Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.2172 (32456e37ae*) started at 2026-05-12T23:25:46.675 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 14.97s ################################################################################ # 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 v0.7.18 [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 v3.10.0 [19f34311] + SciMLJacobianOperators v0.1.13 ⌅ [a6db7da4] + SciMLLogging v1.10.0 [c0aeaf25] + SciMLOperators v1.20.0 [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 v8.20.0+1 [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 6.04s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling project... 28.5 s ✓ DirectTrajOpt 29.8 s ✓ DirectTrajOpt → MadNLPSolverExt 2 dependencies successfully precompiled in 62 seconds. 217 already precompiled. Precompilation completed after 87.22s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_EGlqFM/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 v3.10.0 [f8b46487] TestItemRunner v1.1.5 [1c621080] TestItems v1.0.0 [6dad8b7f] TrajectoryIndexingUtils v0.1.0 [8f399da3] Libdl v1.11.0 [37e2e46d] LinearAlgebra v1.13.0 [9a3f8284] Random v1.11.0 [2f01184e] SparseArrays v1.13.0 [8dfed614] Test v1.11.0 Status `/tmp/jl_EGlqFM/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 v0.7.18 [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 v3.10.0 [19f34311] SciMLJacobianOperators v0.1.13 ⌅ [a6db7da4] SciMLLogging v1.10.0 [c0aeaf25] SciMLOperators v1.20.0 [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 v8.20.0+1 [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: 1.727s integrator 2 jacobian structure: 0.051s integrator 3 jacobian structure: 0.0s jacobian structure: 1872 nonzeros (1.815s) integrator 1 hessian structure: 0.044s integrator 2 hessian structure: 0.045s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 2.039s sub-objective 2 (QuadraticRegularizer): 1.673s sub-objective 3 (LinearRegularizer): 0.07s sub-objective 4 (MinimumTimeObjective): 0.015s objective hessian structure: 3.881s hessian structure: 2431 nonzeros (3.971s) linear index maps built (0.0s) evaluator ready (total: 6.19s) evaluator created (10.242s) NL constraint bounds extracted (0.086s) NLP block data built (0.0s) Ipopt optimizer configured (0.368s) variables set (0.827s) 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 (3.393s) optimizer initialization complete (total: 15.002s) ****************************************************************************** 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 4.0376857e+00 2.37e+00 1.08e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.8955199e+00 2.29e+00 1.11e+00 -4.0 6.54e+01 -4.0 6.31e-02 3.33e-02h 1 2 3.1876839e+00 1.94e+00 2.48e+01 -0.8 1.38e+02 -3.6 3.58e-02 3.89e-01f 1 3 3.0861112e+00 1.77e+00 6.58e+00 -0.5 1.60e+02 -3.1 1.86e-01 2.08e-01f 1 4 2.8369122e+00 1.27e+00 1.43e+01 -0.9 1.08e+01 -1.8 3.45e-01 2.92e-01f 1 5 3.0210456e+00 6.16e-01 9.70e+01 -1.0 7.10e+00 -2.3 3.52e-01 9.48e-01f 1 6 2.7246429e+00 1.46e-01 2.08e+01 -1.9 1.50e+00 -1.0 7.44e-01 1.00e+00h 1 7 2.3584846e+00 5.54e-02 2.17e+00 -1.9 8.80e-01 -1.4 6.51e-01 1.00e+00h 1 8 2.2961297e+00 5.26e-02 2.03e+00 -2.7 2.01e+01 -1.9 4.61e-02 3.31e-02h 1 9 2.1814686e+00 3.66e-02 8.32e-01 -2.3 9.12e-01 -2.4 7.04e-01 4.48e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0657650e+00 1.20e-01 6.54e-01 -3.1 3.95e+00 -2.9 5.15e-01 5.51e-01h 1 11 2.0344124e+00 6.35e-02 7.18e-01 -3.6 1.59e+00 -3.4 8.67e-01 4.70e-01h 1 12 2.0151539e+00 2.69e-02 2.21e-01 -3.9 1.33e+00 -3.8 8.96e-01 5.76e-01h 1 13 2.0026015e+00 1.82e-02 4.08e-02 -4.0 2.13e+00 -4.3 6.55e-01 8.89e-01h 1 14 2.0010368e+00 2.47e-04 3.39e-02 -4.0 1.41e+00 -4.8 8.03e-01 9.94e-01h 1 15 2.0010592e+00 5.43e-06 3.25e-02 -4.0 2.42e+00 -5.3 7.27e-01 1.00e+00h 1 16 2.0010654e+00 1.69e-08 8.08e-02 -4.0 3.80e+00 -5.7 8.30e-01 1.00e+00h 1 17 2.0012053e+00 5.88e-08 1.58e-01 -4.0 6.92e+00 -6.2 7.50e-01 1.00e+00f 1 18 2.0007906e+00 2.06e-07 1.04e-01 -4.2 7.50e+00 -6.7 9.27e-01 6.18e-01f 1 19 2.0016659e+00 2.30e-07 6.04e-01 -4.0 2.79e+01 -7.2 5.62e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0010391e+00 4.93e-07 1.57e-01 -4.1 2.10e+01 -7.6 1.00e+00 3.74e-01f 1 21 2.0012252e+00 5.39e-07 1.21e+00 -4.1 5.99e+01 -8.1 8.93e-01 1.00e+00f 1 22 2.0007678e+00 7.34e-07 1.68e+00 -4.1 7.29e+01 -8.6 6.25e-01 8.87e-01f 1 23 2.0024120e+00 7.63e-08 3.59e+00 -4.0 1.56e+02 -9.1 7.18e-01 1.00e+00f 1 24 2.0009566e+00 4.63e-07 1.32e+00 -4.2 1.55e+02 -9.6 1.00e+00 4.24e-01f 1 25 2.0011692e+00 4.37e-07 7.49e+00 -4.2 3.62e+02 -10.0 7.71e-01 1.00e+00f 1 26 2.0005272e+00 8.03e-07 1.13e+01 -4.2 4.79e+02 -10.5 7.65e-01 1.00e+00f 1 27 2.0028499e+00 2.92e-07 3.30e+01 -4.0 1.45e+03 -11.0 6.43e-01 1.00e+00f 1 28 2.0015340e+00 3.50e-07 7.20e+00 -4.1 9.10e+02 -11.5 8.65e-01 2.56e-01f 2 29 2.0010310e+00 1.54e-07 6.20e+01 -4.1 2.94e+03 -11.9 5.65e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0008823e+00 8.44e-08 2.97e+01 -4.1 2.88e+03 -12.4 1.00e+00 5.16e-01f 1 31 2.0015359e+00 5.41e-09 1.80e+02 -4.1 8.50e+03 -12.9 6.81e-01 1.00e+00f 1 32 2.0001743e+00 6.48e-08 8.69e+01 -4.1 6.82e+03 -13.4 1.00e+00 6.37e-01f 1 33 2.0028542e+00 1.60e-08 5.40e+02 -4.0 2.62e+04 -13.8 8.15e-01 1.00e+00f 1 34 2.0013469e+00 2.93e-08 2.77e+01 -4.2 5.34e+03 -14.3 1.00e+00 2.59e-01f 2 35 2.0007312e+00 1.13e-08 1.79e+02 -4.2 8.93e+03 -14.8 1.00e+00 1.00e+00f 1 36 2.0006992e+00 8.47e-11 3.40e+02 -4.2 1.70e+04 -15.3 1.00e+00 1.00e+00f 1 37 2.0005554e+00 4.51e-11 2.51e+02 -4.2 1.25e+04 -15.8 1.00e+00 1.00e+00f 1 38 2.0005444e+00 1.29e-12 1.44e+02 -4.2 7.22e+03 -16.2 1.00e+00 1.00e+00h 1 39 2.0005064e+00 1.80e-13 4.15e+01 -4.2 2.07e+03 -16.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0005032e+00 3.85e-14 2.58e+01 -4.2 1.29e+03 -17.2 1.00e+00 1.00e+00h 1 41 2.0004963e+00 9.62e-14 5.61e+00 -4.2 2.81e+02 -17.7 1.00e+00 1.00e+00h 1 42 2.0004957e+00 5.46e-14 4.34e+00 -4.2 2.17e+02 -18.1 1.00e+00 1.00e+00h 1 43 2.0004945e+00 1.42e-13 8.93e-01 -4.2 4.46e+01 -18.6 1.00e+00 1.00e+00h 1 44 2.0004944e+00 8.11e-14 7.25e-01 -4.2 3.63e+01 -19.1 1.00e+00 1.00e+00h 1 45 2.0004942e+00 2.12e-13 1.48e-01 -4.2 7.38e+00 -19.6 1.00e+00 1.00e+00h 1 46 2.0004942e+00 1.08e-13 1.21e-01 -4.2 6.05e+00 -20.0 1.00e+00 1.00e+00h 1 47 2.0004942e+00 9.38e-14 2.46e-02 -4.2 1.23e+00 -20.0 1.00e+00 1.00e+00h 1 48 2.0008745e+00 2.52e-09 1.06e+02 -4.0 5.32e+03 -20.0 1.00e+00 1.00e+00f 1 49 2.0005574e+00 4.23e-10 1.63e+02 -4.1 8.14e+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 50 2.0006578e+00 4.47e-10 6.18e+01 -4.1 3.09e+03 -20.0 1.00e+00 1.00e+00h 1 51 2.0006259e+00 1.20e-10 2.59e+01 -4.1 1.29e+03 -20.0 1.00e+00 1.00e+00h 1 52 2.0006415e+00 7.18e-11 8.36e+00 -4.1 4.18e+02 -20.0 1.00e+00 1.00e+00h 1 53 2.0006361e+00 2.10e-11 4.46e+00 -4.1 2.23e+02 -20.0 1.00e+00 1.00e+00h 1 54 2.0006387e+00 1.19e-11 1.34e+00 -4.1 6.72e+01 -20.0 1.00e+00 1.00e+00h 1 55 2.0006378e+00 3.52e-12 7.47e-01 -4.1 3.73e+01 -20.0 1.00e+00 1.00e+00h 1 56 2.0006382e+00 1.97e-12 2.22e-01 -4.1 1.11e+01 -20.0 1.00e+00 1.00e+00h 1 57 2.0006381e+00 5.87e-13 1.25e-01 -4.1 6.23e+00 -20.0 1.00e+00 1.00e+00h 1 58 2.0006382e+00 3.29e-13 3.70e-02 -4.1 1.85e+00 -20.0 1.00e+00 1.00e+00h 1 59 2.0006381e+00 9.77e-14 2.08e-02 -4.1 1.04e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0006381e+00 5.47e-14 6.17e-03 -4.1 3.09e-01 -20.0 1.00e+00 1.00e+00h 1 61 2.0006381e+00 1.63e-14 3.46e-03 -4.1 1.73e-01 -20.0 1.00e+00 1.00e+00h 1 62 2.0006381e+00 9.11e-15 1.03e-03 -4.1 9.88e-02 -20.0 1.00e+00 1.00e+00h 1 63 2.0006381e+00 2.71e-15 5.76e-04 -4.1 9.88e-02 -20.0 1.00e+00 1.00e+00h 1 64 1.9998550e+00 1.27e-08 2.26e+02 -6.1 1.13e+04 -20.0 1.00e+00 1.00e+00f 1 65 2.0006797e+00 3.29e-09 2.07e+03 -4.0 2.07e+05 -20.0 1.00e+00 5.00e-01f 2 66 2.0004275e+00 1.01e-10 2.25e+03 -3.9 1.13e+05 -20.0 1.00e+00 1.00e+00f 1 67 2.0009508e+00 3.37e-09 5.32e+02 -3.9 2.66e+04 -20.0 1.00e+00 1.00e+00f 1 68 2.0010312e+00 2.92e-09 1.05e+02 -3.9 5.23e+03 -20.0 1.00e+00 1.00e+00h 1 69 2.0010444e+00 7.44e-10 2.70e+01 -3.9 1.35e+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 70 2.0010610e+00 5.55e-10 6.30e+00 -3.9 3.15e+02 -20.0 1.00e+00 1.00e+00h 1 71 2.0010629e+00 1.33e-10 4.70e+00 -3.9 2.35e+02 -20.0 1.00e+00 1.00e+00h 1 72 2.0010656e+00 9.46e-11 1.10e+00 -3.9 5.48e+01 -20.0 1.00e+00 1.00e+00h 1 73 2.0010659e+00 2.24e-11 7.82e-01 -3.9 3.91e+01 -20.0 1.00e+00 1.00e+00h 1 74 2.0010664e+00 1.58e-11 1.84e-01 -3.9 9.21e+00 -20.0 1.00e+00 1.00e+00h 1 75 2.0010664e+00 3.73e-12 1.30e-01 -3.9 6.51e+00 -20.0 1.00e+00 1.00e+00h 1 76 2.0010665e+00 2.63e-12 3.07e-02 -3.9 1.54e+00 -20.0 1.00e+00 1.00e+00h 1 77 2.0010665e+00 6.21e-13 2.17e-02 -3.9 1.09e+00 -20.0 1.00e+00 1.00e+00h 1 78 2.0010665e+00 4.38e-13 5.12e-03 -3.9 4.82e-01 -20.0 1.00e+00 1.00e+00h 1 79 2.0010665e+00 1.03e-13 3.62e-03 -3.9 4.82e-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 2.0010665e+00 7.30e-14 8.54e-04 -3.9 4.82e-01 -20.0 1.00e+00 1.00e+00h 1 81 1.9998647e+00 8.41e-08 2.43e+02 -5.9 1.22e+04 -20.0 1.00e+00 1.00e+00f 1 82 1.9998449e+00 3.03e-13 2.19e+02 -5.9 1.18e+04 -20.0 9.29e-01 1.00e+00h 1 83 1.9765985e+00 2.81e-13 2.68e+05 -5.5 1.07e+08 -20.0 1.00e+00 1.25e-01f 4 84 1.9877979e+00 2.45e-13 1.40e+05 -4.9 1.06e+09 -20.0 1.00e+00 6.59e-03f 1 85 1.9999801e+00 2.30e-13 1.30e+05 -3.4 2.67e+08 -20.0 1.00e+00 2.44e-02f 1 86 1.9998745e+00 2.93e-09 1.96e+03 -3.4 9.82e+04 -20.0 1.00e+00 1.00e+00f 1 87 2.0167829e+00 7.92e-05 1.67e+00 -3.4 6.83e+02 -20.0 1.00e+00 1.25e-01f 4 88 2.0012856e+00 2.69e-06 1.51e+03 -3.4 7.55e+04 -20.0 1.00e+00 1.00e+00H 1 89 2.0045285e+00 1.70e-05 8.14e+02 -3.4 4.07e+04 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0037081e+00 4.38e-07 2.66e+02 -3.4 1.33e+04 -20.0 1.00e+00 1.00e+00h 1 91 2.0042778e+00 8.13e-07 9.31e+01 -3.4 4.65e+03 -20.0 1.00e+00 1.00e+00h 1 92 2.0039401e+00 5.17e-07 2.10e+01 -3.4 1.05e+03 -20.0 1.00e+00 1.00e+00h 1 93 2.0040499e+00 1.17e-07 2.22e+01 -3.4 1.11e+03 -20.0 1.00e+00 1.00e+00h 1 94 2.0039916e+00 8.90e-08 4.44e+00 -3.4 2.22e+02 -20.0 1.00e+00 1.00e+00h 1 95 2.0040100e+00 1.89e-08 3.73e+00 -3.4 1.86e+02 -20.0 1.00e+00 1.00e+00h 1 96 2.0040002e+00 1.48e-08 7.79e-01 -3.4 3.90e+01 -20.0 1.00e+00 1.00e+00h 1 97 2.0040033e+00 3.14e-09 6.21e-01 -3.4 3.11e+01 -20.0 1.00e+00 1.00e+00h 1 98 2.0040017e+00 2.47e-09 1.31e-01 -3.4 2.70e+01 -20.0 1.00e+00 1.00e+00h 1 99 2.0040022e+00 5.22e-10 1.03e-01 -3.4 2.70e+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 2.0040019e+00 4.11e-10 2.18e-02 -3.4 2.70e+01 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0040018912573370e+00 2.0040018912573370e+00 Dual infeasibility......: 2.1807556502153602e-02 2.1807556502153602e-02 Constraint violation....: 4.1147547337732487e-10 4.1147547337732487e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 4.1700564131910760e-04 4.1700564131910760e-04 Overall NLP error.......: 2.1807556502153602e-02 2.1807556502153602e-02 Number of objective function evaluations = 119 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 119 Number of inequality constraint evaluations = 119 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 64.663 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: 0.043s integrator 2 jacobian structure: 0.04s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.083s) integrator 1 hessian structure: 0.044s integrator 2 hessian structure: 0.044s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.246s sub-objective 2 (QuadraticRegularizer): 0.062s sub-objective 3 (QuadraticRegularizer): 0.0s objective hessian structure: 0.386s hessian structure: 1749 nonzeros (0.474s) linear index maps built (0.0s) evaluator ready (total: 0.557s) evaluator created (0.557s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.095s) 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 (2.201s) optimizer initialization complete (total: 2.853s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1529 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 73 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.7962129e+00 3.30e+00 1.87e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6601724e+00 2.37e+00 5.61e+00 -0.3 1.78e+01 -2.0 2.02e-01 2.80e-01f 1 2 2.1426429e+00 1.36e+00 2.52e+01 -0.7 5.73e+00 -0.7 6.03e-02 4.32e-01f 1 3 1.9925470e+00 1.26e+00 6.46e+01 0.3 3.01e+00 0.7 5.06e-01 6.79e-02f 1 4 1.8989441e+00 1.07e+00 5.81e+01 0.6 4.27e+00 0.2 7.74e-01 1.56e-01f 1 5 1.8267384e+00 8.05e-01 2.25e+01 0.7 7.45e+00 -0.3 6.41e-01 5.35e-01f 1 6 2.0006410e+00 4.98e-01 8.68e+01 -4.0 2.57e+00 0.1 4.23e-01 1.00e+00h 1 7 2.0689041e+00 2.08e-01 3.21e+01 0.5 3.96e-01 1.5 8.19e-01 5.61e-01f 1 8 2.0202766e+00 1.36e-03 8.51e+00 -0.2 2.13e-01 1.0 9.98e-01 1.00e+00f 1 9 1.9946028e+00 4.56e-05 1.09e+00 -1.6 1.75e-02 0.5 9.70e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.7686172e+00 1.92e-03 1.24e-01 -1.8 1.16e-01 0.0 1.00e+00 1.00e+00f 1 11 1.5137472e+00 4.24e-03 5.78e-02 -2.1 1.64e-01 -0.4 9.41e-01 9.48e-01f 1 12 1.3746240e+00 7.84e-02 5.63e-02 -2.6 4.77e-01 -0.9 9.67e-01 8.83e-01h 1 13 1.3194598e+00 4.66e-02 1.57e-01 -2.8 8.78e-01 -1.4 9.84e-01 4.12e-01h 1 14 1.3157032e+00 3.96e-02 3.63e-01 -2.3 1.72e+00 -1.9 1.00e+00 1.51e-01h 1 15 1.3253841e+00 5.24e-01 3.19e-01 -2.1 4.43e+00 -2.4 1.00e+00 6.30e-01f 1 16 1.3006726e+00 9.39e-02 1.60e-01 -2.2 1.61e+00 -2.8 1.00e+00 1.00e+00h 1 17 1.2918660e+00 6.53e-02 5.78e-01 -2.0 1.36e+00 -3.3 8.46e-01 3.09e-01h 1 18 1.1993502e+00 3.60e-01 5.52e-02 -2.9 2.09e+00 -3.8 1.00e+00 1.00e+00h 1 19 1.1904119e+00 2.09e-01 1.47e-02 -3.3 9.42e+00 -4.3 9.05e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.1730967e+00 1.36e-01 7.96e-03 -4.0 4.44e+00 -4.7 1.00e+00 1.00e+00h 1 21 1.1698671e+00 1.52e-01 1.57e-02 -4.0 1.06e+01 -5.2 1.00e+00 1.00e+00h 1 22 1.1671551e+00 1.99e-01 2.90e-03 -4.0 1.64e+01 -5.7 1.00e+00 1.00e+00h 1 23 1.1654930e+00 2.08e-01 4.34e-03 -4.0 2.46e+01 -6.2 1.00e+00 1.00e+00h 1 24 1.1639101e+00 2.66e-01 4.95e-03 -4.0 3.73e+01 -6.7 1.00e+00 1.00e+00h 1 25 1.1628283e+00 2.99e-01 7.17e-03 -4.0 5.57e+01 -7.1 1.00e+00 1.00e+00h 1 26 1.1618758e+00 3.64e-01 1.57e-02 -4.0 8.29e+01 -7.6 1.00e+00 1.00e+00h 1 27 1.1612109e+00 4.08e-01 1.97e-02 -4.0 1.20e+02 -8.1 1.00e+00 1.00e+00h 1 28 1.1606953e+00 4.51e-01 2.54e-02 -4.0 1.69e+02 -8.6 1.00e+00 1.00e+00h 1 29 1.1604824e+00 3.89e-01 1.97e-02 -4.0 2.11e+02 -9.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.1607351e+00 8.55e-02 2.39e-03 -4.0 1.38e+02 -9.5 1.00e+00 1.00e+00h 1 31 1.1608525e+00 2.62e-03 7.40e-04 -4.0 1.58e+01 -10.0 1.00e+00 1.00e+00h 1 32 1.1608491e+00 1.67e-04 2.03e-05 -4.0 5.39e+00 -10.5 1.00e+00 1.00e+00h 1 33 1.1608491e+00 7.79e-08 3.08e-10 -4.0 1.25e-01 -10.9 1.00e+00 1.00e+00h 1 34 1.1608491e+00 7.02e-13 6.83e-14 -4.0 3.44e-04 -11.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 34 (scaled) (unscaled) Objective...............: 1.1608491307790525e+00 1.1608491307790525e+00 Dual infeasibility......: 6.8314847051845207e-14 6.8314847051845207e-14 Constraint violation....: 7.0166095156309893e-13 7.0166095156309893e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000585e-04 1.0000000000000585e-04 Overall NLP error.......: 7.0166095156309893e-13 7.0166095156309893e-13 Number of objective function evaluations = 35 Number of objective gradient evaluations = 35 Number of equality constraint evaluations = 35 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 35 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 34 Total seconds in IPOPT = 37.191 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.037s jacobian structure: 180 nonzeros (0.059s) integrator 1 hessian structure: 0.033s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.246s sub-objective 2 (QuadraticRegularizer): 0.06s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.013s objective hessian structure: 0.39s hessian structure: 375 nonzeros (0.424s) linear index maps built (0.0s) evaluator ready (total: 0.564s) evaluator created (0.564s) NL constraint bounds extracted (0.008s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.094s) applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (1.993s) optimizer initialization complete (total: 2.659s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 186 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 19 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.2851913e+00 9.10e-01 1.03e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.4460926e+00 1.44e-01 1.66e+00 -1.0 9.03e-01 0.0 9.98e-01 1.00e+00h 1 2 1.4680570e+00 4.57e-02 4.59e-01 -0.8 3.28e-01 -0.5 1.00e+00 5.78e-01h 1 3 1.0576225e+00 1.31e-01 2.21e+00 -2.2 2.69e+00 - 7.61e-01 1.00e+00f 1 4 9.1838987e-01 8.06e-02 6.85e-01 -1.7 1.08e+00 -1.0 9.98e-01 4.22e-01h 1 5 1.4304237e+00 4.03e-02 2.87e+00 -1.9 6.04e-01 -1.4 9.91e-01 1.00e+00h 1 6 1.1389190e+00 3.11e-02 1.01e+00 -2.1 1.48e+00 -1.0 1.00e+00 4.58e-01f 1 7 1.1070345e+00 1.10e-02 1.27e-01 -3.1 1.18e-01 -1.5 1.00e+00 6.47e-01h 1 8 1.0923764e+00 1.80e-04 2.27e-01 -4.0 4.24e+00 - 1.00e+00 1.00e+00h 1 9 1.0909929e+00 2.33e-07 2.14e-02 -4.0 1.36e+00 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0910388e+00 1.37e-11 2.12e-04 -4.0 1.82e-01 - 1.00e+00 1.00e+00h 1 11 1.0910386e+00 8.88e-16 3.68e-05 -4.0 5.48e-02 - 1.00e+00 1.00e+00f 1 12 1.0910386e+00 4.90e-28 2.11e-05 -4.0 2.17e-03 - 1.00e+00 1.00e+00h 1 13 1.0910386e+00 9.14e-28 2.06e-10 -4.0 4.30e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 13 (scaled) (unscaled) Objective...............: 1.0910385779862084e+00 1.0910385779862084e+00 Dual infeasibility......: 2.0622475505550250e-10 2.0622475505550250e-10 Constraint violation....: 9.1357549978029733e-28 9.1357549978029733e-28 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000024e-04 1.0000000000000024e-04 Overall NLP error.......: 2.0622475505550250e-10 2.0622475505550250e-10 Number of objective function evaluations = 14 Number of objective gradient evaluations = 14 Number of equality constraint evaluations = 14 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 14 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 13 Total seconds in IPOPT = 24.246 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: 0.076s hessian structure: 30 nonzeros (0.076s) linear index maps built (0.0s) evaluator ready (total: 0.077s) evaluator created (0.077s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.116s) applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: bounds on u applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial time t₁ = 0 linear constraints added: 5 (2.969s) optimizer initialization complete (total: 3.163s) 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 2.1018147e-02 8.33e-17 1.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8205458e-02 1.09e-11 1.79e-02 -4.0 3.68e-02 -2.0 9.82e-01 1.00e+00f 1 2 8.5698770e-03 1.71e-12 9.63e-02 -2.9 1.12e-01 -1.6 9.99e-01 1.00e+00f 1 3 7.7334642e-04 2.81e-11 7.33e-02 -3.4 1.59e-01 -1.1 1.00e+00 8.97e-01f 1 4 4.3165238e-04 1.99e-11 2.75e-02 -2.9 5.19e-01 -1.6 1.00e+00 9.52e-01f 1 5 5.8050495e-04 1.49e-11 1.88e-02 -2.6 1.40e+00 -2.1 1.00e+00 4.59e-01f 2 6 5.8050495e-04 1.49e-11 1.50e-02 -2.8 1.48e+00 -2.6 7.87e-01 6.50e-15h 47 7 5.8050495e-04 1.49e-11 1.33e-02 -4.2 1.17e+00 -3.1 5.75e-01 2.22e-15h 49 8 1.0112328e-04 3.72e-12 1.34e-02 -4.2 9.40e-01 -3.5 7.80e-01 7.80e-01S 61 9 9.3367291e-04 3.32e-12 2.48e-02 -3.1 4.10e+00 -4.0 4.22e-01 1.30e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 9.3367291e-04 3.32e-12 3.28e-02 -3.5 7.40e-02 -0.9 1.00e+00 5.68e-14h 45 11 1.7420571e-04 8.72e-12 2.13e-02 -3.5 2.41e-01 -1.4 6.69e-01 6.69e-01s 60 12 2.3618285e-04 7.71e-13 7.03e-03 -3.5 3.75e-01 -1.8 1.00e+00 0.00e+00S 60 13 2.1595635e-04 1.22e-12 1.66e-02 -3.5 9.04e-01 -2.3 1.00e+00 1.38e-01f 3 14 2.1580832e-04 1.70e-12 1.39e-02 -3.5 7.11e-01 -2.8 1.00e+00 6.78e-02f 4 15 2.0674164e-04 2.08e-12 1.29e-02 -3.5 3.41e-01 -3.3 1.00e+00 6.18e-02f 5 16 1.9976180e-04 2.24e-12 1.61e-02 -3.5 2.61e-01 -3.7 1.00e+00 3.12e-02f 6 17 1.9976180e-04 2.24e-12 1.78e-02 -3.5 2.47e-01 -4.2 1.00e+00 3.64e-12h 39 18 1.0176597e-04 7.17e-12 6.12e-03 -3.5 2.46e-01 -4.7 1.00e+00 1.00e+00s 60 Cannot call restoration phase at point that is almost feasible (violation 7.170366e-12). Abort in line search due to no other fall back. Number of Iterations....: 18 (scaled) (unscaled) Objective...............: 1.0176596511332891e-04 1.0176596511332891e-04 Dual infeasibility......: 6.1210518286428329e-03 6.1210518286428329e-03 Constraint violation....: 7.1703660804028901e-12 7.1703660804028901e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 4.0675284144906534e-04 4.0675284144906534e-04 Overall NLP error.......: 6.1210518286428329e-03 6.1210518286428329e-03 Number of objective function evaluations = 408 Number of objective gradient evaluations = 20 Number of equality constraint evaluations = 408 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 = 19 Total seconds in IPOPT = 2.436 EXIT: Error in step computation! 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): 0.086s sub-objective 2 (QuadraticRegularizer): 0.0s objective hessian structure: 0.177s hessian structure: 40 nonzeros (0.177s) linear index maps built (0.0s) evaluator ready (total: 0.177s) evaluator created (0.177s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.12s) applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial value of t applying constraint: bounds on u applying constraint: bounds on t applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) linear constraints added: 6 (2.974s) optimizer initialization complete (total: 3.272s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 39 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 19 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.7186081e+00 4.94e-01 7.61e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.1050663e+00 2.04e-09 1.41e-01 -0.5 4.67e-01 -2.0 9.38e-01 1.00e+00f 1 2 3.5134574e-01 1.39e-09 2.17e-01 -1.4 9.46e-01 -1.6 8.90e-01 1.00e+00f 1 3 1.5686924e-01 2.33e-10 5.36e-02 -2.2 5.55e-01 -1.1 9.96e-01 1.00e+00f 1 4 4.2894807e-02 4.67e-11 3.93e-02 -3.1 8.22e-01 -1.6 1.00e+00 1.00e+00f 1 5 8.5398280e-03 2.61e-11 1.70e-02 -4.0 7.32e-01 -2.1 1.00e+00 1.00e+00f 1 6 1.6905808e-03 7.47e-12 5.36e-03 -4.0 4.60e-01 -2.6 1.00e+00 1.00e+00f 1 7 5.9921293e-04 1.81e-12 1.43e-03 -4.0 1.99e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.5716060e-04 1.74e-13 3.20e-04 -4.0 9.94e-02 -3.5 1.00e+00 1.00e+00f 1 9 4.5083565e-04 1.79e-14 1.01e-04 -4.0 2.70e-02 -4.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 4.5296567e-04 6.77e-15 9.65e-05 -4.0 1.55e-02 -4.5 1.00e+00 1.00e+00f 1 11 3.0198542e-04 7.93e-15 4.71e-04 -4.1 8.64e-02 -5.0 1.00e+00 1.00e+00f 1 12 4.5841118e-04 4.22e-15 3.89e-04 -4.0 2.14e-01 -5.4 1.00e+00 5.00e-01f 2 13 2.7250396e-04 2.55e-15 6.11e-04 -4.1 1.16e-01 -5.9 1.00e+00 1.00e+00f 1 14 4.6298746e-04 1.55e-15 4.97e-04 -4.0 2.71e-01 -6.4 1.00e+00 5.00e-01f 2 15 2.6281070e-04 1.36e-15 6.74e-04 -4.1 1.30e-01 -6.9 1.00e+00 1.00e+00f 1 16 4.6375475e-04 9.99e-16 5.37e-04 -4.0 2.92e-01 -7.4 1.00e+00 5.00e-01f 2 17 2.5971921e-04 9.99e-16 7.00e-04 -4.1 1.35e-01 -7.8 1.00e+00 1.00e+00f 1 18 4.6368359e-04 8.88e-16 5.52e-04 -4.0 3.01e-01 -8.3 1.00e+00 5.00e-01f 2 19 2.5873103e-04 8.92e-16 7.16e-04 -4.1 1.38e-01 -8.8 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 4.6330701e-04 8.88e-16 5.59e-04 -4.0 3.05e-01 -9.3 1.00e+00 5.00e-01f 2 21 2.5842150e-04 8.33e-16 7.28e-04 -4.1 1.41e-01 -9.7 1.00e+00 1.00e+00f 1 22 4.6285553e-04 6.66e-16 5.63e-04 -4.0 3.09e-01 -10.2 1.00e+00 5.00e-01f 2 23 2.5832648e-04 7.70e-16 7.38e-04 -4.1 1.43e-01 -10.7 1.00e+00 1.00e+00f 1 24 4.6239499e-04 5.55e-16 5.66e-04 -4.0 3.11e-01 -11.2 1.00e+00 5.00e-01f 2 25 2.5829868e-04 7.36e-16 7.47e-04 -4.1 1.45e-01 -11.6 1.00e+00 1.00e+00f 1 26 4.6194705e-04 5.55e-16 5.69e-04 -4.0 3.14e-01 -12.1 1.00e+00 5.00e-01f 2 27 2.5829140e-04 7.08e-16 7.56e-04 -4.1 1.46e-01 -12.6 1.00e+00 1.00e+00f 1 28 3.1058610e-05 8.38e-15 9.44e-04 -6.2 3.99e-01 -13.1 9.66e-01 1.00e+00f 1 29 1.7183907e-03 2.22e-15 7.98e-03 -4.0 2.09e+00 -13.6 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.4996098e-05 2.18e-14 3.03e-03 -4.1 1.06e+00 -14.0 1.00e+00 1.00e+00f 1 31 1.5641214e-03 2.78e-14 8.32e-03 -4.0 1.03e+00 -14.5 1.00e+00 1.00e+00f 1 32 1.0588695e-05 1.68e-14 2.41e-03 -4.2 1.14e+00 -15.0 1.00e+00 1.00e+00f 1 33 4.5910834e-04 1.44e-15 2.83e-03 -4.0 1.42e+00 -15.5 1.00e+00 5.00e-01f 2 34 2.2126819e-04 2.89e-15 2.53e-04 -4.2 3.80e-01 -15.9 1.00e+00 5.00e-01f 2 35 2.0393516e-05 4.22e-15 8.51e-04 -6.4 4.31e-01 -16.4 9.62e-01 1.00e+00f 1 36 8.2098891e-06 3.05e-15 1.05e-04 -6.4 1.09e-01 -16.9 1.00e+00 1.00e+00f 1 37 1.3279297e-03 1.11e-15 4.66e-03 -4.0 1.00e+01 -17.4 1.00e+00 1.19e-01f 4 38 1.1709199e-04 4.83e-14 3.34e-03 -4.0 7.35e-01 -17.8 1.00e+00 1.00e+00f 1 39 7.2189337e-04 2.93e-14 3.37e-03 -4.0 5.09e-01 -18.3 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 3.7969344e-04 5.33e-15 4.51e-04 -4.0 4.16e-01 -18.8 1.00e+00 5.00e-01f 2 41 3.5322654e-05 5.33e-15 1.39e-03 -6.0 5.26e-01 -19.3 9.52e-01 1.00e+00f 1 42 1.4552770e-05 4.94e-15 1.67e-04 -6.0 1.31e-01 -19.8 1.00e+00 1.00e+00f 1 43 3.9416879e-06 8.33e-16 1.06e-04 -6.0 1.51e-01 -20.0 1.00e+00 1.00e+00f 1 44 9.0988287e-04 4.58e-16 2.40e-03 -4.0 1.65e+01 -20.0 1.00e+00 7.28e-02f 4 45 1.8827110e-04 4.31e-14 2.60e-03 -4.0 5.12e-01 -20.0 1.00e+00 1.00e+00f 1 46 6.2963542e-04 1.78e-14 2.45e-03 -4.0 3.73e-01 -20.0 1.00e+00 1.00e+00f 1 47 3.8873873e-04 3.11e-15 4.05e-04 -4.0 3.31e-01 -20.0 1.00e+00 5.00e-01f 2 48 3.4809349e-05 5.66e-15 1.51e-03 -6.1 5.70e-01 -20.0 9.47e-01 1.00e+00f 1 49 1.4551797e-05 4.55e-15 1.74e-04 -6.1 1.37e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 3.8298167e-06 7.77e-16 1.14e-04 -6.1 1.64e-01 -20.0 1.00e+00 1.00e+00f 1 51 7.4854084e-04 3.89e-16 1.51e-03 -4.0 1.77e+01 -20.0 1.00e+00 6.76e-02f 4 52 2.2267116e-04 3.75e-14 2.20e-03 -4.1 4.19e-01 -20.0 1.00e+00 1.00e+00f 1 53 5.6916378e-04 1.22e-14 1.97e-03 -4.1 3.06e-01 -20.0 1.00e+00 1.00e+00f 1 54 3.8459035e-04 2.22e-15 3.73e-04 -4.1 2.84e-01 -20.0 1.00e+00 5.00e-01f 2 55 3.3744643e-05 5.44e-15 1.59e-03 -6.1 6.04e-01 -20.0 9.43e-01 1.00e+00f 1 56 1.4234277e-05 4.22e-15 1.78e-04 -6.1 1.42e-01 -20.0 1.00e+00 1.00e+00f 1 57 3.6980507e-06 6.66e-16 1.19e-04 -6.1 1.74e-01 -20.0 1.00e+00 1.00e+00f 1 58 6.2922741e-04 3.23e-16 7.03e-04 -4.0 1.91e+01 -20.0 1.00e+00 6.25e-02f 4 59 2.5607312e-04 3.35e-14 1.78e-03 -4.1 3.30e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 5.1457263e-04 8.22e-15 1.48e-03 -4.1 2.36e-01 -20.0 1.00e+00 1.00e+00f 1 61 3.8061057e-04 1.11e-15 3.27e-04 -4.1 2.31e-01 -20.0 1.00e+00 5.00e-01f 2 62 3.2655435e-05 5.22e-15 1.66e-03 -6.1 6.36e-01 -20.0 9.39e-01 1.00e+00f 1 63 1.3921836e-05 3.77e-15 1.81e-04 -6.1 1.47e-01 -20.0 1.00e+00 1.00e+00f 1 64 3.5871482e-06 5.55e-16 1.23e-04 -6.1 1.83e-01 -20.0 1.00e+00 1.00e+00f 1 65 5.4120081e-04 5.20e-16 7.79e-05 -4.0 2.04e+01 -20.0 1.00e+00 5.84e-02f 4 66 2.8523502e-04 3.02e-14 1.38e-03 -4.1 2.50e-01 -20.0 1.00e+00 1.00e+00f 1 67 4.6855770e-04 5.33e-15 1.04e-03 -4.1 1.69e-01 -20.0 1.00e+00 1.00e+00f 1 68 2.9799661e-04 4.00e-15 9.85e-04 -4.1 1.79e-01 -20.0 1.00e+00 1.00e+00f 1 69 4.6160400e-04 2.89e-15 9.04e-04 -4.1 1.47e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 3.0506696e-04 3.55e-15 8.91e-04 -4.1 1.61e-01 -20.0 1.00e+00 1.00e+00f 1 71 4.5468486e-04 2.66e-15 8.11e-04 -4.1 1.33e-01 -20.0 1.00e+00 1.00e+00f 1 72 2.3617307e-05 4.66e-15 1.82e-03 -6.1 7.69e-01 -20.0 9.25e-01 1.00e+00f 1 73 1.2304217e-05 3.89e-15 1.21e-04 -6.1 1.07e-01 -20.0 1.00e+00 1.00e+00f 1 74 3.0767857e-06 4.44e-16 1.15e-04 -6.1 1.84e-01 -20.0 1.00e+00 1.00e+00f 1 75 4.9476323e-04 5.48e-16 5.37e-04 -4.0 2.31e+01 -20.0 1.00e+00 5.17e-02f 4 76 3.0941248e-04 2.93e-14 1.07e-03 -4.1 1.91e-01 -20.0 1.00e+00 1.00e+00f 1 77 4.4317951e-04 3.77e-15 7.28e-04 -4.1 1.20e-01 -20.0 1.00e+00 1.00e+00f 1 78 2.4324418e-05 4.55e-15 1.89e-03 -6.1 7.90e-01 -20.0 9.22e-01 1.00e+00f 1 79 1.2440612e-05 3.66e-15 1.32e-04 -6.1 1.16e-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 3.1170468e-06 4.44e-16 1.22e-04 -6.1 1.93e-01 -20.0 1.00e+00 1.00e+00f 1 81 3.9809344e-06 2.22e-16 2.07e-05 -6.1 3.60e-02 -20.0 1.00e+00 1.00e+00f 1 82 3.4329312e-06 4.68e-17 5.92e-06 -6.1 1.06e-02 -20.0 1.00e+00 1.00e+00h 1 83 2.6080296e-07 5.55e-17 5.28e-05 -9.0 2.35e-01 -20.0 9.77e-01 1.00e+00f 1 84 2.4670825e-03 4.93e-16 1.21e-02 -4.0 1.04e+02 -20.0 1.00e+00 2.33e-02f 3 85 8.3723712e-05 4.86e-14 7.11e-03 -3.9 1.55e+00 -20.0 1.00e+00 1.00e+00f 1 86 7.7265493e-04 2.91e-14 5.39e-03 -3.9 8.16e-01 -20.0 1.00e+00 1.00e+00f 1 87 4.3967498e-04 5.55e-15 7.72e-04 -3.9 5.37e-01 -20.0 1.00e+00 5.00e-01f 2 88 4.3447686e-05 4.33e-15 2.14e-03 -5.9 7.15e-01 -20.0 9.30e-01 1.00e+00f 1 89 1.7944685e-05 4.00e-15 2.62e-04 -5.9 1.86e-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 90 5.1358305e-06 6.66e-16 1.66e-04 -5.9 2.09e-01 -20.0 1.00e+00 1.00e+00f 1 91 5.8424372e-06 3.33e-16 1.76e-05 -5.9 2.50e-02 -20.0 1.00e+00 1.00e+00h 1 92 5.3959237e-06 7.81e-17 2.77e-06 -5.9 3.98e-03 -20.0 1.00e+00 1.00e+00h 1 93 3.8820468e-07 5.55e-17 7.97e-05 -8.9 2.86e-01 -20.0 9.71e-01 1.00e+00f 1 94 1.5613286e-07 3.82e-17 8.37e-06 -8.9 6.34e-02 -20.0 1.00e+00 1.00e+00f 1 95 1.5872340e-03 6.14e-16 1.46e-03 -4.0 3.13e+02 -20.0 1.00e+00 7.77e-03f 3 96 4.7580683e-04 6.35e-14 5.65e-03 -3.8 7.30e-01 -20.0 1.00e+00 1.00e+00f 1 97 8.8993502e-04 1.91e-14 2.20e-03 -3.8 2.61e-01 -20.0 1.00e+00 1.00e+00f 1 98 5.6170300e-04 8.44e-15 2.30e-03 -3.8 3.01e-01 -20.0 1.00e+00 1.00e+00f 1 99 8.7949142e-04 2.89e-15 1.44e-03 -3.8 1.68e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 4.9845597e-05 8.55e-15 3.58e-03 -5.7 1.03e+00 -20.0 8.95e-01 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 4.9845597220584213e-05 4.9845597220584213e-05 Dual infeasibility......: 3.5760688924623657e-03 3.5760688924623657e-03 Constraint violation....: 8.5487172896137054e-15 8.5487172896137054e-15 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 4.8179237955724265e-05 4.8179237955724265e-05 Overall NLP error.......: 3.5760688924623657e-03 3.5760688924623657e-03 Number of objective function evaluations = 161 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 161 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 = 3.178 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: 0.058s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.952s jacobian structure: 1600 nonzeros (3.027s) integrator 1 hessian structure: 0.053s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.212s 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 (4.285s) linear index maps built (0.0s) evaluator ready (total: 7.313s) evaluator created (7.338s) NL constraint bounds extracted (0.108s) 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 (0.121s) optimizer initialization complete (total: 7.567s) 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 2.3390490e+00 2.68e+00 6.00e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8327707e+00 6.81e-02 2.02e+00 -1.0 1.80e+00 0.0 9.70e-01 1.00e+00f 1 2 2.5604362e+00 1.27e-02 6.50e-01 -1.1 2.45e-01 0.4 9.56e-01 1.00e+00h 1 3 2.3522087e+00 1.45e-03 4.50e-01 -2.1 1.01e-01 -0.1 9.93e-01 1.00e+00h 1 4 2.2079400e+00 3.75e-03 3.23e-01 -2.6 3.03e-01 -0.5 9.95e-01 4.15e-01f 1 5 2.1243373e+00 1.56e-03 2.26e-01 -3.7 1.15e-01 -1.0 9.99e-01 5.86e-01h 1 6 2.0935733e+00 1.30e-04 1.98e-02 -4.0 2.26e-02 -1.5 1.00e+00 9.24e-01h 1 7 2.0908221e+00 2.60e-06 1.86e-03 -4.0 1.18e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0908434e+00 3.05e-08 5.42e-05 -4.0 1.48e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908401e+00 2.08e-10 1.62e-05 -4.0 1.33e-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 2.0908362e+00 5.10e-10 1.62e-05 -4.0 3.97e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908261e+00 4.18e-09 1.59e-05 -4.0 1.17e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0907983e+00 3.50e-08 3.13e-05 -4.0 3.37e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907221e+00 3.17e-07 1.00e-04 -4.0 9.65e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0904447e+00 2.81e-06 7.72e-04 -4.0 3.07e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0895921e+00 3.03e-05 3.11e-03 -4.0 9.61e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0876462e+00 2.42e-04 1.33e-02 -4.0 2.63e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0868158e+00 1.08e-04 1.29e-02 -4.0 1.11e+01 -5.8 1.00e+00 6.77e-01h 1 18 2.0853752e+00 1.94e-04 1.21e-02 -4.0 2.35e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0836979e+00 2.53e-04 3.94e-02 -4.0 4.03e+01 -6.8 1.00e+00 6.09e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0826441e+00 7.96e-05 9.23e-03 -4.0 5.81e+01 -7.3 1.00e+00 7.14e-01h 1 21 2.0824907e+00 7.02e-04 2.35e-02 -4.0 1.22e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.1574272e+00 4.52e-05 2.59e+00 -4.0 7.14e+02 -8.2 5.77e-02 1.00e+00H 1 23 2.1063845e+00 2.07e-04 9.73e+00 -4.1 1.90e+02 -2.4 7.76e-04 9.89e-03f 1 24 2.0879806e+00 9.05e-05 4.48e+00 -4.1 4.52e-01 -1.9 1.00e+00 5.41e-01f 1 25 2.0883535e+00 8.78e-05 4.37e+00 -4.0 1.23e+00 -2.4 1.00e+00 3.12e-02f 6 26 2.0861164e+00 7.93e-05 2.02e-02 -4.0 1.30e+00 -2.9 1.00e+00 1.00e+00h 1 27 2.0846630e+00 7.96e-05 2.74e-01 -4.0 2.63e+00 -3.4 1.00e+00 3.48e-01h 1 28 2.0848039e+00 1.98e-05 3.51e-01 -4.0 2.42e-01 -3.9 1.00e+00 7.42e-01h 1 29 2.0847025e+00 2.14e-05 2.04e-04 -4.0 1.98e-01 -4.