Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.2386 (9e0b0ca1f2*) started at 2026-06-17T01:04:52.854 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 15.7s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Updating `~/.julia/environments/v1.14/Project.toml` [c823fa1f] + DirectTrajOpt v0.9.6 Updating `~/.julia/environments/v1.14/Manifest.toml` [47edcb42] + ADTypes v1.22.0 ⌃ [c29ec348] + AbstractDifferentiation v0.4.4 [7d9f7c33] + Accessors v0.1.44 [79e6a3ab] + Adapt v4.6.1 [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 v0.2.7 [bbf7d656] + CommonSubexpressions v0.3.1 [34da2185] + Compat v4.18.1 [a33af91c] + CompositionsBase v0.1.2 [2569d6c7] + ConcreteStructs v0.2.4 [187b0558] + ConstructionBase v1.6.0 [864edb3b] + DataStructures v0.19.5 [2b5f629d] + DiffEqBase v7.5.5 [163ba53b] + DiffResults v1.1.0 [b552c78f] + DiffRules v1.16.0 [a0c0ee7d] + DifferentiationInterface v0.7.18 [c823fa1f] + DirectTrajOpt v0.9.6 [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 v1.4.1 [069b7b12] + FunctionWrappers v1.1.3 [77dc65aa] + FunctionWrappersWrappers v1.9.1 [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 v1.6.1 [5078a376] + LazyArrays v2.9.8 [2ab3a3ac] + LogExpFunctions v1.0.1 [e6f89c97] + LoggingExtras v1.2.0 [1914dd2f] + MacroTools v0.5.16 [b8f27783] + MathOptInterface v1.51.1 [bb5d69b7] + MaybeInplace v0.1.4 [46d2c3a1] + MuladdMacro v0.2.4 [d8a4904e] + MutableArithmetics v1.8.0 [77ba4419] + NaNMath v1.1.4 [538bc3a1] + NamedTrajectories v0.9.1 [be0214bd] + NonlinearSolveBase v2.31.0 ⌅ [bac558e1] + OrderedCollections v1.8.2 [bbf590c4] + OrdinaryDiffEqCore v4.3.0 [b1df2697] + OrdinaryDiffEqTsit5 v2.0.1 [69de0a69] + Parsers v2.8.5 [d236fae5] + PreallocationTools v1.2.0 [aea7be01] + PrecompileTools v1.3.4 [21216c6a] + Preferences v1.5.2 [3cdcf5f2] + RecipesBase v1.3.4 [731186ca] + RecursiveArrayTools v4.3.1 [189a3867] + Reexport v1.2.2 [ae029012] + Requires v1.3.1 [7e49a35a] + RuntimeGeneratedFunctions v0.5.19 [0bca4576] + SciMLBase v3.21.0 [19f34311] + SciMLJacobianOperators v0.1.13 [a6db7da4] + SciMLLogging v2.0.0 [c0aeaf25] + SciMLOperators v1.22.0 [431bcebd] + SciMLPublic v1.0.1 [53ae85a6] + SciMLStructures v1.10.0 [7e506255] + ScopedValues v1.6.2 [efcf1570] + Setfield v1.1.2 [276daf66] + SpecialFunctions v2.8.0 [90137ffa] + StaticArrays v1.9.18 [1e83bf80] + StaticArraysCore v1.4.4 [10745b16] + Statistics v1.11.1 [ec057cc2] + StructUtils v2.8.2 [2efcf032] + SymbolicIndexingInterface v0.3.48 [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 v1.2.0 [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 v1.14.0 [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 v1.5.3+0 [deac9b47] + LibCURL_jll v8.20.0+1 [e37daf67] + LibGit2_jll v1.9.4+0 [29816b5a] + LibSSH2_jll v1.11.101+0 [14a3606d] + MozillaCACerts_jll v2026.5.14 [4536629a] + OpenBLAS_jll v0.3.33+0 [05823500] + OpenLibm_jll v0.8.7+0 [458c3c95] + OpenSSL_jll v3.5.7+0 [efcefdf7] + PCRE2_jll v10.47.0+0 [bea87d4a] + SuiteSparse_jll v7.10.1+0 [83775a58] + Zlib_jll v1.3.2+0 [3161d3a3] + Zstd_jll v1.5.7+1 [8e850b90] + libblastrampoline_jll v5.15.0+0 [8e850ede] + nghttp2_jll v1.69.0+0 [3f19e933] + p7zip_jll v17.8.0+0 Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. To see why use `status --outdated -m` Installation completed after 5.93s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling project... WARNING: Imported binding Compiler.ConstCallInfo was undeclared at import time during import to JET. WARNING: Imported binding Compiler.WorldView was undeclared at import time during import to JET. ERROR: LoadError: UndefVarError: `WorldView` not defined in `JET` Suggestion: this global was defined as `Compiler.WorldView` but not assigned a value. Stacktrace:  [1] top-level scope  @ ~/.julia/packages/JET/Nf2tu/src/abstractinterpret/typeinfer.jl:215  [2] include(mapexpr::Function, mod::Module, _path::String)  @ Base Base.jl:326  [3] top-level scope  @ ~/.julia/packages/JET/Nf2tu/src/JETBase.jl:317  [4] include(mapexpr::Function, mod::Module, _path::String)  @ Base Base.jl:326  [5] top-level scope  @ ~/.julia/packages/JET/Nf2tu/src/JET.jl:42  [6] include(mod::Module, _path::String)  @ Base Base.jl:325  [7] include_package_for_output(pkg::Base.PkgId, input::String, syntax_version::VersionNumber, depot_path::Vector{String}, dl_load_path::Vector{String}, load_path::Vector{String}, concrete_deps::Vector{Pair{Base.PkgId, UInt128}}, source::Nothing)  @ Base loading.jl:3303  [8] top-level scope  @ stdin:5  [9] eval(m::Module, e::Any)  @ Core boot.jl:522  [10] include_string(mapexpr::typeof(identity), mod::Module, code::String, filename::String)  @ Base loading.jl:3132  [11] include_string(m::Module, txt::String, fname::String)  @ Base loading.jl:3142 [inlined]  [12] exec_options(opts::Base.JLOptions)  @ Base client.jl:353  [13] _start()  @ Base client.jl:596 in expression starting at /home/pkgeval/.julia/packages/JET/Nf2tu/src/abstractinterpret/typeinfer.jl:215 in expression starting at /home/pkgeval/.julia/packages/JET/Nf2tu/src/JETBase.jl:317 in expression starting at /home/pkgeval/.julia/packages/JET/Nf2tu/src/JET.jl:1 in expression starting at stdin:5 ✗ JET 12.6 s ✓ NamedTrajectories 30.4 s ✓ DirectTrajOpt 31.0 s ✓ DirectTrajOpt → MadNLPSolverExt 3 dependencies successfully precompiled in 90 seconds. 225 already precompiled. Precompilation completed after 116.7s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_Sg9Amw/Project.toml` [4c88cf16] Aqua v0.8.16 [c823fa1f] DirectTrajOpt v0.9.6 [e24c0720] ExponentialAction v0.2.10 [6a86dc24] FiniteDiff v2.31.0 [f6369f11] ForwardDiff v1.4.1 [b6b21f68] Ipopt v1.14.3 [c3a54625] JET v0.11.4 [5078a376] LazyArrays v2.9.8 ⌅ [2621e9c9] MadNLP v0.9.2 [b8f27783] MathOptInterface v1.51.1 [538bc3a1] NamedTrajectories v0.9.1 [b1df2697] OrdinaryDiffEqTsit5 v2.0.1 [189a3867] Reexport v1.2.2 [0bca4576] SciMLBase v3.21.0 [f8b46487] TestItemRunner v1.1.5 [1c621080] TestItems v1.0.0 [6dad8b7f] TrajectoryIndexingUtils v0.1.0 [8f399da3] Libdl v1.11.0 [37e2e46d] LinearAlgebra v1.14.0 [9a3f8284] Random v1.11.0 [2f01184e] SparseArrays v1.13.0 [8dfed614] Test v1.11.0 Status `/tmp/jl_Sg9Amw/Manifest.toml` [47edcb42] ADTypes v1.22.0 [14f7f29c] AMD v0.5.3 ⌃ [c29ec348] AbstractDifferentiation v0.4.4 [7d9f7c33] Accessors v0.1.44 [79e6a3ab] Adapt v4.6.1 [4c88cf16] Aqua v0.8.16 [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 [da1fd8a2] CodeTracking v3.0.2 [523fee87] CodecBzip2 v0.8.5 [944b1d66] CodecZlib v0.7.8 [38540f10] CommonSolve v0.2.7 [bbf7d656] CommonSubexpressions v0.3.1 [34da2185] Compat v4.18.1 [807dbc54] Compiler v0.1.1 [a33af91c] CompositionsBase v0.1.2 [2569d6c7] ConcreteStructs v0.2.4 [187b0558] ConstructionBase v1.6.0 [864edb3b] DataStructures v0.19.5 [2b5f629d] DiffEqBase v7.5.5 [163ba53b] DiffResults v1.1.0 [b552c78f] DiffRules v1.16.0 [a0c0ee7d] DifferentiationInterface v0.7.18 [c823fa1f] DirectTrajOpt v0.9.6 [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 v1.4.1 [069b7b12] FunctionWrappers v1.1.3 [77dc65aa] FunctionWrappersWrappers v1.9.1 [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 [c3a54625] JET v0.11.4 [033835bb] JLD2 v0.6.4 [692b3bcd] JLLWrappers v1.8.0 [682c06a0] JSON v1.6.1 [aa1ae85d] JuliaInterpreter v0.10.12 [70703baa] JuliaSyntax v1.0.2 [40e66cde] LDLFactorizations v0.10.2 [5078a376] LazyArrays v2.9.8 [5c8ed15e] LinearOperators v2.14.1 [2ab3a3ac] LogExpFunctions v1.0.1 [e6f89c97] LoggingExtras v1.2.0 ⌅ [6f1432cf] LoweredCodeUtils v3.5.3 [1914dd2f] MacroTools v0.5.16 ⌅ [2621e9c9] MadNLP v0.9.2 [b8f27783] MathOptInterface v1.51.1 [bb5d69b7] MaybeInplace v0.1.4 [46d2c3a1] MuladdMacro v0.2.4 [d8a4904e] MutableArithmetics v1.8.0 [a4795742] NLPModels v0.21.12 [77ba4419] NaNMath v1.1.4 [538bc3a1] NamedTrajectories v0.9.1 [be0214bd] NonlinearSolveBase v2.31.0 ⌅ [bac558e1] OrderedCollections v1.8.2 [bbf590c4] OrdinaryDiffEqCore v4.3.0 [b1df2697] OrdinaryDiffEqTsit5 v2.0.1 [69de0a69] Parsers v2.8.5 [d236fae5] PreallocationTools v1.2.0 [aea7be01] PrecompileTools v1.3.4 [21216c6a] Preferences v1.5.2 [3cdcf5f2] RecipesBase v1.3.4 [731186ca] RecursiveArrayTools v4.3.1 [189a3867] Reexport v1.2.2 [ae029012] Requires v1.3.1 [295af30f] Revise v3.15.1 [7e49a35a] RuntimeGeneratedFunctions v0.5.19 [0bca4576] SciMLBase v3.21.0 [19f34311] SciMLJacobianOperators v0.1.13 [a6db7da4] SciMLLogging v2.0.0 [c0aeaf25] SciMLOperators v1.22.0 [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 v2.8.0 [90137ffa] StaticArrays v1.9.18 [1e83bf80] StaticArraysCore v1.4.4 [10745b16] Statistics v1.11.1 [ec057cc2] StructUtils v2.8.2 [2efcf032] SymbolicIndexingInterface v0.3.48 [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 v1.2.0 [56f22d72] Artifacts v1.11.0 [2a0f44e3] Base64 v1.11.0 [8bf52ea8] CRC32c 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 v1.14.0 [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 [3fa0cd96] REPL 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 v1.5.3+0 [deac9b47] LibCURL_jll v8.20.0+1 [e37daf67] LibGit2_jll v1.9.4+0 [29816b5a] LibSSH2_jll v1.11.101+0 [14a3606d] MozillaCACerts_jll v2026.5.14 [4536629a] OpenBLAS_jll v0.3.33+0 [05823500] OpenLibm_jll v0.8.7+0 [458c3c95] OpenSSL_jll v3.5.7+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... initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 1.932s integrator 2 jacobian structure: 0.053s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (2.023s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.048s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 2.164s sub-objective 2 (QuadraticRegularizer): 1.742s sub-objective 3 (MinimumTimeObjective): 0.017s objective hessian structure: 4.011s hessian structure: 1749 nonzeros (4.11s) linear index maps built (0.0s) evaluator ready (total: 6.585s) evaluator created (11.559s) NL constraint bounds extracted (0.103s) NLP block data built (0.0s) Ipopt optimizer configured (0.378s) variables set (0.836s) 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 (3.057s) optimizer initialization complete (total: 16.029s) ****************************************************************************** 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...: 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 1.7195453e+00 3.47e+00 5.24e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4851903e+00 6.84e-02 2.41e+00 -0.9 2.41e+00 0.0 9.75e-01 1.00e+00h 1 2 2.2971107e+00 1.36e-02 1.23e+00 -1.0 1.98e-01 0.4 9.49e-01 8.95e-01h 1 3 2.3198491e+00 1.85e-03 6.31e-01 -1.6 1.97e-01 -0.1 9.96e-01 1.00e+00h 1 4 2.1519998e+00 1.79e-03 1.58e-01 -2.6 5.74e-02 0.4 9.98e-01 8.57e-01f 1 5 2.1134605e+00 1.12e-03 2.33e-01 -3.6 1.01e-01 -0.1 1.00e+00 3.86e-01h 1 6 2.0990212e+00 5.02e-04 3.36e-01 -3.6 1.27e-02 -0.6 1.00e+00 5.63e-01h 1 7 2.0910801e+00 1.72e-05 1.41e-02 -4.0 7.05e-03 -1.1 1.00e+00 1.00e+00h 1 8 2.0909420e+00 3.06e-08 1.07e-04 -4.0 3.67e-03 -1.5 1.00e+00 1.00e+00h 1 9 2.0909402e+00 1.02e-09 7.90e-05 -4.0 8.10e-03 -2.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909396e+00 1.51e-11 3.87e-05 -4.0 1.19e-02 -2.5 1.00e+00 1.00e+00h 1 11 2.0909377e+00 1.37e-10 2.06e-05 -4.0 1.90e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0909321e+00 1.23e-09 2.06e-05 -4.0 5.70e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0909153e+00 1.11e-08 2.06e-05 -4.0 1.71e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0908649e+00 9.96e-08 2.06e-05 -4.0 5.13e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0907137e+00 8.98e-07 2.06e-05 -4.0 1.54e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0902615e+00 8.13e-06 3.62e-05 -4.0 4.60e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0889162e+00 7.45e-05 3.22e-04 -4.0 1.37e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0849853e+00 7.07e-04 2.93e-03 -4.0 3.99e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0796430e+00 2.08e-03 1.86e-01 -4.0 1.04e+02 -6.8 1.00e+00 5.18e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0796097e+00 2.23e-03 2.04e-01 -4.1 6.70e+01 -7.3 1.00e+00 7.90e-01H 1 21 2.0774928e+00 8.51e-03 3.14e-02 -4.0 1.21e+02 -7.7 1.00e+00 9.26e-01h 1 22 2.0767104e+00 1.82e-03 6.32e-02 -4.0 2.05e+02 -8.2 1.00e+00 9.47e-01h 1 23 2.0761991e+00 2.50e-03 3.67e-02 -4.0 3.59e+02 -8.7 1.00e+00 8.55e-01h 1 24 2.0755161e+00 1.76e-03 4.52e-02 -4.0 6.14e+02 -9.2 1.00e+00 6.58e-01h 1 25 2.0757777e+00 3.06e-03 1.38e-02 -4.0 1.70e+02 -9.6 1.00e+00 1.00e+00h 1 26 2.0753805e+00 1.14e-03 5.46e-04 -4.1 8.17e+01 -10.1 1.00e+00 1.00e+00h 1 27 2.0756723e+00 4.56e-04 4.87e-06 -4.0 2.08e+01 -10.6 1.00e+00 1.00e+00h 1 28 2.0756712e+00 5.52e-07 8.98e-07 -4.0 1.08e+01 -11.1 1.00e+00 1.00e+00h 1 29 2.0756712e+00 1.59e-09 5.85e-08 -4.0 3.76e+00 -11.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0756712e+00 2.22e-11 8.98e-10 -4.0 5.35e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 2.0756712121273777e+00 2.0756712121273777e+00 Dual infeasibility......: 8.9766408545234773e-10 8.9766408545234773e-10 Constraint violation....: 2.2222002016292208e-11 2.2222002016292208e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000014e-04 1.0000000000000014e-04 Overall NLP error.......: 8.9766408545234773e-10 8.9766408545234773e-10 Number of objective function evaluations = 32 Number of objective gradient evaluations = 31 Number of equality constraint evaluations = 32 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 31 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 30 Total seconds in IPOPT = 65.077 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.06s) 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: 0.111s) evaluator created (0.111s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.188s) optimizer initialization complete (total: 0.299s) 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 3.9966688e+00 2.73e+00 9.74e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8165309e+00 4.11e-02 1.91e+00 -1.0 1.89e+00 0.0 1.00e+00 1.00e+00h 1 2 2.5522048e+00 5.27e-03 2.67e-01 -1.4 7.60e-02 0.4 9.97e-01 1.00e+00h 1 3 2.2264174e+00 3.14e-03 1.12e-01 -2.0 9.59e-02 -0.1 9.73e-01 1.00e+00f 1 4 2.1140778e+00 1.60e-03 2.60e-01 -3.1 9.73e-02 -0.5 1.00e+00 7.12e-01h 1 5 2.1003112e+00 8.65e-04 7.81e-01 -4.0 6.19e-02 -1.0 1.00e+00 4.57e-01h 1 6 2.0937699e+00 2.53e-04 5.70e-01 -3.8 3.76e-01 -1.5 1.00e+00 8.40e-01h 1 7 2.0927141e+00 2.48e-04 9.14e-01 -4.0 6.51e-01 -2.0 1.00e+00 8.71e-02h 1 8 2.0917237e+00 1.77e-04 1.34e+00 -4.0 2.74e-01 -2.4 1.00e+00 3.77e-01h 1 9 2.0908859e+00 2.31e-05 1.24e-01 -4.0 1.82e-01 -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 2.0909429e+00 1.77e-06 1.05e-03 -4.0 5.29e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909289e+00 1.13e-07 2.53e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908841e+00 7.89e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907497e+00 7.05e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903475e+00 6.38e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891499e+00 5.84e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856392e+00 5.51e-04 2.30e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796224e+00 2.32e-03 1.35e-01 -4.0 9.57e+01 -6.7 1.00e+00 6.34e-01h 1 18 2.0807526e+00 1.56e-04 1.82e-01 -4.0 6.62e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775287e+00 7.27e-03 2.48e-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 2.0769464e+00 1.14e-03 4.93e-02 -4.0 1.75e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0759882e+00 9.17e-04 2.33e-02 -4.0 3.09e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0754459e+00 4.97e-04 2.85e-02 -4.0 4.56e+02 -9.1 1.00e+00 7.25e-01H 1 23 2.0757719e+00 2.01e-03 1.09e-02 -4.0 1.38e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753807e+00 1.43e-03 4.90e-04 -4.1 7.70e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756723e+00 3.93e-04 7.04e-06 -4.0 1.79e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0753425e+00 6.29e-04 7.50e-07 -4.1 2.57e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756725e+00 3.34e-04 8.14e-07 -4.0 1.36e+01 -11.5 1.00e+00 1.00e+00h 1 28 2.0753425e+00 5.02e-04 2.61e-07 -4.1 2.05e+01 -12.0 1.00e+00 1.00e+00h 1 29 2.0756725e+00 5.53e-04 1.18e-07 -4.0 2.26e+01 -12.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0753425e+00 5.53e-04 9.06e-08 -4.1 2.26e+01 -12.9 1.00e+00 1.00e+00h 1 31 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -13.4 9.28e-01 1.00e+00h 1 32 2.0757517e+00 1.59e-01 1.53e-04 -4.0 1.29e+03 -13.9 1.00e+00 1.00e+00h 1 33 2.0753574e+00 2.64e-02 8.69e-05 -4.1 1.05e+03 -14.4 1.00e+00 1.00e+00h 1 34 2.0753474e+00 1.15e-05 2.14e-06 -4.1 1.63e+02 -14.8 1.00e+00 1.00e+00h 1 35 2.0756726e+00 7.25e-04 1.64e-07 -4.0 3.02e+01 -15.3 1.00e+00 1.00e+00h 1 36 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -15.8 1.00e+00 1.00e+00h 1 37 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -16.3 9.28e-01 1.00e+00h 1 38 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -16.8 8.16e-01 1.00e+00h 1 39 2.0742914e+00 4.02e-02 1.95e-02 -4.0 1.50e+04 -17.2 1.00e+00 1.46e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0748877e+00 5.32e-02 4.44e-05 -4.3 1.16e+03 -17.7 1.00e+00 1.00e+00h 1 41 2.0748919e+00 7.80e-04 1.27e-05 -4.3 8.19e+02 -18.2 1.00e+00 1.00e+00h 1 42 2.0756799e+00 8.81e-03 2.72e-06 -4.0 1.52e+02 -18.7 1.00e+00 1.00e+00h 1 43 2.0753438e+00 1.84e-03 6.19e-07 -4.1 7.48e+01 -19.1 1.00e+00 1.00e+00h 1 44 2.0753420e+00 1.03e-06 2.13e-08 -4.1 1.76e+01 -19.6 1.00e+00 1.00e+00h 1 45 2.0756726e+00 7.23e-04 1.61e-07 -4.0 2.96e+01 -20.0 1.00e+00 1.00e+00h 1 46 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -20.0 1.00e+00 1.00e+00h 1 47 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 48 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -20.0 8.16e-01 1.00e+00h 1 49 2.0739622e+00 1.34e-06 1.83e-05 -6.1 8.40e+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 2.0741067e+00 2.44e-02 3.22e-02 -4.0 5.48e+04 -20.0 1.00e+00 5.98e-02f 1 51 2.0748071e+00 7.96e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 52 2.0748241e+00 9.52e-04 1.02e-05 -4.3 6.22e+02 -20.0 1.00e+00 1.00e+00h 1 53 2.0748237e+00 1.04e-07 2.35e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 54 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 55 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 56 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 57 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 58 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 59 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0741065e+00 2.43e-02 3.23e-02 -4.0 5.49e+04 -20.0 1.00e+00 5.97e-02f 1 61 2.0748071e+00 7.95e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 62 2.0748240e+00 9.52e-04 1.02e-05 -4.3 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 63 2.0748236e+00 1.04e-07 2.36e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 64 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 65 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 66 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 68 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 69 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+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 70 2.0739617e+00 2.11e-08 1.94e-06 -6.1 2.49e+02 -20.0 1.00e+00 1.00e+00h 1 71 2.0740871e+00 2.06e-02 3.56e-02 -4.0 6.55e+04 -20.0 1.00e+00 5.03e-02f 1 72 2.0748016e+00 7.32e-02 4.77e-05 -4.3 1.41e+03 -20.0 1.00e+00 1.00e+00f 1 73 2.0748204e+00 9.23e-04 8.08e-06 -4.3 5.36e+02 -20.0 1.00e+00 1.00e+00h 1 74 2.0748200e+00 1.25e-07 3.57e-07 -4.3 7.03e+01 -20.0 1.00e+00 1.00e+00h 1 75 2.0740036e+00 1.08e-02 5.23e-04 -6.5 1.81e+02 -20.0 8.93e-01 1.00e+00f 1 76 2.0739632e+00 2.51e-04 3.38e-04 -6.5 7.34e+02 -20.0 7.62e-01 1.00e+00h 1 77 2.0739539e+00 4.81e-07 1.83e-05 -6.5 9.12e+02 -20.0 1.00e+00 1.00e+00h 1 78 2.0740681e+00 1.80e-02 3.75e-02 -4.0 7.10e+04 -20.0 1.00e+00 4.51e-02f 1 79 2.0747866e+00 7.58e-02 5.27e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0748068e+00 8.84e-04 6.22e-06 -4.3 4.91e+02 -20.0 1.00e+00 1.00e+00h 1 81 2.0748064e+00 1.21e-07 3.63e-07 -4.3 6.91e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 83 2.0739630e+00 2.41e-04 3.38e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 84 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 85 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 86 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 87 2.0748064e+00 8.81e-04 6.11e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 88 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0739630e+00 2.40e-04 3.37e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 91 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 92 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 93 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 94 2.0748064e+00 8.81e-04 6.10e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 95 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 97 2.0739630e+00 2.40e-04 3.37e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 98 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 99 2.0739527e+00 5.48e-08 5.24e-06 -6.5 3.94e+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 2.0740476e+00 1.42e-02 4.44e-02 -4.0 9.26e+04 -20.0 1.00e+00 3.50e-02f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0740476226011366e+00 2.0740476226011366e+00 Dual infeasibility......: 4.4440948322914668e-02 4.4440948322914668e-02 Constraint violation....: 1.4164404722585289e-02 1.4164404722585289e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.3095644031728823e-04 2.3095644031728823e-04 Overall NLP error.......: 4.4440948322914668e-02 4.4440948322914668e-02 Number of objective function evaluations = 103 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 103 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 24.653 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.058s integrator 2 jacobian structure: 0.053s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.111s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.049s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.328s sub-objective 2 (QuadraticRegularizer): 0.09s sub-objective 3 (MinimumTimeObjective): 0.017s objective hessian structure: 0.53s hessian structure: 1749 nonzeros (0.632s) linear index maps built (0.0s) evaluator ready (total: 0.744s) evaluator created (0.783s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.118s) 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 (4.502s) optimizer initialization complete (total: 5.404s) 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 4.5803813e+00 3.39e+00 4.17e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5469731e+00 2.13e-01 3.61e+00 -0.9 1.93e+00 0.0 4.48e-01 9.36e-01f 1 2 2.3964136e+00 6.26e-02 9.95e-01 -1.1 2.69e-01 0.4 9.91e-01 7.07e-01f 1 3 2.4334410e+00 2.76e-03 6.72e-01 -1.4 2.47e-01 -0.1 9.82e-01 1.00e+00h 1 4 2.2596316e+00 2.06e-02 5.10e-01 -1.7 2.67e-01 -0.5 9.16e-01 7.73e-01f 1 5 2.1979554e+00 1.56e-02 2.85e-01 -2.4 1.05e-01 -0.1 9.97e-01 2.42e-01h 1 6 2.1480492e+00 1.13e-02 2.69e-01 -2.9 1.41e-01 -0.6 1.00e+00 2.80e-01h 1 7 2.1097497e+00 5.88e-03 3.17e-01 -4.0 4.93e-02 -1.1 9.99e-01 4.78e-01h 1 8 2.0908635e+00 4.73e-04 1.32e-01 -4.0 5.27e-02 -1.5 1.00e+00 9.20e-01h 1 9 2.0908979e+00 1.18e-06 6.62e-03 -4.0 1.23e-02 -2.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908976e+00 4.83e-08 3.40e-05 -4.0 1.05e-02 -2.5 1.00e+00 1.00e+00h 1 11 2.0908957e+00 8.19e-10 2.06e-05 -4.0 1.90e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0908901e+00 1.23e-09 2.06e-05 -4.0 5.70e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908733e+00 1.10e-08 2.06e-05 -4.0 1.71e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0908229e+00 9.95e-08 2.06e-05 -4.0 5.13e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0906717e+00 8.97e-07 2.06e-05 -4.0 1.54e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0902196e+00 8.13e-06 3.62e-05 -4.0 4.60e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0888747e+00 7.45e-05 3.23e-04 -4.0 1.37e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0849450e+00 7.07e-04 2.94e-03 -4.0 3.99e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0796288e+00 2.08e-03 1.86e-01 -4.0 1.04e+02 -6.8 1.00e+00 5.16e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0801649e+00 1.36e-04 1.65e-01 -4.0 6.75e+01 -7.3 1.00e+00 1.00e+00H 1 21 2.0774273e+00 7.82e-03 2.52e-02 -4.0 1.25e+02 -7.7 1.00e+00 9.40e-01h 1 22 2.0769083e+00 1.66e-03 4.48e-02 -4.0 2.05e+02 -8.2 1.00e+00 1.00e+00h 1 23 2.0760948e+00 1.33e-03 2.66e-02 -4.0 3.51e+02 -8.7 1.00e+00 8.96e-01h 1 24 2.0755054e+00 1.56e-03 2.93e-02 -4.0 5.29e+02 -9.2 1.00e+00 6.68e-01h 1 25 2.0757478e+00 2.40e-03 1.25e-02 -4.0 1.47e+02 -9.6 1.00e+00 1.00e+00h 1 26 2.0756795e+00 2.64e-04 3.77e-04 -4.0 6.05e+01 -10.1 1.00e+00 1.00e+00h 1 27 2.0756713e+00 5.44e-06 6.63e-06 -4.0 2.28e+01 -10.6 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.03e-08 1.08e-06 -4.0 1.29e+01 -11.1 1.00e+00 1.00e+00h 1 29 2.0756712e+00 1.89e-09 7.69e-08 -4.0 3.90e+00 -11.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0756712e+00 2.63e-11 1.04e-09 -4.0 5.54e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 2.0756712121324195e+00 2.0756712121324195e+00 Dual infeasibility......: 1.0396290113241346e-09 1.0396290113241346e-09 Constraint violation....: 2.6262991781322853e-11 2.6262991781322853e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000067e-04 1.0000000000000067e-04 Overall NLP error.......: 1.0396290113241346e-09 1.0396290113241346e-09 Number of objective function evaluations = 32 Number of objective gradient evaluations = 31 Number of equality constraint evaluations = 32 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 31 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 30 Total seconds in IPOPT = 35.653 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.058s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.059s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.031s 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 (0.082s) linear index maps built (0.0s) evaluator ready (total: 0.142s) evaluator created (0.142s) 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: 0.144s) 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 3.5134105e+00 2.38e+00 1.68e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.3410920e+00 1.98e+00 5.17e+00 -0.8 2.28e+01 -2.0 1.20e-01 2.36e-01f 1 2 3.3768812e+00 1.22e+00 1.35e+01 -1.2 1.69e+01 -1.6 1.56e-01 2.73e-01h 1 3 3.3075171e+00 1.15e+00 1.40e+01 -0.2 1.70e+01 -1.1 8.51e-02 6.41e-02f 1 4 3.1221796e+00 7.88e-01 2.75e+01 -0.8 1.09e+01 -1.6 9.92e-01 3.19e-01h 1 5 2.8373994e+00 5.98e-01 1.14e+01 -0.6 1.22e+01 -2.1 9.57e-01 1.00e+00f 1 6 2.7131094e+00 8.27e-02 1.86e+01 -1.3 8.43e+00 -2.6 1.00e+00 1.00e+00h 1 7 2.5687819e+00 2.37e-01 1.17e+00 -1.3 4.10e+00 -3.1 9.56e-01 1.00e+00h 1 8 2.4055705e+00 5.17e-01 1.35e+00 -1.7 1.59e+01 -3.5 8.97e-01 1.00e+00h 1 9 2.2962257e+00 1.59e-01 4.32e-01 -2.2 8.54e+00 -4.0 9.96e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.2186361e+00 1.36e-01 1.00e-01 -2.4 1.21e+01 -4.5 9.86e-01 1.00e+00h 1 11 2.1685306e+00 2.41e-01 1.34e-01 -2.8 1.77e+01 -5.0 9.93e-01 1.00e+00h 1 12 2.1230532e+00 3.27e-01 8.04e-02 -3.6 3.14e+01 -5.4 1.00e+00 1.00e+00h 1 13 2.1398729e+00 2.46e-01 1.98e-01 -2.3 3.85e+01 -5.9 1.00e+00 9.86e-01h 1 14 2.1042898e+00 2.39e-01 1.11e-01 -2.9 4.11e+01 -6.4 1.00e+00 9.98e-01h 1 15 2.0899453e+00 9.62e-02 5.92e-02 -3.5 9.23e+01 -6.9 9.98e-01 1.00e+00h 1 16 2.0803302e+00 1.68e-02 3.26e-02 -3.7 2.49e+02 -7.4 9.77e-01 9.52e-01h 1 17 2.0863686e+00 2.54e-02 4.60e-01 -3.2 2.01e+02 -7.8 1.00e+00 7.32e-01H 1 18 2.0796937e+00 6.19e-02 2.21e-02 -4.0 1.86e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0774571e+00 3.69e-02 1.27e-02 -4.0 4.10e+02 -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 2.0787096e+00 5.05e-02 2.67e-02 -3.6 2.89e+02 -9.3 1.00e+00 1.00e+00h 1 21 2.0783080e+00 1.09e-02 3.52e-03 -3.7 1.17e+02 -9.7 1.00e+00 1.00e+00h 1 22 2.0770043e+00 1.02e-02 3.35e-04 -4.0 9.36e+01 -10.2 1.00e+00 1.00e+00h 1 23 2.0770281e+00 5.01e-05 1.35e-05 -4.0 3.43e+01 -10.7 1.00e+00 1.00e+00h 1 24 2.0770269e+00 5.88e-08 1.41e-06 -4.0 1.38e+01 -11.2 1.00e+00 1.00e+00h 1 25 2.0770269e+00 4.98e-10 3.13e-08 -4.0 2.08e+00 -11.6 1.00e+00 1.00e+00h 1 26 2.0770269e+00 1.08e-12 8.24e-11 -4.0 1.09e-01 -12.