-01h 1 42 2.0821804e+00 2.76e-04 1.19e-02 -4.1 1.06e+01 -7.8 1.00e+00 1.00e+00h 1 43 2.0820782e+00 2.20e-08 9.93e-03 -4.1 9.40e-03 0.0 1.00e+00 1.00e+00h 1 44 2.0819497e+00 4.37e-08 7.17e-03 -4.0 2.02e-02 -0.5 1.00e+00 1.00e+00h 1 45 2.0818129e+00 1.12e-07 3.50e-03 -4.0 2.90e-02 -0.9 1.00e+00 1.00e+00h 1 46 2.0817692e+00 7.13e-08 1.02e-03 -4.0 2.41e-02 -1.4 1.00e+00 1.00e+00h 1 47 2.0817667e+00 1.36e-08 2.28e-04 -4.0 1.58e-02 -1.9 1.00e+00 1.00e+00h 1 48 2.0817658e+00 2.75e-09 1.23e-04 -4.0 2.85e-02 -2.4 1.00e+00 1.00e+00h 1 49 2.0817638e+00 4.86e-08 4.35e-05 -4.0 3.05e-02 -2.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0817627e+00 1.56e-07 1.66e-05 -4.0 2.36e-02 -3.3 1.00e+00 1.00e+00h 1 51 2.0817636e+00 4.08e-07 1.11e-05 -4.0 6.89e-02 -3.8 1.00e+00 1.00e+00h 1 52 2.0816548e+00 5.38e-06 1.39e-04 -4.1 1.94e-01 -4.3 1.00e+00 1.00e+00h 1 53 2.0817752e+00 1.03e-05 1.06e-04 -4.0 5.12e-01 -4.7 1.00e+00 1.00e+00h 1 54 2.0816553e+00 7.55e-05 5.32e-04 -4.1 1.10e+00 -5.2 1.00e+00 1.00e+00h 1 55 2.0809870e+00 3.52e-04 1.07e-02 -6.1 3.92e+00 -5.7 9.46e-01 1.00e+00h 1 56 2.0810303e+00 4.71e-05 3.18e-02 -4.7 2.50e-01 -3.5 1.00e+00 8.67e-01h 1 57 2.0815414e+00 1.62e-05 8.25e-02 -4.0 7.32e-01 -3.9 1.00e+00 6.60e-01f 1 58 2.0816209e+00 6.68e-06 5.70e-04 -4.0 3.14e-01 -4.4 1.00e+00 1.00e+00h 1 59 2.0816531e+00 2.77e-06 3.81e-04 -4.0 5.46e-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 2.0816944e+00 4.81e-06 3.15e-04 -4.0 7.41e-01 -5.4 1.00e+00 1.00e+00h 1 61 2.0815771e+00 3.24e-06 6.44e-05 -4.1 1.88e-01 -5.9 1.00e+00 1.00e+00h 1 62 2.0817853e+00 4.07e-05 2.33e-04 -4.0 2.14e+00 -6.3 1.00e+00 1.00e+00h 1 63 2.0815988e+00 3.67e-05 1.86e-04 -4.1 1.53e+00 -6.8 1.00e+00 1.00e+00h 1 64 2.0806914e+00 1.21e-03 2.76e-03 -6.1 1.74e+01 -7.3 9.82e-01 9.11e-01h 1 65 2.0818576e+00 2.52e-03 4.94e-03 -4.0 2.42e+01 -7.8 1.00e+00 1.00e+00f 1 66 2.0816148e+00 2.09e-04 5.99e-04 -4.1 7.84e+00 -8.2 1.00e+00 1.00e+00h 1 67 2.0806369e+00 3.13e-03 5.32e-04 -6.1 3.98e+01 -8.7 9.77e-01 9.31e-01h 1 68 2.0818804e+00 5.17e-03 1.34e-03 -4.0 4.96e+01 -9.2 1.00e+00 1.00e+00f 1 69 2.0816112e+00 4.37e-04 1.28e-04 -4.1 1.81e+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 2.0806038e+00 3.47e-03 2.33e-04 -6.1 4.22e+01 -10.2 9.76e-01 9.58e-01h 1 71 2.0817074e+00 5.18e-03 2.49e-03 -4.0 5.93e+01 -10.6 1.00e+00 8.65e-01f 1 72 2.0815788e+00 1.77e-04 2.40e-06 -4.1 1.59e+01 -11.1 1.00e+00 1.00e+00h 1 73 2.0805991e+00 3.28e-03 2.07e-04 -6.2 4.11e+01 -11.6 9.77e-01 9.60e-01h 1 74 2.0807857e+00 2.94e-03 1.53e-02 -4.0 6.10e+01 -12.1 1.00e+00 1.49e-01f 1 75 2.0813986e+00 1.05e-03 5.09e-05 -4.2 2.00e+01 -12.5 1.00e+00 1.00e+00h 1 76 2.0814041e+00 5.08e-06 1.12e-06 -4.2 8.78e+00 -13.0 1.00e+00 1.00e+00h 1 77 2.0818471e+00 6.72e-04 2.90e-05 -4.0 1.81e+01 -13.5 1.00e+00 1.00e+00h 1 78 2.0815851e+00 2.30e-04 9.55e-06 -4.1 1.05e+01 -14.0 1.00e+00 1.00e+00h 1 79 2.0805955e+00 3.34e-03 1.62e-04 -6.1 4.10e+01 -14.4 9.77e-01 9.64e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0818906e+00 6.60e-03 2.98e-04 -4.0 6.17e+01 -14.9 1.00e+00 1.00e+00f 1 81 2.0816143e+00 4.94e-04 1.05e-05 -4.1 2.07e+01 -15.4 1.00e+00 1.00e+00h 1 82 2.0806041e+00 3.49e-03 2.31e-04 -6.1 4.24e+01 -15.9 9.76e-01 9.58e-01h 1 83 2.0805507e+00 9.67e-05 2.24e-06 -6.1 1.70e+01 -16.4 1.00e+00 1.00e+00h 1 84 2.0819819e+00 1.02e-02 3.99e-04 -4.0 8.54e+01 -16.8 1.00e+00 1.00e+00f 1 85 2.0816805e+00 9.65e-04 4.96e-05 -4.1 4.57e+01 -17.3 1.00e+00 1.00e+00h 1 86 2.0816444e+00 4.73e-07 7.69e-07 -4.1 8.40e+00 -17.8 1.00e+00 1.00e+00h 1 87 2.0818441e+00 1.27e-04 5.47e-06 -4.0 7.55e+00 -18.3 1.00e+00 1.00e+00h 1 88 2.0815834e+00 2.14e-04 9.28e-06 -4.1 9.76e+00 -18.7 1.00e+00 1.00e+00h 1 89 2.0805950e+00 3.33e-03 1.58e-04 -6.1 4.09e+01 -19.2 9.77e-01 9.64e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805497e+00 7.61e-05 1.82e-06 -6.1 1.56e+01 -19.7 1.00e+00 1.00e+00h 1 91 2.0819883e+00 1.06e-02 4.03e-04 -4.0 8.64e+01 -20.0 1.00e+00 1.00e+00f 1 92 2.0816850e+00 9.86e-04 5.24e-05 -4.1 4.71e+01 -20.0 1.00e+00 1.00e+00h 1 93 2.0816467e+00 5.59e-07 8.13e-07 -4.1 8.79e+00 -20.0 1.00e+00 1.00e+00h 1 94 2.0805963e+00 3.67e-03 1.56e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.67e-01h 1 95 2.0805509e+00 8.01e-05 1.98e-06 -6.1 1.63e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0805468e+00 5.50e-08 2.37e-08 -6.1 2.91e+00 -20.0 1.00e+00 1.00e+00h 1 97 2.0820237e+00 1.21e-02 4.23e-04 -4.0 9.79e+01 -20.0 1.00e+00 1.00e+00f 1 98 2.0817108e+00 1.09e-03 6.84e-05 -4.1 5.44e+01 -20.0 1.00e+00 1.00e+00h 1 99 2.0816597e+00 1.20e-06 1.05e-06 -4.1 1.08e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805973e+00 3.75e-03 1.59e-04 -6.1 4.29e+01 -20.0 9.76e-01 9.67e-01h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805973162898397e+00 2.0805973162898397e+00 Dual infeasibility......: 1.5907910758591418e-04 1.5907910758591418e-04 Constraint violation....: 3.7455998256090695e-03 3.7455998256090695e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.9393503438437137e-05 1.9393503438437137e-05 Overall NLP error.......: 3.7455998256090695e-03 3.7455998256090695e-03 Number of objective function evaluations = 104 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 104 Number of inequality constraint evaluations = 104 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 28.969 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.056s integrator 2 jacobian structure: 0.05s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 6.052s jacobian structure: 1680 nonzeros (6.159s) integrator 1 hessian structure: 0.053s integrator 2 hessian structure: 0.052s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 13.704s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.388s sub-objective 2 (QuadraticRegularizer): 0.092s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.015s sub-objective 5 (GlobalObjective): 0.787s objective hessian structure: 1.39s hessian structure: 1964 nonzeros (15.199s) linear index maps built (0.0s) evaluator ready (total: 21.359s) evaluator created (21.388s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.135s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (5.247s) optimizer initialization complete (total: 26.771s) 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 1.4429043e+01 2.89e+00 4.38e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 5.5049201e+00 5.89e-01 5.05e+00 -0.8 1.92e+00 0.0 7.43e-01 7.97e-01f 1 2 2.8499696e+00 1.29e-02 1.76e+00 -0.9 9.70e-01 -0.5 9.42e-01 1.00e+00f 1 3 2.4160445e+00 2.36e-02 1.69e-01 -1.4 2.22e-01 -1.0 9.88e-01 1.00e+00h 1 4 2.1767236e+00 1.29e-02 1.00e-01 -2.9 2.88e-01 -1.4 8.41e-01 1.00e+00h 1 5 2.1079517e+00 3.47e-03 1.24e-01 -3.4 2.04e-01 -1.9 9.99e-01 7.30e-01h 1 6 2.0913214e+00 2.99e-05 2.66e-03 -4.0 1.37e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0908637e+00 5.79e-07 3.24e-05 -4.0 1.27e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908600e+00 3.53e-09 1.73e-05 -4.0 3.78e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908515e+00 4.50e-09 1.68e-05 -4.0 1.10e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908280e+00 3.33e-08 5.87e-05 -4.0 3.11e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907638e+00 2.34e-07 2.47e-04 -4.0 8.58e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905776e+00 2.28e-06 3.75e-04 -4.0 2.57e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0903730e+00 2.41e-06 7.14e-03 -4.0 1.43e+01 -5.7 2.78e-01 1.25e-01h 1 14 2.0893072e+00 2.24e-04 4.03e-02 -4.0 2.62e+01 -6.2 1.00e+00 1.00e+00f 1 15 2.0879221e+00 8.30e-05 2.03e-02 -4.0 3.08e+00 -4.9 1.00e+00 6.89e-01h 1 16 2.0879093e+00 1.35e-05 5.46e-03 -4.0 3.35e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0868819e+00 3.86e-05 6.85e-03 -4.0 1.01e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0853196e+00 1.94e-04 9.49e-03 -4.0 2.38e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0830850e+00 4.08e-04 2.71e-02 -4.0 3.96e+01 -6.8 1.00e+00 9.51e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0825879e+00 4.07e-04 1.41e-02 -4.0 5.53e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0823310e+00 3.99e-04 9.93e-03 -4.0 1.23e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.2470267e+01 1.62e-04 1.85e+02 -4.0 2.34e+03 -8.2 1.35e-02 1.00e+00H 1 23 2.1401912e+00 4.71e-05 1.05e+01 -4.1 5.00e+00 -0.4 1.26e-01 7.10e-01f 1 24 2.1400033e+00 4.69e-05 5.75e+00 -4.1 1.21e-02 -0.8 1.00e+00 3.25e-03h 1 25 2.1401237e+00 2.11e-07 3.78e-03 -4.1 9.95e-03 -0.4 1.00e+00 1.00e+00f 1 26 2.1398322e+00 8.46e-07 3.74e-03 -4.0 2.95e-02 -0.9 1.00e+00 1.00e+00h 1 27 2.1393478e+00 5.09e-07 3.69e-03 -4.1 8.73e-02 -1.4 1.00e+00 1.00e+00h 1 28 2.1383565e+00 1.14e-06 3.65e-03 -4.1 2.59e-01 -1.9 1.00e+00 1.00e+00h 1 29 2.1356089e+00 1.90e-06 5.75e-03 -4.1 7.59e-01 -2.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.1281877e+00 1.37e-05 4.52e-02 -4.1 2.13e+00 -2.8 1.00e+00 1.00e+00f 1 31 2.1249470e+00 1.37e-05 2.32e+00 -4.1 4.94e+00 -3.3 1.00e+00 1.97e-01f 1 32 2.1251628e+00 9.81e-06 5.56e+00 -4.1 1.96e-01 -3.8 1.00e+00 3.45e-01f 2 33 2.1249071e+00 1.85e-05 5.48e-04 -4.1 5.77e-01 -4.2 1.00e+00 1.00e+00h 1 34 2.1239654e+00 1.92e-04 1.68e-02 -6.1 1.80e+00 -4.7 8.80e-01 1.00e+00h 1 35 2.1230042e+00 1.56e-04 6.03e-04 -6.1 5.32e+00 -5.2 1.00e+00 1.00e+00h 1 36 2.1222211e+00 1.08e-04 2.36e-01 -6.1 1.55e+01 -5.7 1.00e+00 3.13e-01h 1 37 2.1206659e+00 6.28e-05 2.45e-01 -6.1 3.75e+01 -6.1 1.00e+00 5.69e-01h 1 38 2.1149772e+00 1.06e-05 3.44e-01 -6.1 1.04e+02 -6.6 1.00e+00 7.61e-01h 1 39 2.1030001e+00 2.47e-05 4.66e-01 -6.1 2.61e+02 -7.1 6.61e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0947458e+00 3.29e-05 1.82e+00 -6.1 4.79e+02 -7.6 1.00e+00 5.08e-01h 1 41 2.0922564e+00 3.35e-05 2.30e+00 -6.1 7.60e+02 -8.1 6.40e-01 1.50e-01h 1 42 2.0908696e+00 4.45e-05 2.43e+00 -6.1 1.44e+03 -7.6 1.02e-04 1.77e-01h 1 43 2.0887880e+00 4.49e-05 2.55e+00 -6.1 8.17e+04 -7.2 1.11e-03 9.33e-04h 1 44 2.0911961e+00 6.10e-05 2.96e+00 -6.1 9.92e+02 -6.8 1.82e-02 1.19e-01h 1 45 2.0902172e+00 5.59e-05 3.38e+00 -6.1 6.11e+01 -7.3 1.00e+00 8.28e-02h 1 46 2.0854878e+00 1.66e-04 1.54e+00 -6.1 3.78e+02 -7.7 5.39e-01 5.61e-01h 1 47 2.0848523e+00 1.48e-04 1.47e+00 -6.1 5.33e+02 -8.2 5.75e-01 1.01e-01h 1 48 2.0852572e+00 8.01e-05 4.14e-01 -6.1 1.07e+02 -6.9 1.00e+00 3.17e-01h 1 49 2.0836834e+00 3.35e-05 3.30e-01 -6.1 1.58e+02 -7.4 1.00e+00 6.25e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0814862e+00 4.18e-05 1.38e-01 -6.1 2.92e+02 -7.8 1.00e+00 1.00e+00h 1 51 2.0825536e+00 9.83e-03 1.81e-01 -4.0 1.29e+02 -7.4 1.69e-01 1.00e+00f 1 52 2.0818065e+00 4.30e-03 2.58e-01 -4.5 1.29e+01 -7.0 1.00e+00 5.67e-01h 1 53 2.0813073e+00 1.22e-03 1.08e-02 -4.5 6.42e+01 -7.5 1.00e+00 8.78e-01f 1 54 2.0819261e+00 1.03e-02 6.74e-03 -4.0 1.72e+02 -7.9 9.79e-01 1.00e+00f 1 55 2.0815227e+00 2.47e-03 2.25e-02 -4.1 3.90e+01 -6.6 1.00e+00 1.00e+00h 1 56 2.0815764e+00 3.51e-04 5.68e-03 -4.1 1.10e+01 -7.1 9.73e-01 1.00e+00h 1 57 2.0819645e+00 2.80e-04 1.11e+00 -4.1 4.80e+00 -4.9 4.78e-01 2.44e-01h 1 58 2.0816213e+00 1.17e-04 1.94e-01 -4.1 2.43e+00 -5.3 1.00e+00 4.92e-01f 1 59 2.0815982e+00 1.62e-04 1.10e-03 -4.1 1.54e+00 -5.8 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0816168e+00 8.73e-05 7.34e-04 -4.1 3.69e+00 -6.3 1.00e+00 1.00e+00h 1 61 2.0807444e+00 7.71e-04 2.85e-03 -6.2 8.70e+00 -6.8 9.89e-01 9.93e-01h 1 62 2.0808027e+00 7.34e-04 2.95e-01 -4.0 3.59e+01 -7.2 1.00e+00 5.03e-02f 1 63 2.0851241e+00 1.51e-04 8.98e-02 -4.0 1.01e+02 -7.7 5.68e-01 1.00e+00H 1 64 2.0845026e+00 2.03e-08 2.10e-02 -4.1 1.55e-02 0.1 1.00e+00 1.00e+00h 1 65 2.0836195e+00 1.28e-07 1.56e-02 -4.0 3.35e-02 -0.3 1.00e+00 1.00e+00f 1 66 2.0827708e+00 5.85e-08 9.64e-03 -4.0 6.11e-02 -0.8 1.00e+00 1.00e+00h 1 67 2.0821898e+00 1.28e-07 3.51e-03 -4.0 8.81e-02 -1.3 1.00e+00 1.00e+00h 1 68 2.0821308e+00 2.02e-08 2.18e-04 -4.0 2.36e-02 -1.8 1.00e+00 1.00e+00h 1 69 2.0821514e+00 2.23e-09 5.00e-05 -4.0 7.10e-03 -2.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0821494e+00 1.16e-09 4.03e-05 -4.0 2.80e-03 -2.7 1.00e+00 1.00e+00h 1 71 2.0821490e+00 3.85e-10 4.03e-05 -4.0 8.40e-03 -3.2 1.00e+00 1.00e+00h 1 72 2.0821476e+00 1.42e-09 4.03e-05 -4.0 2.51e-02 -3.7 1.00e+00 1.00e+00h 1 73 2.0821436e+00 1.26e-08 4.03e-05 -4.0 7.47e-02 -4.2 1.00e+00 1.00e+00h 1 74 2.0821317e+00 1.15e-07 4.04e-05 -4.0 2.18e-01 -4.6 1.00e+00 1.00e+00h 1 75 2.0819388e+00 1.95e-05 1.09e-04 -4.1 8.10e-01 -5.1 1.00e+00 1.00e+00h 1 76 2.0811179e+00 3.88e-04 1.99e-03 -6.1 4.12e+00 -5.6 9.98e-01 9.99e-01h 1 77 2.0816531e+00 6.20e-04 7.18e-01 -3.9 2.50e+01 -6.1 9.23e-01 4.74e-01f 1 78 2.0814616e+00 4.69e-04 1.24e+00 -4.1 1.68e-01 -2.0 8.30e-01 2.44e-01h 1 79 2.0814630e+00 3.33e-07 1.50e-03 -4.0 4.06e-02 -1.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0813765e+00 3.08e-07 2.38e-04 -4.0 7.83e-02 -2.1 1.00e+00 1.00e+00h 1 81 2.0814007e+00 2.64e-08 7.11e-05 -4.0 2.59e-02 -2.6 1.00e+00 1.00e+00h 1 82 2.0814089e+00 1.01e-07 6.78e-05 -4.0 7.41e-02 -3.0 1.00e+00 1.00e+00h 1 83 2.0813679e+00 4.07e-06 3.86e-04 -4.1 1.35e-01 -3.5 1.00e+00 1.00e+00h 1 84 2.0814839e+00 1.21e-05 3.76e-04 -4.0 4.82e-01 -4.0 1.00e+00 1.00e+00h 1 85 2.0814858e+00 1.49e-05 1.74e-03 -4.1 5.80e-01 -4.5 1.00e+00 1.00e+00h 1 86 2.0817930e+00 3.66e-07 2.72e-01 -4.1 1.71e+00 -4.9 6.10e-01 1.00e+00H 1 87 2.0815913e+00 1.51e-06 4.07e-01 -4.0 2.37e-01 -1.8 1.00e+00 4.52e-01h 2 88 2.0816647e+00 6.44e-08 2.16e-04 -4.0 4.05e-02 -2.3 1.00e+00 1.00e+00h 1 89 2.0815754e+00 1.12e-07 1.17e-04 -4.1 3.48e-02 -2.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0816719e+00 6.02e-07 1.21e-04 -4.0 3.72e-02 -3.2 1.00e+00 1.00e+00h 1 91 2.0815798e+00 8.95e-07 1.59e-04 -4.1 5.47e-02 -3.7 1.00e+00 1.00e+00h 1 92 2.0811672e+00 1.98e-05 9.71e-02 -6.1 2.13e-01 -4.2 7.15e-01 9.46e-01h 1 93 2.0818295e+00 4.08e-05 3.11e-03 -4.0 3.91e-01 -4.7 1.00e+00 1.00e+00f 1 94 2.0816245e+00 2.17e-05 3.80e-04 -4.1 6.92e-01 -5.2 1.00e+00 1.00e+00h 1 95 2.0810108e+00 2.93e-04 7.88e-03 -6.1 3.06e+00 -5.6 9.98e-01 9.80e-01h 1 96 2.0810047e+00 2.84e-04 2.08e+00 -4.7 7.84e+00 -4.3 5.60e-01 3.24e-02h 1 97 2.0815430e+00 2.67e-04 1.22e+00 -4.0 3.60e+00 -4.8 1.00e+00 6.14e-02h 1 98 2.0816644e+00 5.00e-04 4.92e-02 -4.1 2.00e+00 -5.3 9.65e-01 1.00e+00h 1 99 2.0819107e+00 4.25e-04 8.13e-02 -4.1 1.08e+01 -5.7 3.93e-01 4.91e-01H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0821106e+00 3.47e-06 2.74e-03 -4.1 1.51e-01 -1.7 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0821105769972803e+00 2.0821105769972803e+00 Dual infeasibility......: 2.7436012376659373e-03 2.7436012376659373e-03 Constraint violation....: 3.4739674216258121e-06 3.4739674216258121e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 5.7575091640367298e-04 5.7575091640367298e-04 Overall NLP error.......: 2.7436012376659373e-03 2.7436012376659373e-03 Number of objective function evaluations = 114 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 114 Number of inequality constraint evaluations = 114 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 53.420 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: 0.064s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) jacobian structure: 4.286s jacobian structure: 1594 nonzeros (4.351s) integrator 1 hessian structure: 0.038s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) hessian structure: 13.974s 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 (14.013s) linear index maps built (0.0s) evaluator ready (total: 18.364s) evaluator created (18.387s) 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: 18.388s) 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 7.3743364e+01 3.68e+00 2.72e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.1441492e+01 1.17e+00 8.60e+00 -0.5 2.38e+00 0.0 1.00e+00 6.82e-01f 1 2 3.1598682e+00 1.36e-01 4.97e+00 -0.5 8.06e-01 -0.5 7.66e-01 1.00e+00f 1 3 2.8920283e+00 4.36e-02 1.34e+00 -1.0 6.52e-01 -1.0 9.87e-01 1.00e+00h 1 4 2.5388215e+00 8.24e-02 8.56e-01 -1.4 1.50e+00 -1.4 9.07e-01 6.67e-01H 1 5 2.2239548e+00 6.59e-02 1.09e-01 -1.9 8.76e-01 -1.9 9.93e-01 1.00e+00h 1 6 2.1042444e+00 1.02e-02 3.12e-02 -2.7 4.34e-01 -2.4 9.36e-01 1.00e+00h 1 7 2.0912138e+00 5.31e-05 1.26e-03 -3.9 3.00e-02 -2.9 9.89e-01 1.00e+00h 1 8 2.0909163e+00 2.70e-06 2.44e-04 -4.0 6.24e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908967e+00 1.77e-08 2.33e-04 -4.0 1.27e-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 2.0908609e+00 5.10e-08 2.33e-04 -4.0 3.54e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907841e+00 2.78e-07 4.10e-04 -4.0 8.96e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905908e+00 2.22e-06 6.81e-04 -4.0 2.55e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0905133e+00 3.08e-07 2.60e-04 -4.0 9.87e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0901772e+00 4.17e-06 1.30e-03 -4.0 3.38e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0896127e+00 3.69e-05 7.66e-03 -4.0 1.01e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0889711e+00 3.65e-05 7.70e-02 -4.0 1.49e+01 -5.4 1.00e+00 2.67e-01h 1 17 2.0881215e+00 4.72e-05 1.14e-02 -4.0 1.11e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0867937e+00 1.03e-04 4.05e-02 -4.0 2.81e+01 -6.3 1.00e+00 5.56e-01h 1 19 2.0838530e+00 9.02e-04 4.32e-02 -4.0 5.12e+01 -6.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827625e+00 3.46e-04 1.03e-02 -4.0 5.22e+01 -7.3 1.00e+00 5.84e-01h 1 21 2.0825212e+00 9.60e-04 2.97e-02 -4.0 1.32e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0827344e+00 2.74e-03 8.55e-02 -4.0 1.34e+02 -7.3 7.07e-01 1.00e+00h 1 23 2.0825345e+00 4.58e-06 3.16e-04 -4.0 3.22e-01 -5.1 1.00e+00 1.00e+00h 1 24 2.0825038e+00 4.22e-05 1.78e-03 -4.0 2.25e+00 -5.6 1.00e+00 1.00e+00h 1 25 2.0822730e+00 1.48e-05 9.74e-04 -4.0 6.31e+00 -6.0 1.00e+00 1.00e+00h 1 26 2.0984638e+00 2.90e-05 3.63e-01 -4.0 5.72e+01 -6.5 1.93e-01 1.00e+00H 1 27 2.0966585e+00 2.39e-05 2.91e+00 -4.1 2.98e+00 -3.4 1.11e-01 2.88e-02f 1 28 2.0835729e+00 1.50e-04 4.33e+00 -4.1 2.45e+00 -3.9 1.00e+00 5.86e-01f 1 29 2.0816336e+00 1.58e-04 3.69e-01 -4.1 7.39e-01 -4.3 9.37e-01 8.45e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0817318e+00 2.13e-04 2.59e-01 -4.0 7.34e+00 -4.8 1.46e-01 2.98e-01f 1 31 2.0816495e+00 2.63e-05 2.16e-03 -4.2 6.44e-01 -5.3 1.00e+00 1.00e+00h 1 32 2.0821089e+00 1.31e-04 6.64e-04 -4.0 2.98e+00 -5.8 1.00e+00 1.00e+00h 1 33 2.0819869e+00 5.72e-05 4.75e-04 -4.1 4.14e+00 -6.2 1.00e+00 1.00e+00h 1 34 2.0810266e+00 6.50e-04 1.77e-03 -6.1 8.28e+00 -6.7 9.87e-01 9.14e-01h 1 35 2.0821205e+00 3.86e-03 4.26e-03 -4.0 3.34e+01 -7.2 1.00e+00 1.00e+00f 1 36 2.0818807e+00 1.63e-03 9.18e-03 -4.1 8.40e+01 -7.7 5.83e-01 1.00e+00h 1 37 2.0818117e+00 8.28e-05 9.21e-04 -4.1 1.92e+00 -5.4 1.00e+00 1.00e+00h 1 38 2.0816870e+00 7.08e-05 6.19e-04 -4.1 5.44e+00 -5.9 1.00e+00 1.00e+00h 1 39 2.0810047e+00 2.53e-04 8.11e-02 -6.1 2.78e+00 -5.5 5.40e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0813891e+00 1.42e-04 6.93e-02 -4.0 7.10e-01 -4.2 5.68e-01 5.22e-01h 1 41 2.0815611e+00 3.81e-05 2.15e-03 -4.0 9.36e-01 -4.6 1.00e+00 1.00e+00h 1 42 2.0816987e+00 1.23e-05 1.67e-03 -4.0 1.15e+00 -5.1 1.00e+00 1.00e+00h 1 43 2.0816306e+00 1.85e-05 6.50e-04 -4.1 1.26e+00 -5.6 1.00e+00 1.00e+00h 1 44 2.0818685e+00 7.09e-05 3.45e-04 -4.0 2.89e+00 -6.1 1.00e+00 1.00e+00h 1 45 2.0817360e+00 4.55e-05 7.27e-04 -4.1 2.53e+00 -6.5 1.00e+00 1.00e+00h 1 46 2.0807993e+00 1.55e-03 3.52e-03 -6.1 1.86e+01 -7.0 9.87e-01 9.89e-01h 1 47 2.0819445e+00 2.62e-03 3.42e-03 -4.0 2.28e+01 -7.5 1.00e+00 1.00e+00f 1 48 2.0816600e+00 9.90e-04 1.34e-03 -4.1 3.27e+01 -8.0 1.00e+00 1.00e+00h 1 49 2.0816116e+00 7.32e-05 1.94e-03 -4.1 4.53e+01 -8.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818400e+00 6.32e-04 5.31e-04 -4.0 2.91e+01 -8.9 1.00e+00 1.00e+00h 1 51 2.0815805e+00 2.88e-04 1.87e-04 -4.1 1.28e+01 -9.4 1.00e+00 1.00e+00h 1 52 2.0805910e+00 3.31e-03 1.38e-04 -6.1 4.02e+01 -9.9 9.78e-01 9.70e-01h 1 53 2.0818881e+00 6.49e-03 3.96e-04 -4.0 6.03e+01 -10.4 1.00e+00 1.00e+00f 1 54 2.0816139e+00 4.88e-04 1.91e-04 -4.1 2.07e+01 -10.8 1.00e+00 1.00e+00h 1 55 2.0805991e+00 3.47e-03 1.51e-04 -6.1 4.15e+01 -11.3 9.76e-01 9.65e-01h 1 56 2.0805508e+00 8.49e-05 2.54e-06 -6.1 1.70e+01 -11.8 1.00e+00 1.00e+00h 1 57 2.0819793e+00 1.03e-02 3.95e-04 -4.0 8.43e+01 -12.3 1.00e+00 1.00e+00f 1 58 2.0816836e+00 9.34e-04 1.99e-04 -4.1 4.57e+01 -12.7 1.00e+00 1.00e+00h 1 59 2.0816477e+00 4.72e-07 1.99e-04 -4.1 8.52e+00 -13.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0818389e+00 1.15e-04 2.33e-04 -4.0 7.07e+00 -13.7 1.00e+00 1.00e+00h 1 61 2.0815801e+00 2.08e-04 1.87e-04 -4.1 9.50e+00 -14.2 1.00e+00 1.00e+00h 1 62 2.0805898e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -14.7 9.78e-01 9.71e-01h 1 63 2.0805497e+00 6.51e-05 1.78e-06 -6.1 1.55e+01 -15.1 1.00e+00 1.00e+00h 1 64 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -15.6 1.00e+00 1.00e+00f 1 65 2.0816887e+00 9.54e-04 1.99e-04 -4.1 4.72e+01 -16.1 1.00e+00 1.00e+00h 1 66 2.0816504e+00 5.63e-07 1.99e-04 -4.1 8.93e+00 -16.6 1.00e+00 1.00e+00h 1 67 2.0805906e+00 3.68e-03 1.60e-04 -6.1 4.16e+01 -17.0 9.77e-01 9.75e-01h 1 68 2.0805511e+00 6.76e-05 1.95e-06 -6.1 1.62e+01 -17.5 1.00e+00 1.00e+00h 1 69 2.0805469e+00 4.72e-08 1.84e-06 -6.1 2.95e+00 -18.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.89e+01 -18.5 1.00e+00 1.00e+00f 1 71 2.0817159e+00 1.04e-03 2.02e-04 -4.1 5.46e+01 -18.9 1.00e+00 1.00e+00h 1 72 2.0816648e+00 1.22e-06 2.02e-04 -4.1 1.10e+01 -19.4 1.00e+00 1.00e+00h 1 73 2.0805915e+00 3.76e-03 1.66e-04 -6.1 4.20e+01 -19.9 9.76e-01 9.75e-01h 1 74 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 75 2.0805471e+00 4.99e-08 1.88e-06 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 76 2.0805365e+00 9.55e-07 8.02e-07 -9.0 9.57e-01 -20.0 1.00e+00 9.97e-01h 1 77 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 78 2.0817306e+00 1.08e-03 2.03e-04 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 79 2.0816723e+00 1.67e-06 2.03e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 81 2.0805516e+00 7.07e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0805472e+00 5.15e-08 1.89e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 83 2.0805365e+00 9.76e-07 8.28e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 84 2.0805365e+00 9.27e-11 2.12e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 85 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 86 2.0817309e+00 1.08e-03 2.03e-04 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 87 2.0816725e+00 1.68e-06 2.03e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 88 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 89 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805472e+00 5.16e-08 1.89e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 91 2.0805365e+00 9.76e-07 8.29e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 92 2.0805365e+00 9.28e-11 2.12e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 93 2.0805365e+00 8.88e-16 2.12e-09 -9.0 1.10e-05 -20.0 1.00e+00 1.00e+00h 1 94 2.0805365e+00 6.66e-16 2.12e-09 -9.0 1.06e-10 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 4.44e-16 2.12e-09 -9.0 1.06e-10 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 4.44e-16 2.12e-09 -9.0 1.06e-10 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 2.22e-16 2.12e-09 -9.0 1.06e-10 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 4.44e-16 2.12e-09 -9.0 1.06e-10 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 4.44e-16 2.12e-09 -9.0 1.06e-10 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805365e+00 4.44e-16 2.12e-09 -9.0 1.06e-10 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595436466e+00 2.0805364595436466e+00 Dual infeasibility......: 2.1197868766056440e-09 2.1197868766056440e-09 Constraint violation....: 4.4408920985006262e-16 4.4408920985006262e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090971179366e-10 9.0909090971179366e-10 Overall NLP error.......: 9.9999090909091550e-05 9.9999090909091550e-05 Number of objective function evaluations = 103 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 103 Number of inequality constraint evaluations = 103 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 34.899 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.06s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.049s) linear index maps built (0.0s) evaluator ready (total: 0.109s) evaluator created (0.109s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.109s) 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 2.1647134e+00 3.37e+00 5.70e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5230148e+00 1.44e-01 1.96e+00 -0.9 2.05e+00 0.0 8.86e-01 9.57e-01h 1 2 2.6906026e+00 3.97e-02 2.64e+00 -1.1 4.85e-01 -0.5 6.23e-01 1.00e+00f 1 3 2.5508771e+00 3.51e-02 1.68e+00 -1.0 8.43e-01 -1.0 7.41e-01 4.83e-01h 1 4 2.3460910e+00 2.70e-02 3.68e-01 -1.6 4.32e-01 -1.4 8.11e-01 1.00e+00f 1 5 2.1566081e+00 7.12e-03 5.40e-02 -2.3 2.46e-01 -1.9 9.92e-01 1.00e+00h 1 6 2.0956869e+00 8.70e-04 5.75e-03 -3.4 1.01e-01 -2.4 9.93e-01 9.90e-01h 1 7 2.0909061e+00 6.49e-06 2.05e-04 -4.0 1.35e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908991e+00 1.28e-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...............: 2.0908991340277612e+00 2.0908991340277612e+00 Dual infeasibility......: 2.0585359511452628e-05 2.0585359511452628e-05 Constraint violation....: 1.2806115611604246e-07 1.2806115611604246e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000052434034815e-04 1.0000052434034815e-04 Overall NLP error.......: 2.0585359511452628e-05 2.0585359511452628e-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 = 25.245 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.06s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.049s) linear index maps built (0.0s) evaluator ready (total: 0.109s) evaluator created (0.109s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.11s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.1047484e+00 3.94e+00 5.66e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8886720e+00 8.44e-02 2.76e+00 -0.9 2.75e+00 0.0 8.51e-01 1.00e+00f 1 2 2.5990180e+00 8.18e-02 1.27e+00 -1.0 7.81e-01 -0.5 6.08e-01 5.70e-01h 1 3 2.4247319e+00 2.23e-02 2.32e-01 -1.2 2.25e-01 -0.1 6.94e-01 7.47e-01f 1 4 2.2929885e+00 3.66e-03 2.81e-01 -2.0 1.32e-01 -0.5 7.60e-01 1.00e+00h 1 5 2.1287194e+00 1.80e-03 6.78e-02 -2.7 6.92e-02 -1.0 9.94e-01 9.49e-01h 1 6 2.0920457e+00 2.04e-04 2.02e-02 -4.0 2.40e-02 -1.5 1.00e+00 9.82e-01h 1 7 2.0909398e+00 2.78e-06 2.79e-03 -4.0 7.84e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909441e+00 7.19e-09 3.65e-05 -4.0 9.97e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909424e+00 1.05e-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 2.0909375e+00 9.63e-10 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909225e+00 8.67e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908777e+00 7.81e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907433e+00 7.04e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903411e+00 6.37e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891436e+00 5.83e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856330e+00 5.50e-04 2.30e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796216e+00 2.31e-03 1.35e-01 -4.0 9.57e+01 -6.7 1.00e+00 6.34e-01h 1 18 2.0807301e+00 1.40e-04 1.78e-01 -4.0 6.73e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775252e+00 6.99e-03 2.39e-02 -4.0 1.19e+02 -7.