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0846604e+00 6.62e-07 1.75e-05 -4.0 5.91e-01 -4.8 1.00e+00 1.00e+00h 1 31 2.0845524e+00 2.69e-06 1.44e-04 -4.0 1.70e+00 -5.3 1.00e+00 1.00e+00h 1 32 2.0843352e+00 1.43e-05 7.01e-04 -4.0 4.65e+00 -5.8 1.00e+00 1.00e+00h 1 33 2.0840385e+00 2.96e-05 1.63e-03 -4.0 1.21e+01 -6.2 1.00e+00 1.00e+00h 1 34 2.0835475e+00 9.32e-05 4.02e-03 -4.0 3.07e+01 -6.7 1.00e+00 1.00e+00h 1 35 2.0827709e+00 5.11e-04 1.68e-02 -4.0 7.09e+01 -7.2 1.00e+00 1.00e+00h 1 36 2.0818018e+00 1.38e-03 3.77e-02 -4.1 1.24e+02 -7.7 1.00e+00 1.00e+00h 1 37 2.0822877e+00 1.21e-03 6.20e-02 -4.0 1.81e+03 -8.1 1.31e-02 1.60e-01h 3 38 2.0817679e+00 5.38e-04 1.26e-01 -4.0 7.73e+00 -5.9 1.00e+00 5.60e-01h 1 39 2.0822532e+00 5.35e-04 1.23e-02 -4.0 1.39e+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 2.0820956e+00 1.39e-03 7.67e-03 -4.0 3.24e+01 -6.9 9.72e-01 1.00e+00h 1 41 2.0820341e+00 1.88e-05 1.74e-04 -4.0 7.30e-01 -5.5 1.00e+00 1.00e+00h 1 42 2.0820402e+00 3.59e-05 3.11e-04 -4.0 3.26e+00 -6.0 1.00e+00 1.00e+00h 1 43 2.0817688e+00 2.35e-04 1.54e-04 -4.1 9.47e+00 -6.5 1.00e+00 1.00e+00h 1 44 2.1127745e+00 2.74e-04 5.15e-01 -4.0 1.11e+02 -7.0 1.57e-01 1.00e+00H 1 45 2.0830510e+00 1.63e-04 2.12e+00 -4.2 1.17e+00 -1.1 1.06e-01 4.05e-01f 1 46 2.0833492e+00 1.62e-04 3.28e+00 -4.2 1.22e+00 -1.6 1.00e+00 7.52e-03f 7 47 2.0831144e+00 8.51e-06 3.59e-03 -4.2 2.04e-01 -2.1 1.00e+00 1.00e+00h 1 48 2.0824555e+00 1.96e-05 1.99e-02 -4.0 4.42e-01 -2.6 1.00e+00 8.80e-01h 1 49 2.0825542e+00 4.92e-06 1.24e-03 -4.1 1.79e-01 -3.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0825611e+00 3.20e-06 3.32e-04 -4.0 1.17e-01 -3.5 1.00e+00 1.00e+00h 1 51 2.0823791e+00 1.96e-06 4.48e-05 -4.1 8.11e-02 -4.0 1.00e+00 1.00e+00h 1 52 2.0825325e+00 4.94e-06 7.51e-05 -4.0 2.04e-01 -4.5 1.00e+00 1.00e+00h 1 53 2.0823227e+00 1.69e-05 6.92e-05 -4.1 6.93e-01 -4.9 1.00e+00 1.00e+00h 1 54 2.0814764e+00 3.00e-04 1.42e-03 -6.1 3.09e+00 -5.4 1.00e+00 1.00e+00h 1 55 2.0821684e+00 5.87e-04 4.23e-03 -4.0 4.49e+00 -5.9 1.00e+00 1.00e+00h 1 56 2.0817398e+00 2.97e-04 1.40e-03 -4.1 6.57e+00 -6.4 1.00e+00 1.00e+00h 1 57 2.0818924e+00 4.64e-04 9.02e-04 -4.0 1.80e+01 -6.9 1.00e+00 1.00e+00h 1 58 2.0815500e+00 1.24e-03 1.04e-02 -4.1 5.84e+01 -7.3 5.35e-01 1.00e+00h 1 59 2.0816498e+00 1.10e-03 3.94e-01 -4.1 2.07e+01 -6.0 8.02e-01 5.00e-01h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0815646e+00 4.92e-04 1.93e-01 -4.1 1.04e+01 -6.5 1.00e+00 2.58e-01h 1 61 2.0819892e+00 2.60e-04 3.42e-02 -4.0 2.68e+00 -7.0 1.00e+00 9.30e-01f 1 62 2.0818771e+00 8.18e-06 2.40e-03 -4.0 2.90e+00 -7.4 1.00e+00 1.00e+00h 1 63 2.0821452e+00 1.04e-04 2.43e-02 -3.4 6.91e+01 -7.9 3.04e-01 6.22e-02h 2 64 2.0884284e+00 2.04e-06 5.15e-02 -3.8 3.10e+01 -8.4 3.73e-01 1.00e+00H 1 65 2.0847408e+00 2.07e-06 2.58e-02 -3.8 7.94e-02 -0.5 1.00e+00 1.00e+00f 1 66 2.0829624e+00 2.43e-06 8.99e-03 -3.8 9.74e-02 -1.0 1.00e+00 1.00e+00f 1 67 2.0824894e+00 9.41e-07 1.62e-03 -4.0 3.80e-02 -1.5 1.00e+00 1.00e+00h 1 68 2.0823849e+00 1.54e-07 4.97e-04 -4.0 4.43e-02 -2.0 1.00e+00 1.00e+00h 1 69 2.0823805e+00 1.53e-08 2.34e-04 -4.0 6.61e-02 -2.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0823721e+00 1.72e-07 1.90e-04 -4.0 7.05e-02 -2.9 1.00e+00 1.00e+00h 1 71 2.0823615e+00 8.68e-07 1.76e-04 -4.0 4.66e-02 -3.4 1.00e+00 1.00e+00h 1 72 2.0823456e+00 3.98e-06 1.61e-04 -4.0 1.07e-01 -3.9 1.00e+00 1.00e+00h 1 73 2.0823344e+00 1.41e-07 1.02e-04 -4.0 1.86e-02 -2.6 1.00e+00 1.00e+00h 1 74 2.0823251e+00 3.72e-08 1.01e-04 -4.0 1.22e-02 -2.1 1.00e+00 1.00e+00h 1 75 2.0822486e+00 6.09e-07 2.88e-01 -4.0 1.91e+00 -2.6 1.93e-01 3.14e-02h 2 76 2.0822205e+00 8.95e-07 9.21e-05 -4.0 4.75e-02 -3.1 1.00e+00 1.00e+00h 1 77 2.0821651e+00 1.47e-06 1.36e-04 -4.0 3.86e-02 -3.6 1.00e+00 1.00e+00h 1 78 2.0821831e+00 1.24e-06 1.74e-05 -4.0 6.14e-02 -4.0 1.00e+00 1.00e+00h 1 79 2.0821842e+00 5.84e-07 5.87e-06 -4.0 1.90e-01 -4.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0821834e+00 2.34e-06 1.43e-05 -4.0 5.96e-01 -5.0 1.00e+00 1.00e+00h 1 81 2.0819874e+00 6.66e-05 1.72e-04 -4.1 1.46e+00 -5.5 1.00e+00 1.00e+00h 1 82 2.0816118e+00 1.27e-04 3.19e-01 -6.1 1.04e+01 -5.9 7.47e-01 2.71e-01h 1 83 2.0819254e+00 1.90e-04 9.30e-04 -4.0 3.83e+00 -6.4 1.00e+00 1.00e+00f 1 84 2.0824471e+00 7.47e-07 1.56e-01 -4.1 4.24e+01 -6.9 3.85e-01 1.00e+00H 1 85 2.0821341e+00 2.45e-06 3.68e-01 -4.1 3.22e+00 -2.9 2.24e-02 2.91e-02h 2 86 2.0819772e+00 2.39e-07 1.57e-03 -4.0 3.09e-02 -1.5 1.00e+00 1.00e+00h 1 87 2.0819736e+00 2.15e-06 1.90e-03 -4.0 9.51e-02 -2.0 1.00e+00 1.00e+00h 1 88 2.0819711e+00 1.02e-07 9.22e-05 -4.0 1.44e-02 -2.5 1.00e+00 1.00e+00h 1 89 2.0819733e+00 2.49e-08 3.76e-06 -4.0 3.43e-03 -3.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0819727e+00 6.58e-10 3.73e-06 -4.0 1.02e-02 -3.4 1.00e+00 1.00e+00h 1 91 2.0819713e+00 1.43e-09 3.73e-06 -4.0 3.06e-02 -3.9 1.00e+00 1.00e+00h 1 92 2.0819673e+00 1.31e-08 3.72e-06 -4.0 9.16e-02 -4.4 1.00e+00 1.00e+00h 1 93 2.0819561e+00 1.15e-07 3.70e-06 -4.0 2.73e-01 -4.9 1.00e+00 1.00e+00h 1 94 2.0819280e+00 9.69e-07 2.23e-05 -4.0 8.28e-01 -5.3 1.00e+00 1.00e+00h 1 95 2.0818722e+00 8.26e-06 8.31e-05 -4.0 2.78e+00 -5.8 1.00e+00 1.00e+00h 1 96 2.0817329e+00 1.56e-04 7.09e-03 -4.0 1.32e+01 -6.3 9.42e-01 1.00e+00h 1 97 2.0823852e+00 1.37e-04 1.82e-02 -4.0 3.89e+01 -6.8 1.00e+00 1.13e-01h 1 98 2.0817090e+00 6.34e-05 2.40e-03 -4.1 3.89e+00 -7.3 1.00e+00 1.00e+00h 1 99 2.0818493e+00 5.93e-05 3.05e-04 -4.0 4.44e+00 -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 100 2.0815778e+00 2.74e-04 7.81e-05 -4.1 1.19e+01 -8.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0815777855602118e+00 2.0815777855602118e+00 Dual infeasibility......: 7.8054072886440002e-05 7.8054072886440002e-05 Constraint violation....: 2.7440750045659712e-04 2.7440750045659712e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.2412238009317655e-05 8.2412238009317655e-05 Overall NLP error.......: 2.7440750045659712e-04 2.7440750045659712e-04 Number of objective function evaluations = 130 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 130 Number of inequality constraint evaluations = 130 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 27.469 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: 0.057s integrator 2 jacobian structure: 0.05s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 5.653s jacobian structure: 1680 nonzeros (5.761s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.046s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 12.108s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.3s sub-objective 2 (QuadraticRegularizer): 0.083s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.016s sub-objective 5 (GlobalObjective): 0.563s objective hessian structure: 1.043s hessian structure: 1964 nonzeros (13.245s) linear index maps built (0.0s) evaluator ready (total: 19.007s) evaluator created (19.03s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.108s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (4.405s) optimizer initialization complete (total: 23.544s) 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 1.1965276e+01 2.38e+00 5.14e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8097315e+00 2.31e-01 2.11e+00 -0.9 2.62e+00 -2.0 6.96e-01 9.95e-01f 1 2 2.6599871e+00 8.98e-03 8.00e-01 -1.1 3.42e-01 -1.6 9.81e-01 1.00e+00f 1 3 2.2807060e+00 1.41e-02 2.31e-02 -2.0 3.21e-01 -2.1 9.64e-01 1.00e+00h 1 4 2.1007306e+00 6.30e-03 2.28e-02 -3.1 3.31e-01 -2.5 9.95e-01 9.44e-01h 1 5 2.0910827e+00 2.40e-05 5.50e-04 -4.0 1.83e-02 -3.0 9.94e-01 1.00e+00h 1 6 2.0909163e+00 1.37e-06 2.14e-05 -4.0 6.50e-02 -3.5 1.00e+00 1.00e+00h 1 7 2.0908962e+00 1.44e-08 8.19e-05 -4.0 1.82e-01 -4.0 1.00e+00 1.00e+00h 1 8 2.0908526e+00 8.10e-08 1.71e-04 -4.0 4.73e-01 -4.4 1.00e+00 1.00e+00h 1 9 2.0907615e+00 4.01e-07 7.72e-04 -4.0 1.18e+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 2.0905121e+00 4.58e-06 7.51e-04 -4.0 3.75e+00 -5.4 1.00e+00 1.00e+00h 1 11 2.0902775e+00 3.82e-06 7.09e-03 -4.0 1.47e+01 -5.9 2.98e-01 1.46e-01h 1 12 2.0896858e+00 3.70e-04 6.91e-02 -4.0 3.41e+01 -6.3 1.00e+00 1.00e+00f 1 13 2.0871304e+00 2.26e-04 9.82e-02 -4.0 8.94e+00 -5.0 1.00e+00 5.22e-01h 1 14 2.0870470e+00 5.59e-05 1.20e-02 -4.0 4.24e+00 -5.5 1.00e+00 1.00e+00h 1 15 2.0859066e+00 7.85e-05 7.51e-03 -4.0 1.24e+01 -6.0 1.00e+00 1.00e+00h 1 16 2.0843073e+00 2.27e-04 1.25e-02 -4.0 2.68e+01 -6.4 1.00e+00 1.00e+00h 1 17 2.0827795e+00 1.44e-04 2.00e-02 -4.0 3.27e+01 -6.9 1.00e+00 8.52e-01h 1 18 2.0829674e+00 1.09e-03 3.33e-02 -4.0 6.84e+01 -7.4 1.00e+00 1.00e+00h 1 19 2.0820447e+00 1.80e-03 1.08e-02 -4.1 1.58e+02 -7.9 9.94e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827732e+00 1.99e-05 4.39e-02 -4.0 4.96e+01 -6.5 1.00e+00 1.00e+00H 1 21 2.0939565e+00 2.15e-01 2.67e-01 -3.1 1.56e+02 -7.0 7.92e-01 1.00e+00f 1 22 2.0941470e+00 3.06e-02 1.30e-01 -3.1 2.10e-01 -2.1 1.00e+00 8.58e-01h 1 23 2.0944737e+00 3.33e-05 6.14e-03 -3.1 1.23e-01 -2.6 1.00e+00 1.00e+00f 1 24 2.0906987e+00 4.09e-05 1.45e-01 -4.7 2.36e-01 -2.1 7.06e-01 5.00e-01h 1 25 2.0879158e+00 4.26e-05 5.44e-02 -4.7 1.72e-01 -2.6 1.00e+00 7.50e-01h 1 26 2.0873166e+00 2.03e-06 3.03e-04 -4.7 2.90e-02 -3.1 1.00e+00 1.00e+00h 1 27 2.0881217e+00 4.60e-06 1.91e-04 -4.0 6.12e-02 -3.6 1.00e+00 1.00e+00h 1 28 2.0878883e+00 3.35e-06 3.48e-05 -4.1 1.89e-01 -4.0 1.00e+00 1.00e+00h 1 29 2.0871174e+00 4.20e-05 1.28e-03 -6.1 6.04e-01 -4.5 9.79e-01 9.52e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0869246e+00 8.31e-06 2.27e-04 -6.1 1.80e+00 -5.0 1.00e+00 1.00e+00h 1 31 2.0865714e+00 1.29e-06 3.40e-03 -6.1 5.27e+00 -5.5 1.00e+00 8.54e-01h 1 32 2.0871237e+00 1.28e-03 1.36e-02 -4.0 1.34e+01 -6.0 1.00e+00 1.00e+00f 1 33 2.0859902e+00 1.57e-04 3.40e-02 -4.1 6.64e+00 -5.5 1.00e+00 8.49e-01h 1 34 2.0851613e+00 9.70e-05 8.18e-03 -4.1 1.38e+01 -6.0 1.00e+00 1.00e+00f 1 35 2.0834657e+00 2.60e-04 1.65e-02 -4.1 3.13e+01 -6.5 1.00e+00 9.38e-01h 1 36 2.0820538e+00 4.10e-04 3.36e-02 -4.1 4.19e+01 -7.0 1.00e+00 8.75e-01f 1 37 2.0826013e+00 4.14e-04 2.64e-02 -4.0 6.26e+01 -7.4 9.97e-01 1.00e+00f 1 38 2.0968967e+00 3.20e-04 3.13e-01 -4.1 1.71e+02 -7.0 9.06e-01 1.00e+00H 1 39 2.0833886e+00 7.48e-05 1.90e-01 -4.1 2.13e-01 -1.2 5.27e-01 7.67e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0835877e+00 7.14e-07 2.33e-03 -4.1 8.40e-02 -1.6 1.00e+00 1.00e+00f 1 41 2.0832026e+00 4.67e-06 2.14e-03 -4.0 1.57e-01 -2.1 1.00e+00 1.00e+00h 1 42 2.0833200e+00 2.77e-07 3.26e-04 -4.0 6.80e-02 -2.6 1.00e+00 1.00e+00h 1 43 2.0832538e+00 2.35e-07 4.33e-05 -4.0 3.61e-02 -3.1 1.00e+00 1.00e+00h 1 44 2.0832425e+00 9.67e-08 4.33e-05 -4.0 3.46e-02 -3.6 1.00e+00 1.00e+00h 1 45 2.0832359e+00 2.99e-09 4.34e-05 -4.0 1.04e-01 -4.0 1.00e+00 1.00e+00h 1 46 2.0832157e+00 3.47e-08 4.35e-05 -4.0 3.08e-01 -4.5 1.00e+00 1.00e+00h 1 47 2.0831571e+00 2.99e-07 4.39e-05 -4.0 8.96e-01 -5.0 1.00e+00 1.00e+00h 1 48 2.0829974e+00 2.34e-06 2.21e-04 -4.0 2.48e+00 -5.5 1.00e+00 1.00e+00h 1 49 2.0826435e+00 1.33e-05 1.25e-03 -4.0 5.84e+00 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0822420e+00 4.93e-05 3.46e-03 -4.0 1.15e+01 -6.4 1.00e+00 1.00e+00h 1 51 2.0820291e+00 4.11e-05 3.43e-03 -4.0 2.67e+01 -6.9 1.00e+00 1.00e+00h 1 52 2.0895292e+00 1.57e-06 2.26e-01 -4.0 1.30e+02 -7.4 1.86e-01 1.00e+00H 1 53 2.0848628e+00 8.34e-04 5.75e+00 -3.2 2.73e+01 -5.1 1.00e+00 2.83e-01f 1 54 2.0839516e+00 1.02e-03 1.84e+00 -3.4 6.84e+00 -5.6 7.27e-01 8.94e-01h 1 55 2.0856671e+00 1.14e-03 1.84e+00 -3.4 2.44e+01 -6.1 4.17e-01 1.00e+00f 1 56 2.0854353e+00 6.74e-03 5.63e-01 -3.4 4.50e+01 -6.6 7.13e-01 1.00e+00h 1 57 2.0855084e+00 8.10e-03 5.49e-01 -3.4 6.10e+02 -7.0 4.67e-02 5.02e-02h 5 58 2.0854487e+00 8.24e-03 4.15e-01 -3.4 1.57e+03 -4.8 3.40e-04 4.91e-04h 2 59 2.0858462e+00 8.68e-04 4.97e-02 -3.4 9.70e-01 -5.3 1.00e+00 8.78e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0856562e+00 8.61e-05 3.67e-03 -3.4 2.87e+00 -5.8 1.00e+00 1.00e+00f 1 61 2.0821617e+00 6.27e-03 7.14e-02 -5.0 1.24e+01 -6.2 8.97e-01 1.00e+00h 1 62 2.0810360e+00 4.62e-03 5.85e-03 -5.0 3.14e+01 -6.7 1.00e+00 1.00e+00h 1 63 2.0810724e+00 9.12e-04 4.36e-02 -4.4 1.83e+01 -7.2 1.00e+00 7.93e-01h 1 64 2.0996505e+00 2.46e-04 9.41e-02 -4.0 4.48e+01 -7.7 1.00e+00 6.50e-01H 1 65 2.0934513e+00 3.94e-07 6.66e-02 -4.1 4.35e-02 0.2 1.00e+00 1.00e+00h 1 66 2.0929047e+00 3.79e-07 5.10e-02 -3.7 1.29e-02 0.6 1.00e+00 1.00e+00f 1 67 2.0906387e+00 2.03e-07 4.52e-02 -3.8 3.42e-02 0.1 1.00e+00 1.00e+00h 1 68 2.0874017e+00 5.09e-07 3.16e-02 -3.8 7.02e-02 -0.4 9.98e-01 1.00e+00h 1 69 2.0840219e+00 1.97e-07 1.95e-02 -3.8 1.33e-01 -0.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0820194e+00 1.01e-06 6.78e-01 -3.8 1.61e-01 -1.3 8.64e-01 1.00e+00h 1 71 2.0819475e+00 1.02e-09 1.24e-03 -4.0 8.29e-02 -1.8 1.00e+00 1.00e+00H 1 72 2.0818807e+00 1.35e-07 4.73e-04 -4.0 3.22e-02 -2.3 1.00e+00 1.00e+00f 1 73 2.0818316e+00 2.28e-07 5.47e-05 -4.0 3.08e-02 -2.7 1.00e+00 1.00e+00h 1 74 2.0818359e+00 1.61e-08 5.15e-05 -4.0 6.66e-03 -3.2 1.00e+00 1.00e+00h 1 75 2.0818367e+00 1.04e-09 5.15e-05 -4.0 1.98e-02 -3.7 1.00e+00 1.00e+00h 1 76 2.0818392e+00 8.65e-09 5.15e-05 -4.0 5.76e-02 -4.2 1.00e+00 1.00e+00h 1 77 2.0817156e+00 2.83e-06 6.77e-05 -4.1 1.66e-01 -4.7 1.00e+00 1.00e+00h 1 78 2.0818566e+00 9.58e-06 1.42e-04 -4.0 5.19e-01 -5.1 1.00e+00 1.00e+00h 1 79 2.0816981e+00 2.91e-05 1.37e-04 -4.1 1.53e+00 -5.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0818405e+00 1.03e-04 3.84e-04 -4.0 5.88e+00 -6.1 1.00e+00 1.00e+00h 1 81 2.0817621e+00 2.47e-04 6.33e-02 -4.1 7.58e+01 -6.6 1.38e-01 2.21e-01h 3 82 2.0816093e+00 5.85e-06 2.74e-04 -4.1 1.74e-01 -4.3 1.00e+00 1.00e+00h 1 83 2.0818266e+00 1.71e-04 2.22e-03 -4.0 1.11e+00 -4.8 1.00e+00 1.00e+00h 1 84 2.0820239e+00 8.99e-06 1.35e-02 -4.1 1.54e+00 -5.3 1.00e+00 9.63e-01H 1 85 2.0817451e+00 1.63e-04 4.16e-03 -4.1 1.41e+00 -5.8 1.00e+00 1.00e+00f 1 86 2.0816594e+00 1.55e-04 8.37e-04 -4.1 2.81e+00 -6.2 1.00e+00 1.00e+00h 1 87 2.0816345e+00 5.27e-05 3.45e-04 -4.1 2.97e+00 -6.7 1.00e+00 1.00e+00h 1 88 2.0807412e+00 1.52e-03 6.09e-04 -6.2 2.06e+01 -7.2 9.85e-01 9.36e-01h 1 89 2.0809359e+00 1.29e-03 9.53e-02 -4.0 2.31e+01 -7.7 1.00e+00 1.71e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0821564e+00 6.65e-03 6.73e-03 -4.0 7.05e+01 -8.1 1.00e+00 1.00e+00h 1 91 2.0820666e+00 1.52e-07 4.33e-03 -4.1 8.65e-03 -0.3 1.00e+00 1.00e+00h 1 92 2.0819674e+00 4.22e-08 2.73e-03 -4.1 1.62e-02 -0.8 1.00e+00 1.00e+00h 1 93 2.0819277e+00 7.04e-08 7.48e-04 -4.1 1.26e-02 -1.3 1.00e+00 1.00e+00h 1 94 2.0820520e+00 1.99e-07 3.24e-04 -4.0 1.71e-02 -1.7 1.00e+00 1.00e+00h 1 95 2.0819265e+00 1.28e-07 2.23e-04 -4.1 3.84e-02 -2.2 1.00e+00 1.00e+00h 1 96 2.0820243e+00 1.01e-07 7.38e-05 -4.0 2.70e-02 -2.7 1.00e+00 1.00e+00h 1 97 2.0818744e+00 4.23e-07 1.06e-04 -4.1 2.58e-02 -3.2 1.00e+00 1.00e+00h 1 98 2.0820211e+00 1.29e-06 1.11e-04 -4.0 5.38e-02 -3.6 1.00e+00 1.00e+00h 1 99 2.0818622e+00 3.88e-06 7.94e-05 -4.1 1.42e-01 -4.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0812091e+00 5.14e-05 8.89e-02 -6.1 5.18e-01 -4.6 8.23e-01 9.92e-01h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0812090979190296e+00 2.0812090979190296e+00 Dual infeasibility......: 8.8893577247026415e-02 8.8893577247026415e-02 Constraint violation....: 5.1406553748134520e-05 5.1406553748134520e-05 Variable bound violation: 2.4640181197493893e-09 2.4640181197493893e-09 Complementarity.........: 2.2179218841712481e-05 2.2179218841712481e-05 Overall NLP error.......: 8.8893577247026415e-02 8.8893577247026415e-02 Number of objective function evaluations = 120 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 120 Number of inequality constraint evaluations = 120 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 51.435 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: 0.053s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) jacobian structure: 4.23s jacobian structure: 1594 nonzeros (4.284s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) hessian structure: 13.821s 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: 1804 nonzeros (13.872s) linear index maps built (0.0s) evaluator ready (total: 18.156s) evaluator created (18.176s) 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: 18.178s) 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 9.2634741e+01 2.49e+00 3.04e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.6074940e+01 1.45e+00 1.77e+01 -0.5 2.15e+00 0.0 1.00e+00 4.10e-01f 1 2 3.5420674e+00 1.31e-01 7.13e+00 -0.1 1.18e+00 -0.5 1.00e+00 1.00e+00f 1 3 3.1891729e+00 3.67e-02 3.90e+00 -0.5 7.44e-01 -1.0 9.44e-01 1.00e+00f 1 4 2.9159652e+00 1.15e-02 2.33e-01 -1.2 2.40e-01 -1.4 9.91e-01 1.00e+00h 1 5 2.2517983e+00 4.01e-02 5.71e-02 -2.1 5.05e-01 -1.9 9.43e-01 1.00e+00f 1 6 2.0972003e+00 5.14e-03 3.41e-02 -3.4 2.74e-01 -2.4 8.94e-01 9.98e-01h 1 7 2.0909189e+00 1.52e-05 1.69e-03 -4.0 1.72e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908903e+00 2.71e-07 2.31e-04 -4.0 4.51e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908803e+00 4.55e-09 2.31e-04 -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 2.0908551e+00 3.72e-08 2.31e-04 -4.0 3.11e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907891e+00 2.43e-07 2.31e-04 -4.0 8.61e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905970e+00 2.21e-06 2.76e-04 -4.0 2.51e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0905188e+00 3.17e-07 2.64e-04 -4.0 9.97e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0901706e+00 4.24e-06 1.37e-03 -4.0 3.46e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0896411e+00 3.91e-05 9.36e-03 -4.0 1.04e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0889315e+00 4.21e-05 1.14e-01 -4.0 2.24e+01 -5.4 1.00e+00 2.07e-01h 1 17 2.0880717e+00 4.74e-05 1.34e-02 -4.0 1.11e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0865309e+00 1.24e-04 2.94e-02 -4.0 2.75e+01 -6.3 1.00e+00 6.86e-01h 1 19 2.0837613e+00 8.05e-04 4.02e-02 -4.0 4.95e+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 2.0827520e+00 2.83e-04 7.00e-03 -4.0 5.45e+01 -7.3 1.00e+00 6.03e-01h 1 21 2.0824967e+00 7.95e-04 2.60e-02 -4.0 1.35e+02 -7.7 1.00e+00 1.00e+00h 1 22 3.9308774e+00 2.48e-03 2.06e+01 -4.0 6.59e+02 -7.3 2.26e-02 1.00e+00H 1 23 2.0920128e+00 1.11e-04 1.17e+00 -4.0 1.77e-01 0.5 1.00e+00 9.55e-01f 1 24 2.0921535e+00 1.11e-04 3.60e+00 -4.0 3.07e-02 0.1 1.00e+00 3.91e-03h 9 25 2.0920945e+00 6.81e-09 2.14e-03 -4.0 5.63e-03 -0.4 1.00e+00 1.00e+00h 1 26 2.0920151e+00 3.73e-08 2.07e-03 -4.0 1.64e-02 -0.9 1.00e+00 1.00e+00h 1 27 2.0918990e+00 1.81e-07 2.02e-03 -4.0 4.77e-02 -1.4 1.00e+00 1.00e+00h 1 28 2.0914366e+00 8.70e-07 1.90e-03 -4.1 1.35e-01 -1.9 1.00e+00 1.00e+00h 1 29 2.0911690e+00 8.14e-07 2.18e-01 -4.0 2.22e-01 -2.3 1.00e+00 7.10e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0913678e+00 1.59e-06 2.49e-04 -4.0 6.00e-02 -2.8 1.00e+00 1.00e+00f 1 31 2.0911399e+00 9.05e-07 1.87e-04 -4.1 3.83e-02 -3.3 1.00e+00 1.00e+00h 1 32 2.0903847e+00 1.25e-05 8.13e-03 -6.1 1.22e-01 -3.8 8.81e-01 1.00e+00h 1 33 2.0903102e+00 2.45e-06 2.10e-05 -6.1 3.62e-01 -4.2 1.00e+00 1.00e+00h 1 34 2.0912048e+00 1.31e-04 1.21e-03 -4.0 1.03e+00 -4.7 1.00e+00 1.00e+00f 1 35 2.0906645e+00 9.22e-05 1.84e-04 -4.1 3.01e+00 -5.2 1.00e+00 1.00e+00h 1 36 2.0890557e+00 8.43e-04 2.84e-03 -6.1 8.99e+00 -5.7 9.68e-01 1.00e+00h 1 37 2.0881486e+00 5.04e-04 9.95e-02 -6.1 2.34e+01 -6.1 1.00e+00 4.30e-01h 1 38 2.0867787e+00 1.44e-04 1.08e-01 -6.1 4.80e+01 -6.6 3.76e-01 8.11e-01h 1 39 2.0837819e+00 2.03e-04 5.58e-02 -5.6 1.08e+02 -7.1 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0829770e+00 6.74e-04 2.83e-01 -4.4 1.61e+02 -7.6 9.99e-01 3.08e-01h 1 41 2.0810723e+00 1.84e-03 1.65e-01 -4.6 1.11e+03 -8.1 3.81e-03 2.92e-01h 2 42 2.0916676e+00 1.04e-04 2.23e-01 -4.0 1.04e+02 -6.7 6.22e-01 1.00e+00H 1 43 2.0889457e+00 9.40e-05 9.11e-01 -4.1 1.53e+00 -3.6 1.86e-01 1.08e-01h 1 44 2.0844172e+00 5.75e-05 2.65e+00 -4.1 2.69e-01 -2.3 1.00e+00 3.85e-01f 1 45 2.0824813e+00 1.60e-05 2.71e+00 -4.0 4.03e-02 -2.7 5.80e-01 1.00e+00f 1 46 2.0817955e+00 1.72e-05 2.00e+00 -4.0 2.10e-01 -3.2 2.93e-01 5.27e-01h 1 47 2.0818348e+00 6.55e-06 1.08e-03 -4.0 4.78e-02 -3.7 1.00e+00 1.00e+00h 1 48 2.0818419e+00 9.65e-06 2.31e-04 -4.0 1.25e-01 -4.2 1.00e+00 1.00e+00h 1 49 2.0818625e+00 5.24e-07 2.31e-04 -4.0 3.30e-01 -4.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0819072e+00 2.20e-06 2.31e-04 -4.0 7.41e-01 -5.1 1.00e+00 1.00e+00h 1 51 2.0817946e+00 1.62e-05 2.94e-04 -4.1 9.33e-01 -5.6 1.00e+00 1.00e+00h 1 52 2.0820270e+00 7.65e-05 2.31e-04 -4.0 3.16e+00 -6.1 1.00e+00 1.00e+00h 1 53 2.0818238e+00 1.89e-04 4.32e-04 -4.1 8.63e+00 -6.6 1.00e+00 1.00e+00h 1 54 2.0808274e+00 8.09e-04 3.62e-03 -6.1 1.13e+01 -7.0 9.76e-01 8.72e-01h 1 55 2.0819728e+00 6.60e-03 9.33e-03 -4.0 5.84e+01 -7.5 7.75e-01 1.00e+00f 1 56 2.0992959e+00 5.87e-03 7.31e-01 -4.2 4.20e+01 -6.2 1.00e+00 4.91e-01h 1 57 2.0960618e+00 5.28e-03 2.17e+00 -4.2 4.82e-01 -1.2 1.46e-01 1.00e-01h 1 58 2.0892182e+00 3.72e-03 1.03e+01 -4.2 3.04e-01 -1.7 7.98e-01 2.95e-01f 1 59 2.0815528e+00 1.09e-06 2.58e-02 -4.2 2.25e-01 -2.2 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0816756e+00 1.76e-05 3.13e+00 -4.0 4.39e-02 -2.7 7.66e-01 1.00e+00h 1 61 2.0813416e+00 7.74e-06 9.59e-01 -4.2 7.35e-02 -3.1 7.51e-01 5.06e-01h 1 62 2.0815518e+00 1.19e-05 1.36e-03 -4.0 1.33e-01 -3.6 1.00e+00 1.00e+00f 1 63 2.0814955e+00 3.98e-06 4.77e-04 -4.1 1.86e-01 -4.1 1.00e+00 1.00e+00h 1 64 2.0816302e+00 1.44e-05 4.82e-04 -4.0 7.89e-01 -4.6 1.00e+00 1.00e+00h 1 65 2.0816064e+00 7.95e-06 9.68e-04 -4.1 6.11e-01 -5.1 1.00e+00 1.00e+00h 1 66 2.0816643e+00 2.82e-06 1.97e-04 -4.1 1.39e+00 -5.5 1.00e+00 1.00e+00h 1 67 2.0809098e+00 3.47e-04 3.75e-03 -6.1 4.38e+00 -6.0 9.61e-01 9.26e-01h 1 68 2.0808698e+00 4.28e-05 1.03e-03 -4.8 3.69e+00 -6.5 1.00e+00 1.00e+00h 1 69 2.0819205e+00 3.56e-03 8.07e-02 -4.0 3.37e+01 -7.0 4.52e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0823242e+00 3.45e-03 1.70e-01 -4.3 3.90e+01 -6.5 2.00e-01 5.19e-01h 1 71 2.0822394e+00 3.20e-03 9.66e-01 -4.3 1.06e+01 -4.3 4.25e-02 9.46e-02h 1 72 2.0816845e+00 1.68e-07 5.49e-03 -4.3 7.68e-02 -1.2 1.00e+00 1.00e+00f 1 73 2.0814057e+00 9.60e-07 2.93e-01 -4.0 1.62e-01 -1.6 1.00e+00 6.65e-01H 1 74 2.0816453e+00 6.00e-08 1.10e-03 -4.0 4.64e-02 -2.1 1.00e+00 1.00e+00f 1 75 2.0815362e+00 1.12e-07 1.91e-04 -4.1 1.49e-02 -2.6 1.00e+00 1.00e+00h 1 76 2.0811862e+00 2.46e-06 3.07e-01 -6.1 3.40e-02 -3.1 5.46e-01 1.00e+00h 1 77 2.0817766e+00 5.10e-06 3.30e-03 -4.0 5.49e-02 -3.6 1.00e+00 1.00e+00h 1 78 2.0814818e+00 1.02e-05 3.53e-04 -4.1 2.40e-01 -4.0 1.00e+00 1.00e+00h 1 79 2.0811036e+00 4.37e-05 1.35e-01 -6.1 5.86e-01 -4.5 7.59e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0808862e+00 2.33e-05 7.78e-04 -6.1 9.67e-01 -5.0 1.00e+00 1.00e+00h 1 81 2.0808049e+00 9.62e-06 2.36e-03 -6.1 2.82e+00 -5.5 1.00e+00 6.26e-01h 1 82 2.0856157e+00 4.06e-03 5.72e-01 -4.0 1.23e+02 -5.9 1.09e-01 5.00e-01f 2 83 2.0841511e+00 1.26e-03 2.13e-01 -4.2 1.56e+00 -4.6 5.25e-01 6.90e-01h 1 84 2.0840206e+00 1.26e-03 2.13e-01 -4.2 2.68e+01 -5.1 1.61e-03 2.57e-03h 1 85 2.0840510e+00 1.26e-03 2.13e-01 -4.2 1.08e+02 -5.6 3.42e-04 4.51e-04h 1 86 2.0840348e+00 1.26e-03 2.13e-01 -4.2 1.10e+03 -6.0 3.17e-05 4.93e-05f 2 87 2.0840263e+00 1.25e-03 1.12e+00 -4.2 3.13e+01 -2.9 2.66e-01 2.66e-04h 1 88 2.0841875e+00 7.14e-07 4.63e-04 -4.2 3.45e-02 -3.4 1.00e+00 1.00e+00f 1 89 2.0836114e+00 8.01e-06 1.92e-04 -6.3 1.09e-01 -3.9 9.86e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0835820e+00 2.95e-07 1.48e-05 -6.3 3.25e-01 -4.3 1.00e+00 1.00e+00h 1 91 2.0845466e+00 1.09e-04 4.96e-04 -4.0 9.55e-01 -4.8 1.00e+00 1.00e+00f 1 92 2.0841202e+00 5.75e-05 5.38e-04 -4.1 2.77e+00 -5.3 1.00e+00 1.00e+00h 1 93 2.0828436e+00 7.28e-04 2.33e-03 -6.1 8.07e+00 -5.8 9.75e-01 1.00e+00h 1 94 2.0816302e+00 4.39e-05 1.92e-02 -6.1 2.10e+01 -6.2 6.39e-01 1.00e+00h 1 95 2.0812468e+00 1.03e-06 6.34e-04 -6.1 7.77e+00 -5.8 1.00e+00 1.00e+00h 1 96 2.0841582e+00 9.61e-04 5.91e-01 -4.0 7.98e+00 -5.4 5.96e-01 1.00e+00f 1 97 2.0833785e+00 9.41e-04 6.13e-01 -4.2 4.16e+00 -1.4 8.97e-02 2.09e-02h 1 98 2.0833523e+00 3.14e-06 5.51e+00 -4.2 7.54e-02 -1.8 2.69e-01 1.00e+00f 1 99 2.0827050e+00 6.11e-07 7.96e-01 -4.2 4.36e-02 -1.4 1.00e+00 8.18e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0826383e+00 2.07e-06 8.91e-04 -4.2 6.86e-02 -1.9 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0826383025408597e+00 2.0826383025408597e+00 Dual infeasibility......: 8.9082164746201627e-04 8.9082164746201627e-04 Constraint violation....: 2.0728666924978156e-06 2.0728666924978156e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 6.4382341143820612e-05 6.4382341143820612e-05 Overall NLP error.......: 8.9082164746201627e-04 8.9082164746201627e-04 Number of objective function evaluations = 123 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 123 Number of inequality constraint evaluations = 123 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 33.916 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.061s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.111s) evaluator created (0.111s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.112s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.3875320e+00 2.43e+00 6.22e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.2783374e+00 2.57e-01 2.18e+00 -0.9 2.01e+00 0.0 1.00e+00 8.93e-01h 1 2 2.1671401e+00 9.00e-02 2.45e+00 -1.0 3.02e-01 0.4 8.77e-01 6.45e-01h 1 3 2.3861230e+00 5.37e-03 1.26e+00 -1.3 3.80e-01 -0.1 9.91e-01 1.00e+00f 1 4 2.2483712e+00 3.04e-03 3.80e-01 -2.0 1.27e-01 -0.5 9.91e-01 5.67e-01h 1 5 2.1374314e+00 1.88e-03 2.70e-01 -2.9 7.93e-02 -1.0 9.99e-01 6.72e-01h 1 6 2.0941951e+00 4.55e-04 1.18e-01 -4.0 3.59e-02 -1.5 1.00e+00 7.60e-01h 1 7 2.0907679e+00 2.28e-05 5.44e-02 -4.0 2.59e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0908926e+00 1.77e-07 4.84e-05 -4.0 1.14e-02 -2.