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0770268609811415e+00 2.0770268609811415e+00 Dual infeasibility......: 8.2388397861822560e-11 8.2388397861822560e-11 Constraint violation....: 1.0841327835464654e-12 1.0841327835464654e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000011e-04 1.0000000000000011e-04 Overall NLP error.......: 8.2388397861822560e-11 8.2388397861822560e-11 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 = 25.085 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.061s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.053s) linear index maps built (0.0s) evaluator ready (total: 0.115s) evaluator created (0.115s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: bounds on Δt applying constraint: per-timestep equality constraint on trajectory variable u linear constraints added: 3 (0.05s) optimizer initialization complete (total: 0.166s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 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 3.6747358e+00 2.57e+00 1.92e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 5.1591861e+00 7.51e-01 1.88e+01 -0.6 1.41e+01 - 6.44e-01 6.70e-01h 1 2 4.7652315e+00 7.15e-01 9.30e+03 0.2 8.50e+01 0.0 1.34e-01 7.31e-02f 1 3 5.0412429e+00 6.84e-01 2.07e+04 1.4 1.33e+02 0.4 9.98e-01 4.01e-02h 1 4 1.9542240e+01 2.46e+00 1.32e+05 2.4 8.56e+01 -0.1 9.69e-02 3.66e-01f 1 5 1.8502611e+01 1.40e+00 4.04e+06 1.7 3.84e+01 2.2 1.43e-02 7.35e-01h 1 6 2.6520934e+01 2.59e+00 2.35e+06 1.8 6.07e+01 1.7 1.00e+00 1.00e+00f 1 7 2.3371470e+01 1.55e+00 2.52e+06 1.8 5.66e+00 3.9 2.20e-01 4.12e-01h 1 8 2.6929159e+01 3.09e-01 1.83e+06 1.8 4.41e+00 3.5 1.00e+00 1.00e+00f 1 9 3.6945004e+01 1.81e-01 7.73e+05 0.9 3.01e+00 3.9 1.00e+00 8.63e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 3.6916822e+01 4.58e-03 3.67e+06 2.4 1.09e+00 3.4 1.00e+00 1.00e+00f 1 11 3.9671706e+01 5.53e-03 7.52e+05 1.2 6.66e-01 2.9 1.00e+00 1.00e+00h 1 12 3.9715393e+01 5.64e-06 1.93e+03 -0.2 1.77e-02 2.5 1.00e+00 1.00e+00h 1 13 3.9394962e+01 4.09e-06 4.33e+00 -1.4 4.21e-02 2.0 1.00e+00 1.00e+00f 1 14 3.8801768e+01 3.64e-05 2.59e+00 -2.7 8.22e-02 1.5 1.00e+00 1.00e+00f 1 15 3.7881542e+01 3.08e-04 1.74e+00 -4.0 1.66e-01 1.0 1.00e+00 1.00e+00f 1 16 3.5908287e+01 2.31e-03 1.80e+00 -4.0 4.50e-01 0.5 1.00e+00 1.00e+00f 1 17 3.1910786e+01 1.30e-02 9.12e+00 -4.0 1.05e+00 0.1 1.00e+00 1.00e+00f 1 18 2.6438801e+01 4.31e-02 2.37e+01 -4.0 1.81e+00 -0.4 1.00e+00 1.00e+00f 1 19 2.1381980e+01 7.12e-02 2.50e+01 -4.0 2.76e+00 -0.9 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.6899394e+01 3.66e-02 1.02e+01 -4.0 5.10e+00 -1.4 1.00e+00 1.00e+00f 1 21 1.1391117e+01 6.17e-01 1.74e+01 -3.8 1.05e+01 -1.8 1.00e+00 1.00e+00f 1 22 1.1675183e+01 1.49e-01 1.32e+01 -3.3 6.31e+00 -1.4 1.00e+00 7.15e-01h 1 23 1.1301698e+01 5.49e-02 1.09e+00 -3.0 1.39e+00 -1.0 1.00e+00 1.00e+00h 1 24 7.9198150e+00 1.92e+00 3.22e+01 -2.0 2.33e+03 - 3.20e-02 2.12e-02f 4 25 7.1340027e+00 1.78e+00 2.94e+01 -1.5 7.32e+00 -0.6 1.00e+00 7.25e-02f 1 26 8.2711385e+00 2.81e+00 6.35e+02 -0.5 1.77e+01 -1.0 1.00e+00 9.76e-01f 1 27 7.0211728e+00 1.46e+00 3.81e+02 -0.6 3.19e+00 0.3 1.00e+00 6.25e-01f 1 28 7.0187420e+00 1.41e+00 3.23e+03 0.8 1.03e+01 -0.2 9.70e-01 3.07e-02h 1 29 7.0117086e+00 1.41e+00 1.94e+06 0.7 7.13e+02 -0.7 1.00e+00 1.96e-03h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 7.1038640e+00 1.31e+00 6.76e+05 0.9 8.46e+02 -1.1 1.00e+00 7.17e-02f 2 31 1.0229901e+01 1.05e+00 2.64e+05 1.1 7.85e+02 -1.6 4.50e-01 1.96e-01f 2 32 2.3869814e+01 1.44e+00 3.04e+05 1.1 5.40e+02 - 7.70e-03 3.55e-01f 2 33 4.3037320e+01 1.53e+00 9.81e+04 1.1 3.84e+02 - 1.00e+00 5.43e-01H 1 34 8.0615337e+01 1.66e-01 1.09e+04 1.1 2.77e+02 - 8.48e-01 1.00e+00h 1 35 7.7191150e+01 3.81e-04 6.39e+02 1.1 2.30e+01 -2.1 1.00e+00 1.00e+00f 1 36 2.1055486e+01 3.03e+00 1.53e+04 1.1 1.02e+03 - 1.70e-01 1.00e+00F 1 37 2.1066032e+01 2.85e+00 7.16e+03 1.1 1.81e+02 -1.7 1.00e+00 9.32e-02h 2 38 2.1121283e+01 2.73e+00 6.77e+03 1.1 1.90e+02 -2.1 1.00e+00 7.47e-02h 2 39 2.2231968e+01 2.69e+00 8.41e+03 1.1 1.18e+03 - 1.34e-01 6.76e-02h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.2212652e+01 2.68e+00 6.60e+02 1.1 2.35e+03 -2.6 4.30e-01 1.17e-02h 2 41 2.2322055e+01 2.65e+00 1.15e+04 1.1 8.20e+02 -3.1 1.00e+00 1.24e-02h 5 42 2.4110801e+01 2.67e+00 1.11e+04 1.1 1.44e+03 - 8.41e-02 7.74e-02f 3 43 2.6483918e+01 2.75e+00 1.22e+04 1.1 3.62e+03 -3.6 5.42e-02 4.59e-02f 3 44 2.9745074e+01 2.54e+00 4.75e+03 1.1 6.97e+01 -1.3 1.00e+00 1.00e+00F 1 45 2.3378544e+01 7.37e-01 5.22e+03 1.1 4.64e+01 - 9.83e-01 1.00e+00f 1 46 1.6672069e+01 4.90e+00 6.12e+03 1.1 5.26e+02 - 1.00e+00 1.00e+00f 1 47 1.2411181e+01 4.31e+00 1.08e+04 1.1 1.24e+02 -1.8 7.28e-01 1.30e-01f 3 48 1.6621839e+01 1.38e+00 1.31e+02 1.1 3.43e+02 - 7.16e-01 1.00e+00h 1 49 1.3185368e+01 1.50e-01 2.38e+01 1.1 3.11e+01 -2.3 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 1.0769305e+01 1.51e-01 1.20e+02 0.4 4.75e+01 -2.8 9.01e-01 1.00e+00f 1 51 6.8608462e+00 9.48e-01 2.86e+01 -0.6 1.60e+02 -3.3 1.00e+00 5.00e-01f 2 52 5.4413680e+00 4.61e-01 1.08e+01 -1.1 9.34e+00 -1.9 1.00e+00 1.00e+00f 1 53 5.4605986e+00 5.47e-01 3.47e+00 -1.2 1.09e+01 - 9.96e-01 5.60e-01h 1 54 6.1105800e+00 1.29e+00 1.57e+03 0.4 6.21e+02 -2.4 1.00e+00 3.99e-02f 2 55 6.4734867e+00 1.24e+00 1.12e+02 0.7 3.50e+01 - 5.87e-01 5.00e-01f 2 56 7.1924257e+00 5.47e-01 4.22e+01 0.7 2.48e+01 - 1.00e+00 1.00e+00F 1 57 6.3598185e+00 7.24e-02 6.08e+00 -0.6 2.55e+00 -1.1 1.00e+00 1.00e+00f 1 58 5.6678957e+00 1.59e-01 1.94e+00 -1.2 3.48e+00 - 6.98e-01 1.00e+00f 1 59 5.9439941e+00 3.17e-02 4.07e-01 -1.8 9.48e-01 - 9.62e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 5.9203593e+00 1.03e-02 5.90e-02 -2.7 5.08e-01 - 9.98e-01 1.00e+00h 1 61 5.9407748e+00 1.25e-03 3.93e-03 -3.9 1.55e-01 - 9.99e-01 1.00e+00h 1 62 5.9440649e+00 4.44e-05 1.48e-04 -4.0 1.45e-02 - 1.00e+00 1.00e+00h 1 63 5.9441454e+00 6.16e-08 2.07e-07 -4.0 5.26e-04 - 1.00e+00 1.00e+00h 1 64 5.9441454e+00 1.28e-13 4.26e-13 -4.0 7.61e-07 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 64 (scaled) (unscaled) Objective...............: 5.9441454454119089e+00 5.9441454454119089e+00 Dual infeasibility......: 4.2632434041345313e-13 4.2632434041345313e-13 Constraint violation....: 1.2800871473928055e-13 1.2800871473928055e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000013219935e-04 1.0000000013219935e-04 Overall NLP error.......: 4.2632434041345313e-13 4.2632434041345313e-13 Number of objective function evaluations = 113 Number of objective gradient evaluations = 65 Number of equality constraint evaluations = 113 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 65 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 64 Total seconds in IPOPT = 25.478 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.057s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.058s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.053s) linear index maps built (0.0s) evaluator ready (total: 0.112s) evaluator created (0.112s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: equality constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.0s) optimizer initialization complete (total: 0.113s) 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 2.7723802e+00 3.19e+00 3.12e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5094677e+00 1.36e-01 2.57e+00 -0.8 2.11e+00 0.0 1.00e+00 9.58e-01h 1 2 2.5110740e+00 8.44e-02 3.22e+00 -0.5 1.13e+00 -0.5 6.52e-01 3.80e-01f 1 3 2.6657791e+00 5.24e-02 1.83e+00 -0.9 7.00e-01 -1.0 8.92e-01 1.00e+00f 1 4 2.7736393e+00 5.17e-02 1.36e+01 1.1 1.74e+02 -0.5 2.47e-02 1.01e-03f 3 5 3.2913910e+00 3.17e-01 1.55e+00 -0.4 1.85e+00 -1.0 9.20e-01 1.00e+00f 1 6 2.7539183e+00 4.77e-02 8.69e-01 -1.1 2.50e-01 -0.6 6.45e-01 1.00e+00h 1 7 2.4516509e+00 1.07e-02 6.09e-02 -1.4 1.73e-01 -1.1 1.00e+00 9.34e-01h 1 8 2.1244980e+00 9.17e-03 3.22e-02 -2.8 1.50e-01 -1.5 8.57e-01 1.00e+00f 1 9 2.0918864e+00 2.32e-04 9.73e-03 -3.7 3.50e-02 -2.0 9.32e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908850e+00 1.15e-06 2.79e-05 -4.0 6.42e-03 -2.5 1.00e+00 1.00e+00h 1 11 2.0908819e+00 6.84e-09 2.06e-05 -4.0 1.90e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0908763e+00 1.22e-09 2.06e-05 -4.0 5.70e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908595e+00 1.10e-08 2.06e-05 -4.0 1.71e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0908090e+00 9.95e-08 2.06e-05 -4.0 5.13e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0906579e+00 8.97e-07 2.06e-05 -4.0 1.54e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0902059e+00 8.13e-06 3.62e-05 -4.0 4.60e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0888610e+00 7.45e-05 3.23e-04 -4.0 1.37e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0849318e+00 7.07e-04 2.94e-03 -4.0 3.99e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0796289e+00 2.07e-03 1.86e-01 -4.0 1.04e+02 -6.8 1.00e+00 5.15e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0801763e+00 1.50e-04 1.69e-01 -4.0 6.61e+01 -7.3 1.00e+00 1.00e+00H 1 21 2.0773893e+00 8.10e-03 2.50e-02 -4.0 1.25e+02 -7.7 1.00e+00 9.54e-01h 1 22 2.0770174e+00 1.85e-03 5.33e-02 -4.0 2.08e+02 -8.2 1.00e+00 1.00e+00h 1 23 2.0760927e+00 3.25e-03 2.07e-02 -4.0 3.51e+02 -8.7 1.00e+00 9.02e-01h 1 24 2.0755460e+00 1.54e-03 2.42e-02 -4.0 4.63e+02 -9.2 1.00e+00 7.07e-01h 1 25 2.0757327e+00 2.75e-03 9.90e-03 -4.0 1.30e+02 -9.6 1.00e+00 1.00e+00h 1 26 2.0753654e+00 1.23e-03 3.27e-04 -4.1 6.49e+01 -10.1 1.00e+00 1.00e+00h 1 27 2.0756724e+00 4.84e-04 5.52e-06 -4.0 2.12e+01 -10.6 1.00e+00 1.00e+00h 1 28 2.0756712e+00 5.82e-07 9.16e-07 -4.0 1.08e+01 -11.1 1.00e+00 1.00e+00h 1 29 2.0756712e+00 1.59e-09 5.82e-08 -4.0 3.72e+00 -11.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0756712e+00 2.18e-11 8.72e-10 -4.0 5.27e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 2.0756712121267191e+00 2.0756712121267191e+00 Dual infeasibility......: 8.7209673819499747e-10 8.7209673819499747e-10 Constraint violation....: 2.1834645203000491e-11 2.1834645203000491e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000049e-04 1.0000000000000049e-04 Overall NLP error.......: 8.7209673819499747e-10 8.7209673819499747e-10 Number of objective function evaluations = 35 Number of objective gradient evaluations = 31 Number of equality constraint evaluations = 35 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 31 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 30 Total seconds in IPOPT = 23.800 EXIT: Optimal Solution Found. Difference in Jacobian NonlinearKnotPointConstraint - single variable with vector syntax: Test Failed at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/src/constraints/_constraints.jl:229 Expression: all(isapprox.(triu(μ∂²g), triu(μ∂²g_finite_diff), atol = atol)) Evaluated: all(sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10 … 101, 102, 103, 104, 105, 106, 107, 108, 109, 110], [1, 1, 1, 1, 1, 1, 1, 1, 1, 1 … 110, 110, 110, 110, 110, 110, 110, 110, 110, 110], Bool[1, 1, 1, 1, 1, 1, 1, 1, 1, 1 … 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], 110, 110)) Stacktrace: [1] macro expansion @ /opt/julia/share/julia/stdlib/v1.14/Test/src/Test.jl:784 [inlined] [2] test_constraint(constraint::NonlinearKnotPointConstraint{DirectTrajOpt.Constraints.var"#39#40"{typeof(Main.var"##157".g)}}, traj::NamedTrajectories.StructNamedTrajectory.NamedTrajectory{Float64, (:x, :u, :du, :ddu, :Δt), NTuple{5, Int64}, (:u, :Δt), Tuple{Tuple{Vector{Float64}, Vector{Float64}}, Tuple{Vector{Float64}, Vector{Float64}}}, (:x, :u), Tuple{Vector{Float64}, Vector{Float64}}, (:u,), Tuple{Vector{Float64}}, (:x,), Tuple{Vector{Float64}}, (:x, :u, :du, :ddu, :Δt), NTuple{5, UnitRange{Int64}}, NTuple{5, Symbol}, Tuple{Symbol, Symbol, Symbol}, Tuple{Symbol, Symbol}, (), Tuple{}, (), Tuple{}, Tuple{}}; show_jacobian_diff::Bool, show_hessian_diff::Bool, test_equality::Bool, atol::Float64, rtol::Float64) @ DirectTrajOpt.Constraints ~/.julia/packages/DirectTrajOpt/TIf6x/src/constraints/_constraints.jl:229 NonlinearKnotPointConstraint - single variable with vector syntax: Test Failed at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/src/constraints/_constraints.jl:229 Expression: all(isapprox.(triu(μ∂²g), triu(μ∂²g_finite_diff), atol = atol)) Evaluated: all(sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10 … 101, 102, 103, 104, 105, 106, 107, 108, 109, 110], [1, 1, 1, 1, 1, 1, 1, 1, 1, 1 … 110, 110, 110, 110, 110, 110, 110, 110, 110, 110], Bool[1, 1, 1, 1, 1, 1, 1, 1, 1, 1 … 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], 110, 110)) Stacktrace: [1] macro expansion @ /opt/julia/share/julia/stdlib/v1.14/Test/src/Test.jl:784 [inlined] [2] test_constraint(constraint::NonlinearKnotPointConstraint{DirectTrajOpt.Constraints.var"#39#40"{typeof(Main.var"##157".g)}}, traj::NamedTrajectories.StructNamedTrajectory.NamedTrajectory{Float64, (:x, :u, :du, :ddu, :Δt), NTuple{5, Int64}, (:u, :Δt), Tuple{Tuple{Vector{Float64}, Vector{Float64}}, Tuple{Vector{Float64}, Vector{Float64}}}, (:x, :u), Tuple{Vector{Float64}, Vector{Float64}}, (:u,), Tuple{Vector{Float64}}, (:x,), Tuple{Vector{Float64}}, (:x, :u, :du, :ddu, :Δt), NTuple{5, UnitRange{Int64}}, NTuple{5, Symbol}, Tuple{Symbol, Symbol, Symbol}, Tuple{Symbol, Symbol}, (), Tuple{}, (), Tuple{}, Tuple{}}; show_jacobian_diff::Bool, show_hessian_diff::Bool, test_equality::Bool, atol::Float64, rtol::Float64) @ DirectTrajOpt.Constraints ~/.julia/packages/DirectTrajOpt/TIf6x/src/constraints/_constraints.jl:229 ┌ Error: Invalid options argument (an instance of String, not a subtype of AbstractSolverOptions) └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/solve.jl:78 ┌ Error: No solver backend with matching options argument type (an instance of Main.var"##171"._FakeSolverOptions) └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/TIf6x/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 (0.064s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.053s) linear index maps built (0.0s) evaluator ready (total: 0.117s) evaluator created (0.118s) 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 (2.156s) optimizer initialization complete (total: 2.274s) 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 3.2452939e+00 3.06e+00 1.85e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9235469e+00 4.49e-02 6.57e-01 -1.1 2.48e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3933237e+00 1.50e-02 1.22e-01 -1.5 2.02e-01 -1.6 8.99e-01 1.00e+00h 1 3 2.1668043e+00 5.30e-03 1.58e-01 -2.4 9.95e-02 -1.1 9.58e-01 1.00e+00h 1 4 2.0944149e+00 4.85e-04 7.21e-02 -3.8 4.63e-02 -1.6 1.00e+00 9.37e-01h 1 5 2.0913708e+00 2.46e-04 8.42e-01 -4.0 8.41e-01 -2.1 1.00e+00 5.01e-01h 1 6 2.0911685e+00 1.35e-04 1.24e-01 -4.0 6.35e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0907491e+00 1.10e-05 3.67e-02 -4.0 1.62e-01 -3.1 1.00e+00 9.76e-01h 1 8 2.0909387e+00 5.46e-06 8.35e-04 -4.0 7.02e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909220e+00 3.17e-07 2.05e-05 -4.0 2.10e-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 2.0908604e+00 1.46e-07 2.05e-05 -4.0 6.29e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0906789e+00 1.29e-06 4.94e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0901617e+00 1.09e-05 4.18e-04 -4.0 5.43e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888245e+00 8.16e-05 3.14e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861484e+00 4.37e-04 1.73e-02 -4.0 3.45e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830908e+00 9.09e-04 4.69e-02 -4.0 5.29e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828798e+00 9.34e-04 2.44e-02 -4.0 5.40e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823494e+00 4.15e-04 1.00e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820401e+00 9.13e-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 8.69e-03 -4.0 9.93e+01 -8.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0819393e+00 3.69e-05 8.47e-04 -4.0 3.11e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.34e-07 1.39e-05 -4.0 4.47e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.87e-10 3.30e-08 -4.0 2.46e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.54e-13 1.23e-11 -4.0 4.62e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907191040e+00 2.0819382907191040e+00 Dual infeasibility......: 1.2297027518438572e-11 1.2297027518438572e-11 Constraint violation....: 2.5401902803423582e-13 2.5401902803423582e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000026e-04 1.0000000000000026e-04 Overall NLP error.......: 1.2297027518438572e-11 1.2297027518438572e-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 = 24.729 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.058s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.059s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.052s) linear index maps built (0.0s) evaluator ready (total: 0.112s) 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 (0.062s) optimizer initialization complete (total: 0.175s) 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 1.9177971e+00 2.99e+00 2.43e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8870433e+00 1.74e-02 4.08e-01 -1.0 3.19e+00 -2.0 9.83e-01 1.00e+00h 1 2 2.3353477e+00 1.26e-02 5.12e-02 -1.7 1.90e-01 -1.6 9.65e-01 1.00e+00h 1 3 2.1347006e+00 2.58e-03 1.41e-01 -3.5 9.22e-02 -1.1 9.36e-01 9.48e-01h 1 4 2.1022983e+00 8.36e-04 2.54e-01 -3.7 1.48e-01 -1.6 1.00e+00 7.30e-01h 1 5 2.0937620e+00 5.20e-04 4.29e-01 -4.0 3.79e-01 -2.1 1.00e+00 4.85e-01h 1 6 2.0917007e+00 1.89e-04 6.92e-01 -4.0 7.58e-01 -2.6 1.00e+00 4.44e-01h 1 7 2.0908729e+00 6.71e-05 7.10e-02 -4.0 7.73e-01 -3.1 1.00e+00 1.00e+00h 1 8 2.0908651e+00 1.96e-06 1.89e-03 -4.0 6.84e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908565e+00 9.45e-07 3.79e-05 -4.0 1.92e-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 2.0908155e+00 9.20e-08 1.87e-04 -4.0 5.03e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907156e+00 6.08e-07 6.34e-04 -4.0 1.32e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904314e+00 5.89e-06 5.15e-04 -4.0 4.15e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0903070e+00 8.11e-07 5.87e-04 -4.0 1.55e+00 -5.0 1.00e+00 1.00e+00h 1 14 2.0901645e+00 1.44e-06 1.94e-02 -4.0 6.37e+00 -5.5 1.00e+00 2.21e-01h 2 15 2.0890101e+00 6.24e-05 2.44e-03 -4.0 1.37e+01 -6.0 1.00e+00 1.00e+00h 1 16 2.0870870e+00 2.07e-04 4.66e-02 -4.0 3.72e+01 -6.4 1.00e+00 6.26e-01h 1 17 2.0836274e+00 1.45e-03 5.39e-02 -4.0 6.37e+01 -6.9 1.00e+00 1.00e+00h 1 18 2.0826802e+00 2.39e-04 9.06e-03 -4.0 8.98e+00 -6.5 1.00e+00 7.91e-01h 1 19 2.0827901e+00 7.54e-05 6.87e-03 -4.0 2.83e+01 -7.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0825040e+00 2.73e-04 2.98e-03 -4.0 7.37e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0821293e+00 8.52e-04 8.82e-03 -4.0 1.74e+02 -7.9 6.35e-01 1.00e+00h 1 22 2.0823183e+00 8.62e-04 9.04e-03 -4.0 1.06e+03 -8.4 6.40e-03 2.54e-02h 4 23 2.0820612e+00 2.83e-04 2.12e-01 -4.1 4.47e-01 -4.4 1.00e+00 6.92e-01h 1 24 2.0819559e+00 2.43e-04 5.90e-01 -4.0 4.44e-01 -4.8 1.00e+00 1.97e-01f 1 25 2.0821331e+00 5.37e-05 5.66e-04 -4.0 9.03e-01 -5.3 1.00e+00 1.00e+00h 1 26 2.0820088e+00 4.32e-05 6.52e-04 -4.0 4.38e+00 -5.8 1.00e+00 1.00e+00h 1 27 2.0826596e+00 1.55e-09 1.42e-02 -4.0 1.12e+01 -6.3 5.04e-01 1.00e+00H 1 28 2.0821983e+00 3.02e-07 3.48e-03 -4.0 6.25e-02 -1.3 1.00e+00 1.00e+00f 1 29 2.0819085e+00 4.99e-07 6.65e-04 -4.0 1.13e-01 -1.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0819640e+00 2.67e-07 3.44e-04 -4.0 2.63e-02 -2.3 1.00e+00 1.00e+00h 1 31 2.0819760e+00 1.29e-07 2.21e-05 -4.0 1.33e-02 -2.8 1.00e+00 1.00e+00h 1 32 2.0819793e+00 6.20e-08 7.92e-06 -4.0 1.39e-02 -3.2 1.00e+00 1.00e+00h 1 33 2.0819824e+00 3.70e-08 7.86e-06 -4.0 4.14e-02 -3.7 1.00e+00 1.00e+00h 1 34 2.0819908e+00 2.65e-07 7.65e-06 -4.0 1.21e-01 -4.2 1.00e+00 1.00e+00h 1 35 2.0818736e+00 8.96e-06 1.31e-04 -4.1 2.85e-01 -4.7 1.00e+00 1.00e+00h 1 36 2.0820500e+00 6.22e-05 4.63e-04 -4.0 1.28e+00 -5.2 1.00e+00 1.00e+00h 1 37 2.0823312e+00 9.35e-07 1.21e-01 -4.1 6.13e+00 -5.6 5.44e-01 1.00e+00H 1 38 2.0818968e+00 4.06e-07 9.57e-02 -4.1 1.08e-01 -1.6 1.00e+00 8.30e-01H 1 39 2.0822621e+00 1.59e-06 1.60e-03 -4.0 3.00e-02 -2.1 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0820544e+00 3.80e-07 3.11e-04 -4.1 4.50e-02 -2.5 1.00e+00 1.00e+00h 1 41 2.0814378e+00 3.13e-06 6.40e-02 -6.1 8.90e-02 -3.0 7.54e-01 1.00e+00h 1 42 2.0822561e+00 9.89e-06 2.05e-03 -4.0 1.62e-01 -3.5 1.00e+00 1.00e+00f 1 43 2.0819795e+00 7.08e-06 2.78e-04 -4.1 1.35e-01 -4.0 1.00e+00 1.00e+00h 1 44 2.0813761e+00 4.68e-05 4.75e-02 -6.1 4.71e-01 -4.5 8.33e-01 1.00e+00h 1 45 2.0816173e+00 3.27e-05 3.59e+00 -3.5 8.71e+00 -4.9 1.00e+00 7.98e-02f 1 46 2.0841416e+00 3.12e-03 2.15e-02 -3.7 5.51e+00 -5.4 1.00e+00 1.00e+00f 1 47 2.0834361e+00 1.77e-03 9.60e-03 -3.7 6.48e+00 -5.9 1.00e+00 1.00e+00h 1 48 2.0833383e+00 2.37e-04 3.85e-03 -3.7 4.36e+00 -6.4 1.00e+00 1.00e+00h 1 49 2.0834751e+00 3.14e-05 9.12e-04 -3.7 6.81e+00 -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 50 2.0809932e+00 8.43e-03 1.56e-02 -5.5 3.98e+01 -7.3 9.65e-01 1.00e+00h 1 51 2.0819567e+00 3.57e-03 5.71e-03 -4.0 3.43e+01 -7.8 1.00e+00 1.00e+00h 1 52 2.0816191e+00 1.37e-03 1.77e-03 -4.1 4.64e+01 -8.3 1.00e+00 1.00e+00h 1 53 2.0815909e+00 4.43e-05 1.56e-03 -4.1 4.35e+01 -8.7 1.00e+00 1.00e+00h 1 54 2.0815873e+00 6.43e-06 1.66e-04 -4.1 1.72e+01 -9.2 1.00e+00 1.00e+00h 1 55 2.0818394e+00 1.74e-04 2.58e-05 -4.0 8.19e+00 -9.7 1.00e+00 1.00e+00h 1 56 2.0815805e+00 2.08e-04 1.31e-05 -4.1 9.48e+00 -10.2 1.00e+00 1.00e+00h 1 57 2.0805901e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -10.7 9.78e-01 9.71e-01h 1 58 2.0818881e+00 6.55e-03 3.13e-04 -4.0 6.09e+01 -11.1 1.00e+00 1.00e+00f 1 59 2.0816141e+00 4.87e-04 9.48e-06 -4.1 2.07e+01 -11.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0805990e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -12.1 9.76e-01 9.65e-01h 1 61 2.0805508e+00 8.46e-05 2.25e-06 -6.1 1.69e+01 -12.6 1.00e+00 1.00e+00h 1 62 2.0819793e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -13.0 1.00e+00 1.00e+00f 1 63 2.0816850e+00 9.29e-04 4.92e-05 -4.1 4.57e+01 -13.5 1.00e+00 1.00e+00h 1 64 2.0816490e+00 4.77e-07 7.46e-07 -4.1 8.50e+00 -14.0 1.00e+00 1.00e+00h 1 65 2.0818389e+00 1.13e-04 4.87e-06 -4.0 7.02e+00 -14.5 1.00e+00 1.00e+00h 1 66 2.0815801e+00 2.08e-04 9.04e-06 -4.1 9.49e+00 -15.0 1.00e+00 1.00e+00h 1 67 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -15.4 9.78e-01 9.71e-01h 1 68 2.0805497e+00 6.51e-05 1.78e-06 -6.1 1.55e+01 -15.9 1.00e+00 1.00e+00h 1 69 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -16.4 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0816901e+00 9.49e-04 5.23e-05 -4.1 4.72e+01 -16.9 1.00e+00 1.00e+00h 1 71 2.0816518e+00 5.68e-07 7.86e-07 -4.1 8.91e+00 -17.3 1.00e+00 1.00e+00h 1 72 2.0805907e+00 3.69e-03 1.61e-04 -6.1 4.17e+01 -17.8 9.77e-01 9.75e-01h 1 73 2.0805511e+00 6.76e-05 1.95e-06 -6.1 1.62e+01 -18.3 1.00e+00 1.00e+00h 1 74 2.0805469e+00 4.72e-08 2.03e-08 -6.1 2.96e+00 -18.8 1.00e+00 1.00e+00h 1 75 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.88e+01 -19.2 1.00e+00 1.00e+00f 1 76 2.0817176e+00 1.03e-03 6.82e-05 -4.1 5.46e+01 -19.7 1.00e+00 1.00e+00h 1 77 2.0816664e+00 1.23e-06 1.00e-06 -4.1 1.09e+01 -20.0 1.00e+00 1.00e+00h 1 78 2.0805915e+00 3.77e-03 1.67e-04 -6.1 4.21e+01 -20.0 9.76e-01 9.75e-01h 1 79 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805471e+00 5.00e-08 2.15e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 81 2.0805365e+00 9.59e-07 8.07e-07 -9.0 9.59e-01 -20.0 1.00e+00 9.97e-01h 1 82 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 83 2.0817324e+00 1.07e-03 7.73e-05 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 84 2.0816741e+00 1.68e-06 1.10e-06 -4.1 1.18e+01 -20.0 1.00e+00 1.00e+00h 1 85 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 86 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 87 2.0805472e+00 5.16e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 88 2.0805365e+00 9.80e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 89 2.0805365e+00 9.37e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 91 2.0817328e+00 1.07e-03 7.75e-05 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0816743e+00 1.69e-06 1.10e-06 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 93 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 94 2.0805516e+00 7.08e-05 2.06e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 95 2.0805472e+00 5.17e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 9.81e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 97 2.0805365e+00 9.39e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 4.44e-16 3.37e-16 -9.0 1.11e-05 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 8.88e-16 2.22e-16 -9.0 1.94e-12 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805365e+00 2.22e-16 2.41e-16 -9.0 1.11e-13 -20.0 1.00e+00 1.00e+00 0 101 2.0805365e+00 8.88e-16 2.03e-16 -9.0 6.79e-14 -20.0 1.00e+00 1.00e+00T 0 Number of Iterations....: 101 (scaled) (unscaled) Objective...............: 2.0805364715330508e+00 2.0805364715330508e+00 Dual infeasibility......: 2.0309745975833971e-16 2.0309745975833971e-16 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 9.0909103283437487e-09 9.0909103283437487e-09 Complementarity.........: 9.0909090969342984e-10 9.0909090969342984e-10 Overall NLP error.......: 9.9999090909091523e-05 9.9999090909091523e-05 Number of objective function evaluations = 113 Number of objective gradient evaluations = 102 Number of equality constraint evaluations = 113 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 102 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 102 Total seconds in IPOPT = 25.658 EXIT: Search Direction is becoming Too Small. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.055s jacobian structure: 180 nonzeros (0.088s) integrator 1 hessian structure: 0.052s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.32s sub-objective 2 (QuadraticRegularizer): 0.089s sub-objective 3 (MinimumTimeObjective): 0.017s objective hessian structure: 0.52s hessian structure: 375 nonzeros (0.572s) linear index maps built (0.0s) evaluator ready (total: 0.788s) evaluator created (1.256s) NL constraint bounds extracted (0.011s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.114s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.315s) optimizer initialization complete (total: 4.697s) 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 2.1797063e+00 7.55e-01 1.11e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.0959266e+00 1.39e-01 1.70e+00 -0.9 7.55e-01 0.0 1.00e+00 1.00e+00h 1 2 2.0365108e+00 7.52e-02 1.71e+00 -0.6 3.31e+00 - 7.02e-01 4.58e-01H 1 3 1.9589525e+00 3.75e-02 8.28e-01 -1.0 4.23e-01 -0.5 9.76e-01 5.01e-01h 1 4 1.4755863e+00 1.60e-02 3.72e-01 -1.3 6.19e-01 -1.0 7.95e-01 5.73e-01F 1 5 1.2183155e+00 2.19e-03 1.05e-01 -2.0 2.19e+00 - 9.89e-01 8.89e-01h 1 6 1.1010365e+00 5.70e-05 4.02e-03 -3.4 8.72e-02 - 1.00e+00 9.74e-01h 1 7 1.0913032e+00 1.06e-06 3.79e-02 -4.0 1.58e+00 - 1.00e+00 1.00e+00h 1 8 1.0908904e+00 5.31e-09 3.52e-03 -4.0 5.73e-01 - 1.00e+00 1.00e+00h 1 9 1.0908998e+00 2.65e-13 3.60e-06 -4.0 1.86e-02 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0908997e+00 2.91e-22 2.98e-12 -4.0 1.69e-05 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 1.0908997263264280e+00 1.0908997263264280e+00 Dual infeasibility......: 2.9763835981359149e-12 2.9763835981359149e-12 Constraint violation....: 2.9125043740581820e-22 2.9125043740581820e-22 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 2.9763835981359149e-12 2.9763835981359149e-12 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 = 25.166 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.062s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.369s jacobian structure: 1600 nonzeros (2.432s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.504s 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 (3.559s) linear index maps built (0.0s) evaluator ready (total: 5.991s) evaluator created (6.017s) 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: 6.019s) 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 2.6702880e+00 2.59e+00 1.21e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7655540e+00 1.03e-01 2.97e+00 -0.9 1.89e+00 0.0 9.80e-01 1.00e+00f 1 2 2.7205738e+00 1.45e-01 1.41e+00 -0.7 1.63e+00 -0.5 7.13e-01 4.45e-01h 1 3 2.5723383e+00 7.09e-02 6.44e-01 -0.8 3.60e-01 -0.1 7.42e-01 6.49e-01h 1 4 2.4740308e+00 7.12e-03 2.19e-01 -1.8 1.56e-01 -0.5 9.26e-01 1.00e+00h 1 5 2.1836816e+00 8.28e-03 6.73e-02 -2.0 2.07e-01 -1.0 9.70e-01 9.71e-01h 1 6 2.1034685e+00 1.02e-03 2.08e-02 -2.9 7.37e-02 -1.5 9.78e-01 9.16e-01h 1 7 2.0909937e+00 1.29e-05 2.26e-03 -4.0 7.82e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908550e+00 7.26e-08 1.69e-04 -4.0 4.72e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908462e+00 3.24e-10 2.66e-05 -4.0 2.18e-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 2.0908418e+00 5.35e-10 1.59e-05 -4.0 3.92e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908319e+00 4.27e-09 1.57e-05 -4.0 1.16e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908040e+00 3.55e-08 2.29e-05 -4.0 3.39e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907245e+00 2.95e-07 6.45e-05 -4.0 9.87e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0903941e+00 3.53e-06 1.21e-03 -4.0 3.34e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0898007e+00 3.52e-05 6.78e-03 -4.0 1.01e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0891908e+00 3.37e-05 6.42e-02 -4.0 1.40e+01 -5.4 1.00e+00 2.73e-01h 1 17 2.0883221e+00 4.91e-05 1.08e-02 -4.0 1.12e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0870333e+00 9.89e-05 4.47e-02 -4.0 2.86e+01 -6.3 1.00e+00 5.20e-01h 1 19 2.0839722e+00 9.59e-04 4.48e-02 -4.0 5.24e+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 2.0827620e+00 3.79e-04 1.41e-02 -4.0 5.08e+01 -7.3 1.00e+00 5.85e-01h 1 21 2.0825587e+00 1.08e-03 3.22e-02 -4.0 1.30e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0824062e+00 1.30e-03 2.22e-02 -4.0 9.99e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0820296e+00 7.57e-04 3.38e-02 -4.0 6.20e+01 -7.8 1.00e+00 1.00e+00h 1 24 2.2542879e+00 1.89e-04 6.96e-01 -4.0 3.65e+02 -8.3 2.84e-02 3.32e-01h 1 25 2.2402171e+00 3.14e-09 6.78e-01 -4.1 1.78e-02 1.6 1.00e+00 1.00e+00h 1 26 2.2088134e+00 2.15e-08 5.84e-01 -4.1 4.38e-02 1.1 3.65e-01 1.00e+00f 1 27 2.1535781e+00 6.35e-08 4.30e-01 -4.1 1.00e-01 0.6 1.00e+00 1.00e+00f 1 28 2.1015820e+00 1.41e-07 5.46e-01 -4.1 1.59e-01 0.1 6.43e-01 1.00e+00f 1 29 2.0830372e+00 2.38e-07 1.60e+00 -4.1 1.34e-01 -0.3 6.10e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0820719e+00 1.18e-07 3.83e-01 -4.0 3.50e-02 -0.8 1.00e+00 8.71e-01f 1 31 2.0823206e+00 6.01e-08 4.49e-02 -4.0 2.22e-02 -1.3 1.00e+00 5.00e-01f 2 32 2.0821484e+00 3.10e-08 1.00e-04 -4.1 4.03e-03 -1.8 1.00e+00 1.00e+00h 1 33 2.0821818e+00 5.71e-08 3.04e-05 -4.0 5.26e-03 -2.2 1.00e+00 1.00e+00h 1 34 2.0820394e+00 1.22e-07 5.83e-05 -4.1 7.84e-03 -2.7 1.00e+00 1.00e+00h 1 35 2.0821826e+00 1.36e-07 6.30e-05 -4.0 8.37e-03 -3.2 1.00e+00 1.00e+00h 1 36 2.0820347e+00 4.41e-07 5.95e-05 -4.1 2.11e-02 -3.7 1.00e+00 1.00e+00h 1 37 2.0821797e+00 1.05e-06 7.13e-05 -4.0 5.23e-02 -4.1 1.00e+00 1.00e+00h 1 38 2.0820205e+00 3.92e-06 3.59e-05 -4.1 1.82e-01 -4.6 1.00e+00 1.00e+00h 1 39 2.0821539e+00 9.05e-06 1.35e-04 -4.0 4.54e-01 -5.