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0769587e+00 1.10e-03 4.55e-02 -4.0 1.83e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0761835e+00 1.04e-03 2.01e-02 -4.0 3.30e+02 -8.6 1.00e+00 7.86e-01h 1 22 2.0754896e+00 2.39e-03 2.97e-02 -4.0 5.61e+02 -9.1 1.00e+00 7.38e-01h 1 23 2.0757928e+00 2.85e-03 1.54e-02 -4.0 1.67e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753885e+00 1.59e-03 7.62e-04 -4.1 9.60e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756722e+00 4.66e-04 6.97e-06 -4.0 2.17e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 5.71e-07 1.14e-06 -4.0 1.20e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.25e-09 8.49e-08 -4.0 4.31e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 3.80e-11 1.52e-09 -4.0 6.76e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121564997e+00 2.0756712121564997e+00 Dual infeasibility......: 1.5160300922620329e-09 1.5160300922620329e-09 Constraint violation....: 3.7993386214907332e-11 3.7993386214907332e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000045e-04 1.0000000000000045e-04 Overall NLP error.......: 1.5160300922620329e-09 1.5160300922620329e-09 Number of objective function evaluations = 30 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 30 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 26.877 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.055s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.055s) integrator 1 hessian structure: 0.046s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.047s) linear index maps built (0.0s) evaluator ready (total: 0.103s) evaluator created (0.103s) 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: 0.103s) 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 1.9916139e+00 3.48e+00 2.89e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9542388e+00 8.33e-02 3.38e+00 -1.0 2.23e+00 0.0 6.76e-01 1.00e+00h 1 2 2.6820731e+00 8.03e-03 6.18e-01 -1.1 1.79e-01 0.4 9.92e-01 1.00e+00h 1 3 2.4470580e+00 3.87e-03 2.73e-01 -1.8 1.03e-01 -0.1 9.79e-01 1.00e+00h 1 4 2.2381091e+00 4.56e-03 2.50e-01 -2.2 2.30e-01 -0.5 9.80e-01 4.71e-01f 1 5 2.1350519e+00 2.45e-03 1.79e-01 -3.1 1.07e-01 -1.0 9.99e-01 6.09e-01h 1 6 2.0926777e+00 1.69e-04 5.07e-03 -4.0 2.14e-02 -1.5 1.00e+00 9.82e-01h 1 7 2.0908993e+00 2.34e-06 8.33e-04 -4.0 9.50e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908990e+00 1.39e-09 5.32e-05 -4.0 1.45e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908973e+00 1.08e-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 2.0908923e+00 9.70e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0908923189657518e+00 2.0908923189657518e+00 Dual infeasibility......: 2.0584639612113553e-05 2.0584639612113553e-05 Constraint violation....: 9.6956906826123346e-10 9.6956906826123346e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000000e-04 1.0000000000000000e-04 Overall NLP error.......: 2.0584639612113553e-05 2.0584639612113553e-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 = 27.213 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 (0.065s) 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 (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: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.122s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 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 2.9542368e+00 2.88e+00 5.11e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7902727e+00 5.80e-02 1.87e+00 -0.9 1.53e+00 - 1.00e+00 1.00e+00f 1 2 2.6149369e+00 6.82e-03 3.89e-01 -1.0 1.93e-01 - 9.84e-01 1.00e+00h 1 3 2.3492414e+00 2.16e-03 2.19e-01 -2.1 1.01e-01 - 9.50e-01 1.00e+00f 1 4 2.1337600e+00 5.94e-03 7.89e-02 -2.9 2.28e-01 - 9.94e-01 7.45e-01f 1 5 2.0912473e+00 4.03e-04 1.81e-02 -3.8 5.45e-02 - 9.99e-01 9.92e-01h 1 6 2.0908694e+00 5.13e-07 6.14e-04 -4.0 5.12e-03 - 1.00e+00 1.00e+00h 1 7 2.0908689e+00 7.90e-12 4.70e-05 -4.0 4.70e-05 - 1.00e+00 1.00e+00h 1 8 2.0908689e+00 2.13e-14 4.69e-05 -4.0 4.69e-05 - 1.00e+00 1.00e+00h 1 9 2.0795230e+00 1.78e-03 2.96e-01 -4.0 2.21e+02 - 6.18e-01 6.15e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0843851e+00 2.24e-03 1.22e-01 -4.0 1.13e+02 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0843851358734131e+00 2.0843851358734131e+00 Dual infeasibility......: 1.2227793367399496e-01 1.2227793367399496e-01 Constraint violation....: 2.2377525774098378e-03 2.2377525774098378e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 6.7076927990422433e-03 6.7076927990422433e-03 Overall NLP error.......: 1.2227793367399496e-01 1.2227793367399496e-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 = 8.210 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: 0.052s 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: 0.117s) 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 1.8717320e+00 2.97e+00 4.58e-01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8130578e+00 1.12e-01 3.91e+00 -1.0 1.93e+00 0.0 2.21e-01 1.00e+00h 1 2 2.5817163e+00 4.36e-02 9.29e-01 -1.0 2.36e-01 0.4 8.60e-01 7.65e-01h 1 3 2.5890654e+00 6.62e-03 8.50e-01 -1.7 1.84e-01 -0.1 7.48e-01 1.00e+00h 1 4 2.3488813e+00 5.43e-02 2.33e-01 -1.7 2.89e-01 -0.5 6.28e-01 1.00e+00f 1 5 2.2575676e+00 2.00e-02 2.85e-01 -1.7 1.00e+00 -1.0 6.06e-01 2.14e-01h 1 6 2.2588839e+00 1.09e-02 9.85e-02 -1.7 3.03e-01 -1.5 1.00e+00 1.00e+00f 1 7 2.1241491e+00 1.40e-03 3.58e-03 -2.5 6.90e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0913135e+00 4.96e-05 6.70e-04 -3.8 1.21e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908123e+00 1.33e-06 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908070e+00 4.43e-09 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0908069857465845e+00 2.0908069857465845e+00 Dual infeasibility......: 2.0573253548277915e-05 2.0573253548277915e-05 Constraint violation....: 4.4342875482605848e-09 4.4342875482605848e-09 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000001706060226e-04 1.0000001706060226e-04 Overall NLP error.......: 2.0573253548277915e-05 2.0573253548277915e-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 = 26.890 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: 0.054s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.055s) 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: 0.103s) evaluator created (0.103s) 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: 0.103s) 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: 0.055s 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: 0.001s hessian structure: 1749 nonzeros (0.057s) 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 (1.976s) optimizer initialization complete (total: 2.098s) 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 6.0252012e+00 2.38e+00 3.55e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9413544e+00 1.31e-02 9.60e-01 -1.0 2.35e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3401819e+00 1.42e-02 5.04e-02 -1.8 2.16e-01 -1.6 9.89e-01 1.00e+00f 1 3 2.1415646e+00 3.17e-03 2.53e-01 -3.1 1.14e-01 -1.1 9.77e-01 9.83e-01h 1 4 2.0951087e+00 6.05e-04 1.10e-01 -4.0 8.78e-02 -1.6 1.00e+00 8.70e-01h 1 5 2.0911885e+00 3.61e-04 6.88e-01 -4.0 7.05e-01 -2.1 1.00e+00 4.04e-01h 1 6 2.0909535e+00 1.74e-04 2.51e-01 -4.0 6.30e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0909792e+00 1.05e-06 3.57e-03 -4.0 3.21e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0910015e+00 5.86e-07 2.06e-05 -4.0 7.05e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909807e+00 1.79e-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 2.0909187e+00 1.47e-07 2.05e-05 -4.0 6.32e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907359e+00 1.30e-06 4.97e-05 -4.0 1.88e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0902150e+00 1.10e-05 4.21e-04 -4.0 5.45e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888682e+00 8.22e-05 3.17e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861731e+00 4.41e-04 1.75e-02 -4.0 3.47e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830933e+00 9.20e-04 4.72e-02 -4.0 5.33e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828462e+00 9.33e-04 2.28e-02 -4.0 5.40e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823434e+00 3.88e-04 1.01e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820400e+00 9.39e-05 1.84e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.67e-04 8.64e-03 -4.0 9.90e+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 3.66e-05 8.43e-04 -4.0 3.10e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.29e-07 1.38e-05 -4.0 4.45e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.76e-10 3.27e-08 -4.0 2.45e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.50e-13 1.22e-11 -4.0 4.60e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907190942e+00 2.0819382907190942e+00 Dual infeasibility......: 1.2187116577412963e-11 1.2187116577412963e-11 Constraint violation....: 2.5046631435543532e-13 2.5046631435543532e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000018e-04 1.0000000000000018e-04 Overall NLP error.......: 1.2187116577412963e-11 1.2187116577412963e-11 Number of objective function evaluations = 24 Number of objective gradient evaluations = 24 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 24 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 23 Total seconds in IPOPT = 28.803 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.062s) integrator 1 hessian structure: 0.051s 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 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.052s) linear index maps built (0.0s) evaluator ready (total: 0.114s) evaluator created (0.114s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.058s) optimizer initialization complete (total: 0.172s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1528 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 77 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.3956782e+00 2.42e+00 2.17e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7953236e+00 1.59e-02 3.27e-01 -1.0 2.07e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3176265e+00 2.48e-02 7.77e-02 -1.8 3.42e-01 -1.6 9.59e-01 1.00e+00h 1 3 2.1471763e+00 2.70e-03 2.33e-01 -2.9 1.17e-01 -1.1 9.64e-01 1.00e+00h 1 4 2.0966630e+00 9.95e-04 1.17e-01 -3.9 9.06e-02 -1.6 1.00e+00 7.98e-01h 1 5 2.0934181e+00 6.17e-04 1.17e+00 -4.0 6.60e-01 -2.1 1.00e+00 2.65e-01h 1 6 2.0911762e+00 3.68e-04 4.44e-01 -4.0 9.28e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0909013e+00 3.84e-06 2.59e-02 -4.0 7.20e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0908665e+00 1.71e-06 3.84e-05 -4.0 8.18e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908416e+00 8.53e-08 4.84e-05 -4.0 2.23e-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 2.0907934e+00 8.09e-08 2.78e-04 -4.0 5.45e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0906934e+00 5.40e-07 1.09e-03 -4.0 1.32e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904188e+00 6.13e-06 8.99e-04 -4.0 4.28e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0902270e+00 6.14e-06 2.14e-02 -4.0 1.21e+01 -5.9 7.20e-01 1.85e-01h 2 14 2.0886770e+00 1.56e-04 4.00e-02 -4.0 3.02e+01 -6.4 1.00e+00 6.69e-01h 1 15 2.0859529e+00 1.56e-03 1.19e-01 -4.0 6.95e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0835549e+00 8.48e-04 1.67e-01 -4.0 1.29e+01 -5.5 1.00e+00 5.09e-01h 1 17 2.0833577e+00 1.44e-04 1.03e-02 -4.0 4.94e+00 -6.0 1.00e+00 1.00e+00h 1 18 2.0829008e+00 6.22e-05 2.98e-03 -4.0 1.01e+01 -6.5 1.00e+00 1.00e+00h 1 19 2.0827675e+00 6.09e-05 2.51e-03 -4.0 2.82e+01 -7.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0824979e+00 1.84e-04 3.09e-03 -4.0 7.33e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0821496e+00 1.00e-03 9.78e-03 -4.0 1.82e+02 -7.9 5.55e-01 1.00e+00h 1 22 2.0821192e+00 1.33e-03 2.48e+00 -4.0 2.38e+02 -6.6 1.00e+00 6.21e-02h 3 23 2.0820960e+00 5.63e-05 3.01e-03 -4.0 2.76e+00 -5.3 1.00e+00 1.00e+00h 1 24 2.0860603e+00 1.15e-05 4.10e-01 -4.0 2.31e+00 -4.8 3.38e-01 1.00e+00H 1 25 2.0828598e+00 3.24e-06 1.68e-02 -4.0 1.10e-01 -0.8 1.00e+00 1.00e+00h 1 26 2.0821494e+00 1.57e-06 3.55e-03 -4.0 6.21e-02 -1.3 1.00e+00 1.00e+00h 1 27 2.0821324e+00 1.19e-07 5.75e-04 -4.0 2.87e-02 -1.8 1.00e+00 1.00e+00h 1 28 2.0821539e+00 2.31e-08 3.74e-04 -4.0 6.46e-02 -2.2 1.00e+00 1.00e+00h 1 29 2.0821557e+00 5.96e-10 1.15e-04 -4.0 5.95e-02 -2.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0821555e+00 1.60e-10 2.64e-05 -4.0 4.12e-02 -3.2 1.00e+00 1.00e+00h 1 31 2.0821550e+00 7.32e-10 2.04e-06 -4.0 9.54e-03 -3.7 1.00e+00 1.00e+00h 1 32 2.0821537e+00 6.93e-09 1.87e-06 -4.0 2.63e-02 -4.1 1.00e+00 1.00e+00h 1 33 2.0821505e+00 7.68e-08 2.06e-06 -4.0 6.37e-02 -4.6 1.00e+00 1.00e+00h 1 34 2.0821441e+00 4.67e-07 9.75e-06 -4.0 1.76e-01 -5.1 1.00e+00 1.00e+00h 1 35 2.0819744e+00 1.50e-05 1.97e-04 -4.1 1.06e+00 -5.6 1.00e+00 1.00e+00h 1 36 2.0821016e+00 2.27e-05 3.76e-04 -4.0 1.55e+00 -6.1 1.00e+00 1.00e+00h 1 37 2.0820798e+00 1.24e-05 1.63e-04 -4.0 3.53e+00 -6.5 1.00e+00 1.00e+00h 1 38 2.0820467e+00 7.06e-06 2.65e-04 -4.0 9.09e+00 -7.0 1.00e+00 1.00e+00h 1 39 2.0819830e+00 2.50e-05 1.04e-03 -4.0 2.09e+01 -7.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0819027e+00 7.44e-05 2.70e-03 -4.0 3.85e+01 -8.0 1.00e+00 1.00e+00h 1 41 2.0818533e+00 1.00e-04 2.73e-03 -4.0 5.14e+01 -8.4 1.00e+00 1.00e+00h 1 42 2.0818400e+00 3.56e-05 7.60e-04 -4.0 3.46e+01 -8.9 1.00e+00 1.00e+00h 1 43 2.0818384e+00 2.14e-06 5.66e-05 -4.0 9.78e+00 -9.4 1.00e+00 1.00e+00h 1 44 2.0818383e+00 1.79e-08 6.78e-07 -4.0 1.04e+00 -9.9 1.00e+00 1.00e+00h 1 45 2.0818383e+00 2.00e-11 1.02e-09 -4.0 3.95e-02 -10.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 45 (scaled) (unscaled) Objective...............: 2.0818383022075224e+00 2.0818383022075224e+00 Dual infeasibility......: 1.0151704907474315e-09 1.0151704907474315e-09 Constraint violation....: 2.0005330725325621e-11 2.0005330725325621e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000028e-04 1.0000000000000028e-04 Overall NLP error.......: 1.0151704907474315e-09 1.0151704907474315e-09 Number of objective function evaluations = 54 Number of objective gradient evaluations = 46 Number of equality constraint evaluations = 54 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 46 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 45 Total seconds in IPOPT = 30.122 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.051s jacobian structure: 180 nonzeros (0.082s) integrator 1 hessian structure: 0.05s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.33s sub-objective 2 (QuadraticRegularizer): 0.086s sub-objective 3 (MinimumTimeObjective): 0.019s objective hessian structure: 0.521s hessian structure: 375 nonzeros (0.571s) linear index maps built (0.0s) evaluator ready (total: 0.783s) evaluator created (0.783s) NL constraint bounds extracted (0.011s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.106s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.491s) optimizer initialization complete (total: 4.392s) 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 1.2352518e+00 9.33e-01 1.03e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6915513e+00 1.94e-01 1.80e+00 -0.9 9.33e-01 0.0 9.97e-01 1.00e+00h 1 2 1.7228490e+00 6.09e-02 2.62e-01 -0.7 4.66e-01 -0.5 1.00e+00 6.86e-01h 1 3 1.3539111e+00 4.18e-01 5.91e+00 -2.2 8.59e+00 - 7.79e-01 1.00e+00f 1 4 1.1442158e+00 7.67e-02 2.57e-01 -1.7 2.37e-01 -1.0 1.00e+00 8.48e-01h 1 5 1.2562558e+00 9.85e-03 4.72e+00 -4.0 2.02e+01 - 4.27e-01 1.00e+00h 1 6 1.1199258e+00 5.01e-03 2.27e+00 -2.9 4.02e-01 -1.4 1.00e+00 4.90e-01f 1 7 1.1168368e+00 4.59e-03 9.75e-01 -4.0 1.70e-02 -1.9 1.00e+00 8.39e-02h 1 8 1.0911802e+00 1.57e-05 9.87e-01 -4.0 1.12e+01 - 8.03e-01 1.00e+00h 1 9 1.0920714e+00 5.16e-09 7.59e-04 -4.0 2.72e-01 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0908994e+00 3.16e-12 2.35e-05 -4.0 1.54e-02 - 1.00e+00 1.00e+00f 1 11 1.0908997e+00 2.03e-19 4.25e-08 -4.0 2.00e-03 - 1.00e+00 1.00e+00h 1 12 1.0908997e+00 6.15e-27 8.16e-16 -4.0 5.89e-08 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 12 (scaled) (unscaled) Objective...............: 1.0908997263265459e+00 1.0908997263265459e+00 Dual infeasibility......: 8.1637713082727270e-16 8.1637713082727270e-16 Constraint violation....: 6.1480426034769815e-27 6.1480426034769815e-27 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 8.1637713082727270e-16 8.1637713082727270e-16 Number of objective function evaluations = 13 Number of objective gradient evaluations = 13 Number of equality constraint evaluations = 13 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 = 23.861 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.058s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.633s jacobian structure: 1600 nonzeros (2.691s) integrator 1 hessian structure: 0.054s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.92s 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 (3.976s) linear index maps built (0.0s) evaluator ready (total: 6.668s) evaluator created (6.693s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.197s) variables set (0.74s) 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 (3.083s) optimizer initialization complete (total: 10.815s) 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 1.8665474e+00 1.96e+00 4.77e-01 9.57e-01 -1.0 - 0.00e+00 1 0 1 1.2606611e+00 7.98e-01 1.57e+00 7.05e-01 -1.0 0.0 6.00e-01 1 1h 2 2.6643048e+00 5.03e-02 1.05e+00 1.24e-01 -1.0 -0.5 1.00e+00 2 1h 3 2.7726375e+00 1.93e-02 3.71e-01 1.01e-01 -1.0 -1.0 1.00e+00 2 1h 4 2.3006972e+00 2.63e-02 2.08e-01 3.44e-02 -1.7 -1.4 1.00e+00 2 1h 5 2.2664177e+00 1.23e-03 6.23e-02 2.12e-02 -1.7 -1.9 1.00e+00 2 1h 6 2.1183467e+00 1.04e-03 3.97e-03 3.42e-03 -2.5 -2.4 1.00e+00 2 1h 7 2.0913894e+00 8.37e-04 2.05e-03 1.67e-04 -3.8 -2.9 1.00e+00 2 1h 8 2.0913258e+00 7.60e-07 2.10e-05 1.51e-04 -3.8 -3.3 1.00e+00 2 1h 9 2.0899747e+00 1.87e-05 4.32e-05 1.36e-05 -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 2.0899350e+00 3.42e-05 3.20e-04 3.98e-06 -5.7 -4.3 1.00e+00 2 1h 11 2.0898450e+00 8.19e-05 7.21e-04 1.85e-06 -5.7 -4.8 8.08e-01 1 1h 12 2.0895231e+00 7.31e-05 5.23e-04 3.28e-06 -5.7 -5.2 1.00e+00 2 1h 13 2.0893691e+00 6.82e-05 4.65e-02 2.04e-06 -5.7 -5.7 1.10e-01 1 1h 14 2.0870381e+00 3.61e-05 1.02e-02 4.67e-06 -5.7 -6.2 1.00e+00 1 1h 15 2.0865508e+00 3.25e-05 1.61e-01 2.85e-06 -5.7 -6.7 1.02e-01 1 1h 16 2.0817544e+00 5.38e-05 1.24e-01 2.62e-06 -5.7 -7.2 8.08e-01 1 1h 17 2.0820028e+00 1.52e-04 1.25e-01 9.09e-04 -5.7 -7.6 1.00e+00 2 1h 18 2.0811129e+00 1.41e-05 3.10e-02 3.36e-04 -5.7 -8.1 6.76e-01 1 1h 19 2.0806910e+00 1.32e-05 4.49e-02 1.19e-04 -5.7 -8.6 9.60e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.4559556e+00 1.31e-06 3.43e+00 1.78e-04 -5.7 -7.3 1.00e+00 1 1H 21 2.4398783e+00 5.06e-06 5.64e+00 1.79e-04 -5.7 -3.2 1.40e-02 1 1h 22 2.2751660e+00 3.75e-06 4.18e+00 1.30e-04 -5.7 -0.1 2.60e-01 1 1h 23 2.0826727e+00 4.88e-06 9.58e-01 8.63e-05 -5.7 -0.6 7.80e-01 2 1h 24 2.0826676e+00 4.85e-06 9.55e-01 3.11e-05 -5.7 -1.0 6.17e-03 2 1h 25 2.0825016e+00 5.08e-06 5.38e-01 2.35e-06 -5.7 -1.5 4.77e-01 2 1h 26 2.0822997e+00 1.29e-06 1.43e-03 3.79e-06 -5.7 -2.0 1.00e+00 2 1h 27 2.0819157e+00 4.86e-06 1.25e-02 2.51e-06 -5.7 -2.5 6.56e-01 2 1h 28 2.0820714e+00 6.61e-07 1.36e-04 1.71e-04 -5.7 -2.9 1.00e+00 2 1h 29 2.0819321e+00 1.21e-06 9.37e-05 1.83e-05 -5.7 -3.4 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0819086e+00 5.05e-07 1.22e-05 1.84e-06 -5.7 -3.9 1.00e+00 2 1h 31 2.0818720e+00 8.37e-07 1.25e-05 1.10e-07 -8.6 -4.4 1.00e+00 2 1h 32 2.0818163e+00 1.82e-08 1.24e-05 2.24e-08 -8.6 -4.9 1.00e+00 1 1h 33 2.0816555e+00 3.42e-09 8.64e-05 3.87e-09 -8.6 -5.3 1.00e+00 2 1h 34 2.0816485e+00 3.38e-09 2.54e-02 1.19e-08 -8.6 -5.8 1.57e-02 2 1h 35 2.0815611e+00 8.56e-08 8.46e-03 2.41e-07 -8.6 -6.3 1.00e+00 1 1h 36 2.0813423e+00 2.83e-07 1.62e-03 9.30e-09 -8.6 -6.8 1.00e+00 1 1h 37 2.0809868e+00 2.44e-07 1.45e-02 3.74e-09 -8.6 -7.2 8.58e-01 1 1h 38 2.0807961e+00 1.47e-07 5.94e-02 7.41e-06 -8.6 -7.7 4.41e-01 1 1h 39 2.0807950e+00 1.31e-07 2.62e-01 4.08e-05 -8.6 -7.3 1.41e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0807473e+00 1.10e-07 4.96e-02 1.97e-06 -8.6 -7.8 1.60e-01 2 1h 41 2.0806919e+00 9.10e-08 1.53e-01 9.85e-07 -8.6 -6.4 1.75e-01 1 1h 42 2.0806917e+00 8.90e-08 4.40e-02 1.27e-06 -8.6 -6.9 2.19e-02 2 1h 43 2.0806340e+00 3.06e-08 9.77e-03 3.94e-07 -8.6 -7.4 6.80e-01 2 1h 44 2.0805562e+00 5.13e-09 5.68e-03 5.77e-08 -8.6 -7.9 1.00e+00 2 1h 45 2.0805561e+00 5.10e-09 7.74e-02 1.99e-08 -8.6 -6.5 5.74e-03 1 1h 46 2.0805537e+00 2.87e-09 3.03e-03 3.96e-08 -8.6 -7.0 4.39e-01 1 1h 47 2.0805444e+00 4.25e-10 2.86e-04 9.33e-09 -8.6 -7.5 1.00e+00 1 1h 48 2.0805382e+00 7.86e-10 4.14e-03 2.58e-09 -8.6 -8.0 1.00e+00 2 1h 49 2.0805381e+00 9.32e-13 6.62e-07 7.22e-08 -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 2.0805377e+00 1.05e-11 6.14e-06 1.90e-08 -8.6 -7.1 1.00e+00 2 1h 51 2.0805372e+00 4.69e-11 2.96e-04 2.52e-09 -8.6 -7.6 1.00e+00 2 1h 52 2.0805370e+00 1.47e-11 4.74e-06 4.28e-08 -8.6 -7.2 1.00e+00 1 1h 53 2.0805369e+00 8.32e-11 1.43e-03 2.55e-09 -8.6 -7.7 1.00e+00 1 1h 54 2.0805369e+00 5.56e-11 3.56e-03 2.61e-09 -8.6 -6.3 3.33e-01 1 1h 55 2.0805368e+00 1.68e-12 1.44e-06 1.02e-08 -8.6 -6.8 1.00e+00 1 1h 56 2.0805368e+00 2.08e-13 2.86e-07 3.75e-09 -8.6 -6.4 1.00e+00 1 1h 57 2.0805368e+00 1.25e-12 4.48e-08 2.51e-09 -8.6 -6.9 1.00e+00 1 1h 58 2.0805368e+00 5.35e-12 4.84e-07 2.51e-09 -8.6 -7.3 1.00e+00 2 1h 59 2.0805367e+00 1.50e-11 2.51e-06 2.51e-09 -8.6 -7.8 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 2.16e-11 1.51e-04 2.51e-09 -8.6 -8.3 1.00e+00 1 1h 61 2.0805366e+00 1.75e-12 4.87e-06 4.34e-08 -8.6 -6.1 1.00e+00 1 1h 62 2.0805366e+00 6.68e-13 2.62e-04 2.51e-09 -8.6 -6.5 1.00e+00 1 1h 63 2.0805366e+00 2.58e-13 5.23e-06 4.13e-09 -8.6 -7.0 1.00e+00 1 1h 64 2.0805365e+00 4.47e-13 7.62e-07 2.51e-09 -8.6 -7.5 1.00e+00 1 1h 65 2.0805365e+00 1.91e-12 6.60e-07 2.51e-09 -8.6 -8.0 1.00e+00 1 1h 66 2.0805365e+00 6.03e-12 1.73e-06 2.51e-09 -8.6 -8.4 1.00e+00 1 1h 67 2.0805365e+00 5.01e-12 1.22e-06 2.51e-09 -8.6 -8.9 1.00e+00 1 1h 68 2.0805365e+00 6.81e-13 1.48e-07 2.51e-09 -8.6 -9.4 1.00e+00 1 1h 69 2.0805365e+00 1.21e-14 2.41e-09 2.51e-09 -8.6 -9.9 1.00e+00 1 1h Number of Iterations....: 69 (scaled) (unscaled) Objective...............: 2.0805364803022313e+00 2.0805364803022313e+00 Dual infeasibility......: 2.4061295178512410e-09 2.4061295178512410e-09 Constraint violation....: 1.2101430968414206e-14 1.2101430968414206e-14 Complementarity.........: 2.5059035602856283e-09 2.5059035602856283e-09 Overall NLP error.......: 2.5059035602856283e-09 2.5059035602856283e-09 Number of objective function evaluations = 71 Number of objective gradient evaluations = 70 Number of constraint evaluations = 71 Number of constraint Jacobian evaluations = 70 Number of Lagrangian Hessian evaluations = 69 Number of KKT factorizations = 166 Number of KKT backsolves = 101 Total wall secs in initialization = 23.626 s Total wall secs in linear solver = 0.098 s Total wall secs in NLP function evaluations = 23.226 