Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.2186 (48ff18f4cd*) started at 2026-05-14T23:27:57.906 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 14.76s ################################################################################ # 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 v7.25.0 [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 v7.5.0 [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 v1.3.4 [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 v3.11.0 [19f34311] + SciMLJacobianOperators v0.1.13 ⌅ [a6db7da4] + SciMLLogging v1.10.1 [c0aeaf25] + SciMLOperators v1.21.0 [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+1 [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 v1.13.0 [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 6.31s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling project... 27.9 s ✓ DirectTrajOpt 28.8 s ✓ DirectTrajOpt → MadNLPSolverExt 2 dependencies successfully precompiled in 70 seconds. 217 already precompiled. Precompilation completed after 84.0s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_C1BwGE/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 v3.11.0 [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_C1BwGE/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 v7.25.0 [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 v7.5.0 [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 v1.3.4 [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 v3.11.0 [19f34311] SciMLJacobianOperators v0.1.13 ⌅ [a6db7da4] SciMLLogging v1.10.1 [c0aeaf25] SciMLOperators v1.21.0 [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+1 [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 v1.13.0 [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: 1.898s integrator 2 jacobian structure: 0.055s integrator 3 jacobian structure: 0.0s jacobian structure: 1872 nonzeros (1.986s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.048s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 2.215s sub-objective 2 (QuadraticRegularizer): 1.803s sub-objective 3 (LinearRegularizer): 0.073s sub-objective 4 (MinimumTimeObjective): 0.015s objective hessian structure: 4.197s hessian structure: 2431 nonzeros (4.296s) linear index maps built (0.0s) evaluator ready (total: 6.695s) evaluator created (10.926s) NL constraint bounds extracted (0.09s) NLP block data built (0.0s) Ipopt optimizer configured (0.362s) variables set (0.966s) 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 (3.552s) optimizer initialization complete (total: 15.989s) ****************************************************************************** This program contains Ipopt, a library for large-scale nonlinear optimization. Ipopt is released as open source code under the Eclipse Public License (EPL). For more information visit https://github.com/coin-or/Ipopt ****************************************************************************** This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1808 Number of nonzeros in inequality constraint Jacobian.: 80 Number of nonzeros in Lagrangian Hessian.............: 2239 Total number of variables............................: 122 variables with only lower bounds: 30 variables with lower and upper bounds: 0 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 40 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 40 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.2488243e+00 4.21e+00 1.07e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.6292578e+00 2.15e+00 3.45e+01 -0.8 1.74e+01 -2.0 4.09e-01 1.00e+00f 1 2 3.2577617e+00 1.74e+00 1.87e+01 -1.0 8.25e+00 -1.6 2.91e-01 4.43e-01f 1 3 2.8439138e+00 1.12e+00 7.80e+00 -0.7 9.97e+00 -2.1 4.25e-01 6.66e-01f 1 4 2.3874144e+00 1.28e-01 1.03e+00 -1.4 1.46e+00 -1.6 8.16e-01 9.06e-01h 1 5 2.1691669e+00 6.43e-02 2.45e-01 -2.3 1.08e+00 -2.1 8.00e-01 6.17e-01h 1 6 2.0420689e+00 2.87e-02 6.41e-02 -3.2 8.98e-01 -2.6 8.24e-01 7.73e-01h 1 7 2.0115066e+00 4.47e-03 4.03e-02 -3.1 4.75e-01 -3.1 8.99e-01 8.45e-01h 1 8 2.0011432e+00 3.83e-05 3.79e-03 -4.0 1.71e-01 -3.5 9.87e-01 1.00e+00h 1 9 2.0010627e+00 1.72e-06 2.58e-02 -4.0 6.74e-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 2.0010740e+00 2.64e-10 1.70e-02 -4.0 8.54e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0010131e+00 3.03e-10 3.59e-02 -4.0 1.80e+00 -5.0 1.00e+00 1.00e+00f 1 12 2.0011429e+00 1.14e-09 5.64e-02 -4.0 2.82e+00 -5.4 1.00e+00 1.00e+00f 1 13 2.0006565e+00 2.31e-08 5.32e-02 -4.2 3.26e+00 -5.9 1.00e+00 8.15e-01f 1 14 2.0013952e+00 2.48e-08 2.41e-01 -4.0 1.20e+01 -6.4 1.00e+00 1.00e+00f 1 15 2.0009290e+00 5.17e-08 1.13e-01 -4.1 9.82e+00 -6.9 9.98e-01 5.73e-01f 1 16 2.0012029e+00 6.44e-08 5.52e-01 -4.1 2.76e+01 -7.4 1.00e+00 1.00e+00f 1 17 2.0008937e+00 1.71e-07 7.47e-01 -4.1 3.90e+01 -7.8 9.13e-01 9.18e-01f 1 18 2.0013379e+00 8.45e-08 1.29e+00 -4.1 6.38e+01 -8.3 9.72e-01 1.00e+00f 1 19 2.0009743e+00 1.77e-07 1.78e+00 -4.1 1.00e+02 -8.8 9.22e-01 8.40e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0012833e+00 1.27e-07 3.46e+00 -4.1 1.70e+02 -9.3 9.65e-01 1.00e+00f 1 21 2.0009758e+00 1.41e-07 5.52e+00 -4.1 2.98e+02 -9.7 9.09e-01 8.84e-01f 1 22 2.0013117e+00 8.29e-08 9.81e+00 -4.1 4.72e+02 -10.2 9.31e-01 1.00e+00f 1 23 2.0009881e+00 5.20e-08 1.39e+01 -4.1 7.93e+02 -10.7 9.23e-01 8.27e-01f 1 24 2.0013068e+00 4.00e-08 2.83e+01 -4.1 1.36e+03 -11.2 9.25e-01 1.00e+00f 1 25 2.0009295e+00 3.10e-08 3.89e+01 -4.1 2.19e+03 -11.6 9.24e-01 8.40e-01f 1 26 2.0013663e+00 1.23e-08 8.00e+01 -4.1 3.82e+03 -12.1 9.09e-01 1.00e+00f 1 27 2.0008458e+00 1.70e-08 9.53e+01 -4.1 5.69e+03 -12.6 9.77e-01 8.21e-01f 1 28 2.0013757e+00 2.62e-09 2.02e+02 -4.1 9.84e+03 -13.1 9.47e-01 1.00e+00f 1 29 2.0006525e+00 1.25e-08 2.22e+02 -4.1 1.22e+04 -13.6 1.00e+00 9.11e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0012721e+00 1.56e-10 3.62e+02 -4.1 1.81e+04 -14.0 1.00e+00 1.00e+00f 1 31 2.0005690e+00 3.76e-09 2.66e+02 -4.1 1.33e+04 -14.5 1.00e+00 1.00e+00f 1 32 2.0012171e+00 1.07e-10 5.00e+02 -4.0 2.50e+04 -15.0 1.00e+00 1.00e+00f 1 33 2.0004140e+00 6.09e-10 2.16e+02 -4.1 1.08e+04 -15.5 1.00e+00 1.00e+00f 1 34 2.0009695e+00 3.66e-11 4.17e+02 -4.0 2.09e+04 -15.9 1.00e+00 1.00e+00f 1 35 2.0004934e+00 2.03e-11 2.27e+02 -4.1 1.13e+04 -16.4 1.00e+00 1.00e+00f 1 36 2.0006612e+00 7.10e-13 1.27e+02 -4.1 6.37e+03 -16.9 1.00e+00 1.00e+00f 1 37 2.0006080e+00 4.34e-13 5.54e+01 -4.1 2.77e+03 -17.4 1.00e+00 1.00e+00h 1 38 2.0006338e+00 7.65e-13 1.58e+01 -4.1 7.91e+02 -17.8 1.00e+00 1.00e+00h 1 39 2.0006248e+00 7.13e-13 9.67e+00 -4.1 4.83e+02 -18.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0006290e+00 1.13e-12 2.40e+00 -4.1 1.20e+02 -18.8 1.00e+00 1.00e+00h 1 41 2.0006275e+00 1.08e-12 1.62e+00 -4.1 8.08e+01 -19.3 1.00e+00 1.00e+00h 1 42 2.0006282e+00 1.69e-12 3.92e-01 -4.1 1.96e+01 -19.8 1.00e+00 1.00e+00h 1 43 2.0006280e+00 9.49e-13 2.69e-01 -4.1 1.35e+01 -20.0 1.00e+00 1.00e+00h 1 44 2.0006281e+00 4.94e-13 6.52e-02 -4.1 3.26e+00 -20.0 1.00e+00 1.00e+00h 1 45 2.0006280e+00 1.58e-13 4.49e-02 -4.1 2.25e+00 -20.0 1.00e+00 1.00e+00h 1 46 2.0006281e+00 8.22e-14 1.09e-02 -4.1 5.43e-01 -20.0 1.00e+00 1.00e+00h 1 47 2.0006281e+00 2.63e-14 7.48e-03 -4.1 3.74e-01 -20.0 1.00e+00 1.00e+00h 1 48 2.0006281e+00 1.37e-14 1.81e-03 -4.1 9.40e-02 -20.0 1.00e+00 1.00e+00h 1 49 2.0006281e+00 4.38e-15 1.25e-03 -4.1 9.40e-02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0006281e+00 2.28e-15 3.02e-04 -4.1 9.40e-02 -20.0 1.00e+00 1.00e+00h 1 51 2.0008526e+00 2.08e-09 5.60e+01 -4.0 2.80e+03 -20.0 1.00e+00 1.00e+00f 1 52 2.0005803e+00 5.23e-10 1.07e+02 -4.1 5.33e+03 -20.0 1.00e+00 1.00e+00h 1 53 2.0006538e+00 3.08e-10 5.93e+01 -4.1 2.96e+03 -20.0 1.00e+00 1.00e+00h 1 54 2.0006221e+00 1.36e-10 1.65e+01 -4.1 8.24e+02 -20.0 1.00e+00 1.00e+00h 1 55 2.0006339e+00 4.64e-11 9.34e+00 -4.1 4.67e+02 -20.0 1.00e+00 1.00e+00h 1 56 2.0006285e+00 2.31e-11 2.99e+00 -4.1 1.49e+02 -20.0 1.00e+00 1.00e+00h 1 57 2.0006305e+00 7.63e-12 1.54e+00 -4.1 7.72e+01 -20.0 1.00e+00 1.00e+00h 1 58 2.0006296e+00 3.87e-12 5.04e-01 -4.1 2.52e+01 -20.0 1.00e+00 1.00e+00h 1 59 2.0006299e+00 1.27e-12 2.57e-01 -4.1 1.28e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0006298e+00 6.44e-13 8.41e-02 -4.1 4.21e+00 -20.0 1.00e+00 1.00e+00h 1 61 2.0006298e+00 2.11e-13 4.28e-02 -4.1 2.14e+00 -20.0 1.00e+00 1.00e+00h 1 62 2.0006298e+00 1.07e-13 1.40e-02 -4.1 7.01e-01 -20.0 1.00e+00 1.00e+00h 1 63 2.0006298e+00 3.51e-14 7.13e-03 -4.1 3.57e-01 -20.0 1.00e+00 1.00e+00h 1 64 2.0006298e+00 1.78e-14 2.34e-03 -4.1 1.17e-01 -20.0 1.00e+00 1.00e+00h 1 65 2.0006298e+00 5.84e-15 1.19e-03 -4.1 9.48e-02 -20.0 1.00e+00 1.00e+00h 1 66 2.0006298e+00 2.97e-15 3.90e-04 -4.1 9.48e-02 -20.0 1.00e+00 1.00e+00h 1 67 1.9998548e+00 1.21e-08 2.25e+02 -6.1 1.13e+04 -20.0 1.00e+00 1.00e+00f 1 68 2.0006838e+00 3.07e-09 2.09e+03 -4.0 2.09e+05 -20.0 1.00e+00 5.00e-01f 2 69 2.0004215e+00 9.65e-11 2.30e+03 -3.9 1.15e+05 -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 2.0009591e+00 3.49e-09 5.55e+02 -3.9 2.78e+04 -20.0 1.00e+00 1.00e+00f 1 71 2.0010401e+00 3.04e-09 1.06e+02 -3.9 5.32e+03 -20.0 1.00e+00 1.00e+00h 1 72 2.0010525e+00 7.46e-10 2.71e+01 -3.9 1.36e+03 -20.0 1.00e+00 1.00e+00h 1 73 2.0010694e+00 5.74e-10 6.10e+00 -3.9 3.05e+02 -20.0 1.00e+00 1.00e+00h 1 74 2.0010712e+00 1.33e-10 4.72e+00 -3.9 2.36e+02 -20.0 1.00e+00 1.00e+00h 1 75 2.0010739e+00 9.79e-11 1.07e+00 -3.9 5.33e+01 -20.0 1.00e+00 1.00e+00h 1 76 2.0010742e+00 2.24e-11 7.85e-01 -3.9 3.92e+01 -20.0 1.00e+00 1.00e+00h 1 77 2.0010747e+00 1.64e-11 1.79e-01 -3.9 8.95e+00 -20.0 1.00e+00 1.00e+00h 1 78 2.0010747e+00 3.74e-12 1.31e-01 -3.9 6.54e+00 -20.0 1.00e+00 1.00e+00h 1 79 2.0010748e+00 2.72e-12 2.99e-02 -3.9 1.49e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0010748e+00 6.22e-13 2.18e-02 -3.9 1.09e+00 -20.0 1.00e+00 1.00e+00h 1 81 2.0010748e+00 4.53e-13 4.98e-03 -3.9 4.93e-01 -20.0 1.00e+00 1.00e+00h 1 82 2.0010748e+00 1.04e-13 3.63e-03 -3.9 4.93e-01 -20.0 1.00e+00 1.00e+00h 1 83 2.0010748e+00 7.55e-14 8.30e-04 -3.9 4.93e-01 -20.0 1.00e+00 1.00e+00h 1 84 1.9998649e+00 8.66e-08 2.43e+02 -5.9 1.22e+04 -20.0 1.00e+00 1.00e+00f 1 85 1.9998453e+00 3.09e-13 2.18e+02 -5.9 1.17e+04 -20.0 9.30e-01 1.00e+00h 1 86 1.8268034e+00 2.01e-13 1.94e+06 -5.9 9.72e+07 -20.0 1.81e-03 1.00e+00f 1 87 1.8120362e+00 5.21e-13 2.05e+03 -5.5 1.35e+08 -20.0 1.00e+00 7.59e-04f 1 88 1.9418482e+00 5.21e-13 1.31e+06 -4.0 9.40e+10 -20.0 1.00e+00 6.95e-04f 1 89 1.9999579e+00 5.18e-13 6.45e+05 -3.2 6.37e+09 -20.0 1.00e+00 5.06e-03f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 1.9999072e+00 1.91e-11 1.64e+03 -3.2 8.19e+04 -20.0 1.00e+00 1.00e+00f 1 91 2.0292087e+00 5.65e-06 5.13e+01 -3.2 2.57e+03 -20.0 1.00e+00 1.00e+00f 1 92 2.0103641e+00 1.32e-03 8.57e+02 -3.2 8.57e+04 -20.0 1.00e+00 5.00e-01f 2 93 2.0086381e+00 2.54e-04 1.44e+02 -3.2 7.19e+03 -20.0 1.00e+00 1.00e+00h 1 94 2.0061634e+00 1.45e-05 1.42e+02 -3.2 7.10e+03 -20.0 1.00e+00 1.00e+00h 1 95 2.0064814e+00 2.66e-06 1.62e+02 -3.2 8.08e+03 -20.0 1.00e+00 1.00e+00h 1 96 2.0059368e+00 4.12e-06 3.24e+01 -3.2 1.62e+03 -20.0 1.00e+00 1.00e+00h 1 97 2.0059963e+00 2.80e-07 3.34e+01 -3.2 1.67e+03 -20.0 1.00e+00 1.00e+00h 1 98 2.0058929e+00 6.60e-07 2.98e+00 -3.2 1.49e+02 -20.0 1.00e+00 1.00e+00h 1 99 2.0059029e+00 4.36e-08 5.77e+00 -3.2 2.88e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0058853e+00 1.08e-07 4.56e-01 -3.2 8.66e+01 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0058853190264649e+00 2.0058853190264649e+00 Dual infeasibility......: 4.5571152652382807e-01 4.5571152652382807e-01 Constraint violation....: 1.0833472137148953e-07 1.0833472137148953e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 6.0514882977517794e-04 6.0514882977517794e-04 Overall NLP error.......: 4.5571152652382807e-01 4.5571152652382807e-01 Number of objective function evaluations = 107 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 107 Number of inequality constraint evaluations = 107 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 64.801 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: 0.057s integrator 2 jacobian structure: 0.053s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.111s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.048s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.33s sub-objective 2 (QuadraticRegularizer): 0.087s sub-objective 3 (QuadraticRegularizer): 0.0s objective hessian structure: 0.507s hessian structure: 1749 nonzeros (0.606s) linear index maps built (0.0s) evaluator ready (total: 0.716s) evaluator created (0.717s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.118s) applying constraint: duration constraint of 4.0 applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (3.092s) optimizer initialization complete (total: 3.927s) 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 3.5292107e+00 3.37e+00 4.27e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7987063e+00 2.48e+00 5.50e+00 -0.9 1.19e+01 -2.0 1.11e-01 3.95e-01f 1 2 2.4509138e+00 1.89e+00 1.04e+01 -0.1 5.88e+00 -0.7 5.77e-01 2.37e-01h 1 3 2.0998423e+00 1.05e+00 9.64e+00 -4.0 7.78e+00 -1.1 3.61e-01 4.48e-01h 1 4 2.0054796e+00 8.64e-01 9.85e+00 -0.6 1.08e+01 -0.7 4.75e-01 1.89e-01f 1 5 2.0048841e+00 7.48e-01 5.08e+00 -0.6 2.91e+00 -0.3 5.68e-01 2.60e-01f 1 6 1.9876393e+00 4.70e-01 6.19e+00 -4.0 5.31e+00 -0.8 1.89e-01 3.73e-01h 1 7 1.8403531e+00 1.77e+00 7.05e+00 -4.0 6.05e+00 -1.3 3.19e-01 9.19e-01h 1 8 1.7328636e+00 6.12e-01 3.39e+00 -1.3 4.32e+00 -1.7 5.43e-01 8.60e-01f 1 9 1.7489159e+00 6.12e-01 3.37e+00 -4.0 1.14e+01 -0.4 1.87e-02 8.74e-03h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.7551228e+00 5.08e-01 2.66e+00 -1.2 6.34e-01 0.0 7.69e-01 1.70e-01f 1 11 1.8987122e+00 3.78e-02 5.08e-01 -1.2 9.35e-01 -0.4 8.16e-01 1.00e+00f 1 12 1.7136650e+00 8.99e-04 6.87e-01 -2.0 2.71e-01 -0.9 6.07e-01 1.00e+00h 1 13 1.4164725e+00 1.17e-02 1.10e-01 -2.4 8.08e-01 -1.4 8.54e-01 1.00e+00f 1 14 1.3335140e+00 1.79e-01 7.71e-02 -2.7 2.13e+00 -1.9 3.58e-01 3.86e-01h 1 15 1.2614100e+00 1.32e-02 9.14e-02 -2.4 7.55e-01 -2.4 9.43e-01 9.83e-01h 1 16 1.2114953e+00 2.09e-01 4.37e-02 -2.6 1.30e+00 -2.8 9.66e-01 1.00e+00h 1 17 1.1944116e+00 4.08e-02 4.20e-03 -3.6 3.07e+00 -3.3 9.89e-01 1.00e+00h 1 18 1.1806951e+00 8.19e-02 2.16e-02 -4.0 2.61e+00 -3.8 1.00e+00 1.00e+00h 1 19 1.1758914e+00 1.02e-01 1.22e-02 -4.0 4.58e+00 -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 20 1.1724372e+00 1.10e-01 1.34e-02 -4.0 6.87e+00 -4.7 1.00e+00 1.00e+00h 1 21 1.1694559e+00 1.42e-01 7.80e-03 -4.0 1.05e+01 -5.2 1.00e+00 1.00e+00h 1 22 1.1672439e+00 1.67e-01 6.14e-03 -4.0 1.60e+01 -5.7 1.00e+00 1.00e+00h 1 23 1.1653874e+00 2.08e-01 1.02e-03 -4.0 2.45e+01 -6.2 1.00e+00 1.00e+00h 1 24 1.1639601e+00 2.48e-01 2.82e-03 -4.0 3.70e+01 -6.7 1.00e+00 1.00e+00h 1 25 1.1627965e+00 3.00e-01 8.76e-03 -4.0 5.56e+01 -7.1 1.00e+00 1.00e+00h 1 26 1.1618995e+00 3.53e-01 1.43e-02 -4.0 8.26e+01 -7.6 1.00e+00 1.00e+00h 1 27 1.1611984e+00 4.10e-01 2.06e-02 -4.0 1.20e+02 -8.1 1.00e+00 1.00e+00h 1 28 1.1607069e+00 4.44e-01 2.45e-02 -4.0 1.69e+02 -8.6 1.00e+00 1.00e+00h 1 29 1.1604781e+00 3.91e-01 2.02e-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 1.1607394e+00 8.25e-02 2.61e-03 -4.0 1.37e+02 -9.5 1.00e+00 1.00e+00h 1 31 1.1608524e+00 2.42e-03 6.91e-04 -4.0 1.52e+01 -10.0 1.00e+00 1.00e+00h 1 32 1.1608491e+00 1.50e-04 1.83e-05 -4.0 5.10e+00 -10.5 1.00e+00 1.00e+00h 1 33 1.1608491e+00 6.56e-08 1.27e-10 -4.0 1.14e-01 -10.9 1.00e+00 1.00e+00h 1 34 1.1608491e+00 5.88e-13 5.79e-14 -4.0 3.14e-04 -11.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 34 (scaled) (unscaled) Objective...............: 1.1608491307790152e+00 1.1608491307790152e+00 Dual infeasibility......: 5.7891137630189382e-14 5.7891137630189382e-14 Constraint violation....: 5.8797411384148290e-13 5.8797411384148290e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000551e-04 1.0000000000000551e-04 Overall NLP error.......: 5.8797411384148290e-13 5.8797411384148290e-13 Number of objective function evaluations = 37 Number of objective gradient evaluations = 35 Number of equality constraint evaluations = 37 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 = 37.194 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.052s jacobian structure: 180 nonzeros (0.083s) integrator 1 hessian structure: 0.05s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.348s sub-objective 2 (QuadraticRegularizer): 0.094s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.016s objective hessian structure: 0.552s hessian structure: 375 nonzeros (0.602s) linear index maps built (0.0s) evaluator ready (total: 0.807s) evaluator created (0.807s) NL constraint bounds extracted (0.01s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.117s) applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.954s) optimizer initialization complete (total: 3.889s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 186 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 19 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.4662088e+00 1.03e+00 1.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6793522e+00 4.84e-01 4.72e+00 -0.9 2.85e+00 -2.0 1.00e+00 1.00e+00h 1 2 1.4897008e+00 2.45e-01 2.27e-01 -0.6 1.91e+00 -0.7 1.00e+00 4.94e-01h 1 3 1.3708170e+00 1.05e-01 2.09e+00 -4.0 3.95e+00 - 8.24e-01 1.00e+00h 1 4 1.2341769e+00 6.91e-02 7.01e-01 -1.6 1.59e+00 -1.1 9.91e-01 3.57e-01f 1 5 1.3519334e+00 4.14e-02 8.86e-01 -2.0 8.00e-01 -1.6 1.00e+00 6.60e-01h 1 6 1.2096351e+00 1.28e-02 2.89e-01 -2.2 4.85e+00 - 1.00e+00 6.91e-01h 1 7 1.1161357e+00 2.03e-03 1.05e-01 -3.0 3.96e+00 - 1.00e+00 8.40e-01h 1 8 1.0915484e+00 4.72e-06 4.03e-02 -4.0 1.93e+00 - 1.00e+00 1.00e+00h 1 9 1.0910365e+00 1.44e-08 1.32e-02 -4.0 1.11e+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 1.0910386e+00 4.79e-14 7.82e-05 -4.0 5.23e-02 - 1.00e+00 1.00e+00h 1 11 1.0910386e+00 8.88e-16 7.77e-05 -4.0 2.01e-05 - 1.00e+00 1.00e+00h 1 12 1.0910386e+00 2.48e-28 4.83e-16 -4.0 1.13e-10 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 12 (scaled) (unscaled) Objective...............: 1.0910385779862031e+00 1.0910385779862031e+00 Dual infeasibility......: 4.8333732849403788e-16 4.8333732849403788e-16 Constraint violation....: 2.4801100817209434e-28 2.4801100817209434e-28 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000000e-04 1.0000000000000000e-04 Overall NLP error.......: 4.8333732849403788e-16 4.8333732849403788e-16 Number of objective function evaluations = 13 Number of objective gradient evaluations = 13 Number of equality constraint evaluations = 13 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 13 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 12 Total seconds in IPOPT = 23.584 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: 0.089s hessian structure: 30 nonzeros (0.089s) 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 (0.117s) 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 (2.945s) optimizer initialization complete (total: 3.151s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 30 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.7873611e-02 8.33e-17 9.99e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6098906e-02 8.50e-12 1.76e-02 -4.0 2.85e-02 -2.0 9.82e-01 1.00e+00f 1 2 8.7596513e-03 1.20e-12 9.14e-02 -2.9 1.22e-01 -1.6 9.95e-01 1.00e+00f 1 3 1.6353291e-03 2.93e-11 6.24e-02 -3.3 1.52e-01 -1.1 9.97e-01 1.00e+00f 1 4 1.8552054e-04 7.83e-12 2.47e-02 -3.0 5.08e-01 -1.6 1.00e+00 8.42e-01f 1 5 3.8912047e-04 8.44e-12 1.16e-02 -2.7 1.46e+00 -2.1 1.00e+00 4.21e-01f 1 6 4.7699951e-04 8.50e-12 2.27e-02 -2.9 1.78e+00 -2.6 5.83e-01 5.33e-02f 4 7 4.7699951e-04 8.50e-12 3.05e-02 -2.9 1.39e+00 -3.1 1.00e+00 1.38e-14h 46 8 4.7620213e-04 8.52e-12 1.93e-02 -2.9 6.36e-01 -3.5 1.00e+00 7.81e-03f 8 9 4.5931508e-04 8.56e-12 2.35e-02 -2.9 6.37e-01 -4.0 1.00e+00 3.12e-02f 6 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 4.4895326e-04 8.58e-12 2.75e-02 -2.9 7.71e-01 -4.5 1.00e+00 1.56e-02f 7 11 4.4895326e-04 8.58e-12 3.15e-02 -2.9 6.73e-01 -5.0 1.00e+00 1.14e-13h 44 12 1.2519275e-02 1.29e-11 8.87e-02 -2.9 7.07e-01 -5.4 1.00e+00 1.00e+00s 61 13r 1.2519275e-02 1.29e-11 1.56e-01 -2.9 0.00e+00 -0.5 0.00e+00 0.00e+00R 1 14r 1.2416252e-02 1.07e-11 1.50e-03 -4.0 6.73e-03 - 9.90e-01 1.00e+00f 1 15 8.9893984e-03 2.22e-16 1.11e-01 -2.9 2.80e-01 -1.0 1.00e+00 1.00e+00F 1 16 8.9893984e-03 2.22e-16 1.10e-01 -2.9 8.55e-01 -1.5 1.00e+00 2.30e-14f 45 17 1.1288221e-03 6.64e-13 1.53e-01 -2.9 5.97e-01 -1.0 1.00e+00 9.85e-01F 1 18 8.8870562e-04 1.67e-12 1.89e-01 -2.9 2.93e+00 -1.5 4.75e-01 7.13e-02f 2 19 8.8870562e-04 1.67e-12 2.26e-01 -2.9 1.77e+00 -2.0 1.00e+00 1.38e-11h 34 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 8.8870562e-04 1.67e-12 2.62e-01 -2.9 3.86e+00 -2.5 1.00e+00 2.46e-12h 38 21 8.8870562e-04 1.67e-12 2.99e-01 -2.9 5.59e+00 -2.9 1.00e+00 3.40e-12h 37 22 8.8024399e-04 1.74e-12 3.35e-01 -2.9 1.81e+00 -3.4 1.00e+00 1.44e-03f 10 23 6.9289105e-04 3.35e-12 3.61e-01 -2.9 1.32e+00 -3.9 1.00e+00 3.12e-02f 6 24 6.4857439e-04 3.72e-12 3.84e-01 -2.9 1.32e+00 -4.4 1.00e+00 7.69e-03f 8 25 6.2588697e-04 3.90e-12 4.06e-01 -2.9 1.28e+00 -4.8 1.00e+00 3.91e-03f 9 26 6.0311744e-04 4.09e-12 4.27e-01 -2.9 1.27e+00 -5.3 1.00e+00 3.91e-03f 9 27 5.9164753e-04 4.18e-12 4.46e-01 -2.9 1.27e+00 -5.8 1.00e+00 1.95e-03f 10 28 5.6894256e-04 4.36e-12 4.64e-01 -2.9 1.26e+00 -6.3 1.00e+00 3.91e-03f 9 29 5.6609850e-04 4.39e-12 4.81e-01 -2.9 1.27e+00 -6.8 1.00e+00 4.88e-04f 12 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 5.5462742e-04 4.48e-12 4.98e-01 -2.9 1.26e+00 -7.2 1.00e+00 1.95e-03f 10 31 5.4330048e-04 4.57e-12 5.14e-01 -2.9 1.26e+00 -7.7 1.00e+00 1.95e-03f 10 32 5.3766688e-04 4.61e-12 5.29e-01 -2.9 1.26e+00 -8.2 1.00e+00 9.77e-04f 11 33 5.2655742e-04 4.70e-12 5.43e-01 -2.9 1.26e+00 -8.7 1.00e+00 1.95e-03f 10 34 5.2380317e-04 4.72e-12 5.57e-01 -2.9 1.27e+00 -9.1 1.00e+00 4.88e-04f 12 35 5.1297903e-04 4.81e-12 5.70e-01 -2.9 1.26e+00 -9.6 1.00e+00 1.95e-03f 10 36 5.1032163e-04 4.83e-12 5.82e-01 -2.9 1.27e+00 -10.1 1.00e+00 4.88e-04f 12 37 5.0504345e-04 4.88e-12 5.94e-01 -2.9 1.26e+00 -10.6 1.00e+00 9.77e-04f 11 38 4.9491473e-04 4.97e-12 6.05e-01 -2.9 1.26e+00 -11.0 1.00e+00 1.95e-03f 10 39 4.9368299e-04 4.98e-12 6.15e-01 -2.9 1.27e+00 -11.5 1.00e+00 2.44e-04f 13 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 4.8881713e-04 5.02e-12 6.26e-01 -2.9 1.25e+00 -12.0 1.00e+00 9.77e-04f 11 41 4.8410814e-04 5.06e-12 6.35e-01 -2.9 1.26e+00 -12.5 1.00e+00 9.77e-04f 11 42 4.7529771e-04 5.15e-12 6.43e-01 -2.9 1.26e+00 -13.0 1.00e+00 1.95e-03f 10 43 4.7424989e-04 5.16e-12 6.51e-01 -2.9 1.27e+00 -13.4 1.00e+00 2.44e-04f 13 44 4.7017282e-04 5.21e-12 6.59e-01 -2.9 1.25e+00 -13.9 1.00e+00 9.77e-04f 11 45 4.6274321e-04 5.29e-12 6.65e-01 -2.9 1.26e+00 -14.4 1.00e+00 1.95e-03f 10 46 4.6188028e-04 5.31e-12 6.71e-01 -2.9 1.27e+00 -14.9 1.00e+00 2.44e-04f 13 47 4.5556346e-04 5.39e-12 6.75e-01 -2.9 1.25e+00 -15.3 1.00e+00 1.95e-03f 10 48 4.5484713e-04 5.40e-12 6.80e-01 -2.9 1.27e+00 -15.8 1.00e+00 2.44e-04f 13 49 4.4974176e-04 5.49e-12 6.83e-01 -2.9 1.25e+00 -16.3 1.00e+00 1.95e-03f 10 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 4.4864337e-04 5.51e-12 6.86e-01 -2.9 1.27e+00 -16.8 1.00e+00 4.87e-04f 12 51 4.4497910e-04 5.60e-12 6.87e-01 -2.9 1.25e+00 -17.3 1.00e+00 1.95e-03f 10 52 4.4359939e-04 5.64e-12 6.88e-01 -2.9 1.27e+00 -17.7 1.00e+00 9.74e-04f 11 53 4.4174793e-04 5.72e-12 6.88e-01 -2.9 1.26e+00 -18.2 1.00e+00 1.95e-03f 10 54 4.4128509e-04 5.77e-12 6.87e-01 -2.9 1.27e+00 -18.7 1.00e+00 9.74e-04f 11 55 4.4127830e-04 5.85e-12 6.84e-01 -2.9 1.25e+00 -19.2 1.00e+00 1.95e-03f 10 56 4.4250639e-04 5.93e-12 6.80e-01 -2.9 1.26e+00 -19.6 1.00e+00 1.95e-03f 10 57 4.4495730e-04 6.02e-12 6.75e-01 -2.9 1.26e+00 -20.0 1.00e+00 1.95e-03f 10 58 4.4861136e-04 6.10e-12 6.69e-01 -2.9 1.26e+00 -20.0 1.00e+00 1.95e-03f 10 59 4.5946855e-04 6.27e-12 6.60e-01 -2.9 1.26e+00 -20.0 1.00e+00 3.89e-03f 9 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 4.6285777e-04 6.31e-12 6.50e-01 -2.9 1.27e+00 -20.0 1.00e+00 9.56e-04f 11 61 4.7932951e-04 6.47e-12 6.38e-01 -2.9 1.24e+00 -20.0 1.00e+00 3.91e-03f 9 62 4.9976247e-04 6.63e-12 6.23e-01 -2.9 1.27e+00 -20.0 1.00e+00 3.83e-03f 9 63 5.2420538e-04 6.79e-12 6.06e-01 -2.9 1.26e+00 -20.0 1.00e+00 3.84e-03f 9 64 5.3776900e-04 6.87e-12 5.88e-01 -2.9 1.25e+00 -20.0 1.00e+00 1.92e-03f 10 65 5.4126929e-04 6.89e-12 5.70e-01 -2.9 1.23e+00 -20.0 1.00e+00 4.88e-04f 12 66 5.4169462e-04 6.89e-12 5.51e-01 -2.9 1.22e+00 -20.0 1.00e+00 6.10e-05f 15 67 5.4179671e-04 6.90e-12 5.33e-01 -2.9 1.21e+00 -20.0 1.00e+00 1.53e-05f 17 68 5.4184556e-04 6.90e-12 5.15e-01 -2.9 1.21e+00 -20.0 1.00e+00 7.63e-06f 18 69 1.2605682e-03 9.46e-12 4.68e-01 -2.9 1.21e+00 -20.0 1.00e+00 6.25e-02f 5 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): 0.082s sub-objective 2 (QuadraticRegularizer): 0.0s objective hessian structure: 0.169s hessian structure: 40 nonzeros (0.169s) linear index maps built (0.0s) evaluator ready (total: 2.605s) evaluator created (2.605s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.112s) 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 (2.889s) optimizer initialization complete (total: 5.606s) 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 8.3096183e-01 4.15e-01 9.63e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.1583476e-01 2.11e-09 8.34e-02 -1.0 2.90e-01 -2.0 9.53e-01 1.00e+00h 1 2 1.4719375e-01 1.08e-09 9.74e-02 -1.8 6.68e-01 -1.6 9.28e-01 1.00e+00f 1 3 6.7591296e-02 1.07e-10 2.28e-02 -2.9 4.07e-01 -1.1 1.00e+00 1.00e+00f 1 4 2.2275547e-02 2.15e-11 2.29e-02 -3.1 5.68e-01 -1.6 9.98e-01 1.00e+00f 1 5 5.6729934e-03 1.47e-11 9.75e-03 -3.7 5.50e-01 -2.1 9.94e-01 1.00e+00f 1 6 1.3288391e-03 4.86e-12 4.22e-03 -4.0 4.50e-01 -2.6 1.00e+00 1.00e+00f 1 7 4.6273760e-04 1.71e-12 1.46e-03 -4.0 2.33e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.7873448e-04 4.92e-13 4.59e-04 -4.0 1.25e-01 -3.5 1.00e+00 1.00e+00f 1 9 2.9496333e-04 9.98e-14 4.52e-04 -4.1 8.47e-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 6.8426557e-04 5.27e-14 1.23e-03 -4.0 1.73e-01 -4.5 1.00e+00 1.00e+00f 1 11 1.8896820e-04 1.72e-14 1.11e-03 -4.1 2.29e-01 -5.0 1.00e+00 1.00e+00f 1 12 9.2010745e-04 4.34e-14 2.46e-03 -4.0 3.23e-01 -5.4 1.00e+00 1.00e+00f 1 13 1.0539130e-04 2.34e-14 1.62e-03 -4.1 3.94e-01 -5.9 1.00e+00 1.00e+00f 1 14 1.2067464e-03 5.12e-14 3.95e-03 -4.0 4.90e-01 -6.4 1.00e+00 1.00e+00f 1 15 4.8774688e-05 3.26e-14 1.92e-03 -4.1 5.78e-01 -6.9 1.00e+00 1.00e+00f 1 16 1.6040462e-03 5.26e-14 5.84e-03 -4.0 6.81e-01 -7.4 1.00e+00 1.00e+00f 1 17 1.6958523e-05 3.49e-14 1.95e-03 -4.2 7.87e-01 -7.8 1.00e+00 1.00e+00f 1 18 4.0108955e-04 7.66e-15 1.72e-03 -4.0 9.17e-01 -8.3 1.00e+00 5.00e-01f 2 19 2.3640385e-04 1.67e-16 1.24e-04 -4.2 1.93e-01 -8.8 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.9934565e-05 8.83e-15 6.53e-04 -6.4 3.36e-01 -9.3 9.72e-01 1.00e+00f 1 21 8.2654109e-06 5.94e-15 7.47e-05 -6.4 7.82e-02 -9.7 1.00e+00 1.00e+00f 1 22 1.5787668e-03 2.22e-15 4.37e-03 -4.0 7.48e+00 -10.2 1.00e+00 1.25e-01f 4 23 9.8681833e-05 8.75e-14 2.70e-03 -4.0 6.16e-01 -10.7 1.00e+00 1.00e+00f 1 24 7.7821887e-04 6.37e-14 2.92e-03 -4.0 4.34e-01 -11.2 1.00e+00 1.00e+00f 1 25 3.8653833e-04 1.32e-14 3.13e-04 -4.0 3.36e-01 -11.6 1.00e+00 5.00e-01f 2 26 3.5113491e-05 8.22e-15 1.04e-03 -6.0 4.04e-01 -12.1 9.67e-01 1.00e+00f 1 27 1.4549134e-05 8.27e-15 1.25e-04 -6.0 9.82e-02 -12.6 1.00e+00 1.00e+00f 1 28 4.0415247e-06 1.28e-15 7.88e-05 -6.0 1.11e-01 -13.1 1.00e+00 1.00e+00f 1 29 2.2274661e-03 1.33e-15 7.08e-03 -4.0 1.24e+01 -13.6 1.00e+00 9.75e-02f 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 6.7522442e-05 8.29e-14 3.55e-03 -4.0 8.67e-01 -14.0 1.00e+00 1.00e+00f 1 31 8.0257311e-04 6.32e-14 3.57e-03 -4.0 5.42e-01 -14.5 1.00e+00 1.00e+00f 1 32 3.9509867e-04 1.27e-14 3.62e-04 -4.0 3.75e-01 -15.0 1.00e+00 5.00e-01f 2 33 3.6579700e-05 6.44e-15 1.16e-03 -6.0 4.38e-01 -15.5 9.63e-01 1.00e+00f 1 34 1.5198977e-05 7.22e-15 1.39e-04 -6.0 1.07e-01 -15.9 1.00e+00 1.00e+00f 1 35 4.3570763e-06 1.17e-15 8.77e-05 -6.0 1.20e-01 -16.4 1.00e+00 1.00e+00f 1 36 5.0000301e-06 4.44e-16 1.11e-05 -6.0 1.71e-02 -16.9 1.00e+00 1.00e+00h 1 37 4.5851426e-06 5.55e-17 2.47e-06 -6.0 3.90e-03 -17.4 1.00e+00 1.00e+00h 1 38 3.2224407e-07 5.55e-17 4.23e-05 -9.0 1.69e-01 -17.8 9.84e-01 1.00e+00f 1 39 9.9086984e-04 1.87e-16 1.82e-03 -4.0 5.73e+01 -18.3 1.00e+00 2.14e-02f 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.1025629e-04 6.26e-14 2.39e-03 -4.0 4.47e-01 -18.8 1.00e+00 1.00e+00f 1 41 6.6377117e-04 2.35e-14 2.18e-03 -4.0 3.22e-01 -19.3 1.00e+00 1.00e+00f 1 42 4.1937403e-04 4.55e-15 3.20e-04 -4.0 2.71e-01 -19.8 1.00e+00 5.00e-01f 2 43 3.6541019e-05 7.44e-15 1.38e-03 -6.0 5.12e-01 -20.0 9.54e-01 1.00e+00f 1 44 1.5456365e-05 6.00e-15 1.56e-04 -6.0 1.19e-01 -20.0 1.00e+00 1.00e+00f 1 45 4.1418755e-06 9.44e-16 1.03e-04 -6.0 1.43e-01 -20.0 1.00e+00 1.00e+00f 1 46 4.5801722e-06 3.89e-16 9.36e-06 -6.0 1.49e-02 -20.0 1.00e+00 1.00e+00h 1 47 2.6908176e-07 5.55e-17 4.66e-05 -9.0 1.97e-01 -20.0 9.81e-01 1.00e+00f 1 48 6.7687519e-04 2.22e-16 3.94e-04 -4.0 6.76e+01 -20.0 1.00e+00 1.81e-02f 4 49 2.7392443e-04 4.76e-14 1.57e-03 -4.0 2.82e-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 5.4242710e-04 1.13e-14 1.35e-03 -4.0 