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 8 (scaled) (unscaled) Objective...............: 2.0908926495228477e+00 2.0908926495228477e+00 Dual infeasibility......: 4.8402813789869491e-05 4.8402813789869491e-05 Constraint violation....: 1.7736264517308198e-07 1.7736264517308198e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000118554125e-04 1.0000000118554125e-04 Overall NLP error.......: 4.8402813789869491e-05 4.8402813789869491e-05 Number of objective function evaluations = 9 Number of objective gradient evaluations = 9 Number of equality constraint evaluations = 9 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 9 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 8 Total seconds in IPOPT = 27.833 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.07s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.07s) 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 (0.057s) linear index maps built (0.0s) evaluator ready (total: 0.128s) evaluator created (0.128s) 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: 0.128s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 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 4.6751436e+00 3.58e+00 1.43e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6421319e+00 3.80e-01 2.46e+00 -1.1 2.84e+00 0.0 5.10e-01 8.95e-01f 1 2 2.4942907e+00 1.40e-01 1.66e+00 -0.7 4.11e-01 0.4 8.36e-01 6.31e-01f 1 3 2.7779136e+00 8.85e-03 1.14e+00 -1.2 2.91e-01 -0.1 9.39e-01 1.00e+00f 1 4 2.6023065e+00 9.22e-03 5.09e-01 -1.0 2.99e-01 -0.5 1.00e+00 4.18e-01h 1 5 2.4104109e+00 1.45e-02 1.61e-01 -1.5 1.68e-01 -1.0 9.53e-01 8.01e-01f 1 6 2.1786129e+00 3.85e-03 5.69e-02 -2.2 1.04e-01 -1.5 9.78e-01 1.00e+00h 1 7 2.1131269e+00 1.62e-03 9.63e-02 -3.8 9.20e-02 -2.0 9.76e-01 6.86e-01h 1 8 2.0909900e+00 3.75e-05 2.01e-03 -4.0 1.41e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908452e+00 5.20e-07 7.61e-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 2.0908400e+00 2.78e-09 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908250e+00 8.74e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0907802e+00 7.88e-08 2.06e-05 -4.0 4.55e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906459e+00 7.10e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902440e+00 6.43e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890472e+00 5.88e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855394e+00 5.54e-04 2.32e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796384e+00 2.26e-03 1.37e-01 -4.0 9.54e+01 -6.7 1.00e+00 6.24e-01h 1 18 2.0806552e+00 1.71e-04 1.89e-01 -4.0 6.89e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775435e+00 7.92e-03 2.69e-02 -4.0 1.19e+02 -7.7 1.00e+00 9.95e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0769144e+00 2.28e-03 7.90e-02 -4.0 2.06e+02 -8.2 9.86e-01 9.56e-01h 1 21 2.0763391e+00 1.54e-03 3.50e-02 -4.0 3.57e+02 -8.6 1.00e+00 6.39e-01h 1 22 2.0755381e+00 2.35e-03 2.95e-02 -4.0 6.51e+02 -9.1 1.00e+00 7.57e-01h 1 23 2.0758250e+00 4.37e-03 1.86e-02 -4.0 1.97e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0754008e+00 1.36e-03 1.01e-03 -4.1 1.15e+02 -10.1 1.00e+00 1.00e+00h 1 25 2.0756721e+00 4.60e-04 1.09e-05 -4.0 2.21e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 5.77e-07 1.17e-06 -4.0 1.22e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.34e-09 8.78e-08 -4.0 4.41e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 3.99e-11 1.58e-09 -4.0 7.00e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121604113e+00 2.0756712121604113e+00 Dual infeasibility......: 1.5812929405830973e-09 1.5812929405830973e-09 Constraint violation....: 3.9887093628010462e-11 3.9887093628010462e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000013e-04 1.0000000000000013e-04 Overall NLP error.......: 1.5812929405830973e-09 1.5812929405830973e-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 = 25.919 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.046s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.047s) 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 (0.046s) linear index maps built (0.0s) evaluator ready (total: 0.093s) evaluator created (0.093s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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: 0.094s) 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 4.5979037e+00 3.17e+00 5.24e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8252207e+00 1.11e-01 2.44e+00 -0.9 1.80e+00 0.0 8.66e-01 1.00e+00f 1 2 2.7342405e+00 2.91e-03 4.77e-01 -1.0 9.73e-02 0.4 9.91e-01 1.00e+00h 1 3 2.4315616e+00 4.34e-03 1.14e-01 -1.7 7.03e-02 -0.1 9.55e-01 1.00e+00f 1 4 2.1718927e+00 5.32e-03 1.09e-01 -2.6 1.11e-01 -0.5 9.98e-01 6.87e-01f 1 5 2.0996831e+00 5.70e-04 2.33e-02 -3.5 1.57e-02 -1.0 9.98e-01 8.98e-01h 1 6 2.0908895e+00 3.22e-06 1.57e-03 -4.0 3.72e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0909116e+00 1.09e-08 7.92e-05 -4.0 7.22e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909110e+00 3.08e-11 4.09e-05 -4.0 1.12e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909093e+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 2.0909044e+00 9.68e-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...............: 2.0909043592854193e+00 2.0909043592854193e+00 Dual infeasibility......: 2.0586086803595533e-05 2.0586086803595533e-05 Constraint violation....: 9.6825750672477340e-10 9.6825750672477340e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999999923e-05 9.9999999999999923e-05 Overall NLP error.......: 2.0586086803595533e-05 2.0586086803595533e-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 = 25.620 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.062s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.052s) linear index maps built (0.0s) evaluator ready (total: 0.114s) evaluator created (0.114s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.115s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 0 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.6981320e+00 3.67e+00 4.26e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4780423e+00 6.92e-02 7.21e+00 -0.8 2.66e+00 - 3.76e-01 1.00e+00f 1 2 2.6784721e+00 2.62e-02 1.25e+00 -0.9 3.90e-01 - 9.74e-01 1.00e+00f 1 3 2.4897688e+00 9.67e-04 1.11e-01 -1.5 3.96e-02 - 9.67e-01 1.00e+00h 1 4 2.1455996e+00 2.65e-03 7.68e-02 -2.6 6.86e-02 - 9.59e-01 1.00e+00f 1 5 2.0928254e+00 1.52e-04 3.86e-02 -3.7 1.56e-02 - 1.00e+00 9.76e-01h 1 6 2.0908901e+00 5.08e-07 6.49e-03 -4.0 3.97e-03 - 1.00e+00 1.00e+00h 1 7 2.0908993e+00 2.31e-08 3.52e-04 -4.0 5.83e-03 - 1.00e+00 1.00e+00h 1 8 2.0908991e+00 3.32e-11 2.58e-04 -4.0 3.81e-03 - 1.00e+00 1.00e+00h 1 9 2.0908988e+00 7.16e-12 1.94e-04 -4.0 2.52e-03 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908988e+00 2.58e-13 2.06e-05 -4.0 2.06e-05 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0908988216978424e+00 2.0908988216978424e+00 Dual infeasibility......: 2.0584578116331975e-05 2.0584578116331975e-05 Constraint violation....: 2.5820318105829188e-13 2.5820318105829188e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000029770953e-04 1.0000000029770953e-04 Overall NLP error.......: 2.0584578116331975e-05 2.0584578116331975e-05 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 0 Total seconds in IPOPT = 7.452 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: 0.043s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.045s) linear index maps built (0.0s) evaluator ready (total: 0.1s) evaluator created (0.1s) 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: 0.101s) 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 2.7217194e+00 2.28e+00 3.33e-01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.2360676e+00 5.23e-01 1.37e+00 -1.0 4.82e+00 -2.0 9.49e-01 8.23e-01f 1 2 2.6897141e+00 6.31e-02 5.36e-01 -1.0 1.66e+00 -2.5 1.00e+00 1.00e+00h 1 3 2.3780966e+00 4.78e-02 3.14e-02 -1.7 1.07e+00 -3.0 1.00e+00 1.00e+00h 1 4 2.1233303e+00 3.92e-02 2.06e-02 -2.5 1.31e+00 -3.4 9.83e-01 1.00e+00h 1 5 2.1151406e+00 2.53e-04 1.20e-02 -2.5 2.96e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0912575e+00 1.08e-03 4.75e-04 -3.8 4.06e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0905853e+00 9.91e-05 1.45e-04 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0901446e+00 6.38e-06 2.88e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0888330e+00 7.09e-05 3.07e-04 -4.0 1.33e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0849986e+00 6.72e-04 2.81e-03 -4.0 3.89e+01 -6.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0849986466931045e+00 2.0849986466931045e+00 Dual infeasibility......: 2.8061582110609582e-03 2.8061582110609582e-03 Constraint violation....: 6.7242782308563065e-04 6.7242782308563065e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000000e-04 1.0000000000000000e-04 Overall NLP error.......: 2.8061582110609582e-03 2.8061582110609582e-03 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 25.366 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: 0.058s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.059s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.051s) linear index maps built (0.0s) evaluator ready (total: 0.11s) evaluator created (0.11s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.111s) initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.051s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.051s) integrator 1 hessian structure: 0.036s 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 (0.037s) linear index maps built (0.0s) evaluator ready (total: 0.089s) evaluator created (0.089s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (1.36s) optimizer initialization complete (total: 1.45s) 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 3.1698346e+00 3.71e+00 2.63e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9893194e+00 2.59e-02 8.76e-01 -1.1 2.50e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.2526311e+00 2.14e-02 5.46e-02 -1.7 2.72e-01 -1.6 9.93e-01 1.00e+00f 1 3 2.1125017e+00 5.20e-03 3.26e-01 -3.5 1.13e-01 -1.1 8.58e-01 1.00e+00h 1 4 2.0941891e+00 1.19e-03 4.36e-01 -3.6 2.20e-01 -1.6 1.00e+00 7.92e-01h 1 5 2.0912271e+00 4.90e-04 2.96e-01 -4.0 4.16e-01 -2.1 1.00e+00 5.52e-01h 1 6 2.0909354e+00 6.81e-05 1.01e-01 -4.0 6.12e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0910074e+00 5.78e-07 4.42e-03 -4.0 2.35e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0910066e+00 9.55e-08 2.06e-05 -4.0 7.05e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909858e+00 1.65e-08 2.06e-05 -4.0 2.11e-01 -4.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909238e+00 1.47e-07 2.05e-05 -4.0 6.32e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907409e+00 1.30e-06 4.97e-05 -4.0 1.88e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0902196e+00 1.10e-05 4.21e-04 -4.0 5.45e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888720e+00 8.22e-05 3.17e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861754e+00 4.41e-04 1.75e-02 -4.0 3.47e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830944e+00 9.19e-04 4.72e-02 -4.0 5.33e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828524e+00 9.30e-04 2.30e-02 -4.0 5.40e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823449e+00 3.92e-04 1.01e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820402e+00 9.21e-05 1.84e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.68e-04 8.66e-03 -4.0 9.91e+01 -8.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0819393e+00 3.68e-05 8.45e-04 -4.0 3.10e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.32e-07 1.39e-05 -4.0 4.46e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.82e-10 3.29e-08 -4.0 2.45e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.52e-13 1.23e-11 -4.0 4.61e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907191004e+00 2.0819382907191004e+00 Dual infeasibility......: 1.2258281249875186e-11 1.2258281249875186e-11 Constraint violation....: 2.5224267119483557e-13 2.5224267119483557e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000034e-04 1.0000000000000034e-04 Overall NLP error.......: 1.2258281249875186e-11 1.2258281249875186e-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 = 22.838 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 (0.056s) 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 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.048s) linear index maps built (0.0s) evaluator ready (total: 0.104s) evaluator created (0.104s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.054s) optimizer initialization complete (total: 0.159s) 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 5.7177565e+00 4.29e+00 3.69e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7770553e+00 3.03e-02 4.27e-01 -1.0 2.40e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3130629e+00 1.29e-02 5.98e-02 -1.8 1.77e-01 -1.6 9.30e-01 1.00e+00h 1 3 2.1276136e+00 2.31e-03 1.67e-01 -3.0 9.91e-02 -1.1 9.56e-01 1.00e+00h 1 4 2.0950067e+00 7.87e-04 6.90e-02 -4.0 7.58e-02 -1.6 1.00e+00 8.39e-01h 1 5 2.0921028e+00 2.58e-04 8.39e-01 -4.0 4.31e-01 -2.1 1.00e+00 3.52e-01h 1 6 2.0910013e+00 8.77e-05 2.41e-01 -4.0 7.31e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0909221e+00 1.15e-06 9.55e-03 -4.0 2.50e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0909169e+00 8.75e-07 3.13e-05 -4.0 7.27e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908968e+00 1.88e-08 3.59e-05 -4.0 2.02e-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 2.0908528e+00 9.79e-08 2.11e-04 -4.0 5.19e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907516e+00 6.30e-07 7.66e-04 -4.0 1.32e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904696e+00 6.08e-06 6.63e-04 -4.0 4.21e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0903465e+00 8.23e-07 5.67e-04 -4.0 1.53e+00 -5.0 1.00e+00 1.00e+00h 1 14 2.0902082e+00 1.41e-06 1.91e-02 -4.0 6.31e+00 -5.5 1.00e+00 2.17e-01h 2 15 2.0890695e+00 6.06e-05 2.37e-03 -4.0 1.36e+01 -6.0 1.00e+00 1.00e+00h 1 16 2.0874008e+00 1.62e-04 5.44e-02 -4.0 3.74e+01 -6.4 1.00e+00 5.30e-01h 1 17 2.0837177e+00 1.57e-03 5.51e-02 -4.0 6.60e+01 -6.9 1.00e+00 1.00e+00h 1 18 2.0827433e+00 4.41e-04 1.30e-02 -4.0 1.15e+01 -6.5 1.00e+00 6.84e-01h 1 19 2.0828126e+00 1.38e-04 8.86e-03 -4.0 2.87e+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 2.0825132e+00 2.90e-04 3.11e-03 -4.0 7.42e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0821287e+00 8.36e-04 8.80e-03 -4.0 1.73e+02 -7.9 6.49e-01 1.00e+00h 1 22 2.0821667e+00 8.68e-04 1.33e-02 -4.0 4.09e+03 -7.5 7.91e-04 2.98e-03h 5 23 2.0820839e+00 6.88e-04 8.00e-01 -4.1 7.08e+00 -5.3 1.00e+00 4.71e-01H 1 24 2.0841785e+00 1.46e-03 2.95e-02 -3.4 4.17e+00 -4.8 1.00e+00 1.00e+00f 1 25 2.0838732e+00 3.48e-04 2.13e-02 -3.5 4.23e+00 -5.3 1.00e+00 1.00e+00h 1 26 2.0838711e+00 1.33e-04 7.84e-03 -3.5 5.72e+00 -5.8 1.00e+00 1.00e+00h 1 27 2.0841931e+00 3.00e-04 4.42e-03 -3.5 6.95e+00 -6.3 1.00e+00 1.00e+00h 1 28 2.0845003e+00 1.72e-04 2.55e-03 -3.5 7.48e+00 -6.8 1.00e+00 1.00e+00h 1 29 2.0822626e+00 5.50e-03 1.03e-02 -4.0 3.00e+01 -7.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0817392e+00 2.06e-03 5.89e-03 -4.1 4.10e+01 -7.7 1.00e+00 1.00e+00h 1 31 2.0818773e+00 9.95e-04 4.84e-03 -4.0 5.00e+01 -8.2 1.00e+00 1.00e+00h 1 32 2.0818445e+00 1.10e-04 1.86e-03 -4.0 4.79e+01 -8.7 1.00e+00 1.00e+00h 1 33 2.0818388e+00 1.25e-05 2.72e-04 -4.0 2.19e+01 -9.1 1.00e+00 1.00e+00h 1 34 2.0818383e+00 3.10e-07 9.63e-06 -4.0 3.98e+00 -9.6 1.00e+00 1.00e+00h 1 35 2.0818383e+00 1.01e-09 4.44e-08 -4.0 2.64e-01 -10.1 1.00e+00 1.00e+00h 1 36 2.0818383e+00 4.46e-13 2.49e-11 -4.0 6.15e-03 -10.6 1.00e+00 1.00e+00h 1 Number of Iterations....: 36 (scaled) (unscaled) Objective...............: 2.0818383021797349e+00 2.0818383021797349e+00 Dual infeasibility......: 2.4858384583626228e-11 2.4858384583626228e-11 Constraint violation....: 4.4586556668946287e-13 4.4586556668946287e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 2.4858384583626228e-11 2.4858384583626228e-11 Number of objective function evaluations = 47 Number of objective gradient evaluations = 37 Number of equality constraint evaluations = 47 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 37 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 36 Total seconds in IPOPT = 23.877 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.055s jacobian structure: 180 nonzeros (0.087s) integrator 1 hessian structure: 0.051s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.309s sub-objective 2 (QuadraticRegularizer): 0.082s sub-objective 3 (MinimumTimeObjective): 0.015s objective hessian structure: 0.49s hessian structure: 375 nonzeros (0.541s) linear index maps built (0.0s) evaluator ready (total: 0.774s) evaluator created (0.774s) NL constraint bounds extracted (0.01s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.114s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.562s) optimizer initialization complete (total: 4.46s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 196 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 28 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.1653844e+00 8.88e-01 1.14e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8060435e+00 1.75e-01 1.94e+00 -0.8 8.28e-01 0.0 9.84e-01 1.00e+00h 1 2 1.7415083e+00 2.82e-02 5.69e-01 -0.8 3.17e-01 -0.5 7.19e-01 8.39e-01h 1 3 1.7857245e+00 2.75e-02 9.79e-01 -1.8 4.40e-01 -1.0 9.25e-01 1.00e+00h 1 4 1.4594038e+00 1.89e-02 2.95e-01 -1.3 8.87e-01 -1.4 1.00e+00 2.24e-01h 1 5 1.3285176e+00 1.72e-03 9.71e-01 -4.0 2.03e+00 - 4.10e-01 8.64e-01f 1 6 1.1501951e+00 9.09e-05 2.05e-01 -3.0 5.75e-01 -1.0 9.94e-01 1.00e+00f 1 7 1.1087997e+00 3.03e-06 3.94e-02 -2.7 4.45e-01 -0.6 1.00e+00 9.67e-01f 1 8 1.1027016e+00 1.51e-06 1.24e-01 -4.0 4.29e+00 - 8.99e-02 5.00e-01f 2 9 1.0958461e+00 1.76e-07 1.35e-02 -3.3 3.78e-02 -1.1 9.98e-01 8.83e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0914403e+00 3.19e-09 2.91e-02 -4.0 2.49e+00 - 2.25e-01 1.00e+00f 1 11 1.0912570e+00 1.96e-09 1.10e-02 -4.0 1.12e-02 -1.5 1.00e+00 3.87e-01f 2 12 1.0911391e+00 1.96e-09 7.22e-03 -4.0 5.92e+03 - 7.46e-05 2.55e-04f 6 13 1.0909731e+00 8.24e-15 1.65e-04 -4.0 1.16e-02 -2.0 1.00e+00 1.00e+00h 1 14 1.0909843e+00 8.39e-19 2.67e-04 -4.0 5.15e-02 -2.5 1.00e+00 1.00e+00f 1 15 1.0907633e+00 9.88e-23 3.35e-04 -4.1 1.58e-01 -3.0 1.00e+00 1.00e+00f 1 16 1.0907268e+00 9.72e-23 7.85e-04 -4.0 1.31e+01 -3.4 1.42e-02 1.58e-02f 5 17 1.0907379e+00 9.15e-23 5.89e-04 -4.0 3.69e+00 - 1.00e+00 5.90e-02f 2 18 1.0909018e+00 3.22e-25 1.25e-04 -4.0 8.51e-02 - 1.00e+00 1.00e+00f 1 19 1.0900091e+00 1.08e-26 7.21e-08 -6.0 3.08e-04 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.0901209e+00 1.08e-24 6.46e-08 -4.0 2.12e+00 - 1.00e+00 1.26e-01f 1 21 1.0904394e+00 1.46e-25 1.62e-07 -4.3 1.20e-01 - 1.00e+00 1.00e+00f 1 22 1.0900030e+00 1.82e-26 2.37e-08 -6.5 8.76e-04 - 1.00e+00 1.00e+00f 1 23 1.0900121e+00 1.80e-26 1.48e-07 -4.0 3.65e+01 - 1.00e+00 1.01e-02f 1 24 1.0904002e+00 2.36e-23 3.96e-08 -4.4 1.09e-01 - 1.00e+00 1.00e+00f 1 25 1.0900026e+00 5.68e-26 1.97e-08 -6.5 9.07e-04 - 1.00e+00 1.00e+00f 1 26 1.0900101e+00 5.63e-26 1.96e-08 -4.0 4.55e+01 - 1.00e+00 8.35e-03f 1 27 1.0903995e+00 7.15e-23 1.89e-08 -4.4 1.09e-01 - 1.00e+00 1.00e+00f 1 28 1.0900026e+00 9.44e-26 1.96e-08 -6.5 9.07e-04 - 1.00e+00 1.00e+00f 1 29 1.0900101e+00 9.37e-26 1.95e-08 -4.0 4.57e+01 - 1.00e+00 8.32e-03f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.0903995e+00 4.58e-23 1.89e-08 -4.4 1.09e-01 - 1.00e+00 1.00e+00f 1 31 1.0900026e+00 3.27e-26 1.96e-08 -6.5 9.07e-04 - 1.00e+00 1.00e+00f 1 32 1.0899999e+00 1.65e-29 8.83e-13 -9.0 4.16e-04 - 1.00e+00 1.00e+00f 1 33 1.0899999e+00 1.60e-29 8.83e-13 -4.0 1.48e+04 - 1.00e+00 2.56e-05f 1 34 1.0903958e+00 1.61e-26 1.95e-08 -4.4 1.08e-01 - 1.00e+00 1.00e+00f 1 35 1.0900026e+00 2.89e-26 1.93e-08 -6.5 9.10e-04 - 1.00e+00 1.00e+00f 1 36 1.0899999e+00 1.64e-29 8.59e-13 -9.0 4.24e-04 - 1.00e+00 1.00e+00f 1 37 1.0899999e+00 5.21e-36 5.47e-16 -9.0 1.36e-01 - 1.00e+00 1.00e+00f 1 38 1.0899999e+00 9.34e-40 3.02e-16 -9.0 6.41e-16 - 1.00e+00 1.00e+00 0 39 1.0899999e+00 5.51e-40 3.02e-16 -9.0 2.79e-17 - 1.00e+00 1.00e+00T 0 Number of Iterations....: 39 (scaled) (unscaled) Objective...............: 1.0899999181818181e+00 1.0899999181818181e+00 Dual infeasibility......: 3.0231961140221586e-16 3.0231961140221586e-16 Constraint violation....: 5.5116924448178374e-40 5.5116924448178374e-40 Variable bound violation: 9.0909090932206338e-09 9.0909090932206338e-09 Complementarity.........: 9.0909090909090920e-10 9.0909090909090920e-10 Overall NLP error.......: 9.9999090909091604e-05 9.9999090909091604e-05 Number of objective function evaluations = 52 Number of objective gradient evaluations = 40 Number of equality constraint evaluations = 52 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 40 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 40 Total seconds in IPOPT = 23.643 EXIT: Search Direction is becoming Too Small. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.429s jacobian structure: 1600 nonzeros (2.491s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.738s 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 (3.788s) linear index maps built (0.0s) evaluator ready (total: 6.28s) evaluator created (6.302s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.193s) variables set (0.727s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (2.813s) optimizer initialization complete (total: 10.128s) This is MadNLP version v0.9.1, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 2.9048170e+00 2.96e+00 7.02e-01 9.37e-01 -1.0 - 0.00e+00 1 0 1 2.5961678e+00 5.28e-01 2.35e+00 5.10e-01 -1.0 0.0 8.19e-01 1 1h 2 2.5321756e+00 1.36e-01 1.15e+00 3.55e-01 -1.0 0.4 7.20e-01 1 1h 3 3.2709788e+00 1.32e-01 3.40e+00 2.03e-01 -1.0 -0.1 8.83e-01 2 1h 4 2.9786761e+00 6.34e-02 1.06e+00 1.20e-01 -1.0 -0.5 1.00e+00 2 1h 5 2.7127888e+00 2.37e-01 1.40e+00 3.15e-01 -1.0 -1.0 1.88e-01 2 1h 6 2.7664710e+00 1.30e-02 7.47e-02 1.51e-01 -1.0 -0.6 1.00e+00 1 1h 7 2.2962814e+00 1.08e-02 2.74e-01 4.56e-02 -2.5 -1.1 1.00e+00 2 1h 8 2.1206302e+00 7.56e-03 1.98e-02 6.11e-03 -2.5 -1.5 1.00e+00 2 1h 9 2.0913364e+00 7.30e-04 1.41e-03 2.60e-04 -3.8 -2.0 9.85e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0900125e+00 9.22e-05 9.40e-04 3.37e-05 -5.7 -2.5 1.00e+00 2 1h 11 2.0899921e+00 1.76e-07 2.45e-04 9.14e-06 -5.7 -3.0 1.00e+00 2 1h 12 2.0899781e+00 1.08e-06 1.88e-04 3.05e-06 -5.7 -3.4 1.00e+00 2 1h 13 2.0899606e+00 6.59e-06 1.98e-05 1.85e-06 -5.7 -3.9 1.00e+00 2 1h 14 2.0899128e+00 1.73e-05 1.97e-05 1.84e-06 -5.7 -4.4 1.00e+00 2 1h 15 2.0897703e+00 1.28e-05 4.11e-05 1.84e-06 -5.7 -4.9 1.00e+00 2 1h 16 2.0893600e+00 6.45e-06 2.49e-04 1.88e-06 -5.7 -5.4 1.00e+00 1 1h 17 2.0890933e+00 5.14e-06 3.43e-02 2.00e-06 -5.7 -5.8 2.26e-01 1 1h 18 2.0863758e+00 7.34e-06 1.24e-02 5.75e-06 -5.7 -6.3 1.00e+00 1 1h 19 2.0857694e+00 6.85e-06 1.60e-01 2.93e-06 -5.7 -6.8 1.23e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0817278e+00 4.22e-05 1.36e-01 1.99e-06 -5.7 -7.3 6.79e-01 1 1h 21 2.0817431e+00 2.27e-08 1.30e-01 7.08e-04 -5.7 -7.7 1.00e+00 2 1H 22 2.0811032e+00 2.39e-05 3.47e-02 3.29e-04 -5.7 -8.2 5.28e-01 1 1h 23 2.0806959e+00 1.22e-05 4.94e-02 1.45e-04 -5.7 -8.7 8.46e-01 2 1h 24 2.0807845e+00 5.95e-06 8.93e-02 1.11e-04 -5.7 -6.5 1.00e+00 1 1h 25 2.0807413e+00 4.83e-06 9.02e-02 8.42e-05 -5.7 -6.9 1.86e-01 2 1h 26 2.0806552e+00 1.50e-06 3.39e-02 3.26e-05 -5.7 -7.4 6.33e-01 2 1h 27 2.0806871e+00 2.91e-07 2.91e-02 4.45e-05 -5.7 -6.1 1.00e+00 1 1h 28 2.0806714e+00 1.91e-07 2.50e-02 2.93e-05 -5.7 -6.6 2.93e-01 2 1h 29 2.0806429e+00 7.35e-07 1.67e-03 6.76e-06 -5.7 -7.0 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0806003e+00 3.11e-07 4.57e-04 2.56e-06 -5.7 -7.5 1.00e+00 2 1h 31 2.0805770e+00 2.50e-07 1.99e-03 2.18e-06 -5.7 -8.0 4.31e-01 2 1h 32 2.0805877e+00 4.27e-07 1.25e-02 1.33e-05 -5.7 -6.7 1.00e+00 1 1h 33 2.0805810e+00 6.85e-08 1.40e-04 4.18e-06 -5.7 -6.2 1.00e+00 1 1h 34 2.0805791e+00 1.65e-07 9.93e-05 2.17e-06 -5.7 -6.7 1.00e+00 1 1h 35 2.0805829e+00 1.22e-11 1.23e-03 1.81e-05 -5.7 -5.4 1.00e+00 1 1H 36 2.0805777e+00 7.58e-08 8.93e-05 2.70e-06 -5.7 -5.9 1.00e+00 2 1h 37 2.0805778e+00 1.42e-07 2.38e-05 1.91e-06 -5.7 -6.3 1.00e+00 1 1h 38 2.0805760e+00 3.46e-09 1.15e-05 1.92e-06 -5.7 -6.8 1.00e+00 1 1h 39 2.0805531e+00 7.80e-06 4.00e-04 4.77e-07 -8.6 -7.3 8.48e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805498e+00 1.02e-07 1.92e-05 9.75e-08 -8.6 -6.0 1.00e+00 1 1h 41 2.0805495e+00 4.05e-09 4.22e-04 1.90e-08 -8.6 -5.5 9.62e-01 1 1h 42 2.0805494e+00 2.72e-12 4.87e-07 4.25e-09 -8.6 -5.1 1.00e+00 1 1h 43 2.0805493e+00 1.25e-12 1.80e-03 3.31e-09 -8.6 -5.6 5.44e-01 2 1h 44 2.0805487e+00 7.29e-13 3.04e-04 5.61e-09 -8.6 -6.1 6.42e-01 2 1h 45 2.0805485e+00 7.79e-13 8.36e-03 1.01e-08 -8.6 -6.5 1.40e-01 2 1h 46 2.0805474e+00 3.48e-11 1.74e-03 1.80e-08 -8.6 -7.0 7.98e-01 2 1h 47 2.0805445e+00 5.19e-11 6.60e-05 1.06e-08 -8.6 -7.5 1.00e+00 1 1h 48 2.0805426e+00 5.81e-11 1.34e-03 2.91e-09 -8.6 -8.0 4.17e-01 2 1h 49 2.0805378e+00 3.51e-10 3.07e-04 2.52e-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 2.34e-10 1.95e-03 2.53e-09 -8.6 -8.9 1.00e+00 1 1h 51 2.0805367e+00 9.46e-11 8.73e-05 1.76e-06 -8.6 -6.7 1.00e+00 1 1h 52 2.0805366e+00 3.93e-11 4.40e-03 2.52e-09 -8.6 -7.2 1.00e+00 2 1h 53 2.0805366e+00 7.35e-13 2.32e-06 2.51e-09 -8.6 -4.9 1.00e+00 1 1h 54 2.0805366e+00 4.11e-13 2.95e-06 2.51e-09 -8.6 -5.4 1.00e+00 1 1h 55 2.0805366e+00 2.96e-13 2.76e-06 2.51e-09 -8.6 -5.9 1.00e+00 2 1h 56 2.0805366e+00 5.33e-13 4.51e-07 3.85e-09 -8.6 -6.4 1.00e+00 1 1h 57 2.0805366e+00 8.70e-13 3.83e-04 2.52e-09 -8.6 -6.9 1.00e+00 1 1h 58 2.0805366e+00 1.14e-13 1.92e-07 2.86e-09 -8.6 -5.5 1.00e+00 1 1h 59 2.0805366e+00 1.40e-13 1.34e-06 2.51e-09 -8.6 -6.0 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 60 2.0805366e+00 1.71e-13 7.30e-07 2.51e-09 -8.6 -6.5 1.00e+00 1 1h 61 2.0805365e+00 1.22e-13 1.24e-06 2.51e-09 -8.6 -7.0 1.00e+00 2 1h 62 2.0805365e+00 4.10e-13 5.70e-07 2.51e-09 -8.6 -7.4 1.00e+00 1 1h 63 2.0805365e+00 1.11e-12 6.04e-07 2.51e-09 -8.6 -7.9 1.00e+00 2 1h 64 2.0805365e+00 1.95e-12 1.38e-06 2.51e-09 -8.6 -8.4 1.00e+00 1 1h 65 2.0805365e+00 1.59e-12 1.00e-06 2.51e-09 -8.6 -8.9 1.00e+00 1 1h 66 2.0805365e+00 2.98e-13 1.34e-07 2.51e-09 -8.6 -9.3 1.00e+00 1 1h 67 2.0805365e+00 7.88e-15 2.53e-09 2.51e-09 -8.6 -9.8 1.00e+00 1 1h Number of Iterations....: 67 (scaled) (unscaled) Objective...............: 2.0805364803022379e+00 2.0805364803022379e+00 Dual infeasibility......: 2.5302008821448396e-09 2.5302008821448396e-09 Constraint violation....: 7.8825834748386114e-15 7.8825834748386114e-15 Complementarity.........: 2.5059035600679350e-09 2.5059035600679350e-09 Overall NLP error.......: 2.5302008821448396e-09 2.5302008821448396e-09 Number of objective function evaluations = 70 Number of objective gradient evaluations = 68 Number of constraint evaluations = 70 Number of constraint Jacobian evaluations = 68 Number of Lagrangian Hessian evaluations = 67 Number of KKT factorizations = 161 Number of KKT backsolves = 103 Total wall secs in initialization = 21.631 s Total wall secs in linear solver = 0.094 s Total wall secs in NLP function evaluations = 21.977 s Total wall secs in solver (w/o init./fun./lin. alg.) = 52.280 s Total wall secs = 95.981 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: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 2.956s jacobian structure: 1680 nonzeros (3.016s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 11.722s 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 (11.772s) linear index maps built (0.0s) evaluator ready (total: 14.789s) evaluator created (14.814s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.0s) variables set (0.097s) 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 (5.044s) optimizer initialization complete (total: 19.955s) 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 2.0048182e+01 5.07e+00 4.77e+00 1.75e+00 -1.0 - 0.00e+00 1 0 1 4.5933899e+00 1.65e+00 1.65e+00 4.21e-01 -1.0 -2.0 6.74e-01 1 1h 2 2.6915310e+00 1.43e-01 1.69e+00 2.14e-01 -1.0 -1.6 1.00e+00 1 1h 3 2.7380133e+00 2.87e-02 1.60e-01 1.02e-01 -1.0 -2.1 1.00e+00 2 1h 4 2.2382157e+00 6.73e-02 6.16e-02 2.13e-02 -2.5 -2.5 1.00e+00 2 1h 5 2.1168465e+00 7.86e-03 1.63e-02 4.14e-03 -2.5 -3.0 1.00e+00 2 1h 6 2.0914126e+00 7.26e-04 1.77e-03 2.03e-04 -3.8 -3.5 1.00e+00 2 1h 7 2.0913319e+00 5.98e-06 1.08e-04 1.50e-04 -3.8 -4.0 1.00e+00 2 1h 8 2.0899616e+00 8.48e-05 1.13e-04 1.44e-05 -5.7 -4.4 1.00e+00 2 1h 9 2.0899318e+00 7.65e-06 2.28e-04 3.09e-06 -5.7 -4.0 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0898736e+00 3.68e-05 8.25e-05 1.84e-06 -5.7 -4.5 1.00e+00 2 1h 11 2.0897441e+00 4.89e-05 1.78e-03 1.85e-06 -5.7 -5.0 7.29e-01 2 1h 12 2.0892491e+00 4.94e-05 8.04e-04 4.45e-06 -5.7 -5.4 1.00e+00 1 1h 13 2.0889959e+00 4.25e-05 5.11e-02 2.08e-06 -5.7 -5.9 1.55e-01 1 1h 14 2.0858569e+00 2.34e-05 1.84e-02 5.44e-06 -5.7 -6.4 1.00e+00 1 1h 15 2.0851985e+00 2.04e-05 1.63e-01 3.04e-06 -5.7 -6.9 1.31e-01 1 1h 16 2.0817236e+00 3.42e-05 1.45e-01 2.10e-06 -5.7 -7.4 5.83e-01 1 1h 17 2.0815271e+00 1.79e-04 1.38e-01 5.52e-04 -5.7 -7.8 1.00e+00 1 1h 18 2.0810977e+00 9.57e-05 3.78e-02 3.10e-04 -5.7 -8.3 3.87e-01 1 1h 19 2.0806810e+00 1.28e-05 5.22e-02 1.59e-04 -5.7 -8.8 8.00e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0915397e+00 8.96e-06 1.19e-01 1.29e-04 -5.7 -6.5 1.00e+00 1 1h 21 2.0912115e+00 9.07e-06 3.22e-01 1.28e-04 -5.7 -3.4 6.27e-03 1 3h 22 2.0907626e+00 8.42e-06 9.16e-01 1.93e-05 -5.7 -0.3 7.16e-02 1 1h 23 2.0834838e+00 1.67e-06 2.95e-02 6.48e-05 -5.7 -0.8 1.00e+00 2 1h 24 2.0809397e+00 1.25e-07 2.55e+00 2.03e-06 -5.7 -1.2 9.76e-01 2 1h 25 2.0808685e+00 9.24e-08 1.98e+00 2.25e-06 -5.7 -1.7 2.57e-01 2 1h 26 2.0807888e+00 2.46e-08 6.36e-01 7.03e-06 -5.7 -2.2 7.37e-01 2 1h 27 2.0807983e+00 8.75e-09 1.71e-01 2.50e-05 -5.7 -2.7 8.12e-01 2 1H 28 2.0807887e+00 6.30e-08 9.78e-06 6.80e-06 -5.7 -3.1 1.00e+00 1 1h 29 2.0807659e+00 1.02e-07 8.17e-04 1.11e-06 -8.6 -3.6 9.97e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0807589e+00 9.72e-09 1.06e-05 8.26e-08 -8.6 -4.1 1.00e+00 1 1h 31 2.0807418e+00 5.00e-10 1.05e-05 6.87e-09 -8.6 -4.6 1.00e+00 1 1h 32 2.0807323e+00 4.07e-10 3.01e-03 5.23e-09 -8.6 -5.1 1.88e-01 1 1h 33 2.0807199e+00 1.85e-09 1.20e-03 2.19e-06 -8.6 -5.5 1.00e+00 1 1h 34 2.0806762e+00 1.52e-09 8.74e-05 6.46e-08 -8.6 -6.0 1.00e+00 1 1h 35 2.0806363e+00 1.13e-09 5.23e-03 4.18e-08 -8.6 -6.5 3.61e-01 1 1h 36 2.0806259e+00 4.45e-08 5.05e-03 1.30e-05 -8.6 -7.0 1.00e+00 1 1h 37 2.0805848e+00 4.62e-09 1.11e-02 2.84e-06 -8.6 -7.4 8.99e-01 1 1h 38 2.0805887e+00 6.95e-10 3.36e-02 1.66e-05 -8.6 -6.1 1.00e+00 1 1h 39 2.0805867e+00 1.07e-10 9.62e-03 1.49e-06 -8.6 -4.8 8.91e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805829e+00 7.94e-11 9.48e-03 4.36e-07 -8.6 -5.3 6.33e-01 1 1h 41 2.0805835e+00 7.26e-11 1.70e-02 1.09e-06 -8.6 -5.7 6.52e-01 1 1h 42 