s Total wall secs in solver (w/o init./fun./lin. alg.) = 56.829 s Total wall secs = 103.778 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.063s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 3.052s jacobian structure: 1680 nonzeros (3.117s) integrator 1 hessian structure: 0.058s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 11.984s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s sub-objective 5 (GlobalObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1964 nonzeros (12.044s) linear index maps built (0.0s) evaluator ready (total: 15.161s) evaluator created (15.191s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.0s) variables set (0.104s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (5.176s) optimizer initialization complete (total: 20.472s) 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 1.2713441e+01 3.29e+00 3.92e+00 1.98e+00 -1.0 - 0.00e+00 1 0 1 3.5007065e+00 1.15e+00 1.53e+00 7.20e-01 -1.0 -2.0 6.52e-01 1 1h 2 2.5157767e+00 2.32e-01 6.28e-01 2.02e-01 -1.0 -2.5 8.96e-01 2 1h 3 2.3160855e+00 7.75e-02 2.70e-01 3.74e-02 -1.7 -3.0 1.00e+00 2 1h 4 2.2577596e+00 2.08e-02 1.14e-01 2.14e-02 -1.7 -3.4 1.00e+00 2 1h 5 2.1249445e+00 1.58e-02 7.29e-03 4.67e-03 -2.5 -3.9 1.00e+00 2 1h 6 2.0913614e+00 1.91e-03 6.22e-03 2.81e-04 -3.8 -4.4 9.89e-01 2 1h 7 2.0911744e+00 9.43e-04 4.40e-04 1.51e-04 -3.8 -4.9 1.00e+00 2 1h 8 2.0896151e+00 4.61e-04 1.72e-03 4.35e-05 -5.7 -5.3 1.00e+00 2 1h 9 2.0895087e+00 3.36e-04 1.98e-02 3.02e-06 -5.7 -4.9 2.69e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0890659e+00 5.01e-05 4.46e-04 1.88e-06 -5.7 -5.4 1.00e+00 1 1h 11 2.0887324e+00 4.33e-05 3.33e-02 2.00e-06 -5.7 -5.9 2.74e-01 1 1h 12 2.0859258e+00 9.91e-05 1.41e-02 6.05e-06 -5.7 -6.3 1.00e+00 1 1h 13 2.0852646e+00 8.59e-05 1.52e-01 2.96e-06 -5.7 -6.8 1.38e-01 1 1h 14 2.0817173e+00 4.12e-05 1.36e-01 2.05e-06 -5.7 -7.3 6.13e-01 1 1h 15 2.0816096e+00 1.63e-04 1.32e-01 5.97e-04 -5.7 -7.8 1.00e+00 1 1h 16 2.0811040e+00 7.35e-05 3.70e-02 3.12e-04 -5.7 -8.3 4.44e-01 2 1h 17 2.0806908e+00 1.24e-05 5.16e-02 1.48e-04 -5.7 -8.7 8.15e-01 1 1h 18 2.0807710e+00 6.28e-06 9.66e-02 1.21e-04 -5.7 -6.5 1.00e+00 1 1h 19 2.0807170e+00 4.97e-06 1.09e-01 9.31e-05 -5.7 -7.0 2.08e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0806512e+00 1.96e-06 3.69e-02 3.82e-05 -5.7 -7.5 5.50e-01 1 1h 21 2.0806208e+00 1.73e-06 2.92e-03 2.24e-05 -5.7 -7.9 1.00e+00 1 1h 22 2.0805793e+00 2.11e-07 1.38e-04 3.31e-06 -5.7 -7.5 1.00e+00 1 1h 23 2.0805787e+00 2.96e-07 1.40e-03 3.24e-06 -5.7 -8.0 6.02e-02 1 5h 24 2.0806917e+00 6.26e-11 7.51e-03 3.29e-05 -5.7 -5.7 1.00e+00 1 1H 25 2.0806062e+00 1.01e-07 7.30e-01 1.60e-05 -5.7 -3.5 5.99e-01 1 1h 26 2.0805740e+00 1.16e-07 1.17e-03 3.12e-06 -5.7 -4.0 1.00e+00 1 1h 27 2.0805749e+00 6.47e-08 1.37e-05 1.91e-06 -5.7 -4.5 1.00e+00 1 1h 28 2.0805595e+00 2.44e-07 8.14e-03 6.14e-07 -8.6 -4.9 7.99e-01 2 1h 29 2.0805544e+00 1.46e-07 1.18e-04 1.52e-07 -8.6 -5.4 9.81e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0805529e+00 8.20e-08 3.34e-03 7.56e-08 -8.6 -5.9 4.48e-01 2 1h 31 2.0805511e+00 2.30e-08 6.43e-03 7.42e-09 -8.6 -6.4 7.63e-01 2 1h 32 2.0805507e+00 2.03e-08 1.04e-02 4.19e-09 -8.6 -6.9 1.18e-01 1 1h 33 2.0805473e+00 1.31e-08 7.81e-03 3.18e-09 -8.6 -7.3 4.14e-01 1 1h 34 2.0805433e+00 1.05e-09 1.73e-04 4.58e-07 -8.6 -7.8 1.00e+00 1 1h 35 2.0805386e+00 5.62e-10 1.80e-04 5.08e-08 -8.6 -8.3 1.00e+00 1 1h 36 2.0805367e+00 4.56e-10 1.73e-03 3.70e-09 -8.6 -8.8 1.00e+00 1 1h 37 2.0805370e+00 9.15e-11 1.44e-05 8.37e-07 -8.6 -6.5 1.00e+00 1 1h 38 2.0805375e+00 8.99e-11 1.87e-03 2.57e-09 -8.6 -7.0 1.00e+00 1 1h 39 2.0805367e+00 7.49e-11 9.06e-03 2.52e-09 -8.6 -4.8 8.45e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805369e+00 4.88e-11 5.45e-02 5.08e-07 -8.6 -5.3 3.48e-01 1 1h 41 2.0805368e+00 4.44e-16 2.42e-06 1.03e-07 -8.6 -5.7 1.00e+00 1 1H 42 2.0805367e+00 8.93e-11 1.73e-06 2.69e-08 -8.6 -6.2 1.00e+00 1 1h 43 2.0805367e+00 8.97e-11 4.44e-07 7.63e-09 -8.6 -6.7 1.00e+00 1 1h 44 2.0805367e+00 9.01e-11 2.89e-05 2.51e-09 -8.6 -7.2 1.00e+00 1 1h 45 2.0805368e+00 8.79e-11 6.49e-02 2.99e-08 -8.6 -6.7 6.79e-02 1 3h 46 2.0805367e+00 8.90e-11 4.52e-06 7.39e-09 -8.6 -4.5 1.00e+00 1 1h 47 2.0805367e+00 8.91e-11 8.14e-06 3.08e-09 -8.6 -5.0 1.00e+00 1 1h 48 2.0805366e+00 8.92e-11 4.98e-06 2.51e-09 -8.6 -5.5 1.00e+00 1 1h 49 2.0805366e+00 8.93e-11 2.14e-07 3.93e-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 2.0805366e+00 8.96e-11 3.19e-08 2.59e-09 -8.6 -6.4 1.00e+00 1 1h 51 2.0805366e+00 9.00e-11 3.37e-08 2.51e-09 -8.6 -6.9 1.00e+00 1 1h 52 2.0805366e+00 8.99e-11 2.70e-07 2.51e-09 -8.6 -7.4 1.00e+00 2 1h 53 2.0805366e+00 9.10e-11 1.40e-06 2.51e-09 -8.6 -7.8 1.00e+00 1 1h 54 2.0805369e+00 4.44e-16 1.53e-04 2.53e-09 -8.6 -8.3 1.00e+00 1 1H 55 2.0805365e+00 4.07e-11 1.03e-02 2.54e-09 -8.6 -5.2 7.29e-01 1 1h 56 2.0805369e+00 8.88e-16 2.77e-05 6.80e-07 -8.6 -5.7 1.00e+00 1 1H 57 2.0805366e+00 8.88e-16 7.09e-06 1.59e-07 -8.6 -6.1 1.00e+00 1 1H 58 2.0805366e+00 8.93e-11 2.90e-06 3.60e-08 -8.6 -6.6 1.00e+00 1 1h 59 2.0805365e+00 8.92e-11 1.96e-06 7.87e-09 -8.6 -6.2 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 60 2.0805365e+00 8.92e-11 9.47e-08 3.42e-09 -8.6 -6.7 1.00e+00 1 1h 61 2.0805365e+00 8.92e-11 1.30e-07 2.51e-09 -8.6 -7.1 1.00e+00 1 1h 62 2.0805365e+00 8.88e-16 4.62e-04 2.51e-09 -8.6 -7.6 1.00e+00 2 1H 63 2.0805365e+00 4.16e-11 1.88e-03 2.55e-09 -8.6 -5.4 7.33e-01 1 1h 64 2.0805365e+00 8.88e-16 5.83e-06 7.35e-08 -8.6 -5.9 1.00e+00 1 1H 65 2.0805365e+00 6.66e-16 1.58e-06 1.89e-08 -8.6 -6.3 1.00e+00 1 1H 66 2.0805365e+00 8.92e-11 5.54e-07 5.59e-09 -8.6 -6.8 1.00e+00 1 1h 67 2.0805365e+00 8.92e-11 2.21e-07 2.79e-09 -8.6 -6.4 1.00e+00 1 1h 68 2.0805365e+00 8.92e-11 4.51e-08 2.51e-09 -8.6 -6.9 1.00e+00 1 1h 69 2.0805365e+00 8.92e-11 1.06e-04 2.51e-09 -8.6 -7.4 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 70 2.0805365e+00 8.92e-11 3.34e-06 1.30e-08 -8.6 -6.0 1.00e+00 1 1h 71 2.0805365e+00 8.92e-11 6.26e-08 2.51e-09 -8.6 -6.5 1.00e+00 1 1h 72 2.0805365e+00 8.92e-11 3.25e-07 2.76e-09 -8.6 -7.0 1.00e+00 1 1h 73 2.0805365e+00 8.92e-11 9.97e-08 2.51e-09 -8.6 -7.5 1.00e+00 1 1h 74 2.0805365e+00 8.95e-11 8.94e-08 2.51e-09 -8.6 -7.9 1.00e+00 1 1h 75 2.0805365e+00 9.00e-11 2.33e-07 2.51e-09 -8.6 -8.4 1.00e+00 1 1h 76 2.0805365e+00 8.98e-11 1.73e-07 2.51e-09 -8.6 -8.9 1.00e+00 1 1h 77 2.0805365e+00 8.93e-11 2.28e-08 2.51e-09 -8.6 -9.4 1.00e+00 1 1h 78 2.0805365e+00 4.88e-11 4.14e-10 9.09e-10 -9.0 -9.8 1.00e+00 1 1h Number of Iterations....: 78 (scaled) (unscaled) Objective...............: 2.0805364595436449e+00 2.0805364595436449e+00 Dual infeasibility......: 4.1445339965751848e-10 4.1445339965751848e-10 Constraint violation....: 4.8779646988350578e-11 4.8779646988350578e-11 Complementarity.........: 9.0913615891092179e-10 9.0913615891092179e-10 Overall NLP error.......: 9.0913615891092179e-10 9.0913615891092179e-10 Number of objective function evaluations = 95 Number of objective gradient evaluations = 79 Number of constraint evaluations = 95 Number of constraint Jacobian evaluations = 79 Number of Lagrangian Hessian evaluations = 78 Number of KKT factorizations = 190 Number of KKT backsolves = 103 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.105 s Total wall secs in NLP function evaluations = 26.982 s Total wall secs in solver (w/o init./fun./lin. alg.) = 11.367 s Total wall secs = 38.456 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: 0.077s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.617s jacobian structure: 1600 nonzeros (2.694s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.286s 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 (4.339s) linear index maps built (0.0s) evaluator ready (total: 7.034s) evaluator created (7.061s) 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: 7.062s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1376 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1306 Total number of variables............................: 92 variables with only lower bounds: 0 variables with lower and upper bounds: 16 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.5488696e+01 3.37e+00 6.42e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.0344013e+01 1.69e-01 2.02e+00 -1.0 2.61e+00 -4.0 9.86e-01 1.00e+00f 1 2 1.0071672e+01 2.73e-02 1.47e-01 -0.8 3.00e-01 -4.5 9.35e-01 8.68e-01h 1 3 9.7681824e+00 5.26e-03 4.57e-02 -4.0 1.72e-01 -5.0 8.19e-01 1.00e+00h 1 4 9.5282862e+00 4.63e-03 3.83e-02 -2.6 1.34e-01 -5.4 9.49e-01 1.00e+00f 1 5 9.4446887e+00 1.02e-03 5.27e-03 -3.6 8.36e-02 -5.9 9.97e-01 1.00e+00h 1 6 9.4278160e+00 1.84e-04 9.09e-04 -4.0 2.96e-02 -6.4 1.00e+00 1.00e+00h 1 7 9.4259069e+00 1.74e-05 7.39e-05 -4.0 6.63e-03 -6.9 1.00e+00 1.00e+00h 1 8 9.4258092e+00 2.01e-07 7.18e-07 -4.0 6.57e-04 -7.3 1.00e+00 1.00e+00h 1 9 9.4258086e+00 3.37e-11 1.00e-09 -4.0 1.21e-05 -7.8 1.00e+00 1.00e+00h 1 Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 9.4258086226000675e+00 9.4258086226000675e+00 Dual infeasibility......: 1.0000000017640212e-09 1.0000000017640212e-09 Constraint violation....: 3.3711144986625641e-11 3.3711144986625641e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000017638562399e-04 1.0000017638562399e-04 Overall NLP error.......: 1.0000000017640212e-09 1.0000000017640212e-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 = 30.327 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) evaluator created (0.002s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.003s) This is MadNLP version v0.9.1, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 92 variables with only lower bounds: 0 variables with lower and upper bounds: 16 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 1.5488696e+01 3.37e+00 6.42e-01 9.70e-01 -1.0 - 0.00e+00 1 0 1 1.0346232e+01 1.70e-01 2.02e+00 1.42e-01 -1.0 -4.0 1.00e+00 2 1h 2 9.9973540e+00 1.37e-01 5.70e-01 1.10e-01 -1.0 -4.5 9.97e-01 2 1h 3 9.7363451e+00 5.12e-03 1.47e-02 4.10e-02 -1.7 -5.0 1.00e+00 2 1h 4 9.5056222e+00 4.41e-03 6.66e-02 9.37e-03 -3.8 -5.4 1.00e+00 2 1h 5 9.4398360e+00 8.18e-04 2.82e-03 2.25e-03 -3.8 -5.9 1.00e+00 2 1h 6 9.4276620e+00 1.70e-04 5.94e-04 4.94e-04 -3.8 -6.4 1.00e+00 2 1h 7 9.4246544e+00 2.31e-05 1.64e-04 4.82e-05 -5.7 -6.9 1.00e+00 2 1h 8 9.4245376e+00 4.93e-07 8.33e-07 2.65e-06 -5.7 -7.3 1.00e+00 2 1h 9 9.4245130e+00 1.18e-09 2.82e-09 4.99e-09 -8.6 -7.8 1.00e+00 2 1h Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 9.4245129861664143e+00 9.4245129861664143e+00 Dual infeasibility......: 2.8210489499969071e-09 2.8210489499969071e-09 Constraint violation....: 1.1795213694654194e-09 1.1795213694654194e-09 Complementarity.........: 4.9891487412439875e-09 4.9891487412439875e-09 Overall NLP error.......: 4.9891487412439875e-09 4.9891487412439875e-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 = 0.001 s Total wall secs in linear solver = 0.009 s Total wall secs in NLP function evaluations = 1.521 s Total wall secs in solver (w/o init./fun./lin. alg.) = 0.008 s Total wall secs = 1.539 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: 0.063s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.064s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.053s) 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: 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 (0.361s) optimizer initialization complete (total: 0.478s) 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 2.4690147e+00 3.24e+00 3.33e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6728812e+00 4.48e-02 4.76e+00 -1.0 2.40e+00 -2.0 9.80e-01 1.00e+00f 1 2 2.3229127e+00 9.23e-02 5.25e-01 -1.6 2.01e+00 -2.5 9.95e-01 1.00e+00h 1 3 2.2369855e+00 6.33e-03 1.01e-01 -1.9 7.16e-01 -3.0 9.49e-01 1.00e+00h 1 4 2.0971426e+00 1.28e-02 1.79e-02 -3.3 8.14e-01 -3.4 9.95e-01 1.00e+00h 1 5 2.0910738e+00 9.45e-05 7.93e-04 -4.0 1.66e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0909676e+00 3.82e-06 3.63e-05 -4.0 5.02e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0908197e+00 8.30e-07 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0903771e+00 7.63e-06 3.46e-05 -4.0 4.50e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0890599e+00 6.96e-05 3.08e-04 -4.0 1.34e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0852073e+00 6.51e-04 2.80e-03 -4.0 3.91e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0797747e+00 1.95e-03 1.45e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.34e-01h 1 12 2.0803847e+00 5.10e-05 1.61e-01 -4.0 6.68e+01 -7.2 1.00e+00 1.00e+00H 1 13 2.0775840e+00 5.58e-03 1.64e-02 -4.0 1.25e+02 -7.7 1.00e+00 9.50e-01h 1 14 2.0770047e+00 1.15e-03 4.83e-02 -4.0 2.08e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0762679e+00 5.64e-04 2.24e-02 -4.0 3.54e+02 -8.7 1.00e+00 7.83e-01h 1 16 2.0756085e+00 8.40e-04 2.66e-02 -4.0 5.81e+02 -9.2 1.00e+00 6.85e-01h 1 17 2.0758710e+00 9.50e-04 1.48e-02 -4.0 1.62e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0754613e+00 1.92e-03 5.84e-04 -4.1 8.47e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0757715e+00 4.90e-04 6.94e-06 -4.0 2.04e+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 2.0754219e+00 6.60e-04 8.43e-07 -4.1 2.49e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0757717e+00 3.71e-04 8.23e-07 -4.0 1.40e+01 -11.5 1.00e+00 1.00e+00h 1 22 2.0757704e+00 1.11e-07 1.20e-08 -4.0 2.12e+00 -12.0 1.00e+00 1.00e+00h 1 23 2.0757704e+00 2.20e-14 3.44e-12 -4.0 1.62e-02 -12.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0757703960460998e+00 2.0757703960460998e+00 Dual infeasibility......: 3.4438990016965459e-12 3.4438990016965459e-12 Constraint violation....: 2.1982415887578100e-14 2.1982415887578100e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000013e-04 1.0000000000000013e-04 Overall NLP error.......: 3.4438990016965459e-12 3.4438990016965459e-12 Number of objective function evaluations = 25 Number of objective gradient evaluations = 24 Number of equality constraint evaluations = 25 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 24 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 23 Total seconds in IPOPT = 28.734 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.05s jacobian structure: 180 nonzeros (0.081s) integrator 1 hessian structure: 0.047s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.332s sub-objective 2 (QuadraticRegularizer): 0.085s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.017s objective hessian structure: 0.52s hessian structure: 375 nonzeros (0.567s) linear index maps built (0.0s) evaluator ready (total: 0.79s) evaluator created (0.79s) NL constraint bounds extracted (0.012s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.111s) applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.726s) optimizer initialization complete (total: 3.641s) 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 1.8825339e+00 7.65e-01 1.03e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.0857486e+00 9.22e-02 1.99e+00 -0.9 8.23e-01 0.0 9.63e-01 1.00e+00h 1 2 1.8649857e+00 3.23e-02 6.07e-01 -0.9 4.28e-01 -0.5 6.87e-01 7.03e-01h 1 3 4.1544710e+00 3.54e-02 4.55e+01 -1.4 2.14e+01 - 9.33e-01 1.00e+00h 1 4 1.3338364e+00 1.11e-02 5.48e+00 -1.9 3.35e+00 -1.0 1.00e+00 6.76e-01f 1 5 1.1540227e+00 1.25e-03 4.94e-03 -2.3 5.97e-02 -1.4 1.00e+00 9.98e-01h 1 6 1.1185090e+00 9.66e-06 5.51e-03 -3.6 1.81e-01 -1.9 9.09e-01 1.00e+00h 1 7 1.1148572e+00 3.28e-09 3.35e-03 -4.0 5.27e-01 -2.4 1.00e+00 1.00e+00h 1 8 1.1115278e+00 6.76e-13 2.17e-02 -4.0 1.47e+00 -2.9 1.00e+00 1.00e+00f 1 9 1.1046484e+00 1.43e-16 1.92e-01 -4.0 3.63e+00 -3.3 7.75e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0951195e+00 7.95e-17 1.80e+00 -4.0 1.66e+01 - 6.83e-01 4.44e-01f 1 11 1.0926657e+00 3.98e-17 1.03e+00 -4.0 1.50e+01 - 5.66e-02 5.00e-01f 2 12 1.0909844e+00 3.96e-17 8.01e-01 -3.8 1.40e+01 -2.9 1.00e+00 3.25e-03f 1 13 1.0911892e+00 1.96e-21 3.11e-02 -4.0 1.79e+00 - 1.00e+00 1.00e+00f 1 14 1.0908052e+00 2.67e-27 1.57e-04 -4.0 1.16e-01 - 1.00e+00 1.00e+00f 1 15 1.0908997e+00 1.75e-33 7.57e-06 -4.0 7.29e-03 - 1.00e+00 1.00e+00f 1 16 1.0907198e+00 3.67e-34 1.55e-08 -4.1 2.60e-04 - 1.00e+00 1.00e+00f 1 17 1.0908997e+00 3.70e-34 9.61e-10 -4.0 7.97e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 17 (scaled) (unscaled) Objective...............: 1.0908997336736779e+00 1.0908997336736779e+00 Dual infeasibility......: 9.6061264157443844e-10 9.6061264157443844e-10 Constraint violation....: 3.7030072136360283e-34 3.7030072136360283e-34 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000650543855084e-04 1.0000650543855084e-04 Overall NLP error.......: 6.5054385508351523e-09 6.5054385508351523e-09 Number of objective function evaluations = 19 Number of objective gradient evaluations = 18 Number of equality constraint evaluations = 19 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 18 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 17 Total seconds in IPOPT = 23.285 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: 0.062s 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: 0.118s) 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 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 (0.126s) optimizer initialization complete (total: 0.244s) 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 1.8950065e+00 2.91e+00 5.71e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6833373e+00 4.76e-02 5.00e-01 -1.0 2.25e+00 - 1.00e+00 1.00e+00f 1 2 2.2639582e+00 4.16e-03 1.59e-01 -2.1 8.07e-02 - 8.53e-01 1.00e+00h 1 3 2.1044338e+00 8.11e-04 1.62e-02 -3.1 4.07e-02 - 9.97e-01 9.63e-01h 1 4 2.0908560e+00 1.66e-04 3.36e-03 -4.0 9.49e-02 - 1.00e+00 1.00e+00h 1 5 2.0908917e+00 8.18e-06 7.88e-05 -4.0 4.08e-01 - 1.00e+00 1.00e+00h 1 6 2.0908972e+00 2.28e-09 1.51e-08 -4.0 8.95e-02 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 2.76e-13 2.99e-13 -4.0 1.07e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971978647117e+00 2.0908971978647117e+00 Dual infeasibility......: 2.9912978019054626e-13 2.9912978019054626e-13 Constraint violation....: 2.7577495408798169e-13 2.7577495408798169e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000002361540315e-04 1.0000002361540315e-04 Overall NLP error.......: 2.3615403144279512e-11 2.3615403144279512e-11 Number of objective function evaluations = 8 Number of objective gradient evaluations = 8 Number of equality constraint evaluations = 8 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 8 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 7 Total seconds in IPOPT = 28.430 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: 0.0s 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 (0.125s) 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: 0.126s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.0051498e+00 1.87e+00 7.01e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7972883e+00 6.59e-01 1.53e+00 -0.7 6.20e+00 -4.0 5.64e-01 6.49e-01f 1 2 2.7914180e+00 9.78e-01 2.41e+01 -0.8 1.63e+01 -2.7 1.87e-01 9.36e-01f 1 3 2.6685772e+00 3.74e-01 9.12e+00 -0.9 1.62e+00 -1.3 1.00e+00 5.80e-01f 1 4 2.5673123e+00 2.91e-01 1.92e+00 -1.1 2.70e+00 -1.8 7.64e-01 7.84e-01h 1 5 2.4286183e+00 7.51e-02 1.36e+00 -1.4 1.45e+00 -2.3 1.00e+00 8.10e-01f 1 6 2.3714266e+00 4.81e-02 6.65e-01 -1.4 4.37e-01 -1.0 6.61e-01 3.82e-01f 1 7 2.2214921e+00 1.81e-02 1.70e-01 -1.7 2.61e-01 -1.4 9.58e-01 1.00e+00f 1 8 2.1426675e+00 4.20e-03 2.01e-01 -2.3 2.34e-01 -1.9 9.84e-01 8.13e-01h 1 9 2.1061098e+00 4.83e-04 5.22e-02 -2.7 6.07e-02 -2.4 9.96e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0927608e+00 6.28e-05 1.89e-02 -3.6 2.67e-02 -2.9 9.95e-01 1.00e+00h 1 11 2.0909571e+00 1.22e-05 6.78e-04 -4.0 4.70e-02 -3.4 1.00e+00 1.00e+00h 1 12 2.0909439e+00 6.13e-07 2.06e-05 -4.0 1.39e-01 -3.8 1.00e+00 1.00e+00h 1 13 2.0909048e+00 6.91e-08 2.52e-05 -4.0 4.04e-01 -4.3 1.00e+00 1.00e+00h 1 14 2.0907981e+00 4.87e-07 1.88e-04 -4.0 1.11e+00 -4.8 1.00e+00 1.00e+00h 1 15 2.0905508e+00 2.57e-06 1.05e-03 -4.0 2.63e+00 -5.3 1.00e+00 1.00e+00h 1 16 2.0901874e+00 7.34e-06 2.97e-03 -4.0 4.41e+00 -5.7 1.00e+00 1.00e+00h 1 17 2.0899772e+00 7.81e-06 3.51e-03 -4.0 6.90e+00 -6.2 1.00e+00 1.00e+00h 1 18 2.0898560e+00 4.03e-06 2.34e-03 -4.0 9.02e+00 -6.7 1.00e+00 1.00e+00h 1 19 2.0898272e+00 7.77e-07 1.53e-03 -4.0 1.15e+01 -7.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0898242e+00 1.88e-06 7.51e-04 -4.0 8.94e+00 -7.6 1.00e+00 1.00e+00h 1 21 2.0898221e+00 3.86e-07 8.29e-05 -4.0 3.98e+00 -8.1 1.00e+00 1.00e+00h 1 22 2.0898219e+00 7.14e-09 2.17e-06 -4.0 8.02e-01 -8.6 1.00e+00 1.00e+00h 1 23 2.0898219e+00 4.26e-11 1.12e-08 -4.0 5.91e-02 -9.1 1.00e+00 1.00e+00h 1 24 2.0898218e+00 3.41e-14 7.52e-12 -4.0 1.61e-03 -9.6 1.00e+00 1.00e+00h 1 Number of Iterations....: 24 (scaled) (unscaled) Objective...............: 2.0898218497874659e+00 2.0898218497874659e+00 Dual infeasibility......: 7.5178124359434606e-12 7.5178124359434606e-12 Constraint violation....: 3.4139358007223564e-14 3.4139358007223564e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000000e-04 1.0000000000000000e-04 Overall NLP error.......: 7.5178124359434606e-12 7.5178124359434606e-12 Number of objective function evaluations = 25 Number of objective gradient evaluations = 25 Number of equality constraint evaluations = 25 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 25 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 24 Total seconds in IPOPT = 29.690 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.067s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.068s) integrator 1 hessian structure: 0.069s 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 (0.07s) linear index maps built (0.0s) evaluator ready (total: 0.139s) evaluator created (0.139s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: bounds constraint on trajectory variable x applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.0s) optimizer initialization complete (total: 0.14s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 35 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.4508195e+00 3.62e+00 6.77e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.3082746e+00 3.45e+00 6.44e-01 -4.0 2.27e+00 0.0 3.62e-02 4.70e-02h 1 2 4.0755707e+00 3.26e+00 2.42e+00 -1.4 5.61e+00 -0.5 4.91e-02 5.44e-02h 1 3 4.0667949e+00 3.05e+00 1.23e+01 -2.2 7.39e+00 -1.0 3.59e-02 6.62e-02h 1 4 4.1196482e+00 2.99e+00 4.09e+00 -1.7 8.57e+00 -0.5 4.65e-02 1.93e-02h 1 5 4.1565925e+00 2.91e+00 7.36e+01 -1.0 5.43e+00 -0.1 6.61e-02 2.72e-02f 1 6 4.3117608e+00 2.82e+00 6.96e+01 -1.8 1.10e+01 0.3 2.40e-02 2.74e-02h 1 7 4.2891993e+00 2.80e+00 7.43e+01 -4.0 2.01e+01 -0.2 7.12e-04 7.77e-03h 1 8 4.2134367e+00 2.69e+00 7.33e+01 -1.6 3.68e+00 0.3 4.19e-02 3.97e-02h 1 9 4.2077802e+00 2.67e+00 1.87e+02 -0.0 3.38e+01 -0.2 7.55e-02 9.12e-03f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 4.1505141e+00 2.23e+00 1.30e+02 0.2 5.25e+01 -0.7 1.57e-01 1.11e-01f 1 11 4.2119392e+00 2.20e+00 9.86e+01 -4.0 1.63e+01 -1.2 6.53e-02 1.11e-02h 1 12 4.2035633e+00 2.20e+00 2.87e+02 -4.0 8.04e+00 0.2 6.42e-02 3.30e-03h 1 13 4.2454227e+00 2.15e+00 3.61e+03 0.3 3.90e+01 -0.3 3.89e-01 1.91e-02f 1 14 4.5342860e+00 1.93e+00 3.52e+03 -4.0 4.71e+01 -0.8 3.21e-02 1.03e-01h 1 15 4.5271975e+00 1.78e+00 2.97e+03 0.2 1.09e+01 -1.3 1.47e-01 8.02e-02f 1 16 4.5209290e+00 1.76e+00 2.57e+03 -4.0 5.42e+00 0.1 2.50e-01 9.79e-03h 1 17 4.5756389e+00 1.63e+00 3.49e+03 0.2 1.19e+01 -0.4 1.00e+00 7.59e-02f 1 18 4.6570901e+00 1.57e+00 2.00e+04 1.0 1.05e+02 -0.9 9.80e-01 3.45e-02h 1 19 4.7334001e+00 2.15e+00 1.91e+04 -4.0 2.26e+02 -1.4 4.98e-02 4.61e-02H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 4.9064616e+00 2.10e+00 2.42e+04 0.4 4.47e+02 -1.8 1.06e-01 4.47e-02h 1 21 4.9199734e+00 2.10e+00 1.31e+06 1.8 2.95e+02 1.3 6.06e-02 7.27e-04h 1 22 5.0329262e+00 1.94e+00 1.42e+06 2.4 5.21e+02 0.8 3.85e-03 2.37e-03f 1 23 5.0339995e+00 1.94e+00 1.08e+10 2.5 1.87e+02 2.1 1.00e+00 3.33e-05h 1 24r 5.0339995e+00 1.94e+00 9.99e+02 0.3 0.00e+00 1.7 0.00e+00 3.21e-07R 5 25r 5.0288129e+00 8.38e-01 1.73e+03 2.5 1.59e+03 - 8.98e-02 2.32e-03f 1 26 5.0258828e+00 8.35e-01 3.67e+02 -0.7 8.26e-01 1.2 6.36e-01 3.37e-03h 1 27 5.0261320e+00 8.35e-01 9.94e+06 0.7 9.35e+00 0.7 1.00e+00 3.98e-05h 1 28 5.0271632e+00 8.35e-01 4.62e+09 1.9 3.94e+01 0.2 1.28e-02 2.73e-05h 1 29r 5.0271632e+00 8.35e-01 9.98e+02 1.8 0.00e+00 -0.2 0.00e+00 1.37e-07R 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30r 4.6347828e+00 2.51e-01 1.00e+03 0.4 8.81e+01 - 2.13e-01 8.20e-02f 1 31 4.6354677e+00 2.51e-01 2.08e+02 -1.0 6.18e+00 -0.7 1.45e-01 1.02e-03h 1 32 4.6356066e+00 2.51e-01 9.75e+05 -0.3 2.93e+01 -1.2 5.94e-02 1.29e-05h 1 33r 4.6356066e+00 2.51e-01 1.00e+03 0.3 0.00e+00 -1.7 0.00e+00 3.26e-07R 5 34r 4.3384333e+00 1.99e-01 9.84e+02 0.4 1.32e+02 - 1.88e-02 1.27e-02f 1 35 4.3385432e+00 1.99e-01 9.49e+02 -4.0 1.25e+00 -2.1 1.69e-01 1.77e-04h 1 36r 4.3385432e+00 1.99e-01 9.99e+02 -0.7 0.00e+00 -2.6 0.00e+00 4.12e-07R 5 37r 4.3234812e+00 1.99e-01 9.95e+02 0.4 1.14e+03 - 1.02e-02 4.04e-03f 1 38r 3.2037848e+00 1.99e-01 9.77e+02 0.7 3.45e+01 - 1.65e-02 1.78e-02f 1 39r 3.2064837e+00 1.99e-01 9.62e+02 -0.3 3.91e+00 - 1.00e+00 1.43e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40r 4.0297215e+00 2.01e-01 6.41e+02 0.3 