2.10e-01 -20.0 1.00e+00 1.00e+00f 1 51 4.0310750e-04 2.00e-15 2.47e-04 -4.0 1.90e-01 -20.0 1.00e+00 5.00e-01f 2 52 3.3637113e-05 6.66e-15 1.48e-03 -6.1 5.63e-01 -20.0 9.48e-01 1.00e+00f 1 53 1.4486457e-05 4.94e-15 1.59e-04 -6.1 1.26e-01 -20.0 1.00e+00 1.00e+00f 1 54 3.7875059e-06 7.77e-16 1.09e-04 -6.1 1.57e-01 -20.0 1.00e+00 1.00e+00f 1 55 4.1788640e-06 3.33e-16 9.29e-06 -6.1 1.55e-02 -20.0 1.00e+00 1.00e+00h 1 56 3.9508093e-06 3.47e-17 2.43e-06 -6.1 4.14e-03 -20.0 1.00e+00 1.00e+00h 1 57 2.7191936e-07 5.55e-17 4.70e-05 -9.0 2.03e-01 -20.0 9.80e-01 1.00e+00f 1 58 1.1048177e-07 3.04e-17 4.81e-06 -9.0 4.34e-02 -20.0 1.00e+00 1.00e+00f 1 59 4.3691573e-03 4.37e-16 1.16e-02 -4.0 3.10e+02 -20.0 1.00e+00 7.91e-03f 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.8367879e-04 1.31e-13 9.70e-03 -3.7 1.30e+00 -20.0 1.00e+00 1.00e+00f 1 61 1.3241385e-03 7.48e-14 5.41e-03 -3.7 5.84e-01 -20.0 1.00e+00 1.00e+00f 1 62 8.9965529e-04 2.04e-14 8.67e-04 -3.7 3.76e-01 -20.0 1.00e+00 5.00e-01f 2 63 8.5125529e-05 1.21e-14 3.12e-03 -5.5 7.43e-01 -20.0 9.30e-01 1.00e+00f 1 64 3.7615246e-05 1.05e-14 3.54e-04 -5.5 1.75e-01 -20.0 1.00e+00 1.00e+00f 1 65 1.2655330e-05 1.67e-15 2.31e-04 -5.5 1.89e-01 -20.0 1.00e+00 1.00e+00f 1 66 1.6674372e-05 6.25e-16 6.00e-05 -5.5 5.11e-02 -20.0 1.00e+00 1.00e+00f 1 67 1.3618976e-05 1.42e-16 2.78e-05 -5.5 2.48e-02 -20.0 1.00e+00 1.00e+00f 1 68 1.1080020e-06 1.67e-16 1.37e-04 -8.2 2.96e-01 -20.0 9.71e-01 1.00e+00f 1 69 4.2842929e-07 1.11e-16 1.60e-05 -8.2 7.28e-02 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 7.2637345e-08 3.04e-17 1.03e-05 -8.2 1.01e-01 -20.0 1.00e+00 1.00e+00f 1 71 2.6521023e-03 6.83e-16 6.63e-03 -4.0 3.61e+02 -20.0 1.00e+00 6.80e-03f 3 72 2.9638677e-04 8.46e-14 7.82e-03 -3.8 1.11e+00 -20.0 1.00e+00 1.00e+00f 1 73 1.0502819e-03 4.06e-14 4.37e-03 -3.8 5.14e-01 -20.0 1.00e+00 1.00e+00f 1 74 7.1966256e-04 1.09e-14 8.76e-04 -3.8 4.00e-01 -20.0 1.00e+00 5.00e-01f 2 75 6.8620984e-05 8.99e-15 2.98e-03 -5.6 7.84e-01 -20.0 9.24e-01 1.00e+00f 1 76 2.9614786e-05 7.11e-15 3.44e-04 -5.6 1.91e-01 -20.0 1.00e+00 1.00e+00f 1 77 9.1902875e-06 1.11e-15 2.25e-04 -5.6 2.14e-01 -20.0 1.00e+00 1.00e+00f 1 78 1.1455059e-05 5.55e-16 4.17e-05 -5.6 4.26e-02 -20.0 1.00e+00 1.00e+00f 1 79 9.8565889e-06 1.11e-16 1.65e-05 -5.6 1.74e-02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 7.6529786e-07 1.11e-16 1.20e-04 -8.5 3.10e-01 -20.0 9.69e-01 1.00e+00f 1 81 3.0080194e-07 7.81e-17 1.35e-05 -8.5 7.32e-02 -20.0 1.00e+00 1.00e+00f 1 82 4.9187582e-08 3.08e-17 8.90e-06 -8.5 1.05e-01 -20.0 1.00e+00 1.00e+00f 1 83 1.6889535e-03 5.17e-16 4.49e-04 -4.0 5.35e+02 -20.0 1.00e+00 4.59e-03f 3 84 4.5943800e-04 6.75e-14 5.80e-03 -3.8 7.54e-01 -20.0 1.00e+00 1.00e+00f 1 85 9.1549517e-04 2.18e-14 2.45e-03 -3.8 2.89e-01 -20.0 1.00e+00 1.00e+00f 1 86 5.5339035e-04 9.55e-15 2.36e-03 -3.8 3.09e-01 -20.0 1.00e+00 1.00e+00f 1 87 9.0548623e-04 3.77e-15 1.63e-03 -3.8 1.90e-01 -20.0 1.00e+00 1.00e+00f 1 88 4.8553959e-05 8.77e-15 3.53e-03 -5.6 1.02e+00 -20.0 8.96e-01 1.00e+00f 1 89 2.6389943e-05 7.22e-15 2.26e-04 -5.6 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 90 7.9927494e-06 7.77e-16 2.22e-04 -5.6 2.25e-01 -20.0 1.00e+00 1.00e+00f 1 91 1.1796079e-05 4.44e-16 7.19e-05 -5.6 7.37e-02 -20.0 1.00e+00 1.00e+00f 1 92 1.0256819e-05 1.95e-16 5.73e-06 -5.6 4.30e-02 -20.0 1.00e+00 5.00e-01f 2 93 7.3842480e-07 6.81e-17 1.31e-04 -8.5 3.39e-01 -20.0 9.66e-01 1.00e+00f 1 94 2.9968772e-07 5.55e-17 1.36e-05 -8.5 7.44e-02 -20.0 1.00e+00 1.00e+00f 1 95 4.7638854e-08 2.67e-17 9.39e-06 -8.5 1.12e-01 -20.0 1.00e+00 1.00e+00f 1 96 1.3868767e-03 2.39e-16 2.75e-03 -4.0 5.71e+02 -20.0 1.00e+00 4.29e-03f 3 97 4.9824474e-04 5.95e-14 4.85e-03 -3.8 6.28e-01 -20.0 1.00e+00 1.00e+00f 1 98 8.3680743e-04 1.55e-14 1.70e-03 -3.8 2.06e-01 -20.0 1.00e+00 1.00e+00f 1 99 5.6550876e-04 6.88e-15 2.05e-03 -3.8 2.69e-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 8.2712001e-04 2.22e-15 1.12e-03 -3.8 1.34e-01 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 8.2712000976908906e-04 8.2712000976908906e-04 Dual infeasibility......: 1.1174986330082636e-03 1.1174986330082636e-03 Constraint violation....: 2.2204460492503131e-15 2.2204460492503131e-15 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.6551534975915147e-04 1.6551534975915147e-04 Overall NLP error.......: 1.1174986330082636e-03 1.1174986330082636e-03 Number of objective function evaluations = 150 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 150 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 = 3.140 EXIT: Maximum Number of Iterations Exceeded. [test_integrator] Starting... [test_integrator] constraint_dim=8, datavec_len=75, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.733s jacobian structure: 1600 nonzeros (2.812s) integrator 1 hessian structure: 0.043s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 2.99s 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): 0.015s objective hessian structure: 0.016s hessian structure: 1749 nonzeros (3.05s) linear index maps built (0.0s) evaluator ready (total: 5.863s) evaluator created (5.884s) NL constraint bounds extracted (0.09s) 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 (0.108s) optimizer initialization complete (total: 6.084s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.9526737e+00 2.51e+00 7.44e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7235785e+00 3.49e-01 2.13e+00 -1.0 3.94e+00 -2.0 9.79e-01 1.00e+00f 1 2 2.7748086e+00 1.83e-01 1.63e+00 -0.7 3.08e+00 -1.6 5.85e-01 4.72e-01f 1 3 2.5221763e+00 1.19e-01 7.11e-01 -1.9 3.21e+00 -2.1 4.79e-01 5.64e-01h 1 4 2.2690834e+00 2.25e-01 5.55e-01 -1.8 3.82e+00 -2.5 9.84e-01 8.46e-01h 1 5 2.1180419e+00 6.90e-02 1.17e-01 -2.5 2.22e+00 -3.0 1.00e+00 8.89e-01h 1 6 2.0919685e+00 1.65e-03 7.88e-03 -3.7 2.64e-01 -3.5 1.00e+00 1.00e+00h 1 7 2.0908724e+00 4.81e-05 2.55e-04 -4.0 1.50e-01 -4.0 1.00e+00 1.00e+00h 1 8 2.0908083e+00 1.48e-07 4.11e-04 -4.0 4.60e-01 -4.4 1.00e+00 1.00e+00h 1 9 2.0907203e+00 6.67e-07 6.15e-04 -4.0 1.22e+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 2.0903817e+00 3.81e-06 1.82e-03 -4.0 3.92e+00 -5.4 1.00e+00 8.93e-01h 1 11 2.0901200e+00 5.77e-05 1.83e-02 -4.0 1.30e+01 -5.9 1.00e+00 1.00e+00f 1 12 2.0891044e+00 1.90e-05 1.75e-02 -4.0 1.70e+00 -4.5 1.00e+00 7.66e-01h 1 13 2.0891150e+00 5.72e-06 3.68e-03 -4.0 1.74e+00 -5.0 1.00e+00 1.00e+00h 1 14 2.0885205e+00 1.01e-05 2.80e-03 -4.0 5.33e+00 -5.5 1.00e+00 1.00e+00h 1 15 2.0874218e+00 7.14e-05 3.40e-03 -4.0 1.41e+01 -6.0 1.00e+00 1.00e+00h 1 16 2.0854952e+00 2.49e-04 2.71e-02 -4.0 3.29e+01 -6.4 1.00e+00 7.78e-01h 1 17 2.0829732e+00 7.24e-04 4.36e-02 -4.0 4.91e+01 -6.9 1.00e+00 9.99e-01h 1 18 2.0833465e+00 2.12e-03 5.28e-02 -4.0 7.48e+01 -7.4 1.00e+00 1.00e+00h 1 19 2.0831535e+00 1.87e-03 1.17e-01 -4.0 2.92e+02 -7.9 2.48e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0826219e+00 9.53e-04 1.76e-01 -4.0 5.66e+00 -5.6 1.00e+00 5.69e-01h 1 21 2.0824509e+00 1.19e-03 3.26e-01 -4.0 1.01e+01 -6.1 1.00e+00 5.19e-01h 1 22 2.0821658e+00 1.03e-03 2.43e-03 -4.0 1.66e+01 -6.6 1.00e+00 1.00e+00h 1 23 2.0819687e+00 1.87e-04 3.63e-02 -4.0 5.56e+01 -7.1 5.04e-01 1.00e+00h 1 24 2.0820966e+00 4.98e-04 8.38e-03 -4.0 7.59e+00 -5.7 1.00e+00 1.00e+00h 1 25 2.0818935e+00 5.42e-04 1.32e-02 -4.1 7.30e+00 -6.2 9.80e-01 1.00e+00h 1 26 2.0823357e+00 4.36e-04 4.60e-02 -4.0 2.82e+01 -6.7 1.00e+00 1.31e-01h 1 27 2.0817542e+00 6.05e-05 6.23e-03 -4.1 1.13e+01 -7.2 1.00e+00 1.00e+00h 1 28 2.0819376e+00 5.75e-04 1.47e-03 -4.0 2.55e+01 -7.7 1.00e+00 1.00e+00h 1 29 2.0816126e+00 1.02e-03 1.59e-03 -4.1 4.22e+01 -8.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0818502e+00 1.15e-03 1.72e-03 -4.0 4.67e+01 -8.6 1.00e+00 1.00e+00h 1 31 2.0815841e+00 5.52e-04 3.37e-04 -4.1 2.40e+01 -9.1 1.00e+00 1.00e+00h 1 32 2.0818444e+00 1.85e-04 4.08e-05 -4.0 7.69e+00 -9.6 1.00e+00 1.00e+00h 1 33 2.0815838e+00 2.14e-04 1.39e-05 -4.1 9.74e+00 -10.0 1.00e+00 1.00e+00h 1 34 2.0818445e+00 2.14e-04 1.18e-05 -4.0 9.78e+00 -10.5 1.00e+00 1.00e+00h 1 35 2.0815837e+00 2.16e-04 1.01e-05 -4.1 9.84e+00 -11.0 1.00e+00 1.00e+00h 1 36 2.0818446e+00 2.16e-04 9.76e-06 -4.0 9.86e+00 -11.5 1.00e+00 1.00e+00h 1 37 2.0815837e+00 2.16e-04 9.41e-06 -4.1 9.87e+00 -12.0 1.00e+00 1.00e+00h 1 38 2.0818446e+00 2.16e-04 9.53e-06 -4.0 9.87e+00 -12.4 1.00e+00 1.00e+00h 1 39 2.0815837e+00 2.16e-04 9.34e-06 -4.1 9.87e+00 -12.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0805951e+00 3.33e-03 1.59e-04 -6.1 4.09e+01 -13.4 9.77e-01 9.64e-01h 1 41 2.0818908e+00 6.61e-03 2.98e-04 -4.0 6.18e+01 -13.9 1.00e+00 1.00e+00f 1 42 2.0816145e+00 4.96e-04 1.06e-05 -4.1 2.08e+01 -14.3 1.00e+00 1.00e+00h 1 43 2.0806042e+00 3.49e-03 2.32e-04 -6.1 4.24e+01 -14.8 9.76e-01 9.58e-01h 1 44 2.0805507e+00 9.69e-05 2.24e-06 -6.1 1.71e+01 -15.3 1.00e+00 1.00e+00h 1 45 2.0819819e+00 1.02e-02 3.99e-04 -4.0 8.54e+01 -15.8 1.00e+00 1.00e+00f 1 46 2.0816805e+00 9.65e-04 4.96e-05 -4.1 4.57e+01 -16.2 1.00e+00 1.00e+00h 1 47 2.0816444e+00 4.73e-07 7.69e-07 -4.1 8.40e+00 -16.7 1.00e+00 1.00e+00h 1 48 2.0818441e+00 1.27e-04 5.47e-06 -4.0 7.55e+00 -17.2 1.00e+00 1.00e+00h 1 49 2.0815834e+00 2.14e-04 9.28e-06 -4.1 9.76e+00 -17.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0805950e+00 3.33e-03 1.58e-04 -6.1 4.09e+01 -18.2 9.77e-01 9.64e-01h 1 51 2.0805497e+00 7.61e-05 1.82e-06 -6.1 1.56e+01 -18.6 1.00e+00 1.00e+00h 1 52 2.0819883e+00 1.06e-02 4.03e-04 -4.0 8.64e+01 -19.1 1.00e+00 1.00e+00f 1 53 2.0816850e+00 9.86e-04 5.24e-05 -4.1 4.71e+01 -19.6 1.00e+00 1.00e+00h 1 54 2.0816467e+00 5.59e-07 8.13e-07 -4.1 8.79e+00 -20.0 1.00e+00 1.00e+00h 1 55 2.0805963e+00 3.67e-03 1.56e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.67e-01h 1 56 2.0805509e+00 8.01e-05 1.98e-06 -6.1 1.63e+01 -20.0 1.00e+00 1.00e+00h 1 57 2.0805468e+00 5.50e-08 2.37e-08 -6.1 2.91e+00 -20.0 1.00e+00 1.00e+00h 1 58 2.0820237e+00 1.21e-02 4.23e-04 -4.0 9.79e+01 -20.0 1.00e+00 1.00e+00f 1 59 2.0817108e+00 1.09e-03 6.84e-05 -4.1 5.44e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0816597e+00 1.20e-06 1.05e-06 -4.1 1.08e+01 -20.0 1.00e+00 1.00e+00h 1 61 2.0805973e+00 3.75e-03 1.59e-04 -6.1 4.29e+01 -20.0 9.76e-01 9.67e-01h 1 62 2.0805512e+00 8.26e-05 2.04e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 63 2.0805470e+00 5.83e-08 2.51e-08 -6.1 3.00e+00 -20.0 1.00e+00 1.00e+00h 1 64 2.0805365e+00 9.22e-07 7.87e-07 -9.0 9.36e-01 -20.0 1.00e+00 9.97e-01h 1 65 2.0820411e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 66 2.0817244e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0816662e+00 1.63e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 68 2.0805979e+00 3.78e-03 1.61e-04 -6.1 4.31e+01 -20.0 9.76e-01 9.67e-01h 1 69 2.0805514e+00 8.39e-05 2.07e-06 -6.1 1.67e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0805470e+00 6.01e-08 2.58e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 71 2.0805365e+00 9.41e-07 8.10e-07 -9.0 9.46e-01 -20.0 1.00e+00 9.97e-01h 1 72 2.0805365e+00 8.66e-11 2.16e-12 -9.0 2.61e-02 -20.0 1.00e+00 1.00e+00h 1 73 2.0820415e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 74 2.0817247e+00 1.13e-03 7.75e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 75 2.0816664e+00 1.64e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 76 2.0805979e+00 3.78e-03 1.61e-04 -6.1 4.31e+01 -20.0 9.76e-01 9.67e-01h 1 77 2.0805514e+00 8.39e-05 2.07e-06 -6.1 1.67e+01 -20.0 1.00e+00 1.00e+00h 1 78 2.0805470e+00 6.01e-08 2.58e-08 -6.1 3.05e+00 -20.0 1.00e+00 1.00e+00h 1 79 2.0805365e+00 9.41e-07 8.10e-07 -9.0 9.47e-01 -20.0 1.00e+00 9.97e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805365e+00 8.67e-11 2.17e-12 -9.0 2.61e-02 -20.0 1.00e+00 1.00e+00h 1 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: 0.054s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 5.957s jacobian structure: 1680 nonzeros (6.071s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.051s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 12.578s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.355s sub-objective 2 (QuadraticRegularizer): 0.092s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.017s sub-objective 5 (GlobalObjective): 0.621s objective hessian structure: 1.179s hessian structure: 1964 nonzeros (13.86s) linear index maps built (0.0s) evaluator ready (total: 22.083s) evaluator created (22.107s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.123s) 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 (4.644s) optimizer initialization complete (total: 26.875s) 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 9.4843913e+00 2.84e+00 3.60e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5696463e+00 1.19e-01 1.18e+00 -1.0 2.98e+00 -2.0 7.41e-01 9.67e-01f 1 2 2.5005260e+00 8.39e-02 4.85e-01 -1.2 1.66e+00 -2.5 8.83e-01 1.00e+00f 1 3 2.2270499e+00 9.31e-02 1.91e-01 -1.9 2.51e+00 -3.0 9.79e-01 9.58e-01h 1 4 2.1184909e+00 1.85e-02 4.18e-02 -2.6 1.07e+00 -3.4 9.58e-01 1.00e+00h 1 5 2.0920300e+00 8.32e-04 1.69e-03 -3.7 2.70e-01 -3.9 9.96e-01 9.96e-01h 1 6 2.0908811e+00 8.96e-05 3.93e-04 -4.0 4.53e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0907931e+00 2.67e-07 7.92e-04 -4.0 1.08e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0905708e+00 3.54e-06 1.05e-03 -4.0 3.35e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0899113e+00 2.38e-05 5.21e-03 -4.0 8.83e+00 -5.8 1.00e+00 8.96e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0889282e+00 8.10e-05 4.91e-02 -4.0 2.99e+01 -6.3 1.00e+00 5.00e-01f 2 11 2.0884292e+00 1.64e-05 3.89e-03 -4.0 2.12e+00 -5.0 1.00e+00 8.81e-01h 1 12 2.0882075e+00 3.52e-06 2.68e-03 -4.0 4.44e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0871587e+00 4.87e-05 7.59e-03 -4.0 1.31e+01 -5.9 1.00e+00 8.45e-01h 1 14 2.0853351e+00 2.97e-04 1.71e-02 -4.0 2.91e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0838023e+00 3.04e-04 5.84e-02 -4.0 4.59e+01 -6.9 1.00e+00 4.59e-01h 1 16 2.0826177e+00 8.10e-05 1.28e-02 -4.0 6.90e+01 -7.4 1.00e+00 7.03e-01h 1 17 2.0824085e+00 7.73e-04 2.52e-02 -4.0 1.41e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.1763072e+00 4.49e-04 2.02e+00 -4.0 3.73e+02 -7.4 5.32e-02 1.00e+00H 1 19 2.0866312e+00 2.80e-04 7.35e+00 -4.1 2.93e+00 -1.6 4.07e-02 3.97e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0871205e+00 2.79e-04 1.09e+01 -4.0 4.38e+00 -2.0 1.00e+00 4.33e-03f 7 21 2.0872444e+00 6.46e-05 6.21e-03 -3.5 6.30e-01 -2.5 1.00e+00 1.00e+00h 1 22 2.0853657e+00 5.83e-05 2.03e-01 -3.9 1.20e+00 -3.0 9.96e-01 5.29e-01h 1 23 2.0844896e+00 7.53e-06 1.42e-03 -4.0 1.22e-01 -3.5 1.00e+00 1.00e+00h 1 24 2.0844632e+00 5.90e-06 1.79e-04 -4.0 9.54e-02 -3.9 1.00e+00 1.00e+00h 1 25 2.0844401e+00 2.89e-07 3.63e-05 -4.0 2.86e-01 -4.4 1.00e+00 1.00e+00h 1 26 2.0843798e+00 3.44e-07 3.65e-05 -4.0 8.40e-01 -4.9 1.00e+00 1.00e+00h 1 27 2.0842182e+00 2.47e-06 2.22e-04 -4.0 2.37e+00 -5.4 1.00e+00 1.00e+00h 1 28 2.0838782e+00 1.70e-05 1.29e-03 -4.0 5.94e+00 -5.9 1.00e+00 1.00e+00h 1 29 2.0834834e+00 4.27e-05 3.15e-03 -4.0 1.46e+01 -6.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0829568e+00 1.40e-04 4.92e-03 -4.0 3.55e+01 -6.8 1.00e+00 1.00e+00h 1 31 2.0822684e+00 5.24e-04 1.49e-02 -4.0 7.05e+01 -7.3 1.00e+00 1.00e+00h 1 32 2.0818708e+00 8.73e-04 1.58e-02 -4.0 1.23e+02 -7.8 3.91e-01 1.00e+00h 1 33 2.0826942e+00 1.14e-05 8.97e-02 -4.0 3.68e+01 -6.4 9.36e-01 1.00e+00H 1 34 2.0827990e+00 7.83e-06 1.12e+00 -3.6 1.96e-01 -2.4 1.00e+00 3.23e-01h 2 35 2.0824974e+00 1.49e-06 1.85e-01 -3.7 1.17e-01 -2.9 8.40e-01 8.45e-01H 1 36 2.0823513e+00 1.93e-06 8.03e-01 -3.9 9.72e-01 -3.3 1.00e+00 8.82e-02f 1 37 2.0825236e+00 1.60e-06 7.19e-01 -4.0 1.43e-01 -3.8 1.00e+00 5.00e-01f 2 38 2.0821630e+00 8.22e-06 2.37e-04 -4.0 1.70e-01 -4.3 1.00e+00 1.00e+00h 1 39 2.0821595e+00 4.43e-06 9.88e-05 -4.0 3.67e-01 -4.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0820870e+00 1.43e-06 6.75e-05 -4.0 1.12e+00 -5.3 1.00e+00 1.00e+00h 1 41 2.0818979e+00 5.04e-05 4.32e-04 -4.0 4.34e+00 -5.7 1.00e+00 1.00e+00h 1 42 2.0995545e+00 8.64e-08 1.71e-01 -4.0 1.93e+01 -6.2 2.28e-01 1.00e+00H 1 43 2.0891283e+00 8.62e-07 5.68e-02 -3.7 1.14e-01 -0.4 1.00e+00 1.00e+00f 1 44 2.0844315e+00 4.23e-06 4.93e-02 -3.7 1.28e-01 -0.8 9.18e-01 1.00e+00h 1 45 2.0835515e+00 3.85e-07 1.29e-02 -3.7 3.22e-02 -0.4 1.00e+00 1.00e+00h 1 46 2.0827849e+00 8.09e-07 6.58e-03 -3.7 4.49e-02 -0.9 1.00e+00 1.00e+00h 1 47 2.0824181e+00 5.46e-07 2.27e-03 -3.7 3.72e-02 -1.4 1.00e+00 1.00e+00h 1 48 2.0823251e+00 5.61e-08 1.08e-03 -3.7 8.33e-02 -1.8 1.00e+00 1.00e+00h 1 49 2.0820651e+00 3.28e-07 5.79e-01 -5.6 2.26e-02 -1.4 6.98e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0820247e+00 3.16e-07 9.67e-04 -4.0 7.18e-02 -1.9 1.00e+00 1.00e+00h 1 51 2.0820022e+00 2.52e-07 9.54e-04 -4.0 2.64e-02 -1.5 1.00e+00 1.00e+00h 1 52 2.0817673e+00 1.54e-07 4.65e-03 -4.0 1.28e-01 -1.9 1.00e+00 9.70e-01H 1 53 2.0817411e+00 6.59e-06 2.85e-02 -4.0 1.65e-01 -2.4 1.00e+00 9.11e-01f 1 54 2.0817808e+00 1.30e-06 7.75e-04 -4.0 7.64e-02 -2.9 1.00e+00 1.00e+00f 1 55 2.0816221e+00 5.27e-07 1.41e-04 -4.1 2.53e-02 -3.4 1.00e+00 1.00e+00h 1 56 2.0817363e+00 1.58e-06 5.44e-05 -4.0 8.15e-02 -3.9 1.00e+00 1.00e+00h 1 57 2.0816302e+00 2.18e-06 1.40e-04 -4.1 1.09e-01 -4.3 1.00e+00 1.00e+00h 1 58 2.0810728e+00 7.30e-05 5.53e-02 -6.1 8.28e-01 -4.8 8.05e-01 1.00e+00h 1 59 2.0819265e+00 1.50e-04 2.42e-03 -4.0 1.26e+00 -5.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0817382e+00 5.66e-05 8.34e-04 -4.1 2.49e+00 -5.8 1.00e+00 1.00e+00h 1 61 2.0818564e+00 4.60e-04 6.50e-02 -4.1 1.41e+01 -6.2 6.92e-01 1.00e+00h 1 62 2.0817579e+00 1.25e-04 2.19e-01 -4.1 1.28e-01 -2.2 1.00e+00 7.28e-01h 1 63 2.0818576e+00 3.56e-07 9.53e-05 -4.1 2.48e-02 -2.7 1.00e+00 1.00e+00f 1 64 2.0812678e+00 2.92e-06 7.23e-02 -6.1 9.68e-02 -3.2 7.65e-01 1.00e+00h 1 65 2.0820805e+00 1.08e-05 2.45e-03 -4.0 1.66e-01 -3.6 1.00e+00 1.00e+00f 1 66 2.0818189e+00 8.08e-06 2.17e-04 -4.1 1.63e-01 -4.1 1.00e+00 1.00e+00h 1 67 2.0812065e+00 6.23e-05 4.67e-02 -6.1 6.33e-01 -4.6 8.52e-01 1.00e+00h 1 68 2.0812110e+00 5.98e-05 9.35e-02 -6.1 2.50e+01 -5.1 2.48e-02 3.99e-02h 1 69 2.0810579e+00 2.76e-05 3.01e-01 -6.1 3.14e+00 -5.5 1.00e+00 7.21e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0814363e+00 1.05e-04 1.68e-01 -4.0 2.67e+00 -6.0 1.00e+00 4.54e-01f 1 71 2.0818171e+00 1.68e-04 7.45e-03 -4.1 6.30e+00 -6.5 1.00e+00 1.00e+00h 1 72 2.0815828e+00 6.39e-07 9.63e-04 -4.1 4.34e-02 -1.6 1.00e+00 1.00e+00h 1 73 2.0818538e+00 8.72e-07 6.46e-04 -4.0 4.55e-02 -2.0 1.00e+00 1.00e+00h 1 74 2.0817160e+00 1.47e-07 1.74e-04 -4.1 5.15e-02 -2.5 1.00e+00 1.00e+00h 1 75 2.0811910e+00 2.32e-06 9.86e-02 -6.1 1.09e-01 -3.0 6.98e-01 1.00e+00h 1 76 2.0819676e+00 8.20e-06 3.11e-03 -4.0 1.61e-01 -3.5 1.00e+00 1.00e+00h 1 77 2.0816643e+00 8.98e-06 5.02e-04 -4.1 1.51e-01 -3.9 1.00e+00 1.00e+00h 1 78 2.0811189e+00 4.71e-05 1.12e-01 -6.1 4.92e-01 -4.4 7.83e-01 1.00e+00h 1 79 2.0811344e+00 2.61e-05 1.87e-01 -6.1 2.03e+00 -4.9 2.65e-01 6.38e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0809493e+00 1.17e-05 4.07e-01 -6.1 2.55e+00 -5.4 1.00e+00 6.96e-01h 1 81 2.0819153e+00 1.89e-03 2.16e-03 -4.0 5.26e+00 -5.9 1.00e+00 1.00e+00f 1 82 2.0816835e+00 4.97e-04 1.30e-03 -4.1 2.88e+00 -6.3 1.00e+00 1.00e+00h 1 83 2.0816578e+00 2.58e-04 3.25e-04 -4.1 2.74e+00 -6.8 1.00e+00 1.00e+00h 1 84 2.0807042e+00 1.72e-03 2.07e-03 -6.1 2.16e+01 -7.3 9.84e-01 9.77e-01h 1 85 2.0812883e+00 1.16e-03 4.99e-02 -4.0 2.50e+01 -7.8 1.00e+00 4.99e-01f 1 86 2.0815266e+00 9.01e-04 1.91e-03 -4.1 3.76e+01 -8.2 1.00e+00 1.00e+00h 1 87 2.0814944e+00 2.90e-05 7.58e-04 -4.1 3.42e+01 -8.7 1.00e+00 1.00e+00h 1 88 2.0814914e+00 3.70e-06 1.27e-04 -4.1 1.48e+01 -9.2 1.00e+00 1.00e+00h 1 89 2.0818428e+00 3.68e-04 4.49e-05 -4.0 1.25e+01 -9.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0815826e+00 2.14e-04 3.61e-05 -4.1 9.79e+00 -10.1 1.00e+00 1.00e+00h 1 91 2.0805927e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -10.6 9.77e-01 9.67e-01h 1 92 2.0818893e+00 6.57e-03 3.15e-04 -4.0 6.12e+01 -11.1 1.00e+00 1.00e+00f 1 93 2.0816124e+00 4.94e-04 3.68e-05 -4.1 2.07e+01 -11.6 1.00e+00 1.00e+00h 1 94 2.0806015e+00 3.47e-03 1.91e-04 -6.1 4.19e+01 -12.1 9.76e-01 9.61e-01h 1 95 2.0805507e+00 9.05e-05 2.27e-06 -6.1 1.70e+01 -12.5 1.00e+00 1.00e+00h 1 96 2.0819806e+00 1.03e-02 3.96e-04 -4.0 8.49e+01 -13.0 1.00e+00 1.00e+00f 1 97 2.0816780e+00 9.65e-04 4.94e-05 -4.1 4.57e+01 -13.5 1.00e+00 1.00e+00h 1 98 2.0816420e+00 4.58e-07 3.79e-05 -4.1 8.54e+00 -14.0 1.00e+00 1.00e+00h 1 99 2.0805932e+00 3.64e-03 1.54e-04 -6.1 4.19e+01 -14.4 9.76e-01 9.71e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805508e+00 7.31e-05 1.94e-06 -6.1 1.62e+01 -14.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805508460705480e+00 2.0805508460705480e+00 Dual infeasibility......: 1.9435370930249213e-06 1.9435370930249213e-06 Constraint violation....: 7.3103049719420998e-05 7.3103049719420998e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.9059468087461890e-06 2.9059468087461890e-06 Overall NLP error.......: 9.9222023229263178e-05 9.9222023229263178e-05 Number of objective function evaluations = 125 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 125 Number of inequality constraint evaluations = 125 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 51.095 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 1 integrator 1 jacobian structure: 0.064s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) jacobian structure: 4.226s jacobian structure: 1594 nonzeros (4.29s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) hessian structure: 13.677s 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 (13.727s) linear index maps built (0.0s) evaluator ready (total: 18.018s) evaluator created (18.04s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 18.04s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 10 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 1 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.4093234e+02 3.72e+00 3.77e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.1608312e+01 1.90e+00 1.94e+01 -0.5 2.29e+00 0.0 1.00e+00 4.90e-01f 1 2 3.1178797e+00 1.11e-01 2.38e+00 -0.4 1.28e+00 -0.5 8.30e-01 1.00e+00f 1 3 2.8760028e+00 2.54e-02 8.45e-01 -1.0 5.33e-01 -1.0 9.91e-01 1.00e+00h 1 4 2.4516779e+00 3.03e-02 3.76e-01 -2.0 3.61e-01 -1.4 8.20e-01 1.00e+00f 1 5 2.1727197e+00 2.50e-02 7.37e-02 -2.0 4.79e-01 -1.9 9.55e-01 9.72e-01h 1 6 2.0987158e+00 1.48e-03 1.98e-02 -3.0 1.28e-01 -2.4 9.13e-01 1.00e+00h 1 7 2.0909957e+00 3.86e-05 3.70e-04 -4.0 2.39e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908788e+00 9.29e-07 2.58e-04 -4.0 4.49e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908636e+00 3.00e-08 2.57e-04 -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 2.0908335e+00 4.65e-08 2.57e-04 -4.0 3.44e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907661e+00 2.48e-07 4.87e-04 -4.0 8.82e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905843e+00 2.42e-06 7.72e-04 -4.0 2.65e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0899800e+00 1.92e-05 1.60e-03 -4.0 7.25e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0889462e+00 1.71e-04 2.32e-02 -4.0 2.33e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0878670e+00 6.73e-05 4.18e-02 -4.0 3.15e+00 -4.9 1.00e+00 6.92e-01h 1 16 2.0877294e+00 1.50e-05 5.34e-03 -4.0 3.44e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0868107e+00 4.11e-05 4.87e-03 -4.0 1.00e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0852782e+00 1.83e-04 9.37e-03 -4.0 2.37e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0835003e+00 2.76e-04 3.35e-02 -4.0 3.98e+01 -6.8 1.00e+00 6.89e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0826104e+00 9.65e-05 5.20e-03 -4.0 5.64e+01 -7.3 1.00e+00 7.10e-01h 1 21 2.0824454e+00 5.53e-04 2.02e-02 -4.0 1.21e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.3229450e+00 1.96e-04 6.27e+00 -4.0 8.90e+02 -8.2 4.28e-02 1.00e+00H 1 23 2.0868946e+00 2.93e-05 8.36e-01 -4.1 1.26e-01 -0.4 9.18e-01 8.51e-01f 1 24 2.0872807e+00 2.91e-05 4.80e+00 -4.0 8.38e-02 -0.8 1.00e+00 7.81e-03f 8 25 2.0873079e+00 2.18e-07 1.36e-03 -3.9 2.86e-02 -1.3 1.00e+00 1.00e+00h 1 26 2.0868857e+00 1.13e-07 1.21e-03 -4.0 7.61e-02 -1.8 1.00e+00 1.00e+00h 1 27 2.0866354e+00 6.50e-07 7.72e-04 -4.0 1.46e-01 -2.3 1.00e+00 1.00e+00h 1 28 2.0866956e+00 1.36e-07 2.57e-04 -4.0 2.25e-02 -2.8 1.00e+00 1.00e+00h 1 29 2.0866790e+00 1.55e-07 2.57e-04 -4.0 2.03e-02 -3.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0866733e+00 2.20e-08 2.57e-04 -4.0 6.12e-02 -3.7 1.00e+00 1.00e+00h 1 31 2.0866585e+00 3.63e-08 2.57e-04 -4.0 1.83e-01 -4.2 1.00e+00 1.00e+00h 1 32 2.0866154e+00 3.15e-07 2.57e-04 -4.0 5.43e-01 -4.7 1.00e+00 1.00e+00h 1 33 2.0864983e+00 2.47e-06 2.57e-04 -4.0 1.58e+00 -5.1 1.00e+00 1.00e+00h 1 34 2.0862356e+00 1.40e-05 7.37e-04 -4.0 4.41e+00 -5.6 1.00e+00 1.00e+00h 1 35 2.0858315e+00 4.01e-05 2.10e-03 -4.0 1.16e+01 -6.1 1.00e+00 1.00e+00h 1 36 2.0851523e+00 9.45e-05 4.21e-03 -4.0 3.01e+01 -6.6 1.00e+00 1.00e+00h 1 37 2.0839530e+00 5.40e-04 2.01e-02 -4.0 7.41e+01 -7.0 1.00e+00 1.00e+00h 1 38 2.0823498e+00 1.06e-03 5.62e-02 -4.1 1.43e+02 -7.5 1.00e+00 1.00e+00h 1 39 2.0818381e+00 6.02e-03 3.33e-02 -4.0 2.16e+02 -8.0 6.56e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0816974e+00 2.39e-03 3.61e-02 -4.0 4.89e+01 -6.7 1.00e+00 1.00e+00h 1 41 2.0818651e+00 1.01e-03 7.53e-03 -4.0 2.55e+01 -7.2 9.70e-01 1.00e+00h 1 42 2.1070201e+00 5.35e-07 1.12e-01 -4.0 5.65e+01 -7.6 2.49e-01 1.00e+00H 1 43 2.0986969e+00 4.49e-07 8.52e-02 -4.0 5.01e-02 0.2 1.00e+00 1.00e+00f 1 44 2.0902312e+00 4.93e-07 5.04e-02 -3.7 8.20e-02 -0.3 1.00e+00 1.00e+00f 1 45 2.0845665e+00 7.41e-08 2.67e-02 -3.8 1.37e-01 -0.7 1.00e+00 1.00e+00f 1 46 2.0820556e+00 1.09e-05 9.13e-01 -3.6 4.76e-01 -1.2 1.00e+00 3.85e-01h 1 47 2.0819937e+00 6.55e-07 9.18e-04 -4.0 3.73e-02 -1.7 1.00e+00 1.00e+00h 1 48 2.0818815e+00 5.72e-07 2.58e-04 -4.0 3.42e-02 -2.2 1.00e+00 1.00e+00h 1 49 2.0818766e+00 8.64e-08 2.57e-04 -4.0 1.56e-02 -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 2.0818791e+00 2.83e-08 2.57e-04 -4.0 5.29e-03 -3.1 1.00e+00 1.00e+00h 1 51 2.0818799e+00 6.75e-09 2.57e-04 -4.0 1.59e-02 -3.6 1.00e+00 1.00e+00h 1 52 2.0818818e+00 8.23e-09 2.57e-04 -4.0 4.75e-02 -4.1 1.00e+00 1.00e+00h 1 53 2.0817448e+00 2.29e-06 2.06e-04 -4.1 1.01e-01 -4.6 1.00e+00 1.00e+00h 1 54 2.0819003e+00 8.96e-06 2.57e-04 -4.0 4.15e-01 -5.0 1.00e+00 1.00e+00h 1 55 2.0817516e+00 2.19e-05 2.06e-04 -4.1 9.50e-01 -5.5 1.00e+00 1.00e+00h 1 56 2.0809005e+00 4.99e-04 6.06e-03 -6.1 6.31e+00 -6.0 9.73e-01 9.13e-01h 1 57 2.0808795e+00 9.34e-05 2.44e-03 -4.6 4.69e+00 -6.5 1.00e+00 9.60e-01f 1 58 2.0818984e+00 2.52e-03 5.24e-02 -4.0 2.65e+01 -6.9 4.31e-01 1.00e+00f 1 59 2.0814428e+00 1.50e-03 7.87e-02 -4.3 1.81e+01 -7.4 5.09e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0811673e+00 3.16e-04 2.37e-01 -4.3 3.64e-01 -4.3 1.00e+00 7.96e-01h 1 61 2.0813992e+00 8.04e-06 1.46e-03 -4.3 3.55e-01 -4.8 1.00e+00 1.00e+00f 1 62 2.0816918e+00 2.44e-04 2.93e-03 -4.0 2.84e+00 -5.2 1.00e+00 1.00e+00h 1 63 2.0815424e+00 1.28e-07 2.05e-04 -4.1 3.75e-02 -2.1 1.00e+00 1.00e+00h 1 64 2.0816846e+00 1.80e-07 2.57e-04 -4.0 2.41e-02 -2.6 1.00e+00 1.00e+00h 1 65 2.0815694e+00 1.39e-07 2.06e-04 -4.1 7.34e-03 -3.1 1.00e+00 1.00e+00h 1 66 2.0810845e+00 3.75e-06 7.41e-02 -6.1 5.22e-02 -3.5 6.91e-01 9.02e-01h 1 67 2.0818216e+00 7.92e-06 2.24e-03 -4.0 6.19e-02 -4.0 1.00e+00 1.00e+00f 1 68 2.0815802e+00 9.47e-06 2.07e-04 -4.1 2.12e-01 -4.5 1.00e+00 1.00e+00h 1 69 2.0811592e+00 4.23e-05 7.89e-02 -6.1 1.33e+00 -5.0 8.25e-01 6.17e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0807791e+00 1.09e-04 1.33e-03 -6.1 2.70e+00 -5.4 1.00e+00 9.77e-01h 1 71 2.0806846e+00 5.84e-05 1.71e-02 -5.3 6.52e+00 -5.9 1.00e+00 4.17e-01h 1 72 2.0844419e+00 4.60e-03 1.32e-01 -4.0 3.62e+01 -6.4 5.46e-01 1.00e+00f 1 73 2.0832256e+00 3.78e-03 1.46e+00 -4.1 3.51e+00 -4.2 6.43e-02 1.78e-01h 1 74 2.0828410e+00 3.77e-03 1.46e+00 -4.1 9.03e+01 -4.6 1.06e-04 3.08e-03f 1 75 2.0828830e+00 3.77e-03 1.47e+00 -4.1 8.98e+02 -5.1 6.91e-07 6.21e-05f 2 76 2.0828759e+00 3.62e-03 2.58e+00 -4.1 8.53e-01 -2.9 9.41e-01 3.94e-02h 1 77 2.0830717e+00 1.04e-06 5.38e-04 -4.1 2.79e-02 -3.4 1.00e+00 1.00e+00f 1 78 2.0823641e+00 8.71e-06 3.73e-03 -6.2 9.34e-02 -3.8 9.58e-01 1.00e+00h 1 79 2.0823195e+00 7.34e-07 2.24e-05 -6.2 2.72e-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 80 2.0833286e+00 8.95e-05 1.01e-03 -4.0 7.55e-01 -4.8 1.00e+00 1.00e+00f 1 81 2.0829372e+00 4.47e-05 6.29e-04 -4.1 2.18e+00 -5.3 1.00e+00 1.00e+00h 1 82 2.0818137e+00 6.54e-04 2.63e-03 -6.1 6.82e+00 -5.7 9.86e-01 1.00e+00h 1 83 2.0808820e+00 4.19e-05 2.46e-02 -6.1 1.83e+01 -6.2 4.64e-01 1.00e+00h 1 84 2.0814719e+00 8.54e-05 3.82e-01 -4.0 5.29e+01 -5.8 1.79e-01 9.67e-02f 2 85 2.0814127e+00 5.56e-05 6.68e-01 -4.7 2.49e-02 -0.9 1.00e+00 3.49e-01h 1 86 2.0814023e+00 1.07e-07 1.86e-03 -4.7 3.98e-02 -1.3 1.00e+00 1.00e+00f 1 87 2.0821467e+00 1.41e-05 3.93e-03 -4.0 1.10e-01 -1.8 1.00e+00 1.00e+00f 1 88 2.0819551e+00 7.67e-07 3.07e-04 -4.1 2.85e-02 -2.3 1.00e+00 1.00e+00h 1 89 2.0814455e+00 2.26e-06 8.38e-02 -6.1 9.24e-02 -2.8 6.89e-01 9.41e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0811073e+00 3.06e-06 3.34e-01 -6.1 3.02e-01 -2.3 7.89e-01 5.40e-01h 1 91 2.0820601e+00 1.01e-05 