2.0805803e+00 1.19e-10 1.09e-04 6.18e-09 -8.6 -6.2 1.00e+00 1 1h 43 2.0805801e+00 1.02e-10 2.44e-02 2.65e-09 -8.6 -5.8 2.37e-01 1 1h 44 2.0805779e+00 1.16e-10 1.16e-05 7.29e-09 -8.6 -6.3 1.00e+00 1 1h 45 2.0805765e+00 1.02e-10 1.02e-03 3.67e-09 -8.6 -6.7 2.09e-01 1 1h 46 2.0805688e+00 1.17e-10 1.57e-03 3.09e-09 -8.6 -7.2 4.39e-01 1 1h 47 2.0805516e+00 2.55e-10 3.53e-03 9.76e-08 -8.6 -7.7 4.62e-01 1 1h 48 2.0805466e+00 6.88e-10 5.72e-03 2.84e-06 -8.6 -8.2 7.23e-01 1 1h 49 2.0805376e+00 1.05e-09 4.45e-04 1.29e-07 -8.6 -8.6 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805365e+00 2.45e-10 3.56e-03 2.56e-09 -8.6 -9.1 1.00e+00 1 1h 51 2.0805665e+00 2.30e-15 2.19e-03 1.73e-06 -8.6 -6.9 1.00e+00 1 1H 52 2.0805381e+00 2.45e-10 7.52e-01 3.15e-07 -8.6 -3.8 8.98e-01 1 1h 53 2.0805367e+00 7.95e-11 1.08e-01 3.94e-08 -8.6 -4.2 8.83e-01 1 1h 54 2.0805366e+00 8.00e-11 1.87e-02 3.34e-09 -8.6 -4.7 8.83e-01 1 1h 55 2.0805366e+00 6.19e-11 7.57e-03 2.66e-09 -8.6 -5.2 6.55e-01 1 1h 56 2.0805366e+00 9.02e-11 3.94e-07 4.17e-09 -8.6 -5.7 1.00e+00 1 1h 57 2.0805366e+00 9.62e-11 4.02e-08 2.57e-09 -8.6 -6.1 1.00e+00 1 1h 58 2.0805366e+00 1.19e-10 4.78e-08 2.51e-09 -8.6 -6.6 1.00e+00 1 1h 59 2.0805365e+00 1.35e-10 2.92e-07 2.51e-09 -8.6 -7.1 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 60 2.0805365e+00 1.02e-10 5.37e-06 2.51e-09 -8.6 -7.6 1.00e+00 1 1h 61 2.0805399e+00 9.77e-16 2.97e-04 2.06e-07 -8.6 -7.1 1.00e+00 1 1H 62 2.0805378e+00 2.97e-11 2.00e-01 1.63e-07 -8.6 -4.9 3.17e-01 1 1h 63 2.0805365e+00 5.61e-11 1.68e-03 2.52e-09 -8.6 -5.4 6.78e-01 1 1h 64 2.0805365e+00 9.00e-11 2.70e-06 4.77e-09 -8.6 -5.9 1.00e+00 1 1h 65 2.0805365e+00 9.36e-11 2.98e-08 2.66e-09 -8.6 -6.3 1.00e+00 1 1h 66 2.0805365e+00 8.88e-16 5.62e-08 2.51e-09 -8.6 -6.8 1.00e+00 1 1H 67 2.0805365e+00 1.01e-10 2.87e-07 2.51e-09 -8.6 -7.3 1.00e+00 1 1h 68 2.0805365e+00 9.08e-11 7.68e-07 2.51e-09 -8.6 -7.8 1.00e+00 1 1h 69 2.0805365e+00 8.93e-11 8.59e-05 2.51e-09 -8.6 -8.3 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 4.52e-11 2.62e-03 2.52e-09 -8.6 -6.0 5.06e-01 1 1h 71 2.0805365e+00 8.88e-16 1.39e-06 4.88e-08 -8.6 -6.5 1.00e+00 1 1H 72 2.0805365e+00 8.96e-11 5.67e-07 5.29e-09 -8.6 -7.0 1.00e+00 1 1h 73 2.0805365e+00 8.92e-11 6.10e-07 2.51e-09 -8.6 -6.6 1.00e+00 1 1h 74 2.0805365e+00 8.92e-11 1.53e-07 2.51e-09 -8.6 -7.0 1.00e+00 1 1h 75 2.0805365e+00 1.11e-15 2.65e-04 2.51e-09 -8.6 -7.5 1.00e+00 1 1H 76 2.0805365e+00 4.34e-13 5.97e-02 4.47e-09 -8.6 -6.2 4.22e-02 1 2h 77 2.0805365e+00 2.46e-13 1.72e-04 2.52e-09 -8.6 -6.7 3.75e-01 1 1h 78 2.0805365e+00 8.94e-11 8.52e-07 2.51e-09 -8.6 -7.1 1.00e+00 1 1h 79 2.0805365e+00 8.93e-11 1.20e-05 2.51e-09 -8.6 -7.6 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 80 2.0805365e+00 8.92e-11 6.55e-06 1.20e-08 -8.6 -6.3 1.00e+00 1 1h 81 2.0805365e+00 8.92e-11 1.26e-07 2.51e-09 -8.6 -6.8 1.00e+00 1 1h 82 2.0805365e+00 8.92e-11 6.66e-08 3.33e-09 -8.6 -7.2 1.00e+00 1 1h 83 2.0805365e+00 8.92e-11 9.94e-09 2.51e-09 -8.6 -7.7 1.00e+00 1 1h Number of Iterations....: 83 (scaled) (unscaled) Objective...............: 2.0805364810231168e+00 2.0805364810231168e+00 Dual infeasibility......: 9.9357825192203263e-09 9.9357825192203263e-09 Constraint violation....: 8.9184881701953600e-11 8.9184881701953600e-11 Complementarity.........: 2.5059035601788012e-09 2.5059035601788012e-09 Overall NLP error.......: 9.9357825192203263e-09 9.9357825192203263e-09 Number of objective function evaluations = 96 Number of objective gradient evaluations = 84 Number of constraint evaluations = 96 Number of constraint Jacobian evaluations = 84 Number of Lagrangian Hessian evaluations = 83 Number of KKT factorizations = 205 Number of KKT backsolves = 107 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.100 s Total wall secs in NLP function evaluations = 20.749 s Total wall secs in solver (w/o init./fun./lin. alg.) = 10.557 s Total wall secs = 31.408 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: 0.046s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 1.919s jacobian structure: 1600 nonzeros (1.965s) integrator 1 hessian structure: 0.044s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 2.956s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (3.0s) linear index maps built (0.0s) evaluator ready (total: 4.966s) evaluator created (4.983s) 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: 4.984s) 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 1.9245220e+01 4.13e+00 7.51e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.0534928e+01 4.48e-01 2.09e+00 -1.1 2.13e+00 -4.0 6.62e-01 8.92e-01f 1 2 1.0257604e+01 5.07e-02 4.44e-01 -0.9 4.52e-01 -4.5 7.62e-01 9.97e-01h 1 3 9.7234841e+00 4.08e-03 3.24e-02 -1.7 2.38e-01 -5.0 9.77e-01 1.00e+00h 1 4 9.5150693e+00 4.21e-03 3.37e-02 -2.6 1.26e-01 -5.4 9.49e-01 1.00e+00f 1 5 9.4417225e+00 8.71e-04 5.80e-03 -3.6 7.62e-02 -5.9 9.91e-01 1.00e+00h 1 6 9.4274668e+00 1.62e-04 7.87e-04 -4.0 2.64e-02 -6.4 1.00e+00 1.00e+00h 1 7 9.4258844e+00 1.42e-05 5.89e-05 -4.0 5.83e-03 -6.9 1.00e+00 1.00e+00h 1 8 9.4258090e+00 1.28e-07 4.63e-07 -4.0 5.00e-04 -7.3 1.00e+00 1.00e+00h 1 9 9.4258086e+00 1.31e-11 1.00e-09 -4.0 7.13e-06 -7.8 1.00e+00 1.00e+00h 1 Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 9.4258086225921680e+00 9.4258086225921680e+00 Dual infeasibility......: 9.9999998424060363e-10 9.9999998424060363e-10 Constraint violation....: 1.3126610909353076e-11 1.3126610909353076e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000007175989436e-04 1.0000007175989436e-04 Overall NLP error.......: 9.9999998424060363e-10 9.9999998424060363e-10 Number of objective function evaluations = 10 Number of objective gradient evaluations = 10 Number of equality constraint evaluations = 10 Number of inequality constraint evaluations = 10 Number of equality constraint Jacobian evaluations = 10 Number of inequality constraint Jacobian evaluations = 10 Number of Lagrangian Hessian evaluations = 9 Total seconds in IPOPT = 28.359 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) evaluator created (0.002s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.003s) This is MadNLP version v0.9.1, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 92 variables with only lower bounds: 0 variables with lower and upper bounds: 16 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 1.9245220e+01 4.13e+00 7.51e-01 9.76e-01 -1.0 - 0.00e+00 1 0 1 1.0599395e+01 6.38e-01 2.15e+00 2.87e-01 -1.0 -4.0 8.46e-01 2 1h 2 1.0264430e+01 6.89e-02 6.15e-01 1.52e-01 -1.0 -4.5 1.00e+00 2 1h 3 9.6973921e+00 5.85e-03 3.24e-02 3.99e-02 -1.7 -5.0 1.00e+00 2 1h 4 9.5100764e+00 3.79e-03 1.41e-02 1.12e-02 -2.5 -5.4 1.00e+00 2 1h 5 9.4396297e+00 9.21e-04 1.17e-02 2.61e-03 -3.8 -5.9 1.00e+00 2 1h 6 9.4278542e+00 1.63e-04 5.82e-04 5.54e-04 -3.8 -6.4 1.00e+00 2 1h 7 9.4246741e+00 2.51e-05 1.96e-04 5.17e-05 -5.7 -6.9 1.00e+00 2 1h 8 9.4245379e+00 5.43e-07 9.99e-07 2.72e-06 -5.7 -7.3 1.00e+00 2 1h 9 9.4245130e+00 1.26e-09 3.04e-09 5.08e-09 -8.6 -7.8 1.00e+00 2 1h Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 9.4245129864686170e+00 9.4245129864686170e+00 Dual infeasibility......: 3.0353970448260270e-09 3.0353970448260270e-09 Constraint violation....: 1.2565328777469631e-09 1.2565328777469631e-09 Complementarity.........: 5.0792117432339893e-09 5.0792117432339893e-09 Overall NLP error.......: 5.0792117432339893e-09 5.0792117432339893e-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 = 0.010 s Total wall secs in NLP function evaluations = 0.212 s Total wall secs in solver (w/o init./fun./lin. alg.) = 0.008 s Total wall secs = 0.231 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: 0.064s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.064s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.048s) linear index maps built (0.0s) evaluator ready (total: 0.113s) evaluator created (0.113s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.356s) optimizer initialization complete (total: 0.469s) 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 2.0788581e+00 3.19e+00 2.98e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5035958e+00 3.30e+00 9.69e+00 -0.9 6.29e+01 -4.0 9.26e-01 1.00e+00h 1 2 2.2437796e+00 8.20e-01 8.05e+00 -1.2 4.12e+01 -4.5 9.95e-01 1.00e+00h 1 3 2.3237707e+00 4.42e-02 2.16e+00 -1.6 4.97e+00 -4.1 8.08e-01 1.00e+00h 1 4 2.1619903e+00 2.88e-02 7.49e-01 -1.9 1.77e+00 -2.7 1.00e+00 1.00e+00h 1 5 2.1212967e+00 1.04e-03 3.67e-02 -2.5 2.82e-01 -3.2 1.00e+00 1.00e+00h 1 6 2.0902447e+00 6.53e-04 1.14e-02 -4.0 2.60e-01 -3.7 9.97e-01 9.93e-01h 1 7 2.0908666e+00 2.24e-05 4.98e-05 -4.0 2.94e-01 -4.2 1.00e+00 1.00e+00h 1 8 2.0907822e+00 5.78e-07 2.06e-05 -4.0 8.81e-01 -4.6 1.00e+00 1.00e+00h 1 9 2.0905227e+00 2.63e-06 2.06e-05 -4.0 2.64e+00 -5.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0897477e+00 2.38e-05 1.06e-04 -4.0 7.88e+00 -5.6 1.00e+00 1.00e+00h 1 11 2.0874559e+00 2.20e-04 9.53e-04 -4.0 2.33e+01 -6.1 1.00e+00 1.00e+00h 1 12 2.0809301e+00 2.08e-03 9.49e-03 -4.0 6.62e+01 -6.5 1.00e+00 1.00e+00h 1 13 2.0821437e+00 2.02e-03 6.12e-02 -3.4 2.41e+01 -7.0 1.00e+00 6.95e-01H 1 14 2.0786365e+00 2.14e-02 2.91e-02 -4.0 6.19e+01 -7.5 1.00e+00 1.00e+00h 1 15 2.0770396e+00 2.59e-04 1.34e-02 -4.0 1.51e+02 -8.0 1.00e+00 9.94e-01h 1 16 2.0763603e+00 8.77e-04 2.41e-02 -4.0 2.53e+02 -8.4 1.00e+00 9.19e-01h 1 17 2.0756971e+00 3.01e-04 2.58e-02 -4.0 4.67e+02 -8.9 1.00e+00 1.00e+00h 1 18 2.0758613e+00 5.90e-07 8.90e-03 -4.0 1.03e+02 -9.4 1.00e+00 1.00e+00H 1 19 2.0757830e+00 9.51e-05 4.76e-04 -4.0 6.64e+01 -9.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0757704e+00 5.67e-06 7.12e-06 -4.0 1.11e+01 -10.4 1.00e+00 1.00e+00h 1 21 2.0757704e+00 1.04e-08 4.56e-07 -4.0 7.93e+00 -10.8 1.00e+00 1.00e+00h 1 22 2.0757704e+00 4.96e-11 8.97e-08 -4.0 5.05e+00 -11.3 1.00e+00 1.00e+00h 1 23 2.0757704e+00 6.12e-12 5.54e-09 -4.0 1.32e+00 -11.8 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0757703962539429e+00 2.0757703962539429e+00 Dual infeasibility......: 5.5366145146210424e-09 5.5366145146210424e-09 Constraint violation....: 6.1188632285991140e-12 6.1188632285991140e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000011e-04 1.0000000000000011e-04 Overall NLP error.......: 5.5366145146210424e-09 5.5366145146210424e-09 Number of objective function evaluations = 26 Number of objective gradient evaluations = 24 Number of equality constraint evaluations = 26 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 24 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 23 Total seconds in IPOPT = 25.617 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.052s jacobian structure: 180 nonzeros (0.078s) integrator 1 hessian structure: 0.051s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.353s sub-objective 2 (QuadraticRegularizer): 0.092s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.016s objective hessian structure: 0.551s hessian structure: 375 nonzeros (0.602s) linear index maps built (0.0s) evaluator ready (total: 0.822s) evaluator created (0.822s) NL constraint bounds extracted (0.011s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.117s) applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.67s) optimizer initialization complete (total: 3.621s) 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 1.1619697e+00 7.84e-01 1.10e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6512984e+00 1.21e-01 1.78e+00 -0.9 6.97e-01 0.0 1.00e+00 1.00e+00h 1 2 3.6232646e+00 2.61e-01 1.27e+01 1.1 7.23e+02 - 9.56e-02 1.31e-02f 2 3 2.8510240e+00 1.46e-01 2.12e+00 -0.1 6.80e-01 -0.5 1.00e+00 1.00e+00f 1 4 2.7520521e+00 1.80e-02 1.14e+00 -0.8 3.95e-01 -1.0 1.00e+00 1.00e+00h 1 5 1.5256078e+00 6.02e-03 3.26e-01 -1.4 6.47e-01 -1.4 9.79e-01 1.00e+00f 1 6 1.1575197e+00 6.19e-04 2.44e-02 -2.6 1.57e-01 -1.9 9.99e-01 1.00e+00f 1 7 1.1146811e+00 7.82e-05 1.11e+00 -4.0 1.00e+01 - 7.51e-01 1.00e+00f 1 8 1.0986717e+00 7.38e-05 6.89e-01 -3.8 4.95e+00 -2.4 1.00e+00 5.64e-02f 1 9 1.0909495e+00 2.08e-06 7.23e-02 -4.0 2.67e+00 - 1.00e+00 9.74e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0909014e+00 2.71e-09 1.33e-02 -4.0 1.15e+00 - 1.00e+00 1.00e+00h 1 11 1.0908997e+00 2.17e-17 1.74e-05 -4.0 8.87e-03 - 1.00e+00 1.00e+00h 1 12 1.0908997e+00 2.29e-27 1.74e-05 -4.0 1.07e-06 - 1.00e+00 1.00e+00h 1 13 1.0907198e+00 2.94e-28 3.55e-09 -4.1 2.00e-05 - 1.00e+00 1.00e+00f 1 14 1.0908997e+00 8.62e-28 3.79e-09 -4.0 2.00e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 14 (scaled) (unscaled) Objective...............: 1.0908997336734827e+00 1.0908997336734827e+00 Dual infeasibility......: 3.7852295694021897e-09 3.7852295694021897e-09 Constraint violation....: 8.6153068501518045e-28 8.6153068501518045e-28 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000081632638662e-04 1.0000081632638662e-04 Overall NLP error.......: 3.7852295694021897e-09 3.7852295694021897e-09 Number of objective function evaluations = 17 Number of objective gradient evaluations = 15 Number of equality constraint evaluations = 17 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 15 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 14 Total seconds in IPOPT = 23.398 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: 0.064s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.065s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.115s) evaluator created (0.115s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.277s) optimizer initialization complete (total: 0.392s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.1647373e+00 2.29e+00 6.97e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6467451e+00 3.21e-02 8.40e-01 -1.0 1.84e+00 - 1.00e+00 1.00e+00f 1 2 2.4393548e+00 9.39e-03 2.07e-01 -1.5 1.16e-01 - 8.73e-01 1.00e+00h 1 3 2.1872887e+00 2.71e-03 9.27e-02 -2.3 5.19e-02 - 9.77e-01 8.59e-01h 1 4 2.0932778e+00 2.83e-04 3.47e-03 -3.6 2.26e-02 - 9.93e-01 1.00e+00h 1 5 2.0908958e+00 5.83e-05 5.44e-04 -4.0 1.81e-01 - 1.00e+00 1.00e+00h 1 6 2.0908975e+00 2.05e-07 1.44e-06 -4.0 1.78e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 4.65e-10 2.91e-10 -4.0 1.71e-02 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971978547037e+00 2.0908971978547037e+00 Dual infeasibility......: 2.9079121353697487e-10 2.9079121353697487e-10 Constraint violation....: 4.6532821819409558e-10 4.6532821819409558e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000113928137585e-04 1.0000113928137585e-04 Overall NLP error.......: 1.1392813758500731e-09 1.1392813758500731e-09 Number of objective function evaluations = 8 Number of objective gradient evaluations = 8 Number of equality constraint evaluations = 8 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 8 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 7 Total seconds in IPOPT = 29.616 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.057s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.058s) integrator 1 hessian structure: 0.046s 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: 0.105s) evaluator created (0.105s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.106s) 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 2.0547415e+00 1.87e+00 6.34e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.2052871e+00 6.83e-01 4.28e+00 -0.8 7.23e+00 -4.0 7.00e-01 8.35e-01f 1 2 2.9512295e+00 9.04e-01 2.69e+00 -0.8 8.02e+00 -1.8 5.35e-01 9.59e-01f 1 3 2.8450639e+00 2.43e-01 2.06e+00 -0.8 1.88e+00 -1.3 9.23e-01 1.00e+00f 1 4 2.7006159e+00 1.69e-01 1.20e+00 -1.2 2.26e+00 -1.8 7.82e-01 4.53e-01h 1 5 2.4485667e+00 5.21e-02 4.12e-01 -1.5 2.50e-01 -0.5 9.94e-01 8.38e-01f 1 6 2.3035922e+00 2.43e-02 1.63e-01 -1.7 2.79e-01 -1.0 9.12e-01 6.83e-01h 1 7 2.1621519e+00 3.41e-03 1.10e-01 -2.1 1.07e-01 -1.4 8.43e-01 9.86e-01h 1 8 2.1088022e+00 1.04e-03 3.99e-02 -2.7 7.30e-02 -1.9 9.24e-01 9.89e-01h 1 9 2.0911608e+00 3.14e-05 1.08e-02 -3.9 1.60e-02 -2.4 9.98e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908221e+00 1.01e-06 1.91e-04 -4.0 1.39e-02 -2.9 1.00e+00 1.00e+00h 1 11 2.0908168e+00 9.03e-09 1.84e-05 -4.0 4.15e-02 -3.4 1.00e+00 1.00e+00h 1 12 2.0908048e+00 5.46e-09 1.82e-05 -4.0 1.23e-01 -3.8 1.00e+00 1.00e+00h 1 13 2.0907697e+00 4.61e-08 1.77e-05 -4.0 3.60e-01 -4.3 1.00e+00 1.00e+00h 1 14 2.0906725e+00 3.43e-07 1.39e-04 -4.0 9.94e-01 -4.8 1.00e+00 1.00e+00h 1 15 2.0904431e+00 1.73e-06 8.48e-04 -4.0 2.37e+00 -5.3 1.00e+00 1.00e+00h 1 16 2.0901064e+00 4.30e-06 2.52e-03 -4.0 3.93e+00 -5.7 1.00e+00 1.00e+00h 1 17 2.0899285e+00 6.98e-06 2.29e-03 -4.0 6.66e+00 -6.2 1.00e+00 1.00e+00h 1 18 2.0898510e+00 4.04e-06 2.10e-03 -4.0 9.64e+00 -6.7 1.00e+00 1.00e+00h 1 19 2.0898281e+00 4.54e-07 1.57e-03 -4.0 1.25e+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 2.0898237e+00 2.22e-06 7.24e-04 -4.0 9.78e+00 -7.6 1.00e+00 1.00e+00h 1 21 2.0898220e+00 3.95e-07 7.24e-05 -4.0 2.80e+00 -8.1 1.00e+00 1.00e+00h 1 22 2.0898219e+00 4.18e-09 7.60e-07 -4.0 2.66e-01 -8.6 1.00e+00 1.00e+00h 1 23 2.0898218e+00 3.95e-12 1.26e-09 -4.0 1.44e-02 -9.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0898218498869197e+00 2.0898218498869197e+00 Dual infeasibility......: 1.2617068263103860e-09 1.2617068263103860e-09 Constraint violation....: 3.9536152129926450e-12 3.9536152129926450e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 1.2617068263103860e-09 1.2617068263103860e-09 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 = 30.329 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.14s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.141s) integrator 1 hessian structure: 0.057s 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 (0.058s) linear index maps built (0.0s) evaluator ready (total: 0.2s) evaluator created (0.2s) 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: 0.2s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 35 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.9524295e+00 1.86e+00 7.03e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8125277e+00 1.63e+00 1.08e+00 -1.0 2.36e+00 0.0 2.11e-01 1.28e-01h 1 2 2.6387077e+00 1.28e+00 4.95e+00 -1.9 2.26e+00 -0.5 1.31e-01 2.11e-01h 1 3 3.0264844e+00 1.10e+00 2.45e+00 -0.3 4.86e+00 -1.0 2.21e-01 1.35e-01f 1 4 3.1684549e+00 9.15e-01 2.46e+00 -4.0 1.01e+01 -1.4 1.11e-01 1.69e-01h 1 5 3.2104754e+00 8.60e-01 1.28e+02 -0.9 1.80e+01 -1.9 8.19e-01 6.07e-02h 1 6 3.2812096e+00 1.11e+00 2.49e+03 0.0 3.82e+01 -1.5 1.00e+00 6.93e-02h 1 7 3.4631716e+00 1.16e+00 2.42e+03 -4.0 2.49e+02 -2.0 2.75e-02 2.81e-02h 1 8 3.5994500e+00 1.92e+00 2.24e+03 1.5 8.13e+02 -2.4 1.13e-01 2.22e-02f 1 9 3.6080715e+00 1.89e+00 2.23e+03 0.5 2.12e+02 -2.9 1.28e-01 7.37e-03h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 3.8225411e+00 2.37e+00 1.65e+03 0.5 6.86e+02 -2.5 7.28e-03 7.43e-02f 2 11 3.9284983e+00 2.18e+00 1.49e+03 0.5 1.65e+01 0.6 5.64e-02 8.41e-02h 1 12 3.9311792e+00 2.07e+00 4.74e+03 0.5 5.31e+00 1.1 2.28e-01 4.87e-02h 1 13 3.9423034e+00 2.00e+00 1.01e+04 0.5 8.44e+00 1.5 8.06e-02 3.36e-02h 1 14 3.8295912e+00 1.98e+00 1.00e+04 -0.5 3.92e+01 1.0 6.77e-03 7.85e-03h 1 15 3.8444674e+00 1.97e+00 2.39e+05 2.3 1.58e+02 0.5 1.70e-01 5.34e-03f 1 16 3.8585240e+00 1.95e+00 2.99e+05 2.5 2.22e+02 0.1 4.68e-02 1.19e-02h 1 17 4.2519417e+00 1.40e+01 3.10e+05 2.5 1.38e+03 -0.4 1.40e-02 3.05e-02f 1 18 4.2861748e+00 1.37e+01 2.98e+05 1.6 4.05e+02 -0.9 1.61e-02 2.17e-02h 1 19 4.3570197e+00 1.35e+01 2.94e+05 1.6 2.35e+02 -0.5 3.81e-02 1.69e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 4.5119661e+00 1.30e+01 2.61e+05 1.6 1.38e+02 -0.9 1.36e-01 3.39e-02f 2 21 4.7013003e+00 1.20e+01 2.40e+05 1.6 1.17e+02 -0.5 7.87e-02 7.64e-02h 1 22 4.7579827e+00 1.15e+01 1.62e+05 1.6 1.33e+02 -1.0 4.68e-01 4.08e-02h 1 23 4.7801452e+00 1.14e+01 1.61e+05 1.6 3.46e+03 -1.5 1.96e-02 1.19e-02h 1 24 4.8097135e+00 1.12e+01 1.77e+05 1.6 6.80e+02 -1.0 5.92e-02 1.45e-02h 1 25 4.9044934e+00 1.09e+01 1.87e+05 1.6 4.82e+02 -0.6 1.16e-01 3.28e-02f 2 26 5.0110605e+00 1.05e+01 9.98e+05 1.6 6.10e+01 0.7 4.97e-01 3.20e-02h 1 27 5.0016274e+00 1.04e+01 1.03e+06 1.6 1.09e+03 0.2 4.52e-03 8.37e-03f 3 28 4.9510755e+00 1.03e+01 1.03e+06 1.6 3.68e+03 -0.2 5.05e-03 5.22e-03f 2 29 4.9161819e+00 1.02e+01 1.01e+06 1.6 2.91e+02 0.2 1.55e-02 3.10e-03h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 4.8948260e+00 1.01e+01 9.42e+05 1.6 1.17e+02 1.5 7.26e-03 9.72e-03h 1 31 4.9063967e+00 1.01e+01 9.30e+05 1.6 2.10e+02 1.0 6.68e-03 7.18e-03h 1 32 4.9186222e+00 1.00e+01 1.19e+06 1.6 6.56e+02 0.6 3.24e-02 4.65e-03h 1 33 4.9154440e+00 9.85e+00 1.14e+06 1.6 1.12e+03 0.1 5.07e-02 1.59e-02h 1 34 4.9395854e+00 9.58e+00 1.11e+06 1.6 5.98e+02 0.5 2.24e-02 2.65e-02h 1 35 4.9395784e+00 9.58e+00 1.28e+06 1.6 2.79e+02 0.9 3.43e-02 3.12e-04h 1 36 4.9391860e+00 9.58e+00 3.26e+07 1.6 4.20e+02 1.4 3.15e-02 3.16e-04h 1 37 4.9765697e+00 9.55e+00 1.90e+07 1.6 6.89e+03 0.9 3.98e-04 2.55e-03h 2 38 5.0330100e+00 9.53e+00 1.42e+07 1.6 1.97e+03 1.3 6.01e-03 2.40e-03f 4 39 5.1345453e+00 9.48e+00 1.44e+07 1.6 5.28e+02 0.8 4.50e-03 4.82e-03f 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 5.3718775e+00 9.36e+00 1.01e+07 1.6 1.03e+02 0.4 3.64e-02 1.32e-02h 1 41 5.4166283e+00 9.32e+00 9.58e+06 1.6 2.57e+01 -0.1 1.01e-02 3.36e-03h 1 42 5.4170898e+00 9.32e+00 1.49e+08 1.6 6.23e+01 -0.6 3.38e-02 4.38e-05h 1 43 5.4191165e+00 9.32e+00 1.11e+09 1.6 7.05e+01 0.7 5.88e-03 7.53e-04h 1 44 5.4191774e+00 9.32e+00 1.01e+12 1.6 1.34e+01 0.3 6.74e-02 8.28e-05h 1 45r 5.4191774e+00 9.32e+00 9.96e+02 1.6 0.00e+00 0.7 0.00e+00 3.39e-07R 3 46r 5.4320876e+00 7.18e-01 1.22e+03 1.6 4.40e+03 - 3.56e-02 4.98e-03f 1 47 5.4316685e+00 7.18e-01 5.62e+02 -0.8 1.92e+00 0.2 2.60e-01 7.61e-04h 1 48 5.4315730e+00 7.17e-01 1.12e+05 -4.0 7.38e+00 -0.3 1.14e-01 5.69e-04h 1 49 5.4316861e+00 7.17e-01 3.10e+08 -0.8 7.11e+00 -0.8 3.73e-01 1.34e-04h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50r 5.4316861e+00 7.17e-01 1.00e+03 -0.1 0.00e+00 -1.2 0.00e+00 3.85e-07R 3 51r 4.9781029e+00 3.75e-01 9.99e+02 1.2 5.10e+02 - 1.32e-03 1.53e-03f 1 52 4.9780921e+00 3.75e-01 4.19e+03 -4.0 1.51e+00 -1.7 5.60e-01 1.32e-04h 1 53 4.9780730e+00 3.75e-01 4.29e+07 -0.9 8.35e+00 -2.2 4.29e-01 4.18e-05h 1 54r 4.9780730e+00 3.75e-01 1.00e+03 -0.4 0.00e+00 -2.7 0.00e+00 3.14e-07R 2 55r 4.5272325e+00 2.12e-01 9.96e+02 1.0 3.54e+02 - 4.50e-03 1.84e-03f 1 56 4.5272263e+00 2.12e-01 9.82e+03 -1.4 4.00e+00 -3.1 8.49e-01 1.04e-04h 1 57 4.5272388e+00 2.12e-01 3.51e+08 -0.3 1.10e+02 -3.6 1.00e+00 2.78e-05h 1 58r 4.5272388e+00 2.12e-01 1.00e+03 0.5 0.00e+00 -4.1 0.00e+00 1.66e-07R 2 59r 4.6066458e+00 2.16e-01 9.82e+02 1.9 6.91e+01 - 9.39e-02 1.13e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60r 4.4042969e+00 2.12e-01 8.89e+02 0.7 6.11e+00 - 3.41e-01 8.10e-02f 1 61r 4.4180736e+00 2.13e-01 7.97e+02 0.4 2.41e+00 - 8.62e-01 1.30e-01f 1 62r 4.6746301e+00 2.06e-01 3.50e+02 0.1 2.61e+00 - 8.57e-01 5.56e-01f 1 63r 4.7388508e+00 2.00e-01 7.68e+01 -0.1 1.70e+00 - 9.39e-01 7.82e-01f 1 64r 4.6676985e+00 2.00e-01 1.24e+02 -0.4 8.79e-01 - 8.45e-01 5.88e-01f 1 65r 4.6733734e+00 1.99e-01 3.36e+01 -0.8 2.41e-01 0.0 8.13e-01 7.68e-01f 1 66r 4.6471130e+00 1.99e-01 6.67e+01 -2.6 7.40e-02 0.4 5.63e-01 7.18e-01f 1 67r 4.5864848e+00 1.99e-01 6.03e-01 -1.1 1.86e-01 -0.1 9.99e-01 1.00e+00f 1 68r 4.4133783e+00 2.08e-01 7.61e+00 -1.8 1.84e+00 - 8.03e-01 1.00e+00f 1 69r 4.4614084e+00 1.99e-01 1.89e-02 -2.0 8.43e-02 -0.5 9.99e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70r 4.2860436e+00 1.99e-01 2.67e+00 -4.0 9.73e-01 - 6.48e-01 9.99e-01f 1 71r 4.3519681e+00 1.99e-01 6.91e-03 -2.7 4.47e-02 -1.0 1.00e+00 1.00e+00f 1 72r 4.3475664e+00 1.99e-01 1.65e-01 -3.8 1.76e-01 - 8.98e-01 1.00e+00f 1 73r 4.3446018e+00 1.99e-01 3.70e-04 -4.0 5.34e-02 - 1.00e+00 1.00e+00h 1 74r 4.3579360e+00 1.99e-01 4.63e-06 -4.0 2.43e-02 - 1.00e+00 1.00e+00h 1 75r 4.3601836e+00 1.99e-01 1.12e-07 -4.0 1.24e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 75 (scaled) (unscaled) Objective...............: 4.3601949316356983e+00 4.3601949316356983e+00 Dual infeasibility......: 1.9313311196972340e+00 1.9313311196972340e+00 Constraint violation....: 1.9875045033257654e-01 1.9875045033257654e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000192533130e-04 1.0000000192533130e-04 Overall NLP error.......: 1.9313311196972340e+00 1.9313311196972340e+00 Number of objective function evaluations = 114 Number of objective gradient evaluations = 60 Number of equality constraint evaluations = 114 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 81 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 76 Total seconds in IPOPT = 32.034 EXIT: Converged to a point of local infeasibility. Problem may be infeasible. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.067s) 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 sub-objective 4 (GlobalObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1804 nonzeros (0.056s) linear index maps built (0.0s) evaluator ready (total: 0.124s) evaluator created (0.124s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: bounds constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.001s) 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 7.0885938e+00 3.33e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.8485113e+00 1.16e-01 4.77e+00 -0.9 2.33e+00 0.0 7.39e-01 9.88e-01f 1 2 2.6366242e+00 5.01e-03 8.63e-01 -1.0 2.66e-01 0.4 9.51e-01 1.00e+00f 1 3 2.4671979e+00 7.82e-04 1.12e-01 -1.9 7.53e-02 -0.1 9.36e-01 1.00e+00h 1 4 2.2136856e+00 4.86e-03 1.16e-01 -2.3 1.87e-01 -0.5 9.68e-01 1.00e+00f 1 5 2.1362205e+00 4.74e-03 4.82e-01 -2.6 6.31e-01 -1.0 9.98e-01 2.43e-01h 1 6 2.1059612e+00 2.72e-03 3.77e-01 -3.7 9.41e-02 -1.5 1.00e+00 4.27e-01h 1 7 2.0907141e+00 1.13e-04 2.03e-02 -4.0 3.63e-02 -2.0 1.00e+00 9.97e-01h 1 8 2.0909337e+00 3.24e-07 5.63e-04 -4.0 1.12e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909365e+00 1.57e-08 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 2.0909315e+00 9.93e-10 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909166e+00 8.70e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908717e+00 7.84e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907374e+00 7.06e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903352e+00 6.39e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891377e+00 5.85e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856273e+00 5.51e-04 2.30e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796256e+00 2.30e-03 1.35e-01 -4.0 9.57e+01 -6.7 1.00e+00 6.33e-01h 1 18 2.0807099e+00 1.69e-04 1.88e-01 -4.0 6.84e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775255e+00 7.81e-03 2.63e-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 2.0769753e+00 1.72e-03 8.06e-02 -4.0 2.02e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0763246e+00 1.97e-03 2.41e-02 -4.0 3.47e+02 -8.6 1.00e+00 6.83e-01h 1 22 2.0755310e+00 1.73e-03 2.64e-02 -4.0 6.12e+02 -9.1 1.00e+00 7.59e-01h 1 23 2.0758098e+00 3.93e-03 1.64e-02 -4.0 1.83e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753839e+00 1.44e-03 8.68e-04 -4.1 1.06e+02 -10.1 1.00e+00 1.00e+00h 1 25 2.0756722e+00 4.69e-04 8.86e-06 -4.0 2.13e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 6.22e-07 1.11e-06 -4.0 1.19e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.24e-09 8.43e-08 -4.0 4.32e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 3.80e-11 1.52e-09 -4.0 6.80e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121575598e+00 2.0756712121575598e+00 Dual infeasibility......: 1.5156864869908439e-09 1.5156864869908439e-09 Constraint violation....: 3.8026914950251012e-11 3.8026914950251012e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000044e-04 1.0000000000000044e-04 Overall NLP error.......: 1.5156864869908439e-09 1.5156864869908439e-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 = 33.446 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.065s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.749s jacobian structure: 1600 nonzeros (2.815s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.442s 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 (4.494s) linear index maps built (0.0s) evaluator ready (total: 7.31s) evaluator created (7.334s) 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: 7.335s) This is MadNLP version v0.9.1, running with Lapack-CPU (BUNCHKAUFMAN) Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 5.1527124e+00 3.08e+00 7.02e-01 9.48e-01 -1.0 - 0.00e+00 1 0 1 2.9352179e+00 5.29e-02 2.38e+00 5.97e-01 -1.0 0.0 1.00e+00 1 1h 2 2.7949164e+00 9.87e-03 2.42e-01 1.13e-01 -1.0 0.4 1.00e+00 1 1h 3 2.4112703e+00 3.49e-03 1.07e-01 3.63e-02 -1.7 -0.1 1.00e+00 1 1h 4 2.1290288e+00 7.62e-03 3.79e-02 7.10e-03 -2.5 -0.5 8.67e-01 1 1h 5 2.1156858e+00 7.96e-04 6.34e-03 3.07e-03 -2.5 -1.0 1.00e+00 1 1h 6 2.0914489e+00 8.85e-06 3.69e-04 1.70e-04 -3.8 -1.5 1.00e+00 1 1h 7 2.0900363e+00 2.93e-07 2.05e-05 2.18e-06 -5.7 -2.0 1.00e+00 1 1h 8 2.0900356e+00 3.16e-08 2.04e-05 1.85e-06 -5.7 -2.4 1.00e+00 1 1h 9 2.0900338e+00 3.14e-07 2.03e-05 1.84e-06 -5.7 -2.9 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0900288e+00 3.52e-06 1.99e-05 1.84e-06 -5.7 -3.4 1.00e+00 1 1h 11 2.0900153e+00 4.57e-05 3.18e-05 1.84e-06 -5.7 -3.9 1.00e+00 1 1h 12 2.0899753e+00 3.48e-04 2.89e-04 1.84e-06 -5.7 -4.3 1.00e+00 1 1h 13 2.0898518e+00 5.96e-05 1.48e-04 1.91e-06 -5.7 -4.8 1.00e+00 1 1h 14 2.0897560e+00 4.74e-05 1.20e-02 1.90e-06 -5.7 -5.3 2.28e-01 1 1h 15 2.0887232e+00 2.24e-05 1.99e-03 3.75e-06 -5.7 -5.8 1.00e+00 1 1h 16 2.0884181e+00 2.02e-05 1.04e-01 2.35e-06 -5.7 -6.3 9.81e-02 1 1h 17 2.0836686e+00 3.27e-05 5.23e-02 5.36e-06 -5.7 -6.7 1.00e+00 1 1h 18 2.0828092e+00 2.78e-05 1.35e-01 2.81e-06 -5.7 -7.2 1.91e-01 1 1h 19 2.0816895e+00 2.42e-05 1.36e-01 3.96e-06 -5.7 -7.7 2.27e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0814347e+00 2.89e-05 2.03e-01 2.44e-05 -5.7 -8.2 2.37e-01 1 1h 21 2.0806648e+00 4.44e-05 1.49e-01 1.28e-05 -5.7 -8.6 8.72e-01 1 1h 22 2.0806688e+00 3.66e-05 1.18e-01 3.24e-05 -5.7 -6.4 1.76e-01 1 1h 23 2.0806558e+00 1.92e-05 1.01e-02 1.09e-05 -5.7 -6.9 4.74e-01 1 1h 24 2.0806323e+00 2.13e-06 2.38e-03 4.07e-06 -5.7 -7.4 8.67e-01 