2.77e+01 - 1.00e+00 3.28e-01f 1 41r 3.8459255e+00 2.03e-01 5.54e+00 0.1 4.55e+00 - 1.00e+00 1.00e+00f 1 42r 4.0396633e+00 3.22e-01 6.27e+00 -0.4 9.14e+00 - 1.00e+00 9.92e-01f 1 43r 4.0298685e+00 1.99e-01 1.30e+02 -1.0 2.20e-01 0.0 7.45e-01 1.00e+00f 1 44r 4.0314226e+00 1.99e-01 1.40e-01 -1.6 1.34e-01 -0.5 1.00e+00 1.00e+00f 1 45r 3.7652297e+00 1.99e-01 3.24e+00 -2.4 2.23e+00 - 8.04e-01 1.00e+00f 1 46r 3.8856300e+00 1.99e-01 1.51e-02 -2.5 7.98e-02 -1.0 1.00e+00 1.00e+00h 1 47r 3.8385690e+00 1.99e-01 6.64e-01 -3.6 2.26e+00 - 6.98e-01 1.00e+00f 1 48r 3.9295896e+00 1.99e-01 2.35e-03 -3.9 4.46e-02 -1.4 1.00e+00 1.00e+00h 1 49r 3.9409268e+00 1.99e-01 5.76e-03 -4.0 2.03e+00 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50r 3.9424519e+00 1.99e-01 9.92e-04 -4.0 1.11e+00 - 1.00e+00 1.00e+00h 1 51r 3.9434077e+00 1.99e-01 9.70e-06 -4.0 1.02e-01 - 1.00e+00 1.00e+00h 1 52r 3.9434628e+00 1.99e-01 1.88e-09 -4.0 2.35e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 52 (scaled) (unscaled) Objective...............: 3.9434628165916994e+00 3.9434628165916994e+00 Dual infeasibility......: 2.0503794112570781e+00 2.0503794112570781e+00 Constraint violation....: 1.9875045030848515e-01 1.9875045030848515e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000164e-04 1.0000000000000164e-04 Overall NLP error.......: 2.0503794112570781e+00 2.0503794112570781e+00 Number of objective function evaluations = 72 Number of objective gradient evaluations = 38 Number of equality constraint evaluations = 72 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 58 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 53 Total seconds in IPOPT = 32.468 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: 0.067s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.067s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s sub-objective 4 (GlobalObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1804 nonzeros (0.054s) linear index maps built (0.0s) evaluator ready (total: 0.122s) evaluator created (0.123s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: bounds constraint on 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 (0.001s) optimizer initialization complete (total: 0.125s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 36 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 7.7410643e+00 2.67e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.9475773e+00 3.64e-01 1.57e+00 -0.9 1.82e+00 0.0 7.78e-01 8.64e-01f 1 2 2.5694892e+00 2.45e-02 1.00e+00 -1.1 4.24e-01 -0.5 8.60e-01 1.00e+00f 1 3 2.2828479e+00 5.30e-03 4.83e-02 -1.9 1.14e-01 -1.0 9.79e-01 1.00e+00h 1 4 2.1073138e+00 6.99e-04 1.08e-02 -3.1 3.40e-02 -1.4 1.00e+00 9.74e-01h 1 5 2.0908617e+00 1.25e-05 1.05e-03 -4.0 6.82e-03 -1.9 1.00e+00 1.00e+00h 1 6 2.0908958e+00 2.03e-07 6.55e-05 -4.0 1.59e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0908943e+00 2.02e-10 2.06e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908899e+00 7.65e-10 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908766e+00 6.88e-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 2.0908368e+00 6.20e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907174e+00 5.59e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903598e+00 5.05e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892943e+00 4.61e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861624e+00 4.33e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796282e+00 2.51e-03 8.66e-02 -4.0 8.73e+01 -6.7 1.00e+00 7.57e-01h 1 16 2.0812466e+00 1.58e-04 1.97e-01 -4.0 6.89e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778319e+00 6.05e-03 2.81e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781656e+00 1.51e-02 5.37e-02 -3.7 1.55e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767368e+00 1.26e-02 2.00e-02 -3.8 2.98e+02 -8.6 1.00e+00 9.98e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0759837e+00 6.88e-03 2.14e-02 -3.9 4.30e+02 -9.1 1.00e+00 9.89e-01f 1 21 2.0757545e+00 7.43e-03 8.66e-03 -4.0 1.41e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756778e+00 4.25e-04 3.82e-04 -4.0 5.97e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 2.76e-06 6.29e-06 -4.0 2.31e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 4.06e-08 1.50e-06 -4.0 1.50e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.50e-09 1.49e-07 -4.0 5.19e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.63e-11 3.00e-09 -4.0 9.11e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122091581e+00 2.0756712122091581e+00 Dual infeasibility......: 2.9968455736743491e-09 2.9968455736743491e-09 Constraint violation....: 7.6328277032189362e-11 7.6328277032189362e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000015e-04 1.0000000000000015e-04 Overall NLP error.......: 2.9968455736743491e-09 2.9968455736743491e-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 = 30.222 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.062s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.711s jacobian structure: 1600 nonzeros (2.774s) integrator 1 hessian structure: 0.057s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.413s 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 (4.472s) linear index maps built (0.0s) evaluator ready (total: 7.246s) evaluator created (7.27s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 7.27s) 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 4.0884520e+00 1.91e+00 6.95e-01 9.72e-01 -1.0 - 0.00e+00 1 0 1 2.6320844e+00 5.43e-02 1.92e+00 3.01e-01 -1.0 0.0 1.00e+00 1 1h 2 2.6007963e+00 3.21e-02 6.00e-01 1.02e-01 -1.0 -0.5 1.00e+00 1 1h 3 2.3601683e+00 5.51e-03 6.61e-02 3.64e-02 -1.7 -1.0 1.00e+00 1 1h 4 2.1263433e+00 5.94e-03 2.48e-02 7.66e-03 -2.5 -1.4 1.00e+00 1 1h 5 2.0923617e+00 5.20e-04 3.71e-03 4.18e-04 -3.8 -1.9 9.45e-01 1 1h 6 2.0914262e+00 1.79e-05 1.99e-04 1.51e-04 -3.8 -2.4 1.00e+00 1 1h 7 2.0900860e+00 2.68e-06 2.49e-05 1.47e-05 -5.7 -2.9 1.00e+00 1 1h 8 2.0900754e+00 7.42e-08 1.06e-04 4.33e-06 -5.7 -3.3 1.00e+00 1 1h 9 2.0900592e+00 8.07e-07 6.64e-05 2.19e-06 -5.7 -3.8 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0900178e+00 9.79e-05 2.11e-04 1.84e-06 -5.7 -4.3 1.00e+00 1 1h 11 2.0899549e+00 7.28e-04 1.45e-03 1.85e-06 -5.7 -4.8 6.77e-01 1 1h 12 2.0896999e+00 1.56e-04 1.42e-03 7.31e-06 -5.7 -5.2 1.00e+00 1 1h 13 2.0895340e+00 1.28e-04 2.77e-02 1.90e-06 -5.7 -4.8 1.80e-01 1 1h 14 2.0891791e+00 1.12e-06 3.67e-03 3.71e-06 -5.7 -5.3 1.00e+00 1 1h 15 2.0888363e+00 9.65e-07 2.59e-02 1.96e-06 -5.7 -5.8 3.33e-01 1 1h 16 2.0864264e+00 5.66e-06 1.00e-02 5.36e-06 -5.7 -6.3 1.00e+00 1 1h 17 2.0856802e+00 5.36e-06 1.38e-01 2.74e-06 -5.7 -6.7 1.70e-01 1 1h 18 2.0817477e+00 3.86e-05 1.23e-01 2.12e-06 -5.7 -7.2 7.04e-01 1 1h 19 2.0818378e+00 1.95e-08 1.25e-01 7.58e-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 2.0811129e+00 2.69e-05 3.38e-02 3.25e-04 -5.7 -8.2 5.82e-01 1 1h 21 2.0806848e+00 1.29e-05 4.98e-02 1.25e-04 -5.7 -8.6 9.29e-01 1 1h 22 2.0807306e+00 1.16e-05 9.82e-02 1.16e-04 -5.7 -7.3 1.05e-01 1 1h 23 2.0807701e+00 1.17e-05 2.69e-01 1.15e-04 -5.7 -5.1 2.90e-01 1 1h 24 2.0807699e+00 1.07e-06 2.51e-03 1.46e-04 -5.7 -5.6 1.00e+00 1 1h 25 2.0807232e+00 7.26e-07 3.87e-02 2.25e-05 -5.7 -6.0 3.13e-01 1 1h 26 2.0806857e+00 1.58e-06 4.29e-01 5.97e-06 -5.7 -5.6 4.37e-01 1 1h 27 2.0806814e+00 1.46e-06 2.93e-01 1.39e-05 -5.7 -6.1 1.74e-01 1 1h 28 2.0806579e+00 3.69e-07 1.25e-03 2.98e-06 -5.7 -6.6 1.00e+00 1 1h 29 2.0806394e+00 1.23e-07 5.26e-03 1.96e-06 -5.7 -7.0 6.02e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0806361e+00 5.77e-08 2.62e-04 2.94e-06 -5.7 -6.6 1.00e+00 1 1h 31 2.0806550e+00 1.72e-12 1.19e-02 2.10e-06 -5.7 -7.1 1.00e+00 1 1H 32 2.0806136e+00 3.04e-07 1.20e-01 1.88e-06 -5.7 -4.9 7.33e-01 1 1h 33 2.0806274e+00 2.11e-07 2.44e-01 3.90e-05 -5.7 -5.3 5.00e-01 1 2h 34 2.0806221e+00 4.80e-07 1.81e-04 9.23e-06 -5.7 -5.8 1.00e+00 1 1h 35 2.0806159e+00 1.12e-07 5.27e-05 3.32e-06 -5.7 -6.3 1.00e+00 1 1h 36 2.0806095e+00 1.63e-08 5.22e-05 1.95e-06 -5.7 -6.8 1.00e+00 1 1h 37 2.0805952e+00 4.12e-07 5.68e-03 1.90e-06 -5.7 -7.2 1.00e+00 1 1h 38 2.0805938e+00 5.99e-07 4.12e-01 8.75e-06 -5.7 -5.9 1.83e-01 1 3h 39 2.0805920e+00 7.80e-08 9.04e-05 1.91e-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 2.0805866e+00 1.02e-07 3.51e-05 2.08e-06 -5.7 -6.9 1.00e+00 1 1h 41 2.0805747e+00 2.43e-08 2.54e-04 1.85e-06 -5.7 -7.3 1.00e+00 1 1h 42 2.0805717e+00 1.29e-07 1.98e-04 4.28e-06 -5.7 -7.8 1.00e+00 1 1h 43 2.0805633e+00 3.41e-07 4.07e-04 1.99e-06 -5.7 -8.3 1.00e+00 1 1h 44 2.0805607e+00 2.26e-07 2.52e-04 1.84e-06 -5.7 -8.8 1.00e+00 1 1h 45 2.0805604e+00 2.92e-08 3.11e-05 1.84e-06 -5.7 -9.3 1.00e+00 1 1h 46 2.0805604e+00 5.07e-10 7.39e-07 1.84e-06 -5.7 -9.7 1.00e+00 1 1h 47 2.0805367e+00 3.96e-06 3.45e-06 6.18e-08 -8.6 -10.2 9.93e-01 1 1h 48 2.0805365e+00 1.56e-09 2.90e-09 2.56e-09 -8.6 -10.7 1.00e+00 1 1h Number of Iterations....: 48 (scaled) (unscaled) Objective...............: 2.0805364804070989e+00 2.0805364804070989e+00 Dual infeasibility......: 2.9007213853127212e-09 2.9007213853127212e-09 Constraint violation....: 1.5603471847924766e-09 1.5603471847924766e-09 Complementarity.........: 2.5599498246405565e-09 2.5599498246405565e-09 Overall NLP error.......: 2.9007213853127212e-09 2.9007213853127212e-09 Number of objective function evaluations = 55 Number of objective gradient evaluations = 49 Number of constraint evaluations = 55 Number of constraint Jacobian evaluations = 49 Number of Lagrangian Hessian evaluations = 48 Number of KKT factorizations = 112 Number of KKT backsolves = 52 Total wall secs in initialization = 5.718 s Total wall secs in linear solver = 0.098 s Total wall secs in NLP function evaluations = 23.122 s Total wall secs in solver (w/o init./fun./lin. alg.) = 30.396 s Total wall secs = 59.334 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 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 1.8484445e+00 3.22e+00 9.10e-01 9.48e-01 -1.0 - 0.00e+00 1 0 1 1.9191526e+00 1.66e+00 8.67e-01 2.28e-01 -1.0 0.0 4.84e-01 2 1h 2 2.9432576e+00 1.48e-01 1.83e+00 1.64e-01 -1.0 -0.5 1.00e+00 2 1h 3 2.6723661e+00 4.43e-02 1.00e+00 1.16e-01 -1.0 -1.0 1.00e+00 2 1h 4 2.8062562e+00 4.91e-02 4.04e-01 1.05e-01 -1.0 -1.4 1.00e+00 2 1h 5 2.3162684e+00 4.95e-02 7.19e-02 3.44e-02 -1.7 -1.9 1.00e+00 2 1h 6 2.1814331e+00 3.83e-02 2.01e-01 1.54e-02 -2.5 -2.4 6.35e-01 2 1h 7 2.1177531e+00 2.96e-03 1.93e-02 3.56e-03 -2.5 -2.9 1.00e+00 2 1h 8 2.0913627e+00 1.48e-03 5.96e-03 1.95e-04 -3.8 -3.3 1.00e+00 2 1h 9 2.0913300e+00 4.02e-06 3.15e-04 1.56e-04 -3.8 -3.8 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0899447e+00 5.27e-05 1.29e-04 3.40e-05 -5.7 -4.3 1.00e+00 2 1h 11 2.0898273e+00 5.77e-05 5.25e-04 2.56e-06 -5.7 -4.8 9.41e-01 2 1h 12 2.0894970e+00 2.12e-04 4.96e-04 1.85e-06 -5.7 -5.2 1.00e+00 2 1h 13 2.0893060e+00 1.76e-04 2.92e-02 1.98e-06 -5.7 -5.7 1.97e-01 1 1h 14 2.0869952e+00 1.43e-04 8.72e-03 6.20e-06 -5.7 -6.2 1.00e+00 1 1h 15 2.0864855e+00 1.28e-04 1.61e-01 2.85e-06 -5.7 -6.7 1.05e-01 1 1h 16 2.0817643e+00 5.26e-05 1.23e-01 2.61e-06 -5.7 -7.2 8.02e-01 1 1h 17 2.0819961e+00 1.52e-04 1.25e-01 8.95e-04 -5.7 -7.6 1.00e+00 2 1h 18 2.0811172e+00 1.57e-05 3.13e-02 3.35e-04 -5.7 -8.1 6.68e-01 1 1h 19 2.0806929e+00 1.33e-05 4.53e-02 1.19e-04 -5.7 -8.6 9.60e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.5544162e+00 1.68e-06 4.13e+00 1.79e-04 -5.7 -7.3 1.00e+00 1 1H 21 2.5387706e+00 5.94e-06 6.00e+00 1.79e-04 -5.7 -3.2 8.80e-03 1 1h 22 2.3502594e+00 4.60e-06 4.65e+00 1.37e-04 -5.7 -0.1 2.26e-01 1 1h 23 2.0830712e+00 7.79e-06 1.24e+00 8.91e-05 -5.7 -0.6 7.42e-01 2 1h 24 2.0830648e+00 7.75e-06 1.24e+00 2.84e-05 -5.7 -1.0 5.56e-03 2 1h 25 2.0828621e+00 8.03e-06 6.48e-01 2.41e-06 -5.7 -1.5 4.78e-01 2 1h 26 2.0826511e+00 1.26e-06 1.46e-03 5.21e-06 -5.7 -2.0 1.00e+00 2 1h 27 2.0820858e+00 8.63e-06 4.35e-03 2.10e-06 -5.7 -2.5 9.26e-01 2 1h 28 2.0823494e+00 1.76e-06 3.27e-04 3.04e-04 -5.7 -2.9 1.00e+00 2 1h 29 2.0821290e+00 1.91e-06 2.28e-04 4.41e-05 -5.7 -3.4 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0820770e+00 1.37e-06 1.25e-05 1.84e-06 -5.7 -3.9 1.00e+00 2 1h 31 2.0820406e+00 8.60e-07 1.27e-05 9.83e-08 -8.6 -4.4 1.00e+00 2 1h 32 2.0819824e+00 1.82e-08 1.26e-05 1.84e-08 -8.6 -4.9 1.00e+00 1 1h 33 2.0818144e+00 1.92e-09 9.18e-05 3.89e-09 -8.6 -5.3 1.00e+00 2 1h 34 2.0817705e+00 1.88e-09 2.63e-02 9.46e-09 -8.6 -5.8 9.44e-02 2 1h 35 2.0816749e+00 1.12e-08 8.79e-03 2.43e-06 -8.6 -6.3 1.00e+00 1 1h 36 2.0814291e+00 3.69e-08 1.87e-03 7.95e-08 -8.6 -6.8 1.00e+00 1 1h 37 2.0810632e+00 2.91e-08 2.12e-02 2.12e-08 -8.6 -7.2 7.93e-01 1 1h 38 2.0809715e+00 2.44e-08 1.01e-01 2.24e-06 -8.6 -7.7 1.67e-01 1 1h 39 2.0808614e+00 2.15e-08 2.30e-01 2.79e-06 -8.6 -7.3 4.42e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0808255e+00 2.09e-08 1.79e-01 2.00e-06 -8.6 -6.9 3.29e-02 1 1h 41 2.0808282e+00 2.09e-08 1.80e-01 2.91e-06 -8.6 -6.4 4.54e-04 1 1h 42 2.0807592e+00 2.08e-08 1.68e-01 1.45e-05 -8.6 -6.9 2.23e-02 2 1h 43 2.0807591e+00 2.08e-08 9.23e-02 1.61e-05 -8.6 -7.4 4.40e-04 2 1h 44 2.0807409e+00 1.93e-08 1.07e-01 1.26e-05 -8.6 -7.9 7.12e-02 2 1h 45 2.0805870e+00 7.30e-08 3.24e-01 1.72e-06 -8.6 -7.4 5.23e-02 1 1h 46 2.0805844e+00 7.02e-08 4.41e-01 1.14e-06 -8.6 -6.1 3.83e-02 1 1h 47 2.0805687e+00 7.13e-08 6.09e-01 1.39e-06 -8.6 -6.6 2.29e-03 2 1h 48 2.0806040e+00 1.11e-08 3.43e-01 1.41e-05 -8.6 -7.1 1.00e+00 2 1h 49 2.0805842e+00 6.11e-09 3.78e-02 6.26e-06 -8.6 -6.6 4.44e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805688e+00 4.71e-09 4.61e-02 4.22e-06 -8.6 -7.1 1.88e-01 2 1h Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0805688283707138e+00 2.0805688283707138e+00 Dual infeasibility......: 4.6055587096873296e-02 4.6055587096873296e-02 Constraint violation....: 4.7142316716985988e-09 4.7142316716985988e-09 Complementarity.........: 4.2194413466293595e-06 4.2194413466293595e-06 Overall NLP error.......: 4.6055587096873296e-02 4.6055587096873296e-02 Number of objective function evaluations = 52 Number of objective gradient evaluations = 51 Number of constraint evaluations = 52 Number of constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Number of KKT factorizations = 121 Number of KKT backsolves = 82 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.056 s Total wall secs in NLP function evaluations = 22.586 s Total wall secs in solver (w/o init./fun./lin. alg.) = 9.968 s Total wall secs = 32.612 s EXIT: Maximum Number of Iterations Exceeded. ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 This is MadNLP version v0.9.1, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 4.4614689e+00 2.77e+00 6.09e-01 9.72e-01 -1.0 - 0.00e+00 1 0 1 2.8155101e+00 3.53e-02 9.80e-01 2.29e-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 2.3262233e+00 2.31e-02 3.09e-01 4.21e-02 -1.7 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 3 2.2735611e+00 1.42e-03 8.28e-02 2.36e-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 2.1192961e+00 1.45e-03 2.99e-02 4.03e-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 2.1152945e+00 8.37e-04 7.29e-03 2.86e-03 -2.5 - 1.00e+00 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.1152945012626518e+00 2.1152945012626518e+00 Dual infeasibility......: 7.2906684807636504e-03 7.2906684807636504e-03 Constraint violation....: 8.3687972825297052e-04 8.3687972825297052e-04 Complementarity.........: 2.8566272173141832e-03 2.8566272173141832e-03 Overall NLP error.......: 7.2906684807636504e-03 7.2906684807636504e-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 = 0.655 s Total wall secs in linear solver = 0.005 s Total wall secs in NLP function evaluations = 0.139 s Total wall secs in solver (w/o init./fun./lin. alg.) = 37.798 s Total wall secs = 38.597 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 4.2850602e+00 2.66e+00 6.92e-01 9.92e-01 -1.0 - 0.00e+00 1 0 1 2.7524150e+00 8.42e-02 1.76e+00 1.48e-01 -1.0 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 2 2.6188311e+00 3.04e-02 3.74e-01 1.02e-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 2.4096440e+00 4.56e-03 1.71e-01 3.54e-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 2.1240260e+00 4.67e-03 6.75e-02 6.08e-03 -2.5 - 9.25e-01 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 5 2.1156112e+00 1.50e-03 9.95e-03 2.92e-03 -2.5 - 1.00e+00 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.1156111544421012e+00 2.1156111544421012e+00 Dual infeasibility......: 9.9536650464095346e-03 9.9536650464095346e-03 Constraint violation....: 1.4990262203571358e-03 1.4990262203571358e-03 Complementarity.........: 2.9212026622762359e-03 2.9212026622762359e-03 Overall NLP error.......: 9.9536650464095346e-03 9.9536650464095346e-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 = 0.005 s Total wall secs in NLP function evaluations = 0.139 s Total wall secs in solver (w/o init./fun./lin. alg.) = 9.614 s Total wall secs = 9.760 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 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 4.7952629e+00 3.76e+00 5.71e-01 9.50e-01 -1.0 - 0.00e+00 1 0 1 2.6939879e+00 7.00e-02 1.58e+00 1.75e-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 2.7148607e+00 4.23e-02 2.04e-01 1.02e-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 2.4179889e+00 5.46e-03 1.43e-01 3.58e-02 -1.7 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 4 2.1139904e+00 1.26e-02 1.23e-01 5.15e-03 -2.5 - 9.92e-01 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 5 2.1156150e+00 2.39e-03 2.76e-02 3.08e-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 2.0913170e+00 6.37e-05 5.69e-03 2.39e-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 2.0913030e+00 1.03e-07 1.77e-04 1.51e-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 2.0899664e+00 1.92e-07 2.99e-04 2.46e-06 -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 2.0899657e+00 6.85e-10 1.93e-05 1.85e-06 -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 2.0898090e+00 4.12e-04 5.46e-03 1.85e-06 -5.7 - 1.80e-01 1 1h Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0898090392322688e+00 2.0898090392322688e+00 Dual infeasibility......: 5.4610465777962507e-03 5.4610465777962507e-03 Constraint violation....: 4.1178536738140092e-04 4.1178536738140092e-04 Complementarity.........: 1.8463803854310243e-06 1.8463803854310243e-06 Overall NLP error.......: 5.4610465777962507e-03 5.4610465777962507e-03 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 = 0.008 s Total wall secs in NLP function evaluations = 0.149 s Total wall secs in solver (w/o init./fun./lin. alg.) = 9.462 s Total wall secs = 9.621 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 5.0679453e+00 2.73e+00 1.59e+00 1.90e+00 -1.0 - 0.00e+00 1 0 1 3.2713872e+00 1.18e-01 1.94e+00 2.61e-01 -1.0 0.0 1.00e+00 1 1h 2 2.9272397e+00 4.16e-02 5.57e+00 1.06e-01 -1.0 0.4 1.00e+00 1 1h 3 2.7098863e+00 1.09e-02 2.33e-01 1.03e-01 -1.0 -0.1 1.00e+00 2 1h 4 2.3908130e+00 4.41e-03 4.52e-02 3.67e-02 -1.7 -0.5 1.00e+00 2 1h 5 2.1220778e+00 8.72e-03 1.91e-02 6.60e-03 -2.5 -1.0 9.57e-01 2 1h 6 2.0916386e+00 6.58e-04 1.80e-03 2.76e-04 -3.8 -1.5 9.87e-01 2 1h 7 2.0913582e+00 3.65e-05 1.33e-04 1.51e-04 -3.8 -2.0 1.00e+00 2 1h 8 2.0900200e+00 8.55e-07 2.45e-05 7.95e-06 -5.7 -2.4 1.00e+00 2 1h 9 2.0900159e+00 4.88e-07 4.25e-05 2.58e-06 -5.7 -2.9 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0900085e+00 3.45e-06 5.48e-05 1.84e-06 -5.7 -3.4 1.00e+00 2 1h 11 2.0899930e+00 2.65e-05 5.19e-05 1.84e-06 -5.7 -3.9 1.00e+00 2 1h 12 2.0899516e+00 9.52e-05 5.28e-05 1.84e-06 -5.7 -4.3 1.00e+00 2 1h 13 2.0898842e+00 6.78e-05 2.35e-03 1.85e-06 -5.7 -4.8 5.17e-01 2 1h 14 2.0895229e+00 9.61e-05 6.43e-04 3.26e-06 -5.7 -5.3 1.00e+00 1 1h 15 2.0893700e+00 8.84e-05 6.27e-02 2.11e-06 -5.7 -5.8 8.23e-02 1 1h 16 2.0868117e+00 4.71e-05 1.27e-02 4.34e-06 -5.7 -6.3 1.00e+00 1 1h 17 2.0863085e+00 4.24e-05 1.65e-01 2.93e-06 -5.7 -6.7 1.02e-01 1 1h 18 2.0817509e+00 5.00e-05 1.33e-01 2.29e-06 -5.7 -7.2 7.51e-01 1 1h 19 2.0818878e+00 1.63e-04 1.29e-01 8.20e-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 2.0811082e+00 3.25e-05 3.30e-02 3.37e-04 -5.7 -8.2 6.09e-01 1 1h 21 2.0806883e+00 1.39e-05 4.86e-02 1.29e-04 -5.7 -8.6 9.27e-01 1 1h 22 2.0807246e+00 1.25e-05 9.38e-02 1.20e-04 -5.7 -7.3 1.01e-01 1 1h 23 2.0807690e+00 1.25e-05 2.42e-01 1.15e-04 -5.7 -5.1 2.70e-01 1 1h 24 2.0807620e+00 9.60e-07 2.38e-03 1.24e-04 -5.7 -5.6 1.00e+00 2 1h 25 2.0807189e+00 6.72e-07 3.62e-02 2.23e-05 -5.7 -6.0 3.14e-01 2 1h 26 2.0806879e+00 1.33e-06 3.91e-01 5.85e-06 -5.7 -5.6 4.35e-01 1 1h 27 2.0806839e+00 1.28e-06 2.29e-01 2.19e-05 -5.7 -6.1 3.17e-01 2 1h 28 2.0806583e+00 4.33e-07 9.40e-04 4.34e-06 -5.7 -6.6 1.00e+00 1 1h 29 2.0806388e+00 2.50e-07 2.06e-03 1.86e-06 -5.7 -7.0 5.83e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0806431e+00 6.41e-08 2.12e-03 5.41e-06 -5.7 -5.7 1.00e+00 1 1h 31 2.0806389e+00 6.41e-08 1.07e-04 2.41e-06 -5.7 -6.2 1.00e+00 1 1h 32 2.0806300e+00 1.45e-07 5.66e-03 1.85e-06 -5.7 -6.7 1.00e+00 1 1h 33 2.0806314e+00 4.48e-07 3.99e-04 1.10e-05 -5.7 -5.3 1.00e+00 1 1h 34 2.0806291e+00 8.43e-08 6.98e-05 2.23e-06 -5.7 -5.8 1.00e+00 1 1h 35 2.0806272e+00 6.42e-08 2.29e-05 1.86e-06 -5.7 -6.3 1.00e+00 1 1h 36 2.0806208e+00 6.42e-08 3.56e-05 1.84e-06 -5.7 -6.8 1.00e+00 1 1h 37 2.0806036e+00 7.43e-08 1.65e-04 1.84e-06 -5.7 -7.2 1.00e+00 1 1h 38 2.0805745e+00 2.10e-07 1.36e-03 1.86e-06 -5.7 -7.7 7.94e-01 1 1h 39 2.0805740e+00 3.64e-07 1.00e-03 1.17e-05 -5.7 -8.2 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805622e+00 4.17e-07 4.72e-04 2.89e-06 -5.7 -8.7 1.00e+00 1 1h 41 2.0805604e+00 7.68e-08 7.94e-05 1.85e-06 -5.7 -9.2 1.00e+00 1 1h 42 2.0805604e+00 6.54e-08 2.59e-06 1.84e-06 -5.7 -9.6 1.00e+00 1 1h 43 2.0805367e+00 3.99e-06 3.44e-06 6.25e-08 -8.6 -10.1 9.93e-01 2 1h 44 2.0805365e+00 1.58e-09 3.71e-09 2.56e-09 -8.6 -10.6 1.00e+00 1 1h Number of Iterations....: 44 (scaled) (unscaled) Objective...............: 2.0805364803979711e+00 2.0805364803979711e+00 Dual infeasibility......: 3.7055929436036195e-09 3.7055929436036195e-09 Constraint violation....: 1.5789394236520593e-09 1.5789394236520593e-09 Complementarity.........: 2.5560504323494631e-09 2.5560504323494631e-09 Overall NLP error.......: 3.7055929436036195e-09 3.7055929436036195e-09 Number of objective function evaluations = 45 Number of objective gradient evaluations = 45 Number of constraint evaluations = 45 Number of constraint Jacobian evaluations = 45 Number of Lagrangian Hessian evaluations = 44 Number of KKT factorizations = 102 Number of KKT backsolves = 60 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.055 s Total wall secs in NLP function evaluations = 24.977 s Total wall secs in solver (w/o init./fun./lin. alg.) = 11.046 s Total wall secs = 36.080 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 This is MadNLP version v0.9.1, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 5.0503028e+00 3.18e+00 7.83e-01 9.79e-01 -1.0 - 0.00e+00 1 0 1 2.6988389e+00 1.14e-01 4.91e+00 7.82e-01 -1.0 0.0 1.00e+00 1 1h 2 2.6748344e+00 5.70e-02 1.01e+00 1.52e-01 -1.0 0.4 1.00e+00 2 1h 3 2.6827506e+00 4.93e-03 1.19e-01 1.03e-01 -1.0 -0.1 1.00e+00 2 1h 4 2.3677080e+00 9.09e-03 1.29e-01 3.14e-02 -2.5 -0.5 1.00e+00 2 1h 5 2.1527419e+00 1.22e-02 1.68e-01 9.08e-03 -2.5 -1.0 6.40e-01 2 1h 6 2.1166304e+00 1.81e-03 5.61e-03 3.24e-03 -2.5 -1.5 1.00e+00 2 1h 7 2.0915222e+00 2.53e-05 1.13e-04 1.85e-04 -3.8 -2.0 1.00e+00 2 1h 8 2.0899963e+00 6.15e-07 1.22e-04 4.10e-05 -5.7 -2.4 1.00e+00 2 1h 9 2.0899719e+00 1.01e-07 2.33e-04 1.11e-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 2.0899576e+00 1.07e-06 1.33e-04 3.40e-06 -5.7 -3.4 1.00e+00 2 1h 11 2.0899420e+00 6.97e-06 1.98e-05 1.85e-06 -5.7 -3.9 1.00e+00 2 1h 12 2.0898995e+00 2.95e-05 1.97e-05 1.84e-06 -5.7 -4.3 1.00e+00 1 1h 13 2.0897724e+00 5.13e-05 2.67e-05 1.84e-06 -5.7 -4.8 1.00e+00 1 1h 14 2.0894044e+00 3.45e-05 1.66e-04 1.84e-06 -5.7 -5.3 1.00e+00 1 1h 15 2.0889580e+00 2.38e-05 2.22e-02 1.94e-06 -5.7 -5.8 4.35e-01 1 1h 16 2.0865180e+00 1.33e-05 9.95e-03 6.77e-06 -5.7 -6.3 1.00e+00 1 1h 17 2.0858197e+00 1.14e-05 1.45e-01 2.78e-06 -5.7 -6.7 1.53e-01 1 1h 18 2.0817450e+00 4.13e-05 1.25e-01 2.16e-06 -5.7 -7.2 7.16e-01 1 1h 19 2.0818493e+00 2.03e-08 1.26e-01 7.74e-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 2.0811103e+00 2.80e-05 3.36e-02 3.28e-04 -5.7 -8.2 5.90e-01 2 1h 21 2.0806856e+00 1.30e-05 4.93e-02 1.26e-04 -5.7 -8.6 9.27e-01 1 1h 22 2.0807258e+00 1.17e-05 9.60e-02 1.17e-04 -5.7 -7.3 1.03e-01 1 1h 23 2.0807687e+00 1.19e-05 2.63e-01 1.14e-04 -5.7 -5.1 2.77e-01 1 1h 24 2.0807650e+00 1.01e-06 2.46e-03 1.37e-04 -5.7 -5.6 1.00e+00 2 1h 25 2.0807201e+00 7.08e-07 3.87e-02 2.24e-05 -5.7 -6.0 3.11e-01 2 1h 26 2.0806856e+00 1.50e-06 4.32e-01 5.97e-06 -5.7 -5.6 4.29e-01 1 1h 27 2.0806812e+00 1.39e-06 2.84e-01 1.35e-05 -5.7 -6.1 1.81e-01 2 1h 28 2.0806575e+00 3.68e-07 1.25e-03 2.91e-06 -5.7 -6.6 1.00e+00 2 1h 29 2.0806393e+00 1.25e-07 5.30e-03 1.96e-06 -5.7 -7.0 5.99e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0806355e+00 1.04e-07 2.66e-04 3.47e-06 -5.7 -6.6 1.00e+00 1 1h 31 2.0806630e+00 9.76e-08 3.41e-03 2.06e-06 -5.7 -7.1 1.00e+00 1 1h 32 2.0806131e+00 6.41e-07 2.60e-01 1.91e-06 -5.7 -4.9 6.59e-01 1 1h 33 2.0806301e+00 