2.74e-03 -4.0 1.43e-01 -2.8 1.00e+00 1.00e+00f 1 92 2.0817741e+00 2.37e-06 2.15e-04 -4.1 3.18e-02 -3.3 1.00e+00 1.00e+00h 1 93 2.0811677e+00 5.58e-06 2.07e-01 -6.1 1.84e-01 -3.8 6.52e-01 8.23e-01h 1 94 2.0810121e+00 4.40e-06 3.93e-05 -6.1 1.90e-01 -4.2 1.00e+00 1.00e+00h 1 95 2.0821220e+00 4.36e-05 4.68e-01 -4.0 9.63e-01 -4.7 1.00e+00 5.92e-01f 1 96 2.0819497e+00 9.92e-05 3.09e-01 -3.9 2.39e+00 -5.2 1.00e+00 7.59e-01f 1 97 2.0821710e+00 2.37e-05 6.66e-04 -3.9 1.25e+00 -5.7 1.00e+00 1.00e+00h 1 98 2.0808879e+00 1.06e-03 6.98e-02 -5.8 6.79e+00 -6.2 5.61e-01 1.00e+00h 1 99 2.0808452e+00 8.36e-04 2.54e-03 -5.8 2.80e+00 -5.7 8.28e-01 2.10e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0806669e+00 2.41e-04 1.67e-02 -5.8 4.28e+00 -6.2 1.00e+00 7.19e-01h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0806668701221129e+00 2.0806668701221129e+00 Dual infeasibility......: 1.6733732693044758e-02 1.6733732693044758e-02 Constraint violation....: 2.4127452387362469e-04 2.4127452387362469e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.0804855740139493e-06 8.0804855740139493e-06 Overall NLP error.......: 1.6733732693044758e-02 1.6733732693044758e-02 Number of objective function evaluations = 115 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 115 Number of inequality constraint evaluations = 115 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 32.220 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.06s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.051s) linear index maps built (0.0s) evaluator ready (total: 0.112s) evaluator created (0.112s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.113s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.8593564e+00 3.55e+00 6.86e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7707712e+00 9.30e-02 2.40e+00 -1.0 2.36e+00 0.0 9.77e-01 1.00e+00h 1 2 3.1648195e+00 3.13e-02 1.39e+00 -0.8 9.40e-01 -0.5 6.75e-01 9.72e-01H 1 3 2.7065145e+00 8.80e-02 5.68e-01 -1.2 5.27e-01 -1.0 5.38e-01 6.85e-01f 1 4 2.3508196e+00 2.66e-02 1.22e-01 -1.9 4.01e-01 -1.4 9.11e-01 1.00e+00f 1 5 2.1483992e+00 1.11e-02 4.56e-02 -2.3 2.74e-01 -1.9 9.32e-01 8.92e-01h 1 6 2.0927997e+00 5.64e-04 5.93e-03 -3.5 8.50e-02 -2.4 9.78e-01 9.92e-01h 1 7 2.0909028e+00 5.31e-06 3.45e-04 -4.0 1.55e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908912e+00 6.27e-08 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 8 (scaled) (unscaled) Objective...............: 2.0908911757748498e+00 2.0908911757748498e+00 Dual infeasibility......: 2.0584447031715120e-05 2.0584447031715120e-05 Constraint violation....: 6.2719752599860179e-08 6.2719752599860179e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000517337756160e-04 1.0000517337756160e-04 Overall NLP error.......: 2.0584447031715120e-05 2.0584447031715120e-05 Number of objective function evaluations = 10 Number of objective gradient evaluations = 9 Number of equality constraint evaluations = 10 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 = 24.371 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.056s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.057s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.053s) linear index maps built (0.0s) evaluator ready (total: 0.11s) evaluator created (0.11s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.111s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.2985952e+00 3.82e+00 4.16e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8503295e+00 1.07e-01 3.73e+00 -0.9 2.45e+00 0.0 4.58e-01 9.96e-01h 1 2 2.6572598e+00 1.50e-02 1.07e+00 -1.0 1.69e-01 0.4 1.00e+00 1.00e+00f 1 3 2.5647651e+00 2.18e-03 1.80e-01 -1.5 8.44e-02 -0.1 9.79e-01 1.00e+00h 1 4 2.1902769e+00 1.42e-02 8.43e-02 -1.9 2.23e-01 -0.5 9.30e-01 1.00e+00f 1 5 2.1163940e+00 2.23e-04 3.02e-02 -2.5 2.59e-02 -1.0 9.28e-01 1.00e+00h 1 6 2.0909931e+00 2.71e-05 1.92e-03 -4.0 1.00e-02 -1.5 1.00e+00 1.00e+00h 1 7 2.0908254e+00 1.15e-07 5.47e-05 -4.0 4.98e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908247e+00 3.96e-10 2.83e-05 -4.0 7.74e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908231e+00 1.09e-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 2.0908181e+00 9.78e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908031e+00 8.80e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0907583e+00 7.93e-08 2.06e-05 -4.0 4.55e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906241e+00 7.15e-07 2.05e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902222e+00 6.47e-06 2.86e-05 -4.0 4.08e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890256e+00 5.92e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855184e+00 5.59e-04 2.32e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796500e+00 2.26e-03 1.38e-01 -4.0 9.53e+01 -6.7 1.00e+00 6.21e-01h 1 18 2.0806675e+00 1.65e-04 1.85e-01 -4.0 6.74e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775374e+00 7.82e-03 2.57e-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 2.0769439e+00 1.45e-03 7.13e-02 -4.0 1.92e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0763058e+00 2.06e-03 2.19e-02 -4.0 3.38e+02 -8.6 1.00e+00 7.29e-01h 1 22 2.0755155e+00 1.68e-03 2.76e-02 -4.0 5.97e+02 -9.1 1.00e+00 7.54e-01h 1 23 2.0758074e+00 3.73e-03 1.57e-02 -4.0 1.78e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753938e+00 1.37e-03 8.13e-04 -4.1 1.02e+02 -10.1 1.00e+00 1.00e+00h 1 25 2.0756722e+00 4.59e-04 8.09e-06 -4.0 2.16e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 5.77e-07 1.11e-06 -4.0 1.19e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.16e-09 8.18e-08 -4.0 4.19e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 3.60e-11 1.44e-09 -4.0 6.58e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121556666e+00 2.0756712121556666e+00 Dual infeasibility......: 1.4445447914289509e-09 1.4445447914289509e-09 Constraint violation....: 3.6020408877845966e-11 3.6020408877845966e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000030e-04 1.0000000000000030e-04 Overall NLP error.......: 1.4445447914289509e-09 1.4445447914289509e-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 = 23.997 EXIT: Optimal Solution Found. 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: 0.046s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.047s) linear index maps built (0.0s) evaluator ready (total: 0.103s) evaluator created (0.103s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.103s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.9349369e+00 3.22e+00 5.83e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6968241e+00 6.68e-02 8.15e-01 -1.0 2.52e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.3765728e+00 3.42e-02 3.07e-01 -1.5 1.30e+00 -2.5 8.35e-01 1.00e+00h 1 3 2.1546012e+00 3.62e-02 1.45e-01 -2.3 1.41e+00 -3.0 9.84e-01 1.00e+00h 1 4 2.1009367e+00 6.13e-03 2.07e-02 -3.0 6.62e-01 -3.4 9.83e-01 1.00e+00h 1 5 2.0909219e+00 2.02e-04 6.20e-04 -4.0 1.81e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0908246e+00 8.94e-06 2.63e-05 -4.0 5.00e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0906772e+00 8.17e-07 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0902361e+00 7.74e-06 3.44e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0889238e+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 2.0850867e+00 6.71e-04 2.79e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0850867349662150e+00 2.0850867349662150e+00 Dual infeasibility......: 2.7935530326217602e-03 2.7935530326217602e-03 Constraint violation....: 6.7093641809923277e-04 6.7093641809923277e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999999991e-05 9.9999999999999991e-05 Overall NLP error.......: 2.7935530326217602e-03 2.7935530326217602e-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 = 23.998 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: 0.049s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.049s) integrator 1 hessian structure: 0.042s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.042s) linear index maps built (0.0s) evaluator ready (total: 0.091s) evaluator created (0.091s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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: 0.092s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 0 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.2101533e+00 3.14e+00 9.58e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.3061439e+00 1.78e+00 5.13e+00 -0.6 2.60e+00 - 1.00e+00 4.32e-01f 1 2 2.7997433e+00 3.23e-02 2.89e+00 -0.5 1.69e+00 - 6.96e-01 1.00e+00f 1 3 2.7049607e+00 6.44e-03 2.01e-01 -1.3 1.73e-01 - 9.99e-01 1.00e+00h 1 4 2.3155621e+00 2.15e-02 4.14e-01 -2.5 2.72e-01 - 8.90e-01 1.00e+00f 1 5 2.1333304e+00 1.22e-02 1.04e-01 -2.5 4.89e-01 - 1.00e+00 6.20e-01h 1 6 2.0922514e+00 8.43e-04 4.89e-02 -3.9 9.06e-02 - 1.00e+00 9.60e-01h 1 7 2.0908243e+00 1.07e-06 4.53e-04 -4.0 3.54e-03 - 1.00e+00 1.00e+00h 1 8 2.0908347e+00 1.77e-10 3.98e-05 -4.0 3.98e-05 - 1.00e+00 1.00e+00h 1 9 2.0908347e+00 2.12e-13 2.06e-05 -4.0 2.06e-05 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908347e+00 4.82e-16 2.06e-05 -4.0 2.06e-05 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0908346936473947e+00 2.0908346936473947e+00 Dual infeasibility......: 2.0576697444684255e-05 2.0576697444684255e-05 Constraint violation....: 4.8225312632155237e-16 4.8225312632155237e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000036e-04 1.0000000000000036e-04 Overall NLP error.......: 2.0576697444684255e-05 2.0576697444684255e-05 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 0 Total seconds in IPOPT = 8.335 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.063s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.064s) integrator 1 hessian structure: 0.05s 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: 0.116s) 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: 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 4.9059932e+00 3.62e+00 7.15e-01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7925173e+00 6.74e-02 2.18e+00 -1.0 2.16e+00 0.0 8.41e-01 1.00e+00h 1 2 2.8888019e+00 3.94e-02 1.34e+00 -1.0 1.14e+00 -0.5 3.94e-01 5.00e-01h 2 3 2.6839981e+00 1.22e-02 1.65e-01 -1.0 1.39e-01 -0.1 1.00e+00 1.00e+00h 1 4 2.3338591e+00 1.19e-02 5.63e-02 -2.5 1.46e-01 -0.5 7.72e-01 8.20e-01f 1 5 2.1478085e+00 4.89e-03 4.56e-02 -2.5 1.15e-01 -1.0 8.96e-01 9.36e-01h 1 6 2.1121085e+00 2.05e-04 1.18e-02 -2.5 3.45e-02 -1.5 1.00e+00 1.00e+00h 1 7 2.0915393e+00 1.42e-05 4.50e-04 -3.8 6.38e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909386e+00 3.98e-07 2.06e-05 -4.0 5.63e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909369e+00 2.79e-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 2.0909319e+00 9.73e-10 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0909319290017252e+00 2.0909319290017252e+00 Dual infeasibility......: 2.0589271695182783e-05 2.0589271695182783e-05 Constraint violation....: 9.7284829150834362e-10 9.7284829150834362e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999999923e-05 9.9999999999999923e-05 Overall NLP error.......: 2.0589271695182783e-05 2.0589271695182783e-05 Number of objective function evaluations = 13 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 13 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 26.421 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.06s) integrator 1 hessian structure: 0.052s 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: 0.113s) evaluator created (0.113s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.114s) initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.063s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.063s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (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: 0.112s) evaluator created (0.112s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (1.973s) optimizer initialization complete (total: 2.086s) 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 3.1689468e+00 3.07e+00 1.82e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7782781e+00 4.05e-02 8.32e-01 -1.2 2.30e+00 -2.0 9.97e-01 1.00e+00f 1 2 2.2248249e+00 3.39e-02 1.42e-01 -1.7 4.94e-01 -1.6 9.79e-01 8.73e-01h 1 3 2.1264130e+00 7.13e-03 7.95e-01 -2.6 3.86e-01 -1.1 9.28e-01 1.00e+00h 1 4 2.1041401e+00 3.35e-03 9.79e-01 -3.8 4.42e-01 -1.6 1.00e+00 6.00e-01h 1 5 2.0924735e+00 1.21e-03 3.60e-01 -4.0 4.49e-01 -2.1 1.00e+00 8.03e-01h 1 6 2.0908704e+00 1.11e-04 1.43e-01 -4.0 1.41e-01 -2.6 1.00e+00 9.12e-01h 1 7 2.0909819e+00 8.15e-06 3.41e-03 -4.0 5.61e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0909783e+00 5.66e-08 2.06e-05 -4.0 7.04e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909576e+00 1.64e-08 2.06e-05 -4.0 2.11e-01 -4.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908958e+00 1.46e-07 2.05e-05 -4.0 6.31e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907136e+00 1.29e-06 4.96e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0901945e+00 1.09e-05 4.19e-04 -4.0 5.44e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888524e+00 8.18e-05 3.16e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861664e+00 4.39e-04 1.74e-02 -4.0 3.46e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830963e+00 9.12e-04 4.71e-02 -4.0 5.31e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828597e+00 9.32e-04 2.33e-02 -4.0 5.42e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823467e+00 3.96e-04 1.01e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820403e+00 9.43e-05 1.86e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.71e-04 8.70e-03 -4.0 9.94e+01 -8.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0819393e+00 3.70e-05 8.47e-04 -4.0 3.11e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.33e-07 1.39e-05 -4.0 4.45e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.82e-10 3.26e-08 -4.0 2.45e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.51e-13 1.21e-11 -4.0 4.59e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907190951e+00 2.0819382907190951e+00 Dual infeasibility......: 1.2136934090124091e-11 1.2136934090124091e-11 Constraint violation....: 2.5135449277513544e-13 2.5135449277513544e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000051e-04 1.0000000000000051e-04 Overall NLP error.......: 1.2136934090124091e-11 1.2136934090124091e-11 Number of objective function evaluations = 24 Number of objective gradient evaluations = 24 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 24 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 23 Total seconds in IPOPT = 26.106 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.061s) integrator 1 hessian structure: 0.054s 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 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.055s) linear index maps built (0.0s) evaluator ready (total: 0.116s) evaluator created (0.116s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.062s) optimizer initialization complete (total: 0.179s) 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 1.8347564e+00 3.58e+00 1.74e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8725484e+00 2.65e-02 3.79e-01 -1.0 2.27e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.3369255e+00 2.35e-02 6.00e-02 -1.7 3.56e-01 -1.6 9.41e-01 1.00e+00h 1 3 2.1249942e+00 1.62e-03 2.03e-01 -3.2 1.04e-01 -1.1 9.65e-01 9.98e-01h 1 4 2.0933736e+00 7.09e-04 1.20e-01 -4.0 7.23e-02 -1.6 1.00e+00 9.50e-01h 1 5 2.0917506e+00 4.35e-04 1.62e+00 -4.0 6.03e-01 -2.1 1.00e+00 2.38e-01h 1 6 2.0909331e+00 5.88e-05 4.45e-01 -4.0 9.24e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0908960e+00 9.99e-07 1.05e-02 -4.0 2.94e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0909200e+00 1.51e-06 1.94e-05 -4.0 6.63e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909041e+00 2.18e-08 3.00e-05 -4.0 1.86e-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 2.0908659e+00 9.59e-08 1.92e-04 -4.0 4.94e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907672e+00 5.34e-07 5.79e-04 -4.0 1.31e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904811e+00 5.76e-06 4.41e-04 -4.0 4.14e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0903557e+00 7.86e-07 5.98e-04 -4.0 1.56e+00 -5.0 1.00e+00 1.00e+00h 1 14 2.0902119e+00 1.39e-06 1.90e-02 -4.0 6.44e+00 -5.5 1.00e+00 2.19e-01h 2 15 2.0890463e+00 6.34e-05 2.49e-03 -4.0 1.38e+01 -6.0 1.00e+00 1.00e+00h 1 16 2.0870633e+00 2.18e-04 4.58e-02 -4.0 3.72e+01 -6.4 1.00e+00 6.45e-01h 1 17 2.0836232e+00 1.44e-03 5.39e-02 -4.0 6.35e+01 -6.9 1.00e+00 1.00e+00h 1 18 2.0826763e+00 2.12e-04 8.40e-03 -4.0 8.71e+00 -6.5 1.00e+00 8.08e-01h 1 19 2.0827902e+00 6.89e-05 6.66e-03 -4.0 2.84e+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 2.0825041e+00 2.72e-04 2.99e-03 -4.0 7.38e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0821284e+00 8.46e-04 8.66e-03 -4.0 1.73e+02 -7.9 6.39e-01 1.00e+00h 1 22 2.0821526e+00 8.54e-04 8.70e-03 -4.0 2.76e+03 -8.4 1.84e-03 5.78e-03h 5 23 2.0819357e+00 7.85e-04 5.49e-01 -4.1 5.71e+00 -5.3 1.00e+00 5.60e-01h 1 24 2.0837169e+00 1.81e-03 2.01e-02 -3.6 8.49e+00 -5.7 9.98e-01 1.00e+00f 1 25 2.0833754e+00 1.58e-03 5.69e-01 -3.7 2.53e+00 -3.5 6.79e-02 1.27e-01h 1 26 2.0834657e+00 1.30e-03 3.01e+00 -3.7 2.77e+00 -4.0 1.00e+00 1.77e-01h 1 27 2.0829519e+00 8.95e-06 1.52e-03 -3.7 4.77e-01 -4.5 1.00e+00 1.00e+00f 1 28 2.0824356e+00 5.83e-05 4.53e-04 -4.0 5.24e-01 -4.9 9.98e-01 1.00e+00h 1 29 2.0822701e+00 3.09e-05 9.44e-04 -4.0 2.09e+00 -5.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0821774e+00 3.03e-05 1.02e-03 -4.0 1.24e+00 -5.9 1.00e+00 1.00e+00h 1 31 2.0821232e+00 4.25e-05 8.57e-04 -4.0 4.59e+00 -6.4 1.00e+00 1.00e+00h 1 32 2.0820601e+00 4.51e-05 9.63e-04 -4.0 7.18e+00 -6.9 1.00e+00 1.00e+00h 1 33 2.0820047e+00 2.20e-05 8.47e-04 -4.0 1.61e+01 -7.3 1.00e+00 1.00e+00h 1 34 2.0819261e+00 5.51e-05 2.11e-03 -4.0 3.13e+01 -7.8 1.00e+00 1.00e+00h 1 35 2.0818639e+00 1.01e-04 3.03e-03 -4.0 4.95e+01 -8.3 1.00e+00 1.00e+00h 1 36 2.0818420e+00 5.82e-05 1.32e-03 -4.0 4.26e+01 -8.8 1.00e+00 1.00e+00h 1 37 2.0818386e+00 6.42e-06 1.51e-04 -4.0 1.62e+01 -9.2 1.00e+00 1.00e+00h 1 38 2.0818383e+00 1.02e-07 3.49e-06 -4.0 2.38e+00 -9.7 1.00e+00 1.00e+00h 1 39 2.0818383e+00 2.19e-10 1.03e-08 -4.0 1.27e-01 -10.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818383e+00 6.22e-14 3.65e-12 -4.0 2.35e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 40 (scaled) (unscaled) Objective...............: 2.0818383021778137e+00 2.0818383021778137e+00 Dual infeasibility......: 3.6533721469063363e-12 3.6533721469063363e-12 Constraint violation....: 6.2172489379008766e-14 6.2172489379008766e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000034e-04 1.0000000000000034e-04 Overall NLP error.......: 3.6533721469063363e-12 3.6533721469063363e-12 Number of objective function evaluations = 50 Number of objective gradient evaluations = 41 Number of equality constraint evaluations = 50 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 41 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 40 Total seconds in IPOPT = 28.332 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.054s jacobian structure: 180 nonzeros (0.085s) integrator 1 hessian structure: 0.049s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.341s sub-objective 2 (QuadraticRegularizer): 0.089s sub-objective 3 (MinimumTimeObjective): 0.018s objective hessian structure: 0.548s hessian structure: 375 nonzeros (0.597s) linear index maps built (0.0s) evaluator ready (total: 0.817s) evaluator created (0.817s) NL constraint bounds extracted (0.012s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.125s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.646s) optimizer initialization complete (total: 4.601s) 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 2.0433234e+00 9.70e-01 1.02e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5959588e+00 2.66e-01 1.87e+00 -0.9 6.27e-01 0.0 9.95e-01 1.00e+00h 1 2 1.6575901e+00 6.09e-02 5.13e-01 -0.7 5.88e-01 -0.5 1.00e+00 7.38e-01h 1 3 1.1457610e+00 7.07e-02 4.99e-01 -1.8 1.88e+00 - 8.36e-01 1.00e+00h 1 4 9.2625027e-01 6.63e-02 1.08e+00 -1.9 4.06e+00 - 9.95e-01 4.36e-01h 1 5 7.8503100e-01 1.21e-01 8.80e-01 -2.5 4.77e+00 - 1.00e+00 9.31e-01h 1 6 9.1071459e-01 8.83e-02 1.56e+00 -2.9 8.00e+00 - 9.96e-01 5.30e-01h 1 7 1.0573540e+00 3.03e-02 6.53e-01 -2.2 2.39e-01 -1.0 1.00e+00 4.92e-01h 1 8 1.1472984e+00 1.52e-02 3.90e+00 -4.0 1.43e+01 - 6.66e-01 1.00e+00h 1 9 1.1001498e+00 1.59e-04 1.67e-01 -2.8 1.47e+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 1.0907658e+00 3.93e-07 3.12e-03 -4.0 5.07e-01 - 1.00e+00 1.00e+00h 1 11 1.0908999e+00 9.54e-12 1.68e-04 -4.0 9.94e-02 - 1.00e+00 1.00e+00h 1 12 1.0908997e+00 1.90e-17 1.22e-08 -4.0 8.47e-04 - 1.00e+00 1.00e+00h 1 13 1.0908997e+00 9.04e-27 6.68e-16 -4.0 1.18e-08 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 13 (scaled) (unscaled) Objective...............: 1.0908997263265459e+00 1.0908997263265459e+00 Dual infeasibility......: 6.6832763010848256e-16 6.6832763010848256e-16 Constraint violation....: 9.0390139730206392e-27 9.0390139730206392e-27 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000094e-04 1.0000000000000094e-04 Overall NLP error.......: 6.6832763010848256e-16 6.6832763010848256e-16 Number of objective function evaluations = 14 Number of objective gradient evaluations = 14 Number of equality constraint evaluations = 14 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 14 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 13 Total seconds in IPOPT = 23.823 EXIT: Optimal Solution Found. 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: 2.411s jacobian structure: 1600 nonzeros (2.472s) integrator 1 hessian structure: 0.058s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.532s 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 (3.592s) linear index maps built (0.0s) evaluator ready (total: 6.064s) evaluator created (6.088s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.185s) variables set (0.693s) 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 (2.98s) optimizer initialization complete (total: 10.041s) 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 2.6141256e+00 2.79e+00 5.62e-01 9.77e-01 -1.0 - 0.00e+00 1 0 1 2.6581012e+00 8.82e-02 1.92e+00 1.94e-01 -1.0 0.0 1.00e+00 1 1h 2 2.5289177e+00 6.44e-02 1.75e+00 1.42e-01 -1.0 -0.5 3.40e-01 2 1h 3 2.9565046e+00 8.60e-02 1.34e+00 1.60e-01 -1.0 -1.0 1.00e+00 2 1h 4 2.7404404e+00 6.14e-02 6.03e-01 1.34e-01 -1.0 -1.4 2.87e-01 2 1h 5 2.4692423e+00 1.10e-01 4.51e-01 6.05e-02 -1.7 -1.9 5.50e-01 2 1h 6 2.3377233e+00 1.07e-01 7.26e-01 4.15e-02 -1.7 -2.4 4.66e-01 2 1h 7 2.2371169e+00 9.45e-02 2.35e-01 3.13e-02 -1.7 -2.9 1.00e+00 2 1h 8 2.2580419e+00 1.66e-02 3.61e-02 2.20e-02 -1.7 -3.3 1.00e+00 2 1h 9 2.1193032e+00 8.08e-03 1.28e-02 4.13e-03 -2.5 -3.8 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0913946e+00 6.68e-04 1.40e-03 1.88e-04 -3.8 -4.3 1.00e+00 2 1h 11 2.0899139e+00 1.50e-04 6.76e-04 1.80e-05 -5.7 -4.8 1.00e+00 2 1h 12 2.0898683e+00 9.00e-05 6.14e-03 3.55e-06 -5.7 -4.3 4.01e-01 1 1h 13 2.0897416e+00 2.15e-05 2.15e-04 1.88e-06 -5.7 -4.8 1.00e+00 2 1h 14 2.0895825e+00 2.07e-05 8.15e-03 1.88e-06 -5.7 -5.3 4.24e-01 1 1h 15 2.0885719e+00 5.01e-05 2.11e-03 5.95e-06 -5.7 -5.8 1.00e+00 1 1h 16 2.0882013e+00 4.43e-05 9.64e-02 2.32e-06 -5.7 -6.3 1.24e-01 1 1h 17 2.0835685e+00 3.17e-05 5.11e-02 4.90e-06 -5.7 -6.7 1.00e+00 1 1h 18 2.0826419e+00 2.65e-05 1.26e-01 2.67e-06 -5.7 -7.2 2.13e-01 1 1h 19 2.0816869e+00 2.31e-05 1.30e-01 4.24e-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 2.0814661e+00 2.54e-05 2.02e-01 1.74e-05 -5.7 -8.2 2.04e-01 1 1h 21 2.0806621e+00 4.62e-05 1.46e-01 9.32e-06 -5.7 -8.6 8.77e-01 1 1h 22 2.0806635e+00 4.04e-05 1.18e-01 2.05e-05 -5.7 -6.4 1.27e-01 1 1h 23 2.0806532e+00 1.36e-05 5.57e-03 6.33e-06 -5.7 -6.9 6.59e-01 1 1h 24 2.0806310e+00 1.66e-06 5.22e-04 2.63e-06 -5.7 -7.4 1.00e+00 1 1h 25 2.0805962e+00 1.04e-06 1.06e-03 1.86e-06 -5.7 -7.8 1.00e+00 1 1h 26 2.0805716e+00 2.77e-06 8.79e-03 2.59e-06 -5.7 -8.3 1.00e+00 1 1h 27 2.0906813e+00 6.23e-09 1.82e-01 8.45e-05 -5.7 -7.0 1.00e+00 1 1H 28 2.0900218e+00 6.61e-07 6.38e-01 8.18e-05 -5.7 -3.9 2.11e-02 1 3h 29 2.0848884e+00 3.63e-07 4.79e-01 4.34e-05 -5.7 -0.7 4.54e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0841580e+00 3.30e-07 2.36e+00 4.10e-05 -5.7 -1.2 9.66e-02 2 1h 31 2.0819667e+00 2.15e-07 5.91e+00 2.63e-05 -5.7 -1.7 3.98e-01 2 1h 32 2.0806677e+00 5.39e-08 1.76e-01 1.88e-06 -5.7 -2.1 8.90e-01 2 1h 33 2.0806731e+00 4.43e-08 1.83e+00 1.48e-05 -5.7 -2.6 1.00e+00 1 1h 34 2.0806206e+00 2.72e-07 1.49e+00 1.32e-05 -5.7 -3.1 2.09e-01 2 1h 35 2.0806516e+00 1.43e-07 1.06e-03 5.12e-05 -5.7 -3.6 9.99e-01 1 1h 36 2.0806138e+00 3.43e-07 3.57e-02 5.91e-06 -5.7 -4.1 1.00e+00 2 1h 37 2.0806099e+00 1.14e-07 7.12e-05 3.67e-06 -5.7 -4.5 1.00e+00 2 1h 38 2.0806088e+00 2.12e-08 6.34e-06 2.07e-06 -5.7 -5.0 1.00e+00 2 1h 39 2.0805879e+00 7.11e-07 1.85e-03 3.66e-07 -8.6 -5.5 8.57e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805846e+00 4.11e-07 6.71e-03 1.78e-07 -8.6 -6.0 5.18e-01 2 1h 41 2.0805768e+00 3.99e-07 1.48e-04 2.17e-08 -8.6 -6.4 1.00e+00 2 1h 42 2.0805712e+00 2.55e-07 4.20e-03 1.06e-08 -8.6 -6.9 3.61e-01 2 1h 43 2.0805560e+00 1.09e-07 5.95e-03 4.25e-08 -8.6 -7.4 5.67e-01 1 1h 44 2.0805433e+00 5.41e-09 1.04e-02 3.47e-07 -8.6 -7.9 1.00e+00 2 1h 45 2.0805433e+00 5.34e-09 1.25e-02 2.42e-07 -8.6 -6.5 1.25e-02 1 1h 46 2.0805414e+00 2.28e-09 3.55e-03 3.05e-09 -8.6 -7.0 5.73e-01 2 1h 47 2.0805396e+00 3.38e-11 2.61e-03 5.47e-09 -8.6 -7.5 1.00e+00 2 1h 48 2.0805391e+00 1.30e-10 1.10e-03 7.11e-07 -8.6 -7.1 9.34e-01 1 1h 49 2.0805389e+00 5.75e-11 2.85e-05 9.72e-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 2.0805388e+00 1.13e-11 1.92e-03 2.54e-09 -8.6 -6.2 8.82e-01 1 1h 51 2.0805387e+00 1.73e-12 3.26e-06 2.51e-09 -8.6 -6.7 1.00e+00 2 1h 52 2.0805384e+00 4.39e-12 3.21e-06 2.51e-09 -8.6 -7.2 1.00e+00 2 1h 53 2.0805378e+00 1.05e-11 1.44e-05 3.46e-09 -8.6 -7.7 1.00e+00 2 1h 54 2.0805371e+00 2.64e-11 3.34e-05 2.55e-09 -8.6 -8.1 1.00e+00 1 1h 55 2.0805366e+00 5.59e-11 3.30e-04 2.51e-09 -8.6 -8.6 1.00e+00 1 1h 56 2.0806148e+00 8.88e-16 2.04e-03 8.14e-07 -8.6 -7.3 1.00e+00 1 1H 57 2.0806041e+00 8.28e-12 5.28e-03 7.59e-07 -8.6 -4.1 6.80e-02 1 4h 58 2.0806027e+00 9.03e-12 1.66e-01 7.90e-07 -8.6 -4.6 8.47e-03 1 6h 59 2.0805995e+00 1.00e-11 2.35e-01 7.84e-07 -8.6 -4.2 2.29e-02 1 4h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 60 2.0805989e+00 1.03e-11 2.58e-01 7.89e-07 -8.6 -4.7 3.74e-03 2 7h 61 2.0805663e+00 2.52e-10 1.61e-01 5.42e-07 -8.6 -4.2 2.87e-01 1 1h 62 2.0805376e+00 1.44e-09 4.46e-02 5.78e-09 -8.6 -4.7 7.44e-01 2 1h 63 2.0805374e+00 1.33e-09 5.55e-01 6.74e-09 -8.6 -5.2 7.76e-02 2 1h 64 2.0805372e+00 1.18e-09 4.98e-01 8.80e-09 -8.6 -5.7 1.15e-01 2 1h 65 2.0805374e+00 8.01e-10 3.14e-01 7.87e-07 -8.6 -6.2 3.89e-01 2 1h 66 2.0805485e+00 1.78e-15 4.97e-02 2.02e-05 -8.6 -6.6 1.00e+00 2 1H 67 2.0805471e+00 1.57e-12 5.66e-02 1.16e-05 -8.6 -7.1 1.18e-01 2 1h 68 2.0805409e+00 1.40e-10 2.82e-03 2.69e-06 -8.6 -7.6 1.00e+00 2 1h 69 2.0805368e+00 2.51e-11 1.61e-03 2.90e-07 -8.6 -8.1 7.95e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 70 2.0805366e+00 5.57e-12 6.44e-06 1.11e-07 -8.6 -6.7 1.00e+00 1 1h 71 2.0805365e+00 3.85e-12 5.90e-04 2.62e-09 -8.6 -7.2 9.16e-01 2 1h 72 2.0805365e+00 4.60e-13 1.81e-07 4.58e-09 -8.6 -5.9 1.00e+00 1 1h 73 2.0805365e+00 3.73e-14 2.81e-06 2.51e-09 -8.6 -6.4 1.00e+00 1 1h 74 2.0805365e+00 2.30e-13 1.00e-06 6.61e-09 -8.6 -6.8 1.00e+00 1 1h 75 2.0805365e+00 1.24e-13 7.58e-08 2.51e-09 -8.6 -7.3 1.00e+00 1 1h 76 2.0805365e+00 2.72e-13 1.59e-07 2.51e-09 -8.6 -7.8 1.00e+00 1 1h 77 2.0805365e+00 5.87e-13 5.56e-07 2.51e-09 -8.6 -8.3 1.00e+00 1 1h 78 2.0805365e+00 7.62e-13 6.38e-07 2.51e-09 -8.6 -8.7 1.00e+00 1 1h 79 2.0805365e+00 2.24e-13 1.47e-07 2.51e-09 -8.6 -9.2 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 9.77e-15 4.90e-09 2.51e-09 -8.6 -9.7 1.00e+00 1 1h Number of Iterations....: 80 (scaled) (unscaled) Objective...............: 2.0805364803023081e+00 2.0805364803023081e+00 Dual infeasibility......: 4.9000751789485264e-09 4.9000751789485264e-09 Constraint violation....: 9.7699626167013776e-15 9.7699626167013776e-15 Complementarity.........: 2.5059035600516127e-09 2.5059035600516127e-09 Overall NLP error.......: 4.9000751789485264e-09 4.9000751789485264e-09 Number of objective function evaluations = 108 Number of objective gradient evaluations = 81 Number of constraint evaluations = 108 Number of constraint Jacobian evaluations = 81 Number of Lagrangian Hessian evaluations = 80 Number of KKT factorizations = 194 Number of KKT backsolves = 128 Total wall secs in initialization = 23.338 s Total wall secs in linear solver = 0.097 s Total wall secs in NLP function evaluations = 21.328 s Total wall secs in solver (w/o init./fun./lin. alg.) = 48.363 s Total wall secs = 93.126 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: 0.047s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 2.505s jacobian structure: 1680 nonzeros (2.552s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 8.381s 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 (8.432s) linear index maps built (0.0s) evaluator ready (total: 10.984s) evaluator created (11.003s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.0s) variables set (0.068s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (3.509s) optimizer initialization complete (total: 14.58s) 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 7.8330432e+00 3.17e+00 2.41e+00 1.90e+00 -1.0 - 0.00e+00 1 0 1 3.4660479e+00 5.39e-01 3.84e+00 4.57e-01 -1.0 0.0 8.40e-01 1 1h 2 2.6142730e+00 1.08e-01 1.23e+01 6.35e-01 -1.0 0.4 8.04e-01 1 1h 3 3.2785664e+00 3.15e-01 3.21e+00 5.03e-01 -1.0 -0.1 1.00e+00 2 1h 4 2.6854955e+00 1.07e-01 1.21e+00 2.18e-01 -1.0 0.4 1.00e+00 1 1h 5 2.6242539e+00 5.21e-02 1.34e+00 1.46e-01 -1.0 -0.1 1.00e+00 2 1h 6 2.9102809e+00 5.14e-02 1.35e+00 1.88e-01 -1.0 -0.6 1.00e+00 2 1h 7 2.5789113e+00 1.51e-02 2.39e-01 1.03e-01 -1.0 -0.2 7.13e-01 1 1h 8 2.4190871e+00 5.62e-03 1.83e-01 3.77e-02 -1.7 -0.6 1.00e+00 2 1h 9 2.1929740e+00 1.24e-02 9.76e-02 1.57e-02 -2.5 -1.1 5.84e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.1158578e+00 1.34e-03 1.29e-02 3.35e-03 -2.5 -1.6 1.00e+00 2 1h 11 2.0915978e+00 2.24e-04 8.31e-04 2.27e-04 -3.8 -2.1 1.00e+00 2 1h 12 2.0899724e+00 9.10e-07 8.06e-05 2.91e-05 -5.7 -2.5 1.00e+00 2 1h 13 2.0899563e+00 1.32e-07 1.91e-04 8.01e-06 -5.7 -3.0 1.00e+00 2 1h 14 2.0899425e+00 1.31e-06 1.69e-04 2.62e-06 -5.7 -3.5 1.00e+00 1 1h 15 2.0899235e+00 6.69e-06 1.97e-05 1.86e-06 -5.7 -4.0 1.00e+00 1 1h 16 2.0898700e+00 1.78e-05 1.96e-05 1.84e-06 -5.7 -4.4 1.00e+00 1 1h 17 2.0897092e+00 1.90e-05 6.82e-05 1.84e-06 -5.7 -4.9 1.00e+00 2 1h 18 2.0892574e+00 1.08e-05 6.26e-04 4.57e-06 -5.7 -5.4 1.00e+00 1 1h 19 2.0889743e+00 9.00e-06 4.12e-02 2.03e-06 -5.7 -5.9 2.04e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0860464e+00 8.92e-06 1.54e-02 5.37e-06 -5.7 -6.4 1.00e+00 1 1h 21 2.0853659e+00 8.25e-06 1.58e-01 2.95e-06 -5.7 -6.8 1.39e-01 1 1h 22 2.0817266e+00 3.61e-05 1.40e-01 2.05e-06 -5.7 -7.3 6.17e-01 1 1h 23 2.0816158e+00 1.70e-04 1.34e-01 6.12e-04 -5.7 -7.8 1.00e+00 1 1h 24 2.0810995e+00 7.62e-05 3.67e-02 3.19e-04 -5.7 -8.3 4.46e-01 1 1h 25 2.0806909e+00 1.30e-05 5.46e-02 1.54e-04 -5.7 -8.7 8.24e-01 1 1h 26 2.0807775e+00 6.16e-06 9.13e-02 1.23e-04 -5.7 -6.5 1.00e+00 1 1h 27 2.0807361e+00 4.90e-06 8.33e-02 8.99e-05 -5.7 -7.0 2.05e-01 2 1h 28 2.0806500e+00 1.95e-06 3.56e-02 3.84e-05 -5.7 -7.5 5.63e-01 1 1h 29 2.0806682e+00 2.28e-07 9.04e-03 3.40e-05 -5.7 -7.0 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0806327e+00 1.08e-07 3.69e-04 6.78e-06 -5.7 -6.6 1.00e+00 1 1h 31 2.0806134e+00 7.74e-08 3.03e-04 1.94e-06 -5.7 -7.1 1.00e+00 1 1h 32 2.0806621e+00 9.96e-11 2.18e-02 1.90e-06 -5.7 -7.6 1.00e+00 1 1H 33 2.0805951e+00 1.80e-06 1.10e-01 1.87e-06 -5.7 -5.3 5.52e-01 1 1h 34 2.0805974e+00 1.78e-06 6.06e-01 3.21e-05 -5.7 -5.8 1.14e-01 2 2h 35 2.0805926e+00 5.90e-07 8.27e-04 4.42e-06 -5.7 -6.3 1.00e+00 1 1h 36 2.0805842e+00 1.72e-07 7.04e-05 1.85e-06 -5.7 -6.8 1.00e+00 1 1h 37 2.0806023e+00 1.42e-07 2.39e-02 2.02e-06 -5.7 -7.2 8.84e-01 1 1H 38 2.0805937e+00 2.88e-07 3.13e-01 2.39e-06 -5.7 -5.9 5.34e-02 1 3h 39 2.0805719e+00 1.37e-07 2.71e-02 2.39e-06 -5.7 -5.5 6.84e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805858e+00 8.99e-14 2.65e-04 2.42e-05 -5.7 -6.0 1.00e+00 2 1H 41 2.0805778e+00 1.79e-07 8.87e-05 6.48e-06 -5.7 -6.4 1.00e+00 1 1h 42 2.0805741e+00 9.53e-08 7.25e-05 1.86e-06 -5.7 -6.9 1.00e+00 1 1h 43 2.0805733e+00 6.47e-08 1.87e-05 1.85e-06 -5.7 -6.5 1.00e+00 1 1h 44 2.0805723e+00 2.10e-07 1.65e-03 1.85e-06 -5.7 -7.0 1.00e+00 1 1h 45 2.0805732e+00 2.58e-07 3.87e-01 1.51e-05 -5.7 -5.6 1.41e-01 1 2h 46 2.0805706e+00 1.56e-07 6.40e-05 1.87e-06 -5.7 -6.1 1.00e+00 1 1h 47 2.0805715e+00 1.59e-07 1.40e-05 1.97e-06 -5.7 -6.6 1.00e+00 1 1h 48 2.0805495e+00 4.68e-06 6.48e-04 4.75e-07 -8.6 -7.1 8.97e-01 1 1h 49 2.0805473e+00 4.80e-08 1.22e-05 8.49e-08 -8.6 -5.7 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805471e+00 1.53e-10 1.03e-06 8.71e-09 -8.6 -5.3 1.00e+00 1 1h 51 2.0805467e+00 8.72e-11 1.95e-04 3.66e-09 -8.6 -5.8 9.66e-01 1 1h 52 2.0805461e+00 5.45e-11 4.42e-03 3.61e-08 -8.6 -6.3 5.68e-01 2 1h 53 2.0805459e+00 4.96e-11 1.34e-01 1.06e-08 -8.6 -5.8 1.11e-01 1 1h 54 2.0805458e+00 5.47e-11 5.89e-03 7.15e-09 -8.6 -6.3 1.89e-01 1 1h 55 2.0805452e+00 1.15e-10 3.21e-05 4.37e-09 -8.6 -6.8 1.00e+00 1 1h 56 2.0805447e+00 8.64e-11 5.98e-04 2.82e-09 -8.6 -7.3 2.71e-01 1 1h 57 2.0805415e+00 1.25e-10 9.41e-05 4.62e-09 -8.6 -7.8 1.00e+00 1 1h 58 2.0805382e+00 1.81e-10 1.53e-04 2.51e-09 -8.6 -8.2 1.00e+00 1 1h 59 2.0805367e+00 2.03e-10 9.70e-04 2.52e-09 -8.6 -8.7 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 60 2.0805370e+00 9.50e-11 1.70e-05 8.88e-07 -8.6 -6.5 1.00e+00 1 1h 61 2.0805386e+00 1.78e-15 5.15e-03 2.67e-09 -8.6 -7.0 1.00e+00 1 1H 62 2.0805368e+00 5.40e-11 3.56e-02 2.58e-09 -8.6 -4.7 8.09e-01 1 1h 63 2.0805370e+00 4.47e-11 1.43e-01 2.00e-06 -8.6 -5.2 1.73e-01 1 1h 64 2.0805370e+00 1.78e-15 1.10e-05 2.72e-07 -8.6 -5.7 1.00e+00 1 1H 65 2.0805368e+00 4.44e-16 3.36e-06 6.92e-08 -8.6 -6.2 1.00e+00 1 1H 66 2.0805368e+00 9.11e-11 9.81e-07 1.84e-08 -8.6 -6.6 1.00e+00 1 1h 67 2.0805367e+00 9.24e-11 9.72e-06 2.51e-09 -8.6 -7.1 1.00e+00 1 1h 68 2.0805367e+00 8.92e-11 4.39e-07 4.28e-09 -8.6 -6.7 1.00e+00 1 1h 69 2.0805367e+00 8.88e-16 7.30e-04 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 2.0805366e+00 8.65e-11 1.79e-04 2.51e-09 -8.6 -4.9 9.85e-01 1 1h 71 2.0805367e+00 4.44e-16 2.00e-05 1.92e-07 -8.6 -5.4 1.00e+00 1 1H 72 2.0805367e+00 8.88e-16 4.85e-06 4.84e-08 -8.6 -5.9 1.00e+00 1 1H 73 2.0805366e+00 8.92e-11 2.09e-06 1.24e-08 -8.6 -6.4 1.00e+00 1 1h 74 2.0805366e+00 8.97e-11 2.21e-07 4.21e-09 -8.6 -6.8 1.00e+00 1 1h 75 2.0805366e+00 8.99e-11 1.58e-07 2.51e-09 -8.6 -7.3 1.00e+00 1 1h 76 2.0805366e+00 8.95e-11 9.92e-07 2.51e-09 -8.6 -7.8 1.00e+00 1 1h 77 2.0805365e+00 8.97e-11 2.23e-04 2.51e-09 -8.6 -8.3 1.00e+00 1 1h 78 2.0805365e+00 8.92e-11 2.74e-06 3.30e-08 -8.6 -6.0 1.00e+00 1 1h 79 2.0805365e+00 8.92e-11 3.23e-07 2.51e-09 -8.6 -6.5 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 4.79e-07 3.11e-09 -8.6 -7.0 1.00e+00 1 1h 81 2.0805365e+00 8.92e-11 8.22e-08 2.51e-09 -8.6 -7.5 1.00e+00 1 1h 82 2.0805365e+00 8.93e-11 2.59e-07 2.51e-09 -8.6 -7.9 1.00e+00 1 1h 83 2.0805365e+00 8.95e-11 6.37e-07 2.51e-09 -8.6 -8.4 1.00e+00 1 1h 84 2.0805365e+00 8.94e-11 4.39e-07 2.51e-09 -8.6 -8.9 1.00e+00 1 1h 85 2.0805365e+00 8.92e-11 5.37e-08 2.51e-09 -8.6 -9.4 1.00e+00 1 1h 86 2.0805365e+00 8.92e-11 1.22e-09 2.51e-09 -8.6 -9.9 1.00e+00 1 1h Number of Iterations....: 86 (scaled) (unscaled) Objective...............: 2.0805364803022135e+00 2.0805364803022135e+00 Dual infeasibility......: 1.2159109050440730e-09 1.2159109050440730e-09 Constraint violation....: 8.9185103746558525e-11 8.9185103746558525e-11 Complementarity.........: 2.5059035602293974e-09 2.5059035602293974e-09 Overall NLP error.......: 2.5059035602293974e-09 2.5059035602293974e-09 Number of objective function evaluations = 103 Number of objective gradient evaluations = 87 Number of constraint evaluations = 103 Number of constraint Jacobian evaluations = 87 Number of Lagrangian Hessian evaluations = 86 Number of KKT factorizations = 209 Number of KKT backsolves = 115 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.112 s Total wall secs in NLP function evaluations = 24.067 s Total wall secs in solver (w/o init./fun./lin. alg.) = 10.171 s Total wall secs = 34.352 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: 0.068s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.587s jacobian structure: 1600 nonzeros (2.656s) integrator 1 hessian structure: 0.057s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.698s 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 (3.756s) linear index maps built (0.0s) evaluator ready (total: 6.413s) evaluator created (6.437s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 6.439s) 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 1.8018422e+01 3.99e+00 1.08e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.0143358e+01 2.72e-01 2.23e+00 -0.8 2.37e+00 -4.0 9.45e-01 1.00e+00f 1 2 1.0404962e+01 2.73e-02 4.82e-01 -1.0 4.69e-01 -4.5 8.93e-01 1.00e+00h 1 3 9.7845322e+00 2.15e-02 7.74e-02 -1.9 3.96e-01 -5.0 9.06e-01 1.00e+00f 1 4 9.5163188e+00 3.61e-03 1.75e-02 -2.6 1.59e-01 -5.4 9.85e-01 1.00e+00h 1 5 9.4410163e+00 8.15e-04 6.15e-03 -3.8 7.37e-02 -5.9 9.85e-01 1.00e+00h 1 6 9.4271805e+00 1.33e-04 5.27e-04 -4.0 2.43e-02 -6.4 1.00e+00 1.00e+00h 1 7 9.4258577e+00 9.67e-06 3.00e-05 -4.0 5.14e-03 -6.9 1.00e+00 1.00e+00h 1 8 9.4258088e+00 6.22e-08 1.52e-07 -4.0 3.79e-04 -7.3 1.00e+00 1.00e+00h 1 9 9.4258086e+00 3.09e-12 1.00e-09 -4.0 3.44e-06 -7.8 1.00e+00 1.00e+00h 1 Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 9.4258086225858051e+00 9.4258086225858051e+00 Dual infeasibility......: 9.9999995601068956e-10 9.9999995601068956e-10 Constraint violation....: 3.0908609005564358e-12 3.0908609005564358e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000001702200386e-04 1.0000001702200386e-04 Overall NLP error.......: 9.9999995601068956e-10 9.9999995601068956e-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 = 24.725 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 (0.002s) linear index maps built (0.0s) evaluator ready (total: 0.004s) evaluator created (0.004s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) 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: 0.004s) 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 1.8018422e+01 3.99e+00 1.08e+00 9.69e-01 -1.0 - 0.00e+00 1 0 1 1.0211109e+01 2.01e-01 1.66e+00 4.63e-01 -1.0 -4.0 1.00e+00 2 1h 2 1.0116690e+01 1.27e-01 4.07e-01 1.83e-01 -1.0 -4.5 8.27e-01 2 1h 3 9.6997020e+00 3.35e-02 6.51e-02 3.64e-02 -1.7 -5.0 1.00e+00 2 1h 4 9.5114353e+00 2.49e-03 1.99e-02 9.66e-03 -2.5 -5.4 1.00e+00 2 1h 5 9.4398025e+00 9.05e-04 6.20e-03 2.37e-03 -3.8 -5.9 1.00e+00 2 1h 6 9.4276711e+00 1.62e-04 5.58e-04 5.22e-04 -3.8 -6.4 1.00e+00 2 1h 7 9.4246543e+00 2.19e-05 1.62e-04 4.70e-05 -5.7 -6.9 1.00e+00 2 1h 8 9.4245376e+00 4.50e-07 7.79e-07 2.60e-06 -5.7 -7.3 1.00e+00 2 1h 9 9.4245130e+00 1.10e-09 2.72e-09 4.86e-09 -8.6 -7.8 1.00e+00 2 1h Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 9.4245129861593728e+00 9.4245129861593728e+00 Dual infeasibility......: 2.7209472452938144e-09 2.7209472452938144e-09 Constraint violation....: 1.1012921685704669e-09 1.1012921685704669e-09 Complementarity.........: 4.8621082263631896e-09 4.8621082263631896e-09 Overall NLP error.......: 4.8621082263631896e-09 4.8621082263631896e-09 Number of objective function evaluations = 10 Number of objective gradient evaluations = 10 Number of constraint evaluations = 10 Number of constraint Jacobian evaluations = 10 Number of Lagrangian Hessian evaluations = 9 Number of KKT factorizations = 19 Number of KKT backsolves = 19 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.009 s Total wall secs in NLP function evaluations = 0.149 s Total wall secs in solver (w/o init./fun./lin. alg.) = 0.010 s Total wall secs = 0.170 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: 0.062s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.063s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.053s) 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: 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 (0.355s) optimizer initialization complete (total: 0.471s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 81 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.7671212e+00 3.12e+00 1.38e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.0809502e+00 7.36e+00 1.57e+01 -1.1 9.77e+01 -4.0 9.48e-01 1.00e+00h 1 2 2.2574016e+00 3.14e-02 2.83e+00 -1.5 8.03e+00 -4.5 9.42e-01 1.00e+00h 1 3 2.1895988e+00 6.43e-02 2.13e-01 -2.4 8.11e+00 -5.0 1.00e+00 1.00e+00h 1 4 2.1024205e+00 1.66e-01 1.59e-01 -2.8 1.61e+01 -5.4 9.99e-01 9.62e-01h 1 5 2.1103896e+00 5.11e-02 1.49e-01 -2.6 2.47e+01 -5.9 9.72e-01 1.00e+00h 1 6 2.0915596e+00 3.57e-02 3.34e-02 -3.2 2.76e+01 -6.4 1.00e+00 1.00e+00h 1 7 2.0824293e+00 2.19e-02 3.36e-02 -3.5 5.48e+01 -6.9 9.98e-01 1.00e+00h 1 8 2.0785954e+00 2.03e-02 2.55e-02 -4.0 5.34e+01 -7.3 1.00e+00 1.00e+00h 1 9 2.0774929e+00 3.69e-03 1.16e-02 -4.0 1.17e+02 -7.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.1259351e+00 4.92e+00 1.24e+00 -2.0 4.54e+03 -8.3 1.32e-01 2.95e-01f 1 11 2.0857535e+00 3.05e+00 1.06e+00 -2.8 1.15e+03 -8.8 1.00e+00 8.56e-01h 1 12 2.0970789e+00 2.79e-01 1.26e-01 -2.8 5.83e+02 -9.2 1.00e+00 1.00e+00h 1 13 2.0994536e+00 1.07e-01 3.96e-02 -2.8 5.04e+02 -9.7 1.00e+00 1.00e+00h 1 14 2.0994508e+00 1.09e-03 4.54e-04 -2.8 3.92e+01 -10.2 1.00e+00 1.00e+00h 1 15 2.0791675e+00 5.12e-01 3.72e-03 -4.0 2.67e+02 -10.7 9.07e-01 1.00e+00h 1 16 2.0773014e+00 7.52e-03 1.19e-04 -3.7 2.61e+02 -11.2 1.00e+00 1.00e+00h 1 17 2.0757947e+00 6.52e-03 1.57e-05 -4.0 5.28e+01 -11.6 1.00e+00 1.00e+00h 1 18 2.0757704e+00 2.56e-05 2.27e-07 -4.0 2.88e+01 -12.1 1.00e+00 1.00e+00h 1 19 2.0757704e+00 1.57e-10 1.67e-09 -4.0 4.64e-01 -12.6 1.00e+00 1.00e+00h 1 Number of Iterations....: 19 (scaled) (unscaled) Objective...............: 2.0757703960650176e+00 2.0757703960650176e+00 Dual infeasibility......: 1.6714489931284483e-09 1.6714489931284483e-09 Constraint violation....: 1.5665058139546773e-10 1.5665058139546773e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000235401e-04 1.0000000000235401e-04 Overall NLP error.......: 1.6714489931284483e-09 1.6714489931284483e-09 Number of objective function evaluations = 20 Number of objective gradient evaluations = 20 Number of equality constraint evaluations = 20 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 20 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 19 Total seconds in IPOPT = 27.921 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.057s jacobian structure: 180 nonzeros (0.089s) integrator 1 hessian structure: 0.053s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.405s sub-objective 2 (QuadraticRegularizer): 0.096s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.017s objective hessian structure: 0.618s hessian structure: 375 nonzeros (0.671s) linear index maps built (0.0s) evaluator ready (total: 0.919s) evaluator created (0.919s) NL constraint bounds extracted (0.011s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.124s) applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.007s) optimizer initialization complete (total: 4.061s) 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 1.2498077e+00 1.03e+00 1.02e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.4519781e+00 2.69e-01 1.81e+00 -0.9 7.99e-01 0.0 9.92e-01 1.00e+00h 1 2 1.3480001e+00 1.72e-01 6.34e-01 -0.6 2.87e+00 - 5.19e-01 3.71e-01h 1 3 1.1558145e+00 1.13e-01 1.91e+00 -1.5 7.68e+00 - 9.01e-01 1.00e+00f 1 4 1.6290293e+00 1.05e-01 1.38e+00 -1.1 2.74e-01 -0.5 1.00e+00 1.00e+00h 1 5 1.5556825e+00 4.86e-02 7.63e-01 -1.2 7.13e-01 -1.0 9.90e-01 5.65e-01h 1 6 1.2891207e+00 1.84e-02 2.26e-01 -2.2 2.02e-01 -1.4 1.00e+00 7.07e-01h 1 7 1.1307195e+00 3.33e-04 6.37e-01 -2.5 4.94e+00 - 9.95e-01 1.00e+00h 1 8 1.1078653e+00 2.10e-04 2.42e-01 -3.6 3.66e+00 - 1.00e+00 3.71e-01f 1 9 1.0910209e+00 4.24e-06 6.28e-02 -4.0 2.23e+00 - 1.00e+00 9.89e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0909058e+00 7.39e-09 2.98e-03 -4.0 5.48e-01 - 1.00e+00 1.00e+00h 1 11 1.0908997e+00 7.13e-15 5.64e-05 -4.0 1.29e-01 - 1.00e+00 1.00e+00h 1 12 1.0908997e+00 1.19e-24 2.17e-05 -4.0 3.31e-02 - 1.00e+00 1.00e+00f 1 13 1.0908997e+00 1.25e-27 1.11e-07 -4.0 6.71e-04 - 1.00e+00 1.00e+00f 1 14 1.0908997e+00 1.73e-27 6.96e-12 -4.0 8.07e-06 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 14 (scaled) (unscaled) Objective...............: 1.0908997263265459e+00 1.0908997263265459e+00 Dual infeasibility......: 6.9554884494848258e-12 6.9554884494848258e-12 Constraint violation....: 1.7323747552069085e-27 1.7323747552069085e-27 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 6.9554884494848258e-12 6.9554884494848258e-12 Number of objective function evaluations = 15 Number of objective gradient evaluations = 15 Number of equality constraint evaluations = 15 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 = 21.244 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: 0.063s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.063s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.052s) 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 (0.133s) optimizer initialization complete (total: 0.248s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.7407278e+00 2.77e+00 6.82e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8200237e+00 1.85e-02 4.83e-01 -0.9 1.94e+00 - 1.00e+00 1.00e+00f 1 2 2.4945024e+00 4.32e-03 8.39e-02 -1.5 1.17e-01 - 9.43e-01 1.00e+00h 1 3 2.1157898e+00 2.40e-03 3.71e-02 -3.4 6.12e-02 - 8.48e-01 9.24e-01f 1 4 2.0927761e+00 9.03e-05 2.47e-03 -3.6 2.16e-02 - 9.85e-01 1.00e+00h 1 5 2.0908898e+00 4.26e-05 8.99e-05 -4.0 1.76e-01 - 1.00e+00 1.00e+00h 1 6 2.0908974e+00 7.05e-08 1.21e-06 -4.0 1.95e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 1.38e-10 7.89e-11 -4.0 2.71e-02 - 1.00e+00 1.00e+00h 1 8 2.0908972e+00 8.61e-16 1.05e-15 -4.0 6.41e-05 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 8 (scaled) (unscaled) Objective...............: 2.0908971978679030e+00 2.0908971978679030e+00 Dual infeasibility......: 1.0465803571002574e-15 1.0465803571002574e-15 Constraint violation....: 8.6063968451899342e-16 8.6063968451899342e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000007620345e-04 1.0000000007620345e-04 Overall NLP error.......: 7.6203447848741113e-14 7.6203447848741113e-14 Number of objective function evaluations = 9 Number of objective gradient evaluations = 9 Number of equality constraint evaluations = 9 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 9 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 8 Total seconds in IPOPT = 29.362 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.069s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.07s) 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: 0.128s) 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: 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: 0.129s) 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 2.0751239e+00 1.69e+00 3.87e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5287235e+00 7.19e-01 1.63e+00 -0.7 6.22e+00 -4.0 6.94e-01 5.85e-01f 1 2 2.5138283e+00 9.61e-01 1.10e+01 -0.9 2.09e+01 -2.7 1.45e-01 9.10e-01f 1 3 2.6662288e+00 1.28e-02 1.49e+00 -0.8 2.70e-01 -0.4 9.92e-01 1.00e+00f 1 4 2.6102907e+00 8.75e-03 1.08e+00 -1.3 3.12e-01 -0.9 6.11e-01 3.97e-01h 2 5 2.4796670e+00 4.41e-03 3.17e-01 -1.6 9.13e-02 0.4 9.79e-01 1.00e+00h 1 6 2.2443739e+00 5.78e-03 1.06e-01 -2.1 1.34e-01 -0.1 9.77e-01 1.00e+00f 1 7 2.1265054e+00 3.03e-03 1.84e-01 -2.9 5.82e-02 0.4 9.94e-01 1.00e+00h 1 8 2.1184355e+00 2.53e-03 1.52e+00 -3.3 8.20e-02 -0.1 1.00e+00 1.88e-01h 1 9 2.0917343e+00 1.58e-03 6.81e-02 -3.9 9.06e-02 -0.6 1.00e+00 9.48e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0912794e+00 9.99e-04 7.78e-01 -3.8 1.48e-02 -1.1 1.00e+00 3.69e-01h 1 11 2.0907001e+00 1.95e-06 4.62e-03 -4.0 7.92e-03 -1.5 1.00e+00 1.00e+00h 1 12 2.0906992e+00 1.89e-09 1.70e-05 -4.0 1.80e-03 -2.0 1.00e+00 1.00e+00h 1 13 2.0906987e+00 3.72e-11 1.70e-05 -4.0 5.39e-03 -2.5 1.00e+00 1.00e+00h 1 14 2.0906972e+00 9.77e-11 1.70e-05 -4.0 1.62e-02 -3.0 1.00e+00 1.00e+00h 1 15 2.0906925e+00 8.72e-10 1.69e-05 -4.0 4.83e-02 -3.5 1.00e+00 1.00e+00h 1 16 2.0906788e+00 7.65e-09 1.67e-05 -4.0 1.43e-01 -3.9 1.00e+00 1.00e+00h 1 17 2.0906393e+00 6.37e-08 2.75e-05 -4.0 4.14e-01 -4.4 1.00e+00 1.00e+00h 1 18 2.0905341e+00 4.57e-07 2.04e-04 -4.0 1.11e+00 -4.9 1.00e+00 1.00e+00h 1 19 2.0903115e+00 2.17e-06 1.04e-03 -4.0 2.44e+00 -5.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0900406e+00 5.48e-06 2.34e-03 -4.0 4.79e+00 -5.8 1.00e+00 1.00e+00h 1 21 2.0898959e+00 5.76e-06 2.46e-03 -4.0 6.84e+00 -6.3 1.00e+00 1.00e+00h 1 22 2.0898397e+00 1.27e-06 1.85e-03 -4.0 1.06e+01 -6.8 1.00e+00 1.00e+00h 1 23 2.0898261e+00 8.38e-07 1.51e-03 -4.0 1.24e+01 -7.3 1.00e+00 1.00e+00h 1 24 2.0898226e+00 1.92e-06 5.31e-04 -4.0 8.42e+00 -7.7 1.00e+00 1.00e+00h 1 25 2.0898218e+00 1.79e-07 3.47e-05 -4.0 1.78e+00 -8.2 1.00e+00 1.00e+00h 1 26 2.0898218e+00 1.76e-09 2.79e-07 -4.0 3.20e-01 -8.7 1.00e+00 1.00e+00h 1 27 2.0898218e+00 6.39e-12 1.25e-09 -4.0 2.10e-02 -9.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 27 (scaled) (unscaled) Objective...............: 2.0898218496904408e+00 2.0898218496904408e+00 Dual infeasibility......: 1.2493762726857940e-09 1.2493762726857940e-09 Constraint violation....: 6.3903882185911698e-12 6.3903882185911698e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000003e-04 1.0000000000000003e-04 Overall NLP error.......: 1.2493762726857940e-09 1.2493762726857940e-09 Number of objective function evaluations = 32 Number of objective gradient evaluations = 28 Number of equality constraint evaluations = 32 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 28 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 27 Total seconds in IPOPT = 27.170 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.067s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.068s) integrator 1 hessian structure: 0.054s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.056s) 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 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: 0.124s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 35 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.2157808e+00 3.53e+00 5.46e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.1780026e+00 1.40e+00 2.55e+00 -0.5 2.04e+00 0.0 2.35e-01 6.02e-01h 1 2 3.1777600e+00 1.39e+00 3.03e+01 -4.0 8.59e-01 -0.5 2.87e-01 1.27e-02h 1 3 3.1891184e+00 1.38e+00 1.47e+03 -0.5 3.26e+01 -1.0 5.74e-02 1.29e-03h 1 4 3.8387745e+00 1.39e+00 7.71e+03 1.3 2.49e+02 -0.5 2.37e-02 6.82e-03f 1 5 3.8883439e+00 1.39e+00 1.00e+04 -4.0 1.36e+02 -1.0 3.92e-03 1.68e-03h 1 6 3.9736917e+00 1.38e+00 1.33e+04 1.3 3.72e+02 -1.5 6.21e-02 6.07e-03f 1 7 4.5681640e+00 2.63e+00 9.06e+03 2.2 4.67e+02 -1.1 8.54e-03 2.13e-02f 1 8 4.6216454e+00 2.46e+00 2.11e+04 0.4 2.13e+02 -0.6 4.41e-02 1.28e-02h 1 9 4.5493951e+00 2.45e+00 2.11e+04 0.4 6.39e+03 -1.1 7.18e-04 7.18e-04s 12 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 4.6217985e+00 2.27e+00 2.09e+04 0.4 2.46e+02 -1.6 9.69e-03 9.69e-03s 12 11 4.6899129e+00 2.07e+00 2.90e+04 0.4 1.23e+02 -2.1 7.67e-02 0.00e+00S 12 12 4.6932520e+00 2.07e+00 9.12e+05 0.4 5.46e+01 -1.6 8.25e-02 4.83e-04h 1 13 4.7103628e+00 2.06e+00 1.22e+08 0.4 6.52e+01 -2.1 3.35e-01 2.51e-03h 1 14 4.7108077e+00 2.06e+00 1.30e+11 0.4 5.98e+01 -0.8 7.19e-02 6.60e-05h 1 15r 4.7108077e+00 2.06e+00 1.00e+03 0.4 0.00e+00 -1.3 0.00e+00 3.58e-07R 3 16r 4.5298042e+00 9.54e-01 9.61e+02 2.4 1.61e+03 - 7.47e-02 2.51e-03f 1 17 4.5272488e+00 9.51e-01 2.46e+02 -1.3 1.89e+00 -1.7 6.76e-01 3.46e-03h 1 18 4.5245823e+00 9.49e-01 2.34e+05 -0.4 1.30e+01 -2.2 1.00e+00 1.19e-03h 1 19 4.5248415e+00 9.49e-01 5.56e+09 1.3 2.72e+02 -2.7 1.00e+00 4.17e-05h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20r 4.5248415e+00 9.49e-01 9.88e+02 2.5 0.00e+00 -3.2 0.00e+00 2.32e-07R 2 21r 3.9590253e+00 2.58e-01 3.62e+02 1.5 4.53e+00 - 6.61e-01 3.28e-01f 1 22 3.9424322e+00 2.45e-01 1.94e+01 -1.1 3.04e+00 -3.6 7.70e-01 4.98e-02h 1 23 3.9562382e+00 2.43e-01 9.49e+03 0.0 2.79e+02 -4.1 9.77e-01 6.45e-03h 1 24 3.9638800e+00 2.43e-01 4.10e+06 0.5 7.40e+01 -4.6 1.00e+00 2.18e-03h 1 25 3.9647714e+00 2.43e-01 4.99e+10 1.3 3.78e+02 -5.1 1.00e+00 7.89e-05h 1 26r 3.9647714e+00 2.43e-01 9.88e+02 2.5 0.00e+00 -5.6 0.00e+00 3.75e-07R 4 27r 3.4182791e+00 2.31e-01 8.71e+02 1.2 1.34e+00 - 3.16e-01 8.66e-01f 1 28r 3.5263586e+00 2.10e-01 2.92e+02 -4.0 1.35e+00 - 6.65e-01 6.81e-01f 1 29 3.5218922e+00 1.99e-01 1.90e+01 -1.1 3.10e+00 -6.0 8.23e-01 5.37e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 3.5251007e+00 1.99e-01 1.22e+04 0.6 6.65e+02 -6.5 1.98e-01 1.97e-04h 3 31 3.5414969e+00 1.99e-01 1.50e+07 -0.2 3.97e+01 -7.0 1.00e+00 8.06e-04h 1 32 3.5430191e+00 1.99e-01 6.37e+11 1.6 1.20e+03 -7.5 1.00e+00 2.25e-05h 1 33r 3.5430191e+00 1.99e-01 9.99e+02 1.5 0.00e+00 -7.9 0.00e+00 1.79e-07R 2 34r 3.7227406e+00 4.18e-01 2.48e+02 1.5 4.43e+00 - 7.99e-01 1.00e+00f 1 35r 3.7752409e+00 2.20e-01 8.07e+01 0.1 1.74e+00 - 9.42e-01 7.39e-01f 1 36r 4.0047910e+00 2.03e-01 8.68e+00 -0.0 9.15e-02 2.0 9.75e-01 1.00e+00f 1 37r 4.2453458e+00 1.99e-01 3.08e+01 -0.6 8.26e-02 1.5 9.71e-01 7.97e-01f 1 38r 4.2448843e+00 1.99e-01 3.23e+00 -1.2 1.80e-02 1.0 1.00e+00 9.92e-01f 1 39r 4.0102156e+00 1.99e-01 2.01e-01 -1.6 1.10e+00 - 9.99e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40r 3.9600286e+00 3.48e-01 5.42e-01 -4.0 9.42e+00 - 2.57e-01 1.96e-01f 1 41r 4.0680303e+00 1.99e-01 8.85e-01 -1.5 8.21e-02 0.6 9.42e-01 1.00e+00f 1 42r 3.9752340e+00 1.99e-01 3.45e-01 -1.9 5.90e-01 - 9.85e-01 1.00e+00f 1 43r 3.9351565e+00 1.99e-01 3.67e-02 -2.7 2.33e-01 - 9.97e-01 1.00e+00f 1 44r 3.8656327e+00 1.99e-01 3.99e-03 -3.8 5.89e-02 - 9.98e-01 1.00e+00f 1 45r 3.8378662e+00 1.99e-01 4.36e-04 -4.0 2.51e-02 - 1.00e+00 1.00e+00h 1 46r 3.8495020e+00 1.99e-01 2.26e-06 -4.0 9.49e-03 - 1.00e+00 1.00e+00h 1 47r 3.8498830e+00 1.99e-01 4.73e-09 -4.0 4.73e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 47 (scaled) (unscaled) Objective...............: 3.8498838137743912e+00 3.8498838137743912e+00 Dual infeasibility......: 1.9374406139509064e+00 1.9374406139509064e+00 Constraint violation....: 1.9875045034718353e-01 1.9875045034718353e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000002366350e-04 1.0000000002366350e-04 Overall NLP error.......: 1.9374406139509064e+00 1.9374406139509064e+00 Number of objective function evaluations = 75 Number of objective gradient evaluations = 34 Number of equality constraint evaluations = 75 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 53 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 48 Total seconds in IPOPT = 25.963 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: 0.069s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.07s) 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 sub-objective 4 (GlobalObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1804 nonzeros (0.058s) 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: 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: 0.13s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 36 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.2288538e+00 3.73e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.2762900e+00 3.09e+00 3.80e+00 -0.6 1.91e+01 -2.0 5.95e-01 1.72e-01f 1 2 2.7425532e+00 7.47e-01 2.73e+00 -0.7 7.65e+00 -2.5 9.28e-01 1.00e+00f 1 3 2.7778479e+00 6.55e-01 3.08e+00 -1.4 2.84e+01 -3.0 7.05e-01 1.23e-01h 3 4 2.5673394e+00 2.12e-01 4.68e-01 -1.1 2.15e+00 -2.5 9.91e-01 6.75e-01h 1 5 2.3477353e+00 1.97e-01 1.33e-01 -1.6 2.91e+00 -3.0 9.96e-01 7.56e-01h 1 6 2.1432077e+00 1.17e-01 2.03e-01 -2.4 4.02e+00 -3.5 1.00e+00 9.36e-01h 1 7 2.0976288e+00 5.94e-03 3.76e-02 -3.1 7.16e-01 -4.0 9.94e-01 1.00e+00h 1 8 2.0906484e+00 2.71e-04 5.14e-04 -4.0 5.38e-01 -4.4 1.00e+00 1.00e+00h 1 9 2.0905577e+00 3.33e-05 1.33e-04 -4.0 1.68e+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 2.0900621e+00 1.01e-05 4.42e-05 -4.0 5.04e+00 -5.4 1.00e+00 1.00e+00h 1 11 2.0885889e+00 9.15e-05 3.89e-04 -4.0 1.50e+01 -5.9 1.00e+00 1.00e+00h 1 12 2.0842982e+00 8.71e-04 3.59e-03 -4.0 4.36e+01 -6.3 1.00e+00 1.00e+00h 1 13 2.0796654e+00 1.87e-03 2.24e-01 -4.0 1.08e+02 -6.8 1.00e+00 4.28e-01h 1 14 2.0794052e+00 8.77e-03 2.08e-01 -4.1 6.93e+01 -7.3 1.00e+00 7.60e-01h 1 15 2.0773931e+00 7.32e-03 4.16e-02 -4.0 1.27e+02 -7.8 1.00e+00 8.92e-01h 1 16 2.0765714e+00 1.48e-03 5.58e-02 -4.0 2.19e+02 -8.3 1.00e+00 9.25e-01h 1 17 2.0761388e+00 4.11e-03 4.17e-02 -4.0 3.62e+02 -8.7 1.00e+00 1.00e+00h 1 18 2.0763396e+00 6.48e-03 5.38e-02 -3.7 4.16e+02 -9.2 1.00e+00 3.99e-01h 2 19 2.0762629e+00 6.23e-04 5.69e-03 -3.9 7.32e+01 -9.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0756744e+00 1.25e-03 4.26e-05 -4.0 2.65e+01 -10.2 1.00e+00 1.00e+00h 1 21 2.0756713e+00 5.97e-06 3.58e-06 -4.0 2.69e+01 -10.6 1.00e+00 1.00e+00h 1 22 2.0756712e+00 1.62e-08 1.09e-06 -4.0 1.27e+01 -11.1 1.00e+00 1.00e+00h 1 23 2.0756712e+00 1.52e-09 5.97e-08 -4.0 3.32e+00 -11.6 1.00e+00 1.00e+00h 1 24 2.0756712e+00 1.61e-11 6.49e-10 -4.0 4.25e-01 -12.