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0819381e+00 3.05e-05 1.02e-04 -4.1 1.40e+00 -5.6 1.00e+00 1.00e+00h 1 41 2.0820695e+00 7.02e-05 3.28e-04 -4.0 3.50e+00 -6.1 1.00e+00 1.00e+00h 1 42 2.0817921e+00 2.17e-04 3.78e-04 -4.1 9.97e+00 -6.5 1.00e+00 1.00e+00h 1 43 2.0818691e+00 6.52e-04 5.07e-04 -4.0 3.09e+01 -7.0 1.00e+00 1.00e+00h 1 44 2.0838956e+00 5.98e-06 1.77e-01 -4.1 3.47e+01 -6.6 3.87e-01 1.00e+00H 1 45 2.0831396e+00 2.40e-06 1.86e+00 -4.1 7.34e-01 -3.4 2.84e-01 1.07e-01h 1 46 2.0817952e+00 9.23e-06 2.65e-01 -4.1 1.16e-01 -2.1 1.00e+00 8.13e-01f 1 47 2.0831984e+00 2.17e-05 9.56e-01 -3.8 1.36e-01 -2.6 1.00e+00 7.15e-01f 1 48 2.0824933e+00 1.26e-05 4.87e-03 -3.8 1.76e-01 -3.1 1.00e+00 1.00e+00h 1 49 2.0817358e+00 6.79e-06 3.72e-02 -3.8 1.69e-01 -1.7 1.00e+00 8.91e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0816645e+00 1.19e-07 5.62e-04 -4.0 1.03e-02 -2.2 1.00e+00 1.00e+00f 1 51 2.0816494e+00 1.05e-07 6.21e-05 -4.0 9.35e-03 -2.7 1.00e+00 1.00e+00h 1 52 2.0816501e+00 1.64e-08 1.87e-05 -4.0 2.79e-02 -3.2 1.00e+00 1.00e+00h 1 53 2.0816571e+00 4.73e-08 1.80e-05 -4.0 8.07e-02 -3.7 1.00e+00 1.00e+00h 1 54 2.0815774e+00 1.91e-06 1.72e-04 -4.1 1.17e-01 -4.1 1.00e+00 1.00e+00h 1 55 2.0817150e+00 1.10e-05 2.94e-04 -4.0 5.63e-01 -4.6 1.00e+00 1.00e+00h 1 56 2.0816509e+00 8.29e-06 5.17e-04 -4.1 5.11e-01 -5.1 1.00e+00 1.00e+00h 1 57 2.0809498e+00 2.61e-04 5.73e-03 -6.1 2.82e+00 -5.6 9.82e-01 1.00e+00h 1 58 2.0809477e+00 2.90e-05 1.58e-02 -4.7 2.98e+00 -6.0 1.00e+00 7.96e-01h 1 59 2.0819185e+00 1.10e-03 3.17e-02 -4.0 1.05e+01 -6.5 6.73e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0815044e+00 7.86e-04 4.04e-03 -4.2 1.74e+01 -7.0 9.01e-01 1.00e+00h 1 61 2.0820825e+00 6.40e-04 2.92e+00 -4.2 2.90e+01 -5.7 1.00e+00 8.90e-02h 1 62 2.0814495e+00 1.93e-05 2.21e-03 -4.2 3.12e+00 -6.1 1.00e+00 1.00e+00f 1 63 2.0818719e+00 2.33e-04 1.67e-03 -4.0 5.15e+00 -6.6 1.00e+00 1.00e+00h 1 64 2.0816530e+00 1.18e-04 1.08e-03 -4.1 5.38e+00 -7.1 1.00e+00 1.00e+00h 1 65 2.0816180e+00 3.23e-05 3.02e-04 -4.1 1.23e+01 -7.6 1.00e+00 1.00e+00h 1 66 2.0806527e+00 3.39e-03 5.25e-04 -6.1 4.35e+01 -8.0 9.79e-01 9.39e-01h 1 67 2.0818837e+00 5.82e-03 1.99e-03 -4.0 4.98e+01 -8.5 1.00e+00 1.00e+00f 1 68 2.0816216e+00 5.43e-04 7.00e-04 -4.1 2.18e+01 -9.0 1.00e+00 1.00e+00h 1 69 2.0806111e+00 3.61e-03 3.05e-04 -6.1 4.40e+01 -9.5 9.75e-01 9.53e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0813159e+00 3.48e-03 7.59e-03 -4.0 5.67e+01 -10.0 1.00e+00 5.62e-01f 1 71 2.0815045e+00 1.82e-04 3.98e-06 -4.1 1.01e+01 -10.4 1.00e+00 1.00e+00h 1 72 2.0805883e+00 2.89e-03 1.48e-04 -6.2 3.85e+01 -10.9 9.78e-01 9.66e-01h 1 73 2.0807232e+00 2.66e-03 1.71e-02 -4.0 6.42e+01 -11.4 1.00e+00 1.07e-01f 1 74 2.0818366e+00 3.87e-03 1.77e-04 -4.0 4.08e+01 -11.9 1.00e+00 1.00e+00h 1 75 2.0815828e+00 2.73e-04 4.46e-06 -4.1 1.11e+01 -12.3 1.00e+00 1.00e+00h 1 76 2.0805903e+00 3.33e-03 1.41e-04 -6.1 4.08e+01 -12.8 9.77e-01 9.69e-01h 1 77 2.0805494e+00 6.68e-05 1.63e-06 -6.1 1.51e+01 -13.3 1.00e+00 1.00e+00h 1 78 2.0819908e+00 1.07e-02 4.04e-04 -4.0 8.67e+01 -13.8 1.00e+00 1.00e+00f 1 79 2.0816869e+00 9.94e-04 5.36e-05 -4.1 4.76e+01 -14.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0816476e+00 5.95e-07 8.33e-07 -4.1 8.96e+00 -14.7 1.00e+00 1.00e+00h 1 81 2.0818440e+00 1.23e-04 5.28e-06 -4.0 7.40e+00 -15.2 1.00e+00 1.00e+00h 1 82 2.0815834e+00 2.14e-04 9.28e-06 -4.1 9.75e+00 -15.7 1.00e+00 1.00e+00h 1 83 2.0805950e+00 3.33e-03 1.58e-04 -6.1 4.09e+01 -16.2 9.77e-01 9.64e-01h 1 84 2.0805497e+00 7.61e-05 1.82e-06 -6.1 1.56e+01 -16.6 1.00e+00 1.00e+00h 1 85 2.0805459e+00 4.82e-08 2.08e-08 -6.1 2.71e+00 -17.1 1.00e+00 1.00e+00h 1 86 2.0820252e+00 1.22e-02 4.25e-04 -4.0 9.85e+01 -17.6 1.00e+00 1.00e+00f 1 87 2.0817120e+00 1.09e-03 6.91e-05 -4.1 5.48e+01 -18.1 1.00e+00 1.00e+00h 1 88 2.0816602e+00 1.23e-06 1.06e-06 -4.1 1.09e+01 -18.5 1.00e+00 1.00e+00h 1 89 2.0805974e+00 3.75e-03 1.59e-04 -6.1 4.29e+01 -19.0 9.76e-01 9.67e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805512e+00 8.27e-05 2.04e-06 -6.1 1.65e+01 -19.5 1.00e+00 1.00e+00h 1 91 2.0805470e+00 5.84e-08 2.51e-08 -6.1 3.00e+00 -20.0 1.00e+00 1.00e+00h 1 92 2.0805365e+00 9.24e-07 7.89e-07 -9.0 9.37e-01 -20.0 1.00e+00 9.97e-01h 1 93 2.0820411e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 94 2.0817244e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 95 2.0816662e+00 1.63e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0805979e+00 3.78e-03 1.61e-04 -6.1 4.31e+01 -20.0 9.76e-01 9.67e-01h 1 97 2.0805514e+00 8.39e-05 2.07e-06 -6.1 1.67e+01 -20.0 1.00e+00 1.00e+00h 1 98 2.0805470e+00 6.01e-08 2.58e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 9.41e-07 8.10e-07 -9.0 9.46e-01 -20.0 1.00e+00 9.97e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805365e+00 8.66e-11 2.16e-12 -9.0 2.61e-02 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595543736e+00 2.0805364595543736e+00 Dual infeasibility......: 2.1633995563871413e-12 2.1633995563871413e-12 Constraint violation....: 8.6564533319233306e-11 8.6564533319233306e-11 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.1439011762458668e-10 9.1439011762458668e-10 Overall NLP error.......: 9.9999090910190809e-05 9.9999090910190809e-05 Number of objective function evaluations = 103 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 103 Number of inequality constraint evaluations = 103 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 26.572 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: 0.062s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 6.311s jacobian structure: 1680 nonzeros (6.374s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 12.208s 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): 0.577s objective hessian structure: 0.578s hessian structure: 1964 nonzeros (12.839s) linear index maps built (0.0s) evaluator ready (total: 19.214s) evaluator created (19.242s) 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: 19.242s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 96 Number of nonzeros in Lagrangian Hessian.............: 1804 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.8109527e+01 2.20e+00 4.44e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 6.7273437e+00 4.81e-01 5.84e+00 -0.6 2.12e+00 0.0 6.71e-01 7.79e-01f 1 2 6.8599023e+00 4.76e-01 3.26e+01 1.2 1.09e+01 1.3 1.43e-02 1.00e-02f 2 3 4.9762378e+00 3.50e-02 1.62e+01 -0.4 5.74e-01 0.9 5.30e-01 1.00e+00h 1 4 3.5670680e+00 8.13e-03 3.64e+00 -1.5 3.85e-01 0.4 7.37e-01 1.00e+00f 1 5 3.0432852e+00 2.29e-02 1.87e+00 -1.2 3.78e-01 -0.1 9.84e-01 5.46e-01f 1 6 2.6709955e+00 1.07e-01 2.14e+00 -1.2 1.18e+00 -0.6 7.40e-01 4.64e-01f 1 7 2.4645624e+00 7.91e-03 2.84e-01 -1.2 1.69e-01 -1.1 9.71e-01 1.00e+00f 1 8 2.1753940e+00 1.79e-02 7.82e-02 -2.1 2.81e-01 -1.5 9.51e-01 9.61e-01h 1 9 2.1004853e+00 1.95e-03 1.84e-02 -3.1 1.06e-01 -2.0 9.65e-01 9.46e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909340e+00 2.22e-05 1.25e-03 -4.0 1.35e-02 -2.5 1.00e+00 1.00e+00h 1 11 2.0909116e+00 2.29e-07 2.28e-05 -4.0 2.10e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0909047e+00 2.07e-09 2.21e-05 -4.0 6.11e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908874e+00 1.53e-08 3.01e-05 -4.0 1.69e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0908503e+00 7.51e-08 1.74e-04 -4.0 4.35e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0907680e+00 3.35e-07 7.33e-04 -4.0 1.09e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0905419e+00 3.88e-06 8.52e-04 -4.0 3.42e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0899919e+00 1.47e-05 1.16e-02 -4.0 9.29e+00 -5.8 1.00e+00 6.90e-01h 1 18 2.0903339e+00 3.08e-04 7.05e-02 -4.0 3.08e+01 -6.3 1.00e+00 1.00e+00f 1 19 2.0870125e+00 2.60e-04 3.47e-01 -4.1 1.82e+01 -5.0 1.00e+00 3.73e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0869652e+00 7.26e-05 1.62e-02 -4.0 3.86e+00 -5.5 1.00e+00 1.00e+00f 1 21 2.0859494e+00 1.37e-04 6.35e-03 -4.0 1.13e+01 -5.9 1.00e+00 1.00e+00h 1 22 2.0844171e+00 2.03e-04 1.09e-02 -4.0 2.52e+01 -6.4 1.00e+00 1.00e+00h 1 23 2.0827823e+00 1.72e-04 2.17e-02 -4.0 3.28e+01 -6.9 1.00e+00 8.98e-01h 1 24 2.0830326e+00 1.17e-03 3.51e-02 -4.0 6.25e+01 -7.4 1.00e+00 1.00e+00h 1 25 2.0820992e+00 1.51e-03 9.62e-03 -4.1 1.47e+02 -7.8 1.00e+00 1.00e+00h 1 26 2.0887438e+00 4.73e-05 2.41e-01 -4.0 1.86e+02 -7.4 1.58e-01 1.00e+00H 1 27 2.0831518e+00 8.15e-04 2.48e+00 -4.0 2.87e+00 -4.3 1.10e-01 4.52e-01f 1 28 2.0826929e+00 7.08e-04 2.23e+00 -4.2 2.67e+00 -2.9 6.99e-01 1.34e-01h 1 29 2.0835888e+00 2.68e-06 3.26e-03 -4.0 4.17e-01 -3.4 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0828986e+00 1.52e-05 1.52e-03 -4.0 3.50e-01 -3.9 1.00e+00 1.00e+00h 1 31 2.0827979e+00 6.92e-06 3.49e-05 -4.0 1.59e-01 -4.4 1.00e+00 1.00e+00h 1 32 2.0827692e+00 2.92e-07 3.49e-05 -4.0 4.67e-01 -4.9 1.00e+00 1.00e+00h 1 33 2.0826953e+00 1.37e-06 9.19e-05 -4.0 1.30e+00 -5.3 1.00e+00 1.00e+00h 1 34 2.0825480e+00 7.04e-06 4.61e-04 -4.0 3.31e+00 -5.8 1.00e+00 1.00e+00h 1 35 2.0823839e+00 1.78e-05 1.02e-03 -4.0 8.39e+00 -6.3 1.00e+00 1.00e+00h 1 36 2.0822064e+00 2.18e-05 1.57e-03 -4.0 2.14e+01 -6.8 1.00e+00 1.00e+00h 1 37 2.0819252e+00 1.54e-04 3.69e-03 -4.0 5.22e+01 -7.2 7.19e-01 1.00e+00h 1 38 2.0820814e+00 1.44e-04 4.65e-02 -4.0 4.47e+02 -6.8 7.70e-03 2.21e-02h 3 39 2.0819251e+00 1.25e-04 2.43e+00 -4.1 7.44e-01 -2.8 4.62e-01 1.33e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818761e+00 1.23e-04 1.32e+00 -4.1 4.72e-01 -3.3 2.35e-01 1.58e-02f 2 41 2.0818384e+00 2.95e-05 3.52e-01 -4.0 4.72e-02 -3.7 1.00e+00 7.60e-01h 1 42 2.0819434e+00 2.17e-05 1.89e-04 -4.0 1.40e-01 -4.2 1.00e+00 1.00e+00h 1 43 2.0819812e+00 1.62e-05 1.38e-04 -4.0 5.38e-01 -4.7 1.00e+00 1.00e+00h 1 44 2.0825482e+00 1.57e-06 1.26e-01 -4.0 2.62e+00 -5.2 5.78e-01 1.00e+00H 1 45 2.0820864e+00 9.28e-07 4.10e-03 -4.0 5.82e-02 -1.1 1.00e+00 1.00e+00h 1 46 2.0820099e+00 2.74e-07 7.23e-04 -4.0 2.68e-02 -1.6 1.00e+00 1.00e+00h 1 47 2.0820190e+00 1.13e-08 2.07e-04 -4.0 2.42e-02 -2.1 1.00e+00 1.00e+00h 1 48 2.0818950e+00 1.34e-07 7.44e-05 -4.1 2.66e-02 -2.6 1.00e+00 1.00e+00h 1 49 2.0820253e+00 1.37e-07 6.07e-05 -4.0 3.31e-02 -3.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818920e+00 2.50e-07 5.74e-05 -4.1 1.18e-02 -3.5 1.00e+00 1.00e+00h 1 51 2.0820256e+00 6.09e-07 5.62e-05 -4.0 3.09e-02 -4.0 1.00e+00 1.00e+00h 1 52 2.0818892e+00 2.13e-06 5.12e-05 -4.1 9.81e-02 -4.5 1.00e+00 1.00e+00h 1 53 2.0820242e+00 2.94e-06 7.29e-05 -4.0 1.93e-01 -4.9 1.00e+00 1.00e+00h 1 54 2.0818694e+00 1.38e-05 8.38e-05 -4.1 6.60e-01 -5.4 1.00e+00 1.00e+00h 1 55 2.0820046e+00 1.05e-05 1.87e-04 -4.0 6.64e-01 -5.9 1.00e+00 1.00e+00h 1 56 2.0817930e+00 6.51e-05 2.58e-04 -4.1 3.20e+00 -6.4 1.00e+00 1.00e+00h 1 57 2.0819753e+00 1.13e-04 4.02e-04 -4.0 5.24e+00 -6.9 1.00e+00 1.00e+00h 1 58 2.0817125e+00 2.97e-04 5.95e-04 -4.1 1.39e+01 -7.3 1.00e+00 1.00e+00h 1 59 2.0819011e+00 6.67e-04 1.54e-03 -4.0 2.89e+01 -7.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0816043e+00 9.64e-04 1.60e-03 -4.1 4.39e+01 -8.3 1.00e+00 1.00e+00h 1 61 2.0818443e+00 9.23e-04 9.27e-04 -4.0 3.92e+01 -8.8 1.00e+00 1.00e+00h 1 62 2.0815822e+00 3.78e-04 1.35e-04 -4.1 1.65e+01 -9.2 1.00e+00 1.00e+00h 1 63 2.0818418e+00 1.77e-04 3.91e-05 -4.0 8.06e+00 -9.7 1.00e+00 1.00e+00h 1 64 2.0815820e+00 2.10e-04 3.18e-05 -4.1 9.60e+00 -10.2 1.00e+00 1.00e+00h 1 65 2.0818419e+00 2.12e-04 3.91e-05 -4.0 9.68e+00 -10.7 1.00e+00 1.00e+00h 1 66 2.0815819e+00 2.13e-04 3.18e-05 -4.1 9.72e+00 -11.1 1.00e+00 1.00e+00h 1 67 2.0818419e+00 2.14e-04 3.91e-05 -4.0 9.74e+00 -11.6 1.00e+00 1.00e+00h 1 68 2.0815819e+00 2.14e-04 3.18e-05 -4.1 9.74e+00 -12.1 1.00e+00 1.00e+00h 1 69 2.0818419e+00 2.14e-04 3.91e-05 -4.0 9.75e+00 -12.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0815819e+00 2.14e-04 3.18e-05 -4.1 9.75e+00 -13.1 1.00e+00 1.00e+00h 1 71 2.0805924e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -13.5 9.77e-01 9.68e-01h 1 72 2.0818894e+00 6.59e-03 2.97e-04 -4.0 6.14e+01 -14.0 1.00e+00 1.00e+00f 1 73 2.0816124e+00 4.95e-04 3.24e-05 -4.1 2.07e+01 -14.5 1.00e+00 1.00e+00h 1 74 2.0806015e+00 3.47e-03 1.91e-04 -6.1 4.19e+01 -15.0 9.76e-01 9.61e-01h 1 75 2.0805507e+00 9.05e-05 2.22e-06 -6.1 1.70e+01 -15.4 1.00e+00 1.00e+00h 1 76 2.0819806e+00 1.03e-02 3.96e-04 -4.0 8.49e+01 -15.9 1.00e+00 1.00e+00f 1 77 2.0816780e+00 9.65e-04 4.95e-05 -4.1 4.57e+01 -16.4 1.00e+00 1.00e+00h 1 78 2.0816420e+00 4.58e-07 3.34e-05 -4.1 8.54e+00 -16.9 1.00e+00 1.00e+00h 1 79 2.0818414e+00 1.26e-04 3.90e-05 -4.0 7.46e+00 -17.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0815817e+00 2.11e-04 3.18e-05 -4.1 9.63e+00 -17.8 1.00e+00 1.00e+00h 1 81 2.0805923e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -18.3 9.77e-01 9.68e-01h 1 82 2.0805497e+00 7.03e-05 1.80e-06 -6.1 1.55e+01 -18.8 1.00e+00 1.00e+00h 1 83 2.0819871e+00 1.06e-02 4.00e-04 -4.0 8.58e+01 -19.3 1.00e+00 1.00e+00f 1 84 2.0816826e+00 9.87e-04 5.24e-05 -4.1 4.71e+01 -19.7 1.00e+00 1.00e+00h 1 85 2.0816444e+00 5.44e-07 3.35e-05 -4.1 8.94e+00 -20.0 1.00e+00 1.00e+00h 1 86 2.0805933e+00 3.65e-03 1.55e-04 -6.1 4.19e+01 -20.0 9.76e-01 9.71e-01h 1 87 2.0805509e+00 7.35e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 88 2.0805468e+00 5.07e-08 3.34e-07 -6.1 2.92e+00 -20.0 1.00e+00 1.00e+00h 1 89 2.0820226e+00 1.22e-02 4.21e-04 -4.0 9.85e+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 2.0817083e+00 1.09e-03 6.84e-05 -4.1 5.45e+01 -20.0 1.00e+00 1.00e+00h 1 91 2.0816573e+00 1.18e-06 3.38e-05 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0805943e+00 3.73e-03 1.58e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.71e-01h 1 93 2.0805512e+00 7.57e-05 2.01e-06 -6.1 1.64e+01 -20.0 1.00e+00 1.00e+00h 1 94 2.0805469e+00 5.37e-08 3.40e-07 -6.1 3.01e+00 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 9.26e-07 7.80e-07 -9.0 9.40e-01 -20.0 1.00e+00 9.97e-01h 1 96 2.0820402e+00 1.30e-02 4.35e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 97 2.0817219e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 98 2.0816639e+00 1.62e-06 3.40e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 99 2.0805948e+00 3.76e-03 1.59e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805513632698287e+00 2.0805513632698287e+00 Dual infeasibility......: 2.0482794631856197e-06 2.0482794631856197e-06 Constraint violation....: 7.6920738248754950e-05 7.6920738248754950e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 3.0429769322289925e-06 3.0429769322289925e-06 Overall NLP error.......: 9.9199836256882477e-05 9.9199836256882477e-05 Number of objective function evaluations = 110 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 110 Number of inequality constraint evaluations = 110 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 35.787 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: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) jacobian structure: 4.653s jacobian structure: 1594 nonzeros (4.721s) integrator 1 hessian structure: 0.053s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) hessian structure: 11.501s 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 (11.557s) linear index maps built (0.0s) evaluator ready (total: 16.278s) evaluator created (16.307s) 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: 16.308s) 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 6.6340017e+01 3.08e+00 2.60e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.1880343e+01 1.10e+00 9.08e+00 -0.5 1.86e+00 0.0 9.98e-01 6.46e-01f 1 2 3.6315977e+00 1.53e-01 6.88e+00 -0.2 1.33e+00 -0.5 6.87e-01 1.00e+00f 1 3 3.1820535e+00 2.62e-02 2.64e+00 -0.7 2.89e-01 -0.1 9.26e-01 1.00e+00h 1 4 2.8063952e+00 1.08e-02 4.71e-01 -1.4 2.23e-01 -0.5 9.93e-01 1.00e+00h 1 5 2.2516599e+00 2.17e-02 1.29e-01 -2.1 2.48e-01 -1.0 9.93e-01 9.01e-01f 1 6 2.1288818e+00 1.98e-03 3.54e-02 -2.4 1.16e-01 -1.5 9.37e-01 1.00e+00h 1 7 2.0922664e+00 1.09e-04 3.24e-03 -3.6 2.14e-02 -2.0 9.94e-01 9.90e-01h 1 8 2.0908928e+00 2.12e-06 2.89e-04 -4.0 2.75e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908809e+00 4.34e-09 2.89e-04 -4.0 4.40e-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 2.0908759e+00 7.47e-10 2.89e-04 -4.0 3.75e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908669e+00 4.02e-09 2.89e-04 -4.0 1.12e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908409e+00 3.56e-08 2.89e-04 -4.0 3.31e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907630e+00 3.07e-07 2.89e-04 -4.0 9.81e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0904547e+00 3.42e-06 1.09e-03 -4.0 3.24e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0897312e+00 3.20e-05 3.07e-03 -4.0 9.74e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0892417e+00 1.56e-05 4.10e-03 -4.0 4.87e+00 -5.4 1.00e+00 7.71e-01h 1 17 2.0884680e+00 4.68e-05 7.25e-03 -4.0 1.12e+01 -5.8 1.00e+00 1.00e+00f 1 18 2.0875087e+00 7.37e-05 1.15e-01 -4.0 4.13e+01 -6.3 1.00e+00 2.25e-01h 1 19 2.0840535e+00 1.29e-03 5.51e-02 -4.0 5.57e+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 2.0827687e+00 4.93e-04 1.86e-02 -4.0 5.66e+01 -7.3 1.00e+00 5.95e-01h 1 21 2.0825861e+00 1.37e-03 3.68e-02 -4.0 1.28e+02 -7.7 1.00e+00 1.00e+00h 1 22 1.2226004e+02 1.38e-03 7.79e+02 -4.0 3.66e+03 -8.2 7.33e-03 1.00e+00H 1 23 9.4662708e+01 1.28e-03 7.15e+02 -4.0 3.35e+01 -0.4 3.10e-02 6.90e-02f 1 24 2.2511284e+00 2.03e-04 3.11e+01 -4.0 3.74e+00 0.1 6.66e-01 8.42e-01f 1 25 2.2504114e+00 2.02e-04 2.69e+01 -4.0 8.93e-03 -0.4 1.00e+00 2.66e-03h 1 26 2.2505832e+00 1.22e-06 1.40e-02 -4.0 4.96e-02 -0.9 1.00e+00 1.00e+00f 1 27 2.2484461e+00 5.87e-06 6.22e-03 -4.0 1.47e-01 -1.4 1.00e+00 1.00e+00h 1 28 2.2467914e+00 4.59e-06 3.02e-01 -4.0 4.29e-01 -1.9 1.00e+00 4.87e-01h 1 29 2.2393871e+00 6.65e-06 1.55e-02 -4.0 1.25e+00 -2.3 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.2194087e+00 5.68e-05 1.23e-01 -4.0 3.50e+00 -2.8 1.00e+00 1.00e+00f 1 31 2.2095816e+00 5.79e-05 6.83e+00 -4.0 8.53e+00 -3.3 1.00e+00 2.12e-01f 1 32 2.2098658e+00 4.84e-05 1.86e+01 -4.0 3.28e-01 -3.8 1.00e+00 1.75e-01f 2 33 2.2092991e+00 3.11e-04 4.10e-03 -4.0 9.63e-01 -4.2 1.00e+00 1.00e+00h 1 34 2.2085817e+00 3.68e-04 2.68e-04 -4.0 2.87e+00 -4.7 1.00e+00 1.00e+00h 1 35 2.2058586e+00 9.75e-04 1.17e-02 -6.0 8.67e+00 -5.2 9.59e-01 1.00e+00h 1 36 2.2039948e+00 1.75e-03 4.92e-01 -6.0 2.48e+01 -5.7 1.00e+00 3.34e-01h 1 37 2.2024190e+00 1.44e-03 6.82e-01 -6.0 6.49e+01 -6.1 4.68e-01 1.77e-01h 1 38 2.1869287e+00 8.33e-04 1.28e+00 -6.0 1.83e+02 -6.6 1.00e+00 6.95e-01h 1 39 2.1766825e+00 6.56e-04 2.52e+00 -6.0 4.46e+02 -7.1 4.25e-01 2.18e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.1277043e+00 2.06e-04 2.49e+00 -6.0 9.86e+02 -7.6 7.66e-01 7.40e-01f 1 41 2.1123788e+00 1.36e-04 4.58e+00 -6.0 1.39e+03 -8.1 5.92e-01 2.97e-01f 1 42 2.1123748e+00 1.36e-04 1.07e+00 -6.0 1.22e+02 -6.7 1.00e+00 6.02e-04h 1 43 2.1033159e+00 1.14e-04 6.32e-01 -6.0 3.23e+02 -7.2 1.00e+00 7.97e-01h 1 44 2.0942283e+00 1.12e-04 1.71e+00 -6.0 6.20e+02 -7.7 1.00e+00 5.79e-01h 1 45 2.0912942e+00 9.75e-05 2.26e+00 -6.0 8.83e+02 -8.2 5.94e-01 1.85e-01h 1 46 2.0813459e+00 2.35e-04 2.86e+00 -6.0 2.21e+03 -7.7 6.01e-05 5.33e-01f 1 47 2.0816920e+00 1.10e-03 1.38e+00 -4.0 6.10e+01 -6.4 3.48e-02 3.87e-01f 1 48 2.0815136e+00 3.23e-04 2.76e-01 -5.0 3.99e+01 -6.9 1.00e+00 8.62e-01h 1 49 2.0812355e+00 2.10e-04 3.37e-02 -5.0 7.12e+01 -7.4 7.85e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0819221e+00 1.51e-04 1.59e+00 -4.0 5.39e+01 -6.0 5.72e-01 2.83e-01h 2 51 2.0817917e+00 1.48e-04 9.17e-01 -4.3 2.01e+00 -2.0 1.06e-01 2.49e-02h 1 52 2.0818872e+00 1.16e-04 5.37e-01 -4.3 1.60e-01 -1.6 1.89e-01 2.16e-01f 2 53 2.0817422e+00 4.69e-07 3.02e-03 -4.3 4.03e-02 -1.1 1.00e+00 1.00e+00h 1 54 2.0818359e+00 2.86e-07 1.09e-03 -4.0 1.76e-02 -1.6 1.00e+00 1.00e+00h 1 55 2.0817555e+00 1.67e-07 2.30e-04 -4.1 2.22e-02 -2.1 1.00e+00 1.00e+00h 1 56 2.0814806e+00 6.54e-07 4.25e-01 -6.1 1.69e-02 -2.6 7.83e-01 9.64e-01h 1 57 2.0819524e+00 7.68e-06 7.13e-03 -4.0 1.11e-01 -3.0 1.00e+00 1.00e+00f 1 58 2.0817945e+00 3.64e-06 8.18e-04 -4.1 1.27e-01 -3.5 1.00e+00 1.00e+00h 1 59 2.0817857e+00 1.95e-06 5.47e-04 -4.1 3.83e-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 60 2.0814579e+00 3.67e-05 2.02e-01 -6.1 3.69e-01 -4.5 8.48e-01 9.72e-01h 1 61 2.0820157e+00 7.26e-06 6.44e-03 -4.0 1.30e-01 -3.1 1.00e+00 1.00e+00f 1 62 2.0817883e+00 5.58e-06 4.51e-04 -4.1 1.64e-01 -3.6 1.00e+00 1.00e+00h 1 63 2.0814717e+00 1.91e-05 2.96e-01 -6.1 1.93e-01 -4.1 7.96e-01 9.71e-01h 1 64 2.0820112e+00 1.81e-04 8.82e-03 -4.0 1.48e+00 -4.6 1.00e+00 1.00e+00f 1 65 2.0820035e+00 1.54e-05 3.70e-03 -4.1 9.38e-01 -5.1 1.00e+00 1.00e+00h 1 66 2.0820312e+00 5.90e-05 1.40e-03 -4.1 1.71e+00 -5.5 1.00e+00 1.00e+00h 1 67 2.0821097e+00 6.76e-05 6.08e-04 -4.1 4.70e+00 -6.0 1.00e+00 1.00e+00h 1 68 2.0812576e+00 7.20e-04 1.87e-02 -6.1 7.75e+00 -6.5 9.86e-01 9.56e-01h 1 69 2.0811198e+00 3.22e-04 2.15e-02 -6.1 1.80e+01 -7.0 1.00e+00 5.65e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0821959e+00 6.57e-03 1.14e-01 -4.0 8.17e+01 -7.4 5.52e-01 1.00e+00f 1 71 2.0814542e+00 4.12e-03 2.69e-02 -4.2 9.55e+01 -7.9 1.00e+00 1.00e+00h 1 72 2.0813582e+00 2.68e-04 1.12e-02 -4.2 1.39e+02 -8.4 1.00e+00 1.00e+00h 1 73 2.0818440e+00 5.87e-03 6.58e-03 -4.0 1.15e+02 -8.9 1.00e+00 1.00e+00h 1 74 2.0815825e+00 7.76e-04 7.69e-04 -4.1 3.14e+01 -9.3 1.00e+00 1.00e+00h 1 75 2.0805944e+00 3.12e-03 1.71e-04 -6.1 3.82e+01 -9.8 9.78e-01 9.67e-01h 1 76 2.0818870e+00 6.45e-03 3.90e-04 -4.0 6.01e+01 -10.3 1.00e+00 1.00e+00f 1 77 2.0816130e+00 4.86e-04 2.37e-04 -4.1 2.06e+01 -10.8 1.00e+00 1.00e+00h 1 78 2.0805989e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -11.3 9.76e-01 9.65e-01h 1 79 2.0805508e+00 8.43e-05 2.58e-06 -6.1 1.70e+01 -11.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0808108e+00 4.62e-04 2.13e-02 -4.0 8.43e+01 -12.2 1.00e+00 1.98e-01f 1 81 2.0813984e+00 9.80e-04 1.89e-04 -4.2 1.98e+01 -12.7 1.00e+00 1.00e+00f 1 82 2.0813972e+00 1.69e-05 1.89e-04 -4.2 2.01e+01 -13.2 1.00e+00 1.00e+00h 1 83 2.0818420e+00 6.74e-04 2.89e-04 -4.0 1.77e+01 -13.6 1.00e+00 1.00e+00h 1 84 2.0815818e+00 2.25e-04 2.32e-04 -4.1 1.03e+01 -14.1 1.00e+00 1.00e+00h 1 85 2.0805903e+00 3.30e-03 1.39e-04 -6.1 4.00e+01 -14.6 9.78e-01 9.71e-01h 1 86 2.0805497e+00 6.59e-05 2.07e-06 -6.1 1.55e+01 -15.1 1.00e+00 1.00e+00h 1 87 2.0819857e+00 1.06e-02 3.98e-04 -4.0 8.57e+01 -15.6 1.00e+00 1.00e+00f 1 88 2.0816885e+00 9.54e-04 2.47e-04 -4.1 4.71e+01 -16.0 1.00e+00 1.00e+00h 1 89 2.0816503e+00 5.59e-07 2.47e-04 -4.1 8.92e+00 -16.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805906e+00 3.68e-03 1.60e-04 -6.1 4.16e+01 -17.0 9.77e-01 9.75e-01h 1 91 2.0805511e+00 6.76e-05 2.28e-06 -6.1 1.62e+01 -17.5 1.00e+00 1.00e+00h 1 92 2.0805469e+00 4.71e-08 2.28e-06 -6.1 2.95e+00 -17.9 1.00e+00 1.00e+00h 1 93 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.89e+01 -18.4 1.00e+00 1.00e+00f 1 94 2.0817159e+00 1.04e-03 2.50e-04 -4.1 5.46e+01 -18.9 1.00e+00 1.00e+00h 1 95 2.0816648e+00 1.22e-06 2.50e-04 -4.1 1.10e+01 -19.4 1.00e+00 1.00e+00h 1 96 2.0805915e+00 3.76e-03 1.66e-04 -6.1 4.20e+01 -19.8 9.76e-01 9.75e-01h 1 97 2.0805514e+00 6.96e-05 2.32e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 98 2.0805471e+00 4.99e-08 2.32e-06 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 9.55e-07 8.02e-07 -9.0 9.57e-01 -20.0 1.00e+00 9.97e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0820394197465757e+00 2.0820394197465757e+00 Dual infeasibility......: 4.3338315293238498e-04 4.3338315293238498e-04 Constraint violation....: 1.3090622264876561e-02 1.3090622264876561e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.6372534124617891e-04 2.6372534124617891e-04 Overall NLP error.......: 1.3090622264876561e-02 1.3090622264876561e-02 Number of objective function evaluations = 110 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 110 Number of inequality constraint evaluations = 110 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 35.739 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 (0.063s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.053s) linear index maps built (0.0s) evaluator ready (total: 0.116s) evaluator created (0.117s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.117s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.2554591e+00 2.47e+00 4.28e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.0409446e+00 2.17e+00 9.67e+00 0.2 2.59e+00 0.0 2.27e-01 1.19e-01h 1 2 3.1259533e+00 5.67e-01 3.00e+01 -0.1 2.33e+00 -0.5 7.46e-01 7.38e-01f 1 3 3.3853158e+00 5.40e-01 1.52e+01 0.1 4.46e+00 -1.0 9.16e-01 7.77e-01f 1 4 3.2991826e+00 8.01e-02 2.26e+00 -0.3 8.75e-01 -0.5 9.55e-01 1.00e+00f 1 5 3.0898601e+00 3.46e-03 1.57e+00 -1.8 1.33e-01 -0.1 8.54e-01 1.00e+00h 1 6 2.9232490e+00 1.41e-02 1.36e+00 -1.1 9.98e-01 -0.6 8.23e-01 1.95e-01f 2 7 2.4166146e+00 3.80e-02 1.92e-01 -1.6 3.54e-01 -1.1 9.99e-01 1.00e+00f 1 8 2.1706768e+00 1.09e-02 1.37e-01 -2.3 3.09e-01 -1.5 8.19e-01 1.00e+00h 1 9 2.0964398e+00 1.28e-03 1.94e-02 -3.2 1.21e-01 -2.0 9.96e-01 9.94e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909721e+00 4.58e-06 1.92e-04 -4.0 7.03e-03 -2.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0909721305725544e+00 2.0909721305725544e+00 Dual infeasibility......: 1.9188361314668404e-04 1.9188361314668404e-04 Constraint violation....: 4.5831256859701561e-06 4.5831256859701561e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.1300918239405209e-04 1.1300918239405209e-04 Overall NLP error.......: 1.9188361314668404e-04 1.9188361314668404e-04 Number of objective function evaluations = 15 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 15 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 = 26.145 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.063s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.064s) integrator 1 hessian structure: 0.053s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.054s) linear index maps built (0.0s) evaluator ready (total: 0.118s) evaluator created (0.118s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.119s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.0883955e+00 1.86e+00 4.01e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.3378690e+00 3.24e-01 3.47e+00 -1.1 1.29e+00 0.0 1.91e-01 8.27e-01h 1 2 2.3799408e+00 2.02e-02 7.93e-01 -1.3 5.05e-01 -0.5 9.78e-01 1.00e+00f 1 3 2.3388288e+00 1.89e-03 7.81e-02 -1.5 9.28e-02 -1.0 9.49e-01 1.00e+00h 1 4 2.1139604e+00 1.80e-03 2.09e-02 -3.0 5.72e-02 -1.4 9.42e-01 1.00e+00f 1 5 2.0911228e+00 3.66e-05 1.51e-03 -4.0 1.11e-02 -1.9 9.96e-01 9.92e-01h 1 6 2.0909323e+00 2.83e-07 7.00e-05 -4.0 1.70e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0909309e+00 8.76e-10 2.16e-05 -4.0 1.58e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909265e+00 7.63e-10 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909132e+00 6.86e-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 2.0908734e+00 6.18e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907539e+00 5.57e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903963e+00 5.04e-06 2.26e-05 -4.0 3.64e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0893306e+00 4.60e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861978e+00 4.32e-04 1.81e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796270e+00 2.52e-03 8.56e-02 -4.0 8.73e+01 -6.7 1.00e+00 7.61e-01h 1 16 2.0812298e+00 1.24e-04 1.77e-01 -4.0 7.16e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778197e+00 5.67e-03 2.39e-02 -4.0 1.14e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0782520e+00 1.87e-02 5.36e-02 -3.7 1.90e+02 -8.1 9.70e-01 1.00e+00h 1 19 2.0769280e+00 7.89e-03 3.05e-02 -3.8 3.24e+02 -8.6 1.00e+00 8.71e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0761448e+00 7.99e-03 2.63e-02 -3.9 4.80e+02 -9.1 1.00e+00 9.71e-01f 1 21 2.0757465e+00 1.07e-02 1.19e-02 -4.0 1.48e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756796e+00 6.18e-04 4.77e-04 -4.0 6.45e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 4.50e-06 9.13e-06 -4.0 2.31e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 6.53e-08 1.49e-06 -4.0 1.50e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.54e-09 1.51e-07 -4.0 5.32e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.96e-11 3.10e-09 -4.0 9.47e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122097030e+00 2.0756712122097030e+00 Dual infeasibility......: 3.0975204662775802e-09 3.0975204662775802e-09 Constraint violation....: 7.9579898226711521e-11 7.9579898226711521e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000044e-04 1.0000000000000044e-04 Overall NLP error.......: 3.0975204662775802e-09 3.0975204662775802e-09 Number of objective function evaluations = 28 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 26 Total seconds in IPOPT = 26.046 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: 0.056s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.058s) linear index maps built (0.0s) evaluator ready (total: 0.126s) evaluator created (0.126s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.127s) 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 2.7009626e+00 2.71e+00 4.28e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8299529e+00 1.02e-01 3.78e+00 -0.9 1.68e+00 0.0 9.52e-01 1.00e+00f 1 2 3.6770396e+00 1.49e-01 1.95e+01 1.1 3.89e+01 -0.5 1.91e-02 2.70e-02f 1 3 3.2744669e+00 2.18e-02 3.00e+01 -0.6 1.88e-01 0.9 3.92e-01 1.00e+00f 1 4 3.2557267e+00 5.50e-03 1.10e+00 -0.6 1.10e-01 0.4 9.84e-01 1.00e+00f 1 5 2.9017978e+00 5.07e-03 6.00e-01 -1.7 9.03e-02 -0.1 8.31e-01 1.00e+00f 1 6 2.4227112e+00 2.93e-02 3.00e-01 -1.7 3.19e-01 -0.6 9.70e-01 5.64e-01f 1 7 2.2162700e+00 3.38e-03 1.24e-01 -1.9 8.26e-02 -1.1 8.55e-01 1.00e+00h 1 8 2.0992969e+00 7.11e-04 1.43e-02 -3.2 5.68e-02 -1.5 9.97e-01 9.51e-01h 1 9 2.0909111e+00 1.22e-05 7.06e-04 -4.0 8.40e-03 -2.