3.95e-07 3.32e-01 5.14e-05 -5.7 -5.3 5.00e-01 1 2h 34 2.0806241e+00 9.64e-07 3.36e-04 1.09e-05 -5.7 -5.8 1.00e+00 1 1h 35 2.0806167e+00 1.86e-07 8.17e-05 3.74e-06 -5.7 -6.3 1.00e+00 1 1h 36 2.0806101e+00 6.35e-08 5.18e-05 1.84e-06 -5.7 -6.8 1.00e+00 1 1h 37 2.0806081e+00 2.80e-09 3.95e-06 1.85e-06 -5.7 -6.3 1.00e+00 1 1h 38 2.0805874e+00 4.70e-06 9.37e-03 6.69e-07 -8.6 -6.8 6.73e-01 2 1h 39 2.0805629e+00 9.21e-06 1.49e-04 1.10e-07 -8.6 -7.3 9.62e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805537e+00 7.13e-06 4.53e-03 5.33e-08 -8.6 -7.8 2.31e-01 2 1h 41 2.0805448e+00 2.09e-06 5.60e-03 2.69e-08 -8.6 -8.2 7.07e-01 1 1h 42 2.0805374e+00 2.00e-07 1.61e-03 2.52e-09 -8.6 -8.7 1.00e+00 1 1h 43 2.0805380e+00 7.17e-11 1.31e-05 1.16e-06 -8.6 -6.5 1.00e+00 1 1h 44 2.0805375e+00 2.45e-11 1.09e-05 1.74e-07 -8.6 -7.0 1.00e+00 1 1h 45 2.0805373e+00 2.08e-12 4.88e-04 2.51e-09 -8.6 -6.5 9.62e-01 1 1h 46 2.0805372e+00 4.27e-12 2.58e-06 2.51e-09 -8.6 -7.0 1.00e+00 2 1h 47 2.0805371e+00 1.86e-12 1.90e-06 2.51e-09 -8.6 -7.5 1.00e+00 2 1h 48 2.0805368e+00 8.06e-12 6.62e-06 2.51e-09 -8.6 -8.0 1.00e+00 1 1h 49 2.0805366e+00 2.48e-11 6.09e-05 2.51e-09 -8.6 -8.5 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805366e+00 6.66e-16 2.98e-05 1.75e-07 -8.6 -7.1 1.00e+00 1 1H Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0805366228936282e+00 2.0805366228936282e+00 Dual infeasibility......: 2.9786885735254715e-05 2.9786885735254715e-05 Constraint violation....: 6.6613381477509392e-16 6.6613381477509392e-16 Complementarity.........: 1.7476605361205656e-07 1.7476605361205656e-07 Overall NLP error.......: 2.9786885735254715e-05 2.9786885735254715e-05 Number of objective function evaluations = 54 Number of objective gradient evaluations = 51 Number of constraint evaluations = 54 Number of constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Number of KKT factorizations = 121 Number of KKT backsolves = 74 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.055 s Total wall secs in NLP function evaluations = 25.020 s Total wall secs in solver (w/o init./fun./lin. alg.) = 10.561 s Total wall secs = 35.638 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 2.5642700e+00 2.54e+00 5.88e-01 9.41e-01 -1.0 - 0.00e+00 1 0 1 2.6608946e+00 5.93e-02 1.98e+00 2.43e-01 -1.0 0.0 1.00e+00 1 1h 2 2.7244955e+00 4.00e-02 7.58e-01 1.12e-01 -1.0 -0.5 1.00e+00 1 1h 3 2.3853537e+00 4.93e-03 5.42e-02 3.66e-02 -1.7 -1.0 1.00e+00 1 1h 4 2.1369693e+00 1.08e-02 6.95e-02 7.53e-03 -2.5 -1.4 8.65e-01 1 1h 5 2.1152150e+00 9.17e-04 5.59e-03 2.90e-03 -2.5 -1.9 1.00e+00 1 1h 6 2.0914725e+00 1.19e-05 4.11e-04 1.75e-04 -3.8 -2.4 1.00e+00 1 1h 7 2.0900231e+00 2.21e-06 2.73e-05 2.37e-05 -5.7 -2.9 1.00e+00 1 1h 8 2.0900090e+00 4.78e-06 1.86e-04 6.79e-06 -5.7 -3.3 1.00e+00 1 1h 9 2.0899919e+00 2.74e-05 1.24e-04 2.49e-06 -5.7 -3.8 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0899536e+00 1.82e-04 2.48e-05 1.85e-06 -5.7 -4.3 1.00e+00 1 1h 11 2.0898406e+00 5.43e-05 3.73e-05 1.84e-06 -5.7 -4.8 1.00e+00 1 1h 12 2.0895107e+00 1.14e-05 1.22e-04 1.84e-06 -5.7 -5.2 1.00e+00 1 1h 13 2.0891153e+00 7.45e-06 2.04e-02 1.93e-06 -5.7 -5.7 4.24e-01 1 1h 14 2.0868543e+00 4.83e-06 8.22e-03 7.13e-06 -5.7 -6.2 1.00e+00 1 1h 15 2.0862351e+00 4.59e-06 1.46e-01 2.76e-06 -5.7 -6.7 1.36e-01 1 1h 16 2.0817554e+00 4.78e-05 1.20e-01 2.52e-06 -5.7 -7.2 7.85e-01 1 1h 17 2.0819816e+00 1.97e-08 1.23e-01 8.79e-04 -5.7 -7.6 1.00e+00 1 1H 18 2.0811168e+00 3.31e-05 3.14e-02 3.31e-04 -5.7 -8.1 6.64e-01 1 1h 19 2.0806864e+00 1.27e-05 4.53e-02 1.17e-04 -5.7 -8.6 9.60e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.3656189e+00 9.93e-07 2.77e+00 1.75e-04 -5.7 -7.3 1.00e+00 1 1H 21 2.3494953e+00 4.33e-06 5.31e+00 1.75e-04 -5.7 -3.2 2.12e-02 1 1h 22 2.2075430e+00 2.98e-06 3.65e+00 1.16e-04 -5.7 -0.1 3.14e-01 1 1h 23 2.0822882e+00 2.48e-06 6.95e-01 7.62e-05 -5.7 -0.6 8.20e-01 1 1h 24 2.0822841e+00 2.46e-06 6.99e-01 3.39e-05 -5.7 -1.0 8.48e-03 1 1h 25 2.0821546e+00 2.51e-06 3.71e-01 2.30e-06 -5.7 -1.5 5.26e-01 1 1h 26 2.0819614e+00 1.32e-06 1.39e-03 2.75e-06 -5.7 -2.0 1.00e+00 1 1h 27 2.0817494e+00 2.32e-06 1.87e-02 2.40e-06 -5.7 -2.5 3.82e-01 1 1h 28 2.0818172e+00 2.41e-07 6.60e-05 7.09e-05 -5.7 -2.9 1.00e+00 1 1h 29 2.0817528e+00 5.57e-07 2.05e-05 5.26e-06 -5.7 -3.4 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0817434e+00 9.80e-08 1.20e-05 1.84e-06 -5.7 -3.9 1.00e+00 1 1h 31 2.0817073e+00 8.11e-07 1.22e-05 1.32e-07 -8.6 -4.4 1.00e+00 1 1h 32 2.0816541e+00 1.96e-08 1.22e-05 3.00e-08 -8.6 -4.9 1.00e+00 1 1h 33 2.0815366e+00 4.68e-09 2.22e-03 4.78e-09 -8.6 -5.3 7.63e-01 1 1h 34 2.0815155e+00 1.49e-09 3.05e-03 6.11e-06 -8.6 -5.8 1.00e+00 1 1h 35 2.0814336e+00 7.79e-09 2.01e-04 1.75e-07 -8.6 -6.3 1.00e+00 1 1h 36 2.0812426e+00 2.57e-08 1.36e-03 6.41e-09 -8.6 -6.8 1.00e+00 1 1h 37 2.0809130e+00 2.15e-08 9.76e-03 3.04e-09 -8.6 -7.2 9.05e-01 1 1h 38 2.0807378e+00 1.14e-08 4.67e-02 1.02e-05 -8.6 -7.7 4.96e-01 1 1h 39 2.0807413e+00 1.08e-08 2.44e-01 1.70e-05 -8.6 -7.3 6.27e-02 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805833e+00 7.52e-09 3.59e-02 2.90e-06 -8.6 -7.8 1.00e+00 1 1h 41 2.0805785e+00 6.90e-09 1.28e-01 7.25e-07 -8.6 -6.4 8.14e-02 1 1h 42 2.0805766e+00 5.64e-09 4.10e-03 5.56e-07 -8.6 -6.9 1.83e-01 1 1h 43 2.0805623e+00 2.60e-09 7.07e-03 1.83e-07 -8.6 -7.4 5.95e-01 1 1h 44 2.0805422e+00 1.33e-09 3.94e-03 1.68e-08 -8.6 -7.9 1.00e+00 1 1h 45 2.0805421e+00 1.31e-09 3.39e-02 1.53e-08 -8.6 -6.5 1.48e-02 1 1h 46 2.0805408e+00 1.33e-11 1.30e-05 4.68e-08 -8.6 -7.0 1.00e+00 1 1h 47 2.0805387e+00 5.06e-11 5.60e-05 7.04e-09 -8.6 -7.5 1.00e+00 1 1h 48 2.0805372e+00 5.64e-11 2.44e-03 2.64e-09 -8.6 -8.0 1.00e+00 1 1h 49 2.0805372e+00 2.83e-12 2.17e-06 8.38e-08 -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 2.0805370e+00 3.03e-12 4.52e-04 2.52e-09 -8.6 -7.1 1.00e+00 1 1h Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0805370194641921e+00 2.0805370194641921e+00 Dual infeasibility......: 4.5183558548839153e-04 4.5183558548839153e-04 Constraint violation....: 3.0251356974986265e-12 3.0251356974986265e-12 Complementarity.........: 2.5235698710726368e-09 2.5235698710726368e-09 Overall NLP error.......: 4.5183558548839153e-04 4.5183558548839153e-04 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 = 121 Number of KKT backsolves = 53 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.108 s Total wall secs in NLP function evaluations = 22.889 s Total wall secs in solver (w/o init./fun./lin. alg.) = 10.237 s Total wall secs = 33.236 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 6.0864969e+00 3.47e+00 4.97e-01 9.16e-01 -1.0 - 0.00e+00 1 0 1 2.8538021e+00 9.58e-01 3.43e+00 8.10e-01 -0.7 0.0 7.24e-01 1 1h 2 2.6615243e+00 2.91e-01 1.26e+00 3.70e-01 -0.7 -0.5 6.96e-01 2 1h 3 2.7342128e+00 1.25e-01 1.27e+00 1.97e-01 -0.9 -1.0 5.79e-01 2 1h 4 2.5630561e+00 4.69e-02 4.08e-01 1.18e-01 -1.0 -0.5 6.25e-01 1 1h 5 2.6939043e+00 1.08e-02 2.03e-01 1.21e-01 -1.1 -1.0 1.00e+00 2 1h 6 2.1896965e+00 3.32e-02 1.51e-01 2.24e-02 -7.8 -1.5 1.00e+00 2 1h 7 2.1744568e+00 1.29e-03 3.83e-02 9.98e-03 -2.0 -2.0 1.00e+00 2 1h 8 2.0987670e+00 2.22e-04 2.76e-03 1.13e-03 -3.0 -2.4 1.00e+00 2 1h 9 2.0902312e+00 1.61e-05 6.82e-05 6.84e-05 -4.5 -2.9 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0899237e+00 1.45e-06 3.76e-04 1.72e-05 -6.8 -3.4 1.00e+00 2 1h 11 2.0898989e+00 6.73e-07 1.67e-04 3.77e-06 -6.8 -3.9 1.00e+00 2 1h 12 2.0898545e+00 2.69e-06 2.64e-05 6.74e-07 -6.8 -4.3 1.00e+00 2 1h 13 2.0897334e+00 5.95e-06 2.59e-04 1.54e-07 -6.8 -4.8 9.50e-01 1 1h 14 2.0893648e+00 6.93e-06 1.82e-04 4.48e-07 -6.8 -5.3 1.00e+00 1 1h 15 2.0891683e+00 5.89e-06 3.18e-02 1.66e-07 -6.8 -5.8 1.89e-01 1 1h 16 2.0866470e+00 6.86e-06 1.03e-02 4.75e-07 -6.8 -6.3 1.00e+00 1 1h 17 2.0861118e+00 6.06e-06 1.49e-01 2.36e-07 -6.8 -6.7 1.19e-01 1 1h 18 2.0817260e+00 3.88e-06 1.30e-01 1.80e-07 -6.8 -7.2 7.36e-01 1 1h 19 2.0821745e+00 1.62e-05 1.50e-01 1.23e-03 -6.8 -7.7 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0811010e+00 1.26e-06 3.19e-02 4.25e-04 -6.8 -8.2 7.13e-01 1 1h 21 2.0807134e+00 1.25e-06 4.62e-02 1.53e-04 -6.8 -8.6 9.67e-01 2 1h 22 2.0810608e+00 1.83e-06 1.65e-01 4.47e-04 -6.8 -6.4 1.00e+00 1 1h 23 2.0808513e+00 8.90e-07 1.49e-01 1.68e-04 -6.8 -6.0 5.45e-01 1 1h 24 2.0808298e+00 8.41e-07 1.00e-01 1.63e-04 -6.8 -6.5 5.50e-02 2 1h 25 2.0806809e+00 5.10e-07 1.34e-02 3.91e-05 -6.8 -6.9 1.00e+00 2 1h 26 2.0806291e+00 3.48e-07 2.57e-02 3.38e-05 -6.8 -7.4 2.64e-01 2 1h 27 2.0805619e+00 1.55e-07 6.40e-03 8.43e-06 -6.8 -7.9 9.89e-01 2 1h 28 2.0805500e+00 3.56e-08 2.87e-03 2.72e-06 -6.8 -8.4 8.11e-01 1 1h 29 2.0805463e+00 1.59e-08 2.43e-03 3.51e-06 -6.8 -7.0 8.87e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0805424e+00 2.22e-08 2.87e-03 1.54e-07 -6.8 -7.5 1.00e+00 1 1h 31 2.0805427e+00 2.32e-10 1.29e-05 2.59e-07 -6.8 -6.2 1.00e+00 1 1h 32 2.0805425e+00 8.91e-11 1.51e-06 1.62e-07 -6.8 -6.7 1.00e+00 1 1h 33 2.0805421e+00 1.26e-08 3.55e-02 1.95e-07 -9.0 -7.1 8.49e-02 2 1h 34 2.0805392e+00 8.25e-07 7.58e-05 4.47e-08 -9.0 -7.6 9.60e-01 2 1h 35 2.0805377e+00 7.42e-08 6.05e-05 3.13e-09 -9.0 -8.1 1.00e+00 1 1h 36 2.0805367e+00 1.19e-10 9.45e-05 9.70e-10 -9.0 -8.6 1.00e+00 1 1h 37 2.0805373e+00 6.66e-16 8.31e-05 5.20e-07 -9.0 -7.2 1.00e+00 1 1H 38 2.0805367e+00 3.54e-12 3.19e-05 5.12e-09 -9.0 -5.9 1.00e+00 1 1h 39 2.0805367e+00 7.46e-12 3.39e-06 1.64e-09 -9.0 -6.4 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805367e+00 1.98e-11 2.74e-07 9.39e-10 -9.0 -6.9 1.00e+00 2 1h 41 2.0805366e+00 1.46e-11 2.33e-05 9.10e-10 -9.0 -7.3 1.00e+00 2 1h 42 2.0805366e+00 2.41e-12 8.35e-06 5.05e-08 -9.0 -6.9 1.00e+00 1 1h 43 2.0805366e+00 2.75e-12 4.43e-06 9.81e-10 -9.0 -7.4 1.00e+00 1 1h 44 2.0805366e+00 2.66e-15 2.56e-08 9.09e-10 -9.0 -6.1 1.00e+00 1 1h 45 2.0805366e+00 1.15e-14 6.97e-08 9.09e-10 -9.0 -6.5 1.00e+00 2 1h 46 2.0805366e+00 1.11e-14 1.61e-03 2.19e-09 -9.0 -7.0 1.20e-01 2 2h 47 2.0805365e+00 2.48e-13 4.70e-07 1.09e-09 -9.0 -7.5 1.00e+00 2 1h 48 2.0805365e+00 5.48e-14 9.99e-08 9.09e-10 -9.0 -7.1 1.00e+00 1 1h 49 2.0805365e+00 1.95e-13 4.35e-07 1.10e-09 -9.0 -7.5 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805365e+00 6.02e-13 1.19e-06 9.09e-10 -9.0 -8.0 1.00e+00 1 1h Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0805364929360461e+00 2.0805364929360461e+00 Dual infeasibility......: 1.1881659523482746e-06 1.1881659523482746e-06 Constraint violation....: 6.0162985704437233e-13 6.0162985704437233e-13 Complementarity.........: 9.0909090950151339e-10 9.0909090950151339e-10 Overall NLP error.......: 1.1881659523482746e-06 1.1881659523482746e-06 Number of objective function evaluations = 54 Number of objective gradient evaluations = 51 Number of constraint evaluations = 54 Number of constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Number of KKT factorizations = 120 Number of KKT backsolves = 79 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.049 s Total wall secs in NLP function evaluations = 22.334 s Total wall secs in solver (w/o init./fun./lin. alg.) = 11.631 s Total wall secs = 34.016 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 3.7224833e+00 3.16e+00 5.79e-01 9.38e-01 -1.0 - 0.00e+00 1 0 1 2.8866668e+00 2.51e+00 9.40e+01 7.85e+00 -0.2 0.0 2.07e-01 1 1h 2 3.2018538e+00 1.51e-01 2.01e+01 2.35e+00 0.2 -0.5 1.00e+00 2 1h 3 3.3428839e+00 1.21e-01 5.78e+00 1.17e+00 -0.0 -1.0 1.00e+00 2 1h 4 3.0523303e+00 1.55e-02 1.43e+00 3.00e-01 -1.9 -0.5 1.00e+00 1 1h 5 2.8923218e+00 8.80e-03 1.71e+00 1.95e-01 -0.8 -0.1 3.90e-01 1 1h 6 3.0227083e+00 1.11e-02 2.77e-01 1.95e-01 -0.8 -0.6 1.00e+00 2 1h 7 2.4435835e+00 1.29e-02 1.92e-01 5.14e-02 -2.7 -1.1 1.00e+00 2 1h 8 2.2622900e+00 2.05e-03 1.64e-02 2.30e-02 -1.7 -1.5 1.00e+00 2 1h 9 2.1018236e+00 1.63e-03 4.00e-03 1.49e-03 -3.8 -2.0 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0915607e+00 4.65e-04 3.52e-04 1.82e-04 -3.8 -2.5 1.00e+00 2 1h 11 2.0900275e+00 3.30e-06 2.16e-05 3.40e-06 -5.6 -3.0 1.00e+00 2 1h 12 2.0899995e+00 8.08e-06 2.08e-05 3.01e-07 -8.4 -3.4 1.00e+00 2 1h 13 2.0899834e+00 6.93e-05 2.67e-05 6.02e-09 -8.4 -3.9 1.00e+00 2 1h 14 2.0899519e+00 6.77e-05 3.80e-04 4.04e-09 -8.4 -4.4 7.45e-01 2 1h 15 2.0899388e+00 1.20e-04 4.80e-03 1.49e-05 -8.4 -4.9 1.00e+00 2 1h 16 2.0897945e+00 1.88e-05 4.62e-03 3.58e-09 -8.4 -3.5 8.43e-01 1 1h 17 2.0897743e+00 1.24e-07 5.32e-04 3.58e-09 -8.4 -4.0 1.00e+00 2 1h 18 2.0897141e+00 7.24e-07 1.97e-05 3.58e-09 -8.4 -4.5 1.00e+00 2 1h 19 2.0895774e+00 1.75e-06 1.59e-03 3.59e-09 -8.4 -5.0 7.67e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0890658e+00 4.65e-06 3.50e-04 1.23e-08 -8.4 -5.5 1.00e+00 2 1h 21 2.0888169e+00 3.99e-06 4.29e-02 3.97e-09 -8.4 -5.9 1.80e-01 2 1h 22 2.0856597e+00 5.46e-06 1.78e-02 9.95e-09 -8.4 -6.4 1.00e+00 2 1h 23 2.0849796e+00 4.68e-06 1.52e-01 5.77e-09 -8.4 -6.9 1.45e-01 2 1h 24 2.0816865e+00 2.29e-06 1.45e-01 4.14e-09 -8.4 -7.4 5.59e-01 2 1h 25 2.0816000e+00 3.80e-07 1.50e-01 6.95e-04 -8.4 -7.8 1.00e+00 1 1h 26 2.0811031e+00 1.94e-07 3.95e-02 3.85e-04 -8.4 -8.3 4.04e-01 1 1h 27 2.0807434e+00 5.46e-08 4.70e-02 2.20e-04 -8.4 -8.8 6.59e-01 2 1h 28 2.0807867e+00 1.08e-08 1.04e-01 1.67e-04 -8.4 -6.6 1.00e+00 1 1h 29 2.0807370e+00 8.64e-09 7.40e-02 1.29e-04 -8.4 -7.0 1.92e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0806690e+00 5.56e-09 5.62e-02 9.41e-05 -8.4 -7.5 2.94e-01 1 1h 31 2.0806673e+00 5.49e-09 6.20e-02 7.24e-05 -8.4 -8.0 1.07e-02 2 1h 32 2.0805742e+00 1.10e-08 7.30e-03 1.75e-05 -8.4 -8.5 1.00e+00 1 1h 33 2.0805724e+00 6.90e-09 2.99e-02 1.50e-05 -8.4 -7.1 5.55e-01 1 1h 34 2.0805458e+00 2.10e-09 1.99e-03 5.17e-08 -8.4 -7.6 1.00e+00 2 1h 35 2.0805449e+00 1.67e-09 1.01e-01 4.72e-08 -8.4 -6.3 1.77e-01 1 1h 36 2.0805443e+00 6.59e-10 6.92e-03 8.19e-07 -8.4 -6.8 5.84e-01 2 1h 37 2.0805428e+00 4.86e-10 2.98e-03 7.16e-07 -8.4 -7.2 2.64e-01 2 1h 38 2.0805408e+00 1.45e-10 1.04e-04 2.14e-07 -8.4 -7.7 1.00e+00 2 1h 39 2.0805380e+00 2.12e-10 1.20e-04 4.47e-08 -8.4 -8.2 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805367e+00 2.63e-10 1.85e-03 3.87e-09 -8.4 -8.7 1.00e+00 1 1h 41 2.0805367e+00 1.70e-13 6.76e-08 4.39e-09 -8.4 -6.4 1.00e+00 1 1h 42 2.0805367e+00 1.07e-13 4.90e-08 3.58e-09 -8.4 -6.9 1.00e+00 2 1h 43 2.0805366e+00 2.52e-13 3.36e-07 3.58e-09 -8.4 -7.4 1.00e+00 2 1h 44 2.0805366e+00 1.68e-12 1.45e-06 3.58e-09 -8.4 -7.9 1.00e+00 2 1h 45 2.0805365e+00 7.40e-12 3.84e-04 3.59e-09 -8.4 -8.4 1.00e+00 1 1h 46 2.0805365e+00 1.07e-14 8.70e-07 3.58e-09 -8.4 -6.1 1.00e+00 1 1h 47 2.0805365e+00 4.88e-13 1.88e-07 5.90e-09 -8.4 -6.6 1.00e+00 2 1h 48 2.0805365e+00 3.36e-13 9.94e-05 3.58e-09 -8.4 -7.1 1.00e+00 2 1h 49 2.0805365e+00 3.73e-13 4.06e-07 9.59e-09 -8.4 -5.7 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805365e+00 1.26e-13 1.67e-06 3.58e-09 -8.4 -6.2 1.00e+00 1 1h Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0805365184322384e+00 2.0805365184322384e+00 Dual infeasibility......: 1.6745871485173252e-06 1.6745871485173252e-06 Constraint violation....: 1.2612133559741778e-13 1.2612133559741778e-13 Complementarity.........: 3.5800782101843269e-09 3.5800782101843269e-09 Overall NLP error.......: 1.6745871485173252e-06 1.6745871485173252e-06 Number of objective function evaluations = 51 Number of objective gradient evaluations = 51 Number of constraint evaluations = 51 Number of constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Number of KKT factorizations = 122 Number of KKT backsolves = 82 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.053 s Total wall secs in NLP function evaluations = 23.793 s Total wall secs in solver (w/o init./fun./lin. alg.) = 11.910 s Total wall secs = 35.758 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: 0.063s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.804s jacobian structure: 1600 nonzeros (2.868s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.463s 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 (4.511s) linear index maps built (0.0s) evaluator ready (total: 7.379s) evaluator created (7.406s) 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: 7.42s) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.5457452e+00 3.08e+00 3.61e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.8387866e+00 7.14e-02 3.65e+00 -1.0 1.98e+00 0.0 6.58e-01 1.00e+00f 1 Hello, world! 2 2.4783698e+00 2.54e-02 9.71e-01 -1.0 1.78e-01 0.4 9.71e-01 9.99e-01h 1 Hello, world! 3 2.4047273e+00 5.29e-03 4.20e-01 -1.7 1.02e-01 -0.1 9.97e-01 1.00e+00h 1 Hello, world! 4 2.2738929e+00 3.43e-03 2.14e-01 -2.0 1.84e-01 -0.5 9.95e-01 3.63e-01f 1 Hello, world! 5 2.1288701e+00 1.93e-03 9.59e-02 -2.8 8.29e-02 -1.0 1.00e+00 8.08e-01h 1 Hello, world! 6 2.0914438e+00 1.60e-04 4.36e-02 -4.0 2.11e-02 -1.5 1.00e+00 9.75e-01h 1 Hello, world! 7 2.0908795e+00 4.78e-07 1.10e-03 -4.0 9.74e-03 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908771e+00 2.57e-09 4.61e-05 -4.0 1.26e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908732e+00 2.78e-10 2.28e-05 -4.0 1.87e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908663e+00 1.29e-09 2.25e-05 -4.0 5.52e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908475e+00 1.01e-08 2.17e-05 -4.0 1.59e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908018e+00 6.88e-08 1.28e-04 -4.0 4.22e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0907200e+00 3.12e-07 7.36e-04 -4.0 9.99e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0905183e+00 3.08e-06 1.13e-03 -4.0 3.02e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0898885e+00 2.54e-05 1.33e-03 -4.0 8.41e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0887501e+00 6.31e-05 3.87e-02 -4.0 2.44e+01 -6.3 1.00e+00 5.50e-01h 1 Hello, world! 17 2.0862035e+00 1.12e-03 9.10e-02 -4.0 5.73e+01 -6.7 1.00e+00 1.00e+00f 1 Hello, world! 18 2.0843718e+00 4.32e-04 5.23e-02 -4.0 6.06e+00 -5.4 1.00e+00 6.49e-01h 1 Hello, world! 19 2.0841301e+00 7.27e-05 6.34e-03 -4.0 6.25e+00 -5.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0832774e+00 3.28e-05 4.38e-03 -4.0 1.31e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0827338e+00 9.47e-05 7.54e-03 -4.0 2.19e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0826563e+00 8.21e-05 4.42e-03 -4.0 5.66e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0822435e+00 5.85e-04 6.58e-03 -4.0 1.36e+02 -7.8 9.48e-01 1.00e+00h 1 Hello, world! 24 2.0824790e+00 1.61e-03 2.31e-02 -4.0 3.32e+01 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0820523e+00 1.45e-03 2.09e-02 -4.0 1.75e+01 -6.9 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0823411e+00 5.35e-04 3.89e-02 -4.0 2.15e+00 -4.7 5.66e-01 5.43e-01h 1 Hello, world! 27 2.0821444e+00 2.43e-04 3.63e-03 -4.0 1.55e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0822753e+00 2.36e-07 8.06e-03 -4.0 3.29e+00 -5.7 1.00e+00 1.00e+00H 1 Hello, world! 29 2.0821785e+00 3.51e-05 2.00e-03 -4.0 1.86e+00 -6.1 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 30 2.0821648e+00 3.06e-05 5.55e-04 -4.0 4.83e+00 -6.6 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0821183e+00 4.38e-06 4.21e-04 -4.0 1.42e+01 -7.1 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0820180e+00 5.02e-05 2.33e-03 -4.0 2.89e+01 -7.6 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0819115e+00 1.14e-04 4.36e-03 -4.0 4.74e+01 -8.0 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0818570e+00 1.30e-04 3.37e-03 -4.0 5.71e+01 -8.5 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0818448e+00 3.41e-05 6.93e-04 -4.0 3.35e+01 -9.0 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0818435e+00 1.44e-06 3.87e-05 -4.0 8.06e+00 -9.5 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0818434e+00 8.39e-09 3.30e-07 -4.0 7.24e-01 -10.0 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0818434e+00 6.65e-12 1.00e-09 -4.0 2.31e-02 -10.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 38 (scaled) (unscaled) Objective...............: 2.0818434105455292e+00 2.0818434105455292e+00 Dual infeasibility......: 1.0000000111288175e-09 1.0000000111288175e-09 Constraint violation....: 6.6462391146160371e-12 6.6462391146160371e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000063e-04 1.0000000000000063e-04 Overall NLP error.......: 1.0000000111288175e-09 1.0000000111288175e-09 Number of objective function evaluations = 40 Number of objective gradient evaluations = 39 Number of equality constraint evaluations = 40 Number of inequality constraint evaluations = 40 Number of equality constraint Jacobian evaluations = 39 Number of inequality constraint Jacobian evaluations = 39 Number of Lagrangian Hessian evaluations = 38 Total seconds in IPOPT = 32.422 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) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.5457452e+00 3.08e+00 3.61e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.8387866e+00 7.14e-02 3.65e+00 -1.0 1.98e+00 0.0 6.58e-01 1.00e+00f 1 Hello, world! 2 2.4783698e+00 2.54e-02 9.71e-01 -1.0 1.78e-01 0.4 9.71e-01 9.99e-01h 1 Hello, world! 3 2.4047273e+00 5.29e-03 4.20e-01 -1.7 1.02e-01 -0.1 9.97e-01 1.00e+00h 1 Hello, world! 4 2.2738929e+00 3.43e-03 2.14e-01 -2.0 1.84e-01 -0.5 9.95e-01 3.63e-01f 1 Hello, world! 5 2.1288701e+00 1.93e-03 9.59e-02 -2.8 8.29e-02 -1.0 1.00e+00 8.08e-01h 1 Hello, world! 6 2.0914438e+00 1.60e-04 4.36e-02 -4.0 2.11e-02 -1.5 1.00e+00 9.75e-01h 1 Hello, world! 7 2.0908795e+00 4.78e-07 1.10e-03 -4.0 9.74e-03 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908771e+00 2.57e-09 4.61e-05 -4.0 1.26e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908732e+00 2.78e-10 2.28e-05 -4.0 1.87e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908663e+00 1.29e-09 2.25e-05 -4.0 5.52e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908475e+00 1.01e-08 2.17e-05 -4.0 1.59e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908018e+00 6.88e-08 1.28e-04 -4.0 4.22e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0907200e+00 3.12e-07 7.36e-04 -4.0 9.99e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0905183e+00 3.08e-06 1.13e-03 -4.0 3.02e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0898885e+00 2.54e-05 1.33e-03 -4.0 8.41e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0887501e+00 6.31e-05 3.87e-02 -4.0 2.44e+01 -6.3 1.00e+00 5.50e-01h 1 Hello, world! 17 2.0862035e+00 1.12e-03 9.10e-02 -4.0 5.73e+01 -6.7 1.00e+00 1.00e+00f 1 Hello, world! 18 2.0843718e+00 4.32e-04 5.23e-02 -4.0 6.06e+00 -5.4 1.00e+00 6.49e-01h 1 Hello, world! 19 2.0841301e+00 7.27e-05 6.34e-03 -4.0 6.25e+00 -5.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0832774e+00 3.28e-05 4.38e-03 -4.0 1.31e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0827338e+00 9.47e-05 7.54e-03 -4.0 2.19e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0826563e+00 8.21e-05 4.42e-03 -4.0 5.66e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0822435e+00 5.85e-04 6.58e-03 -4.0 1.36e+02 -7.8 9.48e-01 1.00e+00h 1 Hello, world! 24 2.0824790e+00 1.61e-03 2.31e-02 -4.0 3.32e+01 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0820523e+00 1.45e-03 2.09e-02 -4.0 1.75e+01 -6.9 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0823411e+00 5.35e-04 3.89e-02 -4.0 2.15e+00 -4.7 5.66e-01 5.43e-01h 1 Hello, world! 27 2.0821444e+00 2.43e-04 3.63e-03 -4.0 1.55e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0822753e+00 2.36e-07 8.06e-03 -4.0 3.29e+00 -5.7 1.00e+00 1.00e+00H 1 Hello, world! 29 2.0821785e+00 3.51e-05 2.00e-03 -4.0 1.86e+00 -6.1 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 30 2.0821648e+00 3.06e-05 5.55e-04 -4.0 4.83e+00 -6.6 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0821183e+00 4.38e-06 4.21e-04 -4.0 1.42e+01 -7.1 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0820180e+00 5.02e-05 2.33e-03 -4.0 2.89e+01 -7.6 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0819115e+00 1.14e-04 4.36e-03 -4.0 4.74e+01 -8.0 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0818570e+00 1.30e-04 3.37e-03 -4.0 5.71e+01 -8.5 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0818448e+00 3.41e-05 6.93e-04 -4.0 3.35e+01 -9.0 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0818435e+00 1.44e-06 3.87e-05 -4.0 8.06e+00 -9.5 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0818434e+00 8.39e-09 3.30e-07 -4.0 7.24e-01 -10.0 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0818434e+00 6.65e-12 1.00e-09 -4.0 2.31e-02 -10.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 38 (scaled) (unscaled) Objective...............: 2.0818434105455292e+00 2.0818434105455292e+00 Dual infeasibility......: 1.0000000111288175e-09 1.0000000111288175e-09 Constraint violation....: 6.6462391146160371e-12 6.6462391146160371e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000063e-04 1.0000000000000063e-04 Overall NLP error.......: 1.0000000111288175e-09 1.0000000111288175e-09 Number of objective function evaluations = 40 Number of objective gradient evaluations = 39 Number of equality constraint evaluations = 40 Number of inequality constraint evaluations = 40 Number of equality constraint Jacobian evaluations = 39 Number of inequality constraint Jacobian evaluations = 39 Number of Lagrangian Hessian evaluations = 38 Total seconds in IPOPT = 0.833 EXIT: Optimal Solution Found. 