1 1h 25 2.0805988e+00 1.53e-06 1.15e-03 3.04e-06 -5.7 -7.8 1.00e+00 1 1h 26 2.0805719e+00 2.93e-06 8.86e-03 2.69e-06 -5.7 -8.3 1.00e+00 1 1h 27 2.0854034e+00 3.99e-09 1.44e-01 8.60e-05 -5.7 -7.0 1.00e+00 1 1H 28 2.0847054e+00 6.23e-07 5.72e-01 7.96e-05 -5.7 -3.9 6.18e-02 1 3h 29 2.0813139e+00 9.11e-09 1.93e-02 1.93e-05 -5.7 -0.7 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0806352e+00 1.73e-09 3.55e-03 1.84e-06 -5.7 -1.2 1.00e+00 1 1h 31 2.0806053e+00 4.06e-08 4.06e-02 1.85e-06 -5.7 -1.7 3.74e-01 1 1h 32 2.0806130e+00 2.38e-08 3.14e-01 1.25e-05 -5.7 -2.1 6.26e-01 1 1h 33 2.0806068e+00 7.27e-09 1.54e-05 2.45e-06 -5.7 -2.6 1.00e+00 1 1h 34 2.0805905e+00 3.36e-08 3.26e-02 3.69e-07 -8.6 -3.1 1.00e+00 1 1h 35 2.0805870e+00 1.14e-08 1.02e-05 1.74e-08 -8.6 -3.6 1.00e+00 1 1h 36 2.0805821e+00 2.41e-10 1.02e-05 5.63e-09 -8.6 -4.1 1.00e+00 1 1h 37 2.0805806e+00 2.17e-10 2.40e-03 1.34e-08 -8.6 -4.5 9.67e-02 1 1h 38 2.0805799e+00 1.04e-10 1.80e-04 2.91e-07 -8.6 -5.0 1.00e+00 1 1h 39 2.0805778e+00 3.46e-11 6.95e-04 9.69e-08 -8.6 -5.5 6.76e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805762e+00 5.67e-10 1.59e-04 4.65e-07 -8.6 -6.0 1.00e+00 1 1h 41 2.0805705e+00 2.80e-09 1.41e-04 5.59e-08 -8.6 -6.4 9.64e-01 1 1h 42 2.0805668e+00 2.58e-09 4.02e-03 4.11e-08 -8.6 -6.9 2.69e-01 1 1h 43 2.0805535e+00 5.13e-09 5.10e-03 8.01e-08 -8.6 -7.4 5.73e-01 1 1h 44 2.0805539e+00 4.39e-09 5.84e-04 5.58e-06 -8.6 -7.0 1.00e+00 1 1h 45 2.0805453e+00 1.21e-09 4.81e-04 1.25e-06 -8.6 -7.4 7.75e-01 1 1h 46 2.0805444e+00 6.97e-10 2.69e-02 2.51e-07 -8.6 -6.1 4.26e-01 1 1h 47 2.0805434e+00 1.17e-10 1.09e-03 5.31e-07 -8.6 -6.6 8.34e-01 1 1h 48 2.0805419e+00 3.22e-11 3.07e-04 6.97e-09 -8.6 -7.1 1.00e+00 1 1h 49 2.0805417e+00 1.15e-11 3.44e-03 4.21e-09 -8.6 -6.6 6.11e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805408e+00 1.09e-11 4.96e-03 2.52e-09 -8.6 -7.1 1.00e+00 1 1h 51 2.0805408e+00 3.99e-10 4.05e-03 4.85e-08 -8.6 -6.7 6.46e-02 1 3h 52 2.0805403e+00 3.27e-10 1.33e-03 3.37e-09 -8.6 -7.2 1.00e+00 1 1h 53 2.0805403e+00 1.52e-11 2.93e-07 2.51e-09 -8.6 -5.8 1.00e+00 1 1h 54 2.0805402e+00 3.01e-13 4.12e-06 2.51e-09 -8.6 -6.3 1.00e+00 1 1h 55 2.0805401e+00 3.18e-13 1.74e-06 2.51e-09 -8.6 -5.9 1.00e+00 1 1h 56 2.0805401e+00 8.99e-13 2.16e-03 2.57e-09 -8.6 -6.4 3.56e-01 1 1h 57 2.0805398e+00 2.48e-12 2.45e-06 5.52e-09 -8.6 -6.9 1.00e+00 1 1h 58 2.0805398e+00 2.03e-12 2.13e-03 2.57e-09 -8.6 -6.4 4.27e-01 1 1h 59 2.0805395e+00 1.76e-12 3.65e-06 5.59e-09 -8.6 -6.9 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 60 2.0805392e+00 2.81e-12 2.84e-04 2.52e-09 -8.6 -7.4 4.20e-01 1 1h 61 2.0805381e+00 3.31e-11 4.31e-05 3.89e-09 -8.6 -7.9 1.00e+00 1 1h 62 2.0805370e+00 1.00e-10 6.44e-05 2.51e-09 -8.6 -8.3 1.00e+00 1 1h 63 2.0805365e+00 1.36e-10 1.02e-03 2.51e-09 -8.6 -8.8 1.00e+00 1 1h 64 2.0805366e+00 1.17e-11 4.71e-06 2.24e-07 -8.6 -6.6 1.00e+00 1 1h 65 2.0805365e+00 6.86e-12 1.02e-03 2.51e-09 -8.6 -7.1 1.00e+00 1 1h 66 2.0805365e+00 3.24e-13 6.41e-07 2.98e-09 -8.6 -5.7 1.00e+00 1 1h 67 2.0805365e+00 1.07e-13 3.45e-06 2.51e-09 -8.6 -6.2 1.00e+00 1 1h 68 2.0805365e+00 3.21e-13 2.28e-06 2.55e-09 -8.6 -6.7 1.00e+00 1 1h 69 2.0805365e+00 3.82e-13 1.26e-06 2.51e-09 -8.6 -7.2 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 70 2.0805365e+00 1.16e-12 5.25e-07 2.51e-09 -8.6 -7.6 1.00e+00 1 1h 71 2.0805365e+00 3.55e-12 6.25e-07 2.51e-09 -8.6 -8.1 1.00e+00 1 1h 72 2.0805365e+00 5.46e-12 1.03e-06 2.51e-09 -8.6 -8.6 1.00e+00 1 1h 73 2.0805365e+00 2.28e-12 3.93e-07 2.51e-09 -8.6 -9.1 1.00e+00 1 1h 74 2.0805365e+00 1.59e-13 2.39e-08 2.51e-09 -8.6 -9.5 1.00e+00 1 1h 75 2.0805365e+00 3.35e-11 1.80e-10 9.09e-10 -9.0 -10.0 1.00e+00 1 1h Number of Iterations....: 75 (scaled) (unscaled) Objective...............: 2.0805364595436622e+00 2.0805364595436622e+00 Dual infeasibility......: 1.8046081295963745e-10 1.8046081295963745e-10 Constraint violation....: 3.3543390287604780e-11 3.3543390287604780e-11 Complementarity.........: 9.0913207695161880e-10 9.0913207695161880e-10 Overall NLP error.......: 9.0913207695161880e-10 9.0913207695161880e-10 Number of objective function evaluations = 83 Number of objective gradient evaluations = 76 Number of constraint evaluations = 83 Number of constraint Jacobian evaluations = 76 Number of Lagrangian Hessian evaluations = 75 Number of KKT factorizations = 181 Number of KKT backsolves = 79 Total wall secs in initialization = 6.200 s Total wall secs in linear solver = 0.160 s Total wall secs in NLP function evaluations = 21.972 s Total wall secs in solver (w/o init./fun./lin. alg.) = 31.592 s Total wall secs = 59.924 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 This is MadNLP version v0.9.1, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 2.0572666e+00 3.75e+00 5.78e-01 9.96e-01 -1.0 - 0.00e+00 1 0 1 2.2436083e+00 7.34e-01 2.88e+00 1.59e-01 -1.0 0.0 8.06e-01 1 1h 2 1.9654294e+00 4.50e-01 3.15e+00 1.69e-01 -1.0 0.4 3.86e-01 1 1h 3 1.9753577e+00 3.56e-01 4.48e+00 1.53e-01 -1.0 -0.1 2.08e-01 2 1h 4 2.3231275e+00 4.34e-02 5.22e+00 1.62e-01 -1.0 -0.5 1.00e+00 2 1h 5 2.4188739e+00 9.13e-03 1.03e+00 1.03e-01 -1.0 -1.0 1.00e+00 2 1h 6 2.6306686e+00 3.52e-03 2.12e-01 1.00e-01 -1.0 -1.5 1.00e+00 2 1h 7 2.3566631e+00 7.09e-03 4.06e-02 3.26e-02 -1.7 -2.0 1.00e+00 2 1h 8 2.1250989e+00 7.43e-03 1.01e-02 4.60e-03 -2.5 -2.4 1.00e+00 2 1h 9 2.0910752e+00 6.56e-04 8.46e-03 1.95e-04 -3.8 -2.9 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0913181e+00 3.57e-05 1.70e-04 1.51e-04 -3.8 -3.4 1.00e+00 2 1h 11 2.0899714e+00 1.67e-05 4.84e-05 2.74e-05 -5.7 -3.9 1.00e+00 2 1h 12 2.0899118e+00 1.83e-05 3.60e-04 2.97e-06 -5.7 -4.3 8.84e-01 2 1h 13 2.0897853e+00 2.97e-05 2.87e-04 1.87e-06 -5.7 -4.8 1.00e+00 1 1h 14 2.0896320e+00 2.30e-05 8.47e-03 1.88e-06 -5.7 -5.3 4.05e-01 1 1h 15 2.0886153e+00 2.90e-05 2.02e-03 5.61e-06 -5.7 -5.8 1.00e+00 1 1h 16 2.0882370e+00 2.54e-05 9.39e-02 2.31e-06 -5.7 -6.3 1.30e-01 1 1h 17 2.0835886e+00 3.17e-05 5.10e-02 4.89e-06 -5.7 -6.7 1.00e+00 1 1h 18 2.0826499e+00 2.65e-05 1.28e-01 2.65e-06 -5.7 -7.2 2.16e-01 1 1h 19 2.0816919e+00 2.31e-05 1.32e-01 4.23e-06 -5.7 -7.7 2.02e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0814414e+00 2.71e-05 2.00e-01 2.02e-05 -5.7 -8.2 2.30e-01 1 1h 21 2.0806640e+00 4.33e-05 1.47e-01 1.08e-05 -5.7 -8.6 8.71e-01 1 1h 22 2.0806656e+00 3.76e-05 1.17e-01 2.23e-05 -5.7 -6.4 1.32e-01 1 1h 23 2.0806539e+00 1.71e-05 7.25e-03 7.31e-06 -5.7 -6.9 5.44e-01 2 1h 24 2.0806307e+00 2.10e-06 5.13e-04 2.80e-06 -5.7 -7.4 1.00e+00 1 1h 25 2.0805966e+00 9.92e-07 1.06e-03 1.98e-06 -5.7 -7.8 1.00e+00 1 1h 26 2.0805717e+00 2.82e-06 8.71e-03 2.65e-06 -5.7 -8.3 1.00e+00 1 1h 27 2.0872136e+00 4.78e-09 1.60e-01 8.61e-05 -5.7 -7.0 1.00e+00 1 1H 28 2.0865181e+00 6.38e-07 5.99e-01 8.16e-05 -5.7 -3.9 4.10e-02 1 3h 29 2.0813731e+00 8.59e-08 2.18e-02 1.79e-05 -5.7 -0.7 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0806467e+00 3.42e-10 3.52e-03 2.13e-06 -5.7 -1.2 1.00e+00 2 1h 31 2.0806274e+00 2.41e-08 4.67e-02 1.85e-06 -5.7 -1.7 3.91e-01 2 1h 32 2.0806052e+00 6.91e-08 2.89e-02 1.85e-06 -5.7 -2.1 1.74e-01 2 1h 33 2.0806196e+00 8.75e-09 2.24e-05 1.32e-05 -5.7 -2.6 1.00e+00 1 1h 34 2.0806088e+00 1.02e-08 5.99e-06 2.07e-06 -5.7 -3.1 1.00e+00 2 1h 35 2.0805917e+00 9.27e-08 9.47e-03 2.73e-07 -8.6 -3.6 1.00e+00 2 1h 36 2.0805851e+00 3.08e-08 1.03e-05 1.25e-08 -8.6 -4.1 1.00e+00 2 1h 37 2.0805834e+00 2.73e-08 1.99e-03 2.48e-08 -8.6 -4.5 1.15e-01 2 1h 38 2.0805829e+00 1.60e-10 1.90e-04 4.99e-07 -8.6 -5.0 1.00e+00 2 1h 39 2.0805804e+00 4.69e-12 9.44e-04 1.42e-07 -8.6 -5.5 7.26e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805787e+00 7.26e-11 1.61e-04 4.50e-07 -8.6 -6.0 1.00e+00 2 1h 41 2.0805728e+00 3.37e-10 2.51e-04 6.29e-08 -8.6 -6.4 9.38e-01 2 1h 42 2.0805686e+00 3.19e-10 4.20e-03 4.50e-08 -8.6 -6.9 2.88e-01 2 1h 43 2.0805545e+00 6.58e-10 5.42e-03 8.80e-08 -8.6 -7.4 5.75e-01 2 1h 44 2.0805434e+00 7.41e-10 1.19e-02 2.28e-07 -8.6 -7.9 1.00e+00 2 1h 45 2.0805434e+00 7.27e-10 1.15e-02 1.44e-07 -8.6 -6.5 1.98e-02 1 1h 46 2.0805412e+00 3.05e-10 4.27e-03 5.77e-09 -8.6 -7.0 5.81e-01 2 1h 47 2.0805395e+00 3.66e-11 6.44e-03 6.03e-09 -8.6 -7.5 1.00e+00 2 1h 48 2.0805392e+00 2.13e-11 5.69e-03 9.28e-08 -8.6 -7.1 4.32e-01 1 1h 49 2.0805385e+00 4.20e-11 4.64e-03 2.53e-09 -8.6 -7.5 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805385e+00 4.48e-11 1.32e-01 5.40e-09 -8.6 -6.2 6.31e-02 1 1h Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0805384615173934e+00 2.0805384615173934e+00 Dual infeasibility......: 1.3187693359465252e-01 1.3187693359465252e-01 Constraint violation....: 4.4841463875400223e-11 4.4841463875400223e-11 Complementarity.........: 5.4029545987424738e-09 5.4029545987424738e-09 Overall NLP error.......: 1.3187693359465252e-01 1.3187693359465252e-01 Number of objective function evaluations = 55 Number of objective gradient evaluations = 51 Number of constraint evaluations = 55 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 = 0.002 s Total wall secs in linear solver = 0.063 s Total wall secs in NLP function evaluations = 20.905 s Total wall secs in solver (w/o init./fun./lin. alg.) = 9.680 s Total wall secs = 30.649 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 4.0361356e+00 3.02e+00 6.49e-01 9.47e-01 -1.0 - 0.00e+00 1 0 1 2.6633218e+00 4.56e-02 2.62e+00 1.51e-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 2.6451926e+00 3.61e-02 2.51e-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 2.4250286e+00 2.21e-03 1.11e-01 3.60e-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 2.1387239e+00 1.14e-02 1.43e-01 6.56e-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 2.1122913e+00 1.59e-03 1.29e-02 2.85e-03 -2.5 - 1.00e+00 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.1122912811137660e+00 2.1122912811137660e+00 Dual infeasibility......: 1.2899473201865316e-02 1.2899473201865316e-02 Constraint violation....: 1.5912362483154752e-03 1.5912362483154752e-03 Complementarity.........: 2.8463421927036625e-03 2.8463421927036625e-03 Overall NLP error.......: 1.2899473201865316e-02 1.2899473201865316e-02 Number of objective function evaluations = 6 Number of objective gradient evaluations = 6 Number of constraint evaluations = 6 Number of constraint Jacobian evaluations = 6 Number of Lagrangian Hessian evaluations = 0 Number of KKT factorizations = 6 Number of KKT backsolves = 6 Total wall secs in initialization = 0.649 s Total wall secs in linear solver = 0.005 s Total wall secs in NLP function evaluations = 0.153 s Total wall secs in solver (w/o init./fun./lin. alg.) = 39.198 s Total wall secs = 40.005 s EXIT: Maximum Number of Iterations Exceeded. ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 This is MadNLP version v0.9.1, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 2.7145044e+00 4.70e+00 6.46e-01 9.76e-01 -1.0 - 0.00e+00 1 0 1 2.7578369e+00 6.12e-02 1.86e+00 6.18e-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 2.7813209e+00 2.44e-02 1.98e-01 1.19e-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 2.2884217e+00 1.23e-02 1.18e-01 3.40e-02 -2.5 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 4 2.1205370e+00 4.68e-03 9.64e-02 4.14e-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 2.1152734e+00 5.36e-04 6.64e-03 2.87e-03 -2.5 - 1.00e+00 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.1152733834662811e+00 2.1152733834662811e+00 Dual infeasibility......: 6.6399572631030352e-03 6.6399572631030352e-03 Constraint violation....: 5.3646243439664509e-04 5.3646243439664509e-04 Complementarity.........: 2.8741093259140528e-03 2.8741093259140528e-03 Overall NLP error.......: 6.6399572631030352e-03 6.6399572631030352e-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 = 0.006 s Total wall secs in NLP function evaluations = 0.148 s Total wall secs in solver (w/o init./fun./lin. alg.) = 10.354 s Total wall secs = 10.509 s EXIT: Maximum Number of Iterations Exceeded. ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 This is MadNLP version v0.9.1, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 2.4247687e+00 3.86e+00 6.31e-01 9.68e-01 -1.0 - 0.00e+00 1 0 1 2.5728121e+00 1.29e-01 1.54e+00 1.83e-01 -1.0 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 2 2.5845521e+00 4.34e-02 4.51e-01 1.08e-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 2.4099989e+00 1.09e-02 1.60e-01 3.76e-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 2.1376356e+00 7.83e-03 1.09e-01 7.75e-03 -2.5 - 9.68e-01 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 5 2.1126979e+00 1.58e-03 1.71e-02 2.84e-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 2.0913281e+00 2.38e-05 5.47e-03 1.98e-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 2.0913666e+00 1.29e-08 2.29e-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 2.0900136e+00 1.68e-06 1.67e-03 4.40e-05 -5.7 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 9 2.0899948e+00 9.66e-07 7.00e-04 1.19e-05 -5.7 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0899871e+00 2.08e-06 2.99e-04 3.75e-06 -5.7 - 1.00e+00 1 1h Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0899871335064062e+00 2.0899871335064062e+00 Dual infeasibility......: 2.9915969738891903e-04 2.9915969738891903e-04 Constraint violation....: 2.0772293712889578e-06 2.0772293712889578e-06 Complementarity.........: 3.7545729200195017e-06 3.7545729200195017e-06 Overall NLP error.......: 2.9915969738891903e-04 2.9915969738891903e-04 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of constraint evaluations = 11 Number of constraint Jacobian evaluations = 11 Number of Lagrangian Hessian evaluations = 0 Number of KKT factorizations = 11 Number of KKT backsolves = 11 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.009 s Total wall secs in NLP function evaluations = 0.153 s Total wall secs in solver (w/o init./fun./lin. alg.) = 9.682 s Total wall secs = 9.846 s EXIT: Maximum Number of Iterations Exceeded. ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 This is MadNLP version v0.9.1, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1680 Number of nonzeros in Lagrangian Hessian.............: 1964 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 1.1307247e+01 3.62e+00 3.02e+00 1.90e+00 -1.0 - 0.00e+00 1 0 1 3.7290513e+00 4.53e-01 5.86e+00 1.29e+00 -1.0 0.0 9.71e-01 1 1h 2 2.8743303e+00 1.57e-01 2.46e+00 3.75e-01 -1.0 0.4 7.17e-01 1 1h 3 2.6525067e+00 7.01e-02 2.99e+00 1.61e-01 -1.0 -0.1 1.00e+00 2 1h 4 2.4592785e+00 4.47e-02 3.14e+00 1.11e-01 -1.0 1.3 4.73e-01 1 1h 5 2.2821465e+00 2.44e-02 3.18e+00 2.23e-01 -1.0 0.8 7.81e-01 2 1h 6 2.5728465e+00 2.95e-02 2.26e+00 1.48e-01 -1.0 0.3 1.00e+00 2 1h 7 2.5659590e+00 2.97e-02 2.42e+00 1.39e-01 -1.0 -0.2 2.73e-03 2 3h 8 2.5384131e+00 2.91e-02 1.70e+00 1.47e-01 -1.0 0.3 1.51e-01 1 1h 9 2.4775119e+00 3.00e-02 1.00e+00 1.21e-01 -1.0 -0.2 7.04e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.5801844e+00 7.26e-03 1.89e-01 1.02e-01 -1.0 -0.7 1.00e+00 2 1h 11 2.3060313e+00 1.91e-02 3.19e-01 3.00e-02 -2.5 -1.2 1.00e+00 2 1h 12 2.1211943e+00 1.34e-02 1.22e-01 5.60e-03 -2.5 -1.6 8.68e-01 2 1h 13 2.1151400e+00 2.35e-03 4.56e-03 3.01e-03 -2.5 -2.1 1.00e+00 2 1h 14 2.0914986e+00 2.27e-05 6.62e-05 1.89e-04 -3.8 -2.6 1.00e+00 2 1h 15 2.0900159e+00 4.19e-06 1.48e-04 4.99e-05 -5.7 -3.1 1.00e+00 2 1h 16 2.0899874e+00 2.24e-06 3.06e-04 1.34e-05 -5.7 -3.5 1.00e+00 2 1h 17 2.0899613e+00 1.79e-05 8.29e-05 4.32e-06 -5.7 -4.0 1.00e+00 2 1h 18 2.0899001e+00 9.44e-05 3.64e-05 2.18e-06 -5.7 -4.5 1.00e+00 2 1h 19 2.0897217e+00 1.63e-04 7.84e-05 1.84e-06 -5.7 -5.0 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0892158e+00 1.13e-04 7.50e-04 4.63e-06 -5.7 -5.5 1.00e+00 1 1h 21 2.0889561e+00 9.68e-05 5.16e-02 2.08e-06 -5.7 -5.9 1.57e-01 1 1h 22 2.0857702e+00 8.37e-05 1.89e-02 5.31e-06 -5.7 -6.4 1.00e+00 1 1h 23 2.0851198e+00 7.31e-05 1.64e-01 3.06e-06 -5.7 -6.9 1.29e-01 1 1h 24 2.0817032e+00 3.42e-05 1.47e-01 2.12e-06 -5.7 -7.4 5.74e-01 1 1h 25 2.0814945e+00 1.76e-04 1.38e-01 5.35e-04 -5.7 -7.8 1.00e+00 1 1h 26 2.0810928e+00 9.87e-05 3.75e-02 3.06e-04 -5.7 -8.3 3.70e-01 1 1h 27 2.0807516e+00 1.35e-05 4.05e-02 1.51e-04 -5.7 -8.8 8.30e-01 1 1h 28 2.0807285e+00 1.13e-05 4.54e-02 1.17e-04 -5.7 -6.6 1.60e-01 1 1h 29 2.0807095e+00 7.91e-06 2.97e-01 8.95e-05 -5.7 -7.0 3.03e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0806666e+00 5.04e-06 6.94e-02 2.60e-05 -5.7 -7.5 3.66e-01 1 1h 31 2.0806441e+00 3.07e-06 4.91e-02 7.02e-06 -5.7 -6.2 3.94e-01 1 1h 32 2.0806532e+00 1.65e-06 7.80e-04 3.58e-05 -5.7 -6.7 1.00e+00 1 1h 33 2.0806152e+00 1.28e-06 6.59e-04 1.84e-06 -5.7 -7.1 1.00e+00 1 1h 34 2.0806043e+00 6.46e-08 8.64e-05 1.84e-06 -5.7 -6.7 1.00e+00 1 1h 35 2.0805889e+00 1.96e-07 1.56e-04 1.85e-06 -5.7 -7.2 1.00e+00 1 1h 36 2.0805655e+00 1.85e-07 1.90e-03 1.90e-06 -5.7 -7.7 8.52e-01 1 1h 37 2.0805647e+00 1.77e-07 1.03e-01 2.70e-06 -5.7 -6.3 4.67e-02 1 2h 38 2.0805785e+00 7.55e-10 2.35e-03 4.61e-06 -5.7 -6.8 1.00e+00 1 1H 39 2.0805732e+00 5.61e-08 5.97e-02 3.59e-06 -5.7 -5.5 3.65e-01 1 2h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805688e+00 2.57e-07 9.40e-05 2.05e-06 -5.7 -6.0 1.00e+00 1 1h 41 2.0805665e+00 2.41e-07 3.48e-05 1.85e-06 -5.7 -6.4 1.00e+00 1 1h 42 2.0805658e+00 1.48e-07 2.83e-04 1.84e-06 -5.7 -6.0 1.00e+00 1 1h 43 2.0805667e+00 2.77e-07 3.22e-02 1.89e-06 -5.7 -5.6 1.39e-02 1 2h 44 2.0805662e+00 6.49e-08 9.90e-05 1.85e-06 -5.7 -5.2 1.00e+00 1 1h 45 2.0805662e+00 1.28e-13 5.08e-04 1.84e-06 -5.7 -5.6 1.00e+00 1 1H 46 2.0805659e+00 6.49e-08 1.13e-04 1.84e-06 -5.7 -6.1 1.00e+00 2 1h 47 2.0805655e+00 6.49e-08 3.96e-06 1.85e-06 -5.7 -6.6 1.00e+00 1 1h 48 2.0805434e+00 3.37e-06 3.78e-04 4.52e-07 -8.6 -7.1 9.25e-01 2 1h 49 2.0805410e+00 1.19e-07 1.05e-05 9.52e-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 2.0805407e+00 2.04e-08 2.61e-04 1.95e-08 -8.6 -6.2 8.30e-01 1 1h Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0805406891455811e+00 2.0805406891455811e+00 Dual infeasibility......: 2.6072207296063896e-04 2.6072207296063896e-04 Constraint violation....: 2.0362553421193752e-08 2.0362553421193752e-08 Complementarity.........: 1.9508538959999774e-08 1.9508538959999774e-08 Overall NLP error.......: 2.6072207296063896e-04 2.6072207296063896e-04 Number of objective function evaluations = 63 Number of objective gradient evaluations = 51 Number of constraint evaluations = 63 Number of constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Number of KKT factorizations = 122 Number of KKT backsolves = 76 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.068 s Total wall secs in NLP function evaluations = 27.524 s Total wall secs in solver (w/o init./fun./lin. alg.) = 10.889 s Total wall secs = 38.484 s EXIT: Maximum Number of Iterations Exceeded. ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 This is MadNLP version v0.9.1, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 1.8449968e+00 3.32e+00 7.86e-01 9.93e-01 -1.0 - 0.00e+00 1 0 1 2.9263803e+00 6.22e-02 2.30e+00 1.69e-01 -1.0 0.0 1.00e+00 1 1h 2 2.5534285e+00 5.51e-02 9.46e-01 1.14e-01 -1.0 -0.5 9.05e-01 2 1h 3 2.3385957e+00 8.87e-03 2.87e-01 3.18e-02 -1.7 -1.0 1.00e+00 2 1h 4 2.2363248e+00 1.34e-03 1.85e-02 2.26e-02 -1.7 -1.4 1.00e+00 2 1h 5 2.1019220e+00 1.38e-03 9.73e-03 1.80e-03 -3.8 -1.9 1.00e+00 2 1h 6 2.0913041e+00 1.65e-03 6.16e-04 1.96e-04 -3.8 -2.4 1.00e+00 2 1h 7 2.0913732e+00 2.71e-07 1.62e-04 1.57e-04 -3.8 -2.9 1.00e+00 2 1h 8 2.0900159e+00 6.20e-06 1.17e-04 3.95e-05 -5.7 -3.3 1.00e+00 2 1h 9 2.0899862e+00 6.43e-06 2.11e-04 1.07e-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 2.0899444e+00 5.11e-05 5.03e-05 3.56e-06 -5.7 -4.3 1.00e+00 2 1h 11 2.0898310e+00 2.13e-04 2.98e-05 1.84e-06 -5.7 -4.8 1.00e+00 1 1h 12 2.0895518e+00 2.43e-04 2.04e-03 1.85e-06 -5.7 -5.2 8.41e-01 1 1h 13 2.0886505e+00 1.58e-04 1.81e-03 7.09e-06 -5.7 -5.7 1.00e+00 1 1h 14 2.0882467e+00 1.35e-04 8.23e-02 2.24e-06 -5.7 -6.2 1.54e-01 1 1h 15 2.0838782e+00 7.08e-05 4.36e-02 4.86e-06 -5.7 -6.7 1.00e+00 1 1h 16 2.0829455e+00 5.62e-05 1.33e-01 2.73e-06 -5.7 -7.2 2.09e-01 1 1h 17 2.0816874e+00 4.21e-05 1.37e-01 3.48e-06 -5.7 -7.6 2.55e-01 2 1h 18 2.0814155e+00 3.04e-05 1.95e-01 3.67e-05 -5.7 -8.1 2.79e-01 1 1h 19 2.0806739e+00 4.03e-05 1.34e-01 1.76e-05 -5.7 -8.6 8.93e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0876642e+00 2.57e-07 2.81e-01 3.24e-04 -5.7 -7.3 1.00e+00 1 1H 21 2.0836236e+00 7.75e-05 2.19e+00 2.01e-04 -5.7 -5.0 2.50e-01 1 2h 22 2.0813065e+00 2.56e-05 7.48e-01 2.01e-05 -5.7 -1.9 6.72e-01 1 1h 23 2.0811161e+00 1.28e-05 4.31e-01 2.82e-06 -5.7 -2.4 4.93e-01 2 1h 24 2.0811236e+00 1.21e-08 1.59e-05 8.35e-06 -5.7 -2.8 1.00e+00 1 1h 25 2.0810983e+00 5.76e-08 1.73e-04 1.06e-07 -8.6 -3.3 1.00e+00 2 1h 26 2.0810944e+00 1.30e-09 1.12e-05 2.65e-09 -8.6 -3.8 1.00e+00 1 1h 27 2.0810833e+00 1.17e-11 1.12e-05 2.51e-09 -8.6 -4.3 1.00e+00 2 1h 28 2.0810503e+00 1.04e-10 1.11e-05 2.51e-09 -8.6 -4.8 1.00e+00 2 1h 29 2.0809542e+00 9.04e-10 3.82e-05 2.51e-09 -8.6 -5.2 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0809392e+00 8.76e-10 1.28e-02 4.35e-09 -8.6 -5.7 5.54e-02 2 1h 31 2.0809244e+00 2.36e-09 7.38e-02 1.55e-06 -8.6 -6.2 5.95e-01 2 1h 32 2.0808613e+00 2.97e-08 2.93e-03 5.41e-07 -8.6 -6.7 1.00e+00 2 1h 33 2.0807388e+00 3.92e-08 1.93e-03 3.36e-08 -8.6 -7.1 9.72e-01 2 1h 34 2.0805952e+00 9.50e-09 6.36e-03 7.25e-09 -8.6 -7.6 1.00e+00 2 1h 35 2.0805936e+00 9.08e-09 2.71e-01 1.02e-05 -8.6 -7.2 5.56e-02 1 1h 36 2.0805644e+00 2.98e-09 7.25e-02 3.34e-07 -8.6 -7.7 6.72e-01 2 1h 37 2.0805641e+00 1.98e-09 3.75e-02 2.53e-06 -8.6 -6.3 3.35e-01 1 1h 38 2.0805640e+00 1.95e-09 1.76e-02 8.42e-07 -8.6 -6.8 1.70e-02 2 1h 39 2.0805564e+00 1.30e-10 3.10e-03 5.47e-08 -8.6 -7.3 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805544e+00 1.84e-11 2.78e-04 7.01e-08 -8.6 -6.9 9.10e-01 1 1h 41 2.0805512e+00 6.64e-11 3.26e-03 2.85e-09 -8.6 -7.3 1.00e+00 2 1h 42 2.0805501e+00 4.41e-11 5.61e-02 3.48e-09 -8.6 -6.0 3.51e-01 1 1h 43 2.0805508e+00 1.28e-10 7.77e-05 1.90e-06 -8.6 -6.5 1.00e+00 2 1h 44 2.0805487e+00 7.50e-11 8.41e-03 2.52e-09 -8.6 -7.0 6.97e-01 2 1h 45 2.0805461e+00 5.74e-11 7.05e-05 2.51e-09 -8.6 -7.4 1.00e+00 2 1h 46 2.0805418e+00 1.38e-10 1.32e-04 2.56e-09 -8.6 -7.9 1.00e+00 1 1h 47 2.0805379e+00 2.70e-10 2.10e-04 2.51e-09 -8.6 -8.4 1.00e+00 1 1h 48 2.0805366e+00 2.49e-10 2.56e-03 2.52e-09 -8.6 -8.9 1.00e+00 1 1h 49 2.0805366e+00 3.77e-11 1.36e-05 8.42e-07 -8.6 -6.6 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805366e+00 2.04e-11 1.06e-03 2.51e-09 -8.6 -7.1 1.00e+00 1 1h Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0805365866348433e+00 2.0805365866348433e+00 Dual infeasibility......: 1.0574127620140983e-03 1.0574127620140983e-03 Constraint violation....: 2.0364154806884471e-11 2.0364154806884471e-11 Complementarity.........: 2.5095581387456039e-09 2.5095581387456039e-09 Overall NLP error.......: 1.0574127620140983e-03 1.0574127620140983e-03 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 = 80 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.062 s Total wall secs in NLP function evaluations = 23.214 s Total wall secs in solver (w/o init./fun./lin. alg.) = 9.788 s Total wall secs = 33.065 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 5.7111733e+00 3.09e+00 4.84e-01 9.33e-01 -1.0 - 0.00e+00 1 0 1 2.8266801e+00 6.50e-01 3.01e+00 4.71e-01 -1.0 -2.0 9.82e-01 1 1h 2 2.6678364e+00 5.59e-02 6.58e-01 1.59e-01 -1.0 -0.7 1.00e+00 1 1h 3 2.4239919e+00 1.74e-02 3.71e-01 5.53e-02 -1.7 -1.1 1.00e+00 1 1h 4 2.2456411e+00 9.87e-03 6.88e-02 2.42e-02 -1.7 -1.6 1.00e+00 1 1h 5 2.1213681e+00 1.90e-03 5.98e-03 5.08e-03 -2.5 -2.1 1.00e+00 1 1h 6 2.0914224e+00 2.38e-04 3.35e-02 2.08e-04 -3.8 -2.6 9.90e-01 1 1h 7 2.0913106e+00 2.91e-05 5.14e-05 1.51e-04 -3.8 -3.1 1.00e+00 1 1h 8 2.0899668e+00 7.94e-06 3.64e-05 2.42e-05 -5.7 -3.5 1.00e+00 1 1h 9 2.0899347e+00 1.32e-05 2.00e-04 5.54e-06 -5.7 -4.0 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0898746e+00 5.83e-05 4.56e-05 1.84e-06 -5.7 -4.5 1.00e+00 1 1h 11 2.0896998e+00 1.08e-04 3.77e-05 1.85e-06 -5.7 -5.0 1.00e+00 1 1h 12 2.0891964e+00 7.55e-05 2.96e-04 1.84e-06 -5.7 -5.4 1.00e+00 1 1h 13 2.0878904e+00 3.02e-05 2.91e-03 8.54e-06 -5.7 -5.9 1.00e+00 1 1h 14 2.0873171e+00 2.54e-05 1.00e-01 2.38e-06 -5.7 -6.4 1.76e-01 1 1h 15 2.0824670e+00 4.32e-05 6.79e-02 4.16e-06 -5.7 -6.9 1.00e+00 1 1h 16 2.0817517e+00 3.54e-05 9.92e-02 5.90e-06 -5.7 -7.4 2.02e-01 1 1h 17 2.0812416e+00 1.11e-04 1.12e-01 2.09e-04 -5.7 -7.8 1.00e+00 1 1h 18 2.0811265e+00 9.30e-05 3.42e-02 1.27e-04 -5.7 -8.3 1.55e-01 1 1h 19 2.0810800e+00 2.17e-06 5.35e-03 7.06e-05 -5.7 -7.0 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0808553e+00 2.07e-06 3.88e-03 1.86e-05 -5.7 -7.5 9.91e-01 1 1h 21 2.0807257e+00 1.24e-06 5.12e-03 5.42e-06 -5.7 -7.9 7.15e-01 1 1h 22 2.0806000e+00 4.34e-06 1.23e-02 4.09e-06 -5.7 -8.4 8.27e-01 1 1h 23 2.0806243e+00 3.39e-06 2.77e-02 4.04e-05 -5.7 -7.1 1.00e+00 1 1h 24 2.0806322e+00 3.86e-06 2.02e-02 3.37e-05 -5.7 -7.6 1.71e-01 1 1h 25 2.0849589e+00 1.71e-08 2.12e+00 7.91e-05 -5.7 -5.3 1.00e+00 1 1H 26 2.0844878e+00 1.70e-08 4.78e+00 2.57e-05 -5.7 -1.3 1.27e-01 1 1h 27 2.0843501e+00 5.60e-08 8.12e+00 6.10e-05 -5.7 -1.8 3.81e-02 1 1h 28 2.0807446e+00 4.49e-07 1.65e+01 1.56e-05 -5.7 -2.2 1.00e+00 1 1h 29 2.0807459e+00 4.36e-07 2.03e+01 7.30e-05 -5.7 -2.7 4.18e-02 1 3h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0807050e+00 6.10e-08 2.30e+00 8.80e-06 -5.7 -3.2 8.58e-01 1 1h 31 2.0806983e+00 4.27e-08 5.86e-01 1.13e-05 -5.7 -3.7 7.76e-01 1 1h 32 2.0806959e+00 1.62e-08 2.39e-05 3.80e-06 -5.7 -4.1 1.00e+00 1 1h 33 2.0806927e+00 4.70e-09 2.93e-06 2.06e-06 -5.7 -4.6 1.00e+00 1 1h 34 2.0806677e+00 1.01e-06 2.52e-05 4.49e-07 -8.6 -5.1 9.94e-01 1 1h 35 2.0806514e+00 4.43e-08 9.66e-05 9.65e-08 -8.6 -5.6 1.00e+00 1 1h 36 2.0806353e+00 2.80e-08 2.56e-03 1.91e-08 -8.6 -6.1 3.62e-01 1 1h 37 2.0806072e+00 1.17e-09 2.55e-02 8.77e-08 -8.6 -6.5 1.00e+00 1 1h 38 2.0805896e+00 2.51e-09 1.42e-02 8.26e-08 -8.6 -7.0 2.62e-01 1 1h 39 2.0805894e+00 2.49e-09 2.44e-01 1.73e-07 -8.6 -5.7 5.22e-03 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805816e+00 9.30e-10 6.17e-02 1.49e-08 -8.6 -5.3 6.40e-01 1 1h 41 2.0805814e+00 6.87e-10 9.61e-02 8.23e-09 -8.6 -5.7 2.61e-01 1 1h 42 2.0805797e+00 3.91e-11 1.14e-04 3.34e-09 -8.6 -6.2 1.00e+00 1 1h 43 2.0805752e+00 1.24e-10 1.34e-05 2.51e-09 -8.6 -6.7 1.00e+00 1 1h 44 2.0805663e+00 1.54e-10 3.36e-04 2.52e-09 -8.6 -7.2 8.85e-01 1 1h 45 2.0805571e+00 2.65e-10 1.71e-03 2.64e-09 -8.6 -7.6 5.01e-01 1 1h 46 2.0805473e+00 1.16e-09 5.39e-04 2.00e-06 -8.6 -8.1 1.00e+00 1 1h 47 2.0805383e+00 1.14e-09 1.41e-03 2.86e-07 -8.6 -8.6 1.00e+00 1 1h 48 2.0807077e+00 1.78e-15 3.33e-03 1.14e-05 -8.6 -7.3 1.00e+00 1 1H 49 2.0806865e+00 7.48e-11 1.26e-01 1.12e-05 -8.6 -5.0 5.17e-02 1 3h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0806423e+00 1.67e-10 2.49e-01 9.64e-06 -8.6 -4.6 1.60e-01 1 1h Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0806422877803881e+00 2.0806422877803881e+00 Dual infeasibility......: 2.4868100306851892e-01 2.4868100306851892e-01 Constraint violation....: 1.6692602855528094e-10 1.6692602855528094e-10 Complementarity.........: 9.6357404771716276e-06 9.6357404771716276e-06 Overall NLP error.......: 2.4868100306851892e-01 2.4868100306851892e-01 Number of objective function evaluations = 59 Number of objective gradient evaluations = 51 Number of constraint evaluations = 59 Number of constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Number of KKT factorizations = 125 Number of KKT backsolves = 55 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.118 s Total wall secs in NLP function evaluations = 21.787 s Total wall secs in solver (w/o init./fun./lin. alg.) = 9.875 s Total wall secs = 31.780 s EXIT: Maximum Number of Iterations Exceeded. ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 This is MadNLP version v0.9.1, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 2.8952198e+00 2.56e+00 3.91e-01 9.80e-01 -1.0 - 0.00e+00 1 0 1 2.8261022e+00 3.67e-01 2.48e+00 9.02e-01 -0.7 -2.0 8.70e-01 1 1h 2 2.8722628e+00 1.47e-01 1.22e+00 3.19e-01 -0.8 -2.5 1.00e+00 2 1h 3 2.5830026e+00 3.53e-01 1.13e+00 1.17e-01 -5.2 -3.0 4.96e-01 2 1h 4 2.3979064e+00 4.64e-01 1.14e+00 5.80e-02 -1.5 -3.4 5.03e-01 2 1h 5 2.3243426e+00 3.29e-01 7.17e-01 4.02e-02 -2.5 -3.9 2.91e-01 2 1h 6 2.1572232e+00 1.76e-01 2.37e-01 9.41e-03 -2.1 -4.4 1.00e+00 2 1h 7 2.1025692e+00 3.39e-02 2.82e-02 2.11e-03 -6.9 -4.9 7.88e-01 2 1h 8 2.0960359e+00 3.67e-03 1.02e-02 7.80e-04 -3.1 -5.3 1.00e+00 2 1h 9 2.0952811e+00 2.91e-04 6.79e-03 7.15e-04 -3.1 -5.8 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0877012e+00 1.78e-02 3.63e-03 1.52e-04 -4.7 -6.3 1.00e+00 2 1h 11 2.0847470e+00 3.26e-03 7.45e-03 5.08e-05 -4.7 -6.8 1.00e+00 2 1h 12 2.0846903e+00 1.36e-06 3.35e-04 2.46e-05 -4.7 -4.5 1.00e+00 1 1h 13 2.0846116e+00 8.98e-07 1.62e-04 2.05e-05 -4.7 -5.0 1.00e+00 2 1h 14 2.0844266e+00 1.12e-05 4.81e-02 1.39e-05 -7.1 -5.5 2.95e-01 2 1h 15 2.0834995e+00 2.08e-04 3.13e-03 1.50e-06 -7.1 -6.0 1.00e+00 1 1h 16 2.0832544e+00 1.79e-04 5.94e-02 1.22e-06 -7.1 -6.4 1.38e-01 1 1h 17 2.0816831e+00 9.09e-05 7.32e-02 5.45e-07 -7.1 -6.9 4.98e-01 2 1h 18 2.0813174e+00 3.00e-05 6.51e-02 4.07e-05 -7.1 -7.4 1.00e+00 1 1h 19 2.0812940e+00 2.89e-05 4.52e-02 3.45e-05 -7.1 -7.9 3.53e-02 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0806650e+00 1.59e-05 3.04e-02 8.66e-06 -7.1 -8.4 9.87e-01 1 1h 21 2.0806080e+00 9.94e-06 2.51e-02 6.01e-06 -7.1 -8.8 3.67e-01 1 1h 22 2.0806070e+00 4.71e-06 3.41e-02 2.07e-05 -7.1 -6.6 5.25e-01 1 1h 23 2.0806046e+00 4.31e-06 3.05e-02 1.13e-05 -7.1 -7.1 8.67e-02 1 1h 24 2.0805844e+00 8.04e-07 7.46e-03 3.10e-06 -7.1 -7.6 8.18e-01 2 1h 25 2.0805591e+00 3.13e-08 4.96e-04 5.04e-07 -7.1 -8.0 9.47e-01 1 1h 26 2.0805417e+00 8.44e-08 5.70e-03 1.15e-07 -7.1 -8.5 1.00e+00 1 1h 27 2.0805427e+00 6.37e-08 7.30e-04 9.08e-06 -7.1 -7.2 1.00e+00 1 1h 28 2.0805406e+00 1.78e-08 9.01e-03 8.39e-08 -7.1 -7.7 6.68e-01 1 1h 29 2.0805408e+00 9.01e-10 1.87e-05 6.11e-07 -7.1 -5.4 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0805407e+00 1.30e-10 4.98e-06 9.78e-08 -7.1 -5.9 1.00e+00 1 1h 31 2.0805406e+00 1.56e-10 1.96e-06 8.60e-08 -7.1 -6.4 1.00e+00 1 1h 32 2.0805404e+00 1.74e-11 5.41e-07 8.33e-08 -7.1 -6.9 1.00e+00 2 1h 33 2.0805389e+00 2.33e-07 3.57e-06 2.69e-09 -9.0 -7.3 1.00e+00 2 1h 34 2.0805387e+00 4.17e-11 8.62e-07 9.67e-10 -9.0 -6.9 1.00e+00 1 1h 35 2.0805386e+00 2.91e-11 1.06e-04 9.11e-10 -9.0 -7.4 2.97e-01 2 1h 36 2.0805401e+00 6.66e-16 2.15e-04 1.95e-08 -9.0 -7.9 1.00e+00 2 1H 37 2.0805384e+00 5.05e-12 1.13e-01 1.23e-08 -9.0 -4.7 4.10e-01 1 1h 38 2.0805376e+00 1.47e-12 5.37e-03 9.13e-10 -9.0 -5.2 7.15e-01 2 1h 39 2.0805376e+00 1.21e-12 2.59e-06 1.67e-08 -9.0 -5.7 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805376e+00 1.54e-13 8.89e-08 2.39e-09 -9.0 -6.2 1.00e+00 2 1h 41 2.0805376e+00 2.81e-13 1.19e-07 9.09e-10 -9.0 -6.6 1.00e+00 2 1h 42 2.0805374e+00 1.90e-12 9.58e-07 9.09e-10 -9.0 -7.1 1.00e+00 2 1h 43 2.0805372e+00 8.57e-12 4.78e-06 9.09e-10 -9.0 -7.6 1.00e+00 2 1h 44 2.0805368e+00 2.44e-11 1.36e-05 9.09e-10 -9.0 -8.1 1.00e+00 1 1h 45 2.0805365e+00 5.78e-11 1.25e-04 9.09e-10 -9.0 -8.5 1.00e+00 1 1h 46 2.0805372e+00 4.44e-16 9.29e-05 2.47e-07 -9.0 -7.2 1.00e+00 1 1H 47 2.0805366e+00 1.45e-12 5.14e-05 6.01e-09 -9.0 -5.0 1.00e+00 1 1h 48 2.0805366e+00 2.62e-13 4.32e-07 1.79e-09 -9.0 -5.5 1.00e+00 1 1h 49 2.0805366e+00 1.32e-12 4.06e-08 9.60e-10 -9.0 -5.9 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805366e+00 7.25e-12 3.96e-08 9.09e-10 -9.0 -6.4 1.00e+00 2 1h Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0805365651133640e+00 2.0805365651133640e+00 Dual infeasibility......: 3.9625574683446642e-08 3.9625574683446642e-08 Constraint violation....: 7.2516437299441350e-12 7.2516437299441350e-12 Complementarity.........: 9.0912588761178051e-10 9.0912588761178051e-10 Overall NLP error.......: 3.9625574683446642e-08 3.9625574683446642e-08 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 = 123 Number of KKT backsolves = 80 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.059 s Total wall secs in NLP function evaluations = 20.605 s Total wall secs in solver (w/o init./fun./lin. alg.) = 11.385 s Total wall secs = 32.051 s EXIT: Maximum Number of Iterations Exceeded. ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 This is MadNLP version v0.9.1, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 1.4728198e+00 3.00e+00 9.82e-01 9.92e-01 -1.0 - 0.00e+00 1 0 1 2.3943820e+00 1.38e+00 7.40e+00 3.38e+00 -0.2 0.0 5.42e-01 1 1h 2 3.4054635e+00 6.10e-02 4.65e+00 1.15e+00 -0.3 -0.5 1.00e+00 2 1h 3 2.9685000e+00 7.97e-02 2.21e+00 3.66e-01 -2.2 -1.0 1.00e+00 2 1h 4 2.7576360e+00 6.30e-02 2.96e-01 1.31e-01 -0.9 -1.4 1.00e+00 2 1h 5 2.3849396e+00 3.03e-02 7.94e-02 4.22e-02 -1.6 -1.9 1.00e+00 2 1h 6 2.1552804e+00 2.53e-02 1.32e-01 1.03e-02 -2.4 -2.4 1.00e+00 2 1h 7 2.1190034e+00 1.73e-03 2.45e-02 3.74e-03 -2.4 -2.9 1.00e+00 2 1h 8 2.0924575e+00 1.84e-04 5.73e-03 3.06e-04 -3.7 -3.3 1.00e+00 2 1h 9 2.0918375e+00 8.53e-06 3.22e-05 2.15e-04 -3.7 -3.8 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0899142e+00 5.92e-05 7.58e-05 3.90e-05 -5.5 -4.3 1.00e+00 2 1h 11 2.0898347e+00 4.73e-05 1.41e-02 5.10e-06 -5.5 -4.8 2.01e-01 2 1h 12 2.0895027e+00 9.51e-05 1.74e-04 3.15e-06 -5.5 -5.2 1.00e+00 2 1h 13 2.0890576e+00 6.38e-05 1.86e-02 3.27e-06 -5.5 -5.7 4.80e-01 1 1h 14 2.0868284e+00 3.60e-05 8.35e-03 1.25e-05 -5.5 -6.2 1.00e+00 1 1h 15 2.0861521e+00 3.11e-05 1.51e-01 4.71e-06 -5.5 -6.7 1.43e-01 1 1h 16 2.0817716e+00 7.90e-05 1.18e-01 4.24e-06 -5.5 -7.2 7.80e-01 1 1h 17 2.0823214e+00 8.61e-08 1.43e-01 1.30e-03 -5.5 -7.6 1.00e+00 1 1H 18 2.0931079e+00 1.89e-01 3.24e-01 1.88e-03 -3.0 -8.1 5.00e-01 1 2f 19 2.0910981e+00 1.90e-01 2.90e-01 1.81e-03 -3.3 -5.9 6.91e-02 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0896631e+00 1.91e-01 2.88e-01 1.83e-03 -3.8 -5.5 3.03e-03 1 1h 21 2.0898117e+00 1.91e-01 3.05e-01 1.83e-03 -3.8 -5.9 4.73e-04 1 1h 22 2.0896418e+00 1.91e-01 3.05e-01 1.83e-03 -3.8 -3.7 6.21e-06 1 1h 23r 2.0896418e+00 1.08e-19 9.99e+02 1.91e-01 -0.7 - 2.67e-06 1 4R 24r 2.0909373e+00 4.63e-02 9.99e+02 1.92e-01 -0.7 - 5.96e-07 1 3f 25 2.1563762e+00 4.40e-02 1.30e+00 3.01e-02 -9.0 - 9.54e-04 1 1h 26 2.1550995e+00 4.40e-02 1.30e+00 3.02e-02 -2.7 -3.7 8.99e-05 2 1H 27 2.1702231e+00 4.40e-02 1.30e+00 2.98e-02 -3.1 -3.3 3.95e-04 1 3h 28 2.1377570e+00 3.77e-02 1.30e+01 1.50e-02 -2.8 -2.0 1.41e-01 1 1h 29 2.1180434e+00 9.89e-03 1.08e+00 1.24e-02 -2.8 -2.5 7.37e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.1528557e+00 1.02e-02 4.97e+01 2.58e-01 -0.8 -2.9 3.27e-02 2 1h 31 2.2283768e+00 4.29e-01 2.16e+01 2.64e-01 -0.9 -3.4 1.00e+00 2 1h 32 2.3009807e+00 8.52e-01 7.37e+00 1.52e-01 -0.9 -3.9 4.65e-01 2 2h 33 2.2610486e+00 6.33e-01 4.21e+00 1.99e-01 -1.0 -3.5 2.59e-01 1 1H 34 2.1856405e+00 4.14e-01 4.83e+00 3.80e-02 -2.9 -4.0 1.00e+00 2 1h 35 2.1815930e+00 3.08e-01 1.36e+00 1.95e-02 -1.7 -4.4 1.00e+00 3 1h 36 2.1629374e+00 2.16e-01 1.45e+00 2.87e-02 -1.7 -4.0 6.07e-02 1 1h 37 2.2032362e+00 1.35e-01 1.43e-01 2.52e-02 -1.7 -4.5 1.00e+00 2 1h 38 2.2162660e+00 3.43e-01 2.74e-01 1.79e-02 -1.8 -5.0 1.00e+00 2 1h 39 2.2079045e+00 1.90e-01 3.19e-01 1.41e-02 -1.9 -5.4 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.2119149e+00 1.98e-01 1.21e-01 1.39e-02 -1.9 -5.9 1.00e+00 2 1h 41 2.2052602e+00 4.34e-01 7.33e-02 1.41e-02 -1.9 -6.4 5.00e-01 2 2h 42 2.2184763e+00 3.73e-01 1.48e+00 1.52e-02 -1.9 -2.4 1.41e-01 1 2h 43 2.1982788e+00 4.26e-02 4.31e-01 1.40e-02 -1.9 -1.0 8.86e-01 1 1h 44 2.2152217e+00 1.49e-05 3.38e-02 4.26e-02 -1.9 -1.5 1.00e+00 2 1h 45 2.1399174e+00 1.54e-03 2.32e-02 9.08e-03 -2.8 -1.1 1.00e+00 1 1h 46 2.1076517e+00 9.81e-04 1.67e-02 1.75e-03 -2.8 -1.6 9.05e-01 3 1h 47 2.1093159e+00 8.36e-05 6.61e-03 2.57e-03 -2.8 -1.1 1.00e+00 1 1h 48 2.0956487e+00 3.51e-04 1.41e-02 4.47e-04 -4.2 -1.6 9.58e-01 3 1h 49 2.0942686e+00 2.23e-06 3.30e-03 1.27e-04 -4.2 -1.2 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0931470e+00 1.20e-05 2.44e-01 8.05e-05 -4.2 -1.7 5.71e-01 2 1h Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0931469855937417e+00 2.0931469855937417e+00 Dual infeasibility......: 2.4405632063442012e-01 2.4405632063442012e-01 Constraint violation....: 1.1982060539944377e-05 1.1982060539944377e-05 Complementarity.........: 8.0497589900951260e-05 8.0497589900951260e-05 Overall NLP error.......: 2.4405632063442012e-01 2.4405632063442012e-01 Number of objective function evaluations = 70 Number of objective gradient evaluations = 51 Number of constraint evaluations = 72 Number of constraint Jacobian evaluations = 52 Number of Lagrangian Hessian evaluations = 50 Number of KKT factorizations = 125 Number of KKT backsolves = 98 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.055 s Total wall secs in NLP function evaluations = 22.415 s Total wall secs in solver (w/o init./fun./lin. alg.) = 24.457 s Total wall secs = 46.928 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: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.829s jacobian structure: 1600 nonzeros (2.89s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.436s 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 (4.484s) linear index maps built (0.0s) evaluator ready (total: 7.375s) evaluator created (7.398s) 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: 7.412s) 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 2.2607661e+00 2.30e+00 5.00e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.6698863e+00 4.98e-02 3.70e+00 -1.1 1.92e+00 0.0 9.69e-01 1.00e+00h 1 Hello, world! 2 2.3291297e+00 3.17e-02 4.04e+00 -1.1 1.02e+00 -0.5 9.99e-01 4.44e-01h 1 Hello, world! 3 2.5704191e+00 1.80e-02 1.08e+00 -1.2 5.62e-01 -1.0 7.33e-01 1.00e+00f 1 Hello, world! 4 2.4347766e+00 1.21e-02 6.98e-01 -1.6 9.05e-01 -1.4 9.93e-01 3.35e-01h 1 Hello, world! 5 2.2351186e+00 3.89e-02 6.15e-01 -1.9 1.22e+00 -1.9 9.80e-01 6.88e-01h 1 Hello, world! 6 2.1588751e+00 2.24e-02 9.37e-02 -2.7 4.68e-01 -2.4 1.00e+00 4.24e-01h 1 Hello, world! 7 2.0992965e+00 6.76e-03 7.23e-02 -3.5 6.54e-01 -2.9 1.00e+00 8.36e-01h 1 Hello, world! 8 2.0910452e+00 1.13e-04 1.81e-02 -4.0 9.66e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909530e+00 3.46e-06 6.45e-04 -4.0 9.95e-02 -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 2.0909150e+00 1.28e-07 2.55e-04 -4.0 3.31e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908502e+00 2.72e-07 3.68e-04 -4.0 8.85e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0906612e+00 2.13e-06 7.08e-04 -4.0 2.57e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0904450e+00 2.48e-06 7.63e-03 -4.0 1.29e+01 -5.7 3.36e-01 1.48e-01h 1 Hello, world! 14 2.0893444e+00 2.23e-04 3.99e-02 -4.0 2.62e+01 -6.2 1.00e+00 1.00e+00f 1 Hello, world! 15 2.0879843e+00 8.13e-05 1.90e-02 -4.0 3.02e+00 -4.9 1.00e+00 6.93e-01h 1 Hello, world! 16 2.0879707e+00 1.25e-05 5.34e-03 -4.0 3.36e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0869386e+00 3.84e-05 6.87e-03 -4.0 1.01e+01 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0853669e+00 1.95e-04 9.52e-03 -4.0 2.38e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0831265e+00 4.10e-04 2.72e-02 -4.0 3.98e+01 -6.8 1.00e+00 9.44e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0825539e+00 3.76e-04 1.54e-02 -4.0 5.59e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0823463e+00 3.39e-04 1.02e-02 -4.0 1.23e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0822943e+00 6.28e-04 1.09e-02 -4.0 7.78e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0821226e+00 5.40e-04 3.61e-02 -4.0 8.32e+01 -7.8 7.11e-01 1.00e+00h 1 Hello, world! 24 2.0820985e+00 2.46e-05 2.02e-04 -4.0 3.93e-01 -4.7 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0820644e+00 2.40e-05 1.44e-04 -4.0 9.95e-01 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0819119e+00 6.11e-05 9.45e-04 -4.0 4.55e+00 -5.6 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0822193e+00 1.62e-08 1.22e-02 -4.0 4.07e+00 -6.1 1.00e+00 1.00e+00H 1 Hello, world! 28 2.0820490e+00 2.27e-05 3.40e-03 -4.0 3.12e+00 -6.6 1.00e+00 1.00e+00f 1 Hello, world! 29 2.0819846e+00 4.74e-07 2.62e-04 -4.0 3.10e-02 -2.5 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 2.0820009e+00 3.58e-08 4.71e-05 -4.0 4.79e-02 -3.0 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0820007e+00 1.00e-07 7.83e-06 -4.0 2.35e-02 -3.5 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0820013e+00 2.77e-07 7.45e-06 -4.0 6.69e-02 -4.0 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0818771e+00 5.36e-06 7.90e-05 -4.1 1.93e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0820094e+00 5.43e-06 8.95e-05 -4.0 3.81e-01 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0818671e+00 2.84e-05 1.39e-04 -4.1 8.24e-01 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0820078e+00 1.13e-05 2.23e-04 -4.0 6.58e-01 -5.9 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0818066e+00 6.41e-05 2.93e-04 -4.1 3.22e+00 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0819890e+00 1.05e-04 4.97e-04 -4.0 4.85e+00 -6.8 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0817266e+00 3.20e-04 5.63e-04 -4.1 1.48e+01 -7.3 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 40 2.0819107e+00 6.29e-04 1.81e-03 -4.0 2.74e+01 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0816095e+00 9.61e-04 1.76e-03 -4.1 4.28e+01 -8.2 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0818475e+00 9.48e-04 1.06e-03 -4.0 4.03e+01 -8.7 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0815840e+00 4.09e-04 1.64e-04 -4.1 1.77e+01 -9.2 1.00e+00 1.00e+00h 1 Hello, world! 44 2.0818444e+00 1.74e-04 3.40e-05 -4.0 7.92e+00 -9.7 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0815838e+00 2.13e-04 1.36e-05 -4.1 9.72e+00 -10.2 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0818445e+00 2.15e-04 1.13e-05 -4.0 9.80e+00 -10.6 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0815837e+00 2.16e-04 9.94e-06 -4.1 9.85e+00 -11.1 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0818446e+00 2.16e-04 9.70e-06 -4.0 9.86e+00 -11.6 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0815837e+00 2.16e-04 9.39e-06 -4.1 9.87e+00 -12.1 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 50 2.0818446e+00 2.16e-04 9.52e-06 -4.0 9.87e+00 -12.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0818445669485302e+00 2.0818445669485302e+00 Dual infeasibility......: 9.5227968407754460e-06 9.5227968407754460e-06 Constraint violation....: 2.1642791680243079e-04 2.1642791680243079e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0090624764255901e-04 1.0090624764255901e-04 Overall NLP error.......: 2.1642791680243079e-04 2.1642791680243079e-04 Number of objective function evaluations = 52 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 52 Number of inequality constraint evaluations = 52 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 30.235 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) 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 2.2607661e+00 2.30e+00 5.00e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.6698863e+00 4.98e-02 3.70e+00 -1.1 1.92e+00 0.0 9.69e-01 1.00e+00h 1 Hello, world! 2 2.3291297e+00 3.17e-02 4.04e+00 -1.1 1.02e+00 -0.5 9.99e-01 4.44e-01h 1 Hello, world! 3 2.5704191e+00 1.80e-02 1.08e+00 -1.2 5.62e-01 -1.0 7.33e-01 1.00e+00f 1 Hello, world! 4 2.4347766e+00 1.21e-02 6.98e-01 -1.6 9.05e-01 -1.4 9.93e-01 3.35e-01h 1 Hello, world! 5 2.2351186e+00 3.89e-02 6.15e-01 -1.9 1.22e+00 -1.9 9.80e-01 6.88e-01h 1 Hello, world! 6 2.1588751e+00 2.24e-02 9.37e-02 -2.7 4.68e-01 -2.4 1.00e+00 4.24e-01h 1 Hello, world! 7 2.0992965e+00 6.76e-03 7.23e-02 -3.5 6.54e-01 -2.9 1.00e+00 8.36e-01h 1 Hello, world! 8 2.0910452e+00 1.13e-04 1.81e-02 -4.0 9.66e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909530e+00 3.46e-06 6.45e-04 -4.0 9.95e-02 -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 2.0909150e+00 1.28e-07 2.55e-04 -4.0 3.31e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908502e+00 2.72e-07 3.68e-04 -4.0 8.85e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0906612e+00 2.13e-06 7.08e-04 -4.0 2.57e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0904450e+00 2.48e-06 7.63e-03 -4.0 1.29e+01 -5.7 3.36e-01 1.48e-01h 1 Hello, world! 14 2.0893444e+00 2.23e-04 3.99e-02 -4.0 2.62e+01 -6.2 1.00e+00 1.00e+00f 1 Hello, world! 15 2.0879843e+00 8.13e-05 1.90e-02 -4.0 3.02e+00 -4.9 1.00e+00 6.93e-01h 1 Hello, world! 16 2.0879707e+00 1.25e-05 5.34e-03 -4.0 3.36e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0869386e+00 3.84e-05 6.87e-03 -4.0 1.01e+01 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0853669e+00 1.95e-04 9.52e-03 -4.0 2.38e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0831265e+00 4.10e-04 2.72e-02 -4.0 3.98e+01 -6.8 1.00e+00 9.44e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0825539e+00 3.76e-04 1.54e-02 -4.0 5.59e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0823463e+00 3.39e-04 1.02e-02 -4.0 1.23e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0822943e+00 6.28e-04 1.09e-02 -4.0 7.78e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0821226e+00 5.40e-04 3.61e-02 -4.0 8.32e+01 -7.8 7.11e-01 1.00e+00h 1 Hello, world! 24 2.0820985e+00 2.46e-05 2.02e-04 -4.0 3.93e-01 -4.7 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0820644e+00 2.40e-05 1.44e-04 -4.0 9.95e-01 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0819119e+00 6.11e-05 9.45e-04 -4.0 4.55e+00 -5.6 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0822193e+00 1.62e-08 1.22e-02 -4.0 4.07e+00 -6.1 1.00e+00 1.00e+00H 1 Hello, world! 28 2.0820490e+00 2.27e-05 3.40e-03 -4.0 3.12e+00 -6.6 1.00e+00 1.00e+00f 1 Hello, world! 29 2.0819846e+00 4.74e-07 2.62e-04 -4.0 3.10e-02 -2.5 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 2.0820009e+00 3.58e-08 4.71e-05 -4.0 4.79e-02 -3.0 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0820007e+00 1.00e-07 7.83e-06 -4.0 2.35e-02 -3.5 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0820013e+00 2.77e-07 7.45e-06 -4.0 6.69e-02 -4.0 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0818771e+00 5.36e-06 7.90e-05 -4.1 1.93e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0820094e+00 5.43e-06 8.95e-05 -4.0 3.81e-01 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0818671e+00 2.84e-05 1.39e-04 -4.1 8.24e-01 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0820078e+00 1.13e-05 2.23e-04 -4.0 6.58e-01 -5.9 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0818066e+00 6.41e-05 2.93e-04 -4.1 3.22e+00 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0819890e+00 1.05e-04 4.97e-04 -4.0 4.85e+00 -6.8 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0817266e+00 3.20e-04 5.63e-04 -4.1 1.48e+01 -7.3 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 40 2.0819107e+00 6.29e-04 1.81e-03 -4.0 2.74e+01 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0816095e+00 9.61e-04 1.76e-03 -4.1 4.28e+01 -8.2 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0818475e+00 9.48e-04 1.06e-03 -4.0 4.03e+01 -8.7 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0815840e+00 4.09e-04 1.64e-04 -4.1 1.77e+01 -9.2 1.00e+00 1.00e+00h 1 Hello, world! 44 2.0818444e+00 1.74e-04 3.40e-05 -4.0 7.92e+00 -9.7 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0815838e+00 2.13e-04 1.36e-05 -4.1 9.72e+00 -10.2 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0818445e+00 2.15e-04 1.13e-05 -4.0 9.80e+00 -10.6 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0815837e+00 2.16e-04 9.94e-06 -4.1 9.85e+00 -11.1 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0818446e+00 2.16e-04 9.70e-06 -4.0 9.86e+00 -11.6 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0815837e+00 2.16e-04 9.39e-06 -4.1 9.87e+00 -12.1 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 50 2.0818446e+00 2.16e-04 9.52e-06 -4.0 9.87e+00 -12.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0818445669485302e+00 2.0818445669485302e+00 Dual infeasibility......: 9.5227968407754460e-06 9.5227968407754460e-06 Constraint violation....: 2.1642791680243079e-04 2.1642791680243079e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0090624764255901e-04 1.0090624764255901e-04 Overall NLP error.......: 2.1642791680243079e-04 2.1642791680243079e-04 Number of objective function evaluations = 52 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 52 Number of inequality constraint evaluations = 52 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 0.894 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: 0.062s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.804s jacobian structure: 1600 nonzeros (2.867s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.102s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.737s 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 (4.888s) linear index maps built (0.0s) evaluator ready (total: 7.755s) evaluator created (7.779s) 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: 7.779s) 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 2.5662458e+00 2.75e+00 5.73e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9403871e+00 3.23e-02 2.95e+00 -0.8 1.79e+00 0.0 6.99e-01 1.00e+00f 1 2 2.6400602e+00 4.24e-02 1.87e+00 -1.1 6.51e-01 -0.5 1.00e+00 7.90e-01h 1 3 2.3009654e+00 4.20e-02 2.35e-01 -1.8 4.37e-01 -1.0 1.00e+00 9.58e-01h 1 4 2.1210383e+00 2.76e-03 5.19e-02 -2.6 8.53e-02 -1.4 9.51e-01 9.96e-01h 1 5 2.0922996e+00 9.32e-05 5.89e-03 -3.7 1.70e-02 -1.9 9.94e-01 1.00e+00h 1 6 2.0908892e+00 9.82e-07 5.74e-04 -4.0 5.08e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0908908e+00 1.28e-08 2.08e-05 -4.0 1.52e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908860e+00 7.66e-10 2.04e-05 -4.0 4.46e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908726e+00 6.42e-09 2.23e-05 -4.0 1.28e-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 2.0908415e+00 4.30e-08 9.28e-05 -4.0 3.43e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907737e+00 2.38e-07 4.67e-04 -4.0 8.77e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905924e+00 2.37e-06 7.60e-04 -4.0 2.64e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0899880e+00 1.89e-05 1.64e-03 -4.0 7.23e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0891380e+00 1.74e-04 2.68e-02 -4.0 2.34e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0878452e+00 8.23e-05 6.46e-02 -4.0 4.04e+00 -4.9 1.00e+00 6.33e-01h 1 16 2.0877067e+00 2.05e-05 6.52e-03 -4.0 3.41e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0868026e+00 3.93e-05 4.59e-03 -4.0 9.94e+00 -5.8 1.00e+00 1.00e+00h 1 18 2.0852707e+00 1.82e-04 9.11e-03 -4.0 2.35e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0833963e+00 2.98e-04 2.99e-02 -4.0 3.93e+01 -6.8 1.00e+00 7.52e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0825955e+00 1.16e-04 6.98e-03 -4.0 5.60e+01 -7.3 1.00e+00 7.35e-01h 1 21 2.0824310e+00 4.38e-04 1.68e-02 -4.0 1.21e+02 -7.7 1.00e+00 1.00e+00h 1 22 3.1885505e+00 1.13e-03 2.03e+01 -4.0 1.24e+03 -8.2 2.80e-02 1.00e+00H 1 23 2.0931409e+00 1.60e-04 1.95e+00 -4.1 4.09e-01 -0.4 5.08e-01 8.59e-01f 1 24 2.0932614e+00 1.60e-04 6.14e+00 -4.1 7.52e-02 -0.8 1.00e+00 1.95e-03f 10 25 2.0931130e+00 7.19e-08 1.90e-03 -4.1 4.00e-02 -1.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0931129830119781e+00 2.0931129830119781e+00 Dual infeasibility......: 1.9008468841531232e-03 1.9008468841531232e-03 Constraint violation....: 7.1864696339629663e-08 7.1864696339629663e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.2292386752387957e-04 1.2292386752387957e-04 Overall NLP error.......: 1.9008468841531232e-03 1.9008468841531232e-03 Number of objective function evaluations = 36 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 36 Number of inequality constraint evaluations = 36 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 32.574 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) evaluator created (0.002s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.002s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.5662458e+00 2.75e+00 5.73e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9403871e+00 3.23e-02 2.95e+00 -0.8 1.79e+00 0.0 6.99e-01 1.00e+00f 1 2 2.6400602e+00 4.24e-02 1.87e+00 -1.1 6.51e-01 -0.5 1.00e+00 7.90e-01h 1 3 2.3009654e+00 4.20e-02 2.35e-01 -1.8 4.37e-01 -1.0 1.00e+00 9.58e-01h 1 4 2.1210383e+00 2.76e-03 5.19e-02 -2.6 8.53e-02 -1.4 9.51e-01 9.96e-01h 1 5 2.0922996e+00 9.32e-05 5.89e-03 -3.7 1.70e-02 -1.9 9.94e-01 1.00e+00h 1 6 2.0908892e+00 9.82e-07 5.74e-04 -4.0 5.08e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0908908e+00 1.28e-08 2.08e-05 -4.0 1.52e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908860e+00 7.66e-10 2.04e-05 -4.0 4.46e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908726e+00 6.42e-09 2.23e-05 -4.0 1.28e-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 2.0908415e+00 4.30e-08 9.28e-05 -4.0 3.43e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907737e+00 2.38e-07 4.67e-04 -4.0 8.77e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905924e+00 2.37e-06 7.60e-04 -4.0 2.64e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0899880e+00 1.89e-05 1.64e-03 -4.0 7.23e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0891380e+00 1.74e-04 2.68e-02 -4.0 2.34e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0878452e+00 8.23e-05 6.46e-02 -4.0 4.04e+00 -4.9 1.00e+00 6.33e-01h 1 16 2.0877067e+00 2.05e-05 6.52e-03 -4.0 3.41e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0868026e+00 3.93e-05 4.59e-03 -4.0 9.94e+00 -5.8 1.00e+00 1.00e+00h 1 18 2.0852707e+00 1.82e-04 9.11e-03 -4.0 2.35e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0833963e+00 2.98e-04 2.99e-02 -4.0 3.93e+01 -6.8 1.00e+00 7.52e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0825955e+00 1.16e-04 6.98e-03 -4.0 5.60e+01 -7.3 1.00e+00 7.35e-01h 1 21 2.0824310e+00 4.38e-04 1.68e-02 -4.0 1.21e+02 -7.7 1.00e+00 1.00e+00h 1 22 3.1885505e+00 1.13e-03 2.03e+01 -4.0 1.24e+03 -8.2 2.80e-02 1.00e+00H 1 23 2.0931409e+00 1.60e-04 1.95e+00 -4.1 4.09e-01 -0.4 5.08e-01 8.59e-01f 1 24 2.0932614e+00 1.60e-04 6.14e+00 -4.1 7.52e-02 -0.8 1.00e+00 1.95e-03f 10 25 2.0931130e+00 7.19e-08 1.90e-03 -4.1 4.00e-02 -1.3 1.00e+00 1.00e+00h 1 26 2.0929543e+00 1.25e-07 1.83e-03 -4.0 1.15e-01 -1.8 1.00e+00 1.00e+00h 1 27 2.0923432e+00 9.43e-07 1.65e-03 -4.0 3.12e-01 -2.3 1.00e+00 1.00e+00h 1 28 2.0919731e+00 8.26e-07 7.91e-01 -4.1 3.67e-01 -2.8 1.00e+00 4.35e-01H 1 29 2.0920176e+00 9.80e-07 6.64e-05 -4.1 5.25e-02 -3.2 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0913160e+00 1.10e-05 2.50e-02 -6.2 1.04e-01 -3.7 8.10e-01 1.00e+00h 1 31 2.0912122e+00 5.05e-06 4.29e-05 -6.2 3.01e-01 -4.2 1.00e+00 1.00e+00h 1 32 2.0911111e+00 3.21e-08 1.96e-05 -6.2 9.00e-01 -4.7 1.00e+00 1.00e+00h 1 33 2.0918832e+00 3.46e-04 2.78e-03 -4.0 2.35e+00 -5.1 1.00e+00 1.00e+00f 1 34 2.0910624e+00 2.97e-04 1.95e-03 -4.1 6.37e+00 -5.6 1.00e+00 1.00e+00h 1 35 2.0903526e+00 3.97e-05 4.80e-03 -4.1 1.64e+01 -6.1 1.00e+00 1.00e+00h 1 36 2.0889143e+00 1.70e-04 9.27e-03 -4.1 4.41e+01 -6.6 1.00e+00 1.00e+00h 1 37 2.0863756e+00 9.00e-04 4.27e-02 -4.1 1.09e+02 -7.0 1.00e+00 1.00e+00h 1 38 2.0834210e+00 2.49e-03 1.20e-01 -4.1 2.12e+02 -7.5 1.00e+00 1.00e+00h 1 39 2.0818127e+00 5.28e-03 5.93e-02 -4.1 2.92e+02 -8.0 7.88e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0823539e+00 2.64e-04 2.72e-01 -4.0 9.81e+01 -6.7 1.00e+00 9.02e-01H 1 41 2.0847231e+00 1.34e-02 4.97e-02 -3.4 9.88e+01 -7.2 9.00e-01 1.00e+00f 1 42 2.2151821e+00 1.25e-02 6.59e-01 -3.5 1.51e+02 -7.6 1.72e-01 1.00e+00h 1 43 2.1167733e+00 4.10e-08 3.29e-01 -3.5 2.00e-01 0.2 1.00e+00 1.00e+00h 1 44 2.0854631e+00 7.75e-07 6.83e-02 -3.5 1.59e-01 -0.3 1.00e+00 1.00e+00f 1 45 2.0837127e+00 3.97e-07 7.40e-02 -4.0 3.33e-02 -0.7 1.00e+00 8.77e-01f 1 46 2.0838134e+00 1.18e-06 1.56e-03 -4.0 2.56e-02 -1.2 1.00e+00 1.00e+00f 1 47 2.0831532e+00 2.59e-06 1.01e-03 -4.1 4.90e-02 -1.7 1.00e+00 1.00e+00h 1 48 2.0829759e+00 1.42e-06 6.66e-04 -4.0 6.33e-02 -2.2 1.00e+00 1.00e+00h 1 49 2.0829830e+00 1.07e-07 1.90e-05 -4.0 8.19e-03 -2.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0829831e+00 3.03e-08 7.47e-06 -4.0 9.93e-03 -3.1 1.00e+00 1.00e+00h 1 51 2.0829817e+00 5.97e-09 7.44e-06 -4.0 2.97e-02 -3.6 1.00e+00 1.00e+00h 1 52 2.0829777e+00 2.13e-09 7.42e-06 -4.0 8.87e-02 -4.1 1.00e+00 1.00e+00h 1 53 2.0829657e+00 1.89e-08 7.37e-06 -4.0 2.64e-01 -4.6 1.00e+00 1.00e+00h 1 54 2.0829307e+00 1.61e-07 1.42e-05 -4.0 7.75e-01 -5.0 1.00e+00 1.00e+00h 1 55 2.0828341e+00 1.23e-06 1.14e-04 -4.0 2.17e+00 -5.5 1.00e+00 1.00e+00h 1 56 2.0826076e+00 8.10e-06 7.22e-04 -4.0 5.35e+00 -6.0 1.00e+00 1.00e+00h 1 57 2.0822685e+00 4.38e-05 2.32e-03 -4.0 9.19e+00 -6.5 1.00e+00 1.00e+00h 1 58 2.0820416e+00 4.21e-05 1.82e-03 -4.0 2.32e+01 -6.9 1.00e+00 1.00e+00h 1 59 2.0823317e+00 1.16e-06 6.90e-02 -4.0 9.02e+01 -7.4 3.79e-01 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0821525e+00 1.53e-05 2.77e-01 -4.0 1.59e+00 -5.2 1.00e+00 3.27e-01h 2 61 2.0820640e+00 5.38e-05 5.05e-01 -4.0 2.29e+00 -5.7 1.00e+00 2.11e-01h 2 62 2.0819211e+00 4.52e-05 1.44e-03 -4.0 4.40e+00 -6.1 1.00e+00 1.00e+00h 1 63 2.0817883e+00 1.07e-04 3.07e-04 -4.0 1.69e+01 -6.6 1.00e+00 1.00e+00h 1 64 2.0817230e+00 1.24e-04 1.85e-03 -4.0 1.04e+01 -6.2 1.00e+00 1.00e+00h 1 65 2.0817887e+00 1.04e-04 3.06e-03 -4.0 4.94e+00 -6.7 1.00e+00 1.00e+00h 1 66 2.0818399e+00 5.26e-05 8.54e-04 -4.0 4.13e+00 -7.1 1.00e+00 1.00e+00h 1 67 2.0818406e+00 1.54e-05 1.73e-04 -4.0 8.47e+00 -7.6 1.00e+00 1.00e+00h 1 68 2.0818405e+00 1.75e-05 3.40e-04 -4.0 1.63e+01 -8.1 1.00e+00 1.00e+00h 1 69 2.0818420e+00 1.30e-05 2.80e-04 -4.0 1.81e+01 -8.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0818432e+00 2.30e-06 5.52e-05 -4.0 9.24e+00 -9.1 1.00e+00 1.00e+00h 1 71 2.0818434e+00 7.14e-08 2.05e-06 -4.0 1.88e+00 -9.5 1.00e+00 1.00e+00h 1 72 2.0818434e+00 3.36e-10 1.21e-08 -4.0 1.42e-01 -10.0 1.00e+00 1.00e+00h 1 73 2.0818434e+00 2.05e-13 1.00e-09 -4.0 3.79e-03 -10.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 73 (scaled) (unscaled) Objective...............: 2.0818434105271559e+00 2.0818434105271559e+00 Dual infeasibility......: 1.0000000060059622e-09 1.0000000060059622e-09 Constraint violation....: 2.0516921495072893e-13 2.0516921495072893e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000047e-04 1.0000000000000047e-04 Overall NLP error.......: 1.0000000060059622e-09 1.0000000060059622e-09 Number of objective function evaluations = 93 Number of objective gradient evaluations = 74 Number of equality constraint evaluations = 93 Number of inequality constraint evaluations = 93 Number of equality constraint Jacobian evaluations = 74 Number of inequality constraint Jacobian evaluations = 74 Number of Lagrangian Hessian evaluations = 73 Total seconds in IPOPT = 1.083 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: 0.003s) evaluator created (0.003s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.003s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.5662458e+00 2.75e+00 5.73e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9403871e+00 3.23e-02 2.95e+00 -0.8 1.79e+00 0.0 6.99e-01 1.00e+00f 1 2 2.6400602e+00 4.24e-02 1.87e+00 -1.1 6.51e-01 -0.5 1.00e+00 7.90e-01h 1 3 2.3009654e+00 4.20e-02 2.35e-01 -1.8 4.37e-01 -1.0 1.00e+00 9.58e-01h 1 4 2.1210383e+00 2.76e-03 5.19e-02 -2.6 8.53e-02 -1.4 9.51e-01 9.96e-01h 1 5 2.0922996e+00 9.32e-05 5.89e-03 -3.7 1.70e-02 -1.9 9.94e-01 1.00e+00h 1 6 2.0908892e+00 9.82e-07 5.74e-04 -4.0 5.08e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0908908e+00 1.28e-08 2.08e-05 -4.0 1.52e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908860e+00 7.66e-10 2.04e-05 -4.0 4.46e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908726e+00 6.42e-09 2.23e-05 -4.0 1.28e-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 2.0908415e+00 4.30e-08 9.28e-05 -4.0 3.43e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907737e+00 2.38e-07 4.67e-04 -4.0 8.77e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905924e+00 2.37e-06 7.60e-04 -4.0 2.64e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0899880e+00 1.89e-05 1.64e-03 -4.0 7.23e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0891380e+00 1.74e-04 2.68e-02 -4.0 2.34e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0878452e+00 8.23e-05 6.46e-02 -4.0 4.04e+00 -4.9 1.00e+00 6.33e-01h 1 16 2.0877067e+00 2.05e-05 6.52e-03 -4.0 3.41e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0868026e+00 3.93e-05 4.59e-03 -4.0 9.94e+00 -5.8 1.00e+00 1.00e+00h 1 18 2.0852707e+00 1.82e-04 9.11e-03 -4.0 2.35e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0833963e+00 2.98e-04 2.99e-02 -4.0 3.93e+01 -6.8 1.00e+00 7.52e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0825955e+00 1.16e-04 6.98e-03 -4.0 5.60e+01 -7.3 1.00e+00 7.35e-01h 1 21 2.0824310e+00 4.38e-04 1.68e-02 -4.0 1.21e+02 -7.7 1.00e+00 1.00e+00h 1 22 3.1885505e+00 1.13e-03 2.03e+01 -4.0 1.24e+03 -8.2 2.80e-02 1.00e+00H 1 23 2.0931409e+00 1.60e-04 1.95e+00 -4.1 4.09e-01 -0.4 5.08e-01 8.59e-01f 1 24 2.0932614e+00 1.60e-04 6.14e+00 -4.1 7.52e-02 -0.8 1.00e+00 1.95e-03f 10 25 2.0931130e+00 7.19e-08 1.90e-03 -4.1 4.00e-02 -1.