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908484e+00 7.27e-08 2.06e-05 -4.0 6.33e-03 -2.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0908483897108621e+00 2.0908483897108621e+00 Dual infeasibility......: 2.0584478016602912e-05 2.0584478016602912e-05 Constraint violation....: 7.2733433219805688e-08 7.2733433219805688e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000467922365010e-04 1.0000467922365010e-04 Overall NLP error.......: 2.0584478016602912e-05 2.0584478016602912e-05 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 26.853 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.062s) integrator 1 hessian structure: 0.067s 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 (0.069s) linear index maps built (0.0s) evaluator ready (total: 0.132s) evaluator created (0.132s) 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: 0.133s) 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 3.1790866e+00 1.87e+00 4.08e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.0985683e+00 8.01e-01 1.82e+00 -0.9 1.61e+00 - 9.51e-01 5.73e-01f 1 2 2.7201797e+00 2.46e-02 1.55e+00 -0.9 1.12e+00 - 7.02e-01 1.00e+00f 1 3 2.5019593e+00 3.44e-03 1.05e-01 -1.5 9.17e-02 - 9.76e-01 1.00e+00h 1 4 2.1615295e+00 1.27e-02 8.46e-02 -2.6 2.35e-01 - 9.62e-01 9.42e-01f 1 5 2.0975870e+00 1.12e-03 2.57e-02 -3.4 2.57e-02 - 1.00e+00 9.12e-01h 1 6 2.0908448e+00 3.46e-06 5.88e-03 -4.0 2.49e-03 - 1.00e+00 1.00e+00h 1 7 2.0908848e+00 4.29e-09 1.25e-04 -4.0 2.84e-04 - 1.00e+00 1.00e+00h 1 8 2.0908743e+00 1.55e-08 1.03e-02 -4.0 1.53e-01 - 1.00e+00 1.00e+00h 1 9 2.0908637e+00 6.12e-09 1.02e-02 -4.0 1.53e-01 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908531e+00 6.13e-09 1.02e-02 -4.0 1.53e-01 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0908530580852140e+00 2.0908530580852140e+00 Dual infeasibility......: 1.0241193768928377e-02 1.0241193768928377e-02 Constraint violation....: 6.1349461535215033e-09 6.1349461535215033e-09 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999999788e-05 9.9999999999999788e-05 Overall NLP error.......: 1.0241193768928377e-02 1.0241193768928377e-02 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 = 9.044 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: 0.105s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.105s) integrator 1 hessian structure: 0.068s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.002s 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 (0.071s) linear index maps built (0.0s) evaluator ready (total: 0.176s) evaluator created (0.176s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.177s) 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 1.4931584e+00 2.11e+00 4.72e-01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.3534790e+00 1.18e+00 8.30e-01 -1.0 1.91e+00 0.0 4.43e-01 4.39e-01h 1 2 2.1515714e+00 1.99e-01 1.32e+00 -1.0 1.07e+00 -0.5 1.00e+00 8.31e-01h 1 3 2.6243706e+00 1.66e-02 8.77e-01 -1.0 5.38e-01 -1.0 9.12e-01 1.00e+00f 1 4 2.3671439e+00 3.65e-02 5.23e-01 -1.7 1.32e+00 -1.4 7.19e-01 4.29e-01h 1 5 2.2754098e+00 1.14e-02 1.36e-01 -1.7 4.77e-01 -1.9 9.93e-01 1.00e+00f 1 6 2.1188996e+00 9.85e-03 4.52e-02 -2.5 4.24e-01 -2.4 1.00e+00 9.91e-01h 1 7 2.1152752e+00 1.36e-04 1.37e-03 -2.5 5.89e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0915557e+00 8.67e-05 2.57e-04 -3.8 3.27e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909459e+00 9.43e-06 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 2.0909061e+00 5.71e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0909061390226480e+00 2.0909061390226480e+00 Dual infeasibility......: 2.0586270623720189e-05 2.0586270623720189e-05 Constraint violation....: 5.7051704057189956e-08 5.7051704057189956e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999003813e-05 9.9999999999003813e-05 Overall NLP error.......: 2.0586270623720189e-05 2.0586270623720189e-05 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 27.645 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: 0.069s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.069s) integrator 1 hessian structure: 0.056s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.056s) linear index maps built (0.0s) evaluator ready (total: 0.126s) evaluator created (0.126s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.126s) [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=120, 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! [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=120, 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! ┌ Warning: Constraint jacobian product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/evaluator.jl:412 ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/evaluator.jl:438 [ Info: Skipping JET correctness analysis on Julia 1.14.0-DEV.2386 (gated to 1.12.x) 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: 2.714s jacobian structure: 1600 nonzeros (2.782s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.806s 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 (3.859s) linear index maps built (0.0s) evaluator ready (total: 6.641s) evaluator created (6.673s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.172s) variables set (0.698s) 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 (2.71s) optimizer initialization complete (total: 10.411s) This is MadNLP version v0.9.2, 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 2.1514396e+00 2.89e+00 5.66e-01 9.37e-01 -1.0 - 0.00e+00 1 0 1 2.0434849e+00 1.66e+00 9.11e-01 6.59e-01 -1.0 0.0 4.28e-01 1 1h 2 2.6718607e+00 6.61e-02 9.51e-01 2.79e-01 -1.0 -0.5 1.00e+00 1 1h 3 2.3851954e+00 3.44e-02 6.04e-01 9.98e-02 -1.7 -1.0 1.00e+00 1 1h 4 2.2528315e+00 2.08e-02 2.73e-01 3.74e-02 -1.7 -1.4 6.64e-01 1 1h 5 2.2618812e+00 1.60e-03 7.58e-02 2.08e-02 -1.7 -1.9 1.00e+00 1 1h 6 2.1188001e+00 1.74e-03 3.52e-03 3.96e-03 -2.5 -2.4 1.00e+00 1 1h 7 2.0914775e+00 1.32e-04 9.93e-04 1.88e-04 -3.8 -2.9 1.00e+00 1 1h 8 2.0900509e+00 1.01e-05 5.62e-05 1.10e-05 -5.7 -3.3 1.00e+00 1 1h 9 2.0900318e+00 1.50e-05 8.60e-05 2.90e-06 -5.7 -3.8 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0899876e+00 6.82e-04 1.44e-03 1.85e-06 -5.7 -4.3 1.00e+00 1 1h 11 2.0899414e+00 3.64e-04 1.46e-03 1.85e-06 -5.7 -4.8 4.68e-01 1 1h 12 2.0899707e+00 3.04e-04 7.99e-03 3.96e-04 -5.7 -5.2 1.66e-01 1 1h 13 2.0893756e+00 1.86e-04 1.22e-02 6.54e-05 -5.7 -5.7 1.00e+00 1 1h 14 2.0870575e+00 2.25e-05 2.08e-02 1.84e-06 -5.7 -6.2 1.00e+00 1 1h 15 2.0868289e+00 2.15e-05 1.75e-01 2.97e-06 -5.7 -6.7 4.55e-02 1 1h 16 2.0817414e+00 6.12e-05 1.26e-01 2.79e-06 -5.7 -7.2 8.21e-01 1 1h 17 2.0819950e+00 1.54e-04 1.26e-01 9.14e-04 -5.7 -7.6 1.00e+00 1 1h 18 2.0811141e+00 1.56e-05 3.13e-02 3.40e-04 -5.7 -8.1 6.71e-01 1 1h 19 2.0806933e+00 1.37e-05 4.41e-02 1.20e-04 -5.7 -8.6 9.64e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.5424813e+00 1.56e-06 3.99e+00 1.79e-04 -5.7 -7.3 1.00e+00 1 1H 21 2.5272425e+00 5.63e-06 5.88e+00 1.79e-04 -5.7 -3.2 8.90e-03 1 1h 22 2.3457140e+00 4.37e-06 4.57e+00 1.37e-04 -5.7 -0.1 2.23e-01 1 1h 23 2.0830165e+00 8.14e-06 1.24e+00 8.91e-05 -5.7 -0.6 7.38e-01 1 1h 24 2.0830102e+00 8.10e-06 1.24e+00 2.75e-05 -5.7 -1.0 5.53e-03 1 1h 25 2.0828044e+00 8.41e-06 6.74e-01 2.47e-06 -5.7 -1.5 4.75e-01 1 1h 26 2.0825953e+00 1.28e-06 1.45e-03 5.46e-06 -5.7 -2.0 1.00e+00 1 1h 27 2.0820307e+00 8.88e-06 4.01e-03 2.09e-06 -5.7 -2.5 9.33e-01 1 1h 28 2.0822950e+00 1.83e-06 3.32e-04 3.06e-04 -5.7 -2.9 1.00e+00 1 1h 29 2.0820744e+00 1.88e-06 2.31e-04 4.46e-05 -5.7 -3.4 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0820219e+00 1.37e-06 1.27e-05 1.84e-06 -5.7 -3.9 1.00e+00 1 1h 31 2.0819859e+00 8.53e-07 1.26e-05 1.01e-07 -8.6 -4.4 1.00e+00 1 1h 32 2.0819285e+00 1.85e-08 1.25e-05 1.92e-08 -8.6 -4.9 1.00e+00 1 1h 33 2.0817627e+00 1.90e-09 9.01e-05 3.87e-09 -8.6 -5.3 1.00e+00 1 1h 34 2.0817271e+00 1.84e-09 2.62e-02 9.87e-09 -8.6 -5.8 7.77e-02 1 1h 35 2.0816345e+00 2.79e-08 8.66e-03 1.80e-06 -8.6 -6.3 1.00e+00 1 1h 36 2.0813981e+00 9.23e-08 1.79e-03 5.78e-08 -8.6 -6.8 1.00e+00 1 1h 37 2.0810445e+00 7.33e-08 2.06e-02 1.60e-08 -8.6 -7.2 7.92e-01 1 1h 38 2.0808895e+00 5.28e-08 8.16e-02 4.19e-06 -8.6 -7.7 3.04e-01 1 1h 39 2.0808463e+00 4.46e-08 2.12e-01 1.09e-04 -8.6 -7.3 3.19e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0808370e+00 4.38e-08 7.37e-02 2.11e-06 -8.6 -7.8 1.85e-02 1 1h 41 2.0807126e+00 3.26e-08 2.47e-02 1.47e-06 -8.6 -6.4 2.61e-01 1 1h 42 2.0807131e+00 3.24e-08 1.57e-01 1.42e-06 -8.6 -6.9 6.32e-03 1 1h 43 2.0806487e+00 1.08e-08 1.19e-02 3.75e-07 -8.6 -7.4 6.78e-01 1 1h 44 2.0805776e+00 3.63e-09 7.08e-03 3.96e-08 -8.6 -7.9 7.14e-01 1 1h 45 2.0805774e+00 3.61e-09 1.17e-01 9.64e-09 -8.6 -6.5 4.38e-03 1 1h 46 2.0805742e+00 2.65e-09 4.68e-03 4.29e-08 -8.6 -7.0 2.72e-01 1 1h 47 2.0805532e+00 7.99e-10 6.59e-04 1.07e-08 -8.6 -7.5 1.00e+00 1 1h 48 2.0805396e+00 8.13e-10 5.79e-03 2.54e-09 -8.6 -8.0 1.00e+00 1 1h 49 2.0805396e+00 7.98e-10 2.45e-03 2.51e-09 -8.6 -6.6 1.86e-02 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805388e+00 1.16e-11 1.06e-05 2.51e-09 -8.6 -7.1 1.00e+00 1 1h 51 2.0805376e+00 4.57e-11 3.79e-05 2.51e-09 -8.6 -7.6 1.00e+00 1 1h 52 2.0805368e+00 8.37e-11 2.12e-03 2.67e-09 -8.6 -8.1 1.00e+00 1 1h 53 2.0805368e+00 8.03e-11 1.68e-02 1.09e-07 -8.6 -6.7 1.18e-01 1 4h 54 2.0805368e+00 1.42e-11 5.03e-07 2.52e-09 -8.6 -7.2 1.00e+00 1 1h 55 2.0805380e+00 3.49e-12 2.31e-03 2.59e-09 -8.6 -6.8 9.92e-01 1 1h 56 2.0805370e+00 3.88e-12 4.59e-04 2.51e-09 -8.6 -7.3 1.00e+00 1 1h 57 2.0805368e+00 1.43e-11 1.16e-02 3.53e-09 -8.6 -5.0 8.28e-01 1 1h 58 2.0805368e+00 1.12e-11 4.78e-02 2.17e-07 -8.6 -5.5 3.06e-01 1 1h 59 2.0805368e+00 1.09e-11 3.79e-06 2.13e-08 -8.6 -6.0 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 60 2.0805368e+00 9.95e-14 1.61e-06 6.63e-09 -8.6 -5.6 1.00e+00 1 1h 61 2.0805368e+00 2.35e-14 2.64e-07 3.13e-09 -8.6 -6.1 1.00e+00 1 1h 62 2.0805367e+00 1.74e-13 8.20e-07 2.51e-09 -8.6 -6.5 1.00e+00 1 1h 63 2.0805367e+00 7.02e-14 1.69e-06 3.05e-09 -8.6 -6.1 1.00e+00 1 1h 64 2.0805367e+00 1.14e-13 5.82e-06 2.51e-09 -8.6 -6.6 1.00e+00 1 1h 65 2.0805367e+00 6.63e-13 8.44e-06 3.87e-09 -8.6 -6.2 1.00e+00 1 1h 66 2.0805367e+00 4.51e-13 2.72e-06 2.51e-09 -8.6 -6.6 1.00e+00 1 1h 67 2.0805367e+00 3.48e-13 1.12e-06 2.53e-09 -8.6 -7.1 1.00e+00 1 1h 68 2.0805367e+00 1.94e-12 5.84e-07 2.51e-09 -8.6 -7.6 1.00e+00 1 1h 69 2.0805366e+00 7.97e-12 2.93e-06 2.51e-09 -8.6 -8.1 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 70 2.0805365e+00 1.67e-11 5.80e-06 2.51e-09 -8.6 -8.5 1.00e+00 1 1h 71 2.0805365e+00 9.86e-12 2.83e-06 2.51e-09 -8.6 -9.0 1.00e+00 1 1h 72 2.0805365e+00 9.26e-13 2.24e-07 2.51e-09 -8.6 -9.5 1.00e+00 1 1h 73 2.0805365e+00 1.12e-14 2.30e-09 2.51e-09 -8.6 -10.0 1.00e+00 1 1h Number of Iterations....: 73 (scaled) (unscaled) Objective...............: 2.0805364803022219e+00 2.0805364803022219e+00 Dual infeasibility......: 2.2970353952267430e-09 2.2970353952267430e-09 Constraint violation....: 1.1213252548714081e-14 1.1213252548714081e-14 Complementarity.........: 2.5059035602235083e-09 2.5059035602235083e-09 Overall NLP error.......: 2.5059035602235083e-09 2.5059035602235083e-09 Number of objective function evaluations = 79 Number of objective gradient evaluations = 74 Number of constraint evaluations = 79 Number of constraint Jacobian evaluations = 74 Number of Lagrangian Hessian evaluations = 73 Number of KKT factorizations = 176 Number of KKT backsolves = 76 Total wall secs in initialization = 23.611 s Total wall secs in linear solver = 0.166 s Total wall secs in NLP function evaluations = 21.659 s Total wall secs in solver (w/o init./fun./lin. alg.) = 53.915 s Total wall secs = 99.351 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/evaluator.jl:438 ┌ 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/TIf6x/src/problems.jl:66 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: 0.101s hessian structure: 30 nonzeros (0.101s) linear index maps built (0.0s) evaluator ready (total: 0.101s) evaluator created (0.156s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.129s) applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: bounds on u applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial time t₁ = 0 linear constraints added: 5 (3.155s) optimizer initialization complete (total: 3.442s) 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 1.1069370e-02 8.33e-17 1.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.1088543e-02 2.17e-13 1.00e-02 -4.0 8.71e-04 -2.0 9.90e-01 1.00e+00f 1 2 3.3149558e-02 7.53e-11 2.06e-02 -2.2 7.74e-01 -1.6 1.00e+00 1.00e+00f 1 3 3.3250389e-02 3.71e-11 7.33e-04 -3.4 1.03e-02 -1.1 1.00e+00 1.00e+00h 1 4 3.3228170e-02 8.56e-13 1.69e-05 -5.1 7.13e-04 -1.6 1.00e+00 1.00e+00h 1 5 3.3084549e-02 4.68e-15 7.51e-06 -7.6 7.14e-04 -2.1 1.00e+00 1.00e+00h 1 6 3.2523160e-02 1.11e-16 9.36e-06 -7.6 2.85e-03 -2.6 1.00e+00 1.00e+00h 1 7 3.0532200e-02 1.67e-16 1.11e-05 -7.6 1.05e-02 -3.1 1.00e+00 1.00e+00f 1 8 2.4471474e-02 2.22e-16 1.25e-05 -7.6 3.67e-02 -3.5 1.00e+00 1.00e+00f 1 9 1.2104954e-02 1.67e-16 1.31e-05 -7.6 1.18e-01 -4.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 4.6269625e-03 1.11e-16 1.31e-05 -7.6 3.49e-01 -4.5 1.00e+00 1.00e+00f 1 11 6.8451349e-03 2.78e-16 1.34e-03 -4.0 4.75e+01 -5.0 1.00e+00 4.73e-03f 2 12 2.4833794e-03 8.63e-15 5.07e-06 -4.1 1.40e+00 -5.4 1.00e+00 1.00e+00f 1 13 6.2358522e-02 7.33e-14 4.28e-05 -4.0 3.56e+01 -5.9 1.00e+00 1.00e+00f 1 14 4.4101429e-02 9.10e-14 1.24e-05 -3.7 9.83e+00 -6.4 1.00e+00 1.00e+00f 1 15 4.4101318e-02 9.10e-14 4.20e-05 -5.6 9.55e+00 -6.9 9.66e-01 6.10e-05h 15 16 4.4101249e-02 9.10e-14 6.60e-05 -5.6 1.34e+01 -7.4 1.00e+00 1.82e-06h 20 17 4.4100386e-02 9.10e-14 9.33e-05 -5.6 1.54e+01 -7.8 8.80e-01 7.47e-06h 18 18 4.4097736e-02 9.10e-14 1.21e-04 -5.6 3.18e+01 -8.3 1.00e+00 1.36e-05h 17 19 4.4093295e-02 9.10e-14 1.48e-04 -5.6 2.40e+01 -8.8 1.00e+00 1.53e-05h 17 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 4.4087552e-02 9.10e-14 1.76e-04 -5.6 1.77e+01 -9.3 1.00e+00 1.53e-05h 17 21 4.4085782e-02 9.10e-14 2.03e-04 -5.6 2.16e+01 -9.7 1.00e+00 3.81e-06h 19 22 4.4077377e-02 9.10e-14 2.31e-04 -5.6 2.17e+01 -10.2 1.00e+00 1.53e-05h 17 23 4.4076769e-02 9.10e-14 2.58e-04 -5.6 2.18e+01 -10.7 1.00e+00 9.54e-07h 21 24 4.4075388e-02 9.10e-14 2.85e-04 -5.6 2.18e+01 -11.2 1.00e+00 1.91e-06h 20 25 3.8005619e-02 9.06e-14 3.11e-04 -5.6 2.17e+01 -11.6 1.00e+00 7.81e-03f 8 26 3.1796195e-02 9.02e-14 3.33e-04 -5.6 2.18e+01 -12.1 1.00e+00 7.81e-03f 8 27 2.5641010e-02 8.93e-14 3.54e-04 -5.6 2.19e+01 -12.6 1.00e+00 7.81e-03f 8 28 2.4087559e-02 8.93e-14 3.73e-04 -5.6 2.20e+01 -13.1 1.00e+00 1.95e-03f 10 29 2.0950392e-02 8.93e-14 3.91e-04 -5.6 2.17e+01 -13.6 1.00e+00 3.91e-03f 9 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.9378221e-02 8.93e-14 4.09e-04 -5.6 2.19e+01 -14.0 1.00e+00 1.95e-03f 10 31 1.6281076e-02 8.88e-14 4.25e-04 -5.6 2.18e+01 -14.5 1.00e+00 3.91e-03f 9 32 1.6280886e-02 8.88e-14 4.40e-04 -5.6 2.20e+01 -15.0 1.00e+00 2.38e-07h 23 33 1.4708781e-02 8.88e-14 4.55e-04 -5.6 2.17e+01 -15.5 1.00e+00 1.95e-03f 10 34 1.3924425e-02 8.88e-14 4.70e-04 -5.6 2.19e+01 -15.9 1.00e+00 9.77e-04f 11 35 1.2372194e-02 8.88e-14 4.83e-04 -5.6 2.18e+01 -16.4 1.00e+00 1.95e-03f 10 36 1.2371814e-02 8.88e-14 4.97e-04 -5.6 2.20e+01 -16.9 1.00e+00 4.77e-07h 22 37 1.1585614e-02 8.88e-14 5.10e-04 -5.6 2.17e+01 -17.4 1.00e+00 9.77e-04f 11 38 1.1191954e-02 8.88e-14 5.23e-04 -5.6 2.19e+01 -17.8 1.00e+00 4.88e-04f 12 39 1.0406864e-02 8.88e-14 5.35e-04 -5.6 2.18e+01 -18.3 1.00e+00 9.77e-04f 11 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.0210538e-02 8.88e-14 5.48e-04 -5.6 2.19e+01 -18.8 1.00e+00 2.44e-04f 13 41 9.4286747e-03 8.88e-14 5.59e-04 -5.6 2.18e+01 -19.3 1.00e+00 9.77e-04f 11 42 9.4286508e-03 8.88e-14 5.71e-04 -5.6 2.20e+01 -19.8 1.00e+00 2.98e-08h 26 43 9.0350397e-03 8.88e-14 5.82e-04 -5.6 2.18e+01 -20.0 1.00e+00 4.88e-04f 12 44 8.8396364e-03 8.88e-14 5.94e-04 -5.6 2.19e+01 -20.0 1.00e+00 2.42e-04f 13 45 8.4527920e-03 8.88e-14 6.05e-04 -5.6 2.19e+01 -20.0 1.00e+00 4.80e-04f 12 46 8.3567244e-03 8.88e-14 6.16e-04 -5.6 2.19e+01 -20.0 1.00e+00 1.19e-04f 14 47 7.9749663e-03 8.88e-14 6.26e-04 -5.6 2.19e+01 -20.0 1.00e+00 4.75e-04f 12 48 7.9745946e-03 8.88e-14 6.37e-04 -5.6 2.19e+01 -20.0 1.00e+00 4.62e-07h 22 49 7.5951028e-03 8.84e-14 6.47e-04 -5.6 2.19e+01 -20.0 1.00e+00 4.72e-04f 12 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 7.5950913e-03 8.84e-14 6.57e-04 -5.6 2.20e+01 -20.0 1.00e+00 1.44e-08h 27 51 7.4051529e-03 8.84e-14 6.68e-04 -5.6 2.19e+01 -20.0 1.00e+00 2.36e-04f 13 52 7.3813366e-03 8.84e-14 6.78e-04 -5.6 2.19e+01 -20.0 1.00e+00 2.95e-05f 16 53 7.1903254e-03 8.84e-14 6.88e-04 -5.6 2.19e+01 -20.0 1.00e+00 2.37e-04f 13 54 7.1424926e-03 8.84e-14 6.98e-04 -5.6 2.19e+01 -20.0 1.00e+00 5.93e-05f 15 55 6.9510025e-03 8.84e-14 7.07e-04 -5.6 2.19e+01 -20.0 1.00e+00 2.38e-04f 13 56 6.9506275e-03 8.84e-14 7.17e-04 -5.6 2.20e+01 -20.0 1.00e+00 4.65e-07h 22 57 6.7583572e-03 8.84e-14 7.27e-04 -5.6 2.19e+01 -20.0 1.00e+00 2.39e-04f 13 58 6.7581692e-03 8.84e-14 7.36e-04 -5.6 2.20e+01 -20.0 1.00e+00 2.33e-07h 23 59 6.6614857e-03 8.84e-14 7.46e-04 -5.6 2.19e+01 -20.0 1.00e+00 1.20e-04f 14 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 6.6130326e-03 8.84e-14 7.55e-04 -5.6 2.19e+01 -20.0 1.00e+00 5.99e-05f 15 61 6.5159992e-03 8.84e-14 7.65e-04 -5.6 2.19e+01 -20.0 1.00e+00 1.20e-04f 14 62 6.4916839e-03 8.84e-14 7.74e-04 -5.6 2.20e+01 -20.0 1.00e+00 3.00e-05f 16 63 6.3942849e-03 8.84e-14 7.84e-04 -5.6 2.19e+01 -20.0 1.00e+00 1.20e-04f 14 64 6.3456576e-03 8.84e-14 7.93e-04 -5.6 2.20e+01 -20.0 1.00e+00 6.01e-05f 15 65 6.2485303e-03 8.84e-14 8.02e-04 -5.6 2.19e+01 -20.0 1.00e+00 1.20e-04f 14 66 6.2483404e-03 8.84e-14 8.11e-04 -5.6 2.20e+01 -20.0 1.00e+00 2.35e-07h 23 67 6.1510299e-03 8.84e-14 8.20e-04 -5.6 2.19e+01 -20.0 1.00e+00 1.20e-04f 14 68 6.1388603e-03 8.84e-14 8.29e-04 -5.6 2.20e+01 -20.0 1.00e+00 1.50e-05f 17 69 6.0414426e-03 8.84e-14 8.38e-04 -5.6 2.19e+01 -20.0 1.00e+00 1.20e-04f 14 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 6.0413950e-03 8.84e-14 8.47e-04 -5.6 2.20e+01 -20.0 1.00e+00 5.88e-08h 25 71 5.9437747e-03 8.84e-14 8.56e-04 -5.6 2.19e+01 -20.0 1.00e+00 1.20e-04f 14 72 5.9435839e-03 8.84e-14 8.65e-04 -5.6 2.20e+01 -20.0 1.00e+00 2.35e-07h 23 73 5.8457947e-03 8.84e-14 8.73e-04 -5.6 2.19e+01 -20.0 1.00e+00 1.21e-04f 14 74 5.8456991e-03 8.84e-14 8.82e-04 -5.6 2.20e+01 -20.0 1.00e+00 1.18e-07h 24 75 5.7477871e-03 8.84e-14 8.91e-04 -5.6 2.20e+01 -20.0 1.00e+00 1.21e-04f 14 76 5.7476915e-03 8.84e-14 8.99e-04 -5.6 2.20e+01 -20.0 1.00e+00 1.18e-07h 24 77 5.6985830e-03 8.84e-14 9.08e-04 -5.6 2.20e+01 -20.0 1.00e+00 6.05e-05f 15 78 5.6494716e-03 8.84e-14 9.16e-04 -5.6 2.20e+01 -20.0 1.00e+00 6.05e-05f 15 79 5.6003545e-03 8.84e-14 9.25e-04 -5.6 2.20e+01 -20.0 1.00e+00 6.05e-05f 15 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 5.5757714e-03 8.84e-14 9.33e-04 -5.6 2.20e+01 -20.0 1.00e+00 3.03e-05f 16 81 5.5265503e-03 8.84e-14 9.41e-04 -5.6 2.20e+01 -20.0 1.00e+00 6.06e-05f 15 82 5.5019211e-03 8.84e-14 9.50e-04 -5.6 2.20e+01 -20.0 1.00e+00 3.03e-05f 16 83 5.4526188e-03 8.84e-14 9.58e-04 -5.6 2.20e+01 -20.0 1.00e+00 6.06e-05f 15 84 5.4279547e-03 8.84e-14 9.66e-04 -5.6 2.20e+01 -20.0 1.00e+00 3.03e-05f 16 85 5.3785930e-03 8.84e-14 9.74e-04 -5.6 2.20e+01 -20.0 1.00e+00 6.07e-05f 15 86 5.3539048e-03 8.88e-14 9.83e-04 -5.6 2.20e+01 -20.0 1.00e+00 3.03e-05f 16 87 5.3045148e-03 8.84e-14 9.91e-04 -5.6 2.20e+01 -20.0 1.00e+00 6.07e-05f 15 88 5.2798129e-03 8.84e-14 9.99e-04 -5.6 2.20e+01 -20.0 1.00e+00 3.04e-05f 16 89 5.2304153e-03 8.84e-14 1.01e-03 -5.6 2.20e+01 -20.0 1.00e+00 6.07e-05f 15 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 5.2180539e-03 8.79e-14 1.01e-03 -5.6 2.20e+01 -20.0 1.00e+00 1.52e-05f 17 91 5.1685982e-03 8.79e-14 1.02e-03 -5.6 2.20e+01 -20.0 1.00e+00 6.07e-05f 15 92 5.1562224e-03 8.79e-14 1.03e-03 -5.6 2.20e+01 -20.0 1.00e+00 1.52e-05f 17 93 5.1067251e-03 8.79e-14 1.04e-03 -5.6 2.20e+01 -20.0 1.00e+00 6.07e-05f 15 94 5.0943393e-03 8.79e-14 1.05e-03 -5.6 2.20e+01 -20.0 1.00e+00 1.52e-05f 17 95 5.0448164e-03 8.79e-14 1.05e-03 -5.6 2.20e+01 -20.0 1.00e+00 6.07e-05f 15 96 5.0324248e-03 8.79e-14 1.06e-03 -5.6 2.20e+01 -20.0 1.00e+00 1.52e-05f 17 97 4.9828926e-03 8.79e-14 1.07e-03 -5.6 2.20e+01 -20.0 1.00e+00 6.07e-05f 15 98 4.9766937e-03 8.79e-14 1.08e-03 -5.6 2.20e+01 -20.0 1.00e+00 7.60e-06f 18 99 4.9271310e-03 8.79e-14 1.08e-03 -5.6 2.20e+01 -20.0 1.00e+00 6.07e-05f 15 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 4.9240292e-03 8.79e-14 1.09e-03 -5.6 2.21e+01 -20.0 1.00e+00 3.80e-06f 19 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 7.5839407152363468e-08 4.9240292240957601e-03 Dual infeasibility......: 1.0923036861679087e-03 7.0920059560495773e+01 Constraint violation....: 8.7929663550312398e-14 8.7929663550312398e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.2165378206353799e-04 1.4391326903696665e+01 Overall NLP error.......: 1.0923036861679087e-03 7.0920059560495773e+01 Number of objective function evaluations = 1360 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 1360 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 = 3.354 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 0 integrators, 0 nonlinear constraints dynamics constraints: 0, nonlinear constraints: 0 jacobian structure: 0 nonzeros (0.0s) computing objective hessian structure (CompositeObjective)... sub-objective 1 (QuadraticRegularizer): 0.099s sub-objective 2 (QuadraticRegularizer): 0.0s objective hessian structure: 0.201s hessian structure: 40 nonzeros (0.201s) linear index maps built (0.0s) evaluator ready (total: 0.201s) evaluator created (0.258s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.13s) applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial value of t applying constraint: bounds on u applying constraint: bounds on t applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) linear constraints added: 6 (3.208s) optimizer initialization complete (total: 3.596s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 39 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 19 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.8338807e+00 1.33e+00 1.96e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6964906e+00 3.51e-09 5.38e-01 -0.1 7.80e-01 -2.0 9.99e-01 1.00e+00f 1 2 6.1317158e-01 3.11e-09 6.37e-01 -1.1 1.88e+00 -1.6 8.10e-01 1.00e+00f 1 3 2.9407562e-01 3.84e-10 9.87e-02 -1.9 7.20e-01 -1.1 9.99e-01 1.00e+00f 1 4 6.9502287e-02 7.86e-11 7.75e-02 -2.6 1.13e+00 -1.6 1.00e+00 1.00e+00f 1 5 1.3626494e-02 5.21e-11 3.02e-02 -3.5 8.90e-01 -2.1 1.00e+00 1.00e+00f 1 6 2.6901510e-03 1.17e-11 9.53e-03 -4.0 5.97e-01 -2.6 1.00e+00 1.00e+00f 1 7 7.3070022e-04 2.02e-12 2.83e-03 -4.0 3.43e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.2004641e-04 3.72e-13 6.84e-04 -4.0 1.14e-01 -3.5 1.00e+00 1.00e+00f 1 9 4.7993789e-04 5.57e-14 2.48e-04 -4.0 3.80e-02 -4.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.9042052e-04 1.30e-14 4.92e-04 -4.1 9.13e-02 -4.5 1.00e+00 1.00e+00f 1 11 4.6043383e-04 7.55e-15 3.84e-04 -4.0 2.08e-01 -5.0 1.00e+00 5.00e-01f 2 12 2.7185168e-04 4.88e-15 5.21e-04 -4.1 9.92e-02 -5.4 1.00e+00 1.00e+00f 1 13 4.6771882e-04 3.66e-15 4.69e-04 -4.0 2.48e-01 -5.9 1.00e+00 5.00e-01f 2 14 2.6268812e-04 2.66e-15 5.86e-04 -4.1 1.13e-01 -6.4 1.00e+00 1.00e+00f 1 15 4.6807805e-04 2.66e-15 5.05e-04 -4.0 2.67e-01 -6.9 1.00e+00 5.00e-01f 2 16 2.5963401e-04 2.00e-15 6.13e-04 -4.1 1.18e-01 -7.4 1.00e+00 1.00e+00f 1 17 4.6795339e-04 2.22e-15 5.22e-04 -4.0 2.76e-01 -7.8 1.00e+00 5.00e-01f 2 18 2.5862262e-04 1.67e-15 6.31e-04 -4.1 1.22e-01 -8.3 1.00e+00 1.00e+00f 1 19 4.6743634e-04 1.89e-15 5.31e-04 -4.0 2.82e-01 -8.8 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.5831851e-04 1.44e-15 6.46e-04 -4.1 1.25e-01 -9.3 1.00e+00 1.00e+00f 1 21 4.6683618e-04 1.55e-15 5.37e-04 -4.0 2.87e-01 -9.7 1.00e+00 5.00e-01f 2 22 2.5823874e-04 1.33e-15 6.60e-04 -4.1 1.28e-01 -10.2 1.00e+00 1.00e+00f 1 23 4.6621856e-04 1.44e-15 5.42e-04 -4.0 2.91e-01 -10.7 1.00e+00 5.00e-01f 2 24 2.5822811e-04 1.22e-15 6.72e-04 -4.1 1.30e-01 -11.2 1.00e+00 1.00e+00f 1 25 4.6561079e-04 1.22e-15 5.46e-04 -4.0 2.94e-01 -11.6 1.00e+00 5.00e-01f 2 26 2.5823645e-04 1.05e-15 6.84e-04 -4.1 1.32e-01 -12.1 1.00e+00 1.00e+00f 1 27 3.0915953e-05 9.83e-15 8.57e-04 -6.2 3.66e-01 -12.6 9.69e-01 1.00e+00f 1 28 1.7525968e-03 2.66e-15 7.46e-03 -4.0 1.93e+00 -13.1 1.00e+00 5.00e-01f 2 29 2.4276784e-05 2.52e-14 2.78e-03 -4.1 9.85e-01 -13.