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: 3.098s jacobian structure: 1600 nonzeros (3.166s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 5.318s 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 (5.37s) linear index maps built (0.0s) evaluator ready (total: 8.536s) evaluator created (8.562s) 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: 8.563s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.8553156e+00 3.60e+00 4.59e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5646088e+00 7.83e-02 3.31e+00 -1.0 2.13e+00 0.0 9.57e-01 1.00e+00f 1 2 2.6838908e+00 8.71e-03 1.34e+00 -0.8 2.07e-01 0.4 1.00e+00 1.00e+00h 1 3 2.5366323e+00 3.60e-03 3.65e-01 -1.5 7.99e-02 -0.1 9.90e-01 1.00e+00h 1 4 2.1621494e+00 6.04e-03 1.33e-01 -2.3 1.19e-01 -0.5 9.91e-01 9.14e-01f 1 5 2.1081150e+00 1.66e-03 8.53e-02 -3.4 2.91e-02 -1.0 1.00e+00 7.27e-01h 1 6 2.0911137e+00 4.95e-05 6.90e-03 -4.0 9.28e-03 -1.5 1.00e+00 9.74e-01h 1 7 2.0908732e+00 1.03e-07 4.37e-05 -4.0 1.87e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908717e+00 2.10e-09 2.05e-05 -4.0 5.59e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908701e+00 1.36e-10 2.03e-05 -4.0 1.67e-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 2.0908655e+00 1.14e-09 1.99e-05 -4.0 4.89e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908531e+00 8.56e-09 1.88e-05 -4.0 1.39e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908235e+00 5.10e-08 1.24e-04 -4.0 3.72e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907510e+00 3.02e-07 4.96e-04 -4.0 9.69e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905486e+00 3.02e-06 6.91e-04 -4.0 2.99e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0900778e+00 4.12e-06 1.22e-02 -4.0 8.56e+00 -5.8 1.00e+00 6.22e-01H 1 16 2.0898802e+00 2.58e-04 5.66e-02 -4.0 2.81e+01 -6.3 1.00e+00 1.00e+00f 1 17 2.0874372e+00 1.70e-04 1.32e-01 -4.0 8.71e+00 -4.9 1.00e+00 5.08e-01h 1 18 2.0873539e+00 4.98e-05 1.11e-02 -4.0 3.57e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0863610e+00 6.46e-05 6.02e-03 -4.0 1.06e+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 2.0848178e+00 1.98e-04 9.94e-03 -4.0 2.44e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0827699e+00 3.14e-04 2.66e-02 -4.0 3.62e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0831952e+00 1.45e-03 4.16e-02 -4.0 5.50e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0822159e+00 8.68e-04 7.14e-03 -4.1 1.35e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.1342690e+00 1.20e-05 1.73e+00 -4.0 5.89e+02 -8.3 8.35e-02 1.00e+00H 1 25 2.1008522e+00 1.49e-04 8.03e+00 -4.1 9.01e+01 -2.4 1.42e-03 1.55e-02f 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.1008522000605332e+00 2.1008522000605332e+00 Dual infeasibility......: 8.0313678153228683e+00 8.0313678153228683e+00 Constraint violation....: 1.4866314665786667e-04 1.4866314665786667e-04 Variable bound violation: 1.3729125891703831e-09 1.3729125891703831e-09 Complementarity.........: 1.6349771271656618e-04 1.6349771271656618e-04 Overall NLP error.......: 8.0313678153228683e+00 8.0313678153228683e+00 Number of objective function evaluations = 28 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 28 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 34.155 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.003s) evaluator created (0.003s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.003s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.8553156e+00 3.60e+00 4.59e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5646088e+00 7.83e-02 3.31e+00 -1.0 2.13e+00 0.0 9.57e-01 1.00e+00f 1 2 2.6838908e+00 8.71e-03 1.34e+00 -0.8 2.07e-01 0.4 1.00e+00 1.00e+00h 1 3 2.5366323e+00 3.60e-03 3.65e-01 -1.5 7.99e-02 -0.1 9.90e-01 1.00e+00h 1 4 2.1621494e+00 6.04e-03 1.33e-01 -2.3 1.19e-01 -0.5 9.91e-01 9.14e-01f 1 5 2.1081150e+00 1.66e-03 8.53e-02 -3.4 2.91e-02 -1.0 1.00e+00 7.27e-01h 1 6 2.0911137e+00 4.95e-05 6.90e-03 -4.0 9.28e-03 -1.5 1.00e+00 9.74e-01h 1 7 2.0908732e+00 1.03e-07 4.37e-05 -4.0 1.87e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908717e+00 2.10e-09 2.05e-05 -4.0 5.59e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908701e+00 1.36e-10 2.03e-05 -4.0 1.67e-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 2.0908655e+00 1.14e-09 1.99e-05 -4.0 4.89e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908531e+00 8.56e-09 1.88e-05 -4.0 1.39e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908235e+00 5.10e-08 1.24e-04 -4.0 3.72e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907510e+00 3.02e-07 4.96e-04 -4.0 9.69e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905486e+00 3.02e-06 6.91e-04 -4.0 2.99e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0900778e+00 4.12e-06 1.22e-02 -4.0 8.56e+00 -5.8 1.00e+00 6.22e-01H 1 16 2.0898802e+00 2.58e-04 5.66e-02 -4.0 2.81e+01 -6.3 1.00e+00 1.00e+00f 1 17 2.0874372e+00 1.70e-04 1.32e-01 -4.0 8.71e+00 -4.9 1.00e+00 5.08e-01h 1 18 2.0873539e+00 4.98e-05 1.11e-02 -4.0 3.57e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0863610e+00 6.46e-05 6.02e-03 -4.0 1.06e+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 2.0848178e+00 1.98e-04 9.94e-03 -4.0 2.44e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0827699e+00 3.14e-04 2.66e-02 -4.0 3.62e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0831952e+00 1.45e-03 4.16e-02 -4.0 5.50e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0822159e+00 8.68e-04 7.14e-03 -4.1 1.35e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.1342690e+00 1.20e-05 1.73e+00 -4.0 5.89e+02 -8.3 8.35e-02 1.00e+00H 1 25 2.1008522e+00 1.49e-04 8.03e+00 -4.1 9.01e+01 -2.4 1.42e-03 1.55e-02f 1 26 2.0860276e+00 6.44e-05 3.59e+00 -4.1 5.33e-01 -2.0 1.00e+00 5.55e-01f 1 27 2.0866680e+00 6.09e-05 3.41e+00 -4.0 1.41e+00 -2.5 1.00e+00 6.25e-02f 5 28 2.0844135e+00 1.15e-04 2.64e-02 -4.0 1.39e+00 -2.9 1.00e+00 1.00e+00h 1 29 2.0838579e+00 9.45e-05 4.99e-01 -4.0 1.51e+00 -3.4 1.00e+00 2.24e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0836559e+00 2.03e-05 2.26e-01 -4.0 9.85e-02 -3.9 1.00e+00 7.82e-01h 1 31 2.0837146e+00 3.93e-06 1.10e-04 -4.0 1.81e-01 -4.4 1.00e+00 1.00e+00h 1 32 2.0836791e+00 4.30e-07 1.68e-05 -4.0 5.34e-01 -4.9 1.00e+00 1.00e+00h 1 33 2.0835957e+00 2.37e-06 1.13e-04 -4.0 1.53e+00 -5.3 1.00e+00 1.00e+00h 1 34 2.0834387e+00 1.10e-05 4.87e-04 -4.0 4.16e+00 -5.8 1.00e+00 1.00e+00h 1 35 2.0832319e+00 1.97e-05 1.07e-03 -4.0 1.09e+01 -6.3 1.00e+00 1.00e+00h 1 36 2.0828950e+00 7.84e-05 3.01e-03 -4.0 2.77e+01 -6.8 1.00e+00 1.00e+00h 1 37 2.0823750e+00 4.16e-04 1.22e-02 -4.0 6.44e+01 -7.2 1.00e+00 1.00e+00h 1 38 2.0819041e+00 1.19e-03 1.86e-02 -4.0 1.19e+02 -7.7 9.23e-01 1.00e+00h 1 39 2.0817198e+00 1.44e-03 2.72e-01 -4.0 2.79e+03 -7.3 3.47e-03 3.20e-02h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818714e+00 1.59e-03 7.07e-01 -4.0 6.79e+01 -6.0 2.27e-01 1.28e-01h 3 41 2.0816752e+00 8.29e-04 5.60e-02 -4.1 1.13e-01 -1.9 1.00e+00 4.80e-01h 1 42 2.0819774e+00 1.92e-06 1.27e-03 -4.0 7.27e-02 -2.4 1.00e+00 1.00e+00f 1 43 2.0818874e+00 4.94e-07 9.53e-05 -4.0 2.90e-02 -2.9 1.00e+00 1.00e+00h 1 44 2.0818675e+00 5.59e-07 5.22e-05 -4.0 2.83e-02 -3.4 1.00e+00 1.00e+00h 1 45 2.0818659e+00 6.25e-08 1.27e-05 -4.0 8.68e-02 -3.8 1.00e+00 1.00e+00h 1 46 2.0818535e+00 9.89e-08 4.05e-05 -4.0 2.63e-01 -4.3 1.00e+00 1.00e+00h 1 47 2.0818159e+00 2.37e-06 2.43e-04 -4.0 7.09e-01 -4.8 1.00e+00 1.00e+00h 1 48 2.0817744e+00 1.32e-05 5.92e-04 -4.0 1.07e+00 -5.3 1.00e+00 1.00e+00h 1 49 2.0817843e+00 2.06e-05 4.92e-04 -4.0 1.59e+00 -5.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818126e+00 2.34e-05 4.30e-04 -4.0 2.57e+00 -6.2 1.00e+00 1.00e+00h 1 51 2.0818273e+00 2.46e-05 4.36e-04 -4.0 4.15e+00 -6.7 1.00e+00 1.00e+00h 1 52 2.0815803e+00 1.62e-04 4.37e-04 -4.1 6.86e+00 -7.2 1.00e+00 1.00e+00h 1 53 2.0818237e+00 3.17e-04 2.90e-04 -4.0 1.31e+01 -7.7 1.00e+00 1.00e+00h 1 54 2.0815802e+00 2.67e-04 2.65e-04 -4.1 1.13e+01 -8.1 1.00e+00 1.00e+00h 1 55 2.0818419e+00 3.60e-04 9.35e-05 -4.0 1.50e+01 -8.6 1.00e+00 1.00e+00h 1 56 2.0815843e+00 1.69e-04 5.81e-05 -4.1 7.85e+00 -9.1 1.00e+00 1.00e+00h 1 57 2.0818443e+00 2.00e-04 2.61e-05 -4.0 9.16e+00 -9.6 1.00e+00 1.00e+00h 1 58 2.0815838e+00 2.11e-04 1.58e-05 -4.1 9.62e+00 -10.0 1.00e+00 1.00e+00h 1 59 2.0805953e+00 3.32e-03 1.60e-04 -6.1 4.09e+01 -10.5 9.77e-01 9.64e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0818908e+00 6.59e-03 3.23e-04 -4.0 6.16e+01 -11.0 1.00e+00 1.00e+00f 1 61 2.0816145e+00 4.96e-04 1.06e-05 -4.1 2.08e+01 -11.5 1.00e+00 1.00e+00h 1 62 2.0806042e+00 3.49e-03 2.32e-04 -6.1 4.24e+01 -11.9 9.76e-01 9.58e-01h 1 63 2.0805507e+00 9.69e-05 2.32e-06 -6.1 1.71e+01 -12.4 1.00e+00 1.00e+00h 1 64 2.0819818e+00 1.02e-02 3.99e-04 -4.0 8.54e+01 -12.9 1.00e+00 1.00e+00f 1 65 2.0816804e+00 9.65e-04 4.94e-05 -4.1 4.57e+01 -13.4 1.00e+00 1.00e+00h 1 66 2.0816444e+00 4.72e-07 7.72e-07 -4.1 8.40e+00 -13.9 1.00e+00 1.00e+00h 1 67 2.0818441e+00 1.27e-04 5.47e-06 -4.0 7.55e+00 -14.3 1.00e+00 1.00e+00h 1 68 2.0815834e+00 2.14e-04 9.28e-06 -4.1 9.76e+00 -14.8 1.00e+00 1.00e+00h 1 69 2.0805950e+00 3.33e-03 1.58e-04 -6.1 4.09e+01 -15.3 9.77e-01 9.64e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0805497e+00 7.61e-05 1.82e-06 -6.1 1.56e+01 -15.8 1.00e+00 1.00e+00h 1 71 2.0819883e+00 1.06e-02 4.03e-04 -4.0 8.64e+01 -16.2 1.00e+00 1.00e+00f 1 72 2.0816850e+00 9.86e-04 5.24e-05 -4.1 4.71e+01 -16.7 1.00e+00 1.00e+00h 1 73 2.0816467e+00 5.59e-07 8.13e-07 -4.1 8.79e+00 -17.2 1.00e+00 1.00e+00h 1 74 2.0805963e+00 3.67e-03 1.56e-04 -6.1 4.25e+01 -17.7 9.76e-01 9.67e-01h 1 75 2.0805509e+00 8.01e-05 1.98e-06 -6.1 1.63e+01 -18.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 75 (scaled) (unscaled) Objective...............: 2.0805509020193012e+00 2.0805509020193012e+00 Dual infeasibility......: 1.9776587779907757e-06 1.9776587779907757e-06 Constraint violation....: 8.0133473445410941e-05 8.0133473445410941e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.9206940989924454e-06 2.9206940989924454e-06 Overall NLP error.......: 9.9219259398519822e-05 9.9219259398519822e-05 Number of objective function evaluations = 93 Number of objective gradient evaluations = 76 Number of equality constraint evaluations = 93 Number of inequality constraint evaluations = 93 Number of equality constraint Jacobian evaluations = 76 Number of inequality constraint Jacobian evaluations = 76 Number of Lagrangian Hessian evaluations = 75 Total seconds in IPOPT = 1.130 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.003s) evaluator created (0.003s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.004s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.8553156e+00 3.60e+00 4.59e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5646088e+00 7.83e-02 3.31e+00 -1.0 2.13e+00 0.0 9.57e-01 1.00e+00f 1 2 2.6838908e+00 8.71e-03 1.34e+00 -0.8 2.07e-01 0.4 1.00e+00 1.00e+00h 1 3 2.5366323e+00 3.60e-03 3.65e-01 -1.5 7.99e-02 -0.1 9.90e-01 1.00e+00h 1 4 2.1621494e+00 6.04e-03 1.33e-01 -2.3 1.19e-01 -0.5 9.91e-01 9.14e-01f 1 5 2.1081150e+00 1.66e-03 8.53e-02 -3.4 2.91e-02 -1.0 1.00e+00 7.27e-01h 1 6 2.0911137e+00 4.95e-05 6.90e-03 -4.0 9.28e-03 -1.5 1.00e+00 9.74e-01h 1 7 2.0908732e+00 1.03e-07 4.37e-05 -4.0 1.87e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908717e+00 2.10e-09 2.05e-05 -4.0 5.59e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908701e+00 1.36e-10 2.03e-05 -4.0 1.67e-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 2.0908655e+00 1.14e-09 1.99e-05 -4.0 4.89e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908531e+00 8.56e-09 1.88e-05 -4.0 1.39e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908235e+00 5.10e-08 1.24e-04 -4.0 3.72e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907510e+00 3.02e-07 4.96e-04 -4.0 9.69e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905486e+00 3.02e-06 6.91e-04 -4.0 2.99e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0900778e+00 4.12e-06 1.22e-02 -4.0 8.56e+00 -5.8 1.00e+00 6.22e-01H 1 16 2.0898802e+00 2.58e-04 5.66e-02 -4.0 2.81e+01 -6.3 1.00e+00 1.00e+00f 1 17 2.0874372e+00 1.70e-04 1.32e-01 -4.0 8.71e+00 -4.9 1.00e+00 5.08e-01h 1 18 2.0873539e+00 4.98e-05 1.11e-02 -4.0 3.57e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0863610e+00 6.46e-05 6.02e-03 -4.0 1.06e+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 2.0848178e+00 1.98e-04 9.94e-03 -4.0 2.44e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0827699e+00 3.14e-04 2.66e-02 -4.0 3.62e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0831952e+00 1.45e-03 4.16e-02 -4.0 5.50e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0822159e+00 8.68e-04 7.14e-03 -4.1 1.35e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.1342690e+00 1.20e-05 1.73e+00 -4.0 5.89e+02 -8.3 8.35e-02 1.00e+00H 1 25 2.1008522e+00 1.49e-04 8.03e+00 -4.1 9.01e+01 -2.4 1.42e-03 1.55e-02f 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.1008522000605332e+00 2.1008522000605332e+00 Dual infeasibility......: 8.0313678153228683e+00 8.0313678153228683e+00 Constraint violation....: 1.4866314665786667e-04 1.4866314665786667e-04 Variable bound violation: 1.3729125891703831e-09 1.3729125891703831e-09 Complementarity.........: 1.6349771271656618e-04 1.6349771271656618e-04 Overall NLP error.......: 8.0313678153228683e+00 8.0313678153228683e+00 Number of objective function evaluations = 28 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 28 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 0.353 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.068s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.267s jacobian structure: 1600 nonzeros (3.336s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 5.213s 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 (5.266s) linear index maps built (0.0s) evaluator ready (total: 8.603s) evaluator created (8.629s) 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: 8.63s) 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 2.4821467e+00 2.25e+00 4.31e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 1.8010214e+00 1.04e+00 1.12e+00 -0.9 1.90e+00 0.0 8.86e-01 5.37e-01h 1 Hello, world! 2 2.5909422e+00 4.55e-02 7.54e-01 -1.0 1.11e+00 -0.5 8.55e-01 1.00e+00h 1 Hello, world! 3 2.4519498e+00 5.69e-03 1.81e-01 -1.3 1.66e-01 -1.0 9.38e-01 1.00e+00h 1 Hello, world! 4 2.1555104e+00 5.23e-03 3.76e-02 -2.3 1.68e-01 -1.4 9.47e-01 9.99e-01h 1 Hello, world! 5 2.0957742e+00 6.11e-04 1.05e-02 -3.4 6.52e-02 -1.9 9.77e-01 9.55e-01h 1 Hello, world! 6 2.0909524e+00 1.08e-05 3.63e-03 -4.0 8.21e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0909536e+00 1.12e-07 2.56e-05 -4.0 1.86e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0909464e+00 1.55e-09 2.50e-05 -4.0 5.48e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909273e+00 1.26e-08 2.60e-05 -4.0 1.56e-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 2.0908850e+00 7.67e-08 1.48e-04 -4.0 3.98e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908125e+00 2.89e-07 8.21e-04 -4.0 9.12e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0906326e+00 2.58e-06 1.27e-03 -4.0 2.67e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0901121e+00 2.20e-05 6.03e-04 -4.0 8.10e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0898490e+00 3.60e-06 1.68e-03 -4.0 3.06e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0895617e+00 6.20e-06 2.31e-02 -4.0 1.01e+01 -5.8 1.00e+00 3.13e-01h 2 Hello, world! 16 2.0879337e+00 1.32e-04 2.12e-02 -4.0 2.52e+01 -6.3 1.00e+00 7.65e-01h 1 Hello, world! 17 2.0848785e+00 1.01e-03 5.36e-02 -4.0 5.36e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0836593e+00 6.30e-04 4.42e-02 -4.0 2.45e+01 -6.3 1.00e+00 4.25e-01h 1 Hello, world! 19 2.0827905e+00 1.76e-04 1.76e-02 -4.0 2.04e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827749e+00 2.49e-04 1.03e-02 -4.0 5.26e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0823037e+00 6.09e-04 7.74e-03 -4.0 1.26e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0828551e+00 5.12e-06 1.05e-01 -4.0 1.16e+02 -7.3 4.00e-01 1.00e+00H 1 Hello, world! 23 2.0826140e+00 1.49e-05 1.63e-01 -4.0 1.50e+00 -5.1 1.00e+00 3.64e-01h 2 Hello, world! 24 2.0823429e+00 2.15e-08 1.16e-03 -4.0 1.79e+00 -5.6 1.00e+00 1.00e+00H 1 Hello, world! 25 2.0822732e+00 3.10e-04 6.34e-04 -4.0 5.23e+00 -6.0 1.00e+00 1.00e+00f 1 Hello, world! 26 2.0820764e+00 1.27e-04 6.59e-04 -4.0 1.60e+01 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0828537e+00 4.21e-07 1.04e-02 -4.0 1.47e+01 -6.1 9.44e-01 1.00e+00H 1 Hello, world! 28 2.0825609e+00 2.87e-07 3.31e+00 -4.1 3.22e-01 -2.0 8.63e-01 1.41e-01h 2 Hello, world! 29 2.0822042e+00 2.36e-07 2.63e-01 -4.1 9.33e-02 -2.5 1.00e+00 3.13e-01h 2 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0819657e+00 5.01e-07 1.82e-03 -4.0 8.81e-02 -3.0 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0819429e+00 1.19e-06 2.55e-04 -4.0 3.17e-02 -3.5 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0819748e+00 1.98e-06 2.10e-05 -4.0 9.92e-02 -4.0 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0818736e+00 3.11e-06 1.48e-04 -4.1 1.31e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0820333e+00 1.63e-05 3.02e-04 -4.0 7.04e-01 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0819552e+00 2.41e-05 4.58e-04 -4.1 1.59e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0817101e+00 1.34e-04 3.71e-01 -6.1 1.56e+01 -5.9 5.47e-01 1.74e-01h 1 Hello, world! 37 2.0820977e+00 1.59e-04 6.73e-04 -4.0 3.91e+00 -6.3 1.00e+00 1.00e+00f 1 Hello, world! 38 2.0822555e+00 9.26e-08 7.05e-02 -4.1 2.77e+01 -6.8 5.47e-01 1.00e+00H 1 Hello, world! 39 2.0827336e+00 8.87e-06 4.87e-01 -3.5 2.37e-01 -3.7 1.00e+00 3.70e-01f 2 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0826517e+00 1.15e-05 3.06e-01 -3.6 6.73e-01 -4.2 3.95e-01 7.98e-02h 2 Hello, world! 41 2.0829758e+00 5.68e-05 1.45e-03 -3.6 1.03e+00 -4.6 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0818794e+00 4.40e-04 7.04e-02 -5.4 2.31e+00 -5.1 9.01e-01 1.00e+00h 1 Hello, world! 43 2.0811534e+00 4.32e-04 8.88e-02 -5.4 6.09e+00 -5.6 4.04e-01 8.62e-01h 1 Hello, world! 44 2.0816564e+00 1.63e-04 3.20e-01 -4.0 1.30e+00 -4.3 1.00e+00 7.68e-01f 1 Hello, world! 45 2.0823457e+00 9.96e-05 2.99e-01 -4.0 1.35e+00 -4.7 4.70e-01 7.22e-01h 1 Hello, world! 46 2.0817921e+00 2.02e-04 2.60e-02 -4.1 1.26e+00 -5.2 9.60e-01 1.00e+00h 1 Hello, world! 47 2.0816803e+00 1.12e-04 3.50e-01 -4.1 7.17e+00 -5.7 5.77e-01 2.11e-01h 1 Hello, world! 48 2.0819464e+00 9.60e-05 1.74e-03 -4.0 4.07e+00 -6.2 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0818136e+00 7.49e-05 1.44e-03 -4.1 3.85e+00 -6.6 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 2.0817762e+00 7.73e-06 1.82e-04 -4.1 1.12e+01 -7.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0817762188044906e+00 2.0817762188044906e+00 Dual infeasibility......: 1.8203892386367131e-04 1.8203892386367131e-04 Constraint violation....: 7.7336286468110416e-06 7.7336286468110416e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 7.8315352254066734e-05 7.8315352254066734e-05 Overall NLP error.......: 1.8203892386367131e-04 1.8203892386367131e-04 Number of objective function evaluations = 73 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 73 Number of inequality constraint evaluations = 73 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 34.578 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 2.4821467e+00 2.25e+00 4.31e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 1.8010214e+00 1.04e+00 1.12e+00 -0.9 1.90e+00 0.0 8.86e-01 5.37e-01h 1 Hello, world! 2 2.5909422e+00 4.55e-02 7.54e-01 -1.0 1.11e+00 -0.5 8.55e-01 1.00e+00h 1 Hello, world! 3 2.4519498e+00 5.69e-03 1.81e-01 -1.3 1.66e-01 -1.0 9.38e-01 1.00e+00h 1 Hello, world! 4 2.1555104e+00 5.23e-03 3.76e-02 -2.3 1.68e-01 -1.4 9.47e-01 9.99e-01h 1 Hello, world! 5 2.0957742e+00 6.11e-04 1.05e-02 -3.4 6.52e-02 -1.9 9.77e-01 9.55e-01h 1 Hello, world! 6 2.0909524e+00 1.08e-05 3.63e-03 -4.0 8.21e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0909536e+00 1.12e-07 2.56e-05 -4.0 1.86e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0909464e+00 1.55e-09 2.50e-05 -4.0 5.48e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909273e+00 1.26e-08 2.60e-05 -4.0 1.56e-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 2.0908850e+00 7.67e-08 1.48e-04 -4.0 3.98e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908125e+00 2.89e-07 8.21e-04 -4.0 9.12e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0906326e+00 2.58e-06 1.27e-03 -4.0 2.67e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0901121e+00 2.20e-05 6.03e-04 -4.0 8.10e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0898490e+00 3.60e-06 1.68e-03 -4.0 3.06e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0895617e+00 6.20e-06 2.31e-02 -4.0 1.01e+01 -5.8 1.00e+00 3.13e-01h 2 Hello, world! 16 2.0879337e+00 1.32e-04 2.12e-02 -4.0 2.52e+01 -6.3 1.00e+00 7.65e-01h 1 Hello, world! 17 2.0848785e+00 1.01e-03 5.36e-02 -4.0 5.36e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0836593e+00 6.30e-04 4.42e-02 -4.0 2.45e+01 -6.3 1.00e+00 4.25e-01h 1 Hello, world! 19 2.0827905e+00 1.76e-04 1.76e-02 -4.0 2.04e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827749e+00 2.49e-04 1.03e-02 -4.0 5.26e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0823037e+00 6.09e-04 7.74e-03 -4.0 1.26e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0828551e+00 5.12e-06 1.05e-01 -4.0 1.16e+02 -7.3 4.00e-01 1.00e+00H 1 Hello, world! 23 2.0826140e+00 1.49e-05 1.63e-01 -4.0 1.50e+00 -5.1 1.00e+00 3.64e-01h 2 Hello, world! 24 2.0823429e+00 2.15e-08 1.16e-03 -4.0 1.79e+00 -5.6 1.00e+00 1.00e+00H 1 Hello, world! 25 2.0822732e+00 3.10e-04 6.34e-04 -4.0 5.23e+00 -6.0 1.00e+00 1.00e+00f 1 Hello, world! 26 2.0820764e+00 1.27e-04 6.59e-04 -4.0 1.60e+01 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0828537e+00 4.21e-07 1.04e-02 -4.0 1.47e+01 -6.1 9.44e-01 1.00e+00H 1 Hello, world! 28 2.0825609e+00 2.87e-07 3.31e+00 -4.1 3.22e-01 -2.0 8.63e-01 1.41e-01h 2 Hello, world! 29 2.0822042e+00 2.36e-07 2.63e-01 -4.1 9.33e-02 -2.5 1.00e+00 3.13e-01h 2 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0819657e+00 5.01e-07 1.82e-03 -4.0 8.81e-02 -3.0 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0819429e+00 1.19e-06 2.55e-04 -4.0 3.17e-02 -3.5 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0819748e+00 1.98e-06 2.10e-05 -4.0 9.92e-02 -4.0 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0818736e+00 3.11e-06 1.48e-04 -4.1 1.31e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0820333e+00 1.63e-05 3.02e-04 -4.0 7.04e-01 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0819552e+00 2.41e-05 4.58e-04 -4.1 1.59e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0817101e+00 1.34e-04 3.71e-01 -6.1 1.56e+01 -5.9 5.47e-01 1.74e-01h 1 Hello, world! 37 2.0820977e+00 1.59e-04 6.73e-04 -4.0 3.91e+00 -6.3 1.00e+00 1.00e+00f 1 Hello, world! 38 2.0822555e+00 9.26e-08 7.05e-02 -4.1 2.77e+01 -6.8 5.47e-01 1.00e+00H 1 Hello, world! 39 2.0827336e+00 8.87e-06 4.87e-01 -3.5 2.37e-01 -3.7 1.00e+00 3.70e-01f 2 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0826517e+00 1.15e-05 3.06e-01 -3.6 6.73e-01 -4.2 3.95e-01 7.98e-02h 2 Hello, world! 41 2.0829758e+00 5.68e-05 1.45e-03 -3.6 1.03e+00 -4.6 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0818794e+00 4.40e-04 7.04e-02 -5.4 2.31e+00 -5.1 9.01e-01 1.00e+00h 1 Hello, world! 43 2.0811534e+00 4.32e-04 8.88e-02 -5.4 6.09e+00 -5.6 4.04e-01 8.62e-01h 1 Hello, world! 44 2.0816564e+00 1.63e-04 3.20e-01 -4.0 1.30e+00 -4.3 1.00e+00 7.68e-01f 1 Hello, world! 45 2.0823457e+00 9.96e-05 2.99e-01 -4.0 1.35e+00 -4.7 4.70e-01 7.22e-01h 1 Hello, world! 46 2.0817921e+00 2.02e-04 2.60e-02 -4.1 1.26e+00 -5.2 9.60e-01 1.00e+00h 1 Hello, world! 47 2.0816803e+00 1.12e-04 3.50e-01 -4.1 7.17e+00 -5.7 5.77e-01 2.11e-01h 1 Hello, world! 48 2.0819464e+00 9.60e-05 1.74e-03 -4.0 4.07e+00 -6.2 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0818136e+00 7.49e-05 1.44e-03 -4.1 3.85e+00 -6.6 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 2.0817762e+00 7.73e-06 1.82e-04 -4.1 1.12e+01 -7.