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0931129830119781e+00 2.0931129830119781e+00 Dual infeasibility......: 1.9008468841531232e-03 1.9008468841531232e-03 Constraint violation....: 7.1864696339629663e-08 7.1864696339629663e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.2292386752387957e-04 1.2292386752387957e-04 Overall NLP error.......: 1.9008468841531232e-03 1.9008468841531232e-03 Number of objective function evaluations = 36 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 36 Number of inequality constraint evaluations = 36 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 0.386 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: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.227s jacobian structure: 1600 nonzeros (3.294s) integrator 1 hessian structure: 0.057s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.892s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (4.951s) linear index maps built (0.0s) evaluator ready (total: 8.245s) evaluator created (8.268s) 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: 8.269s) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.8536329e+00 2.28e+00 1.05e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 1.7731311e+00 1.41e+00 1.63e+00 -0.9 1.97e+00 0.0 7.85e-01 3.85e-01f 1 Hello, world! 2 2.4288377e+00 4.02e-02 1.58e+00 -1.1 1.74e+00 -0.5 9.63e-01 1.00e+00h 1 Hello, world! 3 2.5493797e+00 5.01e-03 6.57e-01 -1.2 2.69e-01 -1.0 9.77e-01 1.00e+00h 1 Hello, world! 4 2.2890013e+00 1.35e-02 1.76e-01 -1.7 3.46e-01 -1.4 9.66e-01 6.24e-01h 1 Hello, world! 5 2.1296224e+00 2.63e-03 2.00e-02 -2.6 1.03e-01 -1.9 9.94e-01 8.89e-01h 1 Hello, world! 6 2.0916426e+00 2.46e-04 5.37e-03 -4.0 3.22e-02 -2.4 1.00e+00 9.79e-01h 1 Hello, world! 7 2.0908643e+00 3.15e-06 4.75e-04 -4.0 1.67e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908574e+00 1.80e-08 2.22e-05 -4.0 4.86e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908425e+00 7.66e-09 2.09e-05 -4.0 1.37e-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 2.0908094e+00 4.12e-08 1.14e-04 -4.0 3.59e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0907413e+00 2.52e-07 6.07e-04 -4.0 8.88e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0905621e+00 2.45e-06 9.40e-04 -4.0 2.66e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0900193e+00 2.07e-05 8.73e-04 -4.0 7.74e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0897902e+00 3.70e-06 1.50e-03 -4.0 3.04e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0896773e+00 8.59e-07 2.26e-04 -4.0 1.22e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0893376e+00 5.43e-06 5.02e-04 -4.0 3.75e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0883839e+00 4.36e-05 1.82e-03 -4.0 1.09e+01 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0864280e+00 2.62e-04 1.01e-02 -4.0 2.70e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0851479e+00 2.84e-04 1.08e-01 -4.0 5.54e+01 -6.8 1.00e+00 2.86e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827551e+00 6.14e-04 5.58e-02 -4.0 5.98e+01 -7.3 1.00e+00 7.50e-01h 1 Hello, world! 21 2.0827088e+00 2.14e-03 4.79e-02 -4.0 1.22e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0824258e+00 1.10e-03 1.89e-02 -4.0 9.09e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0820329e+00 6.07e-04 3.35e-02 -4.0 7.26e+01 -7.8 9.59e-01 1.00e+00h 1 Hello, world! 24 2.0900906e+00 3.92e-04 6.30e-02 -4.0 8.47e+01 -8.3 1.00e+00 3.68e-01h 1 Hello, world! 25 2.0899130e+00 3.90e-04 7.82e-01 -4.1 6.74e+00 -4.2 5.60e-02 4.22e-03h 1 Hello, world! 26 2.0822796e+00 1.94e-04 2.99e-02 -4.1 3.44e-01 -4.7 1.00e+00 1.00e+00f 1 Hello, world! 27 2.0823022e+00 4.05e-04 2.66e-03 -4.0 2.36e+00 -5.2 9.97e-01 1.00e+00h 1 Hello, world! 28 2.0820084e+00 1.86e-03 2.20e-03 -4.1 5.53e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0820517e+00 4.58e-04 4.04e-03 -4.0 4.71e+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 2.0820068e+00 1.53e-04 1.46e-03 -4.0 4.27e+00 -6.6 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0819685e+00 6.89e-05 5.06e-04 -4.0 8.40e+00 -7.1 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0819280e+00 2.41e-05 8.18e-04 -4.0 1.76e+01 -7.6 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0818801e+00 5.48e-05 1.68e-03 -4.0 3.40e+01 -8.0 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0818515e+00 5.77e-05 1.48e-03 -4.0 4.15e+01 -8.5 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0818443e+00 1.59e-05 3.44e-04 -4.0 2.46e+01 -9.0 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0818435e+00 7.24e-07 2.16e-05 -4.0 6.00e+00 -9.5 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0818434e+00 4.47e-09 1.86e-07 -4.0 5.43e-01 -10.0 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0818434e+00 3.67e-12 1.00e-09 -4.0 1.74e-02 -10.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 38 (scaled) (unscaled) Objective...............: 2.0818434105415160e+00 2.0818434105415160e+00 Dual infeasibility......: 1.0000000089333081e-09 1.0000000089333081e-09 Constraint violation....: 3.6743941222994181e-12 3.6743941222994181e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000056e-04 1.0000000000000056e-04 Overall NLP error.......: 1.0000000089333081e-09 1.0000000089333081e-09 Number of objective function evaluations = 39 Number of objective gradient evaluations = 39 Number of equality constraint evaluations = 39 Number of inequality constraint evaluations = 39 Number of equality constraint Jacobian evaluations = 39 Number of inequality constraint Jacobian evaluations = 39 Number of Lagrangian Hessian evaluations = 38 Total seconds in IPOPT = 34.972 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 (0.003s) linear index maps built (0.0s) evaluator ready (total: 0.004s) evaluator created (0.004s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.005s) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.8536329e+00 2.28e+00 1.05e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 1.7731311e+00 1.41e+00 1.63e+00 -0.9 1.97e+00 0.0 7.85e-01 3.85e-01f 1 Hello, world! 2 2.4288377e+00 4.02e-02 1.58e+00 -1.1 1.74e+00 -0.5 9.63e-01 1.00e+00h 1 Hello, world! 3 2.5493797e+00 5.01e-03 6.57e-01 -1.2 2.69e-01 -1.0 9.77e-01 1.00e+00h 1 Hello, world! 4 2.2890013e+00 1.35e-02 1.76e-01 -1.7 3.46e-01 -1.4 9.66e-01 6.24e-01h 1 Hello, world! 5 2.1296224e+00 2.63e-03 2.00e-02 -2.6 1.03e-01 -1.9 9.94e-01 8.89e-01h 1 Hello, world! 6 2.0916426e+00 2.46e-04 5.37e-03 -4.0 3.22e-02 -2.4 1.00e+00 9.79e-01h 1 Hello, world! 7 2.0908643e+00 3.15e-06 4.75e-04 -4.0 1.67e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908574e+00 1.80e-08 2.22e-05 -4.0 4.86e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908425e+00 7.66e-09 2.09e-05 -4.0 1.37e-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 2.0908094e+00 4.12e-08 1.14e-04 -4.0 3.59e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0907413e+00 2.52e-07 6.07e-04 -4.0 8.88e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0905621e+00 2.45e-06 9.40e-04 -4.0 2.66e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0900193e+00 2.07e-05 8.73e-04 -4.0 7.74e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0897902e+00 3.70e-06 1.50e-03 -4.0 3.04e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0896773e+00 8.59e-07 2.26e-04 -4.0 1.22e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0893376e+00 5.43e-06 5.02e-04 -4.0 3.75e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0883839e+00 4.36e-05 1.82e-03 -4.0 1.09e+01 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0864280e+00 2.62e-04 1.01e-02 -4.0 2.70e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0851479e+00 2.84e-04 1.08e-01 -4.0 5.54e+01 -6.8 1.00e+00 2.86e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827551e+00 6.14e-04 5.58e-02 -4.0 5.98e+01 -7.3 1.00e+00 7.50e-01h 1 Hello, world! 21 2.0827088e+00 2.14e-03 4.79e-02 -4.0 1.22e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0824258e+00 1.10e-03 1.89e-02 -4.0 9.09e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0820329e+00 6.07e-04 3.35e-02 -4.0 7.26e+01 -7.8 9.59e-01 1.00e+00h 1 Hello, world! 24 2.0900906e+00 3.92e-04 6.30e-02 -4.0 8.47e+01 -8.3 1.00e+00 3.68e-01h 1 Hello, world! 25 2.0899130e+00 3.90e-04 7.82e-01 -4.1 6.74e+00 -4.2 5.60e-02 4.22e-03h 1 Hello, world! 26 2.0822796e+00 1.94e-04 2.99e-02 -4.1 3.44e-01 -4.7 1.00e+00 1.00e+00f 1 Hello, world! 27 2.0823022e+00 4.05e-04 2.66e-03 -4.0 2.36e+00 -5.2 9.97e-01 1.00e+00h 1 Hello, world! 28 2.0820084e+00 1.86e-03 2.20e-03 -4.1 5.53e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0820517e+00 4.58e-04 4.04e-03 -4.0 4.71e+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 2.0820068e+00 1.53e-04 1.46e-03 -4.0 4.27e+00 -6.6 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0819685e+00 6.89e-05 5.06e-04 -4.0 8.40e+00 -7.1 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0819280e+00 2.41e-05 8.18e-04 -4.0 1.76e+01 -7.6 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0818801e+00 5.48e-05 1.68e-03 -4.0 3.40e+01 -8.0 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0818515e+00 5.77e-05 1.48e-03 -4.0 4.15e+01 -8.5 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0818443e+00 1.59e-05 3.44e-04 -4.0 2.46e+01 -9.0 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0818435e+00 7.24e-07 2.16e-05 -4.0 6.00e+00 -9.5 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0818434e+00 4.47e-09 1.86e-07 -4.0 5.43e-01 -10.0 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0818434e+00 3.67e-12 1.00e-09 -4.0 1.74e-02 -10.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 38 (scaled) (unscaled) Objective...............: 2.0818434105415160e+00 2.0818434105415160e+00 Dual infeasibility......: 1.0000000089333081e-09 1.0000000089333081e-09 Constraint violation....: 3.6743941222994181e-12 3.6743941222994181e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000056e-04 1.0000000000000056e-04 Overall NLP error.......: 1.0000000089333081e-09 1.0000000089333081e-09 Number of objective function evaluations = 39 Number of objective gradient evaluations = 39 Number of equality constraint evaluations = 39 Number of inequality constraint evaluations = 39 Number of equality constraint Jacobian evaluations = 39 Number of inequality constraint Jacobian evaluations = 39 Number of Lagrangian Hessian evaluations = 38 Total seconds in IPOPT = 0.874 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.093s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.647s jacobian structure: 1600 nonzeros (3.741s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.787s 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 (4.838s) linear index maps built (0.0s) evaluator ready (total: 8.579s) evaluator created (8.601s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 8.602s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.9057534e+00 3.73e+00 3.72e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.3561539e+00 1.37e+00 2.44e+00 -4.0 2.22e+00 0.0 1.95e-01 6.34e-01h 1 2 1.8603336e+00 3.95e-01 1.97e+00 -1.0 7.93e-01 0.4 1.00e+00 7.12e-01h 1 3 1.9666835e+00 2.40e-01 9.93e+00 -0.8 7.98e-01 -0.1 9.40e-01 3.91e-01f 1 4 2.2922066e+00 3.39e-03 9.92e-01 -1.5 4.94e-01 -0.5 8.75e-01 1.00e+00h 1 5 2.2594085e+00 2.84e-03 6.71e-01 -1.7 2.36e-01 -1.0 9.79e-01 1.75e-01H 1 6 2.1335619e+00 3.53e-03 2.00e-01 -2.7 1.60e-01 -1.5 9.98e-01 7.79e-01h 1 7 2.0954034e+00 4.67e-04 1.11e-01 -3.6 5.00e-02 -2.0 1.00e+00 8.67e-01h 1 8 2.0909624e+00 1.49e-05 2.15e-02 -4.0 1.53e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908873e+00 3.44e-07 4.10e-05 -4.0 1.94e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908767e+00 2.74e-08 2.33e-05 -4.0 5.72e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908568e+00 1.25e-08 2.56e-05 -4.0 1.64e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908094e+00 7.95e-08 1.47e-04 -4.0 4.31e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907277e+00 3.43e-07 8.31e-04 -4.0 1.00e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0905268e+00 3.19e-06 1.21e-03 -4.0 3.03e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0899224e+00 2.64e-05 9.56e-04 -4.0 8.72e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0900975e+00 1.18e-04 3.95e-03 -3.7 6.17e+01 -6.3 1.04e-01 1.31e-01h 3 17 2.0897938e+00 5.20e-06 5.74e-04 -4.1 2.09e-01 -4.0 1.00e+00 1.00e+00h 1 18 2.0898374e+00 1.41e-05 6.70e-04 -4.0 8.64e-01 -4.5 1.00e+00 1.00e+00h 1 19 2.0895263e+00 3.83e-05 3.18e-03 -4.1 1.81e+00 -5.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0894058e+00 8.26e-07 6.20e-04 -4.1 6.80e-01 -4.5 7.13e-01 1.00e+00h 1 21 2.0896471e+00 3.94e-05 3.87e-03 -4.0 1.58e+00 -5.0 1.00e+00 1.00e+00h 1 22 2.0893219e+00 4.25e-05 4.64e-03 -4.1 2.48e+00 -4.6 4.29e-01 4.74e-01h 1 23 2.0892739e+00 1.74e-05 2.73e-03 -4.0 2.15e+00 -5.1 1.00e+00 1.00e+00f 1 24 2.0891323e+00 1.70e-05 9.08e-02 -4.0 1.73e+01 -5.6 1.00e+00 7.69e-02h 2 25 2.0879489e+00 7.81e-05 9.41e-03 -4.0 1.52e+01 -6.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0879488523518415e+00 2.0879488523518415e+00 Dual infeasibility......: 9.4127495269916202e-03 9.4127495269916202e-03 Constraint violation....: 7.8111329357033465e-05 7.8111329357033465e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.2338983714191257e-04 1.2338983714191257e-04 Overall NLP error.......: 9.4127495269916202e-03 9.4127495269916202e-03 Number of objective function evaluations = 34 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 34 Number of inequality constraint evaluations = 34 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 33.220 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 (0.0s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.001s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.002s) linear index maps built (0.0s) evaluator ready (total: 0.003s) evaluator created (0.003s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.003s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.9057534e+00 3.73e+00 3.72e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.3561539e+00 1.37e+00 2.44e+00 -4.0 2.22e+00 0.0 1.95e-01 6.34e-01h 1 2 1.8603336e+00 3.95e-01 1.97e+00 -1.0 7.93e-01 0.4 1.00e+00 7.12e-01h 1 3 1.9666835e+00 2.40e-01 9.93e+00 -0.8 7.98e-01 -0.1 9.40e-01 3.91e-01f 1 4 2.2922066e+00 3.39e-03 9.92e-01 -1.5 4.94e-01 -0.5 8.75e-01 1.00e+00h 1 5 2.2594085e+00 2.84e-03 6.71e-01 -1.7 2.36e-01 -1.0 9.79e-01 1.75e-01H 1 6 2.1335619e+00 3.53e-03 2.00e-01 -2.7 1.60e-01 -1.5 9.98e-01 7.79e-01h 1 7 2.0954034e+00 4.67e-04 1.11e-01 -3.6 5.00e-02 -2.0 1.00e+00 8.67e-01h 1 8 2.0909624e+00 1.49e-05 2.15e-02 -4.0 1.53e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908873e+00 3.44e-07 4.10e-05 -4.0 1.94e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908767e+00 2.74e-08 2.33e-05 -4.0 5.72e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908568e+00 1.25e-08 2.56e-05 -4.0 1.64e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908094e+00 7.95e-08 1.47e-04 -4.0 4.31e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907277e+00 3.43e-07 8.31e-04 -4.0 1.00e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0905268e+00 3.19e-06 1.21e-03 -4.0 3.03e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0899224e+00 2.64e-05 9.56e-04 -4.0 8.72e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0900975e+00 1.18e-04 3.95e-03 -3.7 6.17e+01 -6.3 1.04e-01 1.31e-01h 3 17 2.0897938e+00 5.20e-06 5.74e-04 -4.1 2.09e-01 -4.0 1.00e+00 1.00e+00h 1 18 2.0898374e+00 1.41e-05 6.70e-04 -4.0 8.64e-01 -4.5 1.00e+00 1.00e+00h 1 19 2.0895263e+00 3.83e-05 3.18e-03 -4.1 1.81e+00 -5.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0894058e+00 8.26e-07 6.20e-04 -4.1 6.80e-01 -4.5 7.13e-01 1.00e+00h 1 21 2.0896471e+00 3.94e-05 3.87e-03 -4.0 1.58e+00 -5.0 1.00e+00 1.00e+00h 1 22 2.0893219e+00 4.25e-05 4.64e-03 -4.1 2.48e+00 -4.6 4.29e-01 4.74e-01h 1 23 2.0892739e+00 1.74e-05 2.73e-03 -4.0 2.15e+00 -5.1 1.00e+00 1.00e+00f 1 24 2.0891323e+00 1.70e-05 9.08e-02 -4.0 1.73e+01 -5.6 1.00e+00 7.69e-02h 2 25 2.0879489e+00 7.81e-05 9.41e-03 -4.0 1.52e+01 -6.0 1.00e+00 1.00e+00h 1 26 2.0869326e+00 1.04e-04 1.08e-01 -4.0 4.60e+01 -6.5 1.00e+00 2.44e-01h 1 27 2.0830948e+00 1.64e-03 6.43e-02 -4.0 6.58e+01 -7.0 1.00e+00 1.00e+00h 1 28 2.0828869e+00 1.31e-03 3.27e-02 -4.0 9.04e+01 -7.5 1.00e+00 1.00e+00h 1 29 2.1197183e+00 1.94e-04 1.34e+00 -4.0 5.34e+02 -7.9 1.03e-01 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0929043e+00 2.05e-03 8.69e+00 -4.1 1.80e+01 -3.9 6.50e-03 7.43e-02f 1 31 2.0869553e+00 1.26e-03 5.35e+00 -4.1 1.16e+00 -2.6 1.00e+00 3.87e-01f 1 32 2.0856901e+00 5.68e-04 2.25e+00 -4.1 3.14e+00 -3.1 1.00e+00 5.84e-01f 1 33 2.0856020e+00 2.19e-05 2.26e-02 -4.0 6.34e-01 -3.5 1.00e+00 1.00e+00f 1 34 2.0844319e+00 3.65e-05 7.69e-03 -4.0 5.01e-01 -4.0 1.00e+00 1.00e+00h 1 35 2.0841204e+00 2.65e-05 6.05e-04 -4.0 2.85e-01 -4.5 1.00e+00 1.00e+00h 1 36 2.0840571e+00 5.04e-07 3.49e-05 -4.0 8.31e-01 -5.0 1.00e+00 1.00e+00h 1 37 2.0839061e+00 4.05e-06 2.57e-04 -4.0 2.30e+00 -5.4 1.00e+00 1.00e+00h 1 38 2.0836261e+00 1.93e-05 1.19e-03 -4.0 6.09e+00 -5.9 1.00e+00 1.00e+00h 1 39 2.0833149e+00 2.87e-05 2.29e-03 -4.0 1.53e+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 2.0828331e+00 1.44e-04 5.00e-03 -4.0 3.72e+01 -6.9 1.00e+00 1.00e+00h 1 41 2.0822252e+00 5.00e-04 1.60e-02 -4.0 7.17e+01 -7.3 1.00e+00 1.00e+00h 1 42 2.0818146e+00 9.32e-04 1.91e-02 -4.0 1.28e+02 -7.8 5.01e-01 1.00e+00h 1 43 2.1837458e+00 1.48e-03 6.44e-01 -4.0 1.29e+02 -8.3 2.50e-01 1.00e+00h 1 44 2.1118191e+00 1.02e-03 2.25e+00 -4.1 7.07e-01 -0.5 9.90e-02 3.13e-01f 1 45 2.0826604e+00 4.15e-04 9.62e-01 -4.1 5.29e-01 -0.9 8.48e-01 5.93e-01f 1 46 2.0831379e+00 3.93e-04 9.94e-01 -4.0 2.16e-01 -1.4 1.00e+00 5.24e-02f 4 47 2.0830146e+00 5.87e-06 7.46e-03 -3.8 1.57e-01 -1.9 1.00e+00 1.00e+00h 1 48 2.0822652e+00 7.14e-06 4.19e-03 -4.0 2.78e-01 -2.4 1.00e+00 1.00e+00h 1 49 2.0819959e+00 5.52e-06 1.96e-01 -4.0 2.44e-01 -2.8 1.00e+00 6.41e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0820645e+00 7.04e-07 2.94e-04 -4.0 7.31e-02 -3.3 1.00e+00 1.00e+00f 1 51 2.0820493e+00 4.28e-07 1.36e-05 -4.0 1.72e-02 -3.8 1.00e+00 1.00e+00h 1 52 2.0820470e+00 3.22e-08 2.77e-06 -4.0 5.17e-02 -4.3 1.00e+00 1.00e+00h 1 53 2.0820414e+00 2.59e-08 2.74e-06 -4.0 1.53e-01 -4.7 1.00e+00 1.00e+00h 1 54 2.0820273e+00 1.87e-07 7.61e-06 -4.0 4.46e-01 -5.2 1.00e+00 1.00e+00h 1 55 2.0820006e+00 9.54e-07 3.38e-05 -4.0 1.33e+00 -5.7 1.00e+00 1.00e+00h 1 56 2.0819671e+00 2.44e-06 8.69e-05 -4.0 3.96e+00 -6.2 1.00e+00 1.00e+00h 1 57 2.0819230e+00 2.06e-06 2.13e-04 -4.0 1.17e+01 -6.7 1.00e+00 1.00e+00h 1 58 2.0818220e+00 2.04e-05 1.16e-03 -4.0 3.62e+01 -7.1 1.00e+00 1.00e+00h 1 59 2.0817431e+00 2.71e-04 3.52e-03 -4.0 2.39e+01 -6.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0818232e+00 2.59e-04 3.68e-03 -4.0 1.46e+01 -7.2 9.63e-01 1.00e+00h 1 61 2.0829716e+00 6.71e-05 1.37e+00 -4.1 1.63e+00 -4.1 1.25e-01 3.00e-01h 1 62 2.0820687e+00 1.43e-05 1.88e-01 -4.1 4.17e-01 -4.5 2.12e-01 1.00e+00f 1 63 2.0816998e+00 1.34e-06 1.85e-03 -4.1 7.70e-02 -1.4 1.00e+00 1.00e+00h 1 64 2.0818251e+00 1.97e-07 4.32e-04 -4.0 1.46e-02 -1.9 1.00e+00 1.00e+00h 1 65 2.0818378e+00 4.61e-09 8.10e-05 -4.0 1.75e-02 -2.3 1.00e+00 1.00e+00h 1 66 2.0818386e+00 7.82e-09 2.68e-05 -4.0 1.78e-02 -2.8 1.00e+00 1.00e+00h 1 67 2.0818386e+00 1.60e-08 5.40e-06 -4.0 1.08e-02 -3.3 1.00e+00 1.00e+00h 1 68 2.0817136e+00 6.50e-07 7.76e-05 -4.1 3.29e-02 -3.8 1.00e+00 1.00e+00h 1 69 2.0811651e+00 1.59e-05 4.10e-02 -6.1 1.69e-01 -4.3 8.18e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0817690e+00 2.50e-05 6.17e-02 -4.0 3.66e-01 -4.7 1.00e+00 7.13e-01h 1 71 2.0816821e+00 4.30e-05 1.45e-03 -4.1 8.25e-01 -5.2 1.00e+00 1.00e+00h 1 72 2.0818391e+00 1.68e-05 3.24e-04 -4.0 5.73e-01 -5.7 1.00e+00 1.00e+00h 1 73 2.0816420e+00 4.12e-05 2.17e-04 -4.1 1.72e+00 -6.2 1.00e+00 1.00e+00h 1 74 2.0806803e+00 9.33e-04 5.97e-03 -6.1 1.17e+01 -6.6 9.83e-01 1.00e+00h 1 75 2.0806790e+00 5.62e-05 1.94e-03 -5.1 5.90e+00 -7.1 1.00e+00 9.97e-01h 1 Number of Iterations....: 75 (scaled) (unscaled) Objective...............: 2.0806790381976388e+00 2.0806790381976388e+00 Dual infeasibility......: 1.9426310061894485e-03 1.9426310061894485e-03 Constraint violation....: 5.6216978694401121e-05 5.6216978694401121e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0608959147310196e-05 1.0608959147310196e-05 Overall NLP error.......: 1.9426310061894485e-03 1.9426310061894485e-03 Number of objective function evaluations = 88 Number of objective gradient evaluations = 76 Number of equality constraint evaluations = 88 Number of inequality constraint evaluations = 88 Number of equality constraint Jacobian evaluations = 76 Number of inequality constraint Jacobian evaluations = 76 Number of Lagrangian Hessian evaluations = 75 Total seconds in IPOPT = 1.119 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.002s) linear index maps built (0.0s) evaluator ready (total: 0.003s) evaluator created (0.003s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.004s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.9057534e+00 3.73e+00 3.72e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.3561539e+00 1.37e+00 2.44e+00 -4.0 2.22e+00 0.0 1.95e-01 6.34e-01h 1 2 1.8603336e+00 3.95e-01 1.97e+00 -1.0 7.93e-01 0.4 1.00e+00 7.12e-01h 1 3 1.9666835e+00 2.40e-01 9.93e+00 -0.8 7.98e-01 -0.1 9.40e-01 3.91e-01f 1 4 2.2922066e+00 3.39e-03 9.92e-01 -1.5 4.94e-01 -0.5 8.75e-01 1.00e+00h 1 5 2.2594085e+00 2.84e-03 6.71e-01 -1.7 2.36e-01 -1.0 9.79e-01 1.75e-01H 1 6 2.1335619e+00 3.53e-03 2.00e-01 -2.7 1.60e-01 -1.5 9.98e-01 7.79e-01h 1 7 2.0954034e+00 4.67e-04 1.11e-01 -3.6 5.00e-02 -2.0 1.00e+00 8.67e-01h 1 8 2.0909624e+00 1.49e-05 2.15e-02 -4.0 1.53e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908873e+00 3.44e-07 4.10e-05 -4.0 1.94e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908767e+00 2.74e-08 2.33e-05 -4.0 5.72e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908568e+00 1.25e-08 2.56e-05 -4.0 1.64e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908094e+00 7.95e-08 1.47e-04 -4.0 4.31e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907277e+00 3.43e-07 8.31e-04 -4.0 1.00e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0905268e+00 3.19e-06 1.21e-03 -4.0 3.03e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0899224e+00 2.64e-05 9.56e-04 -4.0 8.72e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0900975e+00 1.18e-04 3.95e-03 -3.7 6.17e+01 -6.3 1.04e-01 1.31e-01h 3 17 2.0897938e+00 5.20e-06 5.74e-04 -4.1 2.09e-01 -4.0 1.00e+00 1.00e+00h 1 18 2.0898374e+00 1.41e-05 6.70e-04 -4.0 8.64e-01 -4.5 1.00e+00 1.00e+00h 1 19 2.0895263e+00 3.83e-05 3.18e-03 -4.1 1.81e+00 -5.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0894058e+00 8.26e-07 6.20e-04 -4.1 6.80e-01 -4.5 7.13e-01 1.00e+00h 1 21 2.0896471e+00 3.94e-05 3.87e-03 -4.0 1.58e+00 -5.0 1.00e+00 1.00e+00h 1 22 2.0893219e+00 4.25e-05 4.64e-03 -4.1 2.48e+00 -4.6 4.29e-01 4.74e-01h 1 23 2.0892739e+00 1.74e-05 2.73e-03 -4.0 2.15e+00 -5.1 1.00e+00 1.00e+00f 1 24 2.0891323e+00 1.70e-05 9.08e-02 -4.0 1.73e+01 -5.6 1.00e+00 7.69e-02h 2 25 2.0879489e+00 7.81e-05 9.41e-03 -4.0 1.52e+01 -6.0 1.00e+00 1.00e+00h 1 26 2.0869326e+00 1.04e-04 1.08e-01 -4.0 4.60e+01 -6.5 1.00e+00 2.44e-01h 1 27 2.0830948e+00 1.64e-03 6.43e-02 -4.0 6.58e+01 -7.0 1.00e+00 1.00e+00h 1 28 2.0828869e+00 1.31e-03 3.27e-02 -4.0 9.04e+01 -7.5 1.00e+00 1.00e+00h 1 29 2.1197183e+00 1.94e-04 1.34e+00 -4.0 5.34e+02 -7.9 1.03e-01 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0929043e+00 2.05e-03 8.69e+00 -4.1 1.80e+01 -3.9 6.50e-03 7.43e-02f 1 31 2.0869553e+00 1.26e-03 5.35e+00 -4.1 1.16e+00 -2.6 1.00e+00 3.87e-01f 1 32 2.0856901e+00 5.68e-04 2.25e+00 -4.1 3.14e+00 -3.1 1.00e+00 5.84e-01f 1 33 2.0856020e+00 2.19e-05 2.26e-02 -4.0 6.34e-01 -3.5 1.00e+00 1.00e+00f 1 34 2.0844319e+00 3.65e-05 7.69e-03 -4.0 5.01e-01 -4.0 1.00e+00 1.00e+00h 1 35 2.0841204e+00 2.65e-05 6.05e-04 -4.0 2.85e-01 -4.5 1.00e+00 1.00e+00h 1 36 2.0840571e+00 5.04e-07 3.49e-05 -4.0 8.31e-01 -5.0 1.00e+00 1.00e+00h 1 37 2.0839061e+00 4.05e-06 2.57e-04 -4.0 2.30e+00 -5.4 1.00e+00 1.00e+00h 1 38 2.0836261e+00 1.93e-05 1.19e-03 -4.0 6.09e+00 -5.9 1.00e+00 1.00e+00h 1 39 2.0833149e+00 2.87e-05 2.29e-03 -4.0 1.53e+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 2.0828331e+00 1.44e-04 5.00e-03 -4.0 3.72e+01 -6.9 1.00e+00 1.00e+00h 1 41 2.0822252e+00 5.00e-04 1.60e-02 -4.0 7.17e+01 -7.3 1.00e+00 1.00e+00h 1 42 2.0818146e+00 9.32e-04 1.91e-02 -4.0 1.28e+02 -7.8 5.01e-01 1.00e+00h 1 43 2.1837458e+00 1.48e-03 6.44e-01 -4.0 1.29e+02 -8.3 2.50e-01 1.00e+00h 1 44 2.1118191e+00 1.02e-03 2.25e+00 -4.1 7.07e-01 -0.5 9.90e-02 3.13e-01f 1 45 2.0826604e+00 4.15e-04 9.62e-01 -4.1 5.29e-01 -0.9 8.48e-01 5.93e-01f 1 46 2.0831379e+00 3.93e-04 9.94e-01 -4.0 2.16e-01 -1.4 1.00e+00 5.24e-02f 4 47 2.0830146e+00 5.87e-06 7.46e-03 -3.8 1.57e-01 -1.9 1.00e+00 1.00e+00h 1 48 2.0822652e+00 7.14e-06 4.19e-03 -4.0 2.78e-01 -2.4 1.00e+00 1.00e+00h 1 49 2.0819959e+00 5.52e-06 1.96e-01 -4.0 2.44e-01 -2.8 1.00e+00 6.41e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0820645e+00 7.04e-07 2.94e-04 -4.0 7.31e-02 -3.3 1.00e+00 1.00e+00f 1 51 2.0820493e+00 4.28e-07 1.36e-05 -4.0 1.72e-02 -3.8 1.00e+00 1.00e+00h 1 52 2.0820470e+00 3.22e-08 2.77e-06 -4.0 5.17e-02 -4.3 1.00e+00 1.00e+00h 1 53 2.0820414e+00 2.59e-08 2.74e-06 -4.0 1.53e-01 -4.7 1.00e+00 1.00e+00h 1 54 2.0820273e+00 1.87e-07 7.61e-06 -4.0 4.46e-01 -5.2 1.00e+00 1.00e+00h 1 55 2.0820006e+00 9.54e-07 3.38e-05 -4.0 1.33e+00 -5.7 1.00e+00 1.00e+00h 1 56 2.0819671e+00 2.44e-06 8.69e-05 -4.0 3.96e+00 -6.2 1.00e+00 1.00e+00h 1 57 2.0819230e+00 2.06e-06 2.13e-04 -4.0 1.17e+01 -6.7 1.00e+00 1.00e+00h 1 58 2.0818220e+00 2.04e-05 1.16e-03 -4.0 3.62e+01 -7.1 1.00e+00 1.00e+00h 1 59 2.0817431e+00 2.71e-04 3.52e-03 -4.0 2.39e+01 -6.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0818232e+00 2.59e-04 3.68e-03 -4.0 1.46e+01 -7.2 9.63e-01 1.00e+00h 1 61 2.0829716e+00 6.71e-05 1.37e+00 -4.1 1.63e+00 -4.1 1.25e-01 3.00e-01h 1 62 2.0820687e+00 1.43e-05 1.88e-01 -4.1 4.17e-01 -4.5 2.12e-01 1.00e+00f 1 63 2.0816998e+00 1.34e-06 1.85e-03 -4.1 7.70e-02 -1.4 1.00e+00 1.00e+00h 1 64 2.0818251e+00 1.97e-07 4.32e-04 -4.0 1.46e-02 -1.9 1.00e+00 1.00e+00h 1 65 2.0818378e+00 4.61e-09 8.10e-05 -4.0 1.75e-02 -2.3 1.00e+00 1.00e+00h 1 66 2.0818386e+00 7.82e-09 2.68e-05 -4.0 1.78e-02 -2.8 1.00e+00 1.00e+00h 1 67 2.0818386e+00 1.60e-08 5.40e-06 -4.0 1.08e-02 -3.3 1.00e+00 1.00e+00h 1 68 2.0817136e+00 6.50e-07 7.76e-05 -4.1 3.29e-02 -3.8 1.00e+00 1.00e+00h 1 69 2.0811651e+00 1.59e-05 4.10e-02 -6.1 1.69e-01 -4.3 8.18e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0817690e+00 2.50e-05 6.17e-02 -4.0 3.66e-01 -4.7 1.00e+00 7.13e-01h 1 71 2.0816821e+00 4.30e-05 1.45e-03 -4.1 8.25e-01 -5.2 1.00e+00 1.00e+00h 1 72 2.0818391e+00 1.68e-05 3.24e-04 -4.0 5.73e-01 -5.7 1.00e+00 1.00e+00h 1 73 2.0816420e+00 4.12e-05 2.17e-04 -4.1 1.72e+00 -6.2 1.00e+00 1.00e+00h 1 74 2.0806803e+00 9.33e-04 5.97e-03 -6.1 1.17e+01 -6.6 9.83e-01 1.00e+00h 1 75 2.0806790e+00 5.62e-05 1.94e-03 -5.1 5.90e+00 -7.1 1.00e+00 9.97e-01h 1 76 2.0808793e+00 1.23e-04 5.35e-03 -4.0 3.00e+01 -7.6 2.49e-01 1.85e-01f 1 77 2.0933578e+00 1.02e-04 1.00e-01 -4.6 4.15e+01 -8.1 3.98e-01 1.00e+00h 1 78 2.0853441e+00 4.08e-08 5.91e-02 -4.6 9.74e-02 -0.2 1.00e+00 1.00e+00h 1 79 2.0815551e+00 1.49e-07 8.75e-02 -4.6 1.09e-01 -0.7 1.00e+00 8.49e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0813496e+00 2.71e-06 3.38e-01 -4.0 4.36e-02 -1.2 1.00e+00 8.47e-01f 1 81 2.0810794e+00 1.23e-06 5.31e-03 -4.0 2.61e-02 -1.7 1.00e+00 1.00e+00f 1 82 2.0811670e+00 1.47e-07 9.55e-04 -4.0 1.11e-02 -2.1 1.00e+00 1.00e+00h 1 83 2.0811972e+00 1.28e-07 7.12e-05 -4.0 2.92e-02 -2.6 1.00e+00 1.00e+00h 1 84 2.0812117e+00 1.41e-07 6.68e-05 -4.0 8.22e-02 -3.1 1.00e+00 1.00e+00h 1 85 2.0811842e+00 2.31e-06 4.92e-04 -4.1 1.46e-01 -3.6 1.00e+00 1.00e+00h 1 86 2.0808996e+00 2.11e-05 2.94e-01 -6.1 2.64e-01 -4.0 7.42e-01 1.00e+00h 1 87 2.0815244e+00 1.55e-04 1.00e-02 -4.0 1.38e+00 -4.5 1.00e+00 1.00e+00h 1 88 2.0814606e+00 1.18e-05 2.80e-03 -4.1 6.53e-01 -5.0 1.00e+00 1.00e+00h 1 89 2.0815280e+00 1.36e-05 7.28e-04 -4.1 2.43e+00 -5.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0808005e+00 3.52e-04 7.02e-03 -6.1 3.60e+00 -6.0 9.84e-01 1.00e+00h 1 91 2.0806293e+00 1.09e-04 1.17e-02 -6.1 4.24e+00 -6.4 1.00e+00 7.06e-01h 1 92 2.0818288e+00 2.76e-03 5.82e-02 -4.0 2.31e+01 -6.9 4.08e-01 1.00e+00f 1 93 2.0810556e+00 1.00e-03 1.07e-02 -4.4 1.42e+01 -7.4 8.78e-01 1.00e+00h 1 94 2.0812531e+00 1.36e-04 3.86e-02 -4.4 2.62e+00 -5.2 9.62e-01 1.00e+00h 1 95 2.0810850e+00 6.38e-05 1.20e-01 -4.4 1.28e-01 -2.0 7.52e-01 5.32e-01h 1 96 2.0814471e+00 2.48e-06 1.73e-03 -4.4 4.97e-02 -2.5 1.00e+00 1.00e+00f 1 97 2.0812603e+00 2.84e-07 4.44e-04 -4.4 2.46e-02 -2.1 1.00e+00 1.00e+00h 1 98 2.0811945e+00 1.31e-07 9.81e-05 -4.4 1.81e-02 -2.5 1.00e+00 1.00e+00h 1 99 2.0815379e+00 1.03e-06 1.22e-03 -4.0 2.63e-02 -3.