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.5829262e-03 3.29e-14 7.77e-03 -4.0 9.54e-01 -14.0 1.00e+00 1.00e+00f 1 31 9.9886905e-06 1.93e-14 2.20e-03 -4.2 1.06e+00 -14.5 1.00e+00 1.00e+00f 1 32 4.6957040e-04 1.78e-15 2.70e-03 -4.0 1.34e+00 -15.0 1.00e+00 5.00e-01f 2 33 2.1896157e-04 3.11e-15 2.30e-04 -4.2 3.67e-01 -15.5 1.00e+00 5.00e-01f 2 34 2.0134751e-05 4.72e-15 7.78e-04 -6.4 3.99e-01 -15.9 9.65e-01 1.00e+00f 1 35 8.0971872e-06 3.44e-15 9.59e-05 -6.4 1.01e-01 -16.4 1.00e+00 1.00e+00f 1 36 1.5773343e-03 1.11e-15 5.47e-03 -4.0 9.40e+00 -16.9 1.00e+00 1.25e-01f 4 37 9.6026549e-05 5.64e-14 3.42e-03 -4.0 7.85e-01 -17.4 1.00e+00 1.00e+00f 1 38 7.5569341e-04 3.82e-14 3.51e-03 -4.0 5.30e-01 -17.8 1.00e+00 1.00e+00f 1 39 3.8099084e-04 7.22e-15 4.23e-04 -4.0 4.13e-01 -18.3 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 3.5511133e-05 5.66e-15 1.29e-03 -6.0 4.91e-01 -18.8 9.57e-01 1.00e+00f 1 41 1.4635698e-05 5.55e-15 1.56e-04 -6.0 1.22e-01 -19.3 1.00e+00 1.00e+00f 1 42 4.0370335e-06 8.88e-16 9.84e-05 -6.0 1.39e-01 -19.8 1.00e+00 1.00e+00f 1 43 1.1369225e-03 4.44e-16 3.47e-03 -4.0 1.52e+01 -20.0 1.00e+00 7.90e-02f 4 44 1.5118546e-04 5.04e-14 2.97e-03 -4.0 6.13e-01 -20.0 1.00e+00 1.00e+00f 1 45 6.9284464e-04 2.55e-14 2.92e-03 -4.0 4.37e-01 -20.0 1.00e+00 1.00e+00f 1 46 3.9109961e-04 4.66e-15 4.21e-04 -4.0 3.69e-01 -20.0 1.00e+00 5.00e-01f 2 47 3.5650914e-05 6.00e-15 1.42e-03 -6.0 5.33e-01 -20.0 9.52e-01 1.00e+00f 1 48 1.4798463e-05 5.05e-15 1.67e-04 -6.0 1.30e-01 -20.0 1.00e+00 1.00e+00f 1 49 3.9659265e-06 8.33e-16 1.08e-04 -6.0 1.52e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 9.1510322e-04 4.51e-16 2.45e-03 -4.0 1.63e+01 -20.0 1.00e+00 7.35e-02f 4 51 1.8594401e-04 4.32e-14 2.61e-03 -4.0 5.17e-01 -20.0 1.00e+00 1.00e+00f 1 52 6.3128824e-04 1.78e-14 2.48e-03 -4.0 3.77e-01 -20.0 1.00e+00 1.00e+00f 1 53 3.8778211e-04 3.11e-15 4.07e-04 -4.0 3.34e-01 -20.0 1.00e+00 5.00e-01f 2 54 3.4768244e-05 5.66e-15 1.51e-03 -6.1 5.69e-01 -20.0 9.47e-01 1.00e+00f 1 55 1.4524645e-05 4.55e-15 1.74e-04 -6.1 1.37e-01 -20.0 1.00e+00 1.00e+00f 1 56 3.8229215e-06 7.22e-16 1.14e-04 -6.1 1.64e-01 -20.0 1.00e+00 1.00e+00f 1 57 7.5099444e-04 5.48e-16 1.52e-03 -4.0 1.77e+01 -20.0 1.00e+00 6.75e-02f 4 58 2.2220524e-04 3.77e-14 2.20e-03 -4.1 4.20e-01 -20.0 1.00e+00 1.00e+00f 1 59 5.7020061e-04 1.24e-14 1.97e-03 -4.1 3.07e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 3.8475815e-04 2.22e-15 3.74e-04 -4.1 2.85e-01 -20.0 1.00e+00 5.00e-01f 2 61 3.3769000e-05 5.33e-15 1.59e-03 -6.1 6.03e-01 -20.0 9.43e-01 1.00e+00f 1 62 1.4242765e-05 4.22e-15 1.78e-04 -6.1 1.42e-01 -20.0 1.00e+00 1.00e+00f 1 63 3.7011048e-06 6.66e-16 1.19e-04 -6.1 1.74e-01 -20.0 1.00e+00 1.00e+00f 1 64 6.3139241e-04 4.44e-16 7.19e-04 -4.0 1.91e+01 -20.0 1.00e+00 6.26e-02f 4 65 2.5539794e-04 3.35e-14 1.79e-03 -4.1 3.32e-01 -20.0 1.00e+00 1.00e+00f 1 66 5.1564252e-04 8.22e-15 1.49e-03 -4.1 2.37e-01 -20.0 1.00e+00 1.00e+00f 1 67 3.8069687e-04 1.11e-15 3.28e-04 -4.1 2.32e-01 -20.0 1.00e+00 5.00e-01f 2 68 3.2678372e-05 5.22e-15 1.65e-03 -6.1 6.35e-01 -20.0 9.39e-01 1.00e+00f 1 69 1.3928421e-05 3.89e-15 1.81e-04 -6.1 1.46e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 3.5893224e-06 6.11e-16 1.23e-04 -6.1 1.83e-01 -20.0 1.00e+00 1.00e+00f 1 71 5.4279449e-04 2.57e-16 7.80e-05 -4.0 2.04e+01 -20.0 1.00e+00 5.85e-02f 4 72 2.8466930e-04 3.02e-14 1.38e-03 -4.1 2.52e-01 -20.0 1.00e+00 1.00e+00f 1 73 4.6943360e-04 5.33e-15 1.05e-03 -4.1 1.71e-01 -20.0 1.00e+00 1.00e+00f 1 74 2.9753686e-04 3.77e-15 9.91e-04 -4.1 1.80e-01 -20.0 1.00e+00 1.00e+00f 1 75 4.6243472e-04 2.89e-15 9.12e-04 -4.1 1.49e-01 -20.0 1.00e+00 1.00e+00f 1 76 3.0464023e-04 3.33e-15 8.97e-04 -4.1 1.62e-01 -20.0 1.00e+00 1.00e+00f 1 77 4.5545531e-04 2.89e-15 8.18e-04 -4.1 1.34e-01 -20.0 1.00e+00 1.00e+00f 1 78 2.3579036e-05 4.66e-15 1.82e-03 -6.1 7.70e-01 -20.0 9.25e-01 1.00e+00f 1 79 1.2298945e-05 4.00e-15 1.20e-04 -6.1 1.06e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 3.0755891e-06 4.44e-16 1.15e-04 -6.1 1.83e-01 -20.0 1.00e+00 1.00e+00f 1 81 4.9566659e-04 4.58e-16 5.30e-04 -4.0 2.31e+01 -20.0 1.00e+00 5.17e-02f 4 82 3.0912349e-04 2.93e-14 1.07e-03 -4.1 1.91e-01 -20.0 1.00e+00 1.00e+00f 1 83 4.4370320e-04 3.77e-15 7.33e-04 -4.1 1.21e-01 -20.0 1.00e+00 1.00e+00f 1 84 2.4298112e-05 4.44e-15 1.89e-03 -6.1 7.90e-01 -20.0 9.22e-01 1.00e+00f 1 85 1.2437525e-05 3.77e-15 1.32e-04 -6.1 1.15e-01 -20.0 1.00e+00 1.00e+00f 1 86 3.1163936e-06 4.44e-16 1.22e-04 -6.1 1.93e-01 -20.0 1.00e+00 1.00e+00f 1 87 3.9835748e-06 1.77e-16 2.08e-05 -6.1 3.61e-02 -20.0 1.00e+00 1.00e+00f 1 88 3.4330813e-06 7.11e-17 5.96e-06 -6.1 1.07e-02 -20.0 1.00e+00 1.00e+00h 1 89 2.6095967e-07 8.85e-17 5.27e-05 -9.0 2.35e-01 -20.0 9.77e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.4719658e-03 5.20e-16 1.21e-02 -4.0 1.04e+02 -20.0 1.00e+00 2.33e-02f 3 91 8.3531433e-05 4.88e-14 7.11e-03 -3.9 1.55e+00 -20.0 1.00e+00 1.00e+00f 1 92 7.7280508e-04 2.93e-14 5.39e-03 -3.9 8.16e-01 -20.0 1.00e+00 1.00e+00f 1 93 4.3976403e-04 5.77e-15 7.71e-04 -3.9 5.36e-01 -20.0 1.00e+00 5.00e-01f 2 94 4.3453174e-05 4.33e-15 2.14e-03 -5.9 7.14e-01 -20.0 9.30e-01 1.00e+00f 1 95 1.7948046e-05 4.00e-15 2.62e-04 -5.9 1.86e-01 -20.0 1.00e+00 1.00e+00f 1 96 5.1377474e-06 7.77e-16 1.66e-04 -5.9 2.09e-01 -20.0 1.00e+00 1.00e+00f 1 97 5.8457940e-06 3.18e-16 1.77e-05 -5.9 2.50e-02 -20.0 1.00e+00 1.00e+00h 1 98 5.3982433e-06 8.85e-17 2.78e-06 -5.9 3.99e-03 -20.0 1.00e+00 1.00e+00h 1 99 3.8841596e-07 5.55e-17 7.97e-05 -8.9 2.86e-01 -20.0 9.71e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 1.5620996e-07 4.77e-17 8.37e-06 -8.9 6.34e-02 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.5620995701164104e-07 1.5620995701164104e-07 Dual infeasibility......: 8.3728651510217766e-06 8.3728651510217766e-06 Constraint violation....: 4.7704895589362195e-17 4.7704895589362195e-17 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 5.3808600673491474e-08 5.3808600673491474e-08 Overall NLP error.......: 9.9998663279584184e-05 9.9998663279584184e-05 Number of objective function evaluations = 165 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 165 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 = 3.719 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.065s integrator 2 jacobian structure: 0.057s integrator 3 jacobian structure: 0.0s jacobian structure: 1872 nonzeros (0.122s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.051s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.351s sub-objective 2 (QuadraticRegularizer): 0.096s sub-objective 3 (LinearRegularizer): 0.088s sub-objective 4 (MinimumTimeObjective): 0.018s objective hessian structure: 0.653s hessian structure: 2431 nonzeros (0.755s) linear index maps built (0.0s) evaluator ready (total: 0.877s) evaluator created (0.937s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.125s) 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 (3.352s) optimizer initialization complete (total: 4.415s) 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 3.8666729e+00 2.97e+00 1.08e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.2801545e+00 3.18e+00 3.84e+00 -0.7 3.58e+01 -4.0 3.56e-01 4.17e-01f 1 2 4.9655142e+00 3.07e+00 4.10e+00 -0.3 7.42e+00 -1.8 3.12e-01 1.00e+00f 1 3 3.6575384e+00 8.15e-01 1.43e+00 -4.0 1.40e+00 -0.4 6.08e-01 1.00e+00h 1 4 3.3581759e+00 4.42e-01 7.97e-01 -1.4 3.04e-01 -0.0 9.80e-01 4.60e-01h 1 5 2.7473831e+00 2.96e-02 3.88e-01 -1.8 4.61e-01 -0.5 9.97e-01 1.00e+00h 1 6 2.4185659e+00 2.05e-02 5.20e-01 -2.4 6.01e-01 -1.0 9.99e-01 6.53e-01h 1 7 2.0111277e+00 3.72e-02 2.92e-01 -3.2 8.62e-01 -1.4 9.99e-01 1.00e+00f 1 8 1.8120131e+00 6.99e-02 1.48e-01 -2.9 1.58e+00 -1.9 1.00e+00 1.00e+00h 1 9 1.6637099e+00 1.34e-01 1.33e-01 -2.9 2.76e+00 -2.4 1.00e+00 9.56e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.4823508e+00 2.13e-01 1.68e-01 -2.9 4.93e+00 -2.9 9.43e-01 1.00e+00h 1 11 1.2863974e+00 2.00e-01 1.97e-01 -3.6 1.05e+01 -3.4 3.71e-01 9.92e-01h 1 12 1.2667912e+00 7.86e-02 1.19e-02 -3.7 3.95e+00 -2.9 1.00e+00 1.00e+00h 1 13 1.1756874e+00 1.47e-01 6.88e-02 -3.8 7.79e+00 -3.4 1.00e+00 9.99e-01h 1 14 1.0679464e+00 4.36e-01 9.74e-02 -4.0 1.38e+01 -3.9 1.00e+00 1.00e+00h 1 15 9.6573947e-01 7.64e-01 1.26e-01 -3.8 2.25e+01 -4.4 1.00e+00 1.00e+00h 1 16 8.7311769e-01 1.27e+00 1.30e-01 -3.9 3.34e+01 -4.8 1.00e+00 1.00e+00h 1 17 8.0180804e-01 1.37e+00 2.15e-01 -3.5 5.40e+01 -5.3 1.00e+00 1.00e+00h 1 18 7.4570160e-01 2.40e+00 3.39e-01 -3.2 6.67e+01 -5.8 5.37e-01 1.00e+00h 1 19 6.8790754e-01 1.08e+00 2.56e-01 -3.4 1.32e+02 -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 20 1.4164301e+00 2.83e+01 1.21e+01 -2.0 7.30e+02 -6.7 2.07e-01 1.00e+00f 1 21 1.0284593e+00 2.70e+01 1.57e+00 -2.1 5.41e+01 -4.5 1.00e+00 4.71e-02h 1 22 9.3286926e-01 2.79e-01 7.99e-01 -2.1 1.68e+01 -5.0 6.24e-01 1.00e+00h 1 23 8.0089092e-01 1.98e-01 3.57e-01 -2.7 3.14e+01 -5.5 1.00e+00 1.00e+00h 1 24 7.1171744e-01 6.17e-01 7.26e-01 -2.7 4.92e+01 -5.9 1.00e+00 9.95e-01h 1 25 6.7938228e-01 9.16e-01 2.36e-01 -2.8 6.81e+01 -6.4 1.00e+00 1.00e+00h 1 26 6.4083933e-01 1.07e+01 1.04e+00 -3.0 3.33e+02 -6.9 1.00e+00 1.00e+00h 1 27 6.1645552e-01 2.33e+00 1.56e-01 -3.1 7.81e+01 -6.5 8.71e-01 1.00e+00h 1 28 6.3524120e-01 2.74e+00 1.93e+00 -3.3 2.84e+02 -6.9 1.00e+00 7.69e-01H 1 29 6.3300191e-01 1.04e+01 1.29e+00 -2.8 4.94e+02 -7.4 6.52e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 6.3864576e-01 1.00e+00 5.23e-01 -2.8 1.28e+02 -7.0 1.00e+00 1.00e+00h 1 31 6.0358324e-01 8.88e-01 2.57e-01 -3.3 2.21e+02 -7.5 1.00e+00 1.00e+00h 1 32 6.1357040e-01 6.78e+01 1.71e+00 -3.1 1.90e+03 -8.0 1.00e+00 1.00e+00h 1 33 5.8788992e-01 3.38e+01 2.30e+00 -3.2 1.06e+03 -8.4 5.29e-01 6.73e-01h 1 34 5.8794250e-01 3.53e+01 2.29e+00 -4.0 3.01e+05 -8.0 3.36e-03 8.21e-04h 3 35 5.8225534e-01 1.86e+00 8.83e-01 -3.3 2.00e+02 -7.6 1.00e+00 1.00e+00h 1 36 5.7433582e-01 1.63e+00 4.12e-01 -3.6 3.67e+02 -8.1 1.00e+00 1.00e+00h 1 37 5.9981201e-01 5.08e+01 7.42e+00 -2.9 2.19e+03 -8.5 1.00e+00 1.00e+00h 1 38 5.8678361e-01 1.82e+01 1.34e+00 -3.0 7.13e+02 -8.1 9.83e-01 1.00e+00h 1 39 5.8167266e-01 1.14e+01 1.74e+00 -3.0 3.98e+02 -7.7 6.34e-01 9.02e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 5.9168999e-01 3.91e+01 1.53e+00 -3.0 1.23e+03 -8.2 1.00e+00 1.00e+00h 1 41 5.7358063e-01 1.38e+01 1.97e+00 -3.0 4.60e+02 -7.7 1.00e+00 7.56e-01h 1 42 5.8700487e-01 1.97e+00 7.54e-01 -3.1 1.26e+02 -7.3 4.63e-01 1.00e+00h 1 43 5.7439890e-01 6.12e+00 3.95e-01 -3.2 3.03e+02 -7.8 1.00e+00 1.00e+00h 1 44 5.8503684e-01 6.17e-01 1.21e+00 -3.2 5.07e+02 -8.3 1.00e+00 1.00e+00H 1 45 5.6883855e-01 5.16e+00 6.27e-01 -3.3 3.32e+02 -7.8 7.33e-01 1.00e+00h 1 46 5.5792450e-01 5.70e+00 7.98e-01 -3.4 4.38e+02 -8.3 1.00e+00 1.00e+00h 1 47 5.7075504e-01 7.36e+00 9.81e-01 -3.2 4.24e+02 -7.9 4.15e-01 1.00e+00h 1 48 5.5770496e-01 4.22e+00 8.23e-01 -3.4 3.20e+02 -8.4 1.00e+00 1.00e+00h 1 49 5.7592669e-01 3.10e+00 8.94e-01 -3.1 2.53e+02 -7.9 7.09e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 5.6475340e-01 6.89e+00 1.08e+00 -3.3 7.02e+02 -8.4 1.00e+00 1.00e+00h 1 51 5.7881080e-01 1.23e+00 6.10e-01 -3.3 3.88e+02 -8.0 1.00e+00 1.00e+00H 1 52 5.5514188e-01 5.43e+00 8.18e-01 -3.4 4.84e+02 -8.5 1.00e+00 1.00e+00h 1 53 5.5853282e-01 1.17e+00 3.13e-01 -3.5 2.42e+02 -8.0 1.00e+00 1.00e+00h 1 54 5.4900980e-01 9.06e+00 6.45e-01 -3.8 8.49e+02 -8.5 1.00e+00 1.00e+00h 1 55 5.7499150e-01 4.53e+00 9.40e-01 -3.6 8.02e+02 -8.1 1.00e+00 1.00e+00H 1 56 5.5096850e-01 5.68e+00 5.96e-01 -3.7 9.27e+02 -8.6 1.00e+00 1.00e+00h 1 57 5.5531242e-01 4.95e-01 4.10e-01 -3.5 1.20e+02 -8.1 1.00e+00 1.00e+00h 1 58 5.4858439e-01 6.66e+00 4.48e-01 -3.8 1.01e+03 -8.6 1.00e+00 1.00e+00h 1 59 5.4727993e-01 9.63e+00 8.29e-01 -3.8 5.79e+02 -8.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 5.3835827e-01 1.37e+01 8.44e-01 -3.9 1.04e+03 -8.7 1.00e+00 1.00e+00h 1 61 5.3749316e-01 1.14e+01 3.62e-01 -4.0 2.42e+03 -8.2 6.77e-01 1.45e-01h 3 62 7.8245679e-01 4.57e+01 2.48e+01 -2.3 3.07e+03 -8.7 2.55e-01 1.00e+00f 1 63 7.1424136e-01 3.15e+01 1.46e+01 -2.5 6.29e+02 -6.5 4.14e-01 3.11e-01h 1 64 6.4583980e-01 9.64e+00 9.76e+00 -2.5 2.86e+02 -7.0 3.27e-01 7.00e-01h 1 65 6.9162914e-01 1.98e-01 7.04e+00 -2.5 1.22e+02 -6.5 2.74e-01 1.00e+00h 1 66 6.1100379e-01 3.59e-01 9.00e-01 -3.0 1.10e+02 -7.0 1.00e+00 1.00e+00h 1 67 5.8769862e-01 6.47e-01 8.08e-01 -3.0 1.23e+02 -7.5 1.00e+00 9.93e-01h 1 68 5.8836039e-01 6.01e+00 1.01e+00 -3.0 3.56e+02 -8.0 1.00e+00 1.00e+00h 1 69 5.7338043e-01 4.20e+00 1.03e+00 -3.0 4.53e+02 -8.4 7.09e-01 7.51e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 5.8339103e-01 1.67e+00 7.04e-01 -3.0 2.03e+02 -8.0 1.00e+00 1.00e+00h 1 71 5.7475463e-01 4.55e+00 1.33e+00 -3.0 3.88e+02 -8.5 1.00e+00 1.00e+00h 1 72 5.7102571e-01 4.77e+00 7.47e-01 -3.0 6.72e+02 -8.1 5.76e-01 3.73e-01h 2 73 5.7518742e-01 5.72e+00 7.27e-01 -3.0 1.05e+03 -8.6 1.00e+00 5.00e-01h 2 74 5.7753717e-01 3.84e+00 2.78e-01 -3.0 3.15e+02 -8.1 1.00e+00 5.00e-01h 2 75 5.7751560e-01 3.51e+00 4.31e-01 -3.0 9.19e+02 -8.6 1.00e+00 2.50e-01h 3 76 5.7743952e-01 3.73e+00 3.73e-01 -3.0 7.32e+03 -9.1 1.00e+00 4.12e-02h 5 77 5.8149672e-01 4.27e-01 1.79e+00 -3.0 3.65e+02 -8.7 1.00e+00 1.00e+00h 1 78 5.8011023e-01 3.37e+00 1.30e+00 -3.0 3.67e+03 -9.1 1.00e+00 2.50e-01h 3 79 5.8861781e-01 3.65e-01 1.91e+00 -3.0 7.19e+02 -8.7 1.00e+00 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 5.7964613e-01 2.47e+00 2.46e+00 -3.0 3.15e+03 -9.2 3.55e-01 2.29e-01h 3 81 5.7684066e-01 5.85e+00 1.04e+00 -3.0 1.43e+03 -8.8 1.00e+00 5.00e-01h 2 82 5.7716638e-01 5.28e+00 4.74e-01 -3.0 6.10e+02 -8.3 1.00e+00 5.00e-01h 2 83 5.7445922e-01 5.57e+00 7.47e-01 -3.0 1.55e+03 -8.8 5.52e-01 2.50e-01h 3 84 5.7899561e-01 2.69e+00 8.64e-01 -3.0 4.29e+02 -8.4 1.00e+00 1.00e+00h 1 85 5.7674554e-01 3.73e+00 8.52e-01 -3.0 1.31e+04 -8.9 1.20e-01 3.26e-02h 4 86 5.7582360e-01 4.09e+00 2.16e-01 -3.0 1.20e+03 -8.4 1.00e+00 1.97e-01h 3 87 5.7525063e-01 4.41e+00 7.74e-01 -3.0 1.89e+03 -8.9 7.09e-01 2.50e-01h 3 88 5.7837225e-01 1.89e+00 1.06e+00 -3.0 2.44e+02 -8.5 1.00e+00 1.00e+00h 1 89 5.7358848e-01 3.74e+00 1.16e+00 -3.0 1.73e+03 -9.0 6.57e-01 2.50e-01h 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 5.7460859e-01 3.26e+00 5.90e-01 -3.0 6.74e+02 -8.5 1.00e+00 5.00e-01h 2 91 5.7367439e-01 2.87e+00 2.55e-01 -3.0 3.92e+02 -8.1 7.70e-01 2.50e-01h 3 92 5.7364800e-01 2.70e+00 3.55e-01 -3.0 8.52e+02 -8.6 9.24e-01 2.50e-01h 3 93 5.8531076e-01 2.74e-01 9.82e-01 -3.0 2.21e+02 -8.2 1.00e+00 1.00e+00H 1 94 5.7581331e-01 1.12e+00 7.11e-01 -3.0 9.62e+02 -8.6 3.21e-01 2.50e-01h 3 95 5.7446892e-01 2.17e+00 4.43e-01 -3.0 5.85e+03 -9.1 1.00e+00 1.00e-01h 4 96 5.7426378e-01 1.40e-01 1.61e+00 -3.0 2.68e+02 -8.7 1.00e+00 1.00e+00h 1 97 5.4270166e-01 2.77e-01 2.63e-01 -3.8 2.07e+02 -8.3 1.00e+00 1.00e+00h 1 98 5.5199893e-01 5.41e+00 1.10e+00 -3.3 1.52e+03 -8.7 1.00e+00 5.00e-01h 2 99 5.5008687e-01 9.68e+00 5.16e-01 -3.5 1.85e+03 -8.3 1.79e-01 2.79e-01h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 5.4696631e-01 1.69e+01 1.22e+00 -3.5 2.59e+03 -8.8 2.86e-01 3.22e-01h 2 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 5.4696630691324744e-01 5.4696630691324744e-01 Dual infeasibility......: 1.2194978354564305e+00 1.2194978354564305e+00 Constraint violation....: 1.6941164595607347e+01 1.6941164595607347e+01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 4.0617048855782486e-04 4.0617048855782486e-04 Overall NLP error.......: 1.6941164595607347e+01 1.6941164595607347e+01 Number of objective function evaluations = 218 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 218 Number of inequality constraint evaluations = 218 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 46.394 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.739s jacobian structure: 1600 nonzeros (2.8s) integrator 1 hessian structure: 0.054s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.156s 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 (4.211s) linear index maps built (0.0s) evaluator ready (total: 7.011s) evaluator created (7.044s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 7.045s) This is MadNLP version v0.9.2, 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 2.3125368e+00 2.36e+00 6.83e-01 9.90e-01 -1.0 - 0.00e+00 1 0 1 2.7610097e+00 3.56e-02 2.71e+00 2.10e-01 -1.0 0.0 1.00e+00 1 1h 2 2.6408023e+00 4.62e-02 7.10e-01 1.06e-01 -1.0 -0.5 9.54e-01 2 1h 3 2.3391738e+00 1.14e-02 6.51e-02 3.72e-02 -1.7 -1.0 1.00e+00 2 1h 4 2.1409307e+00 6.30e-03 3.43e-02 8.28e-03 -2.5 -1.4 9.57e-01 2 1h 5 2.1133851e+00 1.67e-03 4.83e-03 2.87e-03 -2.5 -1.9 1.00e+00 2 1h 6 2.0915004e+00 1.98e-05 1.31e-04 1.78e-04 -3.8 -2.4 1.00e+00 2 1h 7 2.0899909e+00 1.89e-06 1.20e-04 4.00e-05 -5.7 -2.9 1.00e+00 2 1h 8 2.0899682e+00 4.80e-07 2.43e-04 1.10e-05 -5.7 -3.3 1.00e+00 2 1h 9 2.0899496e+00 3.91e-06 9.41e-05 3.43e-06 -5.7 -3.8 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0899110e+00 2.36e-05 1.97e-05 1.85e-06 -5.7 -4.3 1.00e+00 2 1h 11 2.0897982e+00 7.20e-05 1.96e-05 1.84e-06 -5.7 -4.8 1.00e+00 1 1h 12 2.0894966e+00 7.77e-05 1.18e-03 1.85e-06 -5.7 -5.2 9.12e-01 2 1h 13 2.0886010e+00 5.07e-05 1.78e-03 7.45e-06 -5.7 -5.7 1.00e+00 1 1h 14 2.0881735e+00 4.30e-05 7.89e-02 2.23e-06 -5.7 -6.2 1.67e-01 1 1h 15 2.0838453e+00 2.81e-05 4.31e-02 4.81e-06 -5.7 -6.7 1.00e+00 1 1h 16 2.0828823e+00 2.23e-05 1.29e-01 2.67e-06 -5.7 -7.2 2.19e-01 1 1h 17 2.0816943e+00 2.01e-05 1.34e-01 3.57e-06 -5.7 -7.6 2.44e-01 2 1h 18 2.0814340e+00 2.68e-05 1.96e-01 3.24e-05 -5.7 -8.1 2.63e-01 1 1h 19 2.0806736e+00 4.15e-05 1.35e-01 1.56e-05 -5.7 -8.6 8.94e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0863966e+00 2.23e-07 2.65e-01 3.09e-04 -5.7 -7.3 1.00e+00 1 1H 21 2.0811854e+00 9.27e-05 3.75e+00 2.16e-04 -5.7 -5.0 5.52e-01 1 1H 22 2.0811592e+00 9.46e-05 3.75e+00 2.05e-04 -5.7 -5.5 1.38e-03 2 1h 23 2.0812817e+00 4.47e-05 5.26e+00 5.35e-04 -5.7 -6.0 6.59e-02 2 3h 24 2.0810738e+00 6.42e-05 2.67e+00 1.38e-04 -5.7 -6.5 3.85e-01 2 1h 25 2.0808505e+00 7.84e-08 6.24e-02 2.03e-05 -5.7 -6.9 1.00e+00 1 1H 26 2.0806827e+00 3.30e-05 3.96e-03 5.67e-06 -5.7 -7.4 1.00e+00 1 1h 27 2.0806458e+00 7.74e-07 4.16e-04 2.34e-06 -5.7 -7.0 1.00e+00 1 1h 28 2.0806003e+00 3.25e-07 7.73e-04 1.86e-06 -5.7 -7.5 8.78e-01 2 1h 29 2.0811843e+00 2.10e-09 3.56e-02 8.39e-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 2.0808841e+00 5.71e-07 2.07e+00 8.06e-05 -5.7 -4.8 2.43e-01 1 1H 31 2.0806046e+00 1.22e-07 1.28e-01 1.66e-05 -5.7 -5.3 6.10e-01 1 1h 32 2.0805896e+00 1.07e-07 3.27e-04 2.76e-06 -5.7 -5.8 1.00e+00 1 1h 33 2.0805908e+00 7.07e-07 1.33e-05 1.95e-06 -5.7 -6.2 1.00e+00 2 1h 34 2.0805673e+00 3.48e-06 3.52e-04 5.15e-07 -8.6 -6.7 9.06e-01 2 1h 35 2.0805584e+00 1.32e-06 3.92e-04 9.03e-08 -8.6 -7.2 8.56e-01 2 1h 36 2.0805560e+00 1.07e-06 6.56e-03 3.59e-08 -8.6 -7.7 2.05e-01 2 1h 37 2.0805445e+00 6.21e-07 6.90e-04 6.67e-09 -8.6 -8.1 1.00e+00 1 1h 38 2.0805377e+00 3.86e-09 6.02e-03 2.66e-09 -8.6 -8.6 1.00e+00 1 1h 39 2.0805377e+00 3.84e-09 1.46e-02 2.97e-09 -8.6 -7.3 5.06e-03 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805373e+00 2.81e-11 8.84e-06 2.51e-09 -8.6 -7.8 1.00e+00 1 1h 41 2.0805368e+00 4.83e-11 2.80e-05 2.51e-09 -8.6 -8.2 1.00e+00 1 1h 42 2.0805365e+00 5.04e-11 1.30e-03 2.51e-09 -8.6 -8.7 1.00e+00 1 1h 43 2.0805365e+00 6.39e-12 6.70e-06 1.94e-07 -8.6 -6.5 1.00e+00 1 1h 44 2.0805365e+00 5.29e-12 1.06e-03 2.51e-09 -8.6 -7.0 1.00e+00 1 1h 45 2.0805365e+00 5.68e-13 1.70e-07 2.51e-09 -8.6 -5.6 1.00e+00 1 1h 46 2.0805365e+00 4.62e-14 2.04e-05 2.51e-09 -8.6 -6.1 1.00e+00 2 1h 47 2.0805365e+00 8.25e-13 1.58e-06 2.69e-09 -8.6 -5.7 1.00e+00 1 1h 48 2.0805365e+00 2.31e-13 4.19e-07 2.51e-09 -8.6 -6.2 1.00e+00 1 1h 49 2.0805365e+00 4.88e-14 3.99e-08 2.51e-09 -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 2.0805365e+00 2.40e-14 3.35e-08 2.51e-09 -8.6 -7.1 1.00e+00 2 1h 51 2.0805365e+00 1.41e-13 1.14e-07 2.51e-09 -8.6 -7.6 1.00e+00 2 1h 52 2.0805365e+00 5.59e-13 4.80e-07 2.51e-09 -8.6 -8.1 1.00e+00 1 1h 53 2.0805365e+00 8.21e-13 8.59e-07 2.51e-09 -8.6 -8.6 1.00e+00 1 1h 54 2.0805365e+00 2.74e-13 3.69e-07 2.51e-09 -8.6 -9.0 1.00e+00 1 1h 55 2.0805365e+00 1.42e-14 2.58e-08 2.51e-09 -8.6 -9.5 1.00e+00 1 1h 56 2.0805365e+00 8.88e-16 2.38e-10 2.51e-09 -8.6 -10.0 1.00e+00 1 1h Number of Iterations....: 56 (scaled) (unscaled) Objective...............: 2.0805364803022086e+00 2.0805364803022086e+00 Dual infeasibility......: 2.3802870785516461e-10 2.3802870785516461e-10 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Complementarity.........: 2.5059035602650150e-09 2.5059035602650150e-09 Overall NLP error.......: 2.5059035602650150e-09 2.5059035602650150e-09 Number of objective function evaluations = 65 Number of objective gradient evaluations = 57 Number of constraint evaluations = 65 Number of constraint Jacobian evaluations = 57 Number of Lagrangian Hessian evaluations = 56 Number of KKT factorizations = 133 Number of KKT backsolves = 87 Total wall secs in initialization = 6.196 s Total wall secs in linear solver = 0.094 s Total wall secs in NLP function evaluations = 20.161 s Total wall secs in solver (w/o init./fun./lin. alg.) = 32.289 s Total wall secs = 58.739 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/evaluator.jl:438 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.071s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 3.2s jacobian structure: 1680 nonzeros (3.272s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 11.512s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s sub-objective 5 (GlobalObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1964 nonzeros (11.565s) linear index maps built (0.0s) evaluator ready (total: 14.838s) evaluator created (14.868s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.0s) variables set (0.093s) 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 (4.68s) optimizer initialization complete (total: 19.642s) This is MadNLP version v0.9.2, 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 9.3053261e+00 4.28e+00 3.10e+00 1.81e+00 -1.0 - 0.00e+00 1 0 1 4.8866297e+00 1.70e+00 1.87e+00 3.00e-01 -1.0 0.0 6.03e-01 1 1h 2 2.5645804e+00 1.54e-01 2.24e+00 1.18e-01 -1.0 -0.5 9.08e-01 2 1h 3 2.5068050e+00 5.24e-02 6.88e-01 1.33e-01 -1.0 -1.0 8.77e-01 2 1h 4 2.3319175e+00 3.86e-02 5.17e-01 4.98e-02 -1.7 -1.4 5.27e-01 2 1h 5 2.2714273e+00 7.51e-03 7.45e-02 2.80e-02 -1.7 -1.9 1.00e+00 2 1h 6 2.1251758e+00 3.27e-03 1.79e-02 4.62e-03 -2.5 -2.4 1.00e+00 2 1h 7 2.0907817e+00 1.82e-03 3.60e-03 1.86e-04 -3.8 -2.9 9.97e-01 2 1h 8 2.0912968e+00 4.24e-06 7.71e-05 1.51e-04 -3.8 -3.3 1.00e+00 2 1h 9 2.0899449e+00 1.60e-05 9.62e-05 3.42e-05 -5.7 -3.8 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0898889e+00 2.37e-05 3.05e-04 5.94e-06 -5.7 -4.3 1.00e+00 2 1h 11 2.0897767e+00 1.05e-04 8.90e-05 2.13e-06 -5.7 -4.8 1.00e+00 2 1h 12 2.0895339e+00 1.30e-04 3.37e-03 1.86e-06 -5.7 -5.2 7.31e-01 2 1h 13 2.0886307e+00 1.47e-04 1.66e-03 5.85e-06 -5.7 -5.7 1.00e+00 1 1h 14 2.0882329e+00 1.26e-04 8.01e-02 2.24e-06 -5.7 -6.2 1.56e-01 1 1h 15 2.0838703e+00 6.96e-05 4.33e-02 4.92e-06 -5.7 -6.7 1.00e+00 1 1h 16 2.0829389e+00 5.53e-05 1.33e-01 2.73e-06 -5.7 -7.2 2.09e-01 1 1h 17 2.0816864e+00 4.15e-05 1.37e-01 3.48e-06 -5.7 -7.6 2.54e-01 2 1h 18 2.0814140e+00 3.00e-05 1.95e-01 3.65e-05 -5.7 -8.1 2.79e-01 1 1h 19 2.0806738e+00 3.98e-05 1.34e-01 1.75e-05 -5.7 -8.6 8.92e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0873830e+00 2.51e-07 2.77e-01 3.22e-04 -5.7 -7.3 1.00e+00 1 1H 21 2.0834999e+00 7.15e-05 2.09e+00 1.98e-04 -5.7 -5.0 2.56e-01 1 2h 22 2.0812834e+00 2.32e-05 7.02e-01 1.97e-05 -5.7 -1.9 6.78e-01 1 1h 23 2.0811041e+00 1.20e-05 4.27e-01 2.66e-06 -5.7 -2.4 4.75e-01 2 1h 24 2.0811112e+00 5.97e-08 1.51e-05 7.76e-06 -5.7 -2.8 1.00e+00 1 1h 25 2.0810865e+00 5.74e-08 1.70e-04 9.56e-08 -8.6 -3.3 1.00e+00 2 1h 26 2.0810826e+00 1.22e-09 1.12e-05 2.65e-09 -8.6 -3.8 1.00e+00 1 1h 27 2.0810715e+00 5.18e-10 1.11e-05 2.51e-09 -8.6 -4.3 1.00e+00 1 1h 28 2.0810387e+00 5.31e-10 1.11e-05 2.51e-09 -8.6 -4.8 1.00e+00 1 1h 29 2.0809431e+00 8.99e-10 3.81e-05 2.51e-09 -8.6 -5.2 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0809336e+00 8.76e-10 1.28e-02 5.46e-09 -8.6 -5.7 3.53e-02 1 1h 31 2.0809183e+00 2.29e-09 7.31e-02 9.38e-07 -8.6 -6.2 5.99e-01 2 1h 32 2.0808564e+00 2.61e-08 2.91e-03 4.40e-07 -8.6 -6.7 1.00e+00 1 1h 33 2.0807376e+00 3.46e-08 2.01e-03 2.50e-08 -8.6 -7.1 9.58e-01 1 1h 34 2.0805949e+00 1.03e-08 6.44e-03 5.92e-09 -8.6 -7.6 1.00e+00 1 1h 35 2.0805933e+00 9.75e-09 2.72e-01 9.58e-06 -8.6 -7.2 5.26e-02 1 1h 36 2.0805646e+00 3.34e-09 7.17e-02 3.13e-07 -8.6 -7.7 6.67e-01 1 1h 37 2.0805643e+00 2.26e-09 3.60e-02 2.43e-06 -8.6 -6.3 3.26e-01 1 1h 38 2.0805642e+00 2.19e-09 1.67e-02 7.98e-07 -8.6 -6.8 2.90e-02 1 1h 39 2.0805565e+00 2.68e-10 3.02e-03 4.07e-08 -8.6 -7.3 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805546e+00 1.04e-10 1.13e-04 2.95e-08 -8.6 -6.9 9.17e-01 1 1h 41 2.0805513e+00 8.54e-10 1.44e-03 2.77e-09 -8.6 -7.3 1.00e+00 1 1h 42 2.0805501e+00 5.44e-10 5.13e-02 3.33e-09 -8.6 -6.0 3.71e-01 1 1h 43 2.0805509e+00 3.95e-10 8.49e-05 2.12e-06 -8.6 -6.5 1.00e+00 1 1h 44 2.0805485e+00 1.31e-10 4.20e-04 2.57e-09 -8.6 -7.0 9.78e-01 1 1h 45 2.0805459e+00 4.37e-10 6.69e-05 2.51e-09 -8.6 -7.4 1.00e+00 1 1h 46 2.0805417e+00 2.45e-10 1.28e-04 2.51e-09 -8.6 -7.9 1.00e+00 1 1h 47 2.0805379e+00 2.66e-10 2.06e-04 2.51e-09 -8.6 -8.4 1.00e+00 1 1h 48 2.0805366e+00 2.45e-10 2.54e-03 2.52e-09 -8.6 -8.9 1.00e+00 1 1h 49 2.0805366e+00 1.08e-10 1.37e-05 8.44e-07 -8.6 -6.6 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805366e+00 9.76e-11 9.91e-04 2.51e-09 -8.6 -7.1 1.00e+00 1 1h 51 2.0805367e+00 7.89e-11 1.07e-03 1.86e-08 -8.6 -7.6 2.01e-01 1 1h 52 2.0805365e+00 1.07e-10 4.78e-05 1.79e-08 -8.6 -8.1 1.00e+00 1 1h 53 2.0805365e+00 9.47e-11 3.10e-06 2.51e-09 -8.6 -8.6 1.00e+00 1 1h 54 2.0805365e+00 9.13e-11 1.26e-06 2.51e-09 -8.6 -9.0 1.00e+00 1 1h 55 2.0805365e+00 8.94e-11 8.50e-08 3.08e-09 -8.6 -9.5 1.00e+00 1 1h 56 2.0805365e+00 8.92e-11 3.09e-08 2.51e-09 -8.6 -10.0 1.00e+00 1 1h 57 2.0805365e+00 8.92e-11 1.04e-09 2.51e-09 -8.6 -10.5 1.00e+00 1 1h Number of Iterations....: 57 (scaled) (unscaled) Objective...............: 2.0805364803022024e+00 2.0805364803022024e+00 Dual infeasibility......: 1.0373460536604131e-09 1.0373460536604131e-09 Constraint violation....: 8.9184437612743750e-11 8.9184437612743750e-11 Complementarity.........: 2.5059036106670769e-09 2.5059036106670769e-09 Overall NLP error.......: 2.5059036106670769e-09 2.5059036106670769e-09 Number of objective function evaluations = 61 Number of objective gradient evaluations = 58 Number of constraint evaluations = 61 Number of constraint Jacobian evaluations = 58 Number of Lagrangian Hessian evaluations = 57 Number of KKT factorizations = 135 Number of KKT backsolves = 75 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.073 s Total wall secs in NLP function evaluations = 24.312 s Total wall secs in solver (w/o init./fun./lin. alg.) = 10.980 s Total wall secs = 35.367 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/evaluator.jl:438 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.078s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.838s jacobian structure: 1600 nonzeros (2.917s) integrator 1 hessian structure: 0.054s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.168s 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 (4.223s) linear index maps built (0.0s) evaluator ready (total: 7.141s) evaluator created (7.177s) 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: 7.178s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1376 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1306 Total number of variables............................: 92 variables with only lower bounds: 0 variables with lower and upper bounds: 16 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.0446744e+01 3.45e+00 9.13e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.2250941e+01 3.52e-01 2.33e+00 -0.9 2.07e+00 -4.0 7.53e-01 8.98e-01f 1 2 1.0190975e+01 3.75e-02 1.62e-01 -1.0 7.86e-01 -4.5 9.30e-01 1.00e+00f 1 3 9.7336229e+00 5.91e-03 4.83e-02 -1.9 2.51e-01 -5.0 9.71e-01 1.00e+00h 1 4 9.5021112e+00 4.23e-03 3.67e-02 -2.9 1.40e-01 -5.4 9.44e-01 1.00e+00h 1 5 9.4377616e+00 6.65e-04 3.00e-03 -4.0 6.88e-02 -5.9 1.00e+00 1.00e+00h 1 6 9.4268273e+00 1.00e-04 4.73e-04 -4.0 2.11e-02 -6.4 1.00e+00 1.00e+00h 1 7 9.4258404e+00 5.64e-06 2.36e-05 -4.0 3.76e-03 -6.9 1.00e+00 1.00e+00h 1 8 9.4258116e+00 2.08e-08 7.49e-08 -4.0 2.10e-04 -7.3 1.00e+00 1.00e+00h 1 9 9.4258086e+00 8.30e-12 1.00e-09 -4.0 5.22e-06 -7.8 1.00e+00 1.00e+00h 1 Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 9.4258086226496225e+00 9.4258086226496225e+00 Dual infeasibility......: 9.9999624722610803e-10 9.9999624722610803e-10 Constraint violation....: 8.3002493767025953e-12 8.3002493767025953e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000002507877139e-04 1.0000002507877139e-04 Overall NLP error.......: 9.9999624722610803e-10 9.9999624722610803e-10 Number of objective function evaluations = 10 Number of objective gradient evaluations = 10 Number of equality constraint evaluations = 10 Number of inequality constraint evaluations = 10 Number of equality constraint Jacobian evaluations = 10 Number of inequality constraint Jacobian evaluations = 10 Number of Lagrangian Hessian evaluations = 9 Total seconds in IPOPT = 28.188 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.003s) evaluator created (0.003s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.003s) This is MadNLP version v0.9.2, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 92 variables with only lower bounds: 0 variables with lower and upper bounds: 16 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 2.0446744e+01 3.45e+00 9.13e-01 9.79e-01 -1.0 - 0.00e+00 1 0 1 1.2105606e+01 2.29e-01 2.73e+00 4.27e-01 -1.0 -4.0 9.91e-01 2 1h 2 1.0493947e+01 1.06e-01 3.77e-01 1.61e-01 -1.0 -4.5 7.01e-01 2 1h 3 9.7726896e+00 1.79e-02 6.89e-02 3.78e-02 -1.7 -5.0 1.00e+00 2 1h 4 9.5230607e+00 3.95e-03 2.69e-02 1.01e-02 -2.5 -5.4 1.00e+00 2 1h 5 9.4425080e+00 8.84e-04 9.62e-03 2.50e-03 -3.8 -5.9 1.00e+00 2 1h 6 9.4280128e+00 1.70e-04 6.21e-04 5.64e-04 -3.8 -6.4 1.00e+00 2 1h 7 9.4246836e+00 2.58e-05 2.18e-04 5.36e-05 -5.7 -6.9 1.00e+00 2 1h 8 9.4245380e+00 6.05e-07 1.18e-06 2.84e-06 -5.7 -7.3 1.00e+00 2 1h 9 9.4245130e+00 1.43e-09 3.35e-09 5.41e-09 -8.6 -7.8 1.00e+00 2 1h Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 9.4245129866636201e+00 9.4245129866636201e+00 Dual infeasibility......: 3.3504066188072557e-09 3.3504066188072557e-09 Constraint violation....: 1.4263289438432025e-09 1.4263289438432025e-09 Complementarity.........: 5.4135335284620845e-09 5.4135335284620845e-09 Overall NLP error.......: 5.4135335284620845e-09 5.4135335284620845e-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 = 0.197 s Total wall secs in solver (w/o init./fun./lin. alg.) = 0.008 s Total wall secs = 0.216 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/evaluator.jl:438 Difference in Hessian 1 undefined exports detected. To get a list, set `broken = false`. [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, 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: 0.056s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.058s) linear index maps built (0.0s) evaluator ready (total: 0.127s) evaluator created (0.127s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.417s) optimizer initialization complete (total: 0.545s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1529 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 73 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.1055002e+00 3.10e+00 1.01e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8820276e+00 2.25e+00 3.00e+00 -4.0 1.47e+01 -2.0 1.02e-01 3.99e-01h 1 2 1.8798318e+00 1.80e+00 4.82e+00 -0.6 3.29e+00 0.2 1.17e-01 2.10e-01f 1 3 1.8478476e+00 1.69e+00 3.85e+00 -0.4 1.02e+01 -0.2 8.04e-02 5.79e-02h 1 4 1.8261495e+00 1.52e+00 1.87e+01 -0.4 4.53e+00 0.2 6.74e-01 1.04e-01h 1 5 1.8358965e+00 1.12e+00 2.22e+01 0.2 8.02e+00 -0.3 4.40e-01 2.78e-01f 1 6 1.8261917e+00 8.83e-01 2.04e+01 0.1 4.33e+00 0.1 2.27e-01 2.17e-01h 1 7 1.8643898e+00 7.88e-01 2.06e+01 0.5 1.73e+00 0.6 4.45e-01 1.08e-01f 1 8 2.0224979e+00 1.18e+00 4.24e+01 0.2 6.58e+00 0.1 3.78e-01 5.56e-01h 1 9 1.9857188e+00 1.13e+00 3.71e+01 -4.0 3.19e+01 -0.4 3.54e-02 4.70e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0036216e+00 8.87e-01 2.42e+01 -0.9 3.02e+00 -0.9 6.00e-01 2.53e-01h 1 11 1.9964701e+00 3.57e-01 2.27e+01 -4.0 2.42e+00 -0.4 4.14e-01 6.94e-01h 1 12 1.9825180e+00 4.87e-02 8.40e+00 -0.5 5.54e-01 -0.0 8.06e-01 1.00e+00f 1 13 1.9104285e+00 4.85e-02 1.39e+00 -1.0 4.05e-01 -0.5 9.25e-01 9.53e-01f 1 14 1.6913184e+00 1.40e-02 1.41e-01 -1.5 4.34e-01 -1.0 9.82e-01 1.00e+00f 1 15 1.4203195e+00 5.21e-03 1.57e-01 -2.3 3.31e-01 -1.5 8.47e-01 1.00e+00f 1 16 1.3229927e+00 7.84e-02 1.43e-02 -2.2 1.18e+00 -1.9 9.82e-01 1.00e+00h 1 17 1.2290048e+00 1.51e-01 6.75e-02 -3.0 7.67e-01 -1.5 6.95e-01 9.24e-01h 1 18 1.2388880e+00 5.41e-02 2.65e-02 -2.7 8.03e-01 -2.0 8.76e-01 1.00e+00h 1 19 1.2041079e+00 5.31e-02 3.34e-03 -3.3 7.75e-01 -2.5 9.86e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.1925458e+00 3.55e-02 1.78e-02 -4.0 1.53e+00 -2.9 1.00e+00 1.00e+00h 1 21 1.1846231e+00 6.46e-02 1.67e-02 -4.0 2.26e+00 -3.4 1.00e+00 1.00e+00h 1 22 1.1850758e+00 2.02e-03 1.79e-03 -4.0 9.40e-01 -3.0 1.00e+00 1.00e+00h 1 23 1.1845515e+00 3.75e-03 8.69e-03 -4.0 1.75e+00 -3.5 1.83e-01 3.02e-01h 2 24 1.1843943e+00 7.81e-05 2.10e-03 -4.0 3.58e-02 -1.2 1.00e+00 1.00e+00h 1 25 1.1841332e+00 9.85e-05 1.16e-03 -4.0 5.97e-02 -1.7 1.00e+00 1.00e+00h 1 26 1.1838130e+00 1.26e-04 8.42e-04 -4.0 1.30e-01 -2.2 1.00e+00 1.00e+00h 1 27 1.1832005e+00 9.50e-04 7.72e-04 -4.0 3.56e-01 -2.7 1.00e+00 1.00e+00h 1 28 1.1817715e+00 5.48e-03 1.12e-03 -4.0 8.82e-01 -3.1 1.00e+00 1.00e+00h 1 29 1.1792507e+00 1.99e-02 3.58e-03 -4.0 1.84e+00 -3.