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0817762188044906e+00 2.0817762188044906e+00 Dual infeasibility......: 1.8203892386367131e-04 1.8203892386367131e-04 Constraint violation....: 7.7336286468110416e-06 7.7336286468110416e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 7.8315352254066734e-05 7.8315352254066734e-05 Overall NLP error.......: 1.8203892386367131e-04 1.8203892386367131e-04 Number of objective function evaluations = 73 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 73 Number of inequality constraint evaluations = 73 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 0.757 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: 0.08s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.282s jacobian structure: 1600 nonzeros (3.362s) integrator 1 hessian structure: 0.062s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 5.17s 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 (5.233s) linear index maps built (0.0s) evaluator ready (total: 8.596s) evaluator created (8.622s) 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: 8.624s) 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 4.3805325e+00 2.65e+00 7.00e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4775726e+00 1.62e-01 2.02e+00 -0.9 1.83e+00 0.0 9.38e-01 9.44e-01f 1 2 2.6026900e+00 7.28e-02 5.33e+00 -0.5 1.11e+00 -0.5 6.12e-01 7.58e-01f 1 3 2.6038377e+00 3.89e-03 1.32e+00 -0.9 2.33e-01 -1.0 1.00e+00 1.00e+00f 1 4 2.4099352e+00 2.62e-02 1.18e-01 -1.7 4.09e-01 -1.4 1.00e+00 1.00e+00h 1 5 2.1423206e+00 8.40e-03 1.72e-02 -2.6 1.80e-01 -1.9 9.39e-01 1.00e+00h 1 6 2.0947044e+00 6.70e-04 1.29e-02 -3.9 8.11e-02 -2.4 9.88e-01 9.04e-01h 1 7 2.0908633e+00 5.61e-06 2.06e-03 -4.0 1.67e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908474e+00 5.87e-08 1.72e-05 -4.0 3.77e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908385e+00 3.89e-09 1.68e-05 -4.0 1.10e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908147e+00 2.94e-08 5.66e-05 -4.0 3.10e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907505e+00 2.07e-07 2.50e-04 -4.0 8.54e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905654e+00 2.22e-06 3.83e-04 -4.0 2.56e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0903512e+00 2.55e-06 7.47e-03 -4.0 1.30e+01 -5.7 3.23e-01 1.46e-01h 1 14 2.0893067e+00 2.24e-04 4.03e-02 -4.0 2.61e+01 -6.2 1.00e+00 1.00e+00f 1 15 2.0879112e+00 8.41e-05 2.24e-02 -4.0 3.12e+00 -4.9 1.00e+00 6.87e-01h 1 16 2.0878992e+00 1.57e-05 5.53e-03 -4.0 3.33e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0868758e+00 3.88e-05 6.82e-03 -4.0 1.01e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0853202e+00 1.91e-04 9.42e-03 -4.0 2.36e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0830874e+00 4.01e-04 2.69e-02 -4.0 3.93e+01 -6.8 1.00e+00 9.55e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0825996e+00 4.01e-04 1.38e-02 -4.0 5.52e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0823359e+00 4.05e-04 9.89e-03 -4.0 1.23e+02 -7.7 1.00e+00 1.00e+00h 1 22 1.5796371e+01 7.16e-05 1.36e+02 -4.0 2.14e+03 -8.2 1.51e-02 1.00e+00H 1 23 2.1274025e+00 1.78e-05 8.20e+00 -4.1 3.43e+00 -0.4 1.57e-01 7.53e-01f 1 24 2.1272708e+00 1.77e-05 3.77e+00 -4.1 9.08e-03 -0.8 1.00e+00 4.48e-03h 1 25 2.1270092e+00 3.80e-07 3.53e-03 -4.1 6.99e-02 -1.3 1.00e+00 1.00e+00f 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.1270091873237615e+00 2.1270091873237615e+00 Dual infeasibility......: 3.5266177083897983e-03 3.5266177083897983e-03 Constraint violation....: 3.8029738534325896e-07 3.8029738534325896e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.2980236702515646e-04 1.2980236702515646e-04 Overall NLP error.......: 3.5266177083897983e-03 3.5266177083897983e-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 = 33.711 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 4.3805325e+00 2.65e+00 7.00e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4775726e+00 1.62e-01 2.02e+00 -0.9 1.83e+00 0.0 9.38e-01 9.44e-01f 1 2 2.6026900e+00 7.28e-02 5.33e+00 -0.5 1.11e+00 -0.5 6.12e-01 7.58e-01f 1 3 2.6038377e+00 3.89e-03 1.32e+00 -0.9 2.33e-01 -1.0 1.00e+00 1.00e+00f 1 4 2.4099352e+00 2.62e-02 1.18e-01 -1.7 4.09e-01 -1.4 1.00e+00 1.00e+00h 1 5 2.1423206e+00 8.40e-03 1.72e-02 -2.6 1.80e-01 -1.9 9.39e-01 1.00e+00h 1 6 2.0947044e+00 6.70e-04 1.29e-02 -3.9 8.11e-02 -2.4 9.88e-01 9.04e-01h 1 7 2.0908633e+00 5.61e-06 2.06e-03 -4.0 1.67e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908474e+00 5.87e-08 1.72e-05 -4.0 3.77e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908385e+00 3.89e-09 1.68e-05 -4.0 1.10e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908147e+00 2.94e-08 5.66e-05 -4.0 3.10e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907505e+00 2.07e-07 2.50e-04 -4.0 8.54e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905654e+00 2.22e-06 3.83e-04 -4.0 2.56e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0903512e+00 2.55e-06 7.47e-03 -4.0 1.30e+01 -5.7 3.23e-01 1.46e-01h 1 14 2.0893067e+00 2.24e-04 4.03e-02 -4.0 2.61e+01 -6.2 1.00e+00 1.00e+00f 1 15 2.0879112e+00 8.41e-05 2.24e-02 -4.0 3.12e+00 -4.9 1.00e+00 6.87e-01h 1 16 2.0878992e+00 1.57e-05 5.53e-03 -4.0 3.33e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0868758e+00 3.88e-05 6.82e-03 -4.0 1.01e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0853202e+00 1.91e-04 9.42e-03 -4.0 2.36e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0830874e+00 4.01e-04 2.69e-02 -4.0 3.93e+01 -6.8 1.00e+00 9.55e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0825996e+00 4.01e-04 1.38e-02 -4.0 5.52e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0823359e+00 4.05e-04 9.89e-03 -4.0 1.23e+02 -7.7 1.00e+00 1.00e+00h 1 22 1.5796371e+01 7.16e-05 1.36e+02 -4.0 2.14e+03 -8.2 1.51e-02 1.00e+00H 1 23 2.1274025e+00 1.78e-05 8.20e+00 -4.1 3.43e+00 -0.4 1.57e-01 7.53e-01f 1 24 2.1272708e+00 1.77e-05 3.77e+00 -4.1 9.08e-03 -0.8 1.00e+00 4.48e-03h 1 25 2.1270092e+00 3.80e-07 3.53e-03 -4.1 6.99e-02 -1.3 1.00e+00 1.00e+00f 1 26 2.1263605e+00 7.26e-07 3.27e-03 -4.0 2.07e-01 -1.8 1.00e+00 1.00e+00h 1 27 2.1243832e+00 2.20e-07 3.67e-03 -4.0 6.07e-01 -2.3 1.00e+00 1.00e+00f 1 28 2.1189965e+00 7.14e-06 2.89e-02 -4.0 1.70e+00 -2.8 1.00e+00 1.00e+00f 1 29 2.1171541e+00 6.41e-06 1.58e+00 -4.1 3.62e+00 -3.2 1.00e+00 1.65e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.1171926e+00 4.39e-06 4.15e+00 -4.1 1.57e-01 -3.7 1.00e+00 4.01e-01f 2 31 2.1170132e+00 6.41e-06 5.01e-04 -4.1 4.67e-01 -4.2 1.00e+00 1.00e+00h 1 32 2.1161414e+00 1.55e-04 1.79e-02 -6.2 1.46e+00 -4.7 8.69e-01 1.00e+00h 1 33 2.1153905e+00 1.10e-04 4.63e-04 -6.2 4.33e+00 -5.1 1.00e+00 1.00e+00h 1 34 2.1144895e+00 5.97e-05 1.37e-01 -6.2 1.26e+01 -5.6 1.00e+00 4.69e-01h 1 35 2.1130520e+00 2.84e-05 1.39e-01 -6.2 3.02e+01 -6.1 1.00e+00 7.57e-01h 1 36 2.1084652e+00 9.53e-06 1.93e-01 -6.2 8.38e+01 -6.6 1.00e+00 8.25e-01h 1 37 2.0995929e+00 1.83e-05 3.96e-01 -6.2 2.13e+02 -7.0 6.48e-01 1.00e+00h 1 38 2.0917060e+00 3.12e-05 1.20e+00 -6.2 4.06e+02 -7.5 1.00e+00 6.17e-01f 1 39 2.0901753e+00 2.97e-05 1.89e+00 -6.2 6.40e+02 -8.0 7.65e-01 1.21e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0886422e+00 3.85e-05 2.10e+00 -6.2 9.81e+02 -7.6 1.28e-03 2.67e-01f 1 41 2.0867822e+00 1.14e-04 2.37e+00 -3.9 3.11e+03 -7.2 3.06e-02 2.07e-02f 1 42 2.0867660e+00 1.13e-04 2.71e+00 -5.1 3.62e+02 -7.6 3.92e-01 2.17e-03h 1 43 2.0833196e+00 2.26e-01 8.78e-01 -4.0 6.37e+02 -8.1 4.43e-01 1.00e+00f 1 44 2.0814487e+00 4.62e-02 3.50e-01 -4.3 3.15e+02 -8.6 4.54e-01 8.04e-01h 1 45 2.0826294e+00 7.64e-03 1.05e-01 -4.0 5.62e+01 -6.4 1.00e+00 1.00e+00f 1 46 2.0834779e+00 3.97e-03 8.89e-02 -3.6 4.13e+01 -6.8 8.96e-01 1.00e+00h 1 47 2.0838050e+00 1.76e-03 2.39e-02 -3.6 3.15e+01 -7.3 1.00e+00 1.00e+00h 1 48 2.0838543e+00 2.32e-03 6.32e-03 -3.6 5.72e+01 -7.8 1.00e+00 1.00e+00h 1 49 2.0838026e+00 1.05e-03 8.01e-03 -3.6 5.88e+01 -8.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0838186e+00 2.20e-04 2.15e-03 -3.6 4.34e+01 -8.7 1.00e+00 1.00e+00h 1 51 2.0818982e+00 6.79e-03 1.15e-03 -4.0 4.14e+01 -9.2 1.00e+00 1.00e+00h 1 52 2.0818467e+00 2.66e-05 3.82e-05 -4.0 9.34e+00 -9.7 1.00e+00 1.00e+00h 1 53 2.0818434e+00 1.41e-07 1.83e-07 -4.0 5.91e-01 -10.2 1.00e+00 1.00e+00h 1 54 2.0818434e+00 6.88e-13 1.00e-09 -4.0 4.65e-03 -10.6 1.00e+00 1.00e+00h 1 Number of Iterations....: 54 (scaled) (unscaled) Objective...............: 2.0818434105403671e+00 2.0818434105403671e+00 Dual infeasibility......: 1.0000000018182314e-09 1.0000000018182314e-09 Constraint violation....: 6.8833827526759706e-13 6.8833827526759706e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000982685e-04 1.0000000000982685e-04 Overall NLP error.......: 1.0000000018182314e-09 1.0000000018182314e-09 Number of objective function evaluations = 61 Number of objective gradient evaluations = 55 Number of equality constraint evaluations = 61 Number of inequality constraint evaluations = 61 Number of equality constraint Jacobian evaluations = 55 Number of inequality constraint Jacobian evaluations = 55 Number of Lagrangian Hessian evaluations = 54 Total seconds in IPOPT = 0.832 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: 0.002s) 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 4.3805325e+00 2.65e+00 7.00e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4775726e+00 1.62e-01 2.02e+00 -0.9 1.83e+00 0.0 9.38e-01 9.44e-01f 1 2 2.6026900e+00 7.28e-02 5.33e+00 -0.5 1.11e+00 -0.5 6.12e-01 7.58e-01f 1 3 2.6038377e+00 3.89e-03 1.32e+00 -0.9 2.33e-01 -1.0 1.00e+00 1.00e+00f 1 4 2.4099352e+00 2.62e-02 1.18e-01 -1.7 4.09e-01 -1.4 1.00e+00 1.00e+00h 1 5 2.1423206e+00 8.40e-03 1.72e-02 -2.6 1.80e-01 -1.9 9.39e-01 1.00e+00h 1 6 2.0947044e+00 6.70e-04 1.29e-02 -3.9 8.11e-02 -2.4 9.88e-01 9.04e-01h 1 7 2.0908633e+00 5.61e-06 2.06e-03 -4.0 1.67e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908474e+00 5.87e-08 1.72e-05 -4.0 3.77e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908385e+00 3.89e-09 1.68e-05 -4.0 1.10e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908147e+00 2.94e-08 5.66e-05 -4.0 3.10e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907505e+00 2.07e-07 2.50e-04 -4.0 8.54e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905654e+00 2.22e-06 3.83e-04 -4.0 2.56e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0903512e+00 2.55e-06 7.47e-03 -4.0 1.30e+01 -5.7 3.23e-01 1.46e-01h 1 14 2.0893067e+00 2.24e-04 4.03e-02 -4.0 2.61e+01 -6.2 1.00e+00 1.00e+00f 1 15 2.0879112e+00 8.41e-05 2.24e-02 -4.0 3.12e+00 -4.9 1.00e+00 6.87e-01h 1 16 2.0878992e+00 1.57e-05 5.53e-03 -4.0 3.33e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0868758e+00 3.88e-05 6.82e-03 -4.0 1.01e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0853202e+00 1.91e-04 9.42e-03 -4.0 2.36e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0830874e+00 4.01e-04 2.69e-02 -4.0 3.93e+01 -6.8 1.00e+00 9.55e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0825996e+00 4.01e-04 1.38e-02 -4.0 5.52e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0823359e+00 4.05e-04 9.89e-03 -4.0 1.23e+02 -7.7 1.00e+00 1.00e+00h 1 22 1.5796371e+01 7.16e-05 1.36e+02 -4.0 2.14e+03 -8.2 1.51e-02 1.00e+00H 1 23 2.1274025e+00 1.78e-05 8.20e+00 -4.1 3.43e+00 -0.4 1.57e-01 7.53e-01f 1 24 2.1272708e+00 1.77e-05 3.77e+00 -4.1 9.08e-03 -0.8 1.00e+00 4.48e-03h 1 25 2.1270092e+00 3.80e-07 3.53e-03 -4.1 6.99e-02 -1.3 1.00e+00 1.00e+00f 1 26 2.1263605e+00 7.26e-07 3.27e-03 -4.0 2.07e-01 -1.8 1.00e+00 1.00e+00h 1 27 2.1243832e+00 2.20e-07 3.67e-03 -4.0 6.07e-01 -2.3 1.00e+00 1.00e+00f 1 28 2.1189965e+00 7.14e-06 2.89e-02 -4.0 1.70e+00 -2.8 1.00e+00 1.00e+00f 1 29 2.1171541e+00 6.41e-06 1.58e+00 -4.1 3.62e+00 -3.2 1.00e+00 1.65e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.1171926e+00 4.39e-06 4.15e+00 -4.1 1.57e-01 -3.7 1.00e+00 4.01e-01f 2 31 2.1170132e+00 6.41e-06 5.01e-04 -4.1 4.67e-01 -4.2 1.00e+00 1.00e+00h 1 32 2.1161414e+00 1.55e-04 1.79e-02 -6.2 1.46e+00 -4.7 8.69e-01 1.00e+00h 1 33 2.1153905e+00 1.10e-04 4.63e-04 -6.2 4.33e+00 -5.1 1.00e+00 1.00e+00h 1 34 2.1144895e+00 5.97e-05 1.37e-01 -6.2 1.26e+01 -5.6 1.00e+00 4.69e-01h 1 35 2.1130520e+00 2.84e-05 1.39e-01 -6.2 3.02e+01 -6.1 1.00e+00 7.57e-01h 1 36 2.1084652e+00 9.53e-06 1.93e-01 -6.2 8.38e+01 -6.6 1.00e+00 8.25e-01h 1 37 2.0995929e+00 1.83e-05 3.96e-01 -6.2 2.13e+02 -7.0 6.48e-01 1.00e+00h 1 38 2.0917060e+00 3.12e-05 1.20e+00 -6.2 4.06e+02 -7.5 1.00e+00 6.17e-01f 1 39 2.0901753e+00 2.97e-05 1.89e+00 -6.2 6.40e+02 -8.0 7.65e-01 1.21e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0886422e+00 3.85e-05 2.10e+00 -6.2 9.81e+02 -7.6 1.28e-03 2.67e-01f 1 41 2.0867822e+00 1.14e-04 2.37e+00 -3.9 3.11e+03 -7.2 3.06e-02 2.07e-02f 1 42 2.0867660e+00 1.13e-04 2.71e+00 -5.1 3.62e+02 -7.6 3.92e-01 2.17e-03h 1 43 2.0833196e+00 2.26e-01 8.78e-01 -4.0 6.37e+02 -8.1 4.43e-01 1.00e+00f 1 44 2.0814487e+00 4.62e-02 3.50e-01 -4.3 3.15e+02 -8.6 4.54e-01 8.04e-01h 1 45 2.0826294e+00 7.64e-03 1.05e-01 -4.0 5.62e+01 -6.4 1.00e+00 1.00e+00f 1 46 2.0834779e+00 3.97e-03 8.89e-02 -3.6 4.13e+01 -6.8 8.96e-01 1.00e+00h 1 47 2.0838050e+00 1.76e-03 2.39e-02 -3.6 3.15e+01 -7.3 1.00e+00 1.00e+00h 1 48 2.0838543e+00 2.32e-03 6.32e-03 -3.6 5.72e+01 -7.8 1.00e+00 1.00e+00h 1 49 2.0838026e+00 1.05e-03 8.01e-03 -3.6 5.88e+01 -8.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0838186e+00 2.20e-04 2.15e-03 -3.6 4.34e+01 -8.7 1.00e+00 1.00e+00h 1 51 2.0818982e+00 6.79e-03 1.15e-03 -4.0 4.14e+01 -9.2 1.00e+00 1.00e+00h 1 52 2.0818467e+00 2.66e-05 3.82e-05 -4.0 9.34e+00 -9.7 1.00e+00 1.00e+00h 1 53 2.0818434e+00 1.41e-07 1.83e-07 -4.0 5.91e-01 -10.2 1.00e+00 1.00e+00h 1 54 2.0818434e+00 6.88e-13 1.00e-09 -4.0 4.65e-03 -10.6 1.00e+00 1.00e+00h 1 Number of Iterations....: 54 (scaled) (unscaled) Objective...............: 2.0818434105403671e+00 2.0818434105403671e+00 Dual infeasibility......: 1.0000000018182314e-09 1.0000000018182314e-09 Constraint violation....: 6.8833827526759706e-13 6.8833827526759706e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000982685e-04 1.0000000000982685e-04 Overall NLP error.......: 1.0000000018182314e-09 1.0000000018182314e-09 Number of objective function evaluations = 61 Number of objective gradient evaluations = 55 Number of equality constraint evaluations = 61 Number of inequality constraint evaluations = 61 Number of equality constraint Jacobian evaluations = 55 Number of inequality constraint Jacobian evaluations = 55 Number of Lagrangian Hessian evaluations = 54 Total seconds in IPOPT = 0.767 EXIT: Optimal Solution Found. 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: 3.397s jacobian structure: 1600 nonzeros (3.474s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 5.109s 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 (5.161s) linear index maps built (0.0s) evaluator ready (total: 8.635s) evaluator created (8.663s) 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: 8.663s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.1123870e+00 2.09e+00 5.31e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9810992e+00 9.45e-01 1.68e+00 -1.1 1.90e+00 0.0 6.38e-01 5.50e-01h 1 2 2.6050312e+00 2.35e-01 7.81e-01 -0.9 1.03e+00 -0.5 9.46e-01 7.51e-01f 1 3 2.5091608e+00 2.09e-02 3.49e-01 -1.4 3.00e-01 -1.0 9.22e-01 1.00e+00h 1 4 2.2568733e+00 1.87e-02 1.17e-01 -2.0 3.68e-01 -1.4 9.99e-01 8.27e-01h 1 5 2.1264154e+00 3.25e-03 3.20e-02 -2.7 1.25e-01 -1.9 9.94e-01 8.25e-01h 1 6 2.0917740e+00 5.76e-05 9.72e-04 -3.7 1.50e-02 -2.4 9.92e-01 1.00e+00h 1 7 2.0908549e+00 2.47e-06 3.54e-05 -4.0 2.65e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908449e+00 7.23e-09 2.22e-05 -4.0 3.76e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908343e+00 4.36e-09 1.68e-05 -4.0 1.10e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908071e+00 3.28e-08 4.38e-05 -4.0 3.12e-01 -4.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0908071465142362e+00 2.0908071465142362e+00 Dual infeasibility......: 4.3819897496226597e-05 4.3819897496226597e-05 Constraint violation....: 3.2847390269569177e-08 3.2847390269569177e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999998189e-05 9.9999999999998189e-05 Overall NLP error.......: 4.3819897496226597e-05 4.3819897496226597e-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 = 33.763 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: 0.07s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.174s jacobian structure: 1600 nonzeros (3.245s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.936s 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 (4.986s) linear index maps built (0.0s) evaluator ready (total: 8.231s) evaluator created (8.256s) 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: 8.257s) 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: 0.068s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.139s jacobian structure: 1600 nonzeros (3.207s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 5.169s 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 (5.219s) linear index maps built (0.0s) evaluator ready (total: 8.427s) evaluator created (8.454s) 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: 8.454s) 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: 0.072s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 5.466s jacobian structure: 1600 nonzeros (5.539s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 5.157s 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 (5.209s) linear index maps built (0.0s) evaluator ready (total: 10.748s) evaluator created (10.775s) 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: 10.776s) 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: 0.001s hessian structure: 1749 nonzeros (0.056s) linear index maps built (0.0s) evaluator ready (total: 0.13s) evaluator created (0.13s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.132s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.7147463e+00 2.84e+00 4.06e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5465018e+00 2.96e-01 3.06e+00 -0.8 1.97e+00 0.0 1.00e+00 8.96e-01f 1 2 2.6630786e+00 1.08e-02 6.40e-01 -0.9 3.99e-01 -0.5 9.83e-01 1.00e+00f 1 3 2.4301664e+00 3.13e-02 2.12e-01 -1.6 4.09e-01 -1.0 9.67e-01 1.00e+00h 1 4 2.2116030e+00 3.62e-03 5.62e-02 -2.0 1.18e-01 -1.4 8.98e-01 1.00e+00h 1 5 2.0972951e+00 1.04e-03 1.40e-02 -3.3 7.97e-02 -1.9 9.78e-01 9.42e-01h 1 6 2.0909449e+00 6.97e-06 2.72e-04 -4.0 7.46e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0908877e+00 1.79e-07 2.06e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908812e+00 9.84e-09 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908679e+00 6.88e-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 2.0908280e+00 6.20e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907086e+00 5.59e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903511e+00 5.05e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892857e+00 4.62e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861539e+00 4.34e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796241e+00 2.51e-03 8.67e-02 -4.0 8.72e+01 -6.7 1.00e+00 7.57e-01h 1 16 2.0812363e+00 1.58e-04 1.97e-01 -4.0 6.91e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778269e+00 6.08e-03 2.82e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781748e+00 1.54e-02 5.68e-02 -3.7 1.57e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767676e+00 1.19e-02 1.94e-02 -3.8 3.01e+02 -8.6 1.00e+00 9.82e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0759980e+00 6.96e-03 2.16e-02 -3.9 4.37e+02 -9.1 1.00e+00 9.87e-01f 1 21 2.0757547e+00 7.65e-03 8.86e-03 -4.0 1.42e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756809e+00 4.56e-04 3.90e-04 -4.0 6.05e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 8.32e-06 6.62e-06 -4.0 2.35e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 4.13e-08 1.55e-06 -4.0 1.53e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.65e-09 1.55e-07 -4.0 5.29e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.97e-11 3.11e-09 -4.0 9.32e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122114434e+00 2.0756712122114434e+00 Dual infeasibility......: 3.1144353448465684e-09 3.1144353448465684e-09 Constraint violation....: 7.9739992386862468e-11 7.9739992386862468e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000011e-04 1.0000000000000011e-04 Overall NLP error.......: 3.1144353448465684e-09 3.1144353448465684e-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 = 33.212 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.065s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.065s) 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: 0.114s) evaluator created (0.114s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: equality constraint on trajectory variable du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.142s) optimizer initialization complete (total: 0.256s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1488 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1524 Total number of variables............................: 100 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.9029687e+00 3.90e+00 8.11e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.1973151e+00 9.65e-01 1.73e+00 -0.9 2.22e+00 0.0 1.00e+00 7.53e-01f 1 2 2.6331447e+00 2.68e-01 3.10e+00 -0.7 1.04e+00 -0.5 8.68e-01 7.14e-01h 1 3 2.7351499e+00 1.19e-02 1.24e+00 -1.0 1.43e-01 0.9 9.85e-01 1.00e+00f 1 4 2.5057730e+00 3.14e-03 3.18e-01 -1.6 6.58e-02 0.4 9.96e-01 1.00e+00f 1 5 2.1978570e+00 2.57e-03 1.10e-01 -2.6 1.49e-01 -0.1 9.97e-01 8.66e-01f 1 6 2.1323469e+00 1.27e-03 2.00e-01 -3.8 1.22e-01 -0.6 9.97e-01 5.71e-01h 1 7 2.1051567e+00 1.42e-03 7.23e-02 -4.0 2.21e-01 -1.1 1.00e+00 8.17e-01h 1 8 2.0975901e+00 8.35e-04 5.68e-02 -4.0 1.50e-01 -1.5 1.00e+00 9.19e-01h 1 9 2.0910282e+00 2.41e-03 3.52e-02 -4.0 3.78e-01 -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 2.0918177e+00 2.14e-05 1.13e-02 -3.7 5.41e-02 -2.5 1.00e+00 1.00e+00h 1 11 2.0909092e+00 5.49e-06 1.08e-04 -4.0 4.46e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0909089e+00 3.46e-07 1.98e-04 -4.0 5.74e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908920e+00 1.19e-08 2.06e-05 -4.0 1.71e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0908416e+00 9.97e-08 2.06e-05 -4.0 5.13e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0906905e+00 8.98e-07 2.06e-05 -4.0 1.54e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0902383e+00 8.13e-06 3.62e-05 -4.0 4.60e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0888932e+00 7.46e-05 3.22e-04 -4.0 1.37e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0849632e+00 7.08e-04 2.94e-03 -4.0 3.99e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0796349e+00 2.09e-03 1.86e-01 -4.0 1.04e+02 -6.8 1.00e+00 5.17e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0802096e+00 1.65e-04 1.73e-01 -4.0 6.52e+01 -7.3 1.00e+00 1.00e+00H 1 21 2.0773620e+00 8.49e-03 2.50e-02 -4.0 1.26e+02 -7.7 1.00e+00 9.66e-01h 1 22 2.0771423e+00 2.01e-03 7.29e-02 -4.0 2.11e+02 -8.2 1.00e+00 1.00e+00h 1 23 2.0760504e+00 5.51e-03 2.08e-02 -4.0 3.50e+02 -8.7 1.00e+00 9.11e-01h 1 24 2.0769204e+00 2.75e-02 2.50e-02 -3.7 2.64e+02 -9.2 1.00e+00 1.00e+00h 1 25 2.0764686e+00 5.65e-03 2.71e-03 -3.8 7.72e+01 -9.6 1.00e+00 1.00e+00h 1 26 2.0764589e+00 8.27e-05 4.06e-05 -3.8 1.63e+01 -10.1 1.00e+00 1.00e+00h 1 27 2.0756782e+00 1.84e-03 3.21e-06 -4.0 3.15e+01 -10.6 1.00e+00 1.00e+00h 1 28 2.0756713e+00 6.88e-06 1.38e-06 -4.0 2.17e+01 -11.1 1.00e+00 1.00e+00h 1 29 2.0756713e+00 4.10e-09 1.62e-07 -4.0 5.49e+00 -11.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0756713e+00 5.84e-11 2.08e-09 -4.0 8.16e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 2.0756712527977936e+00 2.0756712527977936e+00 Dual infeasibility......: 2.0843144835677296e-09 2.0843144835677296e-09 Constraint violation....: 5.8419935555775737e-11 5.8419935555775737e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000015e-04 1.0000000000000015e-04 Overall NLP error.......: 2.0843144835677296e-09 2.0843144835677296e-09 Number of objective function evaluations = 32 Number of objective gradient evaluations = 31 Number of equality constraint evaluations = 32 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 31 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 30 Total seconds in IPOPT = 32.671 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.053s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.053s) integrator 1 hessian structure: 0.04s 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 (0.041s) 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 (0.0s) 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: 0.094s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.6242403e+00 2.57e+00 5.68e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9348312e+00 8.07e-01 1.67e+00 -0.8 2.00e+00 0.0 1.00e+00 6.88e-01f 1 2 2.5519545e+00 1.07e-01 1.81e+00 -0.9 8.98e-01 -0.5 8.28e-01 8.67e-01f 1 3 2.5049806e+00 1.40e-02 3.47e-01 -1.4 2.90e-01 -1.0 9.83e-01 1.00e+00h 1 4 2.2148984e+00 1.20e-02 5.68e-02 -1.9 2.05e-01 -1.4 9.55e-01 1.00e+00h 1 5 2.1092923e+00 2.02e-03 5.99e-02 -3.0 1.67e-01 -1.9 9.86e-01 8.21e-01h 1 6 2.0911229e+00 3.21e-05 3.53e-03 -4.0 1.26e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0908604e+00 7.09e-07 4.92e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908555e+00 4.80e-09 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908422e+00 6.93e-09 2.06e-05 -4.0 1.35e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908024e+00 6.24e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0906830e+00 5.63e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903255e+00 5.09e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892603e+00 4.65e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861293e+00 4.37e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796438e+00 2.50e-03 8.79e-02 -4.0 8.71e+01 -6.7 1.00e+00 7.52e-01h 1 16 2.0812167e+00 1.23e-04 1.79e-01 -4.0 6.98e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778341e+00 5.65e-03 2.41e-02 -4.0 1.13e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0782096e+00 1.74e-02 4.73e-02 -3.7 1.74e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0768715e+00 9.15e-03 2.59e-02 -3.8 3.13e+02 -8.6 1.00e+00 9.10e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0760947e+00 7.97e-03 2.52e-02 -3.9 4.61e+02 -9.1 1.00e+00 9.77e-01f 1 21 2.0757480e+00 9.95e-03 1.11e-02 -4.0 1.43e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756796e+00 5.52e-04 4.45e-04 -4.0 6.19e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 4.83e-06 8.70e-06 -4.0 2.33e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 6.18e-08 1.50e-06 -4.0 1.50e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.49e-09 1.49e-07 -4.0 5.19e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.65e-11 3.00e-09 -4.0 9.18e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122111529e+00 2.0756712122111529e+00 Dual infeasibility......: 2.9994488412378884e-09 2.9994488412378884e-09 Constraint violation....: 7.6505912716129387e-11 7.6505912716129387e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000024e-04 1.0000000000000024e-04 Overall NLP error.......: 2.9994488412378884e-09 2.9994488412378884e-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 = 26.878 EXIT: Optimal Solution Found. 