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0813891e+00 5.60e-07 1.89e-04 -4.1 2.23e-02 -3.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0813891333305947e+00 2.0813891333305947e+00 Dual infeasibility......: 1.8909123926304707e-04 1.8909123926304707e-04 Constraint violation....: 5.6041821949737169e-07 5.6041821949737169e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.2864800430809549e-05 8.2864800430809549e-05 Overall NLP error.......: 1.8909123926304707e-04 1.8909123926304707e-04 Number of objective function evaluations = 113 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 113 Number of inequality constraint evaluations = 113 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 1.411 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: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.989s jacobian structure: 1600 nonzeros (3.05s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.723s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (4.772s) linear index maps built (0.0s) evaluator ready (total: 7.823s) evaluator created (7.851s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.001s) optimizer initialization complete (total: 7.853s) 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 2.4381238e+00 3.08e+00 9.42e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8730205e+00 4.80e-02 2.81e+00 -0.9 2.67e+00 0.0 9.39e-01 1.00e+00f 1 2 2.6889600e+00 1.46e-03 1.79e-01 -1.2 6.00e-02 0.4 9.95e-01 1.00e+00h 1 3 2.2960915e+00 3.29e-03 9.33e-02 -1.8 8.77e-02 -0.1 9.68e-01 1.00e+00f 1 4 2.1688602e+00 2.47e-03 1.69e-01 -2.8 8.16e-02 -0.5 9.99e-01 5.38e-01h 1 5 2.0938042e+00 1.45e-04 1.21e-02 -3.9 2.57e-02 -1.0 9.98e-01 9.79e-01h 1 6 2.0908890e+00 9.22e-07 4.11e-04 -4.0 2.02e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0909116e+00 1.47e-08 2.27e-05 -4.0 2.07e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909114e+00 1.18e-11 1.91e-05 -4.0 5.23e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909100e+00 1.02e-10 1.90e-05 -4.0 1.56e-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 2.0909054e+00 9.23e-10 1.53e-04 -4.0 4.60e-02 -3.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0909053821706740e+00 2.0909053821706740e+00 Dual infeasibility......: 1.5312383733942893e-04 1.5312383733942893e-04 Constraint violation....: 9.2346174370566692e-10 9.2346174370566692e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999999978e-05 9.9999999999999978e-05 Overall NLP error.......: 1.5312383733942893e-04 1.5312383733942893e-04 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 = 32.771 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.067s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.944s jacobian structure: 1600 nonzeros (3.012s) integrator 1 hessian structure: 0.044s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.509s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (4.555s) linear index maps built (0.0s) evaluator ready (total: 7.567s) evaluator created (7.589s) 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: 7.59s) 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: 0.08s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.282s jacobian structure: 1600 nonzeros (3.363s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 5.331s 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 (5.384s) linear index maps built (0.0s) evaluator ready (total: 8.747s) evaluator created (8.772s) 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: 8.774s) 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: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.007s jacobian structure: 1600 nonzeros (3.074s) integrator 1 hessian structure: 0.046s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.889s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (4.936s) linear index maps built (0.0s) evaluator ready (total: 8.011s) evaluator created (8.034s) 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: 8.035s) initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.07s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.07s) integrator 1 hessian structure: 0.044s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.045s) linear index maps built (0.0s) evaluator ready (total: 0.115s) evaluator created (0.115s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.116s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.8841867e+00 3.14e+00 6.62e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9987058e+00 1.08e-01 5.23e+00 -0.8 2.31e+00 0.0 6.55e-01 1.00e+00f 1 2 2.8798084e+00 5.80e-02 1.26e+00 -1.0 5.20e-01 -0.5 8.78e-01 1.00e+00f 1 3 2.5796836e+00 5.90e-02 2.34e-01 -1.2 4.21e-01 -1.0 8.48e-01 7.59e-01h 1 4 2.2797299e+00 2.23e-02 1.92e-01 -1.8 3.70e-01 -1.4 9.54e-01 1.00e+00f 1 5 2.1200981e+00 7.90e-03 4.02e-02 -2.5 2.10e-01 -1.9 9.30e-01 1.00e+00h 1 6 2.0919493e+00 3.27e-04 5.32e-03 -3.8 5.17e-02 -2.4 9.97e-01 9.64e-01h 1 7 2.0909168e+00 3.62e-06 1.48e-04 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909113e+00 9.61e-09 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908980e+00 6.87e-09 2.06e-05 -4.0 1.35e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908582e+00 6.20e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907387e+00 5.59e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903812e+00 5.06e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0893155e+00 4.62e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861831e+00 4.34e-04 1.81e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796295e+00 2.53e-03 8.62e-02 -4.0 8.73e+01 -6.7 1.00e+00 7.59e-01h 1 16 2.0811896e+00 1.34e-04 1.74e-01 -4.0 7.37e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778032e+00 6.11e-03 2.59e-02 -4.0 1.14e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0772527e+00 3.54e-03 3.68e-02 -4.0 1.92e+02 -8.1 9.82e-01 4.59e-01h 1 19 2.0773764e+00 2.06e-02 3.91e-02 -3.7 3.44e+02 -8.6 1.00e+00 7.86e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0760908e+00 1.63e-02 4.39e-02 -3.9 5.22e+02 -9.1 1.00e+00 1.00e+00h 1 21 2.0757841e+00 1.14e-02 1.27e-02 -4.0 1.47e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756763e+00 7.91e-04 5.53e-04 -4.0 7.32e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 4.67e-06 1.08e-05 -4.0 2.39e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 7.55e-08 1.57e-06 -4.0 1.54e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.63e-09 1.54e-07 -4.0 5.25e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.88e-11 3.08e-09 -4.0 9.24e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122080474e+00 2.0756712122080474e+00 Dual infeasibility......: 3.0799685639361016e-09 3.0799685639361016e-09 Constraint violation....: 7.8817397053398963e-11 7.8817397053398963e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000049e-04 1.0000000000000049e-04 Overall NLP error.......: 3.0799685639361016e-09 3.0799685639361016e-09 Number of objective function evaluations = 28 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 26 Total seconds in IPOPT = 29.989 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: 0.043s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.045s) linear index maps built (0.0s) evaluator ready (total: 0.105s) evaluator created (0.105s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.137s) optimizer initialization complete (total: 0.243s) 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 2.8459044e+00 2.43e+00 6.37e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.2819020e+00 3.22e-01 3.14e+00 -0.8 1.88e+00 0.0 7.65e-01 8.67e-01f 1 2 2.8259160e+00 3.18e-02 1.17e+00 -0.8 2.74e-01 0.4 9.21e-01 9.49e-01h 1 3 2.8190853e+00 4.13e-03 4.22e-01 -1.0 1.83e-01 -0.1 8.69e-01 1.00e+00f 1 4 2.5483912e+00 3.63e-02 7.11e-01 -1.7 7.53e-01 -0.5 5.93e-01 4.13e-01f 1 5 2.3870247e+00 3.35e-03 1.26e-01 -1.6 8.58e-02 -0.1 9.69e-01 1.00e+00f 1 6 2.1850972e+00 2.19e-03 1.97e-01 -2.6 8.64e-02 -0.6 9.99e-01 7.25e-01f 1 7 2.1114650e+00 1.23e-03 7.61e-02 -3.7 1.11e-01 -1.1 1.00e+00 9.63e-01h 1 8 2.1007302e+00 5.20e-04 2.53e-01 -4.0 3.14e-01 -1.5 1.00e+00 5.96e-01h 1 9 2.0927761e+00 7.34e-04 2.96e-01 -4.0 9.07e-01 -2.0 1.00e+00 3.69e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0911468e+00 7.29e-04 2.67e-01 -4.0 3.38e+01 -2.5 6.46e-03 4.67e-03h 1 11 2.0909790e+00 7.06e-04 9.74e-01 -4.0 6.93e-02 -1.2 1.00e+00 3.17e-02h 1 12 2.0908634e+00 1.52e-05 1.66e-01 -4.0 1.06e-01 -1.6 1.00e+00 1.00e+00h 1 13 2.0908311e+00 2.80e-07 1.16e-03 -4.0 5.91e-03 -2.1 1.00e+00 1.00e+00h 1 14 2.0908664e+00 1.80e-07 3.49e-05 -4.0 8.03e-03 -2.6 1.00e+00 1.00e+00h 1 15 2.0908639e+00 2.71e-09 2.06e-05 -4.0 2.40e-02 -3.1 1.00e+00 1.00e+00h 1 16 2.0908568e+00 1.97e-09 2.06e-05 -4.0 7.21e-02 -3.5 1.00e+00 1.00e+00h 1 17 2.0908356e+00 1.78e-08 2.06e-05 -4.0 2.16e-01 -4.0 1.00e+00 1.00e+00h 1 18 2.0907718e+00 1.60e-07 2.06e-05 -4.0 6.49e-01 -4.5 1.00e+00 1.00e+00h 1 19 2.0905806e+00 1.44e-06 2.05e-05 -4.0 1.94e+00 -5.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0900092e+00 1.31e-05 5.79e-05 -4.0 5.81e+00 -5.5 1.00e+00 1.00e+00h 1 21 2.0883130e+00 1.21e-04 5.16e-04 -4.0 1.72e+01 -5.9 1.00e+00 1.00e+00h 1 22 2.0833993e+00 1.16e-03 4.82e-03 -4.0 4.99e+01 -6.4 1.00e+00 1.00e+00h 1 23 2.0796335e+00 1.73e-03 2.66e-01 -4.0 1.14e+02 -6.9 1.00e+00 3.28e-01h 1 24 2.0790272e+00 7.46e-03 1.96e-01 -4.1 6.27e+01 -7.4 1.00e+00 7.11e-01h 1 25 2.0778663e+00 1.73e-02 5.87e-02 -3.8 1.28e+02 -7.8 1.00e+00 1.00e+00h 1 26 2.0764670e+00 1.75e-02 2.76e-02 -4.0 2.20e+02 -8.3 1.00e+00 1.00e+00h 1 27 2.0760137e+00 1.39e-03 2.49e-02 -4.0 3.64e+02 -8.8 1.00e+00 1.00e+00h 1 28 2.0755141e+00 1.37e-03 3.04e-02 -4.0 3.57e+02 -9.3 1.00e+00 6.61e-01h 1 29 2.0757199e+00 1.22e-03 6.49e-03 -4.0 1.16e+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 30 2.0756730e+00 4.32e-05 7.26e-05 -4.0 2.39e+01 -10.2 1.00e+00 1.00e+00h 1 31 2.0756713e+00 3.24e-07 2.86e-06 -4.0 1.93e+01 -10.7 1.00e+00 1.00e+00h 1 32 2.0756713e+00 1.54e-08 6.60e-07 -4.0 1.05e+01 -11.2 1.00e+00 1.00e+00h 1 33 2.0756713e+00 1.03e-09 4.02e-08 -4.0 3.33e+00 -11.7 1.00e+00 1.00e+00h 1 34 2.0756713e+00 1.09e-11 4.86e-10 -4.0 3.91e-01 -12.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 34 (scaled) (unscaled) Objective...............: 2.0756712527275889e+00 2.0756712527275889e+00 Dual infeasibility......: 4.8569818376616516e-10 4.8569818376616516e-10 Constraint violation....: 1.0860756738395594e-11 1.0860756738395594e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000019e-04 1.0000000000000019e-04 Overall NLP error.......: 4.8569818376616516e-10 4.8569818376616516e-10 Number of objective function evaluations = 35 Number of objective gradient evaluations = 35 Number of equality constraint evaluations = 35 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 35 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 34 Total seconds in IPOPT = 31.710 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: 0.036s 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 (0.037s) linear index maps built (0.0s) evaluator ready (total: 0.104s) evaluator created (0.104s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.105s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 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 1.0919467e+00 4.03e+00 4.08e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7959488e+00 3.27e-02 3.76e-01 -1.0 2.15e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.2922630e+00 9.51e-02 2.26e-01 -1.8 1.49e+00 -2.5 9.57e-01 1.00e+00h 1 3 2.1412494e+00 5.55e-02 1.34e-01 -2.3 1.82e+00 -3.0 9.67e-01 9.64e-01h 1 4 2.1007462e+00 8.56e-04 5.66e-03 -3.0 1.66e-01 -3.4 9.86e-01 1.00e+00h 1 5 2.0908201e+00 1.49e-04 5.12e-04 -4.0 1.35e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0907627e+00 4.50e-06 6.39e-05 -4.0 5.00e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0906154e+00 8.63e-07 2.05e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0901745e+00 7.78e-06 3.44e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0888626e+00 7.13e-05 3.07e-04 -4.0 1.33e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0850274e+00 6.75e-04 2.80e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0796403e+00 2.08e-03 1.77e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.33e-01h 1 12 2.0801981e+00 5.73e-04 1.89e-01 -4.0 6.93e+01 -7.2 1.00e+00 9.59e-01H 1 13 2.0775019e+00 8.24e-03 1.89e-02 -4.0 1.23e+02 -7.7 1.00e+00 9.41e-01h 1 14 2.0768033e+00 1.76e-03 6.53e-02 -4.0 2.02e+02 -8.2 1.00e+00 9.14e-01h 1 15 2.0762120e+00 1.88e-03 3.54e-02 -4.0 3.59e+02 -8.7 1.00e+00 7.83e-01h 1 16 2.0755065e+00 1.80e-03 3.95e-02 -4.0 6.28e+02 -9.2 1.00e+00 6.84e-01h 1 17 2.0757897e+00 3.36e-03 1.49e-02 -4.0 1.74e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0753855e+00 1.24e-03 6.33e-04 -4.1 9.04e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0756722e+00 4.53e-04 5.41e-06 -4.0 2.09e+01 -10.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0756712e+00 5.54e-07 9.43e-07 -4.0 1.11e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0756712e+00 1.73e-09 6.40e-08 -4.0 3.93e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0756712e+00 2.55e-11 1.02e-09 -4.0 5.71e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0756712121335692e+00 2.0756712121335692e+00 Dual infeasibility......: 1.0242553483152689e-09 1.0242553483152689e-09 Constraint violation....: 2.5507929102275284e-11 2.5507929102275284e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000042e-04 1.0000000000000042e-04 Overall NLP error.......: 1.0242553483152689e-09 1.0242553483152689e-09 Number of objective function evaluations = 24 Number of objective gradient evaluations = 23 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 23 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 22 Total seconds in IPOPT = 34.024 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.068s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.068s) integrator 1 hessian structure: 0.052s 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: 0.121s) 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: 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: 0.122s) 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 4.5632556e+00 2.08e+00 1.94e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.1933603e+00 1.95e+00 5.98e+00 -1.5 1.99e+01 -2.0 8.07e-02 3.66e-01h 1 2 2.8441181e+00 4.85e+00 1.30e+03 -1.5 7.47e+01 -2.5 6.17e-03 6.55e-01f 1 3 2.7337279e+00 8.55e-01 2.95e+02 -1.4 1.94e+01 -3.0 7.67e-01 1.00e+00f 1 4 2.7127278e+00 5.98e-01 2.07e+02 -1.3 9.88e-01 -0.7 1.00e+00 3.03e-01h 1 5 2.7530968e+00 3.46e-01 1.23e+02 -0.4 3.67e+00 -1.2 9.95e-01 4.27e-01f 1 6 2.6923003e+00 9.81e-02 3.40e+01 -1.0 1.28e+00 -1.7 1.00e+00 7.30e-01h 1 7 2.6753728e+00 1.93e-02 2.56e+00 -1.4 2.80e+00 -2.2 1.00e+00 1.00e+00f 1 8 2.5872712e+00 5.41e-02 2.19e-01 -1.9 2.22e+00 -2.6 1.00e+00 1.00e+00h 1 9 2.4458875e+00 9.15e-02 5.20e-02 -2.2 4.92e+00 -3.1 9.53e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.3277646e+00 1.63e-01 1.24e-01 -2.3 9.26e+00 -3.6 7.68e-01 9.94e-01h 1 11 2.3258101e+00 4.07e-01 9.75e-01 -2.1 1.82e+01 -4.1 4.07e-01 1.00e+00h 1 12 2.3083770e+00 2.45e-01 3.97e-01 -2.2 1.16e+00 -2.7 8.84e-01 4.06e-01h 1 13 2.2815550e+00 1.42e-02 4.38e-01 -2.6 2.94e+00 -3.2 8.78e-01 9.99e-01h 1 14 2.2666730e+00 1.06e-02 3.45e-01 -2.8 5.67e+00 -3.7 1.00e+00 3.43e-01h 1 15 2.2212829e+00 8.94e-02 1.71e-01 -3.4 9.18e+00 -4.2 1.00e+00 1.00e+00h 1 16 2.1765970e+00 1.29e-01 8.84e-02 -4.0 1.57e+01 -4.6 1.00e+00 1.00e+00h 1 17 2.1411164e+00 1.73e-01 1.08e-01 -4.0 2.41e+01 -5.1 1.00e+00 1.00e+00h 1 18 2.1125560e+00 2.27e-01 1.12e-01 -4.0 3.58e+01 -5.6 1.00e+00 1.00e+00h 1 19 2.0940136e+00 2.63e-01 1.36e-01 -3.4 4.85e+01 -6.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.1008176e+00 2.84e-01 4.79e-01 -3.1 7.57e+01 -6.5 1.00e+00 1.00e+00h 1 21 2.0848967e+00 4.18e-01 1.20e-01 -3.7 1.25e+02 -7.0 1.00e+00 1.00e+00h 1 22 2.0865471e+00 8.02e-02 9.51e-02 -3.1 4.84e+01 -7.5 1.00e+00 1.00e+00h 1 23 2.0774483e+00 1.00e-01 1.90e-02 -4.0 1.01e+02 -8.0 1.00e+00 1.00e+00h 1 24 2.0772168e+00 6.48e-03 8.55e-03 -4.0 2.11e+02 -8.5 1.00e+00 1.00e+00h 1 25 2.0762055e+00 5.04e-03 1.15e-02 -4.0 5.34e+02 -8.9 1.00e+00 1.00e+00h 1 26 2.0762550e+00 1.83e-03 9.72e-03 -4.0 1.12e+02 -9.4 1.00e+00 1.00e+00h 1 27 2.0762375e+00 2.52e-04 4.90e-04 -4.0 6.65e+01 -9.9 1.00e+00 1.00e+00h 1 28 2.0762306e+00 1.23e-05 5.93e-05 -4.0 9.15e+01 -10.4 1.00e+00 1.00e+00h 1 29 2.0762298e+00 1.11e-06 3.60e-05 -4.0 7.06e+01 -10.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0762295e+00 2.26e-07 3.39e-06 -4.0 2.13e+01 -11.3 1.00e+00 1.00e+00h 1 31 2.0762295e+00 2.68e-09 3.91e-08 -4.0 2.27e+00 -11.8 1.00e+00 1.00e+00h 1 32 2.0762295e+00 2.62e-12 5.29e-11 -4.0 8.45e-02 -12.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 32 (scaled) (unscaled) Objective...............: 2.0762294896953812e+00 2.0762294896953812e+00 Dual infeasibility......: 5.2874651542984125e-11 5.2874651542984125e-11 Constraint violation....: 2.6245672302138701e-12 2.6245672302138701e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000057e-04 1.0000000000000057e-04 Overall NLP error.......: 5.2874651542984125e-11 5.2874651542984125e-11 Number of objective function evaluations = 33 Number of objective gradient evaluations = 33 Number of equality constraint evaluations = 33 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 33 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 32 Total seconds in IPOPT = 32.459 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.068s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.068s) integrator 1 hessian structure: 0.046s 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: 0.116s) evaluator created (0.116s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: bounds on Δt applying constraint: per-timestep equality constraint on trajectory variable u linear constraints added: 3 (0.05s) optimizer initialization complete (total: 0.167s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1264 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1113 Total number of variables............................: 86 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.3931721e+00 1.74e+00 5.23e-02 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 6.9029418e+00 7.10e-01 1.34e+01 -0.8 1.88e+01 - 1.00e+00 7.50e-01h 1 2 6.7782978e+00 8.63e-01 1.63e+02 -0.1 4.53e+01 -2.0 2.61e-01 1.14e-01f 2 3 6.4039550e+00 4.11e-01 3.05e+02 0.2 8.57e+00 -0.7 1.00e+00 3.52e-01h 1 4 6.3937269e+00 4.08e-01 4.04e+02 0.1 9.38e+02 - 3.46e-01 6.15e-03h 1 5 7.8370755e+00 5.97e-01 5.30e+02 -0.0 1.02e+03 - 1.00e+00 1.35e-01f 2 6 9.3772432e+00 6.56e-01 4.79e+03 -0.0 8.90e+02 - 6.48e-01 4.81e-02h 3 7 1.2468703e+01 7.33e-01 6.10e+03 -0.0 8.21e+02 - 1.00e+00 7.43e-02h 3 8 2.8180810e+01 1.22e+00 3.24e+03 -0.5 7.60e+02 - 1.00e+00 2.72e-01h 2 9 1.2699093e+02 1.65e+00 1.71e+04 -4.0 5.26e+02 - 3.53e-01 9.60e-01H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.2648075e+02 1.27e+00 2.42e+04 0.9 2.18e+01 -1.1 1.00e+00 2.34e-01f 2 11 1.2268468e+02 1.79e-01 2.05e+04 0.3 1.61e+02 - 4.05e-01 1.00e+00f 1 12 2.8689023e+01 4.74e+00 4.63e+03 -0.3 6.68e+02 - 1.00e+00 1.00e+00f 1 13 3.1785559e+01 2.05e+00 1.42e+03 -0.4 2.05e+02 - 4.90e-01 1.00e+00h 1 14 2.7312665e+01 2.15e-01 3.19e+02 -0.6 2.26e+01 -1.6 1.00e+00 1.00e+00f 1 15 2.7551502e+01 1.63e-02 1.36e+02 -1.5 9.94e+00 -2.1 1.00e+00 1.00e+00h 1 16 2.2967462e+01 5.39e+00 6.57e+02 0.1 5.40e+03 - 1.00e+00 4.05e-02f 4 17 8.3715219e+00 2.60e+00 2.03e+03 -0.1 1.12e+02 -1.7 1.00e+00 4.23e-01f 1 18 1.1841828e+01 1.51e+00 1.76e+03 -0.1 9.15e+02 - 3.18e-01 2.50e-01h 3 19 1.6443922e+01 6.76e-01 5.81e+02 0.2 5.67e+01 -2.2 1.00e+00 5.00e-01h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.4773691e+01 7.00e-01 4.41e+02 -0.3 5.88e+01 -2.6 1.00e+00 1.00e+00h 1 21 9.3294909e+00 2.16e+00 2.75e+02 -1.2 1.37e+02 -3.1 1.00e+00 5.00e-01f 2 22 8.1943363e+00 3.87e-01 1.68e+02 -0.9 5.43e+01 -1.8 1.00e+00 4.36e-01f 2 23 6.8716593e+00 3.08e-01 6.25e+01 -1.3 2.95e+01 - 1.00e+00 1.00e+00f 1 24 6.9402321e+00 5.58e-02 9.17e+00 -2.2 1.68e+00 -1.4 1.00e+00 1.00e+00h 1 25 5.6340523e+00 1.18e+00 9.05e+00 -1.6 1.20e+02 - 1.00e+00 2.50e-01f 3 26 5.3978454e+00 9.71e-01 5.99e+01 -1.7 9.23e+00 -0.9 9.99e-01 5.03e-01h 1 27 5.3786881e+00 1.31e-01 3.63e+01 -1.5 1.74e+01 -1.4 1.00e+00 5.00e-01f 2 28 5.8037985e+00 1.95e-01 1.87e+01 -0.6 1.58e+01 - 1.00e+00 5.00e-01h 2 29 5.5000099e+00 1.37e-01 4.98e+00 -1.2 5.09e+00 -1.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 5.1118600e+00 3.21e-01 1.11e+00 -1.3 5.66e+00 - 9.88e-01 1.00e+00h 1 31 5.6154304e+00 2.47e-01 3.10e+00 -2.5 1.64e+00 - 9.99e-01 1.00e+00h 1 32 5.1320742e+00 3.65e-01 3.10e+00 -2.5 3.17e+00 -0.6 2.44e-01 4.89e-01h 1 33 5.0297808e+00 2.70e-01 1.51e+01 -1.3 1.78e+02 - 5.20e-01 6.53e-02f 2 34 5.1301755e+00 2.57e-01 1.91e+01 -1.1 9.74e+01 - 1.00e+00 6.76e-02h 4 35 5.7529206e+00 1.14e-01 2.40e+01 -4.0 5.91e+01 - 3.17e-01 2.50e-01h 3 36 5.3434208e+00 7.00e-01 1.02e+01 -1.4 5.08e+01 - 9.61e-01 5.00e-01h 2 37 5.7823556e+00 3.73e-01 1.09e+01 -1.4 8.10e+00 - 7.86e-01 1.00e+00h 1 38 5.7075032e+00 1.19e-02 2.19e+00 -1.4 3.97e-01 -1.0 1.00e+00 1.00e+00h 1 39 5.2617561e+00 4.26e-01 5.44e-01 -1.4 1.84e+01 - 9.50e-01 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 5.4950568e+00 2.57e-01 2.54e+00 -2.4 2.54e+00 - 9.90e-01 1.00e+00h 1 41 5.3823506e+00 2.40e-02 6.85e-01 -2.4 4.18e-01 -0.6 1.00e+00 1.00e+00h 1 42 5.3922200e+00 3.98e-02 5.84e-02 -2.9 8.80e-01 - 9.99e-01 1.00e+00h 1 43 5.4133471e+00 1.43e-03 2.65e-02 -4.0 1.60e-01 - 1.00e+00 1.00e+00h 1 44 5.4151868e+00 5.19e-05 2.91e-04 -4.0 2.92e-02 - 1.00e+00 1.00e+00h 1 45 5.4152255e+00 8.42e-09 3.63e-08 -4.0 2.36e-04 - 1.00e+00 1.00e+00h 1 46 5.4152255e+00 3.89e-16 1.34e-15 -4.0 5.04e-08 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 46 (scaled) (unscaled) Objective...............: 5.4152254810347245e+00 5.4152254810347245e+00 Dual infeasibility......: 1.3399654649748349e-15 1.3399654649748349e-15 Constraint violation....: 3.8857805861880479e-16 3.8857805861880479e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000003e-04 1.0000000000000003e-04 Overall NLP error.......: 1.3399654649748349e-15 1.3399654649748349e-15 Number of objective function evaluations = 109 Number of objective gradient evaluations = 47 Number of equality constraint evaluations = 109 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 47 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 46 Total seconds in IPOPT = 33.426 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.068s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.068s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.119s) evaluator created (0.119s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.119s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.6606858e+00 2.34e+00 4.53e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.9574060e+00 4.91e-01 1.53e+00 -0.8 1.90e+00 0.0 1.00e+00 7.90e-01f 1 2 2.2689415e+00 1.25e-01 3.46e+00 -0.6 4.63e-01 0.4 1.00e+00 7.46e-01h 1 3 2.4455605e+00 1.20e-02 1.22e+00 -1.8 2.67e-01 -0.1 7.76e-01 1.00e+00h 1 4 3.6551540e+00 2.49e-01 5.20e+00 0.8 2.02e+01 -0.5 2.72e-02 3.22e-02f 1 5 3.2324821e+00 4.91e-02 1.47e+00 -0.8 2.24e-01 -0.1 5.48e-01 1.00e+00f 1 6 2.5326564e+00 1.28e-01 1.22e+00 -1.5 7.99e-01 -0.6 6.25e-01 9.60e-01f 1 7 2.4641144e+00 2.34e-02 6.36e-01 -1.5 3.84e-01 -1.1 7.86e-01 1.00e+00h 1 8 2.3486673e+00 2.83e-02 3.63e-01 -1.5 4.05e-01 -1.5 1.00e+00 5.31e-01h 1 9 2.1332958e+00 1.03e-02 9.19e-02 -2.4 3.43e-01 -2.0 9.90e-01 9.57e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0942606e+00 4.15e-04 3.86e-03 -3.5 6.99e-02 -2.5 9.93e-01 1.00e+00h 1 11 2.0908890e+00 1.35e-05 1.39e-04 -4.0 2.02e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0908805e+00 4.46e-08 2.06e-05 -4.0 5.70e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908637e+00 1.10e-08 2.06e-05 -4.0 1.71e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0908133e+00 9.95e-08 2.06e-05 -4.0 5.13e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0906622e+00 8.97e-07 2.06e-05 -4.0 1.54e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0902101e+00 8.12e-06 3.62e-05 -4.0 4.60e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0888652e+00 7.45e-05 3.23e-04 -4.0 1.37e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0849359e+00 7.06e-04 2.94e-03 -4.0 3.99e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0796294e+00 2.07e-03 1.86e-01 -4.0 1.04e+02 -6.8 1.00e+00 5.15e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0801630e+00 4.26e-04 1.79e-01 -4.0 6.59e+01 -7.3 1.00e+00 9.70e-01H 1 21 2.0773816e+00 8.52e-03 1.81e-02 -4.0 1.25e+02 -7.7 1.00e+00 9.62e-01h 1 22 2.0770389e+00 1.66e-03 7.39e-02 -4.0 2.09e+02 -8.2 1.00e+00 1.00e+00h 1 23 2.0760751e+00 4.76e-03 2.09e-02 -4.0 3.51e+02 -8.7 1.00e+00 9.17e-01h 1 24 2.0768338e+00 2.59e-02 2.44e-02 -3.7 3.14e+02 -9.2 1.00e+00 1.00e+00h 1 25 2.0764411e+00 8.28e-03 4.33e-03 -3.8 1.25e+02 -9.6 1.00e+00 1.00e+00h 1 26 2.0764170e+00 1.68e-04 1.17e-04 -3.8 2.83e+01 -10.1 1.00e+00 1.00e+00h 1 27 2.0756775e+00 1.64e-03 9.23e-06 -4.0 2.98e+01 -10.6 1.00e+00 1.00e+00h 1 28 2.0756712e+00 6.05e-06 1.37e-06 -4.0 2.12e+01 -11.1 1.00e+00 1.00e+00h 1 29 2.0756712e+00 3.52e-09 1.44e-07 -4.0 4.80e+00 -11.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0756712e+00 4.29e-11 1.60e-09 -4.0 6.51e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 2.0756712121476273e+00 2.0756712121476273e+00 Dual infeasibility......: 1.5951092206529897e-09 1.5951092206529897e-09 Constraint violation....: 4.2892023266460910e-11 4.2892023266460910e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000048e-04 1.0000000000000048e-04 Overall NLP error.......: 1.5951092206529897e-09 1.5951092206529897e-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 = 30.983 EXIT: Optimal Solution Found. ┌ Warning: Constraint jacobian product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:394 ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 ====================================================================================== Information request received. A stacktrace will print followed by a 1.0 second profile. --trace-compile is enabled during profile collection. ====================================================================================== cmd: /opt/julia/bin/julia 19 running 1 of 1 signal (10): User defined signal 1 gc_mark_obj8 at /source/src/gc-stock.c:1734:13 [inlined] gc_mark_outrefs at /source/src/gc-stock.c:2504:23 [inlined] gc_mark_and_steal at /source/src/gc-stock.c:2586:9 _jl_gc_collect at /source/src/gc-stock.c:3106:13 ijl_gc_collect at /source/src/gc-stock.c:3531:13 maybe_collect at /source/src/gc-stock.c:357:9 [inlined] jl_gc_small_alloc_inner at /source/src/gc-stock.c:734:5 ijl_gc_small_alloc at /source/src/gc-stock.c:783:23 KnotPoint at /home/pkgeval/.julia/packages/NamedTrajectories/V6fcV/src/base_named_trajectory.jl:91:27 getindex at /home/pkgeval/.julia/packages/NamedTrajectories/V6fcV/src/base_named_trajectory.jl:99:2 [inlined] maybeview at ./views.jl:235:4 [inlined] evaluate! at /home/pkgeval/.julia/packages/DirectTrajOpt/bnQ8f/src/constraints/nonlinear/global_knot_point_constraint.jl:158:35 unknown function (ip: 0x7c8fa6325eb8) at (unknown file) _jl_invoke at /source/src/gf.c:4125:23 [inlined] ijl_apply_generic at /source/src/gf.c:4351:12 #4 at /home/pkgeval/.julia/packages/DirectTrajOpt/bnQ8f/src/constraints/_constraints.jl:172:32 #6 at /home/pkgeval/.julia/packages/DirectTrajOpt/bnQ8f/src/constraints/_constraints.jl:213:6 [inlined] #finite_difference_hessian!#35 at /home/pkgeval/.julia/packages/FiniteDiff/hMV7l/src/hessians.jl:268:272 unknown function (ip: 0x7c8fa6341c06) at (unknown file) _jl_invoke at /source/src/gf.c:4125:23 [inlined] ijl_apply_generic at /source/src/gf.c:4351:12 finite_difference_hessian! at /home/pkgeval/.julia/packages/FiniteDiff/hMV7l/src/hessians.jl:202:29 #finite_difference_hessian#33 at /home/pkgeval/.julia/packages/FiniteDiff/hMV7l/src/hessians.jl:165:9 finite_difference_hessian at /home/pkgeval/.julia/packages/FiniteDiff/hMV7l/src/hessians.jl:159:29 [inlined] #finite_difference_hessian#32 at /home/pkgeval/.julia/packages/FiniteDiff/hMV7l/src/hessians.jl:146:9 [inlined] finite_difference_hessian at /home/pkgeval/.julia/packages/FiniteDiff/hMV7l/src/hessians.jl:140:9 [inlined] finite_difference_hessian at /home/pkgeval/.julia/packages/FiniteDiff/hMV7l/src/hessians.jl:140:5 unknown function (ip: 0x7c9002d60b5a) at (unknown file) _jl_invoke at /source/src/gf.c:4125:23 [inlined] ijl_apply_generic at /source/src/gf.c:4351:12 #test_constraint#1 at /home/pkgeval/.julia/packages/DirectTrajOpt/bnQ8f/src/constraints/_constraints.jl:212:228 test_constraint at /home/pkgeval/.julia/packages/DirectTrajOpt/bnQ8f/src/constraints/_constraints.jl:150:45 unknown function (ip: 0x7c8fa6308de8) 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: 0x7c902b5d7c46) 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: 0x7c902b5d77fe) 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: 0x7c902b51b9d2) 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: 0x7c9041a3b249) 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 ============================================================== Difference in Hessian ====================================================================================== Information request received. A stacktrace will print followed by a 1.0 second profile. --trace-compile is enabled during profile collection. ====================================================================================== cmd: /opt/julia/bin/julia 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 0x00007df17f695a50 Total snapshots: 472. Utilization: 0% ╎472 @Base/task.jl:1168 wait_forever() 471╎ 472 @Base/task.jl:1246 wait() [19] signal 15: Terminated in expression starting at /home/pkgeval/.julia/packages/DirectTrajOpt/bnQ8f/src/objectives/regularizers.jl:338 PkgEval terminated after 2723.62s: test duration exceeded the time limit