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.1761009e+00 4.45e-02 6.44e-03 -4.0 3.30e+00 -4.1 1.00e+00 1.00e+00h 1 31 1.1729870e+00 7.37e-02 7.80e-03 -4.0 5.45e+00 -4.6 1.00e+00 1.00e+00h 1 32 1.1702227e+00 1.06e-01 7.40e-03 -4.0 8.67e+00 -5.1 1.00e+00 1.00e+00h 1 33 1.1678910e+00 1.41e-01 5.54e-03 -4.0 1.35e+01 -5.5 1.00e+00 1.00e+00h 1 34 1.1659752e+00 1.80e-01 2.50e-03 -4.0 2.08e+01 -6.0 1.00e+00 1.00e+00h 1 35 1.1644242e+00 2.24e-01 1.55e-03 -4.0 3.17e+01 -6.5 1.00e+00 1.00e+00h 1 36 1.1631811e+00 2.74e-01 6.50e-03 -4.0 4.80e+01 -7.0 1.00e+00 1.00e+00h 1 37 1.1621954e+00 3.30e-01 1.22e-02 -4.0 7.17e+01 -7.4 1.00e+00 1.00e+00h 1 38 1.1614279e+00 3.87e-01 1.83e-02 -4.0 1.05e+02 -7.9 1.00e+00 1.00e+00h 1 39 1.1608592e+00 4.34e-01 2.35e-02 -4.0 1.51e+02 -8.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.1605191e+00 4.27e-01 2.35e-02 -4.0 1.99e+02 -8.9 1.00e+00 1.00e+00h 1 41 1.1605915e+00 2.17e-01 5.65e-03 -4.0 1.90e+02 -9.3 1.00e+00 1.00e+00h 1 42 1.1608621e+00 2.76e-04 3.68e-04 -4.0 1.53e+00 -9.8 1.00e+00 1.00e+00h 1 43 1.1608495e+00 6.30e-06 8.15e-05 -4.0 1.06e+01 -10.3 1.00e+00 1.00e+00H 1 44 1.1608491e+00 4.63e-07 4.08e-09 -4.0 2.75e-01 -10.8 1.00e+00 1.00e+00h 1 45 1.1608491e+00 6.26e-12 7.85e-13 -4.0 1.04e-03 -11.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 45 (scaled) (unscaled) Objective...............: 1.1608491307805902e+00 1.1608491307805902e+00 Dual infeasibility......: 7.8480990694899944e-13 7.8480990694899944e-13 Constraint violation....: 6.2598815020464826e-12 6.2598815020464826e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000457e-04 1.0000000000000457e-04 Overall NLP error.......: 6.2598815020464826e-12 6.2598815020464826e-12 Number of objective function evaluations = 50 Number of objective gradient evaluations = 46 Number of equality constraint evaluations = 50 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 46 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 45 Total seconds in IPOPT = 29.079 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 (0.086s) integrator 1 hessian structure: 0.046s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.357s sub-objective 2 (QuadraticRegularizer): 0.091s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.017s objective hessian structure: 0.555s hessian structure: 375 nonzeros (0.601s) linear index maps built (0.0s) evaluator ready (total: 0.843s) evaluator created (1.247s) NL constraint bounds extracted (0.011s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.121s) applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.051s) optimizer initialization complete (total: 4.431s) 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 1.5590718e+00 1.55e+00 1.15e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.1312813e+00 6.46e-01 4.09e+00 -1.3 5.68e+00 - 6.19e-01 9.93e-01h 1 2 2.0133227e+00 2.10e-01 1.68e+00 -0.9 8.01e-01 0.0 8.30e-01 8.34e-01f 1 3 1.4557393e+00 7.12e-02 4.69e-01 -1.6 5.29e-01 -0.5 9.97e-01 8.11e-01f 1 4 1.1600160e+00 6.99e-03 6.40e-02 -2.5 1.60e-01 -1.0 9.98e-01 1.00e+00h 1 5 1.0992520e+00 1.75e-05 3.34e-03 -4.0 8.29e-02 -1.4 1.00e+00 1.00e+00h 1 6 1.0955474e+00 7.29e-09 2.27e-03 -4.0 4.72e-02 -1.9 1.00e+00 1.00e+00h 1 7 1.0950950e+00 3.93e-12 2.06e-03 -4.0 1.39e-01 -2.4 1.00e+00 1.00e+00f 1 8 1.0949536e+00 1.38e-15 8.03e-04 -4.0 5.15e-02 -2.0 1.00e+00 1.00e+00f 1 9 1.0947220e+00 8.88e-16 5.50e-04 -4.0 1.50e-01 -2.4 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0946728e+00 8.88e-16 1.25e-02 -4.0 9.86e-01 -2.9 2.44e-01 5.00e-01f 2 11 1.0944767e+00 8.88e-16 3.19e-03 -4.0 8.32e-02 -1.6 1.00e+00 5.00e-01f 2 12 1.0943524e+00 4.65e-23 5.22e-04 -4.0 6.02e-02 -2.1 1.00e+00 1.00e+00f 1 13 1.0941862e+00 2.32e-23 6.72e-04 -4.0 4.22e-01 -2.5 4.59e-01 5.00e-01f 2 14 1.0940071e+00 8.88e-16 5.40e-01 -4.0 5.09e+00 - 1.00e+00 4.02e-02f 2 15 1.0911126e+00 8.88e-16 2.56e-01 -4.0 4.90e+00 - 1.00e+00 1.00e+00f 1 16 1.0910262e+00 7.76e-27 1.00e-04 -4.0 5.37e-02 - 1.00e+00 1.00e+00f 1 17 1.0910386e+00 8.88e-16 1.54e-05 -4.0 2.61e-02 - 1.00e+00 1.00e+00f 1 18 1.0908586e+00 8.88e-16 2.78e-07 -4.1 2.23e-03 - 1.00e+00 1.00e+00f 1 19 1.0910386e+00 2.62e-26 6.24e-09 -4.0 7.04e-04 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.0908587e+00 8.88e-16 6.24e-09 -4.1 1.24e-04 - 1.00e+00 1.00e+00f 1 21 1.0901453e+00 8.88e-16 9.80e-08 -6.1 7.90e-05 - 1.00e+00 1.00e+00f 1 22 1.0910388e+00 8.88e-16 1.54e-07 -4.0 8.08e-03 - 1.00e+00 1.00e+00f 1 23 1.0908587e+00 6.44e-27 9.41e-08 -4.1 6.43e-03 - 1.00e+00 1.00e+00f 1 24 1.0901453e+00 1.78e-15 9.80e-08 -6.1 8.24e-05 - 1.00e+00 1.00e+00f 1 25 1.0901388e+00 1.78e-15 1.76e-07 -9.0 8.43e-03 - 9.68e-01 1.00e+00f 1 26 1.0910388e+00 5.91e-28 2.31e-05 -4.0 2.40e-02 -3.0 1.00e+00 1.00e+00f 1 27 1.0908589e+00 1.78e-15 5.02e-07 -4.1 1.37e-02 - 1.00e+00 1.00e+00f 1 28 1.0901454e+00 8.88e-16 9.81e-08 -6.1 9.68e-05 - 1.00e+00 1.00e+00f 1 29 1.0901388e+00 8.88e-16 1.66e-07 -9.0 8.24e-03 - 9.68e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.0901388e+00 2.94e-35 1.98e-07 -9.0 6.17e-04 -3.5 1.00e+00 1.00e+00h 1 31 1.0901388e+00 4.55e-38 2.03e-07 -9.0 1.90e-03 -4.0 1.00e+00 1.00e+00f 1 32 1.0901388e+00 8.88e-16 2.18e-07 -9.0 6.12e-03 -4.4 1.00e+00 1.00e+00f 1 33 1.0901862e+00 1.73e-25 3.27e-04 -4.0 4.93e+00 -4.9 1.00e+00 5.25e-02f 1 34 1.0905560e+00 8.88e-16 9.89e-05 -4.3 1.20e-01 - 1.00e+00 1.00e+00f 1 35 1.0901417e+00 8.88e-16 3.87e-07 -6.5 7.49e-04 - 1.00e+00 1.00e+00f 1 36 1.0901388e+00 8.88e-16 2.95e-08 -9.0 4.28e-03 - 9.71e-01 1.00e+00f 1 37 1.0901388e+00 8.88e-16 3.49e-07 -9.0 1.74e-02 -5.4 1.00e+00 1.00e+00h 1 38 1.0901388e+00 8.88e-16 8.17e-06 -9.0 8.59e-02 -5.9 1.00e+00 1.00e+00h 1 39 1.0901388e+00 1.10e-34 1.03e-05 -9.0 6.52e-02 -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 1.0901490e+00 8.88e-16 5.42e-04 -4.0 2.76e+01 -5.0 1.00e+00 1.06e-02f 1 41 1.0905557e+00 8.88e-16 1.66e-04 -4.3 1.36e-01 - 1.00e+00 1.00e+00f 1 42 1.0901417e+00 8.88e-16 5.68e-07 -6.5 1.25e-03 - 1.00e+00 1.00e+00f 1 43 1.0901388e+00 8.88e-16 3.49e-08 -9.0 4.59e-03 - 9.71e-01 1.00e+00f 1 44 1.0901388e+00 1.78e-15 8.29e-07 -9.0 2.59e-02 -5.5 1.00e+00 1.00e+00h 1 45 1.0901387e+00 8.88e-16 4.28e-05 -9.0 2.29e-01 -6.0 6.53e-01 1.00e+00h 1 46 1.0901547e+00 8.88e-16 1.99e-03 -4.0 4.46e+01 -4.7 1.00e+00 8.88e-03f 1 47 1.0906545e+00 8.88e-16 5.65e-04 -4.2 2.26e-01 - 1.00e+00 1.00e+00f 1 48 1.0901427e+00 8.88e-16 1.58e-05 -6.4 7.69e-03 - 9.91e-01 1.00e+00f 1 49 1.0901427e+00 1.70e-34 5.13e-07 -6.4 6.70e-03 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 1.0901388e+00 8.88e-16 4.13e-07 -9.0 1.45e-02 - 9.43e-01 1.00e+00f 1 51 1.0901388e+00 1.53e-32 2.28e-06 -9.0 3.07e-02 -5.1 1.00e+00 1.00e+00h 1 52 1.0901388e+00 1.78e-15 1.11e-06 -9.0 1.62e-02 -4.7 1.00e+00 1.00e+00f 1 53 1.0901386e+00 2.66e-15 5.11e-05 -9.0 1.72e-01 -5.2 1.00e+00 1.00e+00h 1 54 1.0908023e+00 1.78e-15 1.80e-02 -4.0 3.18e+01 -3.9 1.00e+00 1.46e-02f 1 55 1.0910933e+00 5.67e-25 5.21e-03 -4.0 5.15e-01 - 1.56e-01 9.52e-01f 1 56 1.0911723e+00 1.78e-15 7.56e-03 -4.0 1.39e+00 - 5.63e-01 5.00e-01f 2 57 1.0912292e+00 1.78e-15 1.84e-03 -4.0 1.77e-01 -2.5 1.00e+00 1.00e+00f 1 58 1.0911425e+00 1.62e-27 3.50e-04 -4.0 8.25e-01 -3.0 4.15e-01 5.00e-01f 2 59 1.0901610e+00 8.88e-16 6.75e-04 -5.9 7.66e-02 -2.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 1.0901496e+00 2.97e-33 1.05e-04 -5.9 3.01e-02 -2.1 1.00e+00 1.00e+00f 1 61 1.0901493e+00 1.78e-15 7.57e-06 -5.9 5.51e-03 -2.6 1.00e+00 1.00e+00f 1 62 1.0901387e+00 8.88e-16 6.30e-07 -8.9 1.89e-02 - 9.49e-01 1.00e+00f 1 63 1.0901387e+00 8.88e-16 1.31e-06 -8.9 1.65e-03 -3.1 1.00e+00 1.00e+00h 1 64 1.0901387e+00 8.88e-16 1.50e-06 -8.9 5.68e-03 -3.6 1.00e+00 1.00e+00h 1 65 1.0901387e+00 4.62e-37 7.54e-06 -8.9 2.89e-02 -4.1 1.00e+00 1.00e+00h 1 66 1.0901386e+00 8.88e-16 8.39e-06 -8.9 2.00e-02 -3.6 1.00e+00 1.00e+00f 1 67 1.0908691e+00 8.88e-16 1.71e-02 -4.0 2.65e+00 -3.2 1.00e+00 1.59e-01f 1 68 1.0909138e+00 1.78e-15 3.34e-03 -4.2 2.99e-01 - 2.31e-01 1.00e+00f 1 69 1.0908423e+00 8.88e-16 3.66e-03 -4.2 1.20e-01 -1.9 7.94e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 1.0907756e+00 8.88e-16 3.44e-04 -4.2 2.43e-01 -2.4 1.00e+00 4.08e-01f 2 71 1.0901443e+00 3.41e-26 2.87e-07 -6.2 6.75e-04 - 1.00e+00 1.00e+00f 1 72 1.0901388e+00 8.88e-16 8.23e-09 -9.0 2.22e-03 - 9.83e-01 1.00e+00f 1 73 1.0901388e+00 1.78e-15 5.56e-08 -9.0 3.75e-05 -2.8 1.00e+00 1.00e+00h 1 74 1.0901388e+00 8.88e-16 5.56e-08 -9.0 1.13e-04 -3.3 1.00e+00 1.00e+00h 1 75 1.0901388e+00 8.88e-16 5.57e-08 -9.0 3.38e-04 -3.8 1.00e+00 1.00e+00h 1 76 1.0901388e+00 8.88e-16 5.60e-08 -9.0 1.02e-03 -4.3 1.00e+00 1.00e+00h 1 77 1.0901388e+00 1.58e-37 5.68e-08 -9.0 3.11e-03 -4.7 1.00e+00 1.00e+00h 1 78 1.0901388e+00 8.88e-16 1.03e-07 -9.0 9.81e-03 -5.2 1.00e+00 1.00e+00f 1 79 1.0901388e+00 8.88e-16 1.38e-06 -9.0 3.58e-02 -5.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 1.0901387e+00 3.19e-35 5.54e-05 -9.0 6.46e-01 -6.2 2.41e-01 5.23e-01h 1 81 1.0901381e+00 2.79e-35 4.79e-04 -9.0 4.43e-01 - 1.00e+00 1.25e-01f 4 82 1.0918292e+00 1.15e-29 1.54e-02 -4.0 3.45e-01 -2.1 1.00e+00 1.00e+00f 1 83 1.0915010e+00 1.03e-29 1.32e-02 -3.9 5.71e-01 -1.7 4.12e-01 1.01e-01f 2 84 1.0912595e+00 8.88e-16 2.98e-03 -3.9 7.99e-02 - 1.00e+00 1.00e+00f 1 85 1.0912410e+00 4.05e-32 4.23e-04 -3.9 4.12e-02 - 1.00e+00 1.00e+00f 1 86 1.0901513e+00 1.20e-26 5.31e-06 -5.9 2.81e-03 - 1.00e+00 1.00e+00f 1 87 1.0901388e+00 8.88e-16 1.09e-08 -8.8 4.60e-04 - 9.96e-01 1.00e+00f 1 88 1.0901388e+00 1.30e-34 4.93e-08 -9.0 7.49e-06 -2.2 1.00e+00 1.00e+00h 1 89 1.0901388e+00 8.88e-16 5.55e-05 -9.0 9.66e+00 - 6.27e-03 4.45e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 1.0901377e+00 1.16e-34 5.11e-04 -9.0 4.42e-01 - 1.00e+00 6.25e-02f 5 91 1.0963688e+00 8.88e-16 5.47e-02 -4.0 1.73e+00 -2.7 1.00e+00 2.70e-01f 1 92 1.0910702e+00 6.19e-26 1.43e-03 -3.9 6.16e-01 - 3.59e-03 7.95e-01f 1 93 1.0917114e+00 3.12e-26 5.05e-02 -3.9 3.72e+00 - 1.26e-01 5.00e-01f 2 94 1.0914080e+00 8.88e-16 3.02e-02 -3.9 1.63e-01 -2.2 1.00e+00 2.83e-01f 2 95 1.0913108e+00 1.12e-26 8.22e-03 -3.9 1.61e-02 -2.7 1.00e+00 5.00e-01f 2 96 1.0912962e+00 3.80e-29 2.45e-04 -3.9 3.43e-01 -3.2 1.00e+00 1.00e+00f 1 97 1.0901683e+00 1.10e-25 3.09e-03 -5.9 3.71e-01 -3.7 1.00e+00 1.00e+00f 1 98 1.0901477e+00 8.88e-16 3.94e-04 -5.9 1.29e+00 -4.1 2.57e-01 5.00e-01f 2 99 1.0901464e+00 1.78e-15 3.29e-05 -5.9 2.01e-02 -2.8 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 1.0901450e+00 8.88e-16 1.75e-03 -5.9 9.28e-01 - 1.00e+00 3.34e-02f 2 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.0901449673952999e+00 1.0901449673952999e+00 Dual infeasibility......: 1.7461297725701395e-03 1.7461297725701395e-03 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 4.4620165222409582e-06 4.4620165222409582e-06 Overall NLP error.......: 1.7461297725701395e-03 1.7461297725701395e-03 Number of objective function evaluations = 130 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 130 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 24.463 EXIT: Maximum Number of Iterations Exceeded. [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=110, 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: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.848s jacobian structure: 1600 nonzeros (2.914s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.078s 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 (4.131s) linear index maps built (0.0s) evaluator ready (total: 7.047s) evaluator created (7.077s) 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: 7.093s) 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 2.1803100e+00 2.94e+00 5.29e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 1.9688681e+00 1.48e+00 1.81e+00 -0.8 2.40e+00 0.0 9.09e-01 4.94e-01h 1 Hello, world! 2 2.6223977e+00 4.00e-02 4.46e-01 -1.1 1.32e+00 -0.5 9.46e-01 1.00e+00h 1 Hello, world! 3 2.3148085e+00 9.03e-03 1.91e-01 -1.8 1.51e-01 -1.0 9.09e-01 1.00e+00h 1 Hello, world! 4 2.1434879e+00 2.17e-03 6.17e-02 -2.8 8.51e-02 -1.4 9.84e-01 8.16e-01h 1 Hello, world! 5 2.0916334e+00 2.12e-04 1.74e-03 -3.9 4.08e-02 -1.9 9.98e-01 1.00e+00h 1 Hello, world! 6 2.0908851e+00 1.09e-06 4.50e-04 -4.0 1.84e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0908784e+00 2.40e-09 2.52e-05 -4.0 1.84e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908750e+00 3.74e-10 1.48e-05 -4.0 3.23e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908675e+00 2.82e-09 1.48e-05 -4.0 9.69e-02 -3.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908449e+00 2.51e-08 5.49e-05 -4.0 2.90e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0907752e+00 2.27e-07 5.36e-05 -4.0 8.75e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0905062e+00 2.53e-06 8.95e-04 -4.0 2.87e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0897668e+00 2.51e-05 1.87e-03 -4.0 8.68e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0890478e+00 3.79e-05 7.54e-02 -4.0 2.95e+01 -6.2 1.00e+00 2.47e-01h 1 Hello, world! 15 2.0853071e+00 1.20e-03 4.45e-02 -4.0 5.54e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0843610e+00 6.22e-04 2.52e-02 -4.0 1.90e+01 -6.3 1.00e+00 5.00e-01h 1 Hello, world! 17 2.0830557e+00 6.16e-05 2.10e-02 -4.0 2.61e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0828099e+00 2.85e-04 1.01e-02 -4.0 5.04e+01 -7.2 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0823667e+00 5.29e-04 8.37e-03 -4.0 1.18e+02 -7.7 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 2.4965914e+00 5.63e-04 9.08e+00 -4.0 9.38e+02 -8.2 4.58e-02 1.00e+00H 1 Hello, world! 21 2.0880730e+00 7.66e-05 1.03e+00 -4.1 1.78e-01 -0.3 7.68e-01 8.64e-01f 1 Hello, world! 22 2.0883208e+00 7.63e-05 6.25e+00 -4.0 8.66e-02 -0.8 1.00e+00 3.91e-03f 9 Hello, world! 23 2.0882925e+00 3.33e-08 1.52e-03 -4.0 2.85e-02 -1.3 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0880244e+00 9.41e-08 1.41e-03 -4.0 7.91e-02 -1.7 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0877090e+00 8.06e-07 1.09e-03 -4.0 1.84e-01 -2.2 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0876802e+00 1.60e-07 1.05e-04 -4.0 3.04e-02 -2.7 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0877086e+00 1.54e-07 1.32e-05 -4.0 2.00e-02 -3.2 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0877031e+00 7.94e-09 1.31e-05 -4.0 5.96e-02 -3.7 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0876882e+00 3.52e-08 1.31e-05 -4.0 1.78e-01 -4.1 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0876448e+00 3.05e-07 1.50e-05 -4.0 5.30e-01 -4.6 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0875254e+00 2.43e-06 1.19e-04 -4.0 1.55e+00 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0872499e+00 1.45e-05 7.26e-04 -4.0 4.35e+00 -5.6 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0868040e+00 3.84e-05 2.21e-03 -4.0 1.15e+01 -6.0 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0860252e+00 1.02e-04 4.43e-03 -4.0 3.02e+01 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0846054e+00 5.94e-04 2.16e-02 -4.0 7.42e+01 -7.0 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0826786e+00 1.02e-03 6.41e-02 -4.1 1.47e+02 -7.5 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0816763e+00 2.71e-03 3.09e-02 -4.1 2.12e+02 -8.0 7.73e-01 1.00e+00h 1 Hello, world! 38 2.0818338e+00 6.20e-06 1.03e-01 -4.0 7.21e+01 -6.6 1.00e+00 1.00e+00H 1 Hello, world! 39 2.0825412e+00 3.44e-03 2.51e-02 -3.7 4.78e+01 -7.1 9.45e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0864714e+00 2.36e-03 1.13e-01 -3.9 5.53e+01 -7.6 4.08e-01 1.00e+00h 1 Hello, world! 41 2.0857891e+00 3.55e-08 2.90e-02 -3.9 1.56e-02 0.3 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0845231e+00 1.42e-07 2.20e-02 -4.0 3.48e-02 -0.2 1.00e+00 1.00e+00f 1 Hello, world! 43 2.0831983e+00 1.65e-07 1.35e-02 -4.0 6.16e-02 -0.7 1.00e+00 1.00e+00f 1 Hello, world! 44 2.0822442e+00 2.93e-07 4.94e-03 -4.0 9.04e-02 -1.2 1.00e+00 1.00e+00f 1 Hello, world! 45 2.0820796e+00 7.61e-08 4.88e-04 -4.0 2.46e-02 -1.6 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0820956e+00 5.18e-08 1.05e-04 -4.0 1.06e-02 -2.1 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0820933e+00 1.33e-08 1.41e-05 -4.0 5.46e-03 -2.6 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0820938e+00 1.06e-08 4.14e-06 -4.0 4.88e-03 -3.1 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0820938e+00 3.22e-09 4.15e-06 -4.0 1.47e-02 -3.5 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 50 2.0820937e+00 5.10e-09 4.16e-06 -4.0 4.42e-02 -4.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0820937388450802e+00 2.0820937388450802e+00 Dual infeasibility......: 4.1604929940011774e-06 4.1604929940011774e-06 Constraint violation....: 5.0988440136734425e-09 5.0988440136734425e-09 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 4.1604929940011774e-06 4.1604929940011774e-06 Number of objective function evaluations = 61 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 61 Number of inequality constraint evaluations = 61 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 30.532 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.003s) evaluator created (0.003s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.003s) 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 2.1803100e+00 2.94e+00 5.29e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 1.9688681e+00 1.48e+00 1.81e+00 -0.8 2.40e+00 0.0 9.09e-01 4.94e-01h 1 Hello, world! 2 2.6223977e+00 4.00e-02 4.46e-01 -1.1 1.32e+00 -0.5 9.46e-01 1.00e+00h 1 Hello, world! 3 2.3148085e+00 9.03e-03 1.91e-01 -1.8 1.51e-01 -1.0 9.09e-01 1.00e+00h 1 Hello, world! 4 2.1434879e+00 2.17e-03 6.17e-02 -2.8 8.51e-02 -1.4 9.84e-01 8.16e-01h 1 Hello, world! 5 2.0916334e+00 2.12e-04 1.74e-03 -3.9 4.08e-02 -1.9 9.98e-01 1.00e+00h 1 Hello, world! 6 2.0908851e+00 1.09e-06 4.50e-04 -4.0 1.84e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0908784e+00 2.40e-09 2.52e-05 -4.0 1.84e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908750e+00 3.74e-10 1.48e-05 -4.0 3.23e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908675e+00 2.82e-09 1.48e-05 -4.0 9.69e-02 -3.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908449e+00 2.51e-08 5.49e-05 -4.0 2.90e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0907752e+00 2.27e-07 5.36e-05 -4.0 8.75e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0905062e+00 2.53e-06 8.95e-04 -4.0 2.87e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0897668e+00 2.51e-05 1.87e-03 -4.0 8.68e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0890478e+00 3.79e-05 7.54e-02 -4.0 2.95e+01 -6.2 1.00e+00 2.47e-01h 1 Hello, world! 15 2.0853071e+00 1.20e-03 4.45e-02 -4.0 5.54e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0843610e+00 6.22e-04 2.52e-02 -4.0 1.90e+01 -6.3 1.00e+00 5.00e-01h 1 Hello, world! 17 2.0830557e+00 6.16e-05 2.10e-02 -4.0 2.61e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0828099e+00 2.85e-04 1.01e-02 -4.0 5.04e+01 -7.2 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0823667e+00 5.29e-04 8.37e-03 -4.0 1.18e+02 -7.7 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 2.4965914e+00 5.63e-04 9.08e+00 -4.0 9.38e+02 -8.2 4.58e-02 1.00e+00H 1 Hello, world! 21 2.0880730e+00 7.66e-05 1.03e+00 -4.1 1.78e-01 -0.3 7.68e-01 8.64e-01f 1 Hello, world! 22 2.0883208e+00 7.63e-05 6.25e+00 -4.0 8.66e-02 -0.8 1.00e+00 3.91e-03f 9 Hello, world! 23 2.0882925e+00 3.33e-08 1.52e-03 -4.0 2.85e-02 -1.3 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0880244e+00 9.41e-08 1.41e-03 -4.0 7.91e-02 -1.7 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0877090e+00 8.06e-07 1.09e-03 -4.0 1.84e-01 -2.2 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0876802e+00 1.60e-07 1.05e-04 -4.0 3.04e-02 -2.7 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0877086e+00 1.54e-07 1.32e-05 -4.0 2.00e-02 -3.2 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0877031e+00 7.94e-09 1.31e-05 -4.0 5.96e-02 -3.7 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0876882e+00 3.52e-08 1.31e-05 -4.0 1.78e-01 -4.1 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0876448e+00 3.05e-07 1.50e-05 -4.0 5.30e-01 -4.6 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0875254e+00 2.43e-06 1.19e-04 -4.0 1.55e+00 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0872499e+00 1.45e-05 7.26e-04 -4.0 4.35e+00 -5.6 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0868040e+00 3.84e-05 2.21e-03 -4.0 1.15e+01 -6.0 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0860252e+00 1.02e-04 4.43e-03 -4.0 3.02e+01 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0846054e+00 5.94e-04 2.16e-02 -4.0 7.42e+01 -7.0 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0826786e+00 1.02e-03 6.41e-02 -4.1 1.47e+02 -7.5 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0816763e+00 2.71e-03 3.09e-02 -4.1 2.12e+02 -8.0 7.73e-01 1.00e+00h 1 Hello, world! 38 2.0818338e+00 6.20e-06 1.03e-01 -4.0 7.21e+01 -6.6 1.00e+00 1.00e+00H 1 Hello, world! 39 2.0825412e+00 3.44e-03 2.51e-02 -3.7 4.78e+01 -7.1 9.45e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0864714e+00 2.36e-03 1.13e-01 -3.9 5.53e+01 -7.6 4.08e-01 1.00e+00h 1 Hello, world! 41 2.0857891e+00 3.55e-08 2.90e-02 -3.9 1.56e-02 0.3 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0845231e+00 1.42e-07 2.20e-02 -4.0 3.48e-02 -0.2 1.00e+00 1.00e+00f 1 Hello, world! 43 2.0831983e+00 1.65e-07 1.35e-02 -4.0 6.16e-02 -0.7 1.00e+00 1.00e+00f 1 Hello, world! 44 2.0822442e+00 2.93e-07 4.94e-03 -4.0 9.04e-02 -1.2 1.00e+00 1.00e+00f 1 Hello, world! 45 2.0820796e+00 7.61e-08 4.88e-04 -4.0 2.46e-02 -1.6 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0820956e+00 5.18e-08 1.05e-04 -4.0 1.06e-02 -2.1 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0820933e+00 1.33e-08 1.41e-05 -4.0 5.46e-03 -2.6 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0820938e+00 1.06e-08 4.14e-06 -4.0 4.88e-03 -3.1 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0820938e+00 3.22e-09 4.15e-06 -4.0 1.47e-02 -3.5 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 50 2.0820937e+00 5.10e-09 4.16e-06 -4.0 4.42e-02 -4.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0820937388450802e+00 2.0820937388450802e+00 Dual infeasibility......: 4.1604929940011774e-06 4.1604929940011774e-06 Constraint violation....: 5.0988440136734425e-09 5.0988440136734425e-09 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 4.1604929940011774e-06 4.1604929940011774e-06 Number of objective function evaluations = 61 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 61 Number of inequality constraint evaluations = 61 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 0.904 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.067s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.001s jacobian structure: 1600 nonzeros (3.069s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.031s 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 (4.084s) linear index maps built (0.0s) evaluator ready (total: 7.153s) evaluator created (7.182s) 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: 7.182s) 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 3.0300931e+00 2.54e+00 6.42e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8819979e+00 8.96e-01 2.09e+00 -0.9 2.30e+00 0.0 8.76e-01 6.50e-01f 1 2 2.6216381e+00 3.70e-02 2.47e+00 -1.0 1.06e+00 -0.5 9.56e-01 1.00e+00h 1 3 2.4294661e+00 6.41e-02 5.63e-01 -1.4 5.95e-01 -1.0 9.91e-01 8.28e-01h 1 4 2.1547348e+00 2.12e-02 1.23e-01 -2.3 4.48e-01 -1.4 9.97e-01 9.07e-01h 1 5 2.0950962e+00 6.95e-04 1.91e-02 -3.5 6.34e-02 -1.9 9.96e-01 1.00e+00h 1 6 2.0909567e+00 1.02e-05 2.64e-03 -4.0 1.13e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0909644e+00 6.99e-08 2.71e-05 -4.0 1.98e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909562e+00 2.22e-09 2.67e-05 -4.0 5.84e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909342e+00 1.68e-08 3.67e-05 -4.0 1.70e-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 2.0908824e+00 1.24e-07 2.17e-04 -4.0 4.44e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0908054e+00 3.82e-07 1.01e-03 -4.0 9.37e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0906258e+00 2.42e-06 1.66e-03 -4.0 2.68e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0901165e+00 2.26e-05 6.32e-04 -4.0 8.25e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0898533e+00 3.57e-06 1.66e-03 -4.0 3.01e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890862e+00 2.68e-05 4.90e-03 -4.0 9.54e+00 -5.8 1.00e+00 8.97e-01h 1 16 2.0877703e+00 2.46e-04 3.30e-02 -4.0 2.60e+01 -6.3 1.00e+00 1.00e+00f 1 17 2.0864404e+00 2.78e-04 5.75e-01 -4.0 1.21e+02 -5.8 1.00e+00 9.56e-02h 1 18 2.0850173e+00 4.93e-04 2.77e-02 -4.0 2.24e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0830532e+00 3.45e-04 2.45e-02 -4.0 3.48e+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 2.0827501e+00 3.73e-04 1.17e-02 -4.0 5.50e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0823224e+00 5.72e-04 9.37e-03 -4.0 1.27e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0822979e+00 7.74e-04 1.26e-02 -4.0 8.23e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0820264e+00 6.84e-04 2.47e-02 -4.0 5.35e+01 -7.8 1.00e+00 1.00e+00h 1 24 2.0858031e+00 3.08e-04 4.01e-01 -4.0 9.78e+00 -5.6 2.26e-01 6.12e-01h 1 25 2.0825933e+00 8.05e-04 2.12e+00 -4.0 1.17e+01 -4.2 5.83e-04 6.77e-02h 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0825933314020126e+00 2.0825933314020126e+00 Dual infeasibility......: 2.1246818223818424e+00 2.1246818223818424e+00 Constraint violation....: 8.0524637273926558e-04 8.0524637273926558e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 4.9389899578279909e-04 4.9389899578279909e-04 Overall NLP error.......: 2.1246818223818424e+00 2.1246818223818424e+00 Number of objective function evaluations = 26 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 26 Number of inequality constraint evaluations = 26 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 29.685 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.003s) evaluator created (0.003s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.001s) optimizer initialization complete (total: 0.005s) 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 3.0300931e+00 2.54e+00 6.42e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8819979e+00 8.96e-01 2.09e+00 -0.9 2.30e+00 0.0 8.76e-01 6.50e-01f 1 2 2.6216381e+00 3.70e-02 2.47e+00 -1.0 1.06e+00 -0.5 9.56e-01 1.00e+00h 1 3 2.4294661e+00 6.41e-02 5.63e-01 -1.4 5.95e-01 -1.0 9.91e-01 8.28e-01h 1 4 2.1547348e+00 2.12e-02 1.23e-01 -2.3 4.48e-01 -1.4 9.97e-01 9.07e-01h 1 5 2.0950962e+00 6.95e-04 1.91e-02 -3.5 6.34e-02 -1.9 9.96e-01 1.00e+00h 1 6 2.0909567e+00 1.02e-05 2.64e-03 -4.0 1.13e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0909644e+00 6.99e-08 2.71e-05 -4.0 1.98e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909562e+00 2.22e-09 2.67e-05 -4.0 5.84e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909342e+00 1.68e-08 3.67e-05 -4.0 1.70e-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 2.0908824e+00 1.24e-07 2.17e-04 -4.0 4.44e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0908054e+00 3.82e-07 1.01e-03 -4.0 9.37e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0906258e+00 2.42e-06 1.66e-03 -4.0 2.68e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0901165e+00 2.26e-05 6.32e-04 -4.0 8.25e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0898533e+00 3.57e-06 1.66e-03 -4.0 3.01e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890862e+00 2.68e-05 4.90e-03 -4.0 9.54e+00 -5.8 1.00e+00 8.97e-01h 1 16 2.0877703e+00 2.46e-04 3.30e-02 -4.0 2.60e+01 -6.3 1.00e+00 1.00e+00f 1 17 2.0864404e+00 2.78e-04 5.75e-01 -4.0 1.21e+02 -5.8 1.00e+00 9.56e-02h 1 18 2.0850173e+00 4.93e-04 2.77e-02 -4.0 2.24e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0830532e+00 3.45e-04 2.45e-02 -4.0 3.48e+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 2.0827501e+00 3.73e-04 1.17e-02 -4.0 5.50e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0823224e+00 5.72e-04 9.37e-03 -4.0 1.27e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0822979e+00 7.74e-04 1.26e-02 -4.0 8.23e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0820264e+00 6.84e-04 2.47e-02 -4.0 5.35e+01 -7.8 1.00e+00 1.00e+00h 1 24 2.0858031e+00 3.08e-04 4.01e-01 -4.0 9.78e+00 -5.6 2.26e-01 6.12e-01h 1 25 2.0825933e+00 8.05e-04 2.12e+00 -4.0 1.17e+01 -4.2 5.83e-04 6.77e-02h 1 26 2.0819489e+00 9.94e-04 1.68e+00 -4.1 1.42e+00 -4.7 1.00e+00 4.33e-01h 1 27 2.0821579e+00 4.84e-05 1.35e-03 -4.0 8.20e-01 -5.2 1.00e+00 1.00e+00f 1 28 2.0826047e+00 4.09e-05 1.71e-01 -4.0 6.33e+00 -5.7 6.01e-01 1.00e+00h 1 29 2.0820904e+00 1.00e-06 2.29e-03 -4.0 5.31e-02 -1.