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: 0.054s 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 (0.054s) linear index maps built (0.0s) evaluator ready (total: 0.127s) evaluator created (0.127s) 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: 0.128s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1360 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1280 Total number of variables............................: 92 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.4412814e+00 3.16e+00 3.65e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.8606570e+00 2.22e+00 7.06e+00 -0.6 3.12e+01 -2.0 7.49e-02 2.55e-01h 1 2 2.9532190e+00 1.62e+00 2.80e+01 -0.6 1.93e+01 -1.6 7.84e-01 3.98e-01f 1 3 2.9234732e+00 1.42e+00 4.97e+01 -0.2 1.34e+01 -1.1 5.98e-01 1.17e-01h 1 4 3.1504612e+00 9.06e-01 5.09e+01 0.1 1.90e+01 -1.6 8.29e-01 4.27e-01h 1 5 3.0318346e+00 3.91e-01 3.39e+01 -0.4 1.63e+01 -2.1 1.00e+00 1.00e+00h 1 6 2.8737859e+00 8.97e-02 2.10e+01 -1.0 7.38e+00 -2.6 1.00e+00 1.00e+00h 1 7 2.6637772e+00 3.86e-01 2.15e+00 -0.8 1.31e+01 -3.1 1.00e+00 1.00e+00f 1 8 2.4848764e+00 1.75e-01 1.11e+00 -1.7 6.48e+00 -3.5 9.68e-01 1.00e+00h 1 9 2.2863932e+00 7.11e-01 4.12e-01 -2.0 1.37e+01 -4.0 9.09e-01 9.64e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.3578239e+00 9.03e-03 3.61e-01 -1.7 5.47e-01 -1.8 7.00e-01 1.00e+00h 1 11 2.3657359e+00 1.49e-03 2.47e-01 -2.9 2.18e-01 -1.4 9.97e-01 1.00e+00h 1 12 2.3556734e+00 6.38e-03 5.03e-01 -3.4 1.36e+00 -1.8 1.00e+00 4.20e-01h 1 13 2.3468619e+00 4.18e-03 1.11e+00 -4.0 9.63e-01 -2.3 1.00e+00 3.45e-01h 1 14 2.3218362e+00 2.19e-02 1.90e-01 -4.0 1.67e+00 -2.8 1.00e+00 1.00e+00h 1 15 2.2933608e+00 1.98e-02 5.02e-02 -4.0 3.09e+00 -3.3 1.00e+00 1.00e+00h 1 16 2.2446634e+00 6.35e-02 6.24e-02 -4.0 6.74e+00 -3.7 1.00e+00 1.00e+00h 1 17 2.2166468e+00 5.87e-02 5.49e-01 -3.1 1.83e+01 -4.2 1.00e+00 3.76e-01h 1 18 2.2056064e+00 9.35e-02 5.04e-01 -3.9 1.72e+01 -4.7 7.08e-01 4.60e-01h 1 19 2.1577518e+00 4.89e-01 2.82e-01 -3.3 2.49e+01 -5.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.1224281e+00 4.50e-01 1.56e-01 -2.9 4.35e+01 -5.6 1.00e+00 1.00e+00h 1 21 2.1162413e+00 2.77e-02 1.63e-02 -3.9 1.88e+01 -5.2 1.00e+00 1.00e+00h 1 22 2.1034776e+00 1.41e-01 4.91e-02 -3.3 3.35e+01 -5.7 1.00e+00 1.00e+00h 1 23 2.1032567e+00 1.37e-01 9.97e-02 -4.0 1.31e+02 -5.3 1.49e-02 3.45e-02h 1 24 2.0972240e+00 8.29e-02 7.39e-02 -4.0 3.52e+01 -5.7 1.00e+00 5.97e-01h 1 25 2.0966767e+00 7.40e-02 8.62e-02 -4.0 1.80e+01 -5.3 3.67e-02 1.09e-01h 1 26 2.0964251e+00 7.26e-02 8.02e-02 -4.0 1.03e+02 -5.8 2.92e-03 2.10e-02h 1 27 2.0963973e+00 7.25e-02 1.11e-01 -4.0 1.22e+02 -4.5 1.45e-05 6.23e-04h 1 28 2.0964336e+00 7.24e-02 4.26e+00 -4.0 5.39e+01 -2.2 2.33e-01 1.02e-03h 1 29 2.0961721e+00 3.17e-02 3.64e+00 -4.0 3.23e-01 -2.7 1.00e+00 5.63e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0961533e+00 3.76e-04 8.52e-02 -3.4 7.08e-01 -3.2 1.00e+00 9.87e-01h 1 31 2.0960992e+00 3.75e-05 1.72e-02 -4.0 4.18e-01 -3.7 1.00e+00 1.00e+00h 1 32 2.0958930e+00 1.52e-04 1.81e-03 -4.0 1.14e+00 -4.1 1.00e+00 1.00e+00h 1 33 2.0953812e+00 4.69e-04 3.29e-03 -4.0 2.63e+00 -4.6 1.00e+00 1.00e+00h 1 34 2.0945735e+00 2.63e-03 5.64e-03 -4.0 6.31e+00 -5.1 1.00e+00 1.00e+00h 1 35 2.0927415e+00 1.68e-02 4.08e-03 -4.0 1.65e+01 -5.6 1.00e+00 1.00e+00h 1 36 2.0890396e+00 6.82e-02 1.62e-02 -4.0 3.62e+01 -6.1 1.00e+00 1.00e+00h 1 37 2.0888874e+00 4.05e-02 6.23e-02 -3.3 5.47e+01 -6.5 1.00e+00 1.00e+00h 1 38 2.0819540e+00 2.91e-02 4.74e-02 -3.8 1.15e+02 -7.0 9.99e-01 1.00e+00h 1 39 2.0854110e+00 4.00e-02 6.52e-02 -3.1 4.90e+01 -7.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0837989e+00 2.29e-02 2.53e-03 -3.2 4.96e+01 -8.0 1.00e+00 1.00e+00h 1 41 2.0837097e+00 4.46e-03 2.39e-03 -3.2 1.41e+02 -8.4 1.00e+00 1.00e+00h 1 42 2.0768040e+00 1.92e-01 3.21e-03 -4.0 3.62e+02 -8.9 1.00e+00 1.00e+00h 1 43 2.0774606e+00 2.13e-02 1.47e-02 -3.7 2.76e+02 -9.4 1.00e+00 1.00e+00h 1 44 2.0762872e+00 2.90e-03 4.14e-04 -4.0 2.86e+01 -9.9 1.00e+00 1.00e+00h 1 45 2.0763192e+00 1.93e-04 1.08e-05 -4.0 6.55e+01 -10.4 1.00e+00 1.00e+00h 1 46 2.0763184e+00 3.78e-07 1.64e-05 -4.0 5.28e+01 -10.8 1.00e+00 1.00e+00h 1 47 2.0763184e+00 6.78e-08 1.82e-06 -4.0 1.79e+01 -11.3 1.00e+00 1.00e+00h 1 48 2.0763184e+00 1.05e-09 2.70e-08 -4.0 2.18e+00 -11.8 1.00e+00 1.00e+00h 1 49 2.0763184e+00 1.57e-12 4.67e-11 -4.0 9.04e-02 -12.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 49 (scaled) (unscaled) Objective...............: 2.0763184408419870e+00 2.0763184408419870e+00 Dual infeasibility......: 4.6706257351286640e-11 4.6706257351286640e-11 Constraint violation....: 1.5676349107707210e-12 1.5676349107707210e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000053e-04 1.0000000000000053e-04 Overall NLP error.......: 4.6706257351286640e-11 4.6706257351286640e-11 Number of objective function evaluations = 50 Number of objective gradient evaluations = 50 Number of equality constraint evaluations = 50 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 = 49 Total seconds in IPOPT = 37.812 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.074s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.075s) integrator 1 hessian structure: 0.058s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.059s) linear index maps built (0.0s) evaluator ready (total: 0.134s) evaluator created (0.134s) 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 (0.055s) optimizer initialization complete (total: 0.19s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1264 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1113 Total number of variables............................: 86 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.3498965e+00 2.37e+00 8.38e-02 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.5074513e+00 1.82e+00 1.91e+00 -0.7 1.16e+01 - 5.40e-01 2.37e-01h 1 2 4.6476913e+00 1.78e+00 2.10e+01 0.8 1.36e+03 - 1.64e-02 2.49e-02f 2 3 4.7500787e+00 1.31e+00 1.70e+02 -0.3 6.49e+01 -2.0 1.00e+00 2.70e-01h 1 4 9.5677250e+00 1.47e+00 5.26e+02 0.2 2.27e+02 - 7.43e-01 2.10e-01f 3 5 4.7720837e+00 1.26e+00 8.11e+01 0.1 1.34e+02 - 1.00e+00 2.50e-01f 3 6 2.3020313e+01 3.30e+00 1.53e+02 0.4 1.14e+01 - 7.38e-01 1.00e+00h 1 7 5.2758056e+00 1.54e+00 1.67e+02 -4.0 5.00e+00 -0.7 1.90e-01 9.46e-01f 1 8 1.1833629e+01 3.18e-01 1.64e+02 -0.4 3.34e+00 -1.1 7.79e-01 1.00e+00h 1 9 8.2749919e+00 1.35e-01 4.00e+01 -0.8 1.70e+00 -0.7 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 7.8662248e+00 9.65e-01 1.67e+02 0.5 3.53e+01 - 6.67e-01 2.75e-01f 2 11 8.3920417e+00 1.37e-01 4.63e+02 0.2 3.25e+00 0.6 9.85e-01 1.00e+00h 1 12 8.3549345e+00 1.09e-02 7.81e+01 -1.1 9.91e-01 0.1 1.00e+00 1.00e+00h 1 13 7.6848391e+00 1.72e-02 5.03e-01 -1.5 4.05e-01 -0.3 1.00e+00 1.00e+00f 1 14 5.9887811e+00 9.07e-01 1.90e+00 -1.1 8.94e+01 - 1.88e-01 1.12e-01f 2 15 6.3042393e+00 2.77e-01 1.52e+00 -1.8 6.21e+00 -0.8 1.00e+00 2.40e-01h 1 16 5.9410134e+00 2.33e-01 1.18e+00 -0.7 6.45e+00 -1.3 1.73e-01 1.81e-01f 1 17 5.9644378e+00 2.12e-01 3.76e+00 -1.6 7.23e+01 - 2.35e-01 8.28e-02h 4 18 5.9320931e+00 2.33e-01 7.30e-01 -1.6 2.99e+00 -1.8 1.00e+00 1.67e-01h 2 19 5.7144192e+00 4.13e-01 3.59e+00 -4.0 2.53e+02 - 5.28e-02 4.95e-02f 5 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 5.8128836e+00 3.52e-01 2.38e+00 -0.8 1.06e+01 -1.4 9.35e-01 6.14e-02h 1 21 6.7200703e+00 2.20e-01 7.76e+01 -4.0 2.66e+02 - 8.10e-03 1.63e-01h 3 22 6.4424830e+00 2.28e-01 5.39e+01 -1.0 1.19e+02 - 1.00e+00 2.50e-01h 3 23 7.0214611e+00 1.01e-01 2.37e+00 -0.5 2.35e+00 - 1.00e+00 1.00e+00h 1 24 6.8335500e+00 9.02e-01 1.17e+01 -0.8 2.88e+01 - 9.93e-01 5.00e-01f 2 25 6.2110048e+00 2.29e-01 1.08e+00 -0.9 1.79e+00 -0.9 1.00e+00 6.02e-01f 1 26 6.2236241e+00 5.03e-01 4.76e+00 -1.0 8.15e+01 - 4.63e-02 2.50e-01f 3 27 7.3760698e+00 1.24e-01 1.25e+01 -1.1 2.78e+00 -1.4 1.00e+00 1.00e+00h 1 28 6.4499240e+00 5.86e-01 9.41e+00 -0.8 1.31e+01 -1.9 1.00e+00 1.00e+00f 1 29 6.2883281e+00 2.49e-01 2.01e+00 -0.9 1.78e+00 - 1.00e+00 4.70e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 6.1886648e+00 4.33e-01 1.15e+01 -0.9 2.66e+01 -2.4 1.27e-02 2.50e-01f 3 31 6.0656239e+00 1.16e-01 5.67e+00 -1.4 7.54e+01 - 9.94e-01 1.25e-01h 4 32 6.1192024e+00 5.26e-02 2.97e+00 -0.9 9.12e+00 - 1.00e+00 2.50e-01h 3 33 6.1805265e+00 1.16e-01 2.83e+00 -2.0 1.55e+00 - 9.97e-01 1.00e+00H 1 34 6.0890357e+00 1.77e-02 2.36e+00 -2.4 4.94e-01 - 9.99e-01 1.00e+00h 1 35 6.1187786e+00 9.25e-03 3.95e-01 -2.7 1.79e-01 - 1.00e+00 1.00e+00h 1 36 6.1336687e+00 9.60e-04 3.82e-02 -3.8 5.61e-02 - 1.00e+00 1.00e+00h 1 37 6.1341779e+00 9.79e-05 3.48e-04 -4.0 1.97e-02 - 1.00e+00 1.00e+00h 1 38 6.1341897e+00 8.86e-06 3.07e-05 -4.0 5.78e-03 - 1.00e+00 1.00e+00h 1 39 6.1341904e+00 1.08e-07 3.74e-07 -4.0 6.39e-04 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 6.1341904e+00 1.71e-11 5.91e-11 -4.0 8.03e-06 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 40 (scaled) (unscaled) Objective...............: 6.1341904189938976e+00 6.1341904189938976e+00 Dual infeasibility......: 5.9069263369515568e-11 5.9069263369515568e-11 Constraint violation....: 1.7098211735344648e-11 1.7098211735344648e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000002578368219e-04 1.0000002578368219e-04 Overall NLP error.......: 5.9069263369515568e-11 5.9069263369515568e-11 Number of objective function evaluations = 95 Number of objective gradient evaluations = 41 Number of equality constraint evaluations = 95 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 = 33.802 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.052s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.053s) integrator 1 hessian structure: 0.041s 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 (0.042s) linear index maps built (0.0s) evaluator ready (total: 0.095s) evaluator created (0.095s) 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: 0.095s) 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 2.9586305e+00 2.27e+00 4.61e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7127303e+00 1.68e+00 9.68e-01 -4.0 1.00e+01 -2.0 1.46e-01 3.00e-01h 1 2 2.6210333e+00 6.82e-02 1.51e+00 -1.0 1.77e+00 -1.6 6.48e-01 1.00e+00f 1 3 2.4206499e+00 1.26e-01 7.24e-01 -1.4 2.09e+00 -2.1 1.00e+00 9.11e-01h 1 4 2.1827089e+00 5.14e-02 2.99e-01 -2.0 1.46e+00 -2.5 9.99e-01 8.66e-01h 1 5 2.1276539e+00 3.28e-03 9.15e-02 -2.4 3.28e-01 -3.0 9.69e-01 1.00e+00h 1 6 2.0932660e+00 5.22e-04 3.30e-03 -4.0 1.61e-01 -3.5 1.00e+00 9.27e-01h 1 7 2.0909287e+00 8.37e-05 1.56e-04 -4.0 1.86e-01 -4.0 1.00e+00 1.00e+00h 1 8 2.0908713e+00 4.98e-07 2.06e-05 -4.0 5.63e-01 -4.4 1.00e+00 1.00e+00h 1 9 2.0907055e+00 1.08e-06 2.06e-05 -4.0 1.69e+00 -4.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0902094e+00 9.77e-06 4.36e-05 -4.0 5.04e+00 -5.4 1.00e+00 1.00e+00h 1 11 2.0887348e+00 8.97e-05 3.88e-04 -4.0 1.50e+01 -5.9 1.00e+00 1.00e+00h 1 12 2.0844386e+00 8.54e-04 3.55e-03 -4.0 4.36e+01 -6.3 1.00e+00 1.00e+00h 1 13 2.0796406e+00 1.93e-03 2.23e-01 -4.0 1.09e+02 -6.8 1.00e+00 4.39e-01h 1 14 2.0793757e+00 7.71e-03 1.90e-01 -4.1 6.19e+01 -7.3 1.00e+00 7.65e-01h 1 15 2.0772924e+00 7.72e-03 4.15e-02 -4.0 1.29e+02 -7.8 1.00e+00 9.15e-01h 1 16 2.0769045e+00 3.13e-03 6.73e-02 -4.0 2.12e+02 -8.3 1.00e+00 1.00e+00h 1 17 2.0758923e+00 1.22e-03 2.61e-02 -4.0 3.63e+02 -8.7 1.00e+00 1.00e+00h 1 18 2.0754585e+00 1.82e-03 2.55e-02 -4.0 3.45e+02 -9.2 1.00e+00 7.03e-01h 1 19 2.0757124e+00 1.20e-03 6.44e-03 -4.0 1.07e+02 -9.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0756734e+00 6.99e-05 1.32e-04 -4.0 3.48e+01 -10.2 1.00e+00 1.00e+00h 1 21 2.0756713e+00 2.78e-07 4.23e-06 -4.0 2.24e+01 -10.6 1.00e+00 1.00e+00h 1 22 2.0756712e+00 2.26e-08 9.48e-07 -4.0 1.23e+01 -11.1 1.00e+00 1.00e+00h 1 23 2.0756712e+00 1.53e-09 6.11e-08 -4.0 3.60e+00 -11.6 1.00e+00 1.00e+00h 1 24 2.0756712e+00 1.82e-11 7.19e-10 -4.0 4.67e-01 -12.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 24 (scaled) (unscaled) Objective...............: 2.0756712121153660e+00 2.0756712121153660e+00 Dual infeasibility......: 7.1901622896168756e-10 7.1901622896168756e-10 Constraint violation....: 1.8198553775050641e-11 1.8198553775050641e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000070e-04 1.0000000000000070e-04 Overall NLP error.......: 7.1901622896168756e-10 7.1901622896168756e-10 Number of objective function evaluations = 25 Number of objective gradient evaluations = 25 Number of equality constraint evaluations = 25 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 25 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 24 Total seconds in IPOPT = 33.223 EXIT: Optimal Solution Found. ====================================================================================== 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 _ZN12_GLOBAL__N_111DAGCombiner12visitADDLikeEPN4llvm6SDNodeE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN12_GLOBAL__N_111DAGCombiner8visitADDEPN4llvm6SDNodeE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN12_GLOBAL__N_111DAGCombiner7combineEPN4llvm6SDNodeE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm12SelectionDAG7CombineENS_12CombineLevelEPNS_14BatchAAResultsENS_15CodeGenOptLevelE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm16SelectionDAGISel17CodeGenAndEmitDAGEv at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm16SelectionDAGISel20SelectAllBasicBlocksERKNS_8FunctionE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm16SelectionDAGISel20runOnMachineFunctionERNS_15MachineFunctionE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm22SelectionDAGISelLegacy20runOnMachineFunctionERNS_15MachineFunctionE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm19MachineFunctionPass13runOnFunctionERNS_8FunctionE.part.0 at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm13FPPassManager13runOnFunctionERNS_8FunctionE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm13FPPassManager11runOnModuleERNS_6ModuleE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm6legacy15PassManagerImpl3runERNS_6ModuleE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) operator() at /source/src/jitlayers.cpp:1414:23 compileModule at /source/src/jitlayers.cpp:2362:79 materialize at /source/src/jitlayers.cpp:906:36 _ZN4llvm3orc19MaterializationTask3runEv at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) dispatch at /source/src/julia-task-dispatcher.h:353:11 _ZN4llvm3orc16ExecutionSession22dispatchOutstandingMUsEv at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (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.21.1jl (unknown line) _ZN4llvm3orc25InProgressFullLookupState8completeESt10unique_ptrINS0_21InProgressLookupStateESt14default_deleteIS3_EE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm3orc16ExecutionSession19OL_applyQueryPhase1ESt10unique_ptrINS0_21InProgressLookupStateESt14default_deleteIS3_EENS_5ErrorE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm3orc16ExecutionSession6lookupENS0_10LookupKindERKSt6vectorISt4pairIPNS0_8JITDylibENS0_19JITDylibLookupFlagsEESaIS8_EENS0_15SymbolLookupSetENS0_11SymbolStateENS_15unique_functionIFvNS_8ExpectedINS_8DenseMapINS0_15SymbolStringPtrENS0_17ExecutorSymbolDefENS_12DenseMapInfoISI_vEENS_6detail12DenseMapPairISI_SJ_EEEEEEEEESt8functionIFvRKNSH_IS6_NS_8DenseSetISI_SL_EENSK_IS6_vEENSN_IS6_SV_EEEEEE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) publishCIs at /source/src/jitlayers.cpp:2057:14 jl_compile_codeinst_impl at /source/src/jitlayers.cpp:510:39 jl_compile_method_internal at /source/src/gf.c:3664:27 _jl_invoke at /source/src/gf.c:4117:16 [inlined] ijl_apply_generic at /source/src/gf.c:4351:12 jl_apply at /source/src/julia.h:2328:12 [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:3113:125 include_string at ./loading.jl:3123:3 _jl_invoke at /source/src/gf.c:4125:23 [inlined] ijl_apply_generic at /source/src/gf.c:4351:12 jl_apply at /source/src/julia.h:2328:12 [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:7:12 #run_testitem##4 at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:118:15 [inlined] cd at ./file.jl:112:18 unknown function (ip: 0x7387b75d7c46) at (unknown file) _jl_invoke at /source/src/gf.c:4125:23 [inlined] ijl_apply_generic at /source/src/gf.c:4351:12 run_testitem at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:117:99 unknown function (ip: 0x7387b75d77fe) at (unknown file) _jl_invoke at /source/src/gf.c:4125:23 [inlined] ijl_apply_generic at /source/src/gf.c:4351:12 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:250:552 run_tests at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:134:3 unknown function (ip: 0x7387b751b9d2) at (unknown file) _jl_invoke at /source/src/gf.c:4125:23 [inlined] ijl_apply_generic at /source/src/gf.c:4351:12 jl_apply at /source/src/julia.h:2328:12 [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:3113:125 _jl_invoke at /source/src/gf.c:4125:23 [inlined] ijl_apply_generic at /source/src/gf.c:4351:12 _include at ./loading.jl:3173:35 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:4125:23 [inlined] ijl_apply_generic at /source/src/gf.c:4351:12 jl_apply at /source/src/julia.h:2328:12 [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:318:353 _start at ./client.jl:593:35 jfptr__start_0.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4125:23 [inlined] ijl_apply_generic at /source/src/gf.c:4351:12 jl_apply at /source/src/julia.h:2328:12 [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: 0x7387cd8c6249) 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:1246:44 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:4125:23 [inlined] ijl_apply_generic at /source/src/gf.c:4351:12 jl_apply at /source/src/julia.h:2328:12 [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 0x00007b9f67e06680 Total snapshots: 422. Utilization: 0% ╎422 @Base/task.jl:1168 wait_forever() 421╎ 422 @Base/task.jl:1246 wait() [1] signal 15: Terminated in expression starting at /PkgEval.jl/scripts/evaluate.jl:214 epoll_pwait at /lib/x86_64-linux-gnu/libc.so.6 (unknown line) uv__io_poll at /workspace/srcdir/libuv/src/unix/linux.c:1404 uv_run at /workspace/srcdir/libuv/src/unix/core.c:430 ijl_task_get_next at /source/src/scheduler.c:457:34 wait at ./task.jl:1246:44 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:4125:23 [inlined] ijl_apply_generic at /source/src/gf.c:4351:12 jl_apply at /source/src/julia.h:2328:12 [inlined] start_task at /source/src/task.c:1275:19 unknown function (ip: (nil)) at (unknown file) Allocations: 18915653 (Pool: 18914950; Big: 703); GC: 15 [19] signal 15: Terminated in expression starting at /home/pkgeval/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:789 validate_code! at ./../usr/share/julia/Compiler/src/validation.jl:195:354 validate_code! at ./../usr/share/julia/Compiler/src/validation.jl:234:82 validate_code at ./../usr/share/julia/Compiler/src/validation.jl:239:7 [inlined] maybe_validate_code at ./../usr/share/julia/Compiler/src/validation.jl:65:6 InferenceState at ./../usr/share/julia/Compiler/src/inferencestate.jl:628:14 [inlined] typeinf_edge at ./../usr/share/julia/Compiler/src/typeinfer.jl:1233:292 abstract_call_method at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:769:274 infercalls at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:178:37 abstract_call_gf_by_type at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:340:130 abstract_call_known at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:2999:1162 abstract_call at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:3107:46 abstract_call at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:3100:4 [inlined] abstract_call at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:3260:15 abstract_eval_call at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:3278:20 [inlined] abstract_eval_statement_expr at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:3648:10 abstract_eval_basic_statement at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:4055:136 [inlined] abstract_eval_basic_statement at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:4012:4 [inlined] typeinf_local at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:4596:643 jfptr_typeinf_local_1.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4125:23 [inlined] ijl_apply_generic at /source/src/gf.c:4351:12 typeinf at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:4874:135 typeinf_ext at ./../usr/share/julia/Compiler/src/typeinfer.jl:1537:123 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:1732:17 jfptr_typeinf_ext_toplevel_3.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4125:23 [inlined] ijl_apply_generic at /source/src/gf.c:4351:12 jl_apply at /source/src/julia.h:2328:12 [inlined] jl_type_infer at /source/src/gf.c:463:35 jl_compile_method_internal at /source/src/gf.c:3652:24 _jl_invoke at /source/src/gf.c:4117:16 [inlined] ijl_apply_generic at /source/src/gf.c:4351:12 jacobian! at /home/pkgeval/.julia/packages/ForwardDiff/z3jRk/src/jacobian.jl:58:3 unknown function (ip: 0x73873645e04d) at (unknown file) _jl_invoke at /source/src/gf.c:4125:23 [inlined] ijl_apply_generic at /source/src/gf.c:4351:12 eval_jacobian at /home/pkgeval/.julia/packages/DirectTrajOpt/bnQ8f/src/constraints/nonlinear/knot_point_constraint.jl:261:60 unknown function (ip: 0x73873645dcb8) at (unknown file) _jl_invoke at /source/src/gf.c:4125:23 [inlined] ijl_apply_generic at /source/src/gf.c:4351:12 _ at /home/pkgeval/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:130:128 Evaluator at /home/pkgeval/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:93:24 [inlined] #make_evaluator#12 at /home/pkgeval/.julia/packages/DirectTrajOpt/bnQ8f/test/test_snippets.jl:60:15 [inlined] make_evaluator at /home/pkgeval/.julia/packages/DirectTrajOpt/bnQ8f/test/test_snippets.jl:58:2 unknown function (ip: 0x73873645210f) at (unknown file) _jl_invoke at /source/src/gf.c:4125:23 [inlined] ijl_apply_generic at /source/src/gf.c:4351:12 jl_apply at /source/src/julia.h:2328:12 [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:3113:125 include_string at ./loading.jl:3123:3 _jl_invoke at /source/src/gf.c:4125:23 [inlined] ijl_apply_generic at /source/src/gf.c:4351:12 jl_apply at /source/src/julia.h:2328:12 [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:7:12 #run_testitem##4 at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:118:15 [inlined] cd at ./file.jl:112:18 unknown function (ip: 0x7387b75d7c46) at (unknown file) _jl_invoke at /source/src/gf.c:4125:23 [inlined] ijl_apply_generic at /source/src/gf.c:4351:12 run_testitem at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:117:99 unknown function (ip: 0x7387b75d77fe) at (unknown file) _jl_invoke at /source/src/gf.c:4125:23 [inlined] ijl_apply_generic at /source/src/gf.c:4351:12 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:250:552 run_tests at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:134:3 unknown function (ip: 0x7387b751b9d2) at (unknown file) _jl_invoke at /source/src/gf.c:4125:23 [inlined] ijl_apply_generic at /source/src/gf.c:4351:12 jl_apply at /source/src/julia.h:2328:12 [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:3113:125 _jl_invoke at /source/src/gf.c:4125:23 [inlined] ijl_apply_generic at /source/src/gf.c:4351:12 _include at ./loading.jl:3173:35 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:4125:23 [inlined] ijl_apply_generic at /source/src/gf.c:4351:12 jl_apply at /source/src/julia.h:2328:12 [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:318:353 _start at ./client.jl:593:35 jfptr__start_0.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4125:23 [inlined] ijl_apply_generic at /source/src/gf.c:4351:12 jl_apply at /source/src/julia.h:2328:12 [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: 0x7387cd8c6249) at /lib/x86_64-linux-gnu/libc.so.6 __libc_start_main at /lib/x86_64-linux-gnu/libc.so.6 (unknown line) unknown function (ip: 0x4010b8) at /workspace/srcdir/glibc-2.17/csu/../sysdeps/x86_64/start.S unknown function (ip: (nil)) at (unknown file) Allocations: 1476387217 (Pool: 1476313106; Big: 74111); GC: 584 PkgEval terminated after 2723.87s: test duration exceeded the time limit