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 24 (scaled) (unscaled) Objective...............: 2.0756712121155201e+00 2.0756712121155201e+00 Dual infeasibility......: 6.4863090221719925e-10 6.4863090221719925e-10 Constraint violation....: 1.6104673150607596e-11 1.6104673150607596e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000026e-04 1.0000000000000026e-04 Overall NLP error.......: 6.4863090221719925e-10 6.4863090221719925e-10 Number of objective function evaluations = 34 Number of objective gradient evaluations = 25 Number of equality constraint evaluations = 34 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 25 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 24 Total seconds in IPOPT = 29.815 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.063s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.569s jacobian structure: 1600 nonzeros (2.633s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.534s 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 (3.584s) linear index maps built (0.0s) evaluator ready (total: 6.217s) evaluator created (6.24s) 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 (0.001s) optimizer initialization complete (total: 6.242s) This is MadNLP version v0.9.1, running with Lapack-CPU (BUNCHKAUFMAN) Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 2.4712230e+00 3.00e+00 6.00e-01 9.83e-01 -1.0 - 0.00e+00 1 0 1 1.7619442e+00 1.28e+00 1.43e+00 5.32e-01 -1.0 0.0 5.71e-01 1 1h 2 2.1365680e+00 6.05e-01 1.11e+00 4.36e-01 -1.0 -0.5 5.25e-01 1 1h 3 2.7574185e+00 5.23e-01 1.36e+00 3.49e-01 -1.0 -1.0 7.46e-01 1 1h 4 3.0317645e+00 1.18e+00 1.79e+00 3.40e-01 -1.0 -1.4 2.16e-01 1 1H 5 2.9816775e+00 1.02e+00 2.20e+00 3.28e-01 -1.0 -1.9 9.07e-02 1 2h 6 2.8364044e+00 9.53e-01 2.17e+00 2.71e-01 -1.0 -1.5 1.08e-01 1 2h 7 2.6431565e+00 6.52e-01 2.39e+00 1.51e-01 -1.0 -0.2 3.18e-01 1 1h 8 2.6737999e+00 7.52e-02 1.47e+00 2.68e-01 -1.0 -0.6 1.00e+00 1 1h 9 2.6179930e+00 4.60e-02 7.93e-01 1.35e-01 -1.0 -0.2 3.93e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.3619347e+00 1.32e-02 2.38e-01 3.99e-02 -1.7 -0.7 1.00e+00 1 1h 11 2.2586473e+00 1.59e-03 7.41e-02 2.18e-02 -1.7 -1.2 1.00e+00 1 1h 12 2.1253457e+00 2.17e-03 3.05e-02 5.27e-03 -2.5 -1.6 1.00e+00 1 1h 13 2.1148457e+00 3.99e-03 4.98e-03 2.83e-03 -2.5 -2.1 1.00e+00 1 1h 14 2.0914696e+00 2.94e-05 2.06e-04 1.97e-04 -3.8 -2.6 1.00e+00 1 1h 15 2.0899704e+00 3.23e-06 5.05e-04 5.72e-05 -5.7 -3.1 1.00e+00 1 1h 16 2.0899387e+00 8.57e-07 2.75e-04 1.51e-05 -5.7 -3.5 1.00e+00 1 1h 17 2.0899120e+00 7.48e-06 7.70e-05 4.46e-06 -5.7 -4.0 1.00e+00 1 1h 18 2.0898504e+00 5.25e-05 1.96e-05 1.88e-06 -5.7 -4.5 1.00e+00 1 1h 19 2.0896714e+00 2.04e-04 3.45e-05 1.84e-06 -5.7 -5.0 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0891575e+00 2.59e-04 3.21e-04 1.84e-06 -5.7 -5.5 1.00e+00 1 1h 21 2.0878246e+00 1.28e-04 2.74e-03 6.88e-06 -5.7 -5.9 1.00e+00 1 1h 22 2.0872379e+00 1.07e-04 9.80e-02 2.38e-06 -5.7 -6.4 1.83e-01 1 1h 23 2.0823906e+00 6.12e-05 6.90e-02 4.11e-06 -5.7 -6.9 1.00e+00 1 1h 24 2.0817739e+00 5.05e-05 9.75e-02 6.78e-06 -5.7 -7.4 1.77e-01 1 1h 25 2.0812766e+00 9.01e-05 1.16e-01 1.53e-04 -5.7 -7.8 8.61e-01 1 1h 26 2.0807241e+00 2.58e-05 3.62e-02 4.54e-05 -5.7 -8.3 1.00e+00 1 1h 27 2.0807525e+00 1.35e-05 7.67e-02 1.31e-04 -5.7 -7.0 4.72e-01 1 1h 28 2.0806816e+00 4.16e-06 1.05e-02 8.39e-06 -5.7 -7.5 7.10e-01 1 1h 29 2.0806547e+00 1.18e-06 3.68e-02 2.38e-06 -5.7 -6.1 6.89e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0806481e+00 1.74e-07 1.26e-04 2.79e-06 -5.7 -6.6 1.00e+00 1 1h 31 2.0806335e+00 4.23e-08 2.13e-04 1.98e-06 -5.7 -7.1 1.00e+00 1 1h 32 2.0806065e+00 1.01e-07 3.13e-04 1.84e-06 -5.7 -7.6 9.92e-01 1 1h 33 2.0805818e+00 1.09e-06 1.01e-03 2.90e-06 -5.7 -8.0 9.90e-01 1 1h 34 2.0806066e+00 1.47e-12 9.92e-03 1.91e-06 -5.7 -8.5 1.00e+00 1 1H 35 2.0805769e+00 8.62e-07 2.04e-01 2.05e-06 -5.7 -6.3 3.25e-01 1 1h 36 2.0805784e+00 1.19e-06 1.77e-01 1.17e-05 -5.7 -6.8 2.49e-01 1 2h 37 2.0805678e+00 1.11e-06 7.26e-04 1.86e-06 -5.7 -7.2 1.00e+00 1 1h 38 2.0805927e+00 8.14e-12 1.18e-02 1.98e-06 -5.7 -7.7 1.00e+00 1 1H 39 2.0805630e+00 1.09e-07 5.36e-02 1.96e-06 -5.7 -5.5 6.35e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805898e+00 2.14e-13 3.25e-04 4.51e-05 -5.7 -6.0 1.00e+00 1 1H 41 2.0805734e+00 1.34e-07 1.79e-04 1.14e-05 -5.7 -6.4 1.00e+00 1 1h 42 2.0805662e+00 2.31e-07 1.62e-04 2.75e-06 -5.7 -6.9 1.00e+00 1 1h 43 2.0805640e+00 4.94e-08 2.62e-05 1.84e-06 -5.7 -6.5 1.00e+00 1 1h 44 2.0805633e+00 6.29e-08 2.81e-05 1.84e-06 -5.7 -7.0 1.00e+00 1 1h 45 2.1026455e+00 5.90e-09 1.80e-01 4.27e-06 -5.7 -7.4 1.00e+00 1 1H 46 2.1023881e+00 1.40e-08 4.39e-01 4.20e-06 -5.7 -3.4 4.82e-03 1 5h 47 2.0842111e+00 3.43e-08 7.41e-02 1.53e-05 -5.7 -0.3 1.00e+00 1 1h 48 2.0809990e+00 3.46e-08 2.28e-01 1.95e-06 -5.7 -0.8 8.03e-01 1 1h 49 2.0806359e+00 1.78e-08 1.10e-01 1.85e-06 -5.7 -1.2 7.57e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0806459e+00 2.06e-08 1.38e-01 8.52e-06 -5.7 -1.7 1.23e-01 1 3h 51 2.0806332e+00 2.86e-08 1.43e-01 7.94e-06 -5.7 -2.2 1.08e-01 1 2h 52 2.0806264e+00 2.88e-08 7.17e-01 9.84e-06 -5.7 -2.7 8.26e-02 1 2h 53 2.0806114e+00 5.78e-09 1.09e-05 1.89e-06 -5.7 -3.1 1.00e+00 1 1h 54 2.0805970e+00 9.91e-08 3.21e-03 3.14e-07 -8.6 -3.6 1.00e+00 1 1h 55 2.0805900e+00 3.76e-08 1.28e-04 1.38e-08 -8.6 -4.1 9.63e-01 1 1h 56 2.0805901e+00 4.65e-09 2.90e-02 6.19e-07 -8.6 -4.6 8.72e-01 1 1h 57 2.0805893e+00 2.52e-09 9.34e-03 3.33e-07 -8.6 -5.0 4.57e-01 1 1h 58 2.0805885e+00 1.32e-10 8.92e-05 1.93e-07 -8.6 -5.5 1.00e+00 1 1h 59 2.0805858e+00 2.08e-11 3.94e-04 3.71e-08 -8.6 -6.0 8.80e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 60 2.0805780e+00 1.21e-10 2.90e-05 3.08e-09 -8.6 -6.5 1.00e+00 1 1h 61 2.0805734e+00 1.07e-10 6.64e-03 3.59e-09 -8.6 -7.0 2.51e-01 1 1h 62 2.0805618e+00 1.15e-10 1.24e-02 4.36e-08 -8.6 -7.4 3.49e-01 1 1h 63 2.0805417e+00 1.18e-09 4.35e-03 5.19e-07 -8.6 -7.9 1.00e+00 1 1h 64 2.0805425e+00 4.54e-11 4.22e-05 2.70e-06 -8.6 -6.6 1.00e+00 1 1h 65 2.0805404e+00 3.18e-11 2.98e-03 8.48e-07 -8.6 -7.1 7.17e-01 1 1h 66 2.0805378e+00 1.46e-10 1.05e-04 1.22e-07 -8.6 -7.5 1.00e+00 1 1h 67 2.0805367e+00 1.14e-10 2.54e-03 2.64e-09 -8.6 -8.0 1.00e+00 1 1h 68 2.0805366e+00 8.82e-11 2.69e-03 2.56e-09 -8.6 -6.7 2.26e-01 1 1h 69 2.0805366e+00 2.88e-11 1.03e-05 4.39e-08 -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 2.0805366e+00 6.36e-12 4.25e-04 2.51e-09 -8.6 -7.6 1.00e+00 1 1h 71 2.0805365e+00 6.48e-14 7.41e-08 2.51e-09 -8.6 -6.3 1.00e+00 1 1h 72 2.0805365e+00 7.90e-14 4.58e-08 2.51e-09 -8.6 -6.8 1.00e+00 1 1h 73 2.0805365e+00 2.03e-13 3.46e-05 2.51e-09 -8.6 -7.3 1.00e+00 1 1h 74 2.0805365e+00 2.61e-13 1.49e-02 1.13e-08 -8.6 -6.8 3.00e-02 1 4h 75 2.0805365e+00 2.25e-13 5.80e-04 3.23e-09 -8.6 -7.3 1.00e+00 1 1h 76 2.0805365e+00 1.21e-13 3.62e-04 5.80e-09 -8.6 -6.9 5.00e-01 1 2h 77 2.0805365e+00 5.77e-14 1.29e-05 2.51e-09 -8.6 -6.5 1.00e+00 1 1h 78 2.0805365e+00 9.50e-14 9.00e-08 2.51e-09 -8.6 -6.9 1.00e+00 1 1h 79 2.0805365e+00 7.92e-14 4.36e-08 2.51e-09 -8.6 -7.4 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 80 2.0805365e+00 3.53e-13 2.94e-07 2.51e-09 -8.6 -7.9 1.00e+00 1 1h 81 2.0805365e+00 9.42e-13 9.23e-07 2.51e-09 -8.6 -8.4 1.00e+00 1 1h 82 2.0805365e+00 7.08e-13 8.72e-07 2.51e-09 -8.6 -8.8 1.00e+00 1 1h 83 2.0805365e+00 1.01e-13 1.48e-07 2.51e-09 -8.6 -9.3 1.00e+00 1 1h 84 2.0805365e+00 2.55e-15 3.39e-09 2.51e-09 -8.6 -9.8 1.00e+00 1 1h Number of Iterations....: 84 (scaled) (unscaled) Objective...............: 2.0805364803022548e+00 2.0805364803022548e+00 Dual infeasibility......: 3.3862249115834686e-09 3.3862249115834686e-09 Constraint violation....: 2.5535129566378600e-15 2.5535129566378600e-15 Complementarity.........: 2.5059035602608257e-09 2.5059035602608257e-09 Overall NLP error.......: 3.3862249115834686e-09 3.3862249115834686e-09 Number of objective function evaluations = 113 Number of objective gradient evaluations = 85 Number of constraint evaluations = 113 Number of constraint Jacobian evaluations = 85 Number of Lagrangian Hessian evaluations = 84 Number of KKT factorizations = 204 Number of KKT backsolves = 98 Total wall secs in initialization = 5.587 s Total wall secs in linear solver = 0.190 s Total wall secs in NLP function evaluations = 19.390 s Total wall secs in solver (w/o init./fun./lin. alg.) = 28.974 s Total wall secs = 54.142 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 This is MadNLP version v0.9.1, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 3.2834013e+00 3.11e+00 5.89e-01 9.72e-01 -1.0 - 0.00e+00 1 0 1 2.8839463e+00 5.52e-02 2.74e+00 5.35e-01 -1.0 0.0 1.00e+00 1 1h 2 2.8236325e+00 5.27e-02 3.82e+00 3.68e-01 -1.0 -0.5 4.67e-02 2 3h 3 2.7380863e+00 2.82e-02 2.44e-01 1.10e-01 -1.0 -0.1 1.00e+00 1 1h 4 2.3931051e+00 3.77e-03 7.85e-02 3.80e-02 -1.7 -0.5 1.00e+00 2 1h 5 2.1205259e+00 1.38e-02 2.79e-02 7.06e-03 -2.5 -1.0 9.66e-01 2 1h 6 2.0920072e+00 9.25e-04 2.48e-03 4.83e-04 -3.8 -1.5 9.44e-01 2 1h 7 2.0913320e+00 4.20e-04 1.13e-02 1.54e-04 -3.8 -2.0 1.00e+00 2 1h 8 2.0913304e+00 3.18e-08 3.40e-05 1.50e-04 -3.8 -2.4 1.00e+00 2 1h 9 2.0899921e+00 2.53e-06 2.07e-05 4.39e-06 -5.7 -2.9 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0899859e+00 1.79e-06 2.49e-05 2.12e-06 -5.7 -3.4 1.00e+00 2 1h 11 2.0899714e+00 1.09e-05 5.71e-05 1.84e-06 -5.7 -3.9 1.00e+00 2 1h 12 2.0899318e+00 3.22e-05 2.24e-04 1.84e-06 -5.7 -4.3 1.00e+00 2 1h 13 2.0898747e+00 3.25e-05 2.73e-03 1.86e-06 -5.7 -4.8 4.36e-01 2 1h 14 2.0895148e+00 1.29e-04 6.73e-04 3.07e-06 -5.7 -5.3 1.00e+00 1 1h 15 2.0893734e+00 1.22e-04 8.04e-02 2.18e-06 -5.7 -5.8 6.08e-02 1 1h 16 2.0868116e+00 7.68e-05 1.31e-02 3.70e-06 -5.7 -6.3 1.00e+00 1 1h 17 2.0863206e+00 6.92e-05 1.64e-01 2.93e-06 -5.7 -6.7 1.00e-01 1 1h 18 2.0817506e+00 5.00e-05 1.33e-01 2.28e-06 -5.7 -7.2 7.52e-01 1 1h 19 2.0818879e+00 1.63e-04 1.28e-01 8.21e-04 -5.7 -7.7 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0811080e+00 3.25e-05 3.29e-02 3.37e-04 -5.7 -8.2 6.09e-01 2 1h 21 2.0806875e+00 1.41e-05 4.92e-02 1.29e-04 -5.7 -8.6 9.35e-01 1 1h 22 2.0806857e+00 1.31e-05 4.96e-02 1.23e-04 -5.7 -7.3 7.21e-02 1 2h 23 2.0806751e+00 8.94e-06 1.06e-01 3.62e-05 -5.7 -6.0 3.19e-01 1 1h 24 2.0806957e+00 1.97e-06 3.40e-03 1.62e-05 -5.7 -5.6 1.00e+00 1 1h 25 2.0806749e+00 6.24e-09 1.36e-01 3.86e-06 -5.7 -4.2 1.00e+00 1 1h 26 2.0806750e+00 3.36e-08 2.25e-05 2.11e-06 -5.7 -4.7 1.00e+00 1 1h 27 2.0806749e+00 8.22e-08 1.28e-05 1.85e-06 -5.7 -5.2 1.00e+00 2 1h 28 2.0806527e+00 1.45e-06 4.78e-03 4.84e-07 -8.6 -5.7 9.01e-01 2 1h 29 2.0806438e+00 4.08e-07 5.13e-05 9.21e-08 -8.6 -6.1 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0806229e+00 7.61e-09 4.93e-05 1.47e-08 -8.6 -6.6 1.00e+00 2 1h 31 2.0806212e+00 7.36e-09 8.02e-03 2.38e-08 -8.6 -7.1 3.33e-02 2 1h 32 2.0806098e+00 5.46e-09 2.34e-02 4.57e-09 -8.6 -7.6 2.62e-01 2 1h 33 2.0805542e+00 2.47e-09 9.69e-03 3.34e-09 -8.6 -8.0 6.25e-01 1 1h 34 2.0805499e+00 1.31e-09 1.49e-03 1.10e-05 -8.6 -8.5 1.00e+00 1 1h 35 2.0805375e+00 5.50e-10 3.12e-03 9.04e-07 -8.6 -9.0 1.00e+00 1 1h 36 2.0805370e+00 1.43e-10 8.46e-05 2.27e-06 -8.6 -6.8 1.00e+00 1 1h 37 2.0805366e+00 8.92e-11 7.14e-05 2.51e-09 -8.6 -7.2 8.55e-01 2 1h 38 2.0805366e+00 3.24e-13 9.58e-07 2.92e-09 -8.6 -5.9 1.00e+00 1 1h 39 2.0805366e+00 2.69e-13 1.11e-06 2.51e-09 -8.6 -6.4 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805366e+00 3.43e-13 1.13e-07 2.51e-09 -8.6 -6.9 1.00e+00 2 1h 41 2.0805366e+00 1.11e-12 3.96e-07 2.51e-09 -8.6 -7.3 1.00e+00 2 1h 42 2.0805365e+00 2.03e-12 9.45e-07 2.51e-09 -8.6 -7.8 1.00e+00 2 1h 43 2.0805365e+00 3.46e-12 2.40e-06 2.51e-09 -8.6 -8.3 1.00e+00 1 1h 44 2.0805365e+00 3.62e-12 1.95e-06 2.51e-09 -8.6 -8.8 1.00e+00 1 1h 45 2.0805365e+00 8.70e-13 3.52e-07 2.51e-09 -8.6 -9.3 1.00e+00 1 1h 46 2.0805365e+00 2.96e-14 9.31e-09 2.51e-09 -8.6 -9.7 1.00e+00 1 1h Number of Iterations....: 46 (scaled) (unscaled) Objective...............: 2.0805364803023627e+00 2.0805364803023627e+00 Dual infeasibility......: 9.3130196332502635e-09 9.3130196332502635e-09 Constraint violation....: 2.9642954757491680e-14 2.9642954757491680e-14 Complementarity.........: 2.5059035601007464e-09 2.5059035601007464e-09 Overall NLP error.......: 9.3130196332502635e-09 9.3130196332502635e-09 Number of objective function evaluations = 52 Number of objective gradient evaluations = 47 Number of constraint evaluations = 52 Number of constraint Jacobian evaluations = 47 Number of Lagrangian Hessian evaluations = 46 Number of KKT factorizations = 108 Number of KKT backsolves = 74 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.051 s Total wall secs in NLP function evaluations = 19.208 s Total wall secs in solver (w/o init./fun./lin. alg.) = 9.166 s Total wall secs = 28.426 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 This is MadNLP version v0.9.1, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 1.8355723e+00 4.03e+00 5.82e-01 9.87e-01 -1.0 - 0.00e+00 1 0 1 2.9102734e+00 6.21e-02 2.49e+00 6.14e-01 -1.0 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 2 2.7220964e+00 3.15e-02 2.34e-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 2.3785580e+00 7.66e-03 1.48e-01 3.58e-02 -1.7 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 4 2.1184335e+00 4.62e-03 6.99e-02 4.30e-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 2.1153517e+00 1.19e-03 1.25e-02 2.89e-03 -2.5 - 1.00e+00 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.1153517429795712e+00 2.1153517429795712e+00 Dual infeasibility......: 1.2536186795884412e-02 1.2536186795884412e-02 Constraint violation....: 1.1896749666981954e-03 1.1896749666981954e-03 Complementarity.........: 2.8895839442210341e-03 2.8895839442210341e-03 Overall NLP error.......: 1.2536186795884412e-02 1.2536186795884412e-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 = 0.602 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.) = 38.221 s Total wall secs = 38.980 s EXIT: Maximum Number of Iterations Exceeded. ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 This is MadNLP version v0.9.1, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 5.0061129e+00 3.05e+00 5.23e-01 9.73e-01 -1.0 - 0.00e+00 1 0 1 2.7706681e+00 7.12e-02 1.95e+00 3.82e-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 2.7568161e+00 2.28e-02 1.93e-01 1.12e-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 2.2904441e+00 6.73e-03 1.60e-01 2.80e-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 2.1168068e+00 1.34e-03 9.34e-02 4.05e-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 2.1154061e+00 9.80e-04 6.41e-03 2.87e-03 -2.5 - 1.00e+00 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.1154060586597359e+00 2.1154060586597359e+00 Dual infeasibility......: 6.4131754790295453e-03 6.4131754790295453e-03 Constraint violation....: 9.7990740918929564e-04 9.7990740918929564e-04 Complementarity.........: 2.8675542135679177e-03 2.8675542135679177e-03 Overall NLP error.......: 6.4131754790295453e-03 6.4131754790295453e-03 Number of objective function evaluations = 6 Number of objective gradient evaluations = 6 Number of constraint evaluations = 6 Number of constraint Jacobian evaluations = 6 Number of Lagrangian Hessian evaluations = 0 Number of KKT factorizations = 6 Number of KKT backsolves = 6 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.005 s Total wall secs in NLP function evaluations = 0.147 s Total wall secs in solver (w/o init./fun./lin. alg.) = 8.976 s Total wall secs = 9.130 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 2.6640244e+00 3.44e+00 4.33e-01 9.88e-01 -1.0 - 0.00e+00 1 0 1 2.6065851e+00 4.65e-02 1.62e+00 1.57e-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 2.7194295e+00 1.62e-02 1.92e-01 1.01e-01 -1.0 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 3 2.3145484e+00 1.53e-02 1.79e-01 2.76e-02 -2.5 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 4 2.1308047e+00 9.45e-03 1.25e-01 6.04e-03 -2.5 - 9.40e-01 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 5 2.1135959e+00 1.79e-03 2.99e-02 2.86e-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 2.1152950e+00 7.77e-06 1.81e-03 2.87e-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 7 2.0914847e+00 3.04e-05 5.40e-03 1.81e-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 2.0912747e+00 1.19e-08 1.04e-04 1.50e-04 -3.8 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 9 2.0899385e+00 1.11e-06 3.84e-04 3.52e-06 -5.7 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0899373e+00 7.13e-09 5.62e-05 1.86e-06 -5.7 - 1.00e+00 1 1h Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0899372782026826e+00 2.0899372782026826e+00 Dual infeasibility......: 5.6247568661620321e-05 5.6247568661620321e-05 Constraint violation....: 7.1271649693116501e-09 7.1271649693116501e-09 Complementarity.........: 1.8643170075561269e-06 1.8643170075561269e-06 Overall NLP error.......: 5.6247568661620321e-05 5.6247568661620321e-05 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of constraint evaluations = 11 Number of constraint Jacobian evaluations = 11 Number of Lagrangian Hessian evaluations = 0 Number of KKT factorizations = 11 Number of KKT backsolves = 11 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.009 s Total wall secs in NLP function evaluations = 0.160 s Total wall secs in solver (w/o init./fun./lin. alg.) = 9.247 s Total wall secs = 9.417 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 1.1281520e+01 2.98e+00 2.43e+00 1.89e+00 -1.0 - 0.00e+00 1 0 1 2.7234906e+00 2.69e-01 1.54e+00 5.35e-01 -1.0 -2.0 1.00e+00 1 1h 2 2.7151896e+00 4.10e-02 5.63e-01 1.14e-01 -1.0 -2.5 1.00e+00 2 1h 3 2.3763024e+00 5.77e-02 3.64e-02 3.51e-02 -1.7 -3.0 1.00e+00 2 1h 4 2.1277169e+00 3.80e-02 9.94e-03 6.22e-03 -2.5 -3.4 1.00e+00 2 1h 5 2.1149039e+00 3.38e-03 1.75e-02 2.87e-03 -2.5 -3.9 1.00e+00 2 1h 6 2.0913868e+00 8.13e-04 1.59e-03 1.97e-04 -3.8 -4.4 1.00e+00 2 1h 7 2.0911575e+00 2.24e-05 4.90e-04 1.51e-04 -3.8 -4.9 1.00e+00 2 1h 8 2.0896053e+00 4.78e-04 1.95e-03 4.17e-05 -5.7 -5.3 1.00e+00 2 1h 9 2.0895187e+00 4.56e-04 1.08e-01 5.98e-06 -5.7 -4.9 4.45e-02 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0890738e+00 5.60e-06 5.47e-04 2.00e-06 -5.7 -5.4 1.00e+00 1 1h 11 2.0879146e+00 2.39e-06 2.63e-03 9.41e-06 -5.7 -5.9 1.00e+00 1 1h 12 2.0873976e+00 2.23e-06 9.58e-02 2.36e-06 -5.7 -6.3 1.68e-01 1 1h 13 2.0827339e+00 3.80e-05 5.98e-02 4.33e-06 -5.7 -6.8 1.00e+00 1 1h 14 2.0817506e+00 2.96e-05 1.00e-01 2.45e-06 -5.7 -7.3 2.70e-01 1 1h 15 2.0813633e+00 1.12e-04 1.13e-01 2.94e-04 -5.7 -7.8 1.00e+00 2 1h 16 2.0811512e+00 8.35e-05 4.09e-02 1.95e-04 -5.7 -8.3 2.26e-01 1 1h 17 2.0806391e+00 1.16e-05 4.83e-02 8.84e-05 -5.7 -8.7 8.66e-01 1 1h 18 2.0806844e+00 1.15e-05 3.51e-02 8.86e-05 -5.7 -7.4 8.28e-03 1 3h 19 2.0806481e+00 3.36e-06 1.70e-01 7.26e-06 -5.7 -4.3 7.08e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0806446e+00 3.35e-06 1.50e-01 6.89e-06 -5.7 -4.7 3.21e-03 2 1h 21 2.0806790e+00 2.92e-06 1.16e+00 3.63e-04 -5.7 -5.2 1.29e-01 2 3h 22 2.0806395e+00 1.18e-05 1.61e-02 4.84e-06 -5.7 -5.7 9.93e-01 2 1h 23 2.0806360e+00 1.12e-05 9.95e-03 4.22e-06 -5.7 -5.3 1.10e-01 1 1h 24 2.0809053e+00 4.38e-06 3.53e-01 6.65e-05 -5.7 -5.7 8.06e-01 1 1H 25 2.0806588e+00 1.87e-06 3.64e+00 2.01e-05 -5.7 -3.5 6.64e-01 1 1h 26 2.0807485e+00 7.34e-07 1.74e+00 1.61e-04 -5.7 -2.2 6.48e-01 1 1h 27 2.0807144e+00 2.07e-07 5.45e-01 7.87e-05 -5.7 -2.7 1.00e+00 2 1h 28 2.0806689e+00 1.22e-07 9.16e-03 1.57e-05 -5.7 -3.1 1.00e+00 2 1h 29 2.0806579e+00 6.36e-08 2.12e-05 2.40e-06 -5.7 -3.6 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0806543e+00 6.40e-08 7.35e-06 1.85e-06 -5.7 -4.1 1.00e+00 2 1h 31 2.0806318e+00 4.50e-07 3.54e-03 5.16e-07 -8.6 -4.6 8.54e-01 2 1h 32 2.0806257e+00 1.54e-07 2.68e-02 1.55e-07 -8.6 -5.1 8.37e-01 2 1h 33 2.0806138e+00 4.67e-08 1.04e-04 2.93e-08 -8.6 -5.5 1.00e+00 1 1h 34 2.0806127e+00 4.49e-08 3.29e-03 1.52e-08 -8.6 -6.0 3.88e-02 1 1h 35 2.0806077e+00 4.85e-10 1.02e-03 4.52e-08 -8.6 -6.5 1.00e+00 1 1h 36 2.0806031e+00 8.17e-09 6.47e-03 2.00e-08 -8.6 -7.0 6.11e-01 1 1h 37 2.0806019e+00 5.71e-09 3.76e-02 7.10e-07 -8.6 -4.7 3.03e-01 1 1h 38 2.0806015e+00 5.46e-09 3.17e-01 9.56e-07 -8.6 -5.2 4.93e-02 1 1h 39 2.0805999e+00 1.46e-09 1.74e-02 1.07e-07 -8.6 -4.8 7.72e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0806001e+00 1.31e-10 2.01e-05 5.92e-07 -8.6 -5.3 1.00e+00 1 1h 41 2.0805990e+00 9.63e-11 6.74e-06 1.21e-07 -8.6 -5.7 1.00e+00 1 1h 42 2.0805970e+00 3.46e-10 1.80e-05 1.78e-08 -8.6 -6.2 1.00e+00 1 1h 43 2.0805929e+00 7.57e-10 2.07e-04 2.57e-09 -8.6 -6.7 7.12e-01 1 1h 44 2.0805775e+00 2.94e-09 6.81e-05 5.84e-09 -8.6 -7.2 1.00e+00 1 1h 45 2.0805618e+00 1.86e-09 2.91e-03 2.56e-09 -8.6 -7.6 4.29e-01 1 1h 46 2.0805550e+00 1.71e-09 9.71e-03 2.68e-09 -8.6 -8.1 9.00e-02 2 1h 47 2.0805397e+00 1.82e-09 1.06e-03 5.89e-07 -8.6 -8.6 1.00e+00 1 1h 48 2.0805366e+00 5.18e-10 3.42e-03 2.54e-09 -8.6 -9.1 9.99e-01 1 1h 49 2.0805633e+00 5.02e-10 1.49e-03 6.07e-06 -8.6 -6.8 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805380e+00 1.15e-09 8.89e-01 8.43e-07 -8.6 -4.6 4.93e-01 1 1H Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0805380114461349e+00 2.0805380114461349e+00 Dual infeasibility......: 8.8905390298393538e-01 8.8905390298393538e-01 Constraint violation....: 1.1496457119619663e-09 1.1496457119619663e-09 Complementarity.........: 8.4337076485133755e-07 8.4337076485133755e-07 Overall NLP error.......: 8.8905390298393538e-01 8.8905390298393538e-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 = 73 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.067 s Total wall secs in NLP function evaluations = 24.670 s Total wall secs in solver (w/o init./fun./lin. alg.) = 10.596 s Total wall secs = 35.335 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 2.7462362e+00 2.59e+00 4.48e-01 9.87e-01 -1.0 - 0.00e+00 1 0 1 1.7435782e+00 8.79e-01 3.20e+00 3.61e-01 -1.0 0.0 6.61e-01 2 1h 2 2.1834843e+00 2.37e-01 2.49e+00 2.34e-01 -1.0 0.4 7.21e-01 1 1h 3 2.3359504e+00 6.33e-02 1.50e+00 1.22e-01 -1.0 -0.1 7.34e-01 2 1h 4 2.7303928e+00 4.60e-02 6.72e-01 1.29e-01 -1.0 -0.5 1.00e+00 2 1h 5 2.3616787e+00 1.10e-01 2.94e-01 5.11e-02 -1.7 -1.0 1.00e+00 2 1h 6 2.2843692e+00 4.67e-03 7.29e-02 2.47e-02 -1.7 -1.5 1.00e+00 2 1h 7 2.1089841e+00 8.37e-03 1.43e-02 4.72e-03 -2.5 -2.0 9.89e-01 2 1h 8 2.0914531e+00 1.62e-03 2.50e-03 2.97e-04 -3.8 -2.4 1.00e+00 2 1h 9 2.0913065e+00 7.71e-07 2.25e-04 1.60e-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 2.0899448e+00 6.01e-06 1.91e-04 4.50e-05 -5.7 -3.4 1.00e+00 2 1h 11 2.0899106e+00 7.91e-07 2.14e-04 1.17e-05 -5.7 -3.9 1.00e+00 2 1h 12 2.0898637e+00 3.98e-06 4.32e-05 3.30e-06 -5.7 -4.3 1.00e+00 1 1h 13 2.0897367e+00 1.03e-05 4.38e-05 1.84e-06 -5.7 -4.8 1.00e+00 1 1h 14 2.0893694e+00 1.14e-05 1.62e-04 1.84e-06 -5.7 -5.3 1.00e+00 1 1h 15 2.0883672e+00 6.34e-06 1.39e-03 1.84e-06 -5.7 -5.8 1.00e+00 1 1h 16 2.0860876e+00 5.36e-06 9.33e-03 5.32e-06 -5.7 -6.3 1.00e+00 1 1h 17 2.0851556e+00 5.25e-06 1.20e-01 2.59e-06 -5.7 -6.7 2.30e-01 1 1h 18 2.0817449e+00 3.03e-05 1.15e-01 1.99e-06 -5.7 -7.2 6.58e-01 1 1h 19 2.0817804e+00 1.64e-08 1.21e-01 6.89e-04 -5.7 -7.7 1.00e+00 2 1H iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0811180e+00 2.26e-05 3.42e-02 3.11e-04 -5.7 -8.2 5.49e-01 2 1h 21 2.0806790e+00 1.26e-05 5.15e-02 1.20e-04 -5.7 -8.6 9.37e-01 1 1h 22 2.0806838e+00 1.18e-05 3.26e-02 1.21e-04 -5.7 -7.3 6.25e-02 1 5h 23 2.0806668e+00 8.84e-06 7.01e-02 4.35e-05 -5.7 -6.0 2.52e-01 1 1h 24 2.0806585e+00 6.20e-07 6.23e-03 7.13e-06 -5.7 -6.5 9.33e-01 1 1h 25 2.0808395e+00 1.68e-06 5.86e-02 5.64e-06 -5.7 -6.9 7.29e-01 2 1h 26 2.0806492e+00 2.17e-05 2.97e+00 8.44e-06 -5.7 -4.7 8.11e-02 1 1h 27 2.0806570e+00 2.16e-05 8.29e+00 1.23e-03 -5.7 -5.2 6.72e-03 1 3h 28 2.0806542e+00 6.48e-07 2.24e-03 1.08e-05 -5.7 -5.7 1.00e+00 1 1h 29 2.0806434e+00 4.22e-06 4.99e-05 3.62e-06 -5.7 -6.1 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0806342e+00 6.09e-07 4.26e-05 1.85e-06 -5.7 -6.6 1.00e+00 1 1h 31 2.0806270e+00 7.74e-07 9.81e-03 1.86e-06 -5.7 -7.1 2.15e-01 1 3h 32 2.0808336e+00 2.52e-07 2.84e-02 2.37e-05 -5.7 -5.8 9.31e-01 1 1H 33 2.0806735e+00 5.38e-07 3.53e-01 1.27e-05 -5.7 -6.2 1.00e+00 1 1h 34 2.0806463e+00 4.90e-08 3.56e-02 7.63e-06 -5.7 -4.0 2.45e-01 1 2h 35 2.0806412e+00 4.64e-08 3.49e-01 1.91e-06 -5.7 -1.8 5.30e-02 1 1h 36 2.0806406e+00 4.14e-09 1.83e-04 5.21e-06 -5.7 -2.2 1.00e+00 2 1h 37 2.0806312e+00 9.40e-10 9.50e-05 2.29e-06 -5.7 -2.7 1.00e+00 1 1h 38 2.0806283e+00 1.33e-10 3.52e-05 1.86e-06 -5.7 -3.2 1.00e+00 1 1h 39 2.0806281e+00 2.16e-10 1.80e-06 1.87e-06 -5.7 -3.7 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0806105e+00 2.20e-07 8.17e-04 4.89e-07 -8.6 -4.2 9.80e-01 2 1h 41 2.0806080e+00 1.28e-07 3.82e-02 2.11e-07 -8.6 -4.6 4.21e-01 2 1h 42 2.0806061e+00 2.38e-08 1.82e-03 4.54e-08 -8.6 -5.1 9.75e-01 1 1h 43 2.0806053e+00 1.35e-08 3.48e-03 1.91e-08 -8.6 -5.6 4.29e-01 2 1h 44 2.0806034e+00 8.01e-10 8.65e-05 1.34e-08 -8.6 -6.1 1.00e+00 2 1h 45 2.0805982e+00 3.17e-11 3.61e-04 2.51e-09 -8.6 -6.5 1.00e+00 2 1h 46 2.0805976e+00 1.95e-09 6.03e-02 1.36e-07 -8.6 -7.0 8.17e-02 2 2h 47 2.0805964e+00 4.89e-10 2.31e-02 2.91e-09 -8.6 -4.8 7.89e-01 1 1h 48 2.0805961e+00 2.59e-12 1.03e-05 4.57e-09 -8.6 -5.3 1.00e+00 2 1h 49 2.0805953e+00 1.86e-11 6.76e-07 2.51e-09 -8.6 -5.7 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805941e+00 4.17e-11 1.44e-04 2.55e-09 -8.6 -6.2 5.22e-01 2 1h Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0805941192064021e+00 2.0805941192064021e+00 Dual infeasibility......: 1.4445408431854045e-04 1.4445408431854045e-04 Constraint violation....: 4.1696535113544542e-11 4.1696535113544542e-11 Complementarity.........: 2.5498658224125715e-09 2.5498658224125715e-09 Overall NLP error.......: 1.4445408431854045e-04 1.4445408431854045e-04 Number of objective function evaluations = 68 Number of objective gradient evaluations = 51 Number of constraint evaluations = 68 Number of constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Number of KKT factorizations = 122 Number of KKT backsolves = 85 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.057 s Total wall secs in NLP function evaluations = 19.218 s Total wall secs in solver (w/o init./fun./lin. alg.) = 9.416 s Total wall secs = 28.692 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 3.4028281e+00 2.39e+00 1.26e+00 9.49e-01 -1.0 - 0.00e+00 1 0 1 2.5982640e+00 1.55e-01 9.72e+00 8.41e-01 -1.0 0.0 1.00e+00 1 1h 2 2.2719383e+00 5.85e-02 3.21e+00 3.32e-01 -1.0 0.4 6.39e-01 1 1h 3 2.3658413e+00 3.30e-02 5.64e+00 2.00e-01 -1.0 -0.1 1.00e+00 1 1h 4 2.3712938e+00 3.74e-03 1.95e+00 1.07e-01 -1.0 -0.5 1.00e+00 1 1h 5 2.5425837e+00 2.87e-03 4.26e-02 1.00e-01 -1.0 -1.0 1.00e+00 1 1h 6 2.1973696e+00 1.51e-02 1.45e-01 1.97e-02 -2.5 -1.5 1.00e+00 1 1h 7 2.1185019e+00 2.06e-03 3.05e-02 3.72e-03 -2.5 -2.0 1.00e+00 1 1h 8 2.1152841e+00 1.77e-03 5.06e-03 2.83e-03 -2.5 -2.4 1.00e+00 1 1h 9 2.0915598e+00 4.33e-05 2.96e-04 1.71e-04 -3.8 -2.9 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0900622e+00 8.97e-06 1.01e-04 2.92e-05 -5.7 -3.4 1.00e+00 1 1h 11 2.0900365e+00 1.41e-05 2.03e-04 8.13e-06 -5.7 -3.9 1.00e+00 1 1h 12 2.0899926e+00 2.26e-04 1.27e-04 3.05e-06 -5.7 -4.3 1.00e+00 1 1h 13 2.0898903e+00 3.45e-04 8.29e-04 1.85e-06 -5.7 -4.8 8.27e-01 1 1h 14 2.0895325e+00 1.65e-04 7.23e-04 4.51e-06 -5.7 -5.3 1.00e+00 1 1h 15 2.0893771e+00 1.54e-04 7.85e-02 2.17e-06 -5.7 -5.8 6.71e-02 1 1h 16 2.0868125e+00 7.99e-05 1.33e-02 3.08e-06 -5.7 -6.3 1.00e+00 1 1h 17 2.0863069e+00 7.16e-05 1.61e-01 2.91e-06 -5.7 -6.7 1.05e-01 1 1h 18 2.0817436e+00 4.98e-05 1.33e-01 2.27e-06 -5.7 -7.2 7.53e-01 1 1h 19 2.0818891e+00 1.61e-04 1.28e-01 8.26e-04 -5.7 -7.7 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0811067e+00 3.16e-05 3.28e-02 3.38e-04 -5.7 -8.2 6.11e-01 1 1h 21 2.0806891e+00 1.38e-05 4.82e-02 1.31e-04 -5.7 -8.6 9.21e-01 1 1h 22 2.0807523e+00 1.26e-05 1.08e-01 1.20e-04 -5.7 -7.3 1.10e-01 1 1h 23 2.0807838e+00 1.29e-05 3.29e-01 1.24e-04 -5.7 -5.1 2.97e-01 1 1h 24 2.0808030e+00 1.66e-06 2.96e-03 2.12e-04 -5.7 -5.6 1.00e+00 1 1h 25 2.0807460e+00 1.05e-06 5.04e-02 2.52e-05 -5.7 -6.0 3.00e-01 1 1h 26 2.0806902e+00 2.45e-06 1.36e-01 1.78e-05 -5.7 -5.6 4.09e-01 1 1h 27 2.0806908e+00 2.34e-06 6.25e-01 5.44e-05 -5.7 -6.1 5.98e-02 1 1h 28 2.0806703e+00 6.24e-07 1.87e-03 6.15e-06 -5.7 -6.6 1.00e+00 1 1h 29 2.0806453e+00 1.74e-07 6.86e-03 3.54e-06 -5.7 -7.0 6.03e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0806409e+00 8.74e-08 3.87e-04 3.64e-06 -5.7 -6.6 1.00e+00 1 1h 31 2.0806203e+00 1.85e-07 5.59e-03 2.24e-06 -5.7 -7.1 1.00e+00 1 1h 32 2.0806203e+00 8.57e-08 5.33e-05 2.40e-06 -5.7 -5.8 1.00e+00 1 1h 33 2.0806182e+00 7.76e-08 3.03e-05 1.84e-06 -5.7 -6.2 1.00e+00 1 1h 34 2.0806179e+00 9.74e-08 1.41e-04 1.84e-06 -5.7 -5.8 1.00e+00 1 1h 35 2.0806152e+00 1.11e-07 8.05e-05 1.84e-06 -5.7 -6.3 1.00e+00 1 1h 36 2.0806094e+00 2.22e-08 3.27e-05 1.85e-06 -5.7 -6.8 1.00e+00 1 1h 37 2.0805938e+00 5.71e-08 1.41e-04 1.84e-06 -5.7 -7.2 1.00e+00 1 1h 38 2.0805739e+00 1.02e-07 1.68e-03 1.87e-06 -5.7 -7.7 6.39e-01 1 1h 39 2.0805698e+00 3.64e-07 5.14e-04 6.91e-06 -5.7 -8.2 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805614e+00 4.03e-07 4.56e-04 2.17e-06 -5.7 -8.7 1.00e+00 1 1h 41 2.0805604e+00 7.43e-08 7.69e-05 1.84e-06 -5.7 -9.2 1.00e+00 1 1h 42 2.0805604e+00 1.98e-09 2.53e-06 1.84e-06 -5.7 -9.6 1.00e+00 1 1h 43 2.0805367e+00 3.97e-06 3.48e-06 6.21e-08 -8.6 -10.1 9.93e-01 1 1h 44 2.0805365e+00 1.58e-09 3.67e-09 2.55e-09 -8.6 -10.6 1.00e+00 1 1h Number of Iterations....: 44 (scaled) (unscaled) Objective...............: 2.0805364803957058e+00 2.0805364803957058e+00 Dual infeasibility......: 3.6664921931883754e-09 3.6664921931883754e-09 Constraint violation....: 1.5752126270029976e-09 1.5752126270029976e-09 Complementarity.........: 2.5549327084679815e-09 2.5549327084679815e-09 Overall NLP error.......: 3.6664921931883754e-09 3.6664921931883754e-09 Number of objective function evaluations = 45 Number of objective gradient evaluations = 45 Number of constraint evaluations = 45 Number of constraint Jacobian evaluations = 45 Number of Lagrangian Hessian evaluations = 44 Number of KKT factorizations = 102 Number of KKT backsolves = 45 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.090 s Total wall secs in NLP function evaluations = 18.591 s Total wall secs in solver (w/o init./fun./lin. alg.) = 9.261 s Total wall secs = 27.943 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 This is MadNLP version v0.9.1, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 5.3864299e+00 3.64e+00 6.04e-01 9.54e-01 -1.0 - 0.00e+00 1 0 1 3.0254333e+00 1.77e-01 3.58e+00 1.68e+00 -0.7 0.0 1.00e+00 1 1h 2 2.7834690e+00 1.32e-01 3.29e+00 1.26e+00 -1.4 -0.5 2.56e-01 2 1h 3 2.5568600e+00 4.98e-02 6.41e+00 3.12e-01 -0.9 -0.1 1.00e+00 1 1h 4 2.4862635e+00 3.25e-02 4.49e+00 6.36e-02 -3.1 0.4 3.48e-01 1 1h 5 2.2997573e+00 4.12e-03 5.03e-01 2.65e-02 -1.7 -0.1 1.00e+00 2 1h 6 2.1488190e+00 5.78e-03 9.66e-02 1.05e-02 -6.5 -0.6 5.59e-01 2 1h 7 2.1093765e+00 2.38e-03 5.36e-03 2.98e-03 -2.6 -1.1 1.00e+00 2 1h 8 2.0910683e+00 1.82e-05 2.37e-04 1.30e-04 -3.9 -1.5 1.00e+00 2 1h 9 2.0899429e+00 1.87e-07 1.18e-04 1.18e-05 -5.9 -2.0 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0899362e+00 1.97e-09 1.31e-04 2.75e-06 -5.9 -2.5 1.00e+00 2 1h 11 2.0899261e+00 1.57e-08 1.22e-04 1.41e-06 -5.9 -3.0 1.00e+00 2 1h 12 2.0899160e+00 1.23e-07 1.14e-04 1.26e-06 -5.9 -3.4 1.00e+00 2 1h 13 2.0898998e+00 8.75e-07 1.97e-05 1.26e-06 -5.9 -3.9 1.00e+00 2 1h 14 2.0898522e+00 4.07e-06 1.97e-05 1.26e-06 -5.9 -4.4 1.00e+00 2 1h 15 2.0897092e+00 9.16e-06 4.75e-05 1.26e-06 -5.9 -4.9 1.00e+00 2 1h 16 2.0893041e+00 9.19e-06 4.90e-04 3.37e-06 -5.9 -5.4 1.00e+00 1 1h 17 2.0890566e+00 7.69e-06 3.70e-02 1.37e-06 -5.9 -5.8 2.00e-01 1 1h 18 2.0863436e+00 8.81e-06 1.28e-02 3.83e-06 -5.9 -6.3 1.00e+00 1 1h 19 2.0857300e+00 7.70e-06 1.55e-01 1.98e-06 -5.9 -6.8 1.29e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0817291e+00 2.80e-05 1.35e-01 1.36e-06 -5.9 -7.3 6.74e-01 1 1h 21 2.0819738e+00 1.44e-08 1.47e-01 1.01e-03 -5.9 -7.7 1.00e+00 2 1H 22 2.0811069e+00 1.59e-04 3.31e-02 3.99e-04 -5.5 -8.2 6.33e-01 1 1h 23 2.0809767e+00 1.20e-03 6.58e-02 2.02e-04 -5.1 -8.7 1.00e+00 1 1f 24 2.0922101e+00 1.02e-03 5.00e-01 1.49e-03 -5.1 -6.5 2.11e-01 1 1h 25 2.0919806e+00 1.02e-03 5.03e-01 1.48e-03 -4.6 -6.9 3.16e-03 2 1F 26 2.0912772e+00 1.02e-03 3.13e+00 1.38e-03 -4.6 -2.9 9.04e-05 1 1f 27 2.0908225e+00 9.68e-04 4.32e+00 6.69e-04 -4.6 -0.7 5.00e-02 1 1h 28 2.0892500e+00 7.74e-04 5.30e+00 7.64e-04 -4.7 -1.1 2.01e-01 2 1h 29 2.0890273e+00 7.33e-04 5.33e+00 6.95e-04 -4.7 -1.6 5.24e-02 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0882867e+00 7.27e-04 7.60e+00 6.00e-04 -4.7 -2.1 7.64e-03 2 1h 31 2.0872408e+00 7.22e-04 1.28e+01 3.45e-04 -4.7 -2.6 6.98e-03 2 1h 32 2.0864611e+00 6.66e-04 6.31e+00 4.39e-04 -4.7 -1.2 7.79e-02 1 1f 33 2.0856680e+00 5.11e-04 6.67e+00 3.75e-04 -4.6 -0.8 2.33e-01 1 1f 34 2.0838655e+00 3.61e-04 5.25e+00 2.90e-04 -4.6 -1.3 2.94e-01 2 1h 35 2.0834513e+00 2.60e-04 4.56e+00 9.13e-04 -4.7 -0.9 2.78e-01 1 1f 36 2.0824623e+00 1.73e-04 3.07e+00 6.44e-04 -4.5 -1.3 3.37e-01 2 1h 37 2.0820436e+00 4.41e-05 9.50e-01 6.03e-04 -4.6 -0.9 7.44e-01 1 1f 38 2.0814930e+00 1.71e-05 4.87e-01 1.75e-04 -4.5 -1.4 6.13e-01 2 1h 39 2.0812157e+00 2.26e-06 1.09e-03 5.45e-05 -4.6 -1.9 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0812330e+00 1.99e-08 5.23e-05 3.23e-05 -4.6 -2.4 1.00e+00 2 1h 41 2.0810563e+00 2.86e-07 5.87e-02 7.12e-06 -7.0 -2.8 9.71e-01 2 1h 42 2.0810235e+00 1.31e-07 1.78e-05 1.37e-06 -7.0 -3.3 1.00e+00 2 1h 43 2.0810192e+00 1.13e-09 1.12e-05 2.29e-07 -7.0 -3.8 1.00e+00 1 1h 44 2.0810103e+00 1.93e-11 1.12e-05 1.16e-07 -7.0 -4.3 1.00e+00 1 1h 45 2.0809840e+00 1.69e-10 1.11e-05 1.11e-07 -7.0 -4.7 1.00e+00 1 1h 46 2.0809212e+00 1.02e-09 1.05e-03 1.12e-07 -7.0 -5.2 8.18e-01 1 1h 47 2.0809234e+00 1.38e-12 3.30e-03 2.97e-05 -7.0 -5.7 1.00e+00 1 1H 48 2.0808348e+00 1.38e-07 6.65e-04 4.08e-06 -7.0 -6.2 1.00e+00 1 1h 49 2.0806670e+00 3.18e-08 1.14e-02 1.15e-07 -7.0 -6.6 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0806617e+00 2.91e-08 2.96e-02 1.31e-07 -7.0 -6.2 8.48e-02 1 1h Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0806616948197987e+00 2.0806616948197987e+00 Dual infeasibility......: 2.9558792303991777e-02 2.9558792303991777e-02 Constraint violation....: 2.9106771159970179e-08 2.9106771159970179e-08 Complementarity.........: 1.3054756803385787e-07 1.3054756803385787e-07 Overall NLP error.......: 2.9558792303991777e-02 2.9558792303991777e-02 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 = 84 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.056 s Total wall secs in NLP function evaluations = 21.377 s Total wall secs in solver (w/o init./fun./lin. alg.) = 10.987 s Total wall secs = 32.421 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 2.8331964e+00 3.51e+00 5.44e-01 9.52e-01 -1.0 - 0.00e+00 1 0 1 3.5494171e+00 2.30e+00 8.03e+00 2.61e+00 -0.2 -2.0 3.38e-01 1 1h 2 3.9369674e+00 3.01e+00 6.15e+02 3.84e+01 1.7 -2.5 2.01e-02 2 1h 3 4.1734977e+00 1.99e-02 3.59e+01 1.51e+01 -4.3 -3.0 1.00e+00 2 1h 4 4.1219324e+00 1.85e-01 1.45e+01 1.35e+01 0.4 -3.4 3.04e-01 2 1h 5 3.9861230e+00 2.66e-02 8.06e-01 7.97e-01 -5.6 -3.9 1.00e+00 2 1h 6 2.8435245e+00 3.55e-01 2.21e-01 3.03e-01 -0.9 -4.4 8.38e-01 2 1h 7 2.3537743e+00 6.78e-01 5.48e-02 4.77e-02 -6.9 -4.9 1.00e+00 2 1h 8 2.2244097e+00 3.27e-01 7.10e-02 2.58e-02 -1.8 -5.3 1.00e+00 2 1h 9 2.2346924e+00 2.06e-02 3.34e-02 1.76e-02 -1.8 -5.8 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.1117327e+00 1.48e-01 3.49e-03 3.08e-03 -2.7 -6.3 1.00e+00 2 1h 11 2.1061062e+00 1.87e-02 1.82e-02 2.29e-03 -2.7 -6.8 1.00e+00 2 1h 12 2.0857034e+00 1.31e-01 5.74e-03 6.51e-04 -4.0 -7.2 1.00e+00 2 1h 13 2.0827036e+00 2.29e-02 2.60e-02 1.98e-04 -4.0 -7.7 1.00e+00 2 1h 14 2.0819760e+00 3.25e-03 4.01e-02 1.14e-04 -4.0 -8.2 1.00e+00 1 1h 15 2.0818936e+00 5.80e-04 8.89e-03 1.04e-04 -4.0 -8.7 1.00e+00 1 1h 16 2.0818797e+00 4.07e-05 7.65e-04 1.03e-04 -4.0 -9.2 1.00e+00 1 1h 17 2.0805980e+00 5.39e-03 2.19e-04 2.38e-05 -6.0 -9.6 9.79e-01 2 1h 18 2.0805555e+00 8.84e-05 3.86e-05 3.74e-06 -6.0 -10.1 1.00e+00 2 1h 19 2.0805502e+00 7.50e-08 1.37e-06 1.15e-06 -6.0 -10.6 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0805365e+00 1.54e-06 1.47e-06 2.62e-08 -9.0 -11.1 9.96e-01 2 1h 21 2.0805365e+00 2.50e-10 1.29e-10 1.07e-09 -9.0 -11.5 1.00e+00 2 1h Number of Iterations....: 21 (scaled) (unscaled) Objective...............: 2.0805364615562238e+00 2.0805364615562238e+00 Dual infeasibility......: 1.2877746091710662e-10 1.2877746091710662e-10 Constraint violation....: 2.4988988656104993e-10 2.4988988656104993e-10 Complementarity.........: 1.0748520467780752e-09 1.0748520467780752e-09 Overall NLP error.......: 1.0748520467780752e-09 1.0748520467780752e-09 Number of objective function evaluations = 22 Number of objective gradient evaluations = 22 Number of constraint evaluations = 22 Number of constraint Jacobian evaluations = 22 Number of Lagrangian Hessian evaluations = 21 Number of KKT factorizations = 44 Number of KKT backsolves = 39 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.021 s Total wall secs in NLP function evaluations = 18.919 s Total wall secs in solver (w/o init./fun./lin. alg.) = 11.505 s Total wall secs = 30.446 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: 2.285s jacobian structure: 1600 nonzeros (2.331s) integrator 1 hessian structure: 0.035s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.147s 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 (3.184s) linear index maps built (0.0s) evaluator ready (total: 5.515s) evaluator created (5.536s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 5.549s) 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 2.2046895e+00 3.96e+00 4.85e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.7640803e+00 1.92e-01 2.93e+00 -0.9 2.53e+00 0.0 9.85e-01 9.52e-01h 1 Hello, world! 2 2.4840019e+00 8.63e-03 1.46e+00 -1.0 2.56e-01 0.4 8.78e-01 1.00e+00f 1 Hello, world! 3 2.3528197e+00 3.65e-03 6.11e-01 -1.8 6.34e-02 -0.1 9.88e-01 1.00e+00h 1 Hello, world! 4 2.1580147e+00 1.93e-03 2.14e-01 -2.5 8.23e-02 -0.5 9.98e-01 7.04e-01f 1 Hello, world! 5 2.0992332e+00 2.90e-04 5.75e-02 -3.7 3.21e-02 -1.0 1.00e+00 8.77e-01h 1 Hello, world! 6 2.0908378e+00 1.41e-05 1.24e-02 -4.0 1.10e-02 -1.5 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0908508e+00 3.00e-08 9.89e-05 -4.0 4.31e-03 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908503e+00 1.17e-09 2.37e-05 -4.0 6.48e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908491e+00 1.07e-10 1.83e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908453e+00 7.92e-10 1.80e-05 -4.0 4.43e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908345e+00 6.40e-09 1.73e-05 -4.0 1.28e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908067e+00 4.44e-08 8.05e-05 -4.0 3.53e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0907346e+00 3.21e-07 3.35e-04 -4.0 9.58e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0905282e+00 2.95e-06 4.44e-04 -4.0 2.92e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0907064e+00 5.88e-06 5.57e-03 -2.0 1.70e+04 -5.8 1.24e-04 1.36e-04f 2 Hello, world! 16 2.0903805e+00 1.48e-05 9.70e-04 -4.1 6.75e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0904578e+00 2.69e-05 2.22e-03 -4.0 1.27e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0900371e+00 7.08e-05 1.82e-03 -4.1 3.85e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0895412e+00 2.75e-04 9.68e-04 -4.0 1.17e+01 -5.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0892424e+00 7.29e-06 1.80e-03 -4.0 3.86e+00 -5.5 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0891285e+00 1.50e-06 4.16e-04 -4.0 1.58e+00 -5.0 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0889267e+00 3.18e-06 1.59e-02 -4.0 5.72e+00 -5.5 1.00e+00 3.65e-01h 2 Hello, world! 23 2.0877366e+00 7.09e-05 3.12e-03 -4.0 1.41e+01 -6.0 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0857680e+00 4.05e-04 3.23e-02 -4.0 3.39e+01 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0847015e+00 2.46e-04 3.29e-02 -4.0 1.64e+01 -6.0 1.00e+00 5.12e-01h 1 Hello, world! 26 2.0835142e+00 8.84e-05 1.66e-02 -4.0 2.27e+01 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0826518e+00 1.90e-05 5.57e-03 -4.0 3.04e+01 -7.0 1.00e+00 8.68e-01H 1 Hello, world! 28 2.0826345e+00 3.29e-04 1.27e-02 -4.0 7.54e+01 -7.5 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0821575e+00 1.17e-03 1.22e-02 -4.0 1.88e+02 -7.9 5.67e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0821644e+00 1.16e-03 1.21e-02 -4.0 5.36e+02 -8.4 1.58e-02 3.25e-02h 5 Hello, world! 31 2.0822768e+00 5.00e-04 6.00e-03 -4.0 4.32e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0821488e+00 4.97e-04 1.82e-01 -4.0 4.87e+00 -5.8 1.00e+00 5.96e-01h 1 Hello, world! 33 2.0822200e+00 5.52e-04 5.19e-03 -4.0 2.82e+00 -6.2 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0818859e+00 9.02e-04 4.24e-04 -4.1 9.58e+00 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0820444e+00 2.50e-04 2.09e-03 -4.0 1.19e+01 -7.2 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0819657e+00 5.72e-05 1.41e-03 -4.0 2.84e+01 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0818868e+00 1.00e-04 3.45e-03 -4.0 4.74e+01 -8.1 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0818511e+00 8.89e-05 2.17e-03 -4.0 5.00e+01 -8.6 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0818441e+00 1.65e-05 3.38e-04 -4.0 2.45e+01 -9.1 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 40 2.0818434e+00 4.70e-07 1.41e-05 -4.0 4.82e+00 -9.6 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0818434e+00 1.81e-09 7.71e-08 -4.0 3.49e-01 -10.1 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0818434e+00 9.40e-13 1.00e-09 -4.0 8.88e-03 -10.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 42 (scaled) (unscaled) Objective...............: 2.0818434105345096e+00 2.0818434105345096e+00 Dual infeasibility......: 1.0000000037020326e-09 1.0000000037020326e-09 Constraint violation....: 9.3969276804273250e-13 9.3969276804273250e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 1.0000000037020326e-09 1.0000000037020326e-09 Number of objective function evaluations = 55 Number of objective gradient evaluations = 43 Number of equality constraint evaluations = 55 Number of inequality constraint evaluations = 55 Number of equality constraint Jacobian evaluations = 43 Number of inequality constraint Jacobian evaluations = 43 Number of Lagrangian Hessian evaluations = 42 Total seconds in IPOPT = 28.036 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) evaluator created (0.002s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.003s) Hello, world! Hello, world! Hello, world! Hello, world! Hello, world! Hello, world! 5 2.0992332e+00 2.90e-04 5.75e-02 -3.7 3.21e-02 -1.0 1.00e+00 8.77e-01h 1 Hello, world! 6 2.0908378e+00 1.41e-05 1.24e-02 -4.0 1.10e-02 -1.5 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0908508e+00 3.00e-08 9.89e-05 -4.0 4.31e-03 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908503e+00 1.17e-09 2.37e-05 -4.0 6.48e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908491e+00 1.07e-10 1.83e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908453e+00 7.92e-10 1.80e-05 -4.0 4.43e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908345e+00 6.40e-09 1.73e-05 -4.0 1.28e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908067e+00 4.44e-08 8.05e-05 -4.0 3.53e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0907346e+00 3.21e-07 3.35e-04 -4.0 9.58e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0905282e+00 2.95e-06 4.44e-04 -4.0 2.92e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0907064e+00 5.88e-06 5.57e-03 -2.0 1.70e+04 -5.8 1.24e-04 1.36e-04f 2 Hello, world! 16 2.0903805e+00 1.48e-05 9.70e-04 -4.1 6.75e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0904578e+00 2.69e-05 2.22e-03 -4.0 1.27e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0900371e+00 7.08e-05 1.82e-03 -4.1 3.85e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0895412e+00 2.75e-04 9.68e-04 -4.0 1.17e+01 -5.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0892424e+00 7.29e-06 1.80e-03 -4.0 3.86e+00 -5.5 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0891285e+00 1.50e-06 4.16e-04 -4.0 1.58e+00 -5.0 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0889267e+00 3.18e-06 1.59e-02 -4.0 5.72e+00 -5.5 1.00e+00 3.65e-01h 2 Hello, world! 23 2.0877366e+00 7.09e-05 3.12e-03 -4.0 1.41e+01 -6.0 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0857680e+00 4.05e-04 3.23e-02 -4.0 3.39e+01 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0847015e+00 2.46e-04 3.29e-02 -4.0 1.64e+01 -6.0 1.00e+00 5.12e-01h 1 Hello, world! 26 2.0835142e+00 8.84e-05 1.66e-02 -4.0 2.27e+01 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0826518e+00 1.90e-05 5.57e-03 -4.0 3.04e+01 -7.0 1.00e+00 8.68e-01H 1 Hello, world! 28 2.0826345e+00 3.29e-04 1.27e-02 -4.0 7.54e+01 -7.5 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0821575e+00 1.17e-03 1.22e-02 -4.0 1.88e+02 -7.9 5.67e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0821644e+00 1.16e-03 1.21e-02 -4.0 5.36e+02 -8.4 1.58e-02 3.25e-02h 5 Hello, world! 31 2.0822768e+00 5.00e-04 6.00e-03 -4.0 4.32e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0821488e+00 4.97e-04 1.82e-01 -4.0 4.87e+00 -5.8 1.00e+00 5.96e-01h 1 Hello, world! 33 2.0822200e+00 5.52e-04 5.19e-03 -4.0 2.82e+00 -6.2 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0818859e+00 9.02e-04 4.24e-04 -4.1 9.58e+00 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0820444e+00 2.50e-04 2.09e-03 -4.0 1.19e+01 -7.2 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0819657e+00 5.72e-05 1.41e-03 -4.0 2.84e+01 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0818868e+00 1.00e-04 3.45e-03 -4.0 4.74e+01 -8.1 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0818511e+00 8.89e-05 2.17e-03 -4.0 5.00e+01 -8.6 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0818441e+00 1.65e-05 3.38e-04 -4.0 2.45e+01 -9.1 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 40 2.0818434e+00 4.70e-07 1.41e-05 -4.0 4.82e+00 -9.6 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0818434e+00 1.81e-09 7.71e-08 -4.0 3.49e-01 -10.1 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0818434e+00 9.40e-13 1.00e-09 -4.0 8.88e-03 -10.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 42 (scaled) (unscaled) Objective...............: 2.0818434105345096e+00 2.0818434105345096e+00 Dual infeasibility......: 1.0000000037020326e-09 1.0000000037020326e-09 Constraint violation....: 9.3969276804273250e-13 9.3969276804273250e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 1.0000000037020326e-09 1.0000000037020326e-09 Number of objective function evaluations = 55 Number of objective gradient evaluations = 43 Number of equality constraint evaluations = 55 Number of inequality constraint evaluations = 55 Number of equality constraint Jacobian evaluations = 43 Number of inequality constraint Jacobian evaluations = 43 Number of Lagrangian Hessian evaluations = 42 Total seconds in IPOPT = 7.961 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.079s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.966s jacobian structure: 1600 nonzeros (3.045s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.732s 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 (3.785s) linear index maps built (0.0s) evaluator ready (total: 6.831s) evaluator created (6.853s) 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: 6.855s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.9395224e+00 3.49e+00 5.73e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5535466e+00 1.29e-01 2.36e+00 -1.0 2.32e+00 0.0 9.90e-01 9.84e-01h 1 2 2.4296134e+00 9.58e-02 3.18e+00 -0.6 1.61e+00 -0.5 1.00e+00 3.21e-01f 1 3 2.8520657e+00 6.60e-02 4.45e+00 -1.2 1.07e+00 -1.0 5.49e-01 1.00e+00f 1 4 2.6001149e+00 2.52e-02 3.13e+00 -1.0 4.01e-01 -0.5 9.93e-01 4.60e-01h 1 5 2.3750070e+00 5.94e-03 4.57e-01 -1.6 1.83e-01 -1.0 9.94e-01 1.00e+00f 1 6 2.1456328e+00 2.38e-03 2.27e-02 -2.5 9.11e-02 -1.5 9.86e-01 1.00e+00h 1 7 2.0920751e+00 3.38e-04 9.29e-03 -4.0 4.05e-02 -2.0 9.91e-01 9.85e-01h 1 8 2.0909067e+00 6.18e-06 2.16e-03 -4.0 2.00e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908933e+00 1.28e-08 4.56e-05 -4.0 3.64e-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 2.0908876e+00 7.17e-10 1.72e-05 -4.0 4.24e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908761e+00 5.69e-09 1.68e-05 -4.0 1.24e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908463e+00 4.17e-08 5.39e-05 -4.0 3.47e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907709e+00 2.79e-07 2.16e-04 -4.0 9.58e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905384e+00 2.62e-06 4.46e-04 -4.0 2.84e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0904530e+00 4.51e-07 2.96e-04 -4.0 1.15e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0902845e+00 1.29e-06 9.16e-03 -4.0 4.24e+00 -5.4 1.00e+00 3.90e-01h 2 17 2.0893050e+00 4.04e-05 2.40e-03 -4.0 1.08e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0874966e+00 2.96e-04 2.88e-02 -4.0 2.90e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0863872e+00 2.11e-04 5.30e-02 -4.0 1.81e+01 -5.9 1.00e+00 4.17e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0849173e+00 1.98e-04 1.89e-02 -4.0 2.44e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0830021e+00 2.21e-04 2.42e-02 -4.0 3.68e+01 -6.8 1.00e+00 8.51e-01h 1 22 2.0826518e+00 4.17e-04 1.18e-02 -4.0 5.89e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0822807e+00 5.76e-04 1.01e-02 -4.0 1.33e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.0824340e+00 1.60e-03 5.97e-02 -4.0 1.10e+02 -7.4 6.24e-01 1.00e+00h 1 25 2.0821782e+00 1.74e-05 4.00e-04 -4.1 7.52e-01 -5.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0821781919592790e+00 2.0821781919592790e+00 Dual infeasibility......: 3.9950324776530410e-04 3.9950324776530410e-04 Constraint violation....: 1.7387534023777240e-05 1.7387534023777240e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 7.9869157267278970e-05 7.9869157267278970e-05 Overall NLP error.......: 3.9950324776530410e-04 3.9950324776530410e-04 Number of objective function evaluations = 29 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 29 Number of inequality constraint evaluations = 29 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 25.599 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: 0.0s 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: 0.001s) evaluator created (0.001s) 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 3.9395224e+00 3.49e+00 5.73e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5535466e+00 1.29e-01 2.36e+00 -1.0 2.32e+00 0.0 9.90e-01 9.84e-01h 1 2 2.4296134e+00 9.58e-02 3.18e+00 -0.6 1.61e+00 -0.5 1.00e+00 3.21e-01f 1 3 2.8520657e+00 6.60e-02 4.45e+00 -1.2 1.07e+00 -1.0 5.49e-01 1.00e+00f 1 4 2.6001149e+00 2.52e-02 3.13e+00 -1.0 4.01e-01 -0.5 9.93e-01 4.60e-01h 1 5 2.3750070e+00 5.94e-03 4.57e-01 -1.6 1.83e-01 -1.0 9.94e-01 1.00e+00f 1 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: 0.84s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.9395224e+00 3.49e+00 5.73e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5535466e+00 1.29e-01 2.36e+00 -1.0 2.32e+00 0.0 9.90e-01 9.84e-01h 1 2 2.4296134e+00 9.58e-02 3.18e+00 -0.6 1.61e+00 -0.5 1.00e+00 3.21e-01f 1 3 2.8520657e+00 6.60e-02 4.45e+00 -1.2 1.07e+00 -1.0 5.49e-01 1.00e+00f 1 4 2.6001149e+00 2.52e-02 3.13e+00 -1.0 4.01e-01 -0.5 9.93e-01 4.60e-01h 1 5 2.3750070e+00 5.94e-03 4.57e-01 -1.6 1.83e-01 -1.0 9.94e-01 1.00e+00f 1 6 2.1456328e+00 2.38e-03 2.27e-02 -2.5 9.11e-02 -1.5 9.86e-01 1.00e+00h 1 7 2.0920751e+00 3.38e-04 9.29e-03 -4.0 4.05e-02 -2.0 9.91e-01 9.85e-01h 1 8 2.0909067e+00 6.18e-06 2.16e-03 -4.0 2.00e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908933e+00 1.28e-08 4.56e-05 -4.0 3.64e-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 2.0908876e+00 7.17e-10 1.72e-05 -4.0 4.24e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908761e+00 5.69e-09 1.68e-05 -4.0 1.24e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908463e+00 4.17e-08 5.39e-05 -4.0 3.47e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907709e+00 2.79e-07 2.16e-04 -4.0 9.58e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905384e+00 2.62e-06 4.46e-04 -4.0 2.84e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0904530e+00 4.51e-07 2.96e-04 -4.0 1.15e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0902845e+00 1.29e-06 9.16e-03 -4.0 4.24e+00 -5.4 1.00e+00 3.90e-01h 2 17 2.0893050e+00 4.04e-05 2.40e-03 -4.0 1.08e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0874966e+00 2.96e-04 2.88e-02 -4.0 2.90e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0863872e+00 2.11e-04 5.30e-02 -4.0 1.81e+01 -5.9 1.00e+00 4.17e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0849173e+00 1.98e-04 1.89e-02 -4.0 2.44e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0830021e+00 2.21e-04 2.42e-02 -4.0 3.68e+01 -6.8 1.00e+00 8.51e-01h 1 22 2.0826518e+00 4.17e-04 1.18e-02 -4.0 5.89e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0822807e+00 5.76e-04 1.01e-02 -4.0 1.33e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.0824340e+00 1.60e-03 5.97e-02 -4.0 1.10e+02 -7.4 6.24e-01 1.00e+00h 1 25 2.0821782e+00 1.74e-05 4.00e-04 -4.1 7.52e-01 -5.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0821781919592790e+00 2.0821781919592790e+00 Dual infeasibility......: 3.9950324776530410e-04 3.9950324776530410e-04 Constraint violation....: 1.7387534023777240e-05 1.7387534023777240e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 7.9869157267278970e-05 7.9869157267278970e-05 Overall NLP error.......: 3.9950324776530410e-04 3.9950324776530410e-04 Number of objective function evaluations = 29 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 29 Number of inequality constraint evaluations = 29 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 0.332 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: 0.054s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.333s jacobian structure: 1600 nonzeros (2.389s) integrator 1 hessian structure: 0.046s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.793s 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 (3.841s) linear index maps built (0.0s) evaluator ready (total: 6.231s) evaluator created (6.253s) 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: 6.255s) 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 2.3618663e+00 3.25e+00 4.33e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.2287406e+00 2.93e-01 2.01e+00 -0.8 1.93e+00 0.0 9.63e-01 9.10e-01f 1 Hello, world! 2 2.4198749e+00 3.52e-02 7.01e-01 -1.2 4.96e-01 -0.5 9.14e-01 9.09e-01h 1 Hello, world! 3 2.2942271e+00 3.15e-03 1.56e-01 -1.9 9.19e-02 -1.0 9.81e-01 1.00e+00h 1 Hello, world! 4 2.1189403e+00 1.94e-03 3.04e-02 -2.9 6.78e-02 -1.4 9.95e-01 8.71e-01h 1 Hello, world! 5 2.0915866e+00 9.17e-05 7.08e-03 -4.0 2.31e-02 -1.9 9.98e-01 9.78e-01h 1 Hello, world! 6 2.0909719e+00 6.78e-07 4.55e-04 -4.0 6.78e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0909699e+00 3.74e-09 2.35e-05 -4.0 1.71e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0909635e+00 1.31e-09 2.31e-05 -4.0 5.06e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909460e+00 1.07e-08 2.22e-05 -4.0 1.46e-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 2.0909042e+00 6.98e-08 1.89e-04 -4.0 3.86e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908308e+00 2.56e-07 1.36e-03 -4.0 8.87e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0906493e+00 2.45e-06 1.27e-03 -4.0 2.68e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0901113e+00 2.15e-05 7.88e-04 -4.0 7.89e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0898683e+00 3.66e-06 1.57e-03 -4.0 3.05e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0897184e+00 4.21e-06 6.97e-02 -4.0 1.92e+01 -5.8 9.91e-01 7.64e-02h 2 Hello, world! 16 2.0879329e+00 2.05e-04 9.02e-03 -4.0 2.36e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0876687e+00 2.10e-04 8.84e-01 -3.4 1.35e+03 -6.7 4.78e-01 5.20e-03h 2 Hello, world! 18 2.0892308e+00 4.11e-02 6.84e-01 -3.5 4.44e+02 -7.2 1.00e+00 5.26e-02h 4 Hello, world! 19 2.0872638e+00 8.99e-02 1.12e-01 -3.6 1.46e+02 -7.7 1.00e+00 2.11e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0861271e+00 3.99e-03 1.35e-02 -3.6 1.81e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0832527e+00 4.28e-03 1.34e-02 -4.0 2.85e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0824520e+00 4.23e-04 1.13e-02 -4.0 5.75e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0822458e+00 2.80e-04 9.77e-03 -4.0 1.37e+02 -7.8 7.95e-01 1.00e+00h 1 Hello, world! 24 2.0830428e+00 5.08e-06 2.71e-02 -4.0 3.58e+01 -6.5 1.00e+00 1.00e+00H 1 Hello, world! 25 2.0844817e+00 1.63e-03 6.38e-01 -3.4 6.33e+00 -5.1 7.09e-01 1.00e+00f 1 Hello, world! 26 2.0842520e+00 1.02e-03 1.27e+00 -3.6 2.58e+00 -4.7 6.83e-01 3.84e-01h 1 Hello, world! 27 2.0842659e+00 2.61e-03 6.40e-01 -3.6 1.27e+01 -5.2 7.98e-01 4.68e-01f 2 Hello, world! 28 2.0836030e+00 1.39e-03 1.00e+00 -3.6 9.40e-01 -2.0 8.16e-01 4.68e-01h 1 Hello, world! 29 2.0830744e+00 8.85e-04 3.98e-01 -3.6 6.10e-01 -2.5 1.00e+00 3.63e-01f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0835976e+00 2.14e-05 5.47e-02 -3.6 2.33e-01 -3.0 8.94e-01 1.00e+00f 1 Hello, world! 31 2.0831705e+00 1.13e-05 5.25e-03 -3.6 1.86e-01 -1.7 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0831046e+00 9.35e-07 5.61e-04 -3.6 4.99e-02 -2.1 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0825786e+00 2.11e-06 2.13e-03 -4.0 3.10e-02 -2.6 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0823229e+00 5.66e-07 1.75e-04 -4.0 3.71e-02 -3.1 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0823427e+00 4.63e-08 4.68e-06 -4.0 1.77e-02 -3.6 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0823422e+00 4.89e-08 4.54e-06 -4.0 5.17e-02 -4.1 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0823403e+00 3.06e-07 4.56e-06 -4.0 1.44e-01 -4.5 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0823341e+00 1.35e-06 2.15e-05 -4.0 3.78e-01 -5.0 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0823158e+00 3.71e-06 6.57e-05 -4.0 9.50e-01 -5.5 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 40 2.0822748e+00 9.55e-06 1.88e-04 -4.0 2.28e+00 -6.0 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0822171e+00 2.27e-05 4.97e-04 -4.0 4.84e+00 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0821565e+00 2.84e-05 8.16e-04 -4.0 1.05e+01 -6.9 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0820648e+00 3.64e-05 1.62e-03 -4.0 2.34e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 44 2.0819469e+00 9.31e-05 3.89e-03 -4.0 4.09e+01 -7.9 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0818691e+00 1.47e-04 4.25e-03 -4.0 5.66e+01 -8.4 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0818467e+00 6.54e-05 1.40e-03 -4.0 4.43e+01 -8.8 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0818436e+00 5.38e-06 1.33e-04 -4.0 1.51e+01 -9.3 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0818434e+00 6.56e-08 2.40e-06 -4.0 1.96e+00 -9.8 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0818434e+00 1.09e-10 5.48e-09 -4.0 9.19e-02 -10.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 49 (scaled) (unscaled) Objective...............: 2.0818434106237000e+00 2.0818434106237000e+00 Dual infeasibility......: 5.4805503132710626e-09 5.4805503132710626e-09 Constraint violation....: 1.0910738978964218e-10 1.0910738978964218e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000000e-04 1.0000000000000000e-04 Overall NLP error.......: 5.4805503132710626e-09 5.4805503132710626e-09 Number of objective function evaluations = 64 Number of objective gradient evaluations = 50 Number of equality constraint evaluations = 64 Number of inequality constraint evaluations = 64 Number of equality constraint Jacobian evaluations = 50 Number of inequality constraint Jacobian evaluations = 50 Number of Lagrangian Hessian evaluations = 49 Total seconds in IPOPT = 31.438 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: 27.731s) evaluator created (27.731s) 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: 27.731s) 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 2.3618663e+00 3.25e+00 4.33e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.2287406e+00 2.93e-01 2.01e+00 -0.8 1.93e+00 0.0 9.63e-01 9.10e-01f 1 Hello, world! 2 2.4198749e+00 3.52e-02 7.01e-01 -1.2 4.96e-01 -0.5 9.14e-01 9.09e-01h 1 Hello, world! 3 2.2942271e+00 3.15e-03 1.56e-01 -1.9 9.19e-02 -1.0 9.81e-01 1.00e+00h 1 Hello, world! 4 2.1189403e+00 1.94e-03 3.04e-02 -2.9 6.78e-02 -1.4 9.95e-01 8.71e-01h 1 Hello, world! 5 2.0915866e+00 9.17e-05 7.08e-03 -4.0 2.31e-02 -1.9 9.98e-01 9.78e-01h 1 Hello, world! 6 2.0909719e+00 6.78e-07 4.55e-04 -4.0 6.78e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0909699e+00 3.74e-09 2.35e-05 -4.0 1.71e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0909635e+00 1.31e-09 2.31e-05 -4.0 5.06e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909460e+00 1.07e-08 2.22e-05 -4.0 1.46e-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 2.0909042e+00 6.98e-08 1.89e-04 -4.0 3.86e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908308e+00 2.56e-07 1.36e-03 -4.0 8.87e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0906493e+00 2.45e-06 1.27e-03 -4.0 2.68e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0901113e+00 2.15e-05 7.88e-04 -4.0 7.89e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0898683e+00 3.66e-06 1.57e-03 -4.0 3.05e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0897184e+00 4.21e-06 6.97e-02 -4.0 1.92e+01 -5.8 9.91e-01 7.64e-02h 2 Hello, world! 16 2.0879329e+00 2.05e-04 9.02e-03 -4.0 2.36e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0876687e+00 2.10e-04 8.84e-01 -3.4 1.35e+03 -6.7 4.78e-01 5.20e-03h 2 Hello, world! 18 2.0892308e+00 4.11e-02 6.84e-01 -3.5 4.44e+02 -7.2 1.00e+00 5.26e-02h 4 Hello, world! 19 2.0872638e+00 8.99e-02 1.12e-01 -3.6 1.46e+02 -7.7 1.00e+00 2.11e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0861271e+00 3.99e-03 1.35e-02 -3.6 1.81e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0832527e+00 4.28e-03 1.34e-02 -4.0 2.85e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0824520e+00 4.23e-04 1.13e-02 -4.0 5.75e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0822458e+00 2.80e-04 9.77e-03 -4.0 1.37e+02 -7.8 7.95e-01 1.00e+00h 1 Hello, world! 24 2.0830428e+00 5.08e-06 2.71e-02 -4.0 3.58e+01 -6.5 1.00e+00 1.00e+00H 1 Hello, world! 25 2.0844817e+00 1.63e-03 6.38e-01 -3.4 6.33e+00 -5.1 7.09e-01 1.00e+00f 1 Hello, world! 26 2.0842520e+00 1.02e-03 1.27e+00 -3.6 2.58e+00 -4.7 6.83e-01 3.84e-01h 1 Hello, world! 27 2.0842659e+00 2.61e-03 6.40e-01 -3.6 1.27e+01 -5.2 7.98e-01 4.68e-01f 2 Hello, world! 28 2.0836030e+00 1.39e-03 1.00e+00 -3.6 9.40e-01 -2.0 8.16e-01 4.68e-01h 1 Hello, world! 29 2.0830744e+00 8.85e-04 3.98e-01 -3.6 6.10e-01 -2.5 1.00e+00 3.63e-01f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0835976e+00 2.14e-05 5.47e-02 -3.6 2.33e-01 -3.0 8.94e-01 1.00e+00f 1 Hello, world! 31 2.0831705e+00 1.13e-05 5.25e-03 -3.6 1.86e-01 -1.7 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0831046e+00 9.35e-07 5.61e-04 -3.6 4.99e-02 -2.1 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0825786e+00 2.11e-06 2.13e-03 -4.0 3.10e-02 -2.6 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0823229e+00 5.66e-07 1.75e-04 -4.0 3.71e-02 -3.1 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0823427e+00 4.63e-08 4.68e-06 -4.0 1.77e-02 -3.6 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0823422e+00 4.89e-08 4.54e-06 -4.0 5.17e-02 -4.1 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0823403e+00 3.06e-07 4.56e-06 -4.0 1.44e-01 -4.5 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0823341e+00 1.35e-06 2.15e-05 -4.0 3.78e-01 -5.0 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0823158e+00 3.71e-06 6.57e-05 -4.0 9.50e-01 -5.5 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 40 2.0822748e+00 9.55e-06 1.88e-04 -4.0 2.28e+00 -6.0 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0822171e+00 2.27e-05 4.97e-04 -4.0 4.84e+00 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0821565e+00 2.84e-05 8.16e-04 -4.0 1.05e+01 -6.9 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0820648e+00 3.64e-05 1.62e-03 -4.0 2.34e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 44 2.0819469e+00 9.31e-05 3.89e-03 -4.0 4.09e+01 -7.9 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0818691e+00 1.47e-04 4.25e-03 -4.0 5.66e+01 -8.4 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0818467e+00 6.54e-05 1.40e-03 -4.0 4.43e+01 -8.8 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0818436e+00 5.38e-06 1.33e-04 -4.0 1.51e+01 -9.3 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0818434e+00 6.56e-08 2.40e-06 -4.0 1.96e+00 -9.8 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0818434e+00 1.09e-10 5.48e-09 -4.0 9.19e-02 -10.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 49 (scaled) (unscaled) Objective...............: 2.0818434106237000e+00 2.0818434106237000e+00 Dual infeasibility......: 5.4805503132710626e-09 5.4805503132710626e-09 Constraint violation....: 1.0910738978964218e-10 1.0910738978964218e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000000e-04 1.0000000000000000e-04 Overall NLP error.......: 5.4805503132710626e-09 5.4805503132710626e-09 Number of objective function evaluations = 64 Number of objective gradient evaluations = 50 Number of equality constraint evaluations = 64 Number of inequality constraint evaluations = 64 Number of equality constraint Jacobian evaluations = 50 Number of inequality constraint Jacobian evaluations = 50 Number of Lagrangian Hessian evaluations = 49 Total seconds in IPOPT = 0.708 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: 2.77s jacobian structure: 1600 nonzeros (2.835s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.858s 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 (3.91s) linear index maps built (0.0s) evaluator ready (total: 6.745s) evaluator created (6.769s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 6.77s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.2238961e+00 2.55e+00 4.21e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.0692508e+00 1.05e+00 3.38e+00 -0.7 2.15e+00 0.0 9.78e-01 5.87e-01f 1 2 2.7249281e+00 3.75e-02 3.81e+00 -0.9 1.13e+00 -0.5 6.48e-01 1.00e+00f 1 3 2.4795465e+00 2.97e-02 3.65e-01 -1.4 3.53e-01 -1.0 9.98e-01 1.00e+00h 1 4 2.2250986e+00 8.41e-03 1.34e-01 -2.3 2.62e-01 -1.4 9.82e-01 7.69e-01h 1 5 2.0979791e+00 7.72e-04 6.36e-03 -3.5 5.49e-02 -1.9 1.00e+00 9.64e-01h 1 6 2.0908863e+00 1.35e-05 1.84e-03 -4.0 9.54e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0908943e+00 9.14e-08 1.59e-05 -4.0 1.16e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908916e+00 6.84e-10 1.58e-05 -4.0 3.47e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908839e+00 3.16e-09 1.56e-05 -4.0 1.03e-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 2.0908615e+00 2.62e-08 2.89e-05 -4.0 2.98e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907971e+00 2.25e-07 1.28e-04 -4.0 8.50e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0906012e+00 2.13e-06 3.04e-04 -4.0 2.49e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0905233e+00 3.37e-07 2.53e-04 -4.0 1.00e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0901635e+00 9.56e-10 1.38e-03 -4.0 3.52e+00 -5.3 1.00e+00 1.00e+00H 1 15 2.0896381e+00 4.05e-05 1.03e-02 -4.0 1.05e+01 -5.8 1.00e+00 1.00e+00f 1 16 2.0889080e+00 4.26e-05 9.42e-02 -4.0 1.82e+01 -5.4 1.00e+00 2.45e-01h 1 17 2.0880751e+00 4.21e-05 1.32e-02 -4.0 1.10e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0866336e+00 1.10e-04 3.35e-02 -4.0 2.75e+01 -6.3 1.00e+00 6.28e-01h 1 19 2.0838106e+00 8.16e-04 4.08e-02 -4.0 4.97e+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 2.0827558e+00 2.86e-04 8.47e-03 -4.0 5.48e+01 -7.3 1.00e+00 6.08e-01h 1 21 2.0825190e+00 8.43e-04 2.70e-02 -4.0 1.33e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0982429e+00 2.06e-04 4.70e-01 -4.0 2.51e+02 -7.3 1.16e-01 1.00e+00H 1 23 2.0845670e+00 2.63e-03 5.40e+00 -4.1 6.23e+00 -4.2 4.12e-02 3.12e-01f 1 24 2.0833951e+00 2.78e-03 5.38e+00 -4.1 2.37e+02 -3.7 2.40e-05 2.84e-03f 1 25 2.0835999e+00 2.81e-03 5.41e+00 -4.1 7.12e+02 -4.2 4.63e-07 2.18e-04f 2 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0835999336185158e+00 2.0835999336185158e+00 Dual infeasibility......: 5.4119177994726018e+00 5.4119177994726018e+00 Constraint violation....: 2.8071086032923631e-03 2.8071086032923631e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.5078518936038794e-04 2.5078518936038794e-04 Overall NLP error.......: 5.4119177994726018e+00 5.4119177994726018e+00 Number of objective function evaluations = 30 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 30 Number of inequality constraint evaluations = 30 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 31.015 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.002s) linear index maps built (0.0s) evaluator ready (total: 0.004s) evaluator created (0.004s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.004s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.2238961e+00 2.55e+00 4.21e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.0692508e+00 1.05e+00 3.38e+00 -0.7 2.15e+00 0.0 9.78e-01 5.87e-01f 1 2 2.7249281e+00 3.75e-02 3.81e+00 -0.9 1.13e+00 -0.5 6.48e-01 1.00e+00f 1 3 2.4795465e+00 2.97e-02 3.65e-01 -1.4 3.53e-01 -1.0 9.98e-01 1.00e+00h 1 4 2.2250986e+00 8.41e-03 1.34e-01 -2.3 2.62e-01 -1.4 9.82e-01 7.69e-01h 1 5 2.0979791e+00 7.72e-04 6.36e-03 -3.5 5.49e-02 -1.9 1.00e+00 9.64e-01h 1 6 2.0908863e+00 1.35e-05 1.84e-03 -4.0 9.54e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0908943e+00 9.14e-08 1.59e-05 -4.0 1.16e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908916e+00 6.84e-10 1.58e-05 -4.0 3.47e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908839e+00 3.16e-09 1.56e-05 -4.0 1.03e-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 2.0908615e+00 2.62e-08 2.89e-05 -4.0 2.98e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907971e+00 2.25e-07 1.28e-04 -4.0 8.50e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0906012e+00 2.13e-06 3.04e-04 -4.0 2.49e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0905233e+00 3.37e-07 2.53e-04 -4.0 1.00e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0901635e+00 9.56e-10 1.38e-03 -4.0 3.52e+00 -5.3 1.00e+00 1.00e+00H 1 15 2.0896381e+00 4.05e-05 1.03e-02 -4.0 1.05e+01 -5.8 1.00e+00 1.00e+00f 1 16 2.0889080e+00 4.26e-05 9.42e-02 -4.0 1.82e+01 -5.4 1.00e+00 2.45e-01h 1 17 2.0880751e+00 4.21e-05 1.32e-02 -4.0 1.10e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0866336e+00 1.10e-04 3.35e-02 -4.0 2.75e+01 -6.3 1.00e+00 6.28e-01h 1 19 2.0838106e+00 8.16e-04 4.08e-02 -4.0 4.97e+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 2.0827558e+00 2.86e-04 8.47e-03 -4.0 5.48e+01 -7.3 1.00e+00 6.08e-01h 1 21 2.0825190e+00 8.43e-04 2.70e-02 -4.0 1.33e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0982429e+00 2.06e-04 4.70e-01 -4.0 2.51e+02 -7.3 1.16e-01 1.00e+00H 1 23 2.0845670e+00 2.63e-03 5.40e+00 -4.1 6.23e+00 -4.2 4.12e-02 3.12e-01f 1 24 2.0833951e+00 2.78e-03 5.38e+00 -4.1 2.37e+02 -3.7 2.40e-05 2.84e-03f 1 25 2.0835999e+00 2.81e-03 5.41e+00 -4.1 7.12e+02 -4.2 4.63e-07 2.18e-04f 2 26 2.0833366e+00 2.51e-03 5.06e+00 -4.1 1.50e+00 -2.9 1.00e+00 1.06e-01h 1 27 2.0834560e+00 2.03e-04 4.64e-01 -4.1 9.07e-02 -3.4 1.00e+00 9.19e-01f 1 28 2.0835617e+00 5.76e-06 2.62e-04 -4.0 9.81e-02 -3.9 1.00e+00 1.00e+00f 1 29 2.0835468e+00 1.08e-07 9.21e-06 -4.0 1.96e-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 2.0835076e+00 1.75e-07 1.47e-05 -4.0 5.79e-01 -4.8 1.00e+00 1.00e+00h 1 31 2.0833999e+00 1.36e-06 1.14e-04 -4.0 1.65e+00 -5.3 1.00e+00 1.00e+00h 1 32 2.0831535e+00 8.31e-06 7.22e-04 -4.0 4.28e+00 -5.8 1.00e+00 1.00e+00h 1 33 2.0828302e+00 3.16e-05 2.25e-03 -4.0 9.67e+00 -6.2 1.00e+00 1.00e+00h 1 34 2.0825553e+00 3.25e-05 2.95e-03 -4.0 2.35e+01 -6.7 1.00e+00 1.00e+00h 1 35 2.0821338e+00 2.30e-04 6.20e-03 -4.0 5.23e+01 -7.2 1.00e+00 1.00e+00h 1 36 2.0819277e+00 9.95e-04 1.19e-02 -4.0 4.16e+01 -6.8 1.00e+00 1.00e+00h 1 37 2.0820293e+00 6.75e-04 1.11e-01 -4.0 2.36e+01 -7.2 7.54e-01 1.00e+00h 1 38 2.0819158e+00 6.06e-04 1.87e+00 -4.0 6.80e+00 -5.0 1.00e+00 3.40e-01H 1 39 2.0818042e+00 2.26e-05 1.68e-03 -4.0 7.50e-01 -5.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0819437e+00 1.30e-04 3.73e-05 -4.0 2.12e+00 -6.0 1.00e+00 1.00e+00h 1 41 2.0817834e+00 3.55e-05 7.13e-04 -4.1 1.95e+00 -6.4 1.00e+00 1.00e+00h 1 42 2.0819856e+00 1.43e-04 1.96e-04 -4.0 6.53e+00 -6.9 1.00e+00 1.00e+00h 1 43 2.0817184e+00 3.27e-04 7.24e-04 -4.1 1.59e+01 -7.4 1.00e+00 1.00e+00h 1 44 2.0819008e+00 7.48e-04 1.80e-03 -4.0 3.23e+01 -7.9 1.00e+00 1.00e+00h 1 45 2.0816026e+00 1.01e-03 1.79e-03 -4.1 4.59e+01 -8.4 1.00e+00 1.00e+00h 1 46 2.0818464e+00 8.60e-04 7.51e-04 -4.0 3.66e+01 -8.8 1.00e+00 1.00e+00h 1 47 2.0815839e+00 3.46e-04 9.26e-05 -4.1 1.52e+01 -9.3 1.00e+00 1.00e+00h 1 48 2.0818444e+00 1.88e-04 2.81e-05 -4.0 8.58e+00 -9.8 1.00e+00 1.00e+00h 1 49 2.0815837e+00 2.13e-04 1.30e-05 -4.1 9.73e+00 -10.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818445e+00 2.15e-04 1.09e-05 -4.0 9.81e+00 -10.7 1.00e+00 1.00e+00h 1 51 2.0815837e+00 2.16e-04 9.81e-06 -4.1 9.85e+00 -11.2 1.00e+00 1.00e+00h 1 52 2.0818446e+00 2.16e-04 9.66e-06 -4.0 9.87e+00 -11.7 1.00e+00 1.00e+00h 1 53 2.0815837e+00 2.16e-04 9.38e-06 -4.1 9.87e+00 -12.2 1.00e+00 1.00e+00h 1 54 2.0818446e+00 2.16e-04 9.52e-06 -4.0 9.87e+00 -12.6 1.00e+00 1.00e+00h 1 55 2.0815837e+00 2.16e-04 9.33e-06 -4.1 9.87e+00 -13.1 1.00e+00 1.00e+00h 1 56 2.0805951e+00 3.33e-03 1.59e-04 -6.1 4.09e+01 -13.6 9.77e-01 9.64e-01h 1 57 2.0818908e+00 6.61e-03 2.98e-04 -4.0 6.18e+01 -14.1 1.00e+00 1.00e+00f 1 58 2.0816145e+00 4.96e-04 1.06e-05 -4.1 2.08e+01 -14.6 1.00e+00 1.00e+00h 1 59 2.0806042e+00 3.49e-03 2.32e-04 -6.1 4.24e+01 -15.0 9.76e-01 9.58e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0805507e+00 9.69e-05 2.24e-06 -6.1 1.71e+01 -15.5 1.00e+00 1.00e+00h 1 61 2.0819819e+00 1.02e-02 3.99e-04 -4.0 8.54e+01 -16.0 1.00e+00 1.00e+00f 1 62 2.0816805e+00 9.65e-04 4.96e-05 -4.1 4.57e+01 -16.5 1.00e+00 1.00e+00h 1 63 2.0816444e+00 4.73e-07 7.69e-07 -4.1 8.40e+00 -16.9 1.00e+00 1.00e+00h 1 64 2.0818441e+00 1.27e-04 5.47e-06 -4.0 7.55e+00 -17.4 1.00e+00 1.00e+00h 1 65 2.0815834e+00 2.14e-04 9.28e-06 -4.1 9.76e+00 -17.9 1.00e+00 1.00e+00h 1 66 2.0805950e+00 3.33e-03 1.58e-04 -6.1 4.09e+01 -18.4 9.77e-01 9.64e-01h 1 67 2.0805497e+00 7.61e-05 1.82e-06 -6.1 1.56e+01 -18.8 1.00e+00 1.00e+00h 1 68 2.0819883e+00 1.06e-02 4.03e-04 -4.0 8.64e+01 -19.3 1.00e+00 1.00e+00f 1 69 2.0816850e+00 9.86e-04 5.24e-05 -4.1 4.71e+01 -19.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0816467e+00 5.59e-07 8.13e-07 -4.1 8.79e+00 -20.0 1.00e+00 1.00e+00h 1 71 2.0805963e+00 3.67e-03 1.56e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.67e-01h 1 72 2.0805509e+00 8.01e-05 1.98e-06 -6.1 1.63e+01 -20.0 1.00e+00 1.00e+00h 1 73 2.0805468e+00 5.50e-08 2.37e-08 -6.1 2.91e+00 -20.0 1.00e+00 1.00e+00h 1 74 2.0820237e+00 1.21e-02 4.23e-04 -4.0 9.79e+01 -20.0 1.00e+00 1.00e+00f 1 75 2.0817108e+00 1.09e-03 6.84e-05 -4.1 5.44e+01 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 75 (scaled) (unscaled) Objective...............: 2.0817107888164137e+00 2.0817107888164137e+00 Dual infeasibility......: 6.8384741273346878e-05 6.8384741273346878e-05 Constraint violation....: 1.0855225239760347e-03 1.0855225239760347e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.1190651745274997e-04 1.1190651745274997e-04 Overall NLP error.......: 1.0855225239760347e-03 1.0855225239760347e-03 Number of objective function evaluations = 81 Number of objective gradient evaluations = 76 Number of equality constraint evaluations = 81 Number of inequality constraint evaluations = 81 Number of equality constraint Jacobian evaluations = 76 Number of inequality constraint Jacobian evaluations = 76 Number of Lagrangian Hessian evaluations = 75 Total seconds in IPOPT = 1.114 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.002s) linear index maps built (0.0s) evaluator ready (total: 0.003s) evaluator created (0.003s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.004s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.2238961e+00 2.55e+00 4.21e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.0692508e+00 1.05e+00 3.38e+00 -0.7 2.15e+00 0.0 9.78e-01 5.87e-01f 1 2 2.7249281e+00 3.75e-02 3.81e+00 -0.9 1.13e+00 -0.5 6.48e-01 1.00e+00f 1 3 2.4795465e+00 2.97e-02 3.65e-01 -1.4 3.53e-01 -1.0 9.98e-01 1.00e+00h 1 4 2.2250986e+00 8.41e-03 1.34e-01 -2.3 2.62e-01 -1.4 9.82e-01 7.69e-01h 1 5 2.0979791e+00 7.72e-04 6.36e-03 -3.5 5.49e-02 -1.9 1.00e+00 9.64e-01h 1 6 2.0908863e+00 1.35e-05 1.84e-03 -4.0 9.54e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0908943e+00 9.14e-08 1.59e-05 -4.0 1.16e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908916e+00 6.84e-10 1.58e-05 -4.0 3.47e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908839e+00 3.16e-09 1.56e-05 -4.0 1.03e-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 2.0908615e+00 2.62e-08 2.89e-05 -4.0 2.98e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907971e+00 2.25e-07 1.28e-04 -4.0 8.50e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0906012e+00 2.13e-06 3.04e-04 -4.0 2.49e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0905233e+00 3.37e-07 2.53e-04 -4.0 1.00e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0901635e+00 9.56e-10 1.38e-03 -4.0 3.52e+00 -5.3 1.00e+00 1.00e+00H 1 15 2.0896381e+00 4.05e-05 1.03e-02 -4.0 1.05e+01 -5.8 1.00e+00 1.00e+00f 1 16 2.0889080e+00 4.26e-05 9.42e-02 -4.0 1.82e+01 -5.4 1.00e+00 2.45e-01h 1 17 2.0880751e+00 4.21e-05 1.32e-02 -4.0 1.10e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0866336e+00 1.10e-04 3.35e-02 -4.0 2.75e+01 -6.3 1.00e+00 6.28e-01h 1 19 2.0838106e+00 8.16e-04 4.08e-02 -4.0 4.97e+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 2.0827558e+00 2.86e-04 8.47e-03 -4.0 5.48e+01 -7.3 1.00e+00 6.08e-01h 1 21 2.0825190e+00 8.43e-04 2.70e-02 -4.0 1.33e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0982429e+00 2.06e-04 4.70e-01 -4.0 2.51e+02 -7.3 1.16e-01 1.00e+00H 1 23 2.0845670e+00 2.63e-03 5.40e+00 -4.1 6.23e+00 -4.2 4.12e-02 3.12e-01f 1 24 2.0833951e+00 2.78e-03 5.38e+00 -4.1 2.37e+02 -3.7 2.40e-05 2.84e-03f 1 25 2.0835999e+00 2.81e-03 5.41e+00 -4.1 7.12e+02 -4.2 4.63e-07 2.18e-04f 2 26 2.0833366e+00 2.51e-03 5.06e+00 -4.1 1.50e+00 -2.9 1.00e+00 1.06e-01h 1 27 2.0834560e+00 2.03e-04 4.64e-01 -4.1 9.07e-02 -3.4 1.00e+00 9.19e-01f 1 28 2.0835617e+00 5.76e-06 2.62e-04 -4.0 9.81e-02 -3.9 1.00e+00 1.00e+00f 1 29 2.0835468e+00 1.08e-07 9.21e-06 -4.0 1.96e-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 2.0835076e+00 1.75e-07 1.47e-05 -4.0 5.79e-01 -4.8 1.00e+00 1.00e+00h 1 31 2.0833999e+00 1.36e-06 1.14e-04 -4.0 1.65e+00 -5.3 1.00e+00 1.00e+00h 1 32 2.0831535e+00 8.31e-06 7.22e-04 -4.0 4.28e+00 -5.8 1.00e+00 1.00e+00h 1 33 2.0828302e+00 3.16e-05 2.25e-03 -4.0 9.67e+00 -6.2 1.00e+00 1.00e+00h 1 34 2.0825553e+00 3.25e-05 2.95e-03 -4.0 2.35e+01 -6.7 1.00e+00 1.00e+00h 1 35 2.0821338e+00 2.30e-04 6.20e-03 -4.0 5.23e+01 -7.2 1.00e+00 1.00e+00h 1 36 2.0819277e+00 9.95e-04 1.19e-02 -4.0 4.16e+01 -6.8 1.00e+00 1.00e+00h 1 37 2.0820293e+00 6.75e-04 1.11e-01 -4.0 2.36e+01 -7.2 7.54e-01 1.00e+00h 1 38 2.0819158e+00 6.06e-04 1.87e+00 -4.0 6.80e+00 -5.0 1.00e+00 3.40e-01H 1 39 2.0818042e+00 2.26e-05 1.68e-03 -4.0 7.50e-01 -5.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0819437e+00 1.30e-04 3.73e-05 -4.0 2.12e+00 -6.0 1.00e+00 1.00e+00h 1 41 2.0817834e+00 3.55e-05 7.13e-04 -4.1 1.95e+00 -6.4 1.00e+00 1.00e+00h 1 42 2.0819856e+00 1.43e-04 1.96e-04 -4.0 6.53e+00 -6.9 1.00e+00 1.00e+00h 1 43 2.0817184e+00 3.27e-04 7.24e-04 -4.1 1.59e+01 -7.4 1.00e+00 1.00e+00h 1 44 2.0819008e+00 7.48e-04 1.80e-03 -4.0 3.23e+01 -7.9 1.00e+00 1.00e+00h 1 45 2.0816026e+00 1.01e-03 1.79e-03 -4.1 4.59e+01 -8.4 1.00e+00 1.00e+00h 1 46 2.0818464e+00 8.60e-04 7.51e-04 -4.0 3.66e+01 -8.8 1.00e+00 1.00e+00h 1 47 2.0815839e+00 3.46e-04 9.26e-05 -4.1 1.52e+01 -9.3 1.00e+00 1.00e+00h 1 48 2.0818444e+00 1.88e-04 2.81e-05 -4.0 8.58e+00 -9.8 1.00e+00 1.00e+00h 1 49 2.0815837e+00 2.13e-04 1.30e-05 -4.1 9.73e+00 -10.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818445e+00 2.15e-04 1.09e-05 -4.0 9.81e+00 -10.7 1.00e+00 1.00e+00h 1 51 2.0815837e+00 2.16e-04 9.81e-06 -4.1 9.85e+00 -11.2 1.00e+00 1.00e+00h 1 52 2.0818446e+00 2.16e-04 9.66e-06 -4.0 9.87e+00 -11.7 1.00e+00 1.00e+00h 1 53 2.0815837e+00 2.16e-04 9.38e-06 -4.1 9.87e+00 -12.2 1.00e+00 1.00e+00h 1 54 2.0818446e+00 2.16e-04 9.52e-06 -4.0 9.87e+00 -12.6 1.00e+00 1.00e+00h 1 55 2.0815837e+00 2.16e-04 9.33e-06 -4.1 9.87e+00 -13.1 1.00e+00 1.00e+00h 1 56 2.0805951e+00 3.33e-03 1.59e-04 -6.1 4.09e+01 -13.6 9.77e-01 9.64e-01h 1 57 2.0818908e+00 6.61e-03 2.98e-04 -4.0 6.18e+01 -14.1 1.00e+00 1.00e+00f 1 58 2.0816145e+00 4.96e-04 1.06e-05 -4.1 2.08e+01 -14.6 1.00e+00 1.00e+00h 1 59 2.0806042e+00 3.49e-03 2.32e-04 -6.1 4.24e+01 -15.0 9.76e-01 9.58e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0805507e+00 9.69e-05 2.24e-06 -6.1 1.71e+01 -15.5 1.00e+00 1.00e+00h 1 61 2.0819819e+00 1.02e-02 3.99e-04 -4.0 8.54e+01 -16.0 1.00e+00 1.00e+00f 1 62 2.0816805e+00 9.65e-04 4.96e-05 -4.1 4.57e+01 -16.5 1.00e+00 1.00e+00h 1 63 2.0816444e+00 4.73e-07 7.69e-07 -4.1 8.40e+00 -16.9 1.00e+00 1.00e+00h 1 64 2.0818441e+00 1.27e-04 5.47e-06 -4.0 7.55e+00 -17.4 1.00e+00 1.00e+00h 1 65 2.0815834e+00 2.14e-04 9.28e-06 -4.1 9.76e+00 -17.9 1.00e+00 1.00e+00h 1 66 2.0805950e+00 3.33e-03 1.58e-04 -6.1 4.09e+01 -18.4 9.77e-01 9.64e-01h 1 67 2.0805497e+00 7.61e-05 1.82e-06 -6.1 1.56e+01 -18.8 1.00e+00 1.00e+00h 1 68 2.0819883e+00 1.06e-02 4.03e-04 -4.0 8.64e+01 -19.3 1.00e+00 1.00e+00f 1 69 2.0816850e+00 9.86e-04 5.24e-05 -4.1 4.71e+01 -19.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0816467e+00 5.59e-07 8.13e-07 -4.1 8.79e+00 -20.0 1.00e+00 1.00e+00h 1 71 2.0805963e+00 3.67e-03 1.56e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.67e-01h 1 72 2.0805509e+00 8.01e-05 1.98e-06 -6.1 1.63e+01 -20.0 1.00e+00 1.00e+00h 1 73 2.0805468e+00 5.50e-08 2.37e-08 -6.1 2.91e+00 -20.0 1.00e+00 1.00e+00h 1 74 2.0820237e+00 1.21e-02 4.23e-04 -4.0 9.79e+01 -20.0 1.00e+00 1.00e+00f 1 75 2.0817108e+00 1.09e-03 6.84e-05 -4.1 5.44e+01 -20.0 1.00e+00 1.00e+00h 1 76 2.0816597e+00 1.20e-06 1.05e-06 -4.1 1.08e+01 -20.0 1.00e+00 1.00e+00h 1 77 2.0805973e+00 3.75e-03 1.59e-04 -6.1 4.29e+01 -20.0 9.76e-01 9.67e-01h 1 78 2.0805512e+00 8.26e-05 2.04e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 79 2.0805470e+00 5.83e-08 2.51e-08 -6.1 3.00e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805365e+00 9.22e-07 7.87e-07 -9.0 9.36e-01 -20.0 1.00e+00 9.97e-01h 1 81 2.0820411e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 82 2.0817244e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 83 2.0816662e+00 1.63e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 84 2.0805979e+00 3.78e-03 1.61e-04 -6.1 4.31e+01 -20.0 9.76e-01 9.67e-01h 1 85 2.0805514e+00 8.39e-05 2.07e-06 -6.1 1.67e+01 -20.0 1.00e+00 1.00e+00h 1 86 2.0805470e+00 6.01e-08 2.58e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 87 2.0805365e+00 9.41e-07 8.10e-07 -9.0 9.46e-01 -20.0 1.00e+00 9.97e-01h 1 88 2.0805365e+00 8.66e-11 2.16e-12 -9.0 2.61e-02 -20.0 1.00e+00 1.00e+00h 1 89 2.0820415e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0817247e+00 1.13e-03 7.75e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 91 2.0816664e+00 1.64e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0805979e+00 3.78e-03 1.61e-04 -6.1 4.31e+01 -20.0 9.76e-01 9.67e-01h 1 93 2.0805514e+00 8.39e-05 2.07e-06 -6.1 1.67e+01 -20.0 1.00e+00 1.00e+00h 1 94 2.0805470e+00 6.01e-08 2.58e-08 -6.1 3.05e+00 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 9.41e-07 8.10e-07 -9.0 9.47e-01 -20.0 1.00e+00 9.97e-01h 1 96 2.0805365e+00 8.67e-11 2.17e-12 -9.0 2.61e-02 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 8.88e-16 9.09e-15 -9.0 9.99e-06 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 4.44e-16 9.09e-15 -9.0 1.60e-12 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 2.22e-16 9.09e-15 -9.0 9.28e-14 -20.0 1.00e+00 1.00e+00 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805365e+00 2.22e-16 9.09e-15 -9.0 4.31e-14 -20.0 1.00e+00 1.00e+00T 0 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595436484e+00 2.0805364595436484e+00 Dual infeasibility......: 9.0909090910998750e-15 9.0909090910998750e-15 Constraint violation....: 2.2204460492503131e-16 2.2204460492503131e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090978348416e-10 9.0909090978348416e-10 Overall NLP error.......: 9.9999090909091550e-05 9.9999090909091550e-05 Number of objective function evaluations = 106 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 106 Number of inequality constraint evaluations = 106 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 1.508 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: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.904s jacobian structure: 1600 nonzeros (2.971s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.166s 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 (4.22s) linear index maps built (0.0s) evaluator ready (total: 7.192s) evaluator created (7.217s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.001s) optimizer initialization complete (total: 7.219s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.6498279e+00 3.09e+00 3.92e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9357187e+00 1.03e-01 1.55e+00 -0.9 1.55e+00 0.0 9.82e-01 1.00e+00f 1 2 2.5572459e+00 8.21e-03 6.18e-01 -1.1 1.59e-01 0.4 9.78e-01 1.00e+00h 1 3 2.3009337e+00 3.67e-03 1.14e-01 -1.9 1.22e-01 -0.1 9.94e-01 1.00e+00h 1 4 2.1313696e+00 1.45e-03 6.33e-02 -3.2 6.48e-02 -0.5 9.96e-01 7.49e-01f 1 5 2.0933025e+00 1.41e-04 3.99e-02 -4.0 2.83e-02 -1.0 1.00e+00 1.00e+00h 1 6 2.0908437e+00 4.21e-06 6.30e-03 -4.0 6.92e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0908887e+00 2.29e-08 8.71e-05 -4.0 7.94e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908879e+00 4.64e-10 4.48e-05 -4.0 1.23e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908862e+00 1.43e-10 2.10e-05 -4.0 1.72e-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 2.0908812e+00 1.32e-09 4.00e-05 -4.0 5.03e-02 -3.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0908811723203971e+00 2.0908811723203971e+00 Dual infeasibility......: 3.9972495934752889e-05 3.9972495934752889e-05 Constraint violation....: 1.3208571857797891e-09 1.3208571857797891e-09 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999999964e-05 9.9999999999999964e-05 Overall NLP error.......: 3.9972495934752889e-05 3.9972495934752889e-05 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 11 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 11 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 29.936 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: 0.074s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.943s jacobian structure: 1600 nonzeros (3.017s) integrator 1 hessian structure: 0.3s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.003s 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 (4.305s) linear index maps built (0.0s) evaluator ready (total: 7.323s) evaluator created (7.346s) 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: 7.348s) 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: 0.067s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.929s jacobian structure: 1600 nonzeros (2.997s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.193s 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 (4.246s) linear index maps built (0.0s) evaluator ready (total: 7.244s) evaluator created (7.274s) 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: 7.275s) 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: 0.079s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.024s jacobian structure: 1600 nonzeros (3.103s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.093s 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 (4.145s) linear index maps built (0.0s) evaluator ready (total: 7.249s) evaluator created (7.276s) 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: 7.277s) initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.067s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.052s) linear index maps built (0.0s) evaluator ready (total: 0.12s) evaluator created (0.12s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.12s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.8452229e+00 3.60e+00 5.60e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8363202e+00 7.95e-02 3.27e+00 -0.9 2.09e+00 0.0 7.36e-01 1.00e+00f 1 2 2.2933146e+00 1.99e-02 1.39e+00 -0.9 1.89e-01 0.4 9.85e-01 8.87e-01h 1 3 2.4067836e+00 1.02e-02 1.78e+00 -1.3 3.46e-01 -0.1 9.48e-01 1.00e+00f 1 4 2.3714056e+00 1.19e-02 1.27e+00 -4.0 5.69e-01 0.4 2.07e-01 1.38e-01h 1 5 2.2842768e+00 7.45e-03 6.29e-01 -2.2 1.22e-01 0.8 8.63e-01 3.70e-01f 1 6 2.2188496e+00 5.50e-03 6.05e-01 -3.0 1.16e-01 0.3 9.97e-01 2.83e-01h 1 7 2.1337904e+00 2.88e-03 3.05e-01 -3.7 5.07e-02 -0.2 1.00e+00 4.91e-01h 1 8 2.1017158e+00 1.78e-03 4.98e-01 -4.0 5.38e-02 -0.6 1.00e+00 4.58e-01h 1 9 2.0913316e+00 3.74e-04 2.55e-01 -4.0 5.79e-02 -1.1 1.00e+00 7.90e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909420e+00 3.01e-06 1.55e-02 -4.0 1.87e-02 -1.6 1.00e+00 1.00e+00h 1 11 2.0909076e+00 4.44e-08 5.94e-05 -4.0 6.85e-03 -2.1 1.00e+00 1.00e+00h 1 12 2.0909064e+00 1.97e-09 2.74e-05 -4.0 9.49e-03 -2.5 1.00e+00 1.00e+00h 1 13 2.0909043e+00 1.72e-10 2.06e-05 -4.0 2.14e-02 -3.0 1.00e+00 1.00e+00h 1 14 2.0908980e+00 1.55e-09 2.06e-05 -4.0 6.41e-02 -3.5 1.00e+00 1.00e+00h 1 15 2.0908791e+00 1.39e-08 2.06e-05 -4.0 1.92e-01 -4.0 1.00e+00 1.00e+00h 1 16 2.0908224e+00 1.25e-07 2.06e-05 -4.0 5.77e-01 -4.4 1.00e+00 1.00e+00h 1 17 2.0906524e+00 1.13e-06 2.06e-05 -4.0 1.73e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0901440e+00 1.02e-05 4.58e-05 -4.0 5.17e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0886332e+00 9.41e-05 4.08e-04 -4.0 1.54e+01 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0842359e+00 8.97e-04 3.75e-03 -4.0 4.47e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0796305e+00 1.88e-03 2.32e-01 -4.0 1.10e+02 -6.8 1.00e+00 4.17e-01h 1 22 2.0792734e+00 7.49e-03 1.84e-01 -4.1 6.31e+01 -7.3 1.00e+00 7.70e-01h 1 23 2.0780710e+00 1.71e-02 4.19e-02 -3.8 1.18e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.0765380e+00 1.72e-02 2.65e-02 -4.0 2.05e+02 -8.3 1.00e+00 1.00e+00h 1 25 2.0761118e+00 1.71e-03 2.63e-02 -4.0 3.33e+02 -8.7 1.00e+00 1.00e+00h 1 26 2.0755103e+00 1.46e-03 3.84e-02 -4.0 4.46e+02 -9.2 1.00e+00 6.39e-01h 1 27 2.0757500e+00 1.64e-03 9.46e-03 -4.0 1.29e+02 -9.7 1.00e+00 1.00e+00h 1 28 2.0753696e+00 9.48e-04 2.09e-04 -4.1 4.86e+01 -10.2 1.00e+00 1.00e+00h 1 29 2.0756723e+00 4.49e-04 4.01e-06 -4.0 2.00e+01 -10.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0756712e+00 4.92e-07 7.07e-07 -4.0 9.62e+00 -11.1 1.00e+00 1.00e+00h 1 31 2.0756712e+00 1.06e-09 3.86e-08 -4.0 3.14e+00 -11.6 1.00e+00 1.00e+00h 1 32 2.0756712e+00 1.20e-11 5.08e-10 -4.0 4.01e-01 -12.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 32 (scaled) (unscaled) Objective...............: 2.0756712121059717e+00 2.0756712121059717e+00 Dual infeasibility......: 5.0774388364008445e-10 5.0774388364008445e-10 Constraint violation....: 1.2002066007710255e-11 1.2002066007710255e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000033e-04 1.0000000000000033e-04 Overall NLP error.......: 5.0774388364008445e-10 5.0774388364008445e-10 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 = 29.762 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.067s) integrator 1 hessian structure: 0.051s 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: 0.12s) evaluator created (0.12s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.25s) optimizer initialization complete (total: 0.37s) 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 2.3832546e+00 2.37e+00 6.22e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5871658e+00 7.22e-02 5.26e-01 -1.1 1.98e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.3201235e+00 1.01e-01 1.88e-01 -1.6 1.69e+00 -2.5 9.18e-01 9.49e-01h 1 3 2.1393102e+00 3.80e-02 6.10e-02 -2.5 1.02e+00 -3.0 9.17e-01 1.00e+00h 1 4 2.0962129e+00 3.33e-03 3.45e-02 -3.2 7.18e-01 -3.4 9.97e-01 9.41e-01h 1 5 2.0907134e+00 1.12e-03 3.83e-02 -4.0 1.07e+00 -3.9 1.00e+00 1.00e+00h 1 6 2.0907815e+00 1.63e-05 5.34e-03 -4.0 5.87e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0906362e+00 1.94e-06 6.80e-04 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0901952e+00 8.02e-06 3.19e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0888832e+00 7.11e-05 3.07e-04 -4.0 1.33e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0850475e+00 6.74e-04 2.80e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0796464e+00 2.10e-03 1.77e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.34e-01h 1 12 2.0802901e+00 2.14e-04 1.75e-01 -4.0 6.49e+01 -7.2 1.00e+00 9.87e-01H 1 13 2.0773749e+00 8.65e-03 2.05e-02 -4.0 1.24e+02 -7.7 1.00e+00 9.84e-01h 1 14 2.0771807e+00 1.80e-03 7.99e-02 -4.0 2.12e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0761506e+00 5.16e-03 1.92e-02 -4.0 3.51e+02 -8.7 1.00e+00 8.33e-01h 1 16 2.0769349e+00 3.27e-02 2.74e-02 -3.7 3.18e+02 -9.2 1.00e+00 1.00e+00h 1 17 2.0765094e+00 6.98e-03 3.67e-03 -3.8 1.01e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0764855e+00 1.54e-04 8.53e-05 -3.8 2.55e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0756787e+00 1.97e-03 8.06e-06 -4.0 3.27e+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 2.0756713e+00 7.57e-06 1.46e-06 -4.0 2.24e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0756713e+00 4.47e-09 1.77e-07 -4.0 5.63e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0756713e+00 6.57e-11 2.34e-09 -4.0 8.56e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0756712528062766e+00 2.0756712528062766e+00 Dual infeasibility......: 2.3377083589216918e-09 2.3377083589216918e-09 Constraint violation....: 6.5727867593068368e-11 6.5727867593068368e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000044e-04 1.0000000000000044e-04 Overall NLP error.......: 2.3377083589216918e-09 2.3377083589216918e-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 = 31.010 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.067s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.068s) integrator 1 hessian structure: 0.054s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.056s) linear index maps built (0.0s) evaluator ready (total: 0.125s) evaluator created (0.125s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.125s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.9533059e+00 3.19e+00 5.93e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.1903909e+00 1.31e+00 2.27e+00 -0.8 2.17e+00 0.0 7.63e-01 5.91e-01f 1 2 2.7170612e+00 5.74e-02 1.50e+00 -0.9 9.43e-01 -0.5 8.50e-01 1.00e+00h 1 3 2.5585928e+00 2.43e-02 6.96e-01 -1.2 7.02e-01 -1.0 8.68e-01 1.00e+00h 1 4 2.3584531e+00 1.30e-02 1.68e-01 -1.7 3.94e-01 -1.4 9.62e-01 6.86e-01h 1 5 2.1486763e+00 9.35e-03 4.61e-02 -2.4 2.77e-01 -1.9 9.95e-01 8.64e-01h 1 6 2.0934849e+00 2.56e-04 4.39e-03 -3.5 3.61e-02 -2.4 9.72e-01 1.00e+00h 1 7 2.0908451e+00 5.92e-06 5.23e-04 -4.0 1.58e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908330e+00 8.53e-08 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908198e+00 6.81e-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 2.0907799e+00 6.23e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0906605e+00 5.62e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903031e+00 5.08e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892380e+00 4.64e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861075e+00 4.36e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796357e+00 2.48e-03 8.82e-02 -4.0 8.71e+01 -6.7 1.00e+00 7.51e-01h 1 16 2.0812051e+00 1.60e-04 1.97e-01 -4.0 6.94e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778285e+00 6.22e-03 2.84e-02 -4.0 1.13e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781918e+00 1.61e-02 6.48e-02 -3.7 1.66e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0768345e+00 9.87e-03 1.76e-02 -3.8 3.08e+02 -8.6 1.00e+00 9.35e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0759988e+00 8.20e-03 2.21e-02 -3.9 4.54e+02 -9.1 1.00e+00 9.80e-01f 1 21 2.0757576e+00 7.86e-03 9.47e-03 -4.0 1.46e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756816e+00 5.03e-04 4.23e-04 -4.0 6.39e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 8.94e-06 7.14e-06 -4.0 2.34e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 4.33e-08 1.54e-06 -4.0 1.53e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.65e-09 1.55e-07 -4.0 5.35e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 8.10e-11 3.15e-09 -4.0 9.49e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122098215e+00 2.0756712122098215e+00 Dual infeasibility......: 3.1511231524236540e-09 3.1511231524236540e-09 Constraint violation....: 8.1040729682513302e-11 8.1040729682513302e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000014e-04 1.0000000000000014e-04 Overall NLP error.......: 3.1511231524236540e-09 3.1511231524236540e-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 = 29.647 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.067s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.068s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.053s) linear index maps built (0.0s) evaluator ready (total: 0.122s) evaluator created (0.122s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 5.2796641e+00 2.33e+00 4.97e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.9690804e+00 2.18e+00 4.61e+01 -0.4 2.10e+01 0.0 8.35e-02 8.04e-02h 1 2 4.9601061e+00 2.08e+00 1.11e+02 0.2 2.16e+01 -0.5 1.00e+00 3.82e-02f 1 3 3.9628171e+00 1.60e+00 1.04e+02 0.6 1.92e+01 -1.0 5.74e-01 3.93e-01h 1 4 3.0910040e+00 1.01e+00 8.20e+01 0.4 1.65e+01 -1.4 6.37e-01 9.06e-01h 1 5 3.0086265e+00 8.03e-01 1.06e+03 0.8 1.44e+01 -0.1 7.34e-01 1.84e-01h 1 6 2.9374133e+00 5.83e-01 1.90e+03 1.3 2.22e+01 -0.6 9.95e-01 2.74e-01f 1 7 2.8274364e+00 1.33e-01 9.18e+02 0.9 1.49e+01 -1.1 1.00e+00 1.00e+00f 1 8 2.7805998e+00 6.06e-03 1.02e+01 0.5 1.84e+00 -0.6 9.97e-01 1.00e+00f 1 9 2.7665873e+00 2.96e-04 1.83e+00 -0.8 2.50e-01 -1.1 9.97e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.6446390e+00 2.86e-02 9.93e-01 -1.7 4.43e-01 -1.6 1.00e+00 1.00e+00f 1 11 2.5883693e+00 4.34e-02 2.83e-01 -2.3 1.14e+00 -2.1 9.98e-01 1.00e+00h 1 12 2.5410122e+00 7.65e-02 2.65e-01 -2.3 2.61e+00 -2.5 8.70e-01 1.00e+00h 1 13 2.4809341e+00 1.19e-01 1.03e-01 -2.5 4.68e+00 -3.0 9.98e-01 9.19e-01h 1 14 2.3929444e+00 2.23e-01 7.85e-02 -2.8 6.41e+00 -3.5 9.99e-01 1.00e+00h 1 15 2.2958517e+00 2.51e-01 1.21e-01 -2.5 1.07e+01 -4.0 1.00e+00 9.63e-01h 1 16 2.2189703e+00 2.08e-01 2.26e-01 -2.3 1.39e+01 -4.4 1.00e+00 1.00e+00h 1 17 2.2032132e+00 1.93e-01 1.87e+00 -2.3 1.03e+02 -4.9 3.55e-01 4.47e-02h 2 18 2.1686404e+00 1.42e-01 3.93e-01 -2.5 1.98e+01 -4.5 1.00e+00 9.85e-01h 1 19 2.1459820e+00 2.87e-01 4.80e-01 -2.6 2.42e+01 -5.0 7.26e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.1399530e+00 1.79e-01 5.10e-01 -3.3 3.43e+00 -3.6 9.82e-01 3.76e-01h 1 21 2.1368455e+00 8.83e-02 3.57e-01 -3.2 5.84e+00 -4.1 1.00e+00 5.01e-01h 1 22 2.1436996e+00 2.62e-02 3.30e-01 -2.5 1.20e+01 -4.6 1.00e+00 1.00e+00f 1 23 2.1220063e+00 5.69e-02 1.67e-01 -3.3 1.71e+01 -5.1 1.00e+00 1.00e+00h 1 24 2.1056034e+00 1.30e-01 6.15e-02 -4.0 3.07e+01 -5.6 1.00e+00 1.00e+00h 1 25 2.0981121e+00 1.54e-01 9.36e-02 -3.4 4.51e+01 -6.0 1.00e+00 1.00e+00h 1 26 2.0965201e+00 8.29e-02 1.02e-01 -3.1 7.16e+01 -6.5 1.00e+00 1.00e+00h 1 27 2.0902768e+00 1.74e-02 1.01e-01 -3.3 1.25e+02 -7.0 9.99e-01 1.00e+00h 1 28 2.0831062e+00 3.35e-02 1.97e-01 -4.0 2.35e+02 -7.5 1.00e+00 5.48e-01h 1 29 2.0861505e+00 6.97e-03 2.00e-01 -3.2 1.02e+02 -7.9 1.00e+00 9.09e-01H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0797182e+00 1.01e-01 1.02e-02 -4.0 1.99e+02 -8.4 1.00e+00 1.00e+00h 1 31 2.0786452e+00 2.36e-02 1.15e-02 -4.0 4.86e+02 -8.9 1.00e+00 1.00e+00h 1 32 2.0798929e+00 2.56e-02 1.52e-02 -3.6 1.91e+02 -9.4 1.00e+00 1.00e+00h 1 33 2.0794267e+00 5.54e-03 9.29e-04 -3.7 8.68e+01 -9.8 1.00e+00 1.00e+00h 1 34 2.0783991e+00 8.73e-03 1.46e-04 -4.0 8.51e+01 -10.3 1.00e+00 1.00e+00h 1 35 2.0784037e+00 3.56e-05 1.34e-05 -4.0 6.68e+01 -10.8 1.00e+00 1.00e+00h 1 36 2.0784034e+00 1.02e-07 3.14e-06 -4.0 2.30e+01 -11.3 1.00e+00 1.00e+00h 1 37 2.0784034e+00 1.53e-09 4.72e-08 -4.0 2.78e+00 -11.8 1.00e+00 1.00e+00h 1 38 2.0784034e+00 1.76e-12 8.23e-11 -4.0 1.17e-01 -12.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 38 (scaled) (unscaled) Objective...............: 2.0784033870865803e+00 2.0784033870865803e+00 Dual infeasibility......: 8.2254519493361877e-11 8.2254519493361877e-11 Constraint violation....: 1.7588153156111730e-12 1.7588153156111730e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000086e-04 1.0000000000000086e-04 Overall NLP error.......: 8.2254519493361877e-11 8.2254519493361877e-11 Number of objective function evaluations = 42 Number of objective gradient evaluations = 39 Number of equality constraint evaluations = 42 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 39 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 38 Total seconds in IPOPT = 28.444 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.065s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.065s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.052s) linear index maps built (0.0s) evaluator ready (total: 0.118s) evaluator created (0.118s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: bounds on Δt applying constraint: per-timestep equality constraint on trajectory variable u linear constraints added: 3 (0.052s) optimizer initialization complete (total: 0.17s) 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 5.5162861e+00 3.14e+00 6.16e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.2574598e+01 1.18e+00 7.81e+01 -1.1 2.66e+01 -2.0 3.20e-01 6.23e-01h 1 2 5.2783969e+01 3.44e+00 3.43e+02 -0.5 1.14e+03 - 1.00e+00 2.50e-01h 3 3 5.7940173e+01 1.69e+00 2.81e+04 -0.9 9.36e+01 -1.6 1.00e+00 1.00e+00h 1 4 4.8431590e+01 9.62e-01 1.47e+03 -1.0 3.30e+01 - 1.00e+00 1.00e+00f 1 5 3.0171465e+01 6.10e-01 1.16e+03 -0.3 3.61e+02 - 1.00e+00 2.85e-01f 1 6 8.7467454e+00 2.12e+00 2.74e+02 0.2 1.47e+02 - 1.00e+00 1.00e+00f 1 7 9.9273202e+00 1.53e+00 1.49e+02 0.2 4.43e+01 - 8.05e-01 2.50e-01f 3 8 1.0008261e+01 1.04e-01 4.52e+01 -0.2 1.70e+00 -1.1 9.94e-01 1.00e+00h 1 9 9.7841492e+00 2.32e+00 1.99e+01 0.0 9.23e+00 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 9.6495226e+00 2.26e+00 3.31e+02 -0.1 5.14e+01 -1.6 1.00e+00 1.28e-02h 1 11 7.7545506e+00 3.97e-01 1.45e+01 -0.2 5.76e+00 - 9.99e-01 1.00e+00f 1 12 7.3806299e+00 3.11e-01 4.12e+00 -0.9 3.81e+00 - 9.44e-01 1.00e+00h 1 13 6.7078764e+00 4.88e-01 1.42e+00 -1.1 1.88e+00 - 1.00e+00 8.76e-01f 1 14 7.1869949e+00 1.14e-01 3.35e+01 -0.8 1.03e+02 - 4.39e-01 1.67e-01h 3 15 7.5514011e+00 1.11e+00 5.19e+01 -0.5 1.79e+01 -2.1 1.00e+00 1.00e+00h 1 16 7.5435551e+00 1.42e-01 1.35e+01 -0.6 7.25e+00 - 1.00e+00 1.00e+00h 1 17 7.2777546e+00 1.09e-01 2.70e+00 -1.1 3.85e+00 - 9.97e-01 1.00e+00h 1 18 7.1104657e+00 7.55e-02 7.85e-01 -2.2 1.71e+00 - 1.00e+00 1.00e+00h 1 19 7.1578209e+00 1.89e-02 1.20e-01 -2.7 5.01e-01 - 9.95e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 7.1843924e+00 1.84e-03 7.91e-03 -4.0 1.24e-01 - 1.00e+00 1.00e+00h 1 21 7.1888151e+00 4.36e-04 1.35e-03 -4.0 4.42e-02 - 1.00e+00 1.00e+00h 1 22 7.1891255e+00 8.07e-05 2.45e-04 -4.0 1.78e-02 - 1.00e+00 1.00e+00h 1 23 7.1891588e+00 8.83e-06 2.65e-05 -4.0 5.79e-03 - 1.00e+00 1.00e+00h 1 24 7.1891626e+00 1.84e-07 5.49e-07 -4.0 8.36e-04 - 1.00e+00 1.00e+00h 1 25 7.1891626e+00 8.71e-11 2.60e-10 -4.0 1.82e-05 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 7.1891626389670007e+00 7.1891626389670007e+00 Dual infeasibility......: 2.5959621952065248e-10 2.5959621952065248e-10 Constraint violation....: 8.7075568977468265e-11 8.7075568977468265e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000010520580683e-04 1.0000010520580683e-04 Overall NLP error.......: 2.5959621952065248e-10 2.5959621952065248e-10 Number of objective function evaluations = 38 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 38 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 29.130 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.066s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.048s) linear index maps built (0.0s) evaluator ready (total: 0.114s) evaluator created (0.114s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: equality constraint on 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: 0.114s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.3006210e+00 3.40e+00 9.91e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4496114e+00 3.14e-01 2.03e+00 -1.0 2.20e+00 0.0 9.48e-01 9.09e-01f 1 2 2.5193432e+00 7.85e-03 5.31e-01 -1.2 1.99e-01 0.4 9.89e-01 1.00e+00h 1 3 2.2944164e+00 4.37e-03 2.42e-01 -2.0 1.52e-01 -0.1 9.97e-01 6.94e-01h 1 4 2.1273688e+00 1.05e-03 1.18e-01 -3.1 4.14e-02 -0.5 1.00e+00 7.71e-01h 1 5 2.0913617e+00 1.28e-04 8.09e-03 -4.0 2.12e-02 -1.0 1.00e+00 1.00e+00h 1 6 2.0908758e+00 1.27e-06 2.15e-03 -4.0 6.91e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0908761e+00 8.07e-10 1.42e-04 -4.0 1.30e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0908756e+00 1.32e-11 7.23e-05 -4.0 1.98e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908739e+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 2.0908689e+00 9.69e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908540e+00 8.73e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908092e+00 7.86e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906748e+00 7.09e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902728e+00 6.41e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890758e+00 5.86e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855671e+00 5.53e-04 2.31e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796310e+00 2.27e-03 1.37e-01 -4.0 9.55e+01 -6.7 1.00e+00 6.27e-01h 1 18 2.0806922e+00 1.64e-04 1.85e-01 -4.0 6.73e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775276e+00 7.69e-03 2.56e-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 2.0769513e+00 1.33e-03 6.88e-02 -4.0 1.89e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0762714e+00 2.15e-03 1.92e-02 -4.0 3.34e+02 -8.6 1.00e+00 7.59e-01h 1 22 2.0755109e+00 1.69e-03 2.77e-02 -4.0 5.79e+02 -9.1 1.00e+00 7.51e-01h 1 23 2.0758008e+00 3.56e-03 1.48e-02 -4.0 1.73e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753913e+00 1.37e-03 7.56e-04 -4.1 9.87e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756722e+00 4.55e-04 7.33e-06 -4.0 2.13e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 5.82e-07 1.10e-06 -4.0 1.18e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.19e-09 8.29e-08 -4.0 4.28e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 3.73e-11 1.49e-09 -4.0 6.75e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121572503e+00 2.0756712121572503e+00 Dual infeasibility......: 1.4885727199758381e-09 1.4885727199758381e-09 Constraint violation....: 3.7296166155442734e-11 3.7296166155442734e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000057e-04 1.0000000000000057e-04 Overall NLP error.......: 1.4885727199758381e-09 1.4885727199758381e-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 = 29.614 EXIT: Optimal Solution Found. testing evaluator: Test Failed at /home/pkgeval/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:732 Expression: all(isapprox.(∂g_finitediff, ∂ĝ, atol = 1.0e-6, rtol = 1.0e-6)) Evaluated: all(Bool[1 1 … 1 1; 1 1 … 1 1; … ; 1 1 … 1 1; 1 1 … 1 1]) Stacktrace: [1] top-level scope @ ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:560 [2] macro expansion @ /opt/julia/share/julia/stdlib/v1.14/Test/src/Test.jl:784 [inlined] ┌ Warning: Constraint jacobian product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:394 ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 Difference in Hessian [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=120, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... ====================================================================================== 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 unknown function (ip: 0x79fbd3ebefac) at /lib/x86_64-linux-gnu/libc.so.6 malloc at /lib/x86_64-linux-gnu/libc.so.6 (unknown line) operator new at /workspace/srcdir/gcc-15.2.0/libstdc++-v3/libsupc++/new_op.cc:50:22 _ZNSt6vectorIN4llvm5SUnitESaIS1_EE7reserveEm at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm18ScheduleDAGSDNodes15BuildSchedUnitsEv at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm18ScheduleDAGSDNodes15BuildSchedGraphEv at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN12_GLOBAL__N_117ScheduleDAGRRList8ScheduleEv at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm16SelectionDAGISel17CodeGenAndEmitDAGEv at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm16SelectionDAGISel20SelectAllBasicBlocksERKNS_8FunctionE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm16SelectionDAGISel20runOnMachineFunctionERNS_15MachineFunctionE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm22SelectionDAGISelLegacy20runOnMachineFunctionERNS_15MachineFunctionE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm19MachineFunctionPass13runOnFunctionERNS_8FunctionE.part.0 at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm13FPPassManager13runOnFunctionERNS_8FunctionE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm13FPPassManager11runOnModuleERNS_6ModuleE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm6legacy15PassManagerImpl3runERNS_6ModuleE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) operator() at /source/src/jitlayers.cpp:1414:23 compileModule at /source/src/jitlayers.cpp:2390:79 materialize at /source/src/jitlayers.cpp:906:36 _ZN4llvm3orc19MaterializationTask3runEv at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) dispatch at /source/src/julia-task-dispatcher.h:353:11 _ZN4llvm3orc16ExecutionSession22dispatchOutstandingMUsEv at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm3orc16ExecutionSession17OL_completeLookupESt10unique_ptrINS0_21InProgressLookupStateESt14default_deleteIS3_EESt10shared_ptrINS0_23AsynchronousSymbolQueryEESt8functionIFvRKNS_8DenseMapIPNS0_8JITDylibENS_8DenseSetINS0_15SymbolStringPtrENS_12DenseMapInfoISF_vEEEENSG_ISD_vEENS_6detail12DenseMapPairISD_SI_EEEEEE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm3orc25InProgressFullLookupState8completeESt10unique_ptrINS0_21InProgressLookupStateESt14default_deleteIS3_EE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm3orc16ExecutionSession19OL_applyQueryPhase1ESt10unique_ptrINS0_21InProgressLookupStateESt14default_deleteIS3_EENS_5ErrorE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm3orc16ExecutionSession6lookupENS0_10LookupKindERKSt6vectorISt4pairIPNS0_8JITDylibENS0_19JITDylibLookupFlagsEESaIS8_EENS0_15SymbolLookupSetENS0_11SymbolStateENS_15unique_functionIFvNS_8ExpectedINS_8DenseMapINS0_15SymbolStringPtrENS0_17ExecutorSymbolDefENS_12DenseMapInfoISI_vEENS_6detail12DenseMapPairISI_SJ_EEEEEEEEESt8functionIFvRKNSH_IS6_NS_8DenseSetISI_SL_EENSK_IS6_vEENSN_IS6_SV_EEEEEE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) publishCIs at /source/src/jitlayers.cpp:2085:14 jl_compile_codeinst_impl at /source/src/jitlayers.cpp:510:39 jl_compile_method_internal at /source/src/gf.c:3666:27 _jl_invoke at /source/src/gf.c:4119:16 [inlined] ijl_apply_generic at /source/src/gf.c:4353:12 jacobian! at /home/pkgeval/.julia/packages/ForwardDiff/z3jRk/src/jacobian.jl:58:3 unknown function (ip: 0x79fb34fe7043) at (unknown file) _jl_invoke at /source/src/gf.c:4127:23 [inlined] ijl_apply_generic at /source/src/gf.c:4353:12 eval_jacobian at /home/pkgeval/.julia/packages/DirectTrajOpt/bnQ8f/src/integrators/time_dependent_bilinear_integrator.jl:177:50 #test_integrator#30 at /home/pkgeval/.julia/packages/DirectTrajOpt/bnQ8f/src/integrators/_integrators.jl:153:98 test_integrator at /home/pkgeval/.julia/packages/DirectTrajOpt/bnQ8f/src/integrators/_integrators.jl:97:52 unknown function (ip: 0x79fb34f9a728) at (unknown file) _jl_invoke at /source/src/gf.c:4127:23 [inlined] ijl_apply_generic at /source/src/gf.c:4353:12 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:706:13 jl_interpret_toplevel_thunk at /source/src/interpreter.c:897:21 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:4127:23 [inlined] ijl_apply_generic at /source/src/gf.c:4353:12 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: 0x79fbbd9dbee6) at (unknown file) _jl_invoke at /source/src/gf.c:4127:23 [inlined] ijl_apply_generic at /source/src/gf.c:4353:12 run_testitem at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:117:99 unknown function (ip: 0x79fbbd9dba9e) at (unknown file) _jl_invoke at /source/src/gf.c:4127:23 [inlined] ijl_apply_generic at /source/src/gf.c:4353:12 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: 0x79fbbd91fc72) at (unknown file) _jl_invoke at /source/src/gf.c:4127:23 [inlined] ijl_apply_generic at /source/src/gf.c:4353:12 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:706:13 jl_interpret_toplevel_thunk at /source/src/interpreter.c:897:21 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:4127:23 [inlined] ijl_apply_generic at /source/src/gf.c:4353:12 _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:4127:23 [inlined] ijl_apply_generic at /source/src/gf.c:4353:12 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:706:13 jl_interpret_toplevel_thunk at /source/src/interpreter.c:897:21 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:4127:23 [inlined] ijl_apply_generic at /source/src/gf.c:4353:12 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: 0x79fbd3e4e249) 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 ============================================================== [test_integrator] Computing finite diff Jacobian... ====================================================================================== 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:4127:23 [inlined] ijl_apply_generic at /source/src/gf.c:4353:12 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 0x00007b6330505000 Total snapshots: 387. Utilization: 0% ╎387 @Base/task.jl:1168 wait_forever() 386╎ 387 @Base/task.jl:1246 wait() [test_integrator] Testing Jacobian... ┌ Warning: There were no samples collected in one or more groups. │ This may be due to idle threads, or you may need to run your │ program longer (perhaps by running it multiple times), │ or adjust the delay between samples with `Profile.init()`. └ @ Profile /opt/julia/share/julia/stdlib/v1.14/Profile/src/Profile.jl:1361 [test_integrator] Computing analytic Hessian...Overhead ╎ [+additional indent] Count File:Line Function ========================================================= Thread 1 (default) Task 0x000079fbb95fc010 Total snapshots: 1. Utilization: 100% ╎1 @Base/client.jl:593 _start() ╎ 1 @Base/client.jl:318 exec_options(opts::Base.JLOptions) ╎ 1 @Base/boot.jl:517 eval(m::Module, e::Any) ╎ 1 @Base/Base.jl:328 (::Base.IncludeInto)(fname::String) ╎ 1 @Base/Base.jl:327 include(mapexpr::Function, mod::Module, _path::Strin… ╎ 1 @Base/loading.jl:3173 _include(mapexpr::Function, mod::Module, _path:… ╎ ╎ 1 @Base/loading.jl:3113 include_string(mapexpr::typeof(identity), mod:… ╎ ╎ 1 @Base/boot.jl:517 eval(m::Module, e::Any) ╎ ╎ 1 @TestItemRunner/…er.jl:134 run_tests(path::String) ╎ ╎ 1 @TestItemRunner/…r.jl:250 run_tests(path::String; filter::Nothing… ╎ ╎ 1 @Test/src/Test.jl:2415 length(a::Vector{Any}) ╎ ╎ ╎ 1 @TestItemRunner/….jl:253 macro expansion ╎ ╎ ╎ 1 @Test/src/Test.jl:2415 macro expansion ╎ ╎ ╎ 1 @TestItemRunner/….jl:275 macro expansion ╎ ╎ ╎ 1 @Test/src/Test.jl:2415 macro expansion ╎ ╎ ╎ 1 @TestItemRunner/…jl:277 macro expansion ╎ ╎ ╎ ╎ 1 @TestItemRunner/…l:117 run_testitem(filepath::String, use_… ╎ ╎ ╎ ╎ 1 @Base/file.jl:112 cd(f::TestItemRunner.var"#run_testitem#… ╎ ╎ ╎ ╎ 1 @TestItemRunner/…l:118 (::TestItemRunner.var"#run_testit… ╎ ╎ ╎ ╎ 1 @TestItemRunner/…l:7 withpath(f::TestItemRunner.var"#ru… ╎ ╎ ╎ ╎ 1 @TestItemRunner/…:119 task_local_storage() ╎ ╎ ╎ ╎ ╎ 1 @Base/loading.jl:3123 include_string(m::Module, txt::… ╎ ╎ ╎ ╎ ╎ 1 @Base/loading.jl:3113 include_string(mapexpr::typeof… ╎ ╎ ╎ ╎ ╎ 1 @Base/boot.jl:517 eval(m::Module, e::Any) ╎ ╎ ╎ ╎ ╎ 1 @DirectTrajOpt/…:97 kwcall(::@NamedTuple{test_equa… ╎ ╎ ╎ ╎ ╎ 1 @DirectTrajOpt/…:153 test_integrator(integrator::… ╎ ╎ ╎ ╎ ╎ ╎ 1 @DirectTrajOpt/…:177 eval_jacobian(B::TimeDepend… ╎ ╎ ╎ ╎ ╎ ╎ 1 @ForwardDiff/…:58 jacobian!(result::SubArray{Fl… [19] signal 15: Terminated in expression starting at /home/pkgeval/.julia/packages/DirectTrajOpt/bnQ8f/src/integrators/time_dependent_bilinear_integrator.jl:256 _ZN4llvm23ReplaceableMetadataImpl11getOrCreateERNS_8MetadataE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) unknown function (ip: (nil)) at (unknown file) Allocations: 1491402686 (Pool: 1491327457; Big: 75229); GC: 628 PkgEval terminated after 2728.84s: test duration exceeded the time limit