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0820469e+00 8.11e-08 1.92e-03 -4.0 2.77e-02 -1.2 1.00e+00 1.00e+00h 1 31 2.0820168e+00 8.56e-08 4.27e-04 -4.0 1.60e-02 -1.7 1.00e+00 1.00e+00h 1 32 2.0820023e+00 3.02e-09 1.84e-04 -4.0 2.56e-02 -2.1 1.00e+00 1.00e+00h 1 33 2.0819611e+00 2.58e-07 1.95e-04 -4.0 4.80e-02 -2.6 1.00e+00 1.00e+00h 1 34 2.0819635e+00 1.14e-07 9.52e-06 -4.0 1.20e-02 -3.1 1.00e+00 1.00e+00h 1 35 2.0819665e+00 8.26e-08 9.61e-06 -4.0 3.65e-02 -3.6 1.00e+00 1.00e+00h 1 36 2.0819750e+00 7.88e-07 1.01e-05 -4.0 1.15e-01 -4.1 1.00e+00 1.00e+00h 1 37 2.0818507e+00 1.34e-05 1.44e-04 -4.1 2.85e-01 -4.5 1.00e+00 1.00e+00h 1 38 2.0820464e+00 1.70e-04 2.02e-03 -4.0 1.59e+00 -5.0 1.00e+00 1.00e+00h 1 39 2.0819601e+00 2.20e-07 7.22e-03 -4.1 1.91e+00 -5.5 1.00e+00 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0820590e+00 1.52e-04 2.33e-03 -4.0 2.02e+00 -6.0 1.00e+00 1.00e+00f 1 41 2.0818753e+00 1.31e-06 2.25e-04 -4.1 6.31e-02 -3.7 1.00e+00 1.00e+00h 1 42 2.0820139e+00 2.48e-06 1.02e-04 -4.0 1.42e-01 -4.2 1.00e+00 1.00e+00h 1 43 2.0818852e+00 1.43e-05 1.19e-04 -4.1 3.91e-01 -4.7 1.00e+00 1.00e+00h 1 44 2.0812937e+00 1.43e-04 2.26e-02 -6.1 1.43e+00 -5.2 8.67e-01 1.00e+00h 1 45 2.0815941e+00 8.93e-05 3.77e-02 -4.0 9.77e-01 -3.8 2.85e-01 3.01e-01h 1 46 2.0818506e+00 3.51e-05 2.98e-01 -4.0 8.90e-01 -4.3 1.00e+00 5.42e-01h 1 47 2.0818459e+00 2.96e-05 3.90e-03 -4.1 2.16e-01 -4.8 1.00e+00 1.00e+00h 1 48 2.0818783e+00 9.69e-06 3.38e-01 -4.0 8.88e-02 -3.5 7.32e-01 1.00e+00h 1 49 2.0818483e+00 4.32e-06 2.02e-03 -4.1 8.96e-02 -3.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0819727e+00 5.16e-06 8.27e-04 -4.0 2.12e-01 -4.4 1.00e+00 1.00e+00h 1 51 2.0818338e+00 2.51e-05 1.81e-04 -4.1 4.18e-01 -4.9 1.00e+00 1.00e+00h 1 52 2.0819769e+00 1.06e-05 1.13e-04 -4.0 4.51e-01 -5.4 1.00e+00 1.00e+00h 1 53 2.0818253e+00 2.28e-05 9.18e-05 -4.1 1.17e+00 -5.8 1.00e+00 1.00e+00h 1 54 2.0819957e+00 4.06e-05 2.22e-04 -4.0 1.85e+00 -6.3 1.00e+00 1.00e+00h 1 55 2.0817785e+00 1.23e-04 7.16e-04 -4.1 6.65e+00 -6.8 1.00e+00 1.00e+00h 1 56 2.0808310e+00 2.23e-03 5.80e-04 -6.1 2.81e+01 -7.3 9.83e-01 9.27e-01h 1 57 2.0819208e+00 3.62e-03 2.53e-03 -4.0 3.30e+01 -7.8 1.00e+00 1.00e+00f 1 58 2.0816339e+00 1.27e-03 1.53e-03 -4.1 4.28e+01 -8.2 1.00e+00 1.00e+00h 1 59 2.0816013e+00 5.28e-05 1.50e-03 -4.1 4.21e+01 -8.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0818444e+00 3.59e-04 2.04e-04 -4.0 1.62e+01 -9.2 1.00e+00 1.00e+00h 1 61 2.0815838e+00 2.35e-04 9.83e-06 -4.1 1.06e+01 -9.7 1.00e+00 1.00e+00h 1 62 2.0805956e+00 3.33e-03 1.62e-04 -6.1 4.09e+01 -10.1 9.77e-01 9.64e-01h 1 63 2.0818908e+00 6.57e-03 3.56e-04 -4.0 6.14e+01 -10.6 1.00e+00 1.00e+00f 1 64 2.0816146e+00 4.96e-04 1.48e-05 -4.1 2.08e+01 -11.1 1.00e+00 1.00e+00h 1 65 2.0806042e+00 3.49e-03 2.33e-04 -6.1 4.24e+01 -11.6 9.76e-01 9.58e-01h 1 66 2.0805507e+00 9.70e-05 2.43e-06 -6.1 1.71e+01 -12.0 1.00e+00 1.00e+00h 1 67 2.0819818e+00 1.02e-02 3.99e-04 -4.0 8.54e+01 -12.5 1.00e+00 1.00e+00f 1 68 2.0816804e+00 9.65e-04 4.92e-05 -4.1 4.57e+01 -13.0 1.00e+00 1.00e+00h 1 69 2.0816444e+00 4.72e-07 7.78e-07 -4.1 8.40e+00 -13.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0818441e+00 1.27e-04 5.47e-06 -4.0 7.55e+00 -14.0 1.00e+00 1.00e+00h 1 71 2.0815834e+00 2.14e-04 9.28e-06 -4.1 9.76e+00 -14.4 1.00e+00 1.00e+00h 1 72 2.0805950e+00 3.33e-03 1.58e-04 -6.1 4.09e+01 -14.9 9.77e-01 9.64e-01h 1 73 2.0805497e+00 7.61e-05 1.82e-06 -6.1 1.56e+01 -15.4 1.00e+00 1.00e+00h 1 74 2.0819883e+00 1.06e-02 4.03e-04 -4.0 8.64e+01 -15.9 1.00e+00 1.00e+00f 1 75 2.0816850e+00 9.86e-04 5.24e-05 -4.1 4.71e+01 -16.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 75 (scaled) (unscaled) Objective...............: 2.0816850477779685e+00 2.0816850477779685e+00 Dual infeasibility......: 5.2428197498608864e-05 5.2428197498608864e-05 Constraint violation....: 9.8597385213938793e-04 9.8597385213938793e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0508081118769617e-04 1.0508081118769617e-04 Overall NLP error.......: 9.8597385213938793e-04 9.8597385213938793e-04 Number of objective function evaluations = 77 Number of objective gradient evaluations = 76 Number of equality constraint evaluations = 77 Number of inequality constraint evaluations = 77 Number of equality constraint Jacobian evaluations = 76 Number of inequality constraint Jacobian evaluations = 76 Number of Lagrangian Hessian evaluations = 75 Total seconds in IPOPT = 1.071 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.003s) evaluator created (0.003s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.003s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.0300931e+00 2.54e+00 6.42e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8819979e+00 8.96e-01 2.09e+00 -0.9 2.30e+00 0.0 8.76e-01 6.50e-01f 1 2 2.6216381e+00 3.70e-02 2.47e+00 -1.0 1.06e+00 -0.5 9.56e-01 1.00e+00h 1 3 2.4294661e+00 6.41e-02 5.63e-01 -1.4 5.95e-01 -1.0 9.91e-01 8.28e-01h 1 4 2.1547348e+00 2.12e-02 1.23e-01 -2.3 4.48e-01 -1.4 9.97e-01 9.07e-01h 1 5 2.0950962e+00 6.95e-04 1.91e-02 -3.5 6.34e-02 -1.9 9.96e-01 1.00e+00h 1 6 2.0909567e+00 1.02e-05 2.64e-03 -4.0 1.13e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0909644e+00 6.99e-08 2.71e-05 -4.0 1.98e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909562e+00 2.22e-09 2.67e-05 -4.0 5.84e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909342e+00 1.68e-08 3.67e-05 -4.0 1.70e-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 2.0908824e+00 1.24e-07 2.17e-04 -4.0 4.44e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0908054e+00 3.82e-07 1.01e-03 -4.0 9.37e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0906258e+00 2.42e-06 1.66e-03 -4.0 2.68e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0901165e+00 2.26e-05 6.32e-04 -4.0 8.25e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0898533e+00 3.57e-06 1.66e-03 -4.0 3.01e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890862e+00 2.68e-05 4.90e-03 -4.0 9.54e+00 -5.8 1.00e+00 8.97e-01h 1 16 2.0877703e+00 2.46e-04 3.30e-02 -4.0 2.60e+01 -6.3 1.00e+00 1.00e+00f 1 17 2.0864404e+00 2.78e-04 5.75e-01 -4.0 1.21e+02 -5.8 1.00e+00 9.56e-02h 1 18 2.0850173e+00 4.93e-04 2.77e-02 -4.0 2.24e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0830532e+00 3.45e-04 2.45e-02 -4.0 3.48e+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 2.0827501e+00 3.73e-04 1.17e-02 -4.0 5.50e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0823224e+00 5.72e-04 9.37e-03 -4.0 1.27e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0822979e+00 7.74e-04 1.26e-02 -4.0 8.23e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0820264e+00 6.84e-04 2.47e-02 -4.0 5.35e+01 -7.8 1.00e+00 1.00e+00h 1 24 2.0858031e+00 3.08e-04 4.01e-01 -4.0 9.78e+00 -5.6 2.26e-01 6.12e-01h 1 25 2.0825933e+00 8.05e-04 2.12e+00 -4.0 1.17e+01 -4.2 5.83e-04 6.77e-02h 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0825933314020126e+00 2.0825933314020126e+00 Dual infeasibility......: 2.1246818223818424e+00 2.1246818223818424e+00 Constraint violation....: 8.0524637273926558e-04 8.0524637273926558e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 4.9389899578279909e-04 4.9389899578279909e-04 Overall NLP error.......: 2.1246818223818424e+00 2.1246818223818424e+00 Number of objective function evaluations = 26 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 26 Number of inequality constraint evaluations = 26 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 0.341 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: 0.069s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.032s jacobian structure: 1600 nonzeros (3.101s) integrator 1 hessian structure: 0.056s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.396s 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 (4.455s) linear index maps built (0.0s) evaluator ready (total: 7.556s) evaluator created (7.586s) 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: 7.587s) 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 3.5051941e+00 2.63e+00 7.69e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.5472574e+00 3.79e-01 4.75e+00 -0.8 2.51e+00 0.0 9.97e-01 8.58e-01f 1 Hello, world! 2 2.6394324e+00 2.35e-02 1.25e+00 -1.0 6.67e-01 -0.5 1.00e+00 1.00e+00f 1 Hello, world! 3 2.4161979e+00 1.53e-02 1.75e-01 -1.6 2.48e-01 -1.0 9.61e-01 1.00e+00h 1 Hello, world! 4 2.1541015e+00 6.81e-03 4.16e-02 -2.6 1.98e-01 -1.4 9.73e-01 8.93e-01h 1 Hello, world! 5 2.0941146e+00 1.37e-04 8.05e-03 -3.4 2.45e-02 -1.9 9.86e-01 1.00e+00h 1 Hello, world! 6 2.0908798e+00 2.62e-06 4.57e-04 -4.0 5.42e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0908821e+00 2.65e-08 2.17e-05 -4.0 1.58e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908770e+00 8.23e-10 2.12e-05 -4.0 4.64e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908635e+00 6.45e-09 2.08e-05 -4.0 1.31e-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 2.0908326e+00 4.01e-08 1.00e-04 -4.0 3.49e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0907653e+00 2.21e-07 5.31e-04 -4.0 8.82e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0905852e+00 2.37e-06 8.37e-04 -4.0 2.65e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0900172e+00 2.00e-05 1.07e-03 -4.0 7.47e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0893092e+00 2.86e-05 4.71e-02 -4.0 2.31e+01 -6.2 1.00e+00 3.45e-01h 1 Hello, world! 15 2.0863638e+00 1.07e-03 8.31e-02 -4.0 5.61e+01 -6.7 1.00e+00 1.00e+00f 1 Hello, world! 16 2.0848630e+00 4.07e-04 3.39e-02 -4.0 4.97e+00 -5.4 1.00e+00 6.43e-01h 1 Hello, world! 17 2.0846576e+00 4.43e-05 5.41e-03 -4.0 6.38e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0836186e+00 5.45e-05 4.11e-03 -4.0 1.51e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0827429e+00 7.94e-05 1.19e-02 -4.0 2.05e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0828202e+00 3.42e-04 1.32e-02 -4.0 5.18e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0820867e+00 2.04e-03 8.39e-03 -4.1 1.20e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 3.4156744e+00 1.39e-03 2.13e+01 -4.0 1.17e+03 -8.2 3.36e-02 1.00e+00H 1 Hello, world! 23 2.0923587e+00 2.05e-04 1.82e+00 -4.2 5.30e-01 -0.4 3.79e-01 8.53e-01f 1 Hello, world! 24 2.0924693e+00 2.05e-04 5.64e+00 -4.2 7.22e-02 -0.8 1.00e+00 1.95e-03h 10 Hello, world! 25 2.0922796e+00 2.16e-07 1.90e-03 -4.2 3.99e-02 -1.3 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0922048e+00 3.54e-07 1.82e-03 -4.0 1.15e-01 -1.8 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0915923e+00 8.99e-07 1.67e-03 -4.0 3.17e-01 -2.3 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0911524e+00 9.84e-07 5.68e-01 -4.0 4.97e-01 -2.8 1.00e+00 4.69e-01H 1 Hello, world! 29 2.0911541e+00 1.43e-06 8.30e-05 -4.1 6.62e-02 -3.2 1.00e+00 1.00e+00f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0904445e+00 1.06e-05 2.83e-02 -6.2 1.02e-01 -3.7 7.98e-01 1.00e+00h 1 Hello, world! 31 2.0913286e+00 3.30e-05 1.73e-03 -4.0 2.53e-01 -4.2 1.00e+00 1.00e+00f 1 Hello, world! 32 2.0909930e+00 3.23e-05 2.46e-05 -4.1 7.54e-01 -4.7 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0900567e+00 2.62e-04 1.66e-03 -6.1 2.56e+00 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0893246e+00 1.19e-04 1.04e-02 -6.1 7.37e+00 -5.6 1.00e+00 8.76e-01h 1 Hello, world! 35 2.0888565e+00 3.51e-05 5.92e-02 -6.1 1.56e+01 -6.1 1.00e+00 8.36e-01h 1 Hello, world! 36 2.0885547e+00 3.20e-03 1.11e-02 -4.0 4.27e+01 -6.6 1.00e+00 1.00e+00f 1 Hello, world! 37 2.0860600e+00 9.16e-04 4.03e-02 -4.1 1.05e+02 -7.0 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0832714e+00 2.04e-03 1.12e-01 -4.1 2.05e+02 -7.5 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0817710e+00 4.92e-03 5.40e-02 -4.1 2.82e+02 -8.0 7.82e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0821894e+00 2.00e-04 2.35e-01 -4.0 9.70e+01 -6.7 1.00e+00 9.25e-01H 1 Hello, world! 41 2.0828963e+00 5.64e-03 3.94e-02 -3.7 7.44e+01 -7.2 9.09e-01 1.00e+00f 1 Hello, world! 42 2.0841237e+00 3.79e-03 1.66e-01 -3.8 6.68e+01 -7.6 5.24e-01 1.00e+00h 1 Hello, world! 43 2.0839310e+00 9.49e-09 1.55e-02 -3.8 9.41e-03 0.2 1.00e+00 1.00e+00h 1 Hello, world! 44 2.0834075e+00 4.68e-08 1.25e-02 -4.0 2.25e-02 -0.3 1.00e+00 1.00e+00f 1 Hello, world! 45 2.0828288e+00 8.93e-08 7.95e-03 -4.0 4.20e-02 -0.7 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0823704e+00 3.25e-07 3.08e-03 -4.0 5.26e-02 -1.2 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0822339e+00 1.11e-07 3.60e-04 -4.0 1.44e-02 -1.7 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0822230e+00 1.06e-07 1.02e-04 -4.0 1.51e-02 -2.2 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0822262e+00 2.81e-08 2.05e-05 -4.0 9.34e-03 -2.6 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0822281e+00 3.06e-08 4.77e-06 -4.0 6.34e-03 -3.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0822281097631548e+00 2.0822281097631548e+00 Dual infeasibility......: 4.7699927949585313e-06 4.7699927949585313e-06 Constraint violation....: 3.0573897191743526e-08 3.0573897191743526e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999999788e-05 9.9999999999999788e-05 Overall NLP error.......: 4.7699927949585313e-06 4.7699927949585313e-06 Number of objective function evaluations = 63 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 63 Number of inequality constraint evaluations = 63 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 30.862 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) evaluator created (0.002s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.003s) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.5051941e+00 2.63e+00 7.69e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.5472574e+00 3.79e-01 4.75e+00 -0.8 2.51e+00 0.0 9.97e-01 8.58e-01f 1 Hello, world! 2 2.6394324e+00 2.35e-02 1.25e+00 -1.0 6.67e-01 -0.5 1.00e+00 1.00e+00f 1 Hello, world! 3 2.4161979e+00 1.53e-02 1.75e-01 -1.6 2.48e-01 -1.0 9.61e-01 1.00e+00h 1 Hello, world! 4 2.1541015e+00 6.81e-03 4.16e-02 -2.6 1.98e-01 -1.4 9.73e-01 8.93e-01h 1 Hello, world! 5 2.0941146e+00 1.37e-04 8.05e-03 -3.4 2.45e-02 -1.9 9.86e-01 1.00e+00h 1 Hello, world! 6 2.0908798e+00 2.62e-06 4.57e-04 -4.0 5.42e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0908821e+00 2.65e-08 2.17e-05 -4.0 1.58e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908770e+00 8.23e-10 2.12e-05 -4.0 4.64e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908635e+00 6.45e-09 2.08e-05 -4.0 1.31e-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 2.0908326e+00 4.01e-08 1.00e-04 -4.0 3.49e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0907653e+00 2.21e-07 5.31e-04 -4.0 8.82e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0905852e+00 2.37e-06 8.37e-04 -4.0 2.65e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0900172e+00 2.00e-05 1.07e-03 -4.0 7.47e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0893092e+00 2.86e-05 4.71e-02 -4.0 2.31e+01 -6.2 1.00e+00 3.45e-01h 1 Hello, world! 15 2.0863638e+00 1.07e-03 8.31e-02 -4.0 5.61e+01 -6.7 1.00e+00 1.00e+00f 1 Hello, world! 16 2.0848630e+00 4.07e-04 3.39e-02 -4.0 4.97e+00 -5.4 1.00e+00 6.43e-01h 1 Hello, world! 17 2.0846576e+00 4.43e-05 5.41e-03 -4.0 6.38e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0836186e+00 5.45e-05 4.11e-03 -4.0 1.51e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0827429e+00 7.94e-05 1.19e-02 -4.0 2.05e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0828202e+00 3.42e-04 1.32e-02 -4.0 5.18e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0820867e+00 2.04e-03 8.39e-03 -4.1 1.20e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 3.4156744e+00 1.39e-03 2.13e+01 -4.0 1.17e+03 -8.2 3.36e-02 1.00e+00H 1 Hello, world! 23 2.0923587e+00 2.05e-04 1.82e+00 -4.2 5.30e-01 -0.4 3.79e-01 8.53e-01f 1 Hello, world! 24 2.0924693e+00 2.05e-04 5.64e+00 -4.2 7.22e-02 -0.8 1.00e+00 1.95e-03h 10 Hello, world! 25 2.0922796e+00 2.16e-07 1.90e-03 -4.2 3.99e-02 -1.3 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0922048e+00 3.54e-07 1.82e-03 -4.0 1.15e-01 -1.8 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0915923e+00 8.99e-07 1.67e-03 -4.0 3.17e-01 -2.3 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0911524e+00 9.84e-07 5.68e-01 -4.0 4.97e-01 -2.8 1.00e+00 4.69e-01H 1 Hello, world! 29 2.0911541e+00 1.43e-06 8.30e-05 -4.1 6.62e-02 -3.2 1.00e+00 1.00e+00f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0904445e+00 1.06e-05 2.83e-02 -6.2 1.02e-01 -3.7 7.98e-01 1.00e+00h 1 Hello, world! 31 2.0913286e+00 3.30e-05 1.73e-03 -4.0 2.53e-01 -4.2 1.00e+00 1.00e+00f 1 Hello, world! 32 2.0909930e+00 3.23e-05 2.46e-05 -4.1 7.54e-01 -4.7 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0900567e+00 2.62e-04 1.66e-03 -6.1 2.56e+00 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0893246e+00 1.19e-04 1.04e-02 -6.1 7.37e+00 -5.6 1.00e+00 8.76e-01h 1 Hello, world! 35 2.0888565e+00 3.51e-05 5.92e-02 -6.1 1.56e+01 -6.1 1.00e+00 8.36e-01h 1 Hello, world! 36 2.0885547e+00 3.20e-03 1.11e-02 -4.0 4.27e+01 -6.6 1.00e+00 1.00e+00f 1 Hello, world! 37 2.0860600e+00 9.16e-04 4.03e-02 -4.1 1.05e+02 -7.0 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0832714e+00 2.04e-03 1.12e-01 -4.1 2.05e+02 -7.5 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0817710e+00 4.92e-03 5.40e-02 -4.1 2.82e+02 -8.0 7.82e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0821894e+00 2.00e-04 2.35e-01 -4.0 9.70e+01 -6.7 1.00e+00 9.25e-01H 1 Hello, world! 41 2.0828963e+00 5.64e-03 3.94e-02 -3.7 7.44e+01 -7.2 9.09e-01 1.00e+00f 1 Hello, world! 42 2.0841237e+00 3.79e-03 1.66e-01 -3.8 6.68e+01 -7.6 5.24e-01 1.00e+00h 1 Hello, world! 43 2.0839310e+00 9.49e-09 1.55e-02 -3.8 9.41e-03 0.2 1.00e+00 1.00e+00h 1 Hello, world! 44 2.0834075e+00 4.68e-08 1.25e-02 -4.0 2.25e-02 -0.3 1.00e+00 1.00e+00f 1 Hello, world! 45 2.0828288e+00 8.93e-08 7.95e-03 -4.0 4.20e-02 -0.7 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0823704e+00 3.25e-07 3.08e-03 -4.0 5.26e-02 -1.2 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0822339e+00 1.11e-07 3.60e-04 -4.0 1.44e-02 -1.7 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0822230e+00 1.06e-07 1.02e-04 -4.0 1.51e-02 -2.2 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0822262e+00 2.81e-08 2.05e-05 -4.0 9.34e-03 -2.6 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0822281e+00 3.06e-08 4.77e-06 -4.0 6.34e-03 -3.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0822281097631548e+00 2.0822281097631548e+00 Dual infeasibility......: 4.7699927949585313e-06 4.7699927949585313e-06 Constraint violation....: 3.0573897191743526e-08 3.0573897191743526e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999999788e-05 9.9999999999999788e-05 Overall NLP error.......: 4.7699927949585313e-06 4.7699927949585313e-06 Number of objective function evaluations = 63 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 63 Number of inequality constraint evaluations = 63 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 0.691 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.071s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.258s jacobian structure: 1600 nonzeros (3.33s) integrator 1 hessian structure: 0.059s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.445s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (4.507s) linear index maps built (0.0s) evaluator ready (total: 7.837s) evaluator created (7.872s) 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: 7.874s) 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 4.8790685e+00 3.26e+00 7.07e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7433538e+00 6.58e-02 2.63e+00 -0.9 1.77e+00 0.0 9.81e-01 1.00e+00f 1 2 2.7140827e+00 5.97e-02 2.04e+00 -1.0 1.02e+00 -0.5 9.22e-01 4.31e-01h 1 3 3.3083583e+00 3.44e-02 7.64e-01 -0.7 1.99e-01 -0.1 1.00e+00 1.00e+00f 1 4 2.8706824e+00 7.00e-03 2.44e-01 -1.3 1.16e-01 -0.5 8.35e-01 1.00e+00h 1 5 2.3338661e+00 2.05e-02 1.08e-01 -1.8 1.85e-01 -1.0 9.57e-01 9.60e-01f 1 6 2.1726078e+00 8.12e-03 1.30e-01 -2.9 3.56e-01 -1.5 8.45e-01 6.04e-01h 1 7 2.0967624e+00 4.73e-04 3.90e-03 -3.3 5.05e-02 -2.0 9.94e-01 1.00e+00h 1 8 2.0909264e+00 5.89e-06 5.01e-04 -4.0 5.67e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909240e+00 6.35e-08 3.75e-05 -4.0 1.93e-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 2.0909197e+00 7.22e-10 2.45e-04 -4.0 4.38e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909087e+00 6.51e-09 1.58e-04 -4.0 1.27e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908807e+00 4.55e-08 1.25e-04 -4.0 3.51e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0908079e+00 2.81e-07 2.95e-04 -4.0 9.57e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905974e+00 2.86e-06 3.69e-04 -4.0 2.89e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0905100e+00 3.80e-07 3.20e-04 -4.0 1.11e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0903467e+00 1.24e-06 7.72e-03 -4.0 3.95e+00 -5.4 1.00e+00 4.29e-01h 2 17 2.0895025e+00 2.92e-05 5.91e-03 -4.0 1.07e+01 -5.8 1.00e+00 8.71e-01h 1 18 2.0878057e+00 3.08e-04 3.54e-02 -4.0 2.96e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0865130e+00 3.02e-04 2.36e-01 -4.0 5.59e+01 -5.9 1.00e+00 1.81e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0849558e+00 2.69e-04 2.67e-02 -4.0 2.48e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0828474e+00 2.28e-04 2.74e-02 -4.0 3.70e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0830125e+00 8.51e-04 2.72e-02 -4.0 5.74e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0821380e+00 1.52e-03 9.08e-03 -4.1 1.34e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.1291022e+00 1.28e-05 1.66e+00 -4.0 6.00e+02 -8.3 8.01e-02 1.00e+00H 1 25 2.0932844e+00 1.43e-04 7.91e+00 -4.2 1.13e+01 -2.4 1.13e-02 1.22e-01f 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0932843556208027e+00 2.0932843556208027e+00 Dual infeasibility......: 7.9135093400326149e+00 7.9135093400326149e+00 Constraint violation....: 1.4298709196580023e-04 1.4298709196580023e-04 Variable bound violation: 1.5939879850074279e-09 1.5939879850074279e-09 Complementarity.........: 1.6108361691913011e-04 1.6108361691913011e-04 Overall NLP error.......: 7.9135093400326149e+00 7.9135093400326149e+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 = 31.089 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) evaluator created (0.002s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.002s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.8790685e+00 3.26e+00 7.07e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7433538e+00 6.58e-02 2.63e+00 -0.9 1.77e+00 0.0 9.81e-01 1.00e+00f 1 2 2.7140827e+00 5.97e-02 2.04e+00 -1.0 1.02e+00 -0.5 9.22e-01 4.31e-01h 1 3 3.3083583e+00 3.44e-02 7.64e-01 -0.7 1.99e-01 -0.1 1.00e+00 1.00e+00f 1 4 2.8706824e+00 7.00e-03 2.44e-01 -1.3 1.16e-01 -0.5 8.35e-01 1.00e+00h 1 5 2.3338661e+00 2.05e-02 1.08e-01 -1.8 1.85e-01 -1.0 9.57e-01 9.60e-01f 1 6 2.1726078e+00 8.12e-03 1.30e-01 -2.9 3.56e-01 -1.5 8.45e-01 6.04e-01h 1 7 2.0967624e+00 4.73e-04 3.90e-03 -3.3 5.05e-02 -2.0 9.94e-01 1.00e+00h 1 8 2.0909264e+00 5.89e-06 5.01e-04 -4.0 5.67e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909240e+00 6.35e-08 3.75e-05 -4.0 1.93e-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 2.0909197e+00 7.22e-10 2.45e-04 -4.0 4.38e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909087e+00 6.51e-09 1.58e-04 -4.0 1.27e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908807e+00 4.55e-08 1.25e-04 -4.0 3.51e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0908079e+00 2.81e-07 2.95e-04 -4.0 9.57e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905974e+00 2.86e-06 3.69e-04 -4.0 2.89e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0905100e+00 3.80e-07 3.20e-04 -4.0 1.11e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0903467e+00 1.24e-06 7.72e-03 -4.0 3.95e+00 -5.4 1.00e+00 4.29e-01h 2 17 2.0895025e+00 2.92e-05 5.91e-03 -4.0 1.07e+01 -5.8 1.00e+00 8.71e-01h 1 18 2.0878057e+00 3.08e-04 3.54e-02 -4.0 2.96e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0865130e+00 3.02e-04 2.36e-01 -4.0 5.59e+01 -5.9 1.00e+00 1.81e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0849558e+00 2.69e-04 2.67e-02 -4.0 2.48e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0828474e+00 2.28e-04 2.74e-02 -4.0 3.70e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0830125e+00 8.51e-04 2.72e-02 -4.0 5.74e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0821380e+00 1.52e-03 9.08e-03 -4.1 1.34e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.1291022e+00 1.28e-05 1.66e+00 -4.0 6.00e+02 -8.3 8.01e-02 1.00e+00H 1 25 2.0932844e+00 1.43e-04 7.91e+00 -4.2 1.13e+01 -2.4 1.13e-02 1.22e-01f 1 26 2.0857084e+00 7.11e-05 4.03e+00 -4.2 2.23e-01 -2.0 1.00e+00 4.94e-01f 1 27 2.0864727e+00 6.33e-05 3.56e+00 -4.0 1.05e+00 -2.5 1.00e+00 1.25e-01f 4 28 2.0841457e+00 1.09e-04 2.92e-02 -4.0 1.35e+00 -2.9 1.00e+00 1.00e+00h 1 29 2.0838858e+00 7.93e-05 7.58e-01 -4.0 4.37e-01 -3.4 1.00e+00 2.78e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0837303e+00 3.70e-06 6.04e-04 -4.0 6.26e-02 -3.9 1.00e+00 1.00e+00h 1 31 2.0837424e+00 1.47e-06 1.85e-05 -4.0 1.81e-01 -4.4 1.00e+00 1.00e+00h 1 32 2.0837099e+00 3.32e-07 1.63e-05 -4.0 5.35e-01 -4.9 1.00e+00 1.00e+00h 1 33 2.0836288e+00 2.34e-06 1.10e-04 -4.0 1.53e+00 -5.3 1.00e+00 1.00e+00h 1 34 2.0834771e+00 1.05e-05 4.63e-04 -4.0 4.18e+00 -5.8 1.00e+00 1.00e+00h 1 35 2.0832707e+00 1.77e-05 1.03e-03 -4.0 1.10e+01 -6.3 1.00e+00 1.00e+00h 1 36 2.0829213e+00 8.12e-05 3.12e-03 -4.0 2.79e+01 -6.8 1.00e+00 1.00e+00h 1 37 2.0823866e+00 4.24e-04 1.26e-02 -4.0 6.49e+01 -7.2 1.00e+00 1.00e+00h 1 38 2.0819074e+00 1.20e-03 1.93e-02 -4.0 1.20e+02 -7.7 9.26e-01 1.00e+00h 1 39 2.0817158e+00 1.42e-03 2.72e-01 -4.0 2.31e+03 -7.3 4.36e-03 3.87e-02h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818335e+00 1.52e-03 8.11e-01 -4.0 7.00e+01 -6.0 2.19e-01 1.05e-01h 3 41 2.0816358e+00 5.39e-04 3.01e-02 -4.1 7.53e-02 -1.9 1.00e+00 6.45e-01h 1 42 2.0819703e+00 1.91e-06 6.97e-04 -4.0 4.98e-02 -2.4 1.00e+00 1.00e+00f 1 43 2.0818724e+00 6.90e-07 2.25e-04 -4.0 3.17e-02 -2.9 1.00e+00 1.00e+00h 1 44 2.0818451e+00 2.12e-07 1.64e-05 -4.0 2.89e-02 -3.4 1.00e+00 1.00e+00h 1 45 2.0818400e+00 4.16e-08 1.25e-05 -4.0 8.56e-02 -3.8 1.00e+00 1.00e+00h 1 46 2.0818267e+00 3.00e-07 2.72e-05 -4.0 2.47e-01 -4.3 1.00e+00 1.00e+00h 1 47 2.0817955e+00 2.58e-06 1.21e-04 -4.0 6.11e-01 -4.8 1.00e+00 1.00e+00h 1 48 2.0817683e+00 1.10e-05 4.36e-04 -4.0 1.02e+00 -5.3 1.00e+00 1.00e+00h 1 49 2.0817814e+00 1.84e-05 4.56e-04 -4.0 1.62e+00 -5.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0816161e+00 3.79e-05 3.35e-04 -4.1 1.71e+00 -6.2 1.00e+00 1.00e+00h 1 51 2.0818181e+00 1.17e-04 4.03e-04 -4.0 5.50e+00 -6.7 1.00e+00 1.00e+00h 1 52 2.0815823e+00 1.57e-04 5.64e-04 -4.1 6.92e+00 -7.2 1.00e+00 1.00e+00h 1 53 2.0818236e+00 3.21e-04 2.87e-04 -4.0 1.34e+01 -7.7 1.00e+00 1.00e+00h 1 54 2.0815803e+00 2.75e-04 2.79e-04 -4.1 1.16e+01 -8.1 1.00e+00 1.00e+00h 1 55 2.0818419e+00 3.67e-04 9.99e-05 -4.0 1.53e+01 -8.6 1.00e+00 1.00e+00h 1 56 2.0815843e+00 1.67e-04 5.86e-05 -4.1 7.78e+00 -9.1 1.00e+00 1.00e+00h 1 57 2.0818443e+00 2.00e-04 2.60e-05 -4.0 9.17e+00 -9.6 1.00e+00 1.00e+00h 1 58 2.0815838e+00 2.11e-04 1.58e-05 -4.1 9.62e+00 -10.0 1.00e+00 1.00e+00h 1 59 2.0805953e+00 3.32e-03 1.60e-04 -6.1 4.09e+01 -10.5 9.77e-01 9.64e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0818908e+00 6.59e-03 3.23e-04 -4.0 6.16e+01 -11.0 1.00e+00 1.00e+00f 1 61 2.0816145e+00 4.96e-04 1.06e-05 -4.1 2.08e+01 -11.5 1.00e+00 1.00e+00h 1 62 2.0806042e+00 3.49e-03 2.32e-04 -6.1 4.24e+01 -11.9 9.76e-01 9.58e-01h 1 63 2.0805507e+00 9.69e-05 2.32e-06 -6.1 1.71e+01 -12.4 1.00e+00 1.00e+00h 1 64 2.0819818e+00 1.02e-02 3.99e-04 -4.0 8.54e+01 -12.9 1.00e+00 1.00e+00f 1 65 2.0816804e+00 9.65e-04 4.94e-05 -4.1 4.57e+01 -13.4 1.00e+00 1.00e+00h 1 66 2.0816444e+00 4.72e-07 7.72e-07 -4.1 8.40e+00 -13.9 1.00e+00 1.00e+00h 1 67 2.0818441e+00 1.27e-04 5.47e-06 -4.0 7.55e+00 -14.3 1.00e+00 1.00e+00h 1 68 2.0815834e+00 2.14e-04 9.28e-06 -4.1 9.76e+00 -14.8 1.00e+00 1.00e+00h 1 69 2.0805950e+00 3.33e-03 1.58e-04 -6.1 4.09e+01 -15.3 9.77e-01 9.64e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0805497e+00 7.61e-05 1.82e-06 -6.1 1.56e+01 -15.8 1.00e+00 1.00e+00h 1 71 2.0819883e+00 1.06e-02 4.03e-04 -4.0 8.64e+01 -16.2 1.00e+00 1.00e+00f 1 72 2.0816850e+00 9.86e-04 5.24e-05 -4.1 4.71e+01 -16.7 1.00e+00 1.00e+00h 1 73 2.0816467e+00 5.59e-07 8.13e-07 -4.1 8.79e+00 -17.2 1.00e+00 1.00e+00h 1 74 2.0805963e+00 3.67e-03 1.56e-04 -6.1 4.25e+01 -17.7 9.76e-01 9.67e-01h 1 75 2.0805509e+00 8.01e-05 1.98e-06 -6.1 1.63e+01 -18.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 75 (scaled) (unscaled) Objective...............: 2.0805509020193012e+00 2.0805509020193012e+00 Dual infeasibility......: 1.9776587780104006e-06 1.9776587780104006e-06 Constraint violation....: 8.0133473447548120e-05 8.0133473447548120e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.9206940990384135e-06 2.9206940990384135e-06 Overall NLP error.......: 9.9219259398510226e-05 9.9219259398510226e-05 Number of objective function evaluations = 90 Number of objective gradient evaluations = 76 Number of equality constraint evaluations = 90 Number of inequality constraint evaluations = 90 Number of equality constraint Jacobian evaluations = 76 Number of inequality constraint Jacobian evaluations = 76 Number of Lagrangian Hessian evaluations = 75 Total seconds in IPOPT = 0.981 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: 0.002s) evaluator created (0.002s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.003s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.8790685e+00 3.26e+00 7.07e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7433538e+00 6.58e-02 2.63e+00 -0.9 1.77e+00 0.0 9.81e-01 1.00e+00f 1 2 2.7140827e+00 5.97e-02 2.04e+00 -1.0 1.02e+00 -0.5 9.22e-01 4.31e-01h 1 3 3.3083583e+00 3.44e-02 7.64e-01 -0.7 1.99e-01 -0.1 1.00e+00 1.00e+00f 1 4 2.8706824e+00 7.00e-03 2.44e-01 -1.3 1.16e-01 -0.5 8.35e-01 1.00e+00h 1 5 2.3338661e+00 2.05e-02 1.08e-01 -1.8 1.85e-01 -1.0 9.57e-01 9.60e-01f 1 6 2.1726078e+00 8.12e-03 1.30e-01 -2.9 3.56e-01 -1.5 8.45e-01 6.04e-01h 1 7 2.0967624e+00 4.73e-04 3.90e-03 -3.3 5.05e-02 -2.0 9.94e-01 1.00e+00h 1 8 2.0909264e+00 5.89e-06 5.01e-04 -4.0 5.67e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909240e+00 6.35e-08 3.75e-05 -4.0 1.93e-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 2.0909197e+00 7.22e-10 2.45e-04 -4.0 4.38e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909087e+00 6.51e-09 1.58e-04 -4.0 1.27e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908807e+00 4.55e-08 1.25e-04 -4.0 3.51e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0908079e+00 2.81e-07 2.95e-04 -4.0 9.57e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905974e+00 2.86e-06 3.69e-04 -4.0 2.89e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0905100e+00 3.80e-07 3.20e-04 -4.0 1.11e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0903467e+00 1.24e-06 7.72e-03 -4.0 3.95e+00 -5.4 1.00e+00 4.29e-01h 2 17 2.0895025e+00 2.92e-05 5.91e-03 -4.0 1.07e+01 -5.8 1.00e+00 8.71e-01h 1 18 2.0878057e+00 3.08e-04 3.54e-02 -4.0 2.96e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0865130e+00 3.02e-04 2.36e-01 -4.0 5.59e+01 -5.9 1.00e+00 1.81e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0849558e+00 2.69e-04 2.67e-02 -4.0 2.48e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0828474e+00 2.28e-04 2.74e-02 -4.0 3.70e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0830125e+00 8.51e-04 2.72e-02 -4.0 5.74e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0821380e+00 1.52e-03 9.08e-03 -4.1 1.34e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.1291022e+00 1.28e-05 1.66e+00 -4.0 6.00e+02 -8.3 8.01e-02 1.00e+00H 1 25 2.0932844e+00 1.43e-04 7.91e+00 -4.2 1.13e+01 -2.4 1.13e-02 1.22e-01f 1 26 2.0857084e+00 7.11e-05 4.03e+00 -4.2 2.23e-01 -2.0 1.00e+00 4.94e-01f 1 27 2.0864727e+00 6.33e-05 3.56e+00 -4.0 1.05e+00 -2.5 1.00e+00 1.25e-01f 4 28 2.0841457e+00 1.09e-04 2.92e-02 -4.0 1.35e+00 -2.9 1.00e+00 1.00e+00h 1 29 2.0838858e+00 7.93e-05 7.58e-01 -4.0 4.37e-01 -3.4 1.00e+00 2.78e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0837303e+00 3.70e-06 6.04e-04 -4.0 6.26e-02 -3.9 1.00e+00 1.00e+00h 1 31 2.0837424e+00 1.47e-06 1.85e-05 -4.0 1.81e-01 -4.4 1.00e+00 1.00e+00h 1 32 2.0837099e+00 3.32e-07 1.63e-05 -4.0 5.35e-01 -4.9 1.00e+00 1.00e+00h 1 33 2.0836288e+00 2.34e-06 1.10e-04 -4.0 1.53e+00 -5.3 1.00e+00 1.00e+00h 1 34 2.0834771e+00 1.05e-05 4.63e-04 -4.0 4.18e+00 -5.8 1.00e+00 1.00e+00h 1 35 2.0832707e+00 1.77e-05 1.03e-03 -4.0 1.10e+01 -6.3 1.00e+00 1.00e+00h 1 36 2.0829213e+00 8.12e-05 3.12e-03 -4.0 2.79e+01 -6.8 1.00e+00 1.00e+00h 1 37 2.0823866e+00 4.24e-04 1.26e-02 -4.0 6.49e+01 -7.2 1.00e+00 1.00e+00h 1 38 2.0819074e+00 1.20e-03 1.93e-02 -4.0 1.20e+02 -7.7 9.26e-01 1.00e+00h 1 39 2.0817158e+00 1.42e-03 2.72e-01 -4.0 2.31e+03 -7.3 4.36e-03 3.87e-02h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818335e+00 1.52e-03 8.11e-01 -4.0 7.00e+01 -6.0 2.19e-01 1.05e-01h 3 41 2.0816358e+00 5.39e-04 3.01e-02 -4.1 7.53e-02 -1.9 1.00e+00 6.45e-01h 1 42 2.0819703e+00 1.91e-06 6.97e-04 -4.0 4.98e-02 -2.4 1.00e+00 1.00e+00f 1 43 2.0818724e+00 6.90e-07 2.25e-04 -4.0 3.17e-02 -2.9 1.00e+00 1.00e+00h 1 44 2.0818451e+00 2.12e-07 1.64e-05 -4.0 2.89e-02 -3.4 1.00e+00 1.00e+00h 1 45 2.0818400e+00 4.16e-08 1.25e-05 -4.0 8.56e-02 -3.8 1.00e+00 1.00e+00h 1 46 2.0818267e+00 3.00e-07 2.72e-05 -4.0 2.47e-01 -4.3 1.00e+00 1.00e+00h 1 47 2.0817955e+00 2.58e-06 1.21e-04 -4.0 6.11e-01 -4.8 1.00e+00 1.00e+00h 1 48 2.0817683e+00 1.10e-05 4.36e-04 -4.0 1.02e+00 -5.3 1.00e+00 1.00e+00h 1 49 2.0817814e+00 1.84e-05 4.56e-04 -4.0 1.62e+00 -5.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0816161e+00 3.79e-05 3.35e-04 -4.1 1.71e+00 -6.2 1.00e+00 1.00e+00h 1 51 2.0818181e+00 1.17e-04 4.03e-04 -4.0 5.50e+00 -6.7 1.00e+00 1.00e+00h 1 52 2.0815823e+00 1.57e-04 5.64e-04 -4.1 6.92e+00 -7.2 1.00e+00 1.00e+00h 1 53 2.0818236e+00 3.21e-04 2.87e-04 -4.0 1.34e+01 -7.7 1.00e+00 1.00e+00h 1 54 2.0815803e+00 2.75e-04 2.79e-04 -4.1 1.16e+01 -8.1 1.00e+00 1.00e+00h 1 55 2.0818419e+00 3.67e-04 9.99e-05 -4.0 1.53e+01 -8.6 1.00e+00 1.00e+00h 1 56 2.0815843e+00 1.67e-04 5.86e-05 -4.1 7.78e+00 -9.1 1.00e+00 1.00e+00h 1 57 2.0818443e+00 2.00e-04 2.60e-05 -4.0 9.17e+00 -9.6 1.00e+00 1.00e+00h 1 58 2.0815838e+00 2.11e-04 1.58e-05 -4.1 9.62e+00 -10.0 1.00e+00 1.00e+00h 1 59 2.0805953e+00 3.32e-03 1.60e-04 -6.1 4.09e+01 -10.5 9.77e-01 9.64e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0818908e+00 6.59e-03 3.23e-04 -4.0 6.16e+01 -11.0 1.00e+00 1.00e+00f 1 61 2.0816145e+00 4.96e-04 1.06e-05 -4.1 2.08e+01 -11.5 1.00e+00 1.00e+00h 1 62 2.0806042e+00 3.49e-03 2.32e-04 -6.1 4.24e+01 -11.9 9.76e-01 9.58e-01h 1 63 2.0805507e+00 9.69e-05 2.32e-06 -6.1 1.71e+01 -12.4 1.00e+00 1.00e+00h 1 64 2.0819818e+00 1.02e-02 3.99e-04 -4.0 8.54e+01 -12.9 1.00e+00 1.00e+00f 1 65 2.0816804e+00 9.65e-04 4.94e-05 -4.1 4.57e+01 -13.4 1.00e+00 1.00e+00h 1 66 2.0816444e+00 4.72e-07 7.72e-07 -4.1 8.40e+00 -13.9 1.00e+00 1.00e+00h 1 67 2.0818441e+00 1.27e-04 5.47e-06 -4.0 7.55e+00 -14.3 1.00e+00 1.00e+00h 1 68 2.0815834e+00 2.14e-04 9.28e-06 -4.1 9.76e+00 -14.8 1.00e+00 1.00e+00h 1 69 2.0805950e+00 3.33e-03 1.58e-04 -6.1 4.09e+01 -15.3 9.77e-01 9.64e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0805497e+00 7.61e-05 1.82e-06 -6.1 1.56e+01 -15.8 1.00e+00 1.00e+00h 1 71 2.0819883e+00 1.06e-02 4.03e-04 -4.0 8.64e+01 -16.2 1.00e+00 1.00e+00f 1 72 2.0816850e+00 9.86e-04 5.24e-05 -4.1 4.71e+01 -16.7 1.00e+00 1.00e+00h 1 73 2.0816467e+00 5.59e-07 8.13e-07 -4.1 8.79e+00 -17.2 1.00e+00 1.00e+00h 1 74 2.0805963e+00 3.67e-03 1.56e-04 -6.1 4.25e+01 -17.7 9.76e-01 9.67e-01h 1 75 2.0805509e+00 8.01e-05 1.98e-06 -6.1 1.63e+01 -18.1 1.00e+00 1.00e+00h 1 76 2.0805468e+00 5.50e-08 2.37e-08 -6.1 2.91e+00 -18.6 1.00e+00 1.00e+00h 1 77 2.0820237e+00 1.21e-02 4.23e-04 -4.0 9.79e+01 -19.1 1.00e+00 1.00e+00f 1 78 2.0817108e+00 1.09e-03 6.84e-05 -4.1 5.44e+01 -19.6 1.00e+00 1.00e+00h 1 79 2.0816597e+00 1.20e-06 1.05e-06 -4.1 1.08e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805973e+00 3.75e-03 1.59e-04 -6.1 4.29e+01 -20.0 9.76e-01 9.67e-01h 1 81 2.0805512e+00 8.26e-05 2.04e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0805470e+00 5.83e-08 2.51e-08 -6.1 3.00e+00 -20.0 1.00e+00 1.00e+00h 1 83 2.0805365e+00 9.22e-07 7.87e-07 -9.0 9.36e-01 -20.0 1.00e+00 9.97e-01h 1 84 2.0820411e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 85 2.0817244e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 86 2.0816662e+00 1.63e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 87 2.0805979e+00 3.78e-03 1.61e-04 -6.1 4.31e+01 -20.0 9.76e-01 9.67e-01h 1 88 2.0805514e+00 8.39e-05 2.07e-06 -6.1 1.67e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0805470e+00 6.01e-08 2.58e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805365e+00 9.41e-07 8.10e-07 -9.0 9.46e-01 -20.0 1.00e+00 9.97e-01h 1 91 2.0805365e+00 8.66e-11 2.16e-12 -9.0 2.61e-02 -20.0 1.00e+00 1.00e+00h 1 92 2.0820415e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 93 2.0817247e+00 1.13e-03 7.75e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 94 2.0816664e+00 1.64e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 95 2.0805979e+00 3.78e-03 1.61e-04 -6.1 4.31e+01 -20.0 9.76e-01 9.67e-01h 1 96 2.0805514e+00 8.39e-05 2.07e-06 -6.1 1.67e+01 -20.0 1.00e+00 1.00e+00h 1 97 2.0805470e+00 6.01e-08 2.58e-08 -6.1 3.05e+00 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 9.41e-07 8.10e-07 -9.0 9.47e-01 -20.0 1.00e+00 9.97e-01h 1 99 2.0805365e+00 8.67e-11 2.17e-12 -9.0 2.61e-02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805365e+00 8.88e-16 9.09e-15 -9.0 9.99e-06 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595436484e+00 2.0805364595436484e+00 Dual infeasibility......: 9.0909090908930799e-15 9.0909090908930799e-15 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090990828421e-10 9.0909090990828421e-10 Overall NLP error.......: 9.9999090909091550e-05 9.9999090909091550e-05 Number of objective function evaluations = 115 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 115 Number of inequality constraint evaluations = 115 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 1.343 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: 0.085s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.141s jacobian structure: 1600 nonzeros (3.228s) integrator 1 hessian structure: 0.054s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.371s 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 (4.428s) linear index maps built (0.0s) evaluator ready (total: 7.656s) evaluator created (7.685s) 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: 7.687s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.6506127e+00 2.49e+00 8.09e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8489114e+00 7.04e-02 2.37e+00 -0.9 1.87e+00 0.0 8.78e-01 1.00e+00h 1 2 2.5744800e+00 2.75e-02 8.19e-01 -1.0 2.16e-01 0.4 9.69e-01 1.00e+00h 1 3 2.3688959e+00 6.48e-03 3.03e-01 -1.9 1.11e-01 -0.1 9.95e-01 1.00e+00h 1 4 2.2048684e+00 4.98e-03 2.11e-01 -2.5 1.18e-01 -0.5 9.94e-01 4.52e-01f 1 5 2.1118953e+00 6.50e-04 5.20e-02 -3.4 3.17e-02 -1.0 1.00e+00 8.70e-01h 1 6 2.0908860e+00 4.76e-05 1.48e-02 -4.0 1.26e-02 -1.5 1.00e+00 1.00e+00h 1 7 2.0909010e+00 1.46e-07 7.82e-04 -4.0 2.62e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909000e+00 1.82e-09 1.72e-05 -4.0 4.70e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908989e+00 5.91e-11 1.71e-05 -4.0 1.40e-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 2.0908954e+00 5.49e-10 1.69e-05 -4.0 4.16e-02 -3.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0908953951727147e+00 2.0908953951727147e+00 Dual infeasibility......: 1.6901285794795723e-05 1.6901285794795723e-05 Constraint violation....: 5.4875716297420052e-10 5.4875716297420052e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999999964e-05 9.9999999999999964e-05 Overall NLP error.......: 1.6901285794795723e-05 1.6901285794795723e-05 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 11 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 11 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 30.993 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: 0.065s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.99s jacobian structure: 1600 nonzeros (3.056s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.214s 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 (4.266s) linear index maps built (0.0s) evaluator ready (total: 7.322s) evaluator created (7.35s) 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: 7.351s) 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: 0.071s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.224s jacobian structure: 1600 nonzeros (3.296s) integrator 1 hessian structure: 0.061s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.535s 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 (4.598s) linear index maps built (0.0s) evaluator ready (total: 7.894s) evaluator created (7.924s) 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: 7.926s) 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: 0.067s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.23s jacobian structure: 1600 nonzeros (3.298s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.316s 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 (4.368s) linear index maps built (0.0s) evaluator ready (total: 7.667s) evaluator created (7.695s) 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: 7.696s) ====================================================================================== 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 25 running 1 of 1 signal (10): User defined signal 1 ijl_unwrap_unionall at /source/src/jltypes.c:1642:1 subtype at /source/src/subtype.c:2070:22 subtype_unionall at /source/src/subtype.c:1407:15 subtype at /source/src/subtype.c:2087:16 exists_subtype at /source/src/subtype.c:2381:13 [inlined] forall_exists_subtype at /source/src/subtype.c:2410:15 ijl_subtype_env at /source/src/subtype.c:2902:19 [inlined] ijl_subtype_env at /source/src/subtype.c:2866:18 subtype_tuple_tail at /source/src/subtype.c:1822:23 [inlined] subtype_tuple at /source/src/subtype.c:1907:15 [inlined] subtype at /source/src/subtype.c:2150:20 exists_subtype at /source/src/subtype.c:2381:13 [inlined] forall_exists_subtype at /source/src/subtype.c:2410:15 ijl_types_equal at /source/src/subtype.c:2984:23 [inlined] ijl_types_equal at /source/src/subtype.c:2931:18 _typename_add_backedge at /source/src/gf.c:2597:17 foreach_top_nth_typename at /source/src/gf.c:913:21 jl_foreach_top_typename_for at /source/src/gf.c:959:5 [inlined] ijl_method_table_add_backedge at /source/src/gf.c:2619:9 store_backedges at ./../usr/share/julia/Compiler/src/typeinfer.jl:817:0 (pc: 408) finish! at ./../usr/share/julia/Compiler/src/typeinfer.jl:181:0 (pc: 386) finish_nocycle at ./../usr/share/julia/Compiler/src/typeinfer.jl:285:0 (pc: 61) jfptr_finish_nocycle_1.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4380:23 [inlined] ijl_apply_generic at /source/src/gf.c:4618:12 typeinf at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:4985:0 (pc: 251) typeinf_ext at ./../usr/share/julia/Compiler/src/typeinfer.jl:1545:0 (pc: 150) typeinf_ext_toplevel at ./../usr/share/julia/Compiler/src/typeinfer.jl:1750:0 [inlined] typeinf_ext_toplevel at ./../usr/share/julia/Compiler/src/typeinfer.jl:1759:0 (pc: 15) jfptr_typeinf_ext_toplevel_5.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4380:23 [inlined] ijl_apply_generic at /source/src/gf.c:4618:12 jl_apply at /source/src/julia.h:2389:12 [inlined] jl_type_infer at /source/src/gf.c:479:35 jl_compile_method_very_internal at /source/src/gf.c:3939:20 _jl_invoke at /source/src/gf.c:4372:16 [inlined] ijl_apply_generic at /source/src/gf.c:4618:12 _ at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/evaluator.jl:171:0 (pc: 1096) Evaluator at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/evaluator.jl:99:0 [inlined] #get_optimizer_and_variables#2 at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/ext/MadNLPSolverExt/solver.jl:81:0 (pc: 5) get_optimizer_and_variables at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/ext/MadNLPSolverExt/solver.jl:68:0 [inlined] #_solve#1 at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/ext/MadNLPSolverExt/solver.jl:51:0 (pc: 102) _solve at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/ext/MadNLPSolverExt/solver.jl:13:0 [inlined] #solve!#50 at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/solve.jl:202:0 [inlined] solve! at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/solve.jl:195:0 (pc: 9) unknown function (ip: 0x768465eb9340) at (unknown file) _jl_invoke at /source/src/gf.c:4380:23 [inlined] ijl_apply_generic at /source/src/gf.c:4618:12 jl_apply at /source/src/julia.h:2389:12 [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:522:0 (pc: 1) include_string at ./loading.jl:3132:0 (pc: 207) include_string at ./loading.jl:3142:0 (pc: 1) _jl_invoke at /source/src/gf.c:4380:23 [inlined] ijl_apply_generic at /source/src/gf.c:4618:12 jl_apply at /source/src/julia.h:2389:12 [inlined] jl_f_invokelatest at /source/src/builtins.c:918:23 #run_testitem##6 at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:119:0 [inlined] withpath at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/vendored_code.jl:7:0 (pc: 72) #run_testitem##4 at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:118:0 [inlined] cd at ./file.jl:112:0 (pc: 19) unknown function (ip: 0x7684d9fd8e66) at (unknown file) _jl_invoke at /source/src/gf.c:4380:23 [inlined] ijl_apply_generic at /source/src/gf.c:4618:12 run_testitem at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:117:0 (pc: 258) unknown function (ip: 0x7684d9fd8a1e) at (unknown file) _jl_invoke at /source/src/gf.c:4380:23 [inlined] ijl_apply_generic at /source/src/gf.c:4618:12 macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:277:0 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2415:0 [inlined] macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:275:0 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2415:0 [inlined] macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:253:0 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2415:0 [inlined] #run_tests#7 at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:250:0 (pc: 1498) run_tests at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:134:0 (pc: 7) _jl_invoke at /source/src/gf.c:4380:23 [inlined] ijl_apply_generic at /source/src/gf.c:4618:12 jl_apply at /source/src/julia.h:2389:12 [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:522:0 (pc: 1) include_string at ./loading.jl:3132:0 (pc: 207) _jl_invoke at /source/src/gf.c:4380:23 [inlined] ijl_apply_generic at /source/src/gf.c:4618:12 _include at ./loading.jl:3192:0 (pc: 122) include at ./Base.jl:326:0 (pc: 1) IncludeInto at ./Base.jl:327:0 (pc: 2) jfptr_IncludeInto_1.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4380:23 [inlined] ijl_apply_generic at /source/src/gf.c:4618:12 jl_apply at /source/src/julia.h:2389:12 [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:522:0 (pc: 1) exec_options at ./client.jl:321:0 (pc: 425) _start at ./client.jl:596:0 (pc: 294) jfptr__start_0.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4380:23 [inlined] ijl_apply_generic at /source/src/gf.c:4618:12 jl_apply at /source/src/julia.h:2389:12 [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: 0x7684f801b249) at /lib/x86_64-linux-gnu/libc.so.6 __libc_start_main at /lib/x86_64-linux-gnu/libc.so.6 (unknown line) unknown function (ip: 0x4010b8) at /workspace/srcdir/glibc-2.17/csu/../sysdeps/x86_64/start.S unknown function (ip: (nil)) at (unknown file) ============================================================== Profile collected. A report will print at the next yield point. Disabling --trace-compile ============================================================== ====================================================================================== Information request received. A stacktrace will print followed by a 1.0 second profile. --trace-compile is enabled during profile collection. ====================================================================================== cmd: /opt/julia/bin/julia 1 running 0 of 1 signal (10): User defined signal 1 epoll_pwait at /lib/x86_64-linux-gnu/libc.so.6 (unknown line) uv__io_poll at /workspace/srcdir/libuv/src/unix/linux.c:1404:0 uv_run at /workspace/srcdir/libuv/src/unix/core.c:430:0 ijl_task_get_next at /source/src/scheduler.c:524:34 wait at ./task.jl:1248:0 (pc: 107) wait_forever at ./task.jl:1170:0 (pc: 4) jfptr_wait_forever_0.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4380:23 [inlined] ijl_apply_generic at /source/src/gf.c:4618:12 jl_apply at /source/src/julia.h:2389:12 [inlined] start_task at /source/src/task.c:1276:19 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 0x000076f7d8332c20 Total snapshots: 399. Utilization: 0% ╎399 @Base/task.jl:1170 wait_forever() 398╎ 399 @Base/task.jl:1248 wait() [1] signal 15: Terminated in expression starting at /PkgEval.jl/scripts/evaluate.jl:214 epoll_pwait at /lib/x86_64-linux-gnu/libc.so.6 (unknown line) uv__io_poll at /workspace/srcdir/libuv/src/unix/linux.c:1404:0 uv_run at /workspace/srcdir/libuv/src/unix/core.c:430:0 ijl_task_get_next at /source/src/scheduler.c:524:34 wait at ./task.jl:1248:0 (pc: 107) wait_forever at ./task.jl:1170:0 (pc: 4) jfptr_wait_forever_0.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4380:23 [inlined] ijl_apply_generic at /source/src/gf.c:4618:12 jl_apply at /source/src/julia.h:2389:12 [inlined] start_task at /source/src/task.c:1276:19 unknown function (ip: (nil)) at (unknown file) Allocations: 19332144 (Pool: 19331402; Big: 742); GC: 17 [25] signal 15: Terminated in expression starting at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/ext/MadNLPSolverExt/MadNLPSolverExt.jl:53 _ZN4llvm23ObjectSizeOffsetVisitor11computeImplEPNS_5ValueE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm23ObjectSizeOffsetVisitor7computeEPNS_5ValueE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm13getObjectSizeEPKNS_5ValueERmRKNS_10DataLayoutEPKNS_17TargetLibraryInfoENS_14ObjectSizeOptsE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm13BasicAAResult10aliasCheckEPKNS_5ValueENS_12LocationSizeES3_S4_RNS_11AAQueryInfoEPKNS_11InstructionE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm13BasicAAResult5aliasERKNS_14MemoryLocationES3_RNS_11AAQueryInfoEPKNS_11InstructionE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm9AAResults5aliasERKNS_14MemoryLocationES3_RNS_11AAQueryInfoEPKNS_11InstructionE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm23MemoryDependenceResults30getSimplePointerDependencyFromERKNS_14MemoryLocationEbNS_21ilist_iterator_w_bitsINS_12ilist_detail12node_optionsINS_11InstructionELb1ELb0EvLb1ENS_10BasicBlockEEELb0ELb0EEEPS8_PS7_PjRNS_14BatchAAResultsE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm23MemoryDependenceResults24getPointerDependencyFromERKNS_14MemoryLocationEbNS_21ilist_iterator_w_bitsINS_12ilist_detail12node_optionsINS_11InstructionELb1ELb0EvLb1ENS_10BasicBlockEEELb0ELb0EEEPS8_PS7_PjRNS_14BatchAAResultsE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm23MemoryDependenceResults23getNonLocalInfoForBlockEPNS_11InstructionERKNS_14MemoryLocationEbPNS_10BasicBlockEPSt6vectorINS_16NonLocalDepEntryESaIS9_EEjRNS_14BatchAAResultsE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm23MemoryDependenceResults27getNonLocalPointerDepFromBBEPNS_11InstructionERKNS_12PHITransAddrERKNS_14MemoryLocationEbPNS_10BasicBlockERNS_15SmallVectorImplINS_17NonLocalDepResultEEERNS_13SmallDenseMapISA_PNS_5ValueELj16ENS_12DenseMapInfoISA_vEENS_6detail12DenseMapPairISA_SH_EEEEbb at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm23MemoryDependenceResults28getNonLocalPointerDependencyEPNS_11InstructionERNS_15SmallVectorImplINS_17NonLocalDepResultEEE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm7GVNPass19processNonLocalLoadEPNS_8LoadInstE.part.0 at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm7GVNPass18processInstructionEPNS_11InstructionE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm7GVNPass12processBlockEPNS_10BasicBlockE.part.0 at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm7GVNPass17iterateOnFunctionERNS_8FunctionE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm7GVNPass7runImplERNS_8FunctionERNS_15AssumptionCacheERNS_13DominatorTreeERKNS_17TargetLibraryInfoERNS_9AAResultsEPNS_23MemoryDependenceResultsERNS_8LoopInfoEPNS_25OptimizationRemarkEmitterEPNS_9MemorySSAE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm7GVNPass3runERNS_8FunctionERNS_15AnalysisManagerIS1_JEEE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) run at /source/usr/include/llvm/IR/PassManagerInternal.h:91:41 _ZN4llvm11PassManagerINS_8FunctionENS_15AnalysisManagerIS1_JEEEJEE3runERS1_RS3_ at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) run at /source/usr/include/llvm/IR/PassManagerInternal.h:91:41 _ZN4llvm27ModuleToFunctionPassAdaptor3runERNS_6ModuleERNS_15AnalysisManagerIS1_JEEE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) run at /source/usr/include/llvm/IR/PassManagerInternal.h:91:41 _ZN4llvm11PassManagerINS_6ModuleENS_15AnalysisManagerIS1_JEEEJEE3runERS1_RS3_ at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) run at /source/src/pipeline.cpp:989:12 operator() at /source/src/jitlayers.cpp:1298:17 operator() at /source/src/jitlayers.cpp:1435:12 [inlined] optimizeModule at /source/src/jitlayers.cpp:2382:18 materialize at /source/src/jitlayers.cpp:905:31 _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_very_internal at /source/src/gf.c:3962:27 _jl_invoke at /source/src/gf.c:4372:16 [inlined] ijl_apply_generic at /source/src/gf.c:4618:12 optimize! at /home/pkgeval/.julia/packages/MadNLP/8V9Lm/ext/MadNLPMOI/MOI_wrapper.jl:1510:0 (pc: 432) unknown function (ip: 0x76846a098cf2) at (unknown file) _jl_invoke at /source/src/gf.c:4380:23 [inlined] ijl_apply_generic at /source/src/gf.c:4618:12 #_solve#1 at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/ext/MadNLPSolverExt/solver.jl:54:0 (pc: 105) _solve at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/ext/MadNLPSolverExt/solver.jl:13:0 [inlined] #solve!#50 at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/solve.jl:202:0 [inlined] solve! at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/solve.jl:195:0 (pc: 9) unknown function (ip: 0x768465eb9340) at (unknown file) _jl_invoke at /source/src/gf.c:4380:23 [inlined] ijl_apply_generic at /source/src/gf.c:4618:12 jl_apply at /source/src/julia.h:2389:12 [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:522:0 (pc: 1) include_string at ./loading.jl:3132:0 (pc: 207) include_string at ./loading.jl:3142:0 (pc: 1) _jl_invoke at /source/src/gf.c:4380:23 [inlined] ijl_apply_generic at /source/src/gf.c:4618:12 jl_apply at /source/src/julia.h:2389:12 [inlined] jl_f_invokelatest at /source/src/builtins.c:918:23 #run_testitem##6 at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:119:0 [inlined] withpath at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/vendored_code.jl:7:0 (pc: 72) #run_testitem##4 at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:118:0 [inlined] cd at ./file.jl:112:0 (pc: 19) unknown function (ip: 0x7684d9fd8e66) at (unknown file) _jl_invoke at /source/src/gf.c:4380:23 [inlined] ijl_apply_generic at /source/src/gf.c:4618:12 run_testitem at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:117:0 (pc: 258) unknown function (ip: 0x7684d9fd8a1e) at (unknown file) _jl_invoke at /source/src/gf.c:4380:23 [inlined] ijl_apply_generic at /source/src/gf.c:4618:12 macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:277:0 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2415:0 [inlined] macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:275:0 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2415:0 [inlined] macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:253:0 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2415:0 [inlined] #run_tests#7 at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:250:0 (pc: 1498) run_tests at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:134:0 (pc: 7) _jl_invoke at /source/src/gf.c:4380:23 [inlined] ijl_apply_generic at /source/src/gf.c:4618:12 jl_apply at /source/src/julia.h:2389:12 [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:522:0 (pc: 1) include_string at ./loading.jl:3132:0 (pc: 207) _jl_invoke at /source/src/gf.c:4380:23 [inlined] ijl_apply_generic at /source/src/gf.c:4618:12 _include at ./loading.jl:3192:0 (pc: 122) include at ./Base.jl:326:0 (pc: 1) IncludeInto at ./Base.jl:327:0 (pc: 2) jfptr_IncludeInto_1.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4380:23 [inlined] ijl_apply_generic at /source/src/gf.c:4618:12 jl_apply at /source/src/julia.h:2389:12 [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:522:0 (pc: 1) exec_options at ./client.jl:321:0 (pc: 425) _start at ./client.jl:596:0 (pc: 294) jfptr__start_0.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4380:23 [inlined] ijl_apply_generic at /source/src/gf.c:4618:12 jl_apply at /source/src/julia.h:2389:12 [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: 0x7684f801b249) at /lib/x86_64-linux-gnu/libc.so.6 __libc_start_main at /lib/x86_64-linux-gnu/libc.so.6 (unknown line) unknown function (ip: 0x4010b8) at /workspace/srcdir/glibc-2.17/csu/../sysdeps/x86_64/start.S unknown function (ip: (nil)) at (unknown file) Allocations: 2094273499 (Pool: 2094206913; Big: 66586); GC: 866 PkgEval